Gumstix
From DIDEAS Wiki
- 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
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