On Tue, Jan 31, 2012 at 2:38 PM, Hector Garcia de Marina
<
address@hidden> wrote:
> Hi Heinrich,
>
> this is the actual board and operating system that I am employing for the
> development of my next autopilot.
> You can reach me in the ChibiOS forums if you need any help.
>
> Héctor.
>
>
>
> On Tue, Jan 31, 2012 at 1:14 PM, Prof. Dr.-Ing. Heinrich Warmers
> <
address@hidden> wrote:
>>
>> Hi,
>> i found this project:
>>
>>
http://www.chibios.org/dokuwiki/doku.php?id=chibios:articles:stm32f4_discovery
>> The pcb has the accelerator chip on board.
>>
>> Heinrich
>>
>> Hector Garcia de Marina schrieb:
>>
>> Actually,
>>
>> you can use the
>>
http://www.ftdichip.com/Support/Documents/DataSheets/Modules/DS_FT2232H_Mini_Module.pdf
>> as well. I has been using it for both JTAG and Serial Port , as it is
>> employed in Lisa-L, it works well with OpenOCD.
>>
>> Already, gcc provides a pre-built tool-chain for ARM baremetal systems
>> (cortex m0-4), including multilib for cortexm4f. So you do not have to build
>> them anymore if you do not want to do it.
>>
>> Héctor
>>
>>
>> On Tue, Jan 31, 2012 at 11:52 AM, Prof. Dr.-Ing. Heinrich Warmers
>> <
address@hidden> wrote:
>>>
>>> Hi Stewart,
>>> yesterday i got the olimex stm32 (26 Euro). I think this is also a
>>> candidate for low cost autopilots with paparazzi even for quadrocopters.
>>> You can by a jatag interface ( OpenPilot Foss Jatag) for 30 Euro
>>> (
http://www.opstore.eu/en/2-openpilot) This is based on the work of Piotr
>>> Esden-Tempski with the extension that more than one adapter can be used on
>>> the same usb connection. I think this is also working with the paparazzi
>>> hardware (Lisa). A tool chain is the GNU 4.6 CC in combination with open
>>> cd.
>>> I am angry of the politic of ST to sell MEMS sensors. Often the chips
>>> are only available for less than two years. In 2007 an accelerator sensor
>>> in dual line package for the Mikrokopter pcb and in 2010 the rate sensor for
>>> the hbmini autopilot, razzor and adreimu..
>>>
>>>
>>> A low price hardware for the STM is OpenPilot CopterControl Board
>>>
http://www.innov8tivedesigns.com/product_info.php?cPath=125&products_id=894
>>> 89$
>>> I hope to hear more of your work. Good luck.
>>> regards
>>>
>>> Heinrich Warmers
>>>
>>>
>>> Jake Stewart schrieb:
>>>
>>> Thanks Felix, I was hoping someone could clear that up. I'm not quite to
>>> that stage yet, but I'm reinvigorated to know that there's the possibility
>>> of help if I get stuck.
>>>
>>> To explain a bit more about my project... I liked the idea of using ST
>>> chips for the IMU since they were cheap and had free samples available. ST
>>> had also been starting to hype their "iNemo" sensor fusion and AHRS
>>> platform. iNemo is supposed to run on STM32F103s, at least at first. That,
>>> combined with the fact that LISA uses a STM32 processor, got me thinking
>>> that a STM32 + ST accel/gyro/magnetometer combo was the way to go.
>>>
>>> So I decided I better learn the STM32 and got a couple VL Discovery
>>> boards. When I got the Discoveries I was pretty impressed with the units,
>>> and thought I'd do well to explore the capabilities. What I found out was
>>> that the Discovery actually has both F100 and F103 processors. The F103
>>> runs the "ST-Link", which is STs USB programming/debugging link. What's
>>> cool about the Discovery units is that there are two 4-pin headers on the
>>> board. If you jumper one side you use the st-link to program the onboard
>>> F100. If you remove the jumpers then the other 4-pin header allows you to
>>> use your discovery to connect to any other ST processor and flash/debug it.
>>>
>>> After reading about a hack to program the F103 using another discovery
>>> unit, requiring soldering two wires to one side of two SMT solder bridges, I
>>> figured out how to tie the right pins together on the bottom so that you end
>>> up with one header to program the F100 and one header to program the F103.
>>> Now I could easily flash and debug either processor on the board. So now
>>> the Discovery becomes a nice little dual processor dev board with USB.
>>> Unfortunately, the F103 is not connected to very much, and what it is
>>> connected to is a little less than clear to me. The processors are
>>> connected together by at least two lines and the F103 is connected to a USB
>>> port. I also know that none of the I2C lines are connected and the F103
>>> does not have a digital crossbar.
>>>
>>> What I ended up doing for the moment was to pull up two I2C pins and
>>> solder little wires to them. I think I've come up with an easier and better
>>> method now that involves tacking some small wires to the processor,
>>> scratching out a couple existing traces, and tying those I2C lines to the
>>> existing header pins. It's somewhat tedious, but making a nice autopilot
>>> board for under $10 seems worth it to me.
>>>
>>> Anyways, the master plan is to have the F103 tied to the IMU and running
>>> ST's iNemo sensor fusion / AHRS firmware. The F103 will be dedicated to the
>>> sensor fusion and processing the "true extended state Kalman filter" that ST
>>> is hyping. It will also do some USB tasks, communicate with the F100, and
>>> do whatever else it's limited connections will support (hopefully flashing
>>> the F100 and helping put settings into it from the USB).
>>>
>>> So essentially I have the hardware side worked out and now I get to enjoy
>>> the real fun of beating my head against the wall trying to program the
>>> thing. But, I don't see any insurmountable problems standing in the way.
>>>
>>> Right now my problem is that the code ST has released only compiles on
>>> IAR 5.x. I wrote and asked them for Atollic/eclipse support and they told
>>> me that only IAR is supported for now. I wrote them back and told them that
>>> IAR is NOT supported, only an old version of IAR that you can't get anymore
>>> is supported. IAR 6.2+ has some major CSMIS problems which seem to have no
>>> good workaround since ST doesn't seem to have any CSMIS files out that
>>> actually work with current versions of IAR.
>>>
>>> So I need to figure out how to compile the code on some toolchain that I
>>> can actually get my hands on. I just don't know enough about these
>>> toolchains to figure it out at the moment. Seems like there's a lot of
>>> workspace/project file settings to configure, and I don't really know what
>>> I'm doing. The free version of Atollic doesn't have the graphical setup
>>> features of the pro version, so it seems like I have to do a lot of digging
>>> through XML files and the like to get things running.
>>>
>>> At the moment I can flash the iNemo DFU firmware onto the F103 and the
>>> iNemo code also. The DFU firmware (USB firmware upgrade tool) works just
>>> fine. I can actually use the USB connection to flash whatever I want onto
>>> the F103. Of course, the iNemo code is written for their $250 IMU
>>> evaluation board and I need to change a few settings to work with my pinout,
>>> and strip away the rest of the code related to their other sensors.
>>>
>>> My limited success with the iNemo code has kept me mucking about with it,
>>> but I'm about ready to try and get the PPZ code running on the F100 and
>>> worry about iNemo later, if I even really need it.
>>>
>>> Is anyone else interested in working on this project with me? The
>>> potential benefit of the project is the development of an ultra-cheap PPZ
>>> hardware platform. It also will offload the effort of AHRS and sensor
>>> fusion to ST. Hopefully they can then do all the math and worry about
>>> supporting their chips.
>>>
>>> ST is also now producing a cheap ($35) little IMU designed to plug into
>>> their sensor eval board (STEVAL-MKI108V2). It uses the latest L3GD20 and
>>> LSM303DLHC MEMS sensor chips. (L3GD20 is the replacement for the L3G4200D).
>>> The L3GD20 is claimed to be immune to audio frequency noise and vibrations.
>>>
>>> STEVAL-MKI108V2
>>>
http://www.st.com/internet/evalboard/product/252687.jsp
>>>
>>> So the end product of the project will be a PPZ hardware platform
>>> consisting of:
>>> STM32VLDiscovery - $7 (new ST suggested retail price)
>>> STEVAL-MKI108V2 9DOF IMU - $35
>>> Fastrax UP501 GPS - $28
>>> ---------------------------------
>>> = $70
>>>
>>> I think a $70 hardware platform would be an amazing price breakthrough
>>> and really lower the barriers to participation in the PPZ project. Cost
>>> alone might draw new people to the project, but existing members with a
>>> significant investment might also consider the benefit of redundancy.
>>> People with existing systems could add a completely redundant backup to
>>> their system for a reasonable price, and new people could have a redundant
>>> system (excluding radio link) for only $140. That could be a great safety
>>> improvement.
>>>
>>> I'm hooked on doing the project and if anyone else wants to help out it
>>> might not take me a year to get it working. I'm happy to modify the
>>> discovery boards for anyone who wants to get involved without bothersome
>>> soldering. Just shoot me an email. I'm planning to get more Discovery
>>> boards shortly and should have some modified ones ready to go before long.
>>>
>>> The only real disadvantage I see to this project is that it will require
>>> a rather complicated main wiring harness to connect everything up since it's
>>> not a custom board. Fortunately, I think a IDE hard drive cable (or
>>> similar) will work pretty easily and we'll just have to put the right
>>> connectors to the right wires to end up with a decent connection system.
>>> I'll be happy to make those also as soon as it is figured out how the pins
>>> best map with the PPZ code.
>>>
>>>
>>> -Jake
>>>
>>>
>>>
>>>
>>>
>>>
>>> ----- Original Message -----
>>> From: Felix Ruess
>>> Sent: 01/27/12 05:16 PM
>>> To:
address@hidden
>>> Subject: Re: [Paparazzi-devel] Introduction, Q's about STM32 development
>>>
>>> Hi Jake,
>>>
>>> just a quick note: I don't think that creating new board files for the
>>> STM32VLDiscovery board would be much work (if you already know
>>> paparazzi). Also flash should just be enough, depending on what
>>> subsystems/modules you include. Flash usage is roughly around 120kB on
>>> my setup here..
>>>
>>> Cheers, Felix
>>>
>>> On Sat, Jan 21, 2012 at 4:15 PM, antoine drouin <
address@hidden> wrote:
>>>
>>>
>>> Hi Jake
>>>
>>>
>>>
>>> The idea is that the door kicks open and the rope falls to the ground
>>> where it is drug a short distance where particles stick >to the collector,
>>> then the motor kicks in and winds the sample back up into the pod. Then the
>>> plane returns to base. > Using variations of that system should make it easy
>>> to snag lots of samples from remote locations for cheap. Obviously >the
>>> danger is that the sample rope gets tangled and the plane gets dashed into
>>> the ground at 30+ mph.
>>>
>>>
>>> how far do you need to go fetch your samples? Have you though about
>>> doing it with a quadrotor?
>>>
>>> _______________________________________________
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>>
>>
>>
>> --
>> Héctor
>>
>>
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>
> --
> Héctor
>
>
>
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