Difference between revisions of "Gumstix"
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| + | *{{T_lab_topnav}} | ||
| + | *{{T_lab_pca}} | ||
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=long term goals= | =long term goals= | ||
*real time control of robot prosthetic | *real time control of robot prosthetic | ||
**reads sensors (some directly connected, some accessible from other processors - eg ASYNC serial) | **reads sensors (some directly connected, some accessible from other processors - eg ASYNC serial) | ||
| − | **statemachine isolated from the over all complexity of the system | + | **robot control statemachine isolated from the over all complexity of the (linux / gumstix) system |
**real time telemetry (plotting, datalogging) | **real time telemetry (plotting, datalogging) | ||
**real time adjustment of parameters. | **real time adjustment of parameters. | ||
| Line 9: | Line 12: | ||
*VMWARE build environment (w/samba share, ssh server, and gui?) | *VMWARE build environment (w/samba share, ssh server, and gui?) | ||
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=short term projects= | =short term projects= | ||
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**associate with first AP in an ordered list | **associate with first AP in an ordered list | ||
**will need PCB with buck converter, ASYNC serial interface to robot (using non-standard baud rates) | **will need PCB with buck converter, ASYNC serial interface to robot (using non-standard baud rates) | ||
| + | **figure out how to send and receive data over the gumstix [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus SPI interface] | ||
| + | **develop driver for the [http://ics.nxp.com/products/sc16/datasheet/sc16is752.sc16is762.pdf SC16IS762] SPI dual uart | ||
| + | **develop gumstix - robot interface hardware | ||
| + | ***use lab standard power and data connectors to interface with gumstix | ||
| + | ***battery voltage to 3.3/5V buch converter to power gumstix | ||
| + | ***2 - 6 UARTs (w/non-standard high speed baudrates) to interface gumstix to multiple robotic prosthetic | ||
| + | ***assorted IOs such as high res ADC, DAC, PWM, and QEI interface | ||
| + | |||
| + | =purchase= | ||
| + | *[[https://www.gumstix.com/store/catalog/account_history_info.php?order_id=17818]] | ||
Latest revision as of 16:48, 16 July 2010
- BiomechDocs BL Knee PFresearchE
- Biomech Documentation links:
- AKCPU2z BLMD6c BLFT6c PSER1c Imu_2010 Emg_2009 Ric Upd_pcb
long term goals
- real time control of robot prosthetic
- reads sensors (some directly connected, some accessible from other processors - eg ASYNC serial)
- robot control statemachine isolated from the over all complexity of the (linux / gumstix) system
- real time telemetry (plotting, datalogging)
- real time adjustment of parameters.
- import C code generated from matlab / simulink to run statemachine
- VMWARE build environment (w/samba share, ssh server, and gui?)
short term projects
- use Overo as an ASYNC serial to TCP bridge (replace WiPort)
- allow for multiple TCP sessions?
- associate with first AP in an ordered list
- will need PCB with buck converter, ASYNC serial interface to robot (using non-standard baud rates)
- figure out how to send and receive data over the gumstix SPI interface
- develop driver for the SC16IS762 SPI dual uart
- develop gumstix - robot interface hardware
- use lab standard power and data connectors to interface with gumstix
- battery voltage to 3.3/5V buch converter to power gumstix
- 2 - 6 UARTs (w/non-standard high speed baudrates) to interface gumstix to multiple robotic prosthetic
- assorted IOs such as high res ADC, DAC, PWM, and QEI interface
purchase
- [[1]]
