Difference between revisions of "AnkleHardwareSpec2007Sep"
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− | + | *[[AnkleSoftwareSpec2007Sep]] | |
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+ | =State Machine (Master) Controller= | ||
+ | * 25.38V max supply voltage (6 cell LiPoly, estimated Rs of 100mohm), 16.5V min input when motor operational, electronics should remain operational to 15V | ||
+ | * IIC EEPROM for controller parameters (RECMD: 24LCxx) | ||
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===Switch Input=== | ===Switch Input=== | ||
− | * | + | * externally mounted switch (logic levels) input for mode control |
− | ===External | + | ===External ASYNC Serial Communication and ISP=== |
− | * | + | * Ability to support a variety of attached serial devices (with external converter): eg wired RS-232, Bluetooth, USB, 802.11, and ISP. |
− | + | * 1Mbaud (max) RS-232 level ASYNC serial (Tx, Rx, RTS, CTS) : | |
− | * | + | * Power for external devices: 5V and Vbat (with 0.20amp self resettable fuse) |
− | * | + | * ISP signals (PGC, PGD, MCLR) for external ISP |
+ | * signals: Vbat, Vcc5, GND, Tx, Rx, RTS, CTS, PGC, PGD, MCLR -- try to keep same pinout as on original | ||
+ | * also include standard debug header, if room permits | ||
− | ===Motor | + | === Power / Data to Motor Controller === |
− | * | + | * logic level ASYNC 2-wire serial between SM and motor controller CPUs |
− | + | * logic level output to motor controller fault pin to disable PWM (short motor leads?) | |
− | * | + | * logic level input for motor controller alert status |
− | * | + | * (Vbat) battery power from motor controller |
− | * | + | * ??? sense path to battery for voltage monitoring; sense differentially using 2 inputs to ensure accurate reading |
+ | * ??? board to board stacking connector (more reliable that wires) | ||
− | === | + | ===Strain, SEA, Motor Temp, Supply current === |
− | * | + | * 5 analog inputs to CPU, analog bandwidth DC to 500 Hz, 12-bit ADC (sequential) |
− | * | + | * 2 x 10k(or more) thermo resistor (requires opamp follower) for IMU temperatures : AGND and signal |
+ | * 2 x strain gauge bridges (340 or 1k ohm) to high gain (RECMD) INA326 : AGND, SG+, SG-, bridge reference | ||
+ | * 1 x analog input for SEA hall sensor board (discuss type of input) HMC1501: 3.3V, AGND, signal, signal2? | ||
+ | ** SG bridge reference voltage through 0.1% resistance (1k to reduce bridge current) ideally from AVCC3.3 (ADC reference) or from AVCC5 | ||
− | === | + | ===Pager Motor=== |
− | * | + | * 3 pin header |
− | * | + | * ability to turn on/off pager motor (3.3V) |
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==On board sensors== | ==On board sensors== | ||
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===Ambient Temperature=== | ===Ambient Temperature=== | ||
− | * | + | * Thermo resistor (>=10k) with opamp follower placed very close to IMU ICs (or epoxied to each of them) |
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===Supply Voltage Monitor=== | ===Supply Voltage Monitor=== | ||
− | * 1% accurate | + | * (better than) 1% accurate measurement of battery voltage (prevent over-voltage during regeneration) |
===IMU=== | ===IMU=== | ||
− | * | + | * 3 DOF accelerometer, 2 DOF rate gyros (in PCB plane) |
+ | * 3-axis (SPI) accelerometer [http://www.sparkfun.com/commerce/product_info.php?products_id=753 RECMD LIS3LV02DQ] | ||
+ | ** this sensor will be (nearly) always powered and used to wake the processor | ||
− | + | <strike> | |
* Z axis rate gyro [http://www.sparkfun.com/commerce/product_info.php?products_id=7920 ADXRS300 (analog)] or ADIS16100 (digital) | * Z axis rate gyro [http://www.sparkfun.com/commerce/product_info.php?products_id=7920 ADXRS300 (analog)] or ADIS16100 (digital) | ||
− | * XY axis (analog) rate gyro [http://www.sparkfun.com/commerce/product_info.php?products_id=700 IDG300] | + | </strike> |
− | * Note: XY is in | + | * XY axis (analog) rate gyro [http://www.sparkfun.com/commerce/product_info.php?products_id=700 RECMD IDG300] |
+ | ** Note: XY is in circuit board plane | ||
+ | ===AVCC5 monitor=== | ||
+ | * If SG bridge is powered from AVCC5 then we need to measure AVCC5/2, and SG bridge offsets depend on AVCC5 | ||
− | == | + | ===LEDs=== |
− | * 2 | + | *2 LEDs mounted so as to be externally visible |
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+ | ==Low Power Support== | ||
+ | * Design for overall low power | ||
+ | * Target for sleep power of 5mW (0.12WHr/day - from VBAT), processor is sleeping. | ||
+ | * RS232 output interface disable (Rx still active - eg SN75C3223 - although baud rate may change to due primary clock sleep) | ||
+ | * Control of supply to internal sensors : ambient temperature, IMUs | ||
+ | * Control of supply to external sensors : SG, SEA, motor temperature | ||
+ | === Sensor Power=== | ||
− | + | * EC30 MR-ENC 15.5mA @ 5V : 77.5mW | |
− | * | + | * EC30 HALL SEN 10.6mA @ 5V : 53mW |
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+ | * SG : 73mW(340ohm/5V), 10mW (1k/3.3V), 2.7mW(1k/1.6V) | ||
− | + | * IDG300 9.5mA @ 3.3V : 31.mW | |
− | + | * ADXRS300 6-8mA @ 5V : 35mW | |
− | * | + | * ADIS16100 7-9mA @ 5V : 40mW |
− | * | ||
− | *1 | + | * ADIS16006 1.5-1.9mA @ 3-5V : 5 mW |
− | *1 | + | ** has 1mA power down mode. 20mS wake up |
− | * | + | ** sensitivity : 0.03%/C, 0.1lsb (1:20000) +-3% cross axis |
− | *1 | + | * LIS3LV02DQ 0.6-0.8 @ 2.2-3.3V : < 2.6mW |
+ | ** programmable sleep mode with <10uA supply current | ||
+ | ** has programmable acceleration alarms to wake CPU | ||
+ | ** sensitivity : 0.025%/C, 0.2mg/C (1:10000 / C), +-3.5% cross axis | ||
− | + | * ankle angle pot : 0.1-1mW | |
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− | + | * Power supply (LT3470) efficiency 70%>5mA, 60%@1mA, 35%@0.1mA, (0.6mW from Vbat when LT3470 enabled and unloaded) | |
− | * |
Latest revision as of 20:14, 18 September 2007
Contents
State Machine (Master) Controller
- 25.38V max supply voltage (6 cell LiPoly, estimated Rs of 100mohm), 16.5V min input when motor operational, electronics should remain operational to 15V
- IIC EEPROM for controller parameters (RECMD: 24LCxx)
Off board interfaces
Switch Input
- externally mounted switch (logic levels) input for mode control
External ASYNC Serial Communication and ISP
- Ability to support a variety of attached serial devices (with external converter): eg wired RS-232, Bluetooth, USB, 802.11, and ISP.
- 1Mbaud (max) RS-232 level ASYNC serial (Tx, Rx, RTS, CTS) :
- Power for external devices: 5V and Vbat (with 0.20amp self resettable fuse)
- ISP signals (PGC, PGD, MCLR) for external ISP
- signals: Vbat, Vcc5, GND, Tx, Rx, RTS, CTS, PGC, PGD, MCLR -- try to keep same pinout as on original
- also include standard debug header, if room permits
Power / Data to Motor Controller
- logic level ASYNC 2-wire serial between SM and motor controller CPUs
- logic level output to motor controller fault pin to disable PWM (short motor leads?)
- logic level input for motor controller alert status
- (Vbat) battery power from motor controller
- ??? sense path to battery for voltage monitoring; sense differentially using 2 inputs to ensure accurate reading
- ??? board to board stacking connector (more reliable that wires)
Strain, SEA, Motor Temp, Supply current
- 5 analog inputs to CPU, analog bandwidth DC to 500 Hz, 12-bit ADC (sequential)
- 2 x 10k(or more) thermo resistor (requires opamp follower) for IMU temperatures : AGND and signal
- 2 x strain gauge bridges (340 or 1k ohm) to high gain (RECMD) INA326 : AGND, SG+, SG-, bridge reference
- 1 x analog input for SEA hall sensor board (discuss type of input) HMC1501: 3.3V, AGND, signal, signal2?
- SG bridge reference voltage through 0.1% resistance (1k to reduce bridge current) ideally from AVCC3.3 (ADC reference) or from AVCC5
Pager Motor
- 3 pin header
- ability to turn on/off pager motor (3.3V)
On board sensors
Ambient Temperature
- Thermo resistor (>=10k) with opamp follower placed very close to IMU ICs (or epoxied to each of them)
Supply Voltage Monitor
- (better than) 1% accurate measurement of battery voltage (prevent over-voltage during regeneration)
IMU
- 3 DOF accelerometer, 2 DOF rate gyros (in PCB plane)
- 3-axis (SPI) accelerometer RECMD LIS3LV02DQ
- this sensor will be (nearly) always powered and used to wake the processor
- Z axis rate gyro ADXRS300 (analog) or ADIS16100 (digital)
- XY axis (analog) rate gyro RECMD IDG300
- Note: XY is in circuit board plane
AVCC5 monitor
- If SG bridge is powered from AVCC5 then we need to measure AVCC5/2, and SG bridge offsets depend on AVCC5
LEDs
- 2 LEDs mounted so as to be externally visible
Low Power Support
- Design for overall low power
- Target for sleep power of 5mW (0.12WHr/day - from VBAT), processor is sleeping.
- RS232 output interface disable (Rx still active - eg SN75C3223 - although baud rate may change to due primary clock sleep)
- Control of supply to internal sensors : ambient temperature, IMUs
- Control of supply to external sensors : SG, SEA, motor temperature
Sensor Power
- EC30 MR-ENC 15.5mA @ 5V : 77.5mW
- EC30 HALL SEN 10.6mA @ 5V : 53mW
- SG : 73mW(340ohm/5V), 10mW (1k/3.3V), 2.7mW(1k/1.6V)
- IDG300 9.5mA @ 3.3V : 31.mW
- ADXRS300 6-8mA @ 5V : 35mW
- ADIS16100 7-9mA @ 5V : 40mW
- ADIS16006 1.5-1.9mA @ 3-5V : 5 mW
- has 1mA power down mode. 20mS wake up
- sensitivity : 0.03%/C, 0.1lsb (1:20000) +-3% cross axis
- LIS3LV02DQ 0.6-0.8 @ 2.2-3.3V : < 2.6mW
- programmable sleep mode with <10uA supply current
- has programmable acceleration alarms to wake CPU
- sensitivity : 0.025%/C, 0.2mg/C (1:10000 / C), +-3.5% cross axis
- ankle angle pot : 0.1-1mW
- Power supply (LT3470) efficiency 70%>5mA, 60%@1mA, 35%@0.1mA, (0.6mW from Vbat when LT3470 enabled and unloaded)