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Re: [Gumstix-users] Robostix for Overo
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From: antoine d. <po...@gm...> - 2010-07-09 11:10:26
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Hello World Looks like we've done something quite similar : http://paparazzi.enac.fr/wiki/Lisa I'm using a STM32 instead of the luminarymicro and the main purpose of this board is to be an autopilot, though I'm convinced it has applications in other robotics fields. My board has onboard pressure sensors ( absolute and differential ) but the inertial ones are external to allow a choice of commercial IMUs ( xsense, cloudcap, vectornav) or the one we've designed ( http://paparazzi.enac.fr/wiki/BoozIMU ) The board runs Paparazzi ( http://paparazzi.enac.fr/wiki/Main_Page ) and the STM32 has enough processing power to run the autopilot on its own, leaving the Overo available for payload processing. We use SPI with DMA on both ends between the OMAP and the STM32, thus providing ample bandwith and flexibility in the repartition of tasks between processors. The board has an onboard FT2232H USB chip. One of its channels is used for JTAG on the STM32 and the second one for the Overo's console. The board features two switching supply modules and all the connectors are Molex picoblades with locking mechanism. Best Regards Antoine Drouin On Sat, Jun 19, 2010 at 7:50 PM, vwyodapink <vwy...@gm...> wrote: > > Here is a link to the arduImu schematic and board > > http://docs.google.com/leaf?id=0ByI4WbhJsiyqODFiZmJmYjItMjg1Zi00NWU2LTljYzYtMDFjM2YxZWU0MWUx&hl=en > > http://docs.google.com/leaf?id=0ByI4WbhJsiyqODRkNTUwZWQtNTYwMC00MjA3LTg0YTUtMDc5NTg0M2YyMzRl&hl=en > > > > > vwyodapink wrote: >> >> The major advantage would be weight savings as you dont have another huge >> USB plug which also in turn saves you a spot as well. I know lots of >> people use the style of connector I showed you its a common way to run GPS >> for UAV's. Functionality wise there is not real difference, though I >> showed some people on my UAV forum and they were stoked to see something >> like this coming out but. as it sits now would still take more addons to >> be fully useful for myself others into similar projects to where it would >> be worth ditching whats already being used. Which I would like to do as I >> think this way would be much cleaner if everything was all on one board. >> >> The way I use things now is the Overo is attached to the summit and by i2c >> connection I connect either the UAVDev Board, which is very similar to >> your robostix, and I have also another one setup by i2c using a Ardupilot >> Mega and ArduIMU Mega. The arduimu mega is by far the best IMU AHRS I have >> tried to date, granted I have only tried the 6d0f from sparkfun, standard >> ardu IMU+, and the UAVDevBoard. >> >> I was wondering about the motor controlers you have on there is that >> similar to using an electronic speed controller? If so what kind of amps >> can it handle? Or is to control small and not very powerful elec engines? >> Sorry if that was stated or a really basic question. >> >> Here are a list of links just in case you would like to see the things I >> am talking about if your not familiar with them. >> http://www.sparkfun.com/commerce/product_info.php?products_id=9038 -- UAV >> Dev Board >> http://store.diydrones.com/product_p/br-0012-01.htm -- ArduIMU Mega >> >> Hope this helps you out some, Thanks again for the hard work you have done >> so far. If I can be of any more use or put more links to things let me >> know :) >> >> Jeremy >> >> If >> >> Ash Charles-2 wrote: >>> >>> Hi, >>> >>> Is there a major advantage not to use a USB-based GPS dongle or a UART >>> GPS? >>> >>> I can't confirm pricing information yet; we are working to get these >>> details figured out. Most likely, we will have several different >>> population options (and therefore prices) depending on users' needs. >>> >>> Thanks for the forum link. >>> >>> -Ash >>> >>> On Wed, Jun 16, 2010 at 1:24 AM, vwyodapink <vwy...@gm...> wrote: >>>> >>>> I wasnt actually meaning having the GPS as part of the board but >>>> actually >>>> putting a plus like this: >>>> http://www.sparkfun.com/commerce/product_info.php?products_id=579 >>>> So people who want a GPS can easily add one and not have it be USB >>>> based. I >>>> would much rather see the GPS as not having to go through a hub or >>>> similar. >>>> Plus the plugs are tiny. >>>> >>>> I understand about the pressure sensor, I have been trying to get a >>>> breakout >>>> board with an absolute pressure sensor with temp to work with my fire. >>>> Though the bosh absolute pressure sensor is another very small foot >>>> print. >>>> >>>> You were correct about the gyro that was my mistake and I did not read >>>> the >>>> model number correctly. >>>> http://forums.parallax.com/forums/default.aspx?m=436063&f=25&p=6 Is >>>> where I >>>> thought I saw that just in case you want to see it. But this was the >>>> gyro I >>>> was thinking of that had the issues LPR530AL, sorry about that >>>> >>>> I think its a great board though from what I can tell its some really >>>> great >>>> work, is there a ballpark price yet or possible release on it? >>>> >>>> >>>> >>>> Ash Charles-2 wrote: >>>>> >>>>> Hi, >>>>> >>>>> The gyro part is actually not yet released so I would be surprised if >>>>> people were discussing it; even if the part is not exactly the same, >>>>> could you point me to the forum? >>>>> >>>>> I had looked at the Invensense part as one of the few 3-axis digital >>>>> gyros on the market but as yet weren't able to get appropriate pricing >>>>> on the part. >>>>> >>>>> To keep the price down and the size requirements for the board >>>>> reasonable, we elected not to add a GPS (and, by consquence, not a >>>>> pressure sensor). I would have to double-check but I think the ADC on >>>>> the micro. actually has temperature built-in although this is probably >>>>> not super useful. >>>>> >>>>> Thanks for the feedback, >>>>> >>>>> -Ash >>>>> >>>>> On Tue, Jun 15, 2010 at 5:30 PM, vwyodapink <vwy...@gm...> >>>>> wrote: >>>>>> >>>>>> What about adding a connector on the board for a GPS like the Ublock >>>>>> or >>>>>> EM406 >>>>>> >>>>>> Though I am sure not useful to everyone but a absolute pressure sensor >>>>>> with >>>>>> temp would be nice. >>>>>> >>>>>> I have heard there are a bunch of vibration issues with the gyro you >>>>>> have >>>>>> listed you are using, Invensense is making a vibration resistant gyro >>>>>> that >>>>>> has been used in a few projects that I have seen and has had really >>>>>> great >>>>>> results. I am by no means an expert at all, just remember reading a >>>>>> bunch >>>>>> about those gyros on a different message board and they were ditched >>>>>> because >>>>>> of horrible performance. >>>>>> >>>>>> >>>>>> >>>>>> Ash Charles-2 wrote: >>>>>>> >>>>>>> Hi, >>>>>>> >>>>>>> A preliminary schematic (http://www.gumstix.net/other/B30019.sch) and >>>>>>> board design (http://www.gumstix.net/other/B30019.brd) for this >>>>>>> Overo-robostix board are available in Eagle format. As before, we >>>>>>> welcome your feedback---it is really helpful to know what features >>>>>>> are >>>>>>> useful for users. >>>>>>> >>>>>>> Hope you like it :). >>>>>>> >>>>>>> -Ash >>>>>>> >>>>>>> On Sat, May 22, 2010 at 8:56 AM, Dave Hylands <dhy...@gm...> >>>>>>> wrote: >>>>>>>> Hi Ash, >>>>>>>> >>>>>>>> On Sat, May 22, 2010 at 12:40 AM, Ash Charles <ash...@gm...> >>>>>>>> wrote: >>>>>>>>> On Fri, May 21, 2010 at 6:40 PM, Dave Hylands <dhy...@gm...> >>>>>>>>> wrote: >>>>>>>>>> Hi Ash, >>>>>>>>>> >>>>>>>>>> On Fri, May 21, 2010 at 5:01 PM, Ash Charles <as...@gu...> >>>>>>>>>> wrote: >>>>>>>>>>> Afternoon, >>>>>>>>>>> >>>>>>>>>>> We've looked through the pin-muxing for this board and we propose >>>>>>>>>>> the >>>>>>>>>>> following 3 by 8 pin right-angle 0.1"pitch male headers: >>>>>>>>>>> >>>>>>>>>>> =====HEADER #1===== >>>>>>>>>>> PWM0 PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 PWM7 >>>>>>>>>>> Vbat Vbat Vbat Vbat Vbat Vbat Vbat >>>>>>>>>>> Vbat >>>>>>>>>>> GND GND GND GND GND GND GND GND >>>>>>>>>> >>>>>>>>>> Hopefully, these will be Vmotor, which is jumpered to Vbat. >>>>>>>>> To make sure I understand what you meant in your previous post, the >>>>>>>>> jumper on the Robostix allowed people to use either a battery or a >>>>>>>>> wall wart to supply power to the board? >>>>>>>>> For the new board, the 'Vbat' signal (definitely a misnomer on my >>>>>>>>> part) would be the V+ line taken directly from the power source be >>>>>>>>> it >>>>>>>>> a wall wart or a battery. >>>>>>>> >>>>>>>> I guess by battery you really mean a dedicated 2-pin power >>>>>>>> connector. >>>>>>>> >>>>>>>>>> How will the luminary micro be programmed? Will a JTAG interface >>>>>>>>>> be >>>>>>>>>> available? >>>>>>>>> I hadn't included the JTAG interface; I think this requires an >>>>>>>>> additional four pins which is not impossible but board space would >>>>>>>>> start to get tight. One option would be putting contact pads for >>>>>>>>> JTAG...does this seem useful? >>>>>>>>> The device can be accessed via I2C0, UART0, or SSI0. >>>>>>>> >>>>>>>> I just wanted to make sure that you address how the device will be >>>>>>>> programmed. I see that it does indeed have a ROM based bootloader >>>>>>>> which can be programmed as you indicated, which somewhat alleviates >>>>>>>> the need for a JTAG. >>>>>>>> >>>>>>>> Although having the JTAG allows a debugger to be used, which I think >>>>>>>> will be important. >>>>>>>> >>>>>>>> If you put the pads somewhere that a 10-pin JTAG mini connector >>>>>>>> could >>>>>>>> be >>>>>>>> used >>>>>>>> <http://www.luminarymicro.com/products/mdl-ada2.html> This could be >>>>>>>> a >>>>>>>> surface mount connector. It looks like its a 2x5 0.050" header (see >>>>>>>> the schematics and BOM for this eval board: >>>>>>>> <http://www.luminarymicro.com/index.php?option=com_remository&func=download&id=983&chk=d1a772ed2075b69e938af114b279083b&Itemid=591> >>>>>>>> >>>>>>>>>>> Secondly: is the arrangement of pins correct? >>>>>>>>>>> -- on Header #2, should the UARTS be four pins each (RX, V+, TX, >>>>>>>>>>> GND) with all three stacked on top of each other? e.g. >>>>>>>>>>> RX0 5V TX0 GND >>>>>>>>>>> RX1 5V TX1 GND >>>>>>>>>>> RX2 5V TX2 GND >>>>>>>>>> >>>>>>>>>> The Arduino stuff seems to have standardized on using: >>>>>>>>>> the same pinout as the FTDI USB-to-logic level serial connectors >>>>>>>>>> which >>>>>>>>>> is >>>>>>>>>> >>>>>>>>>> 1 - GND >>>>>>>>>> 2 - CTS >>>>>>>>>> 3 - VCC >>>>>>>>>> 4 - TXD >>>>>>>>>> 5 - RXD >>>>>>>>>> 6 - RTS >>>>>>>>>> >>>>>>>>>> <http://www.ftdichip.com/Products/EvaluationKits/TTL-232R-3V3.htm> >>>>>>>>>> >>>>>>>>>> On the Arduino, the RTS pin is tied into the reset circuitry so >>>>>>>>>> that >>>>>>>>>> the board can be reset (and serial downloaded to) from the host. >>>>>>>>>> >>>>>>>>>> Having the 4 pin layout which is compatible with the robostix also >>>>>>>>>> makes sense. I just wanted to throw out the Arduino thing since >>>>>>>>>> it's >>>>>>>>>> quite popular. >>>>>>>>> Thanks for pointing out the Arduino connector; I'd been hunting >>>>>>>>> around >>>>>>>>> to see if there was such a standard earlier today and hadn't found >>>>>>>>> anything. >>>>>>>>> Is there a strong motivation for including the CTS and RTS lines? >>>>>>>>> I >>>>>>>>> don't recall using them before so I found it hard to justify extra >>>>>>>>> pins but perhaps this is more a reflection on my inexperience than >>>>>>>>> on >>>>>>>>> the utility of these pins. >>>>>>>> >>>>>>>> Being able to reset the microcontroller through the download >>>>>>>> interface >>>>>>>> is nice. It means that the SW can do the reset and send the >>>>>>>> appropriate bytes with appropriate timings, rather than relying on a >>>>>>>> particular sequence of events by the user. >>>>>>>> >>>>>>>> Although looking at the protocol, it seems pretty easy to just start >>>>>>>> the host side program and then hit reset on the micro. So I think >>>>>>>> you >>>>>>>> could eliminate the extra lines if you need the space. >>>>>>>> >>>>>>>> It would be nice, especially in standalone mode to be able to >>>>>>>> connect >>>>>>>> up the FTDI chip normally used for the overo console to the micro, >>>>>>>> perhaps using some switches, or DNI resistors. >>>>>>>> >>>>>>>> -- >>>>>>>> Dave Hylands >>>>>>>> Shuswap, BC, Canada >>>>>>>> http://www.DaveHylands.com/ >>>>>>>> >>>>>>>> ------------------------------------------------------------------------------ >>>>>>>> >>>>>>>> _______________________________________________ >>>>>>>> gumstix-users mailing list >>>>>>>> gum...@li... >>>>>>>> https://lists.sourceforge.net/lists/listinfo/gumstix-users >>>>>>>> >>>>>>> >>>>>>> ------------------------------------------------------------------------------ >>>>>>> ThinkGeek and WIRED's GeekDad team up for the Ultimate >>>>>>> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the >>>>>>> lucky parental unit. See the prize list and enter to win: >>>>>>> http://p.sf.net/sfu/thinkgeek-promo >>>>>>> _______________________________________________ >>>>>>> gumstix-users mailing list >>>>>>> gum...@li... >>>>>>> https://lists.sourceforge.net/lists/listinfo/gumstix-users >>>>>>> >>>>>>> >>>>>> >>>>>> >>>>>> ----- >>>>>> Just a beginner trying to learn his way around. >>>>>> -- >>>>>> View this message in context: >>>>>> http://old.nabble.com/Robostix-for-Overo-tp28600551p28897886.html >>>>>> Sent from the Gumstix mailing list archive at Nabble.com. >>>>>> >>>>>> >>>>>> ------------------------------------------------------------------------------ >>>>>> ThinkGeek and WIRED's GeekDad team up for the Ultimate >>>>>> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the >>>>>> lucky parental unit. See the prize list and enter to win: >>>>>> http://p.sf.net/sfu/thinkgeek-promo >>>>>> _______________________________________________ >>>>>> gumstix-users mailing list >>>>>> gum...@li... >>>>>> https://lists.sourceforge.net/lists/listinfo/gumstix-users >>>>>> >>>>> >>>>> ------------------------------------------------------------------------------ >>>>> ThinkGeek and WIRED's GeekDad team up for the Ultimate >>>>> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the >>>>> lucky parental unit. See the prize list and enter to win: >>>>> http://p.sf.net/sfu/thinkgeek-promo >>>>> _______________________________________________ >>>>> gumstix-users mailing list >>>>> gum...@li... >>>>> https://lists.sourceforge.net/lists/listinfo/gumstix-users >>>>> >>>>> >>>> >>>> >>>> ----- >>>> Just a beginner trying to learn his way around. >>>> -- >>>> View this message in context: >>>> http://old.nabble.com/Robostix-for-Overo-tp28600551p28900186.html >>>> Sent from the Gumstix mailing list archive at Nabble.com. >>>> >>>> >>>> ------------------------------------------------------------------------------ >>>> ThinkGeek and WIRED's GeekDad team up for the Ultimate >>>> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the >>>> lucky parental unit. See the prize list and enter to win: >>>> http://p.sf.net/sfu/thinkgeek-promo >>>> _______________________________________________ >>>> gumstix-users mailing list >>>> gum...@li... >>>> https://lists.sourceforge.net/lists/listinfo/gumstix-users >>>> >>> >>> ------------------------------------------------------------------------------ >>> ThinkGeek and WIRED's GeekDad team up for the Ultimate >>> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the >>> lucky parental unit. See the prize list and enter to win: >>> http://p.sf.net/sfu/thinkgeek-promo >>> _______________________________________________ >>> gumstix-users mailing list >>> gum...@li... >>> https://lists.sourceforge.net/lists/listinfo/gumstix-users >>> >>> >> >> > > > ----- > Just a beginner trying to learn his way around. > -- > View this message in context: http://old.nabble.com/Robostix-for-Overo-tp28600551p28936122.html > Sent from the Gumstix mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------------ > ThinkGeek and WIRED's GeekDad team up for the Ultimate > GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the > lucky parental unit. See the prize list and enter to win: > http://p.sf.net/sfu/thinkgeek-promo > _______________________________________________ > gumstix-users mailing list > gum...@li... > https://lists.sourceforge.net/lists/listinfo/gumstix-users > |