Todo

CEB todo

• design file format for USB flash drive
• write code for USB flash drive
• during swing issue a test current into the motor to measure it's resistance (store somewhere)
• capture initial SG offset into EEPROM
• capture SG offset during swing into EEPROM

• is using some now : statemachine is not using feature bits.
• think this is done : want statemachine to use getdata for sensors instead of extended torque
• this seems to work - ability to switch between Wifi and BT - in progress
• hall angle - works on MC, not on SC due to modified ADC scan method by charlie; added support to get_data4
• incorporate bridge fault. test - needs to be tested

• digikey order for 812a
• pcb submission for VNC

• MC overflow fix.
• get IMU working
• verify does the ankle work.

• add thermal model for motor and ACS712 to state controller
• code to make sure the motor is moving correctly when reseting the encoder.
• learn to use the EEPROM. log SG torque at boot, and during each step.
• make high power bench code ???
• verify fuses - run high power test on bench with a fuse. (5 ohms should be good)
• Why does statemachine-test not return ADC values?

PCB IW812a

• encoder breakout
• current sensor - isense1 (unipolar)
• faux SG board
• sg breakouts x 4
• pser1d - udp compat pser
• fup1 - gender changer

PCB todo

• isense bipolar
• WIFI w/2Meg RAM
• FUP flash drive datalogger.
• electronic fuse
• if needed - FUP datalogger w/Wifi / BT and 2meg ram
• motor voltage circuit
• In VNC1 : change 3.3V regulator to MCP1700, 3.3V  ; 2.2M resistor to 2.0Meg; voltage and resistor for the LT3470 regulator

old

• verify thermal models Thermal data
• build ankle
  • test strain gauges
  • get ankle state machine running

• need a way to verify that TVS is operational. need to see what effect T has on TVS voltage.

• MC code improvement
  • verify Q15 operation of code on MC
  • MC feedforward.
  • motor controller safety and thermal model for motor and FETs - needs to stop motor....
  • motor commands needs to allow readback of selected sensor (so we can cycle through lots of sensors)

• current measurement PCB (with Y voltage measure)
• encoder breakout boards
• SG breakout boards
• new WIFI wireless

Robert Todo

1. install hall ankle magnet into all ankles that we use.

old

1. Order LTC switching regulators - if not done already
2. Build Vclamp8 with NEW PFET and 35w resistor
3. Ship 1 Vclamp8 to UPD
4. When U39 is removed - save and send to Linear Tech for failure analysis
5. Verify operation of RE40 encoder new motor test stand. Appears to not be working
6. Rewire 8-cell A123 battery pack to 7cell.
7. programming cable in PCB repair box is bad.