P32 paper project

• BiomechDocs BL Knee PFresearchE
• Biomech Documentation links:
• AKCPU2z BLMD6c BLFT6c PSER1c Imu_2010 Emg_2009 Ric Upd_pcb

• kknee1 knee2 P32_paper_project Pic32

• Wireless Radio (WIP2b)

• Microchip Tools For Coding, Programming

• Using the Powerfoot (Pf_users)

• Biomech Manual

Edit

Telemetry access (PSW1, PSW2)

with SWIFI

• wifi_fast.py -i bmech4 -V ak_p32 -f xx -F
• bmech4 is access point, with lan ip 10.2.0.251, uses DMZ to route traffic.
• A 4 wire cable with pins 2,3 swapped is connected from PSW1 to the SWIFI port labeled M
• This interface is NOT isolated and can power the SWIFI

with PSER2h

• PSW1 and PSW2 are not isolated, but also do NOT provide 3.3V. The PSER2h is isolated and needs 3.3V to power the isolator. Thus it may not be possible to connect to the PSER2h without modifications

SWIFI LAN IPs

• S5 = 10.2.0.218
• S3 = 10.2.0.216

firmware architecture

P32 user level

• The state controller operates in a mid priority level thread. This means that it will interrupt lower priority threads. Before and after calling the statemachine other actions are performed:

1. Receive and decode the 'dataport' message from the robot
2. Populate the remote sensors objects from the DP message
3. Calls the user statemachine (which can send a command to the robot)
4. Sends the dataport message.

• This mid priority level thead

• The main loop is used as a background thread. At present its doing printf and actually calls ms_delay(100)!

system level

• Upon power on:

P32

1. the P32 waits for the robot MC to signal "boot success";
2. after which it takes control of the MC and command current mode
3. then starts calling the user statemachine

MC

1. waits for commands either from the SC or the P32

SC

1. monitors sensors and commands MCs to commutate and retries if necessary
2. on success, enters an idle state (and remains there)

todo

1. thread safe / mappable printf
2. mappable getchar
3. add command timeouts in MC firmware;
4. make sure SC boots MC and then enters idle state
5. DMA to RX robot dataport
6. DMA to TX SWIFI dataport
7. DMA to read ADCs