FeaturesLisa/M is based on the 64 pins STM32F105RCT6 connectivity line family processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals. NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the high-density performance line family.

STM32 microcontroller STM32F105RCT6 datasheet with 256kB flash and 64kB RAM

Pressure sensor BMP085 (optional as of 08/2012) 7 x Analog input channels 3 x Generic digital in-/out-puts 2 x 3.3V TTL UART (5V tolerant) 8 x Servo PPM outputs (only 6 if second I2C (I2C1) bus in

use) 1 x CAN bus 1 x SPI bus 1 x I 2 C bus (2 x when using only the first 6 Servo PPM

outputs) 1 x Micro USB 4 x status LEDs with attached test point 10.8 grams (0.4 oz) (with Aspirin IMU mounted) 9.9 grams (0.35 oz) (without Aspirin IMU mounted) ~34mm x ~60mm x ~10mm 4 layers PCB design

With mounted Aspirin IMU has the following additional sensors on board:

3 Axis Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer Barometer MS5611 (as of Aspirin v2.1)

NOTE: Lisa/M has pads for the BMP085 pressure sensor. Lias/M 2 boards made before August 2012 had the BMP085 sensor mounted.

Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1 which has the new MS5611-01BA03 barometric pressure sensor.

The drivers for the MS5611-01BA03 are work in progress and are available in the master branch of the Paparazzi codebase. All help with testing and improving the driver are very welcome!

So, except for a GPS unit you have all necessary sensors for fullattitude and altitude stabilization in an extremely small package.

Lisa/M V2.0 top view

Lisa/M V2.0 bottom view

PinoutPins Name and Type are specified with respect to the Autopilot Board.

SERVO1/2/3/4/5/6/7/8 Pin# Name Type Description Color

1 SERVOx OUT Servo signal (PWM)(SeeNote 1 below)

Yellow

2 SV PWR Servo Bus Voltage Rail(conf w/ JP1) Red

3 GND PWR common ground Black

JTAG Pin#

Name Type Description Colo

r

1 N/A N/A JTAG Debug Header (Pin 1 is+3V3) None

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UART3 Pin#

Name Type Description Color

1 GND PWR common ground Black

2 V_IN PWR UART Voltage (conf w/ JP6and JP7) Red

3 TX OUT USART3 Serial Output (3.3Vlevel)

Yellow

4 RX INUSART3 Serial Input (3.3Vlevel)(Pullup to Pin 2voltage)(5V tolerant)

Orange

UART1/5 Pin#

Name Type Description Color

1 GND PWR common ground Black

2 +3V3 PWR 3.3V Rail from autopilot(conf w/ JP8 and JP9) Red

3 RX1 IN USART1 Serial Input (3.3Vlevel)(Pullup to Pin 2

Orange

voltage)(5V tolerant)4 GND PWR common ground Black

5 +3V3 PWR 3.3V Rail from autopilot(conf w/ JP8 and JP9) Red

6 RX5 INUART5 Serial Input (3.3Vlevel)(Pullup to Pin 5voltage)(5V tolerant)

Orange

GPIO Pin#

Name Type Description Colo

r

1 GND PWR common ground Black

2 +3V3 PWR 3.3V Rail from autopilot Red

4 PC12 I/O GPIO, connected to PC12 (5Vtolerant)

DarkTan

5 TRST I/O JTAG_TRST (also connected toLED1 cathode)

LightTan

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ANALOG2 Pin# Name Type Description Color

1 GND PWR common ground Black 2 +3V3 PWR 3.3V Rail from autopilot Red 3 +5V PWR 5V Rail from autopilot Red

4 ADC4 I/O

by default connected toLED_4 cathode (RemoveLED/resistor to use as

ADC4)

Magenta

5 ADC6 I/O by default connected to Pink

LED_3 cathode (RemoveLED/resistor to use as

ADC6)6 BOOT0 I/O BOOT0 Grey

USB Pin#

Name Type Description Colo

r

1 N/A N/A

USB (The USB connections arealso available as 0.05"

(1.27mm) through hole padsunderneath the GPIO header)

None

I2C1 CAN Pin# Name Type Description Color

1 GND PWR common ground Black

2 V_BATT PWR

V_BATT Bus on autopilot,voltage divider for

V_BAT_MEAS, (conf w/ JP2to connect to V_IN)

Red

3 V_IN PWR

Connected to autopilotvoltage regulator inputs(conf w/ JP1, JP2 and

JP3)

Red

4 CANL I/O CANL (5V level) Orange

5 CANH I/O CANH (5V level) Yellow

6 SCL I/O SCL (5V level)(See Note 1below) Green

7 SDA I/O SDA (5V level)(See Note 1below) Blue

SPI1 Pin# Name Type Description Color

1 GND PWR common ground Black 2 +3V3 PWR 3.3V Rail from autopilot Red

3 MOSI Out MOSI Orange

4 MISO In MISO Yellow

5 SCK Out SCK Green 6 SS Out SS Blue

7 DRDY I/O DRDY DarkTan

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ANALOG1 Pin#

Name Type Description Color

1 GND PWR common ground Black

2 +3V3 PWR 3.3V Rail from autopilot Red 3 +5V PWR 5V Rail from autopilot Red

4 ADC1 In ADC1 (or LED_6 if populated) Green

5 ADC2 In ADC2 (or LED_7 if populated) Blue

6 ADC3 In ADC3 (or LED_8 if populated)LightTan

UART2

Pin#

Name Type Description Color

1 GND PWR common ground Black

2 +3V3 PWR UART Voltage (conf w/ JP4and JP5) Red

3 TX OUT USART2 Serial Output (3.3Vlevel)

Yellow

4 RX INUSART2 Serial Input (3.3Vlevel)(NOT 5V TOLERANT)(Pullup to Pin 2 voltage)

Orange

I2C2 Pin#

Name Type Description Color

1 GND PWR common ground Black

2 +3V3 PWR 3.3V Rail from autopilot Red

3 SCL I/O SCL (3.3V level) Green

4 SDA I/O SDA (3.3V level) Blue

NOTE 1: SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. Therefore one has to choose, either use SERVO7 and SERVO8 OR have the I2C1 bus available, if that one needs to be used for whatever reason alongside the I2C2 bus. To use the servos 7 and 8 just set the <define name="USE_SERVOS_7AND8"/> in your airframe file and you are good to go. For this to work one must make sure to have the latest Paparazzi sourcecode.

LEDs

Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs(LED_6, LED_7, LED_8) that are not populated by default (in favorof using ADC1-3 on the ANALOG1 connector). By default the LEDs are use for:

LED_1, redSYS_TIME_LED: blinks with 1Hz

LED_2, green AHRS_ALIGNER_LED: blinks until the AHRS is aligned (gyro biasinitilalized) and then stays on

LED_3, green GPS_LED: blinking if trying to get a fix, on if 3D fix

LED_4, red RADIO_CONTROL_LED: on if RC signal is ok

LED_5, green not set to anything by default

Jumper Configuration

There are a number of jumpers on Lisa/M used to configure voltagelevels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BATT connector is NOT connected to V_IN,so one can attach a battery voltage to the V_BATT pin to measure the battery voltage, if so desired.

Lisa/M v2.0 Top Jumpers and LEDs

Lisa/M v2.0 Bottom Jumpers

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Power Jumper Configuration Jumpe

rBus

ConnectionDefaul

t Description

JP1 SERVO_BUSto V_IN OPEN

Connects servo headervoltage rail SERVO_BUSto autopilot inputvoltage V_IN rail

JP2 V_BATT toV_IN OPEN

Connects I2C1/CAN railV_BATT to autopilotinput voltage V_IN

rail

JP3 V_IN to+5V OPEN

Connects autopilotinput voltage V_IN

rail to autopilot +5Vrail, bypassingonboard 5V supply

UART3 VCC Configuration Jumpe

rBus

Connection Default Description

JP6 UART3_VCCto V_IN CLOSED

Connects UART3connector VCC toautopilot inputvoltage V_IN rail

JP7 UART3_VCCto +3V3 OPEN

Connects UART3connector VCC to

autopilot +3V3 rail

WARNING: UART3 GPS Connector is connected to V_IN, check your GPSinput voltage before connecting!!!

WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!

UART2 VCC Configuration Jumpe

rBus

Connection Default Description

JP4 UART2_VCCto V_IN OPEN

Connects UART2connector VCC toautopilot input

voltage V_IN rail SEEWARNING BELOW

JP5 UART2_VCCto +3V3 CLOSED

Connects UART2connector VCC to

autopilot +3V3 rail

WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (thedefault).

WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!

UART1 and UART5 VCC Configuration Jumpe

r Bus Connection Default Description

JP8 UART1&5_VCC OPEN Connects UART1 and

to V_INUART5 connector VCCto autopilot inputvoltage V_IN rail

JP9 UART1&5_VCCto +3V3 CLOSED

Connects UART1 andUART5 connector VCCto autopilot +3V3

rail

WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!

There are additional jumpers on the board for expert or developerconfigurations, please see schematic and layout for more information.

Powering the Board

The 3.3V regulator on Lisa/M is a MIC5209-3.3YM capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, DO NOT do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a LP2992, a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_INbus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BATT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --V_BAT--/\/\10k/\/\--V_BAT_MEAS--/\/\2k2/\/\--GND--. This means that the maximum allowable voltage on V_BATT is

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3SLiPo pack).

Schematic

LisaM V2.0 Schematic Sheet 1/3

LisaM V2.0 Schematic Sheet 2/3

LisaM V2.0 Schematic Sheet 3/3

Examples of Airborne Equipment Electrical ConnectionsQuadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC)

This configuration assumes the ESCs have a battery eliminator circuit (BEC) function and provide 5 volts on their 5V pins. Closing JP1 powers Lisa/M and the attached accessories.

When using cheap ATMega or SiLabs-based PWM motor controllers consider replacing their firmware with either Simon Kirby or BLHeli firmware respectively to get useful performance of your multicopter! You can find a firmware compatibility list here.

Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC)

This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.

Fixedwing, Spektrum Satellite Receivers and Elevons Only

This configuration assumes the ESC has a BEC and provides 5 voltson its 5V pin. Closing JP1 powers Lisa/M and the attached accessories.

Fixedwing, Spektrum Satellite Receivers

This configuration assumes the ESC has a BEC and provides 5 voltson its 5V pin. Closing JP1 powers Lisa/M and the attached accessories.

Transitioning Quadshot Using Spektrum Receiver

The ESCs have BECs and provide 5 volts on their 5V pins. Closing JP1 powers Lisa/M and the attached accessories.

Still need: Large Fixed-wing with advanced power system and/or ICengine, PPM example

R/C ReceiversOne can use Spektrum DSM2 or compatible receivers as well as traditional PPM receivers. It is even possible to connect two Spectrum or compatible satellite receivers for better redundancy or to improve RC signal reception. Connecting a RC receiver for flying your aircraft in manual mode during setup and test phase is 99% of the cases a must. Therefore the Paparazzi team made it easy to connect one.

Using a Spektrum DSM receiver

Physically connecting

Wiring up a Spektrum or compatible satellite receiver is not to difficult to do. It is very important to make absolutley sure theconnectors are properly made. Not being precise in this step can mean full RC loss and loss of airframe in the first tuning testflights.

The spektrum satellite receiver should be connected to the UART1 connector on the autopilot board. Make sure the voltage on the APboard UART1 + pin is not to high, or to low for your receiver.

Steps:

1. Connect the minus(-) of the receiver to GND of UART1 2. The receiver plus(+) to the UART1 Plus(+) 3. Data out signal of the receiver to the RX pin on the UART1

Binding

To get a receiver and transmitter to work together you must perform a binding process.

It is important to bind your Spectrum DSM receiver to your transmitter via your Lisa board, not in any other way!

The way to bind is by temporary connecting via fiddly small molexpins. It is advised to make a small bind plug out of a molex connector for this purpose. Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable.

The bind procedure:

1. On the connector ANALOG1 have a wire between the GND and ADC1 pin, located in the middle of the board

2. Power up your autopilot board 3. Hold the bind button on your transmitter, while keeping it

pressed switch on your transmitter

Wait...! All lights of the receiver blink and then go steady

4. Let go of your transmitter bind button 5. Power off your Lisa Board 6. Remove the wire connecting the GND and ADC1 pins on the

ANALOG1 connector 7. Repower your board, if you have servos connected and wiggle

the RC transmitter sticks some servos should move

That is all, you are done. The bind procedure only needs to be done once for your receiver.

Using a PPM receiver

Using a PPM receiver, a so called PPM sum stream input is possible. To make it work, you need a PPM sum stream out capable receiver. Find out more following this link

Connecting

Connect the PPM out signal to the RX pin of UART1.

Make sure put this in your airframe file in your AP target section.

... <subsystem name="radio_control" type="ppm"> <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> </subsystem> ...

Alternative

However if in the case you want to use the UART1 port for something else, there is an option to connect the receiver to a servo pin. Yes, that's right, a servo connector is used for receiving a PPM stream input. If you want to walk that path, the default pin number to capture the PPM sum stream is via servo connector SERVO6

If you connect the PPM ou capable receiver that way make sure to put this in your airframe file in your AP target section:

...

<subsystem name="radio_control" type="ppm"> <configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/> </subsystem> ...

If you do not have or cannot modify a receiver to a PPM out able receiver, a PPM encoder board can be used to avoid opening your receiver for PPM out modification.

ExtrasUART I/O

UART pins can also be used as general purpose I/O, this might come in handy in case all other inputs or your AP board are in use.

USB as UART1TX + hardware flow control

The USB_VBUS on the Lisa/M 2.0 can be used as UART1 TX. To do this, a diode has to be removed. Make sure to include a series resistor of 100-3000 Ohm to protect the microcontroller from overcurrents. The 2nd and 3th pin of the USB pads are CTS and RTSrespactively. It is recommended to include a series resistor in the RTS line, as this is an outgoing line.

If you want to enable flow control in the software, but don't want to use flow control when no cable is connected to the CTS/RTS, a pulldown resistor of 10 kOhm has to be added between the CTS and the GND. If you do this, take care when connecting UART devices that have a large series resistor in their RTS line.The combination of the pulldown resistor and the series resistor

might cause the high-level voltage to drop under the high-level treshold of the microcontroller, causing strange behaviour.

For Example the RTS , mostly a purple wire, is the pin 10 on the Xtend module when set in the module with Hardware flow control (use X-CTU) CTS, most blue, on pin 9 of the Xtend

Remove this diode. After removing this diode you can not power the board via USB anymore.