Todo

Upd_pcb ceb_log

• http://www.chdist.com/displayproductdetail.do?itemGroupOID=309&baseItemOID=500
• http://www.chdist.com/displayproductdetail.do?itemGroupOID=306&baseItemOID=495&skuSearch=Y

6-26-09 todo

• SC ability to measure all the ADC signals
• add calibration tables.
• add force fields.

before next track test

• create a command that has a single parameter to specify the type of code to run
  • wake into mode 0, sensors are operational (for test jig)
  • wake into mode 0, but also do commutation (for test jig where ankle will be driven.)
  • wake into walking mode, with impulse current = 0
  • wake into walking mode, using EEPROM defaults, but impulse current = 0
  • wake into walking mode, using EEPROM defaults, with impulse current
  • DEMO mode : using EEPROM defaults, relaxed enabled, full impulse current
  • ability to specify which EEPROM table is the default.

• ability to read out the SG offset log - seems to have an issue...
• DONE : use CRC with WIFI_FAST
• MORE WORK : load / save walking parameters
• IS USED FOR HALL SENSOR : use calibration table
• TODO : use motor current offset.
• VERIFY : use force fields
• TODO : glue down hall sensor.

statemachine

• detech motor faults - just to holding state.
• overload warning - detect and servo to safe position.
• integrate in the EEPROM code.
• VERIFY : during swing issue a test current into the motor to measure it's resistance (store somewhere)
• statemachine - look at MC offset, if there is much disagreement with defaults then signal error
• statemachine - log SG offsets
• 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.
• capture initial SG offset into EEPROM
• capture SG offset during swing into EEPROM

old

• debug power board failures.
• design file format for USB flash drive
• write code for USB flash drive
• this seems to work - ability to switch between Wifi and BT - in progress
• 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

4 layer

• re-spin motor and state controllers? Knee PCB?
• send out PSER1D and other boards in 4layer nice.
• WIFI w/2Meg RAM
• electronic fuse, ballancer, ON/OFF switch - battery pack less the charger.

• FUP flash drive datalogger.

• 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

• 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