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Re: [Paparazzi-devel] Lisa/L Octocopter with MMK Power Board Reseting In

From: Simon Wilks
Subject: Re: [Paparazzi-devel] Lisa/L Octocopter with MMK Power Board Reseting Intermittently
Date: Sun, 29 Jan 2012 22:11:12 +0100

Thanks everyone for the pointers. I will see if any of them will help as I haven't solved it yet. I have, however, switched to the Lisa/M for now but I would like to try the Lisa/L out again once I have it flying (waiting for weather and free time to intersect). 

@felix: It seems to only be the MK board resetting. I will keep an eye on the new i2c driver devel.



On Sat, Jan 28, 2012 at 11:07 AM, Prof. Dr.-Ing. Heinrich Warmers <address@hidden> wrote:
the Mikrokopter has 200 Ohm serious resistance in the i2c wires on the main pcb.
Also you may use three wires (additional ground twisted) for the i2c wires.
Sometimes the main  electrolyte capacitors on the Mikrocopter controller  are defect.


Piotr Esden-Tempski schrieb:

One Idea about Lisa/L, you could try to make the i2c pullups stronger. (lower resistance) That may help with the MK controllers. The best thing to investigate this problem may be to use an oscilloscope and check the quality of the i2c signal coming out of lis/l vs. lisa/m.

Cheers Esden

Transition Robotics Inc.
the makers of the Quadshot
Co-Founder, Embedded systems Engineer
Mobile: +1 831 440 7454
Skype: esdentem

On Jan 27, 2012, at 5:32 PM, Felix Ruess wrote:


better late than never...
This could possibly be an i2c issue, maybe something else (as well?)
... or did you find out more already?

Regarding issue 2): is the whole lisa resetting, or just the motor
controllers? If the whole lisa is resetting it might be a power issue.

Issue 3) could very well be an i2c issue, I have experienced similar
things where it got stuck in an i2c interrupt routine with the current
i2c driver on the stm32.

See for the current
status on the new i2c driver..

Cheers, Felix

On Wed, Jan 4, 2012 at 1:37 AM, Simon Wilks <address@hidden> wrote:
Good new/bad news.

First the bad:
After looking through the i2c_arch.c code and trying out a lower clock rate
on the I2C2 bus (Aspirin) it seemed to run longer until an issue popped up
but I would need to test more before I could be sure of this. I started
adding some code to indicate i2c errors using the LEDs but haven't finished
that yet. I still have the feeling that this is somehow related to the
Aspirin as unplugging it stops the failure occurring.

And now for the good:
I now have solved the problem a different way...kinda. Today the Lisa/M I
ordered arrived (I didn't get it because of this) and I have set it up and
connected it and it is running smoothly since about 15 minutes now without
the slightest issue! So this is clearly something Lisa/L related. The only
difference at the moment is that I don't have the GPS and XBee connected but
I tried the Lisa/L out without these too with no change.

So why is this? I would like to get the Lisa/L going but will settle for the



On Mon, Jan 2, 2012 at 8:37 PM, Simon Wilks <address@hidden> wrote:
When the motors are idling (they are drawing around 1A) if something goes
wrong everything resets. If leave them running with more throttle (drawing
2A) the motors will hiccup but everything keeps working! Still not good, but
maybe a hint. Still digging...

On Mon, Jan 2, 2012 at 4:42 PM, Simon Wilks <address@hidden> wrote:
On Jan 2, 2012 4:13 PM, "Eduardo lavratti" <address@hidden> wrote:
Simon, i am not sure but i think the ESC use I2C1_bus and
sensors(aspirin / baro) use I2C2_bus.

Soo, the i2c queue for motor not use the same queue as sensors.
I not have any schematics here to confirm this question.
It's just odd that when it's connected things screw up so fast. It could
of course be something else though. The power distribution board was
preassembled but it still could be something there.
I remember that my lisa hang too on the first tests.
The problem occour because the 5v regulator work very HOT with 12v.
When i put a 7v regulator on V_in the problem are solved.
OK. Worth a try. I am testing with a lab supply and I can try a lower
voltage... or with a BEC.

I not know anything about LISA/L board. This is my next aquisition if
lisa/m past on my tests .


Date: Mon, 2 Jan 2012 14:58:41 +0100
From: address@hidden
To: address@hidden
Subject: [Paparazzi-devel] Lisa/L Octocopter with MMK Power Board
Reseting Intermittently

What I have noticed so far:

1) Momentary Failure on All Motors
There will be a clicking sound, coming from no one particular motor and
the LED strips flash off and on very quickly and all continues normally. You
can see this happening in this video.

2) Reset
All idling motors stop as what appears to be a reset is issued on all
controllers (Lisa/L LED activity changes as well). This usually happens
within about 30-60 secs of arming the motors, but not always.

3) Lisa/L Freezes
If I leave the motors running idle eventually all motors shutdown and
the Lisa/L freezes, ie: LED 2 and 3 remain on and there is no more activity
in the GCS/Messages. Only a power cycle will fix this.

What is interesting so far is that only 1) and 2) above happen when the
Aspirin IMU (v1.5) is connected. If I disconnect the IMU then I have only
noticed 3) happen once so far after about one hour testing. I tried a second
Aspirin and nothing changed. To make sure this was not because the motors
were all running at a constant speed seeing the IMU was not picking up small
movements I moved the roll/pitch controls without an issue.

Is this an I2C issue? It seems like it could be the Lisa/L freaking
out. Perhaps too much is happening on the bus with 8 motors plus the IMU?

I currently have I2C_TRANSACTION_QUEUE_LEN = 16.

I will do more testing later in the day.


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