Difference between revisions of "AnkleHardwareSpec2007Sep"
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=== Sensor Power=== | === Sensor Power=== | ||
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− | * | + | * EC30 MR-ENC 15.5mA @ 5V 77.5mW |
− | * | + | * EC30 HALL SEN 10.6mA @ 5V 53mW |
− | |||
− | * ADIS16006 1.5-1.9 @ 3-5V | + | * IDG300 9.5mA @ 3.3V 31.mW |
− | * LIS3LV02DQ .6-.8 @ 2.2-3.3V < 2.6mW | + | * ADXRS300 6-8mA @ 5V 35mW |
− | * ankle angle pot | + | * ADIS16100 7-9mA @ 5V 40mW |
+ | |||
+ | * ADIS16006 1.5-1.9 @ 3-5V 5 mW | ||
+ | * LIS3LV02DQ .6-.8 @ 2.2-3.3V < 2.6mW | ||
+ | * ankle angle pot 0.1-1mW | ||
==software== | ==software== |
Revision as of 00:18, 14 September 2007
Contents
State Machine (Master) Controller
- 25.38V max supply voltage (6 cell LiPoly)
- IIC EEPROM for controller parameters (24LCxx)
Off board interfaces
Switch Input
- external logic switch input for mode control
External Serial Communication and ISP
- Ability to support a variety of attached serial devices: wired RS-232, Bluetooth, 802.11, and ISP.
- 1Mbaud (max) RS-232 level ASYNC serial (Tx, Rx, RTS, CTS) :
- Power for external devices: 5V and Vbat (with 0.25amp self resettable fuse)
- ISP signals (PGC, PGD, MCLR) for external ISP
- signals: Vbat, Vcc5, GND, Tx, Rx, RTS, CTS, PGC, PGD, MCLR
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
- logic level input for motor controller alert status
- (Vbat) battery power from motor controller
- sense path to battery for voltage monitoring
- ??? board to board stacking connector (more reliable that wires)
Ankle Angle Sensor
- 5 pin header with digital signals
- quadrature encoder (5V single ended) [GND, 5V, ChA, ChB, NDX to dsPIC QEI inputs]
- or magnetic rotary encoder (such as AS5045 family) [GND, 3.3V, PWM to dsPIC IC timer]
Strain, SEA, Motor Temp, Supply current, Ankle Ankle
- 5 analog inputs to CPU, DC to 500 Hz analog bandwidth
- 1 x 10k(or more) thermo resistor (requires opamp follower) : AGND and signal
- 2 x strain gauge bridges (340 or 1k ohm) to high gain INA326 : AGND, SG+, SG-, bridge reference
- SG bridge reference voltage through 0.1% resistance (1k to reduce bridge current) ideally from AVCC3.3 (ADC reference) or from AVCC5
- 1 x analog input for SEA hall sensor board (no voltage or current amp required) : 3.3V, AGND, signal
- 1 x analog input for ankle angle (10k-100k) potentiometer (higher bandwidth for fast power cycling)
Vibrator Motor and Piezo
- 4 pin header
- ability to turn on/off pager motor (3.3V)
- ability to drive miniature piezo (from PWM or OC)
On board sensors
Ambient Temperature
- Thermo resistor (>=10k) with opamp follower placed very close to XY axis IMU
Supply Voltage Monitor
- (better than) 1% accurate measurement of battery voltage (prevent over-voltage during regeneration)
IMU
- One SPI device, and (upto) 3 analog rate gyro signals
- 3axis (SPI) accelerometer LIS3LV02DQ
- Z axis rate gyro ADXRS300 (analog) or ADIS16100 (digital)
- XY axis (analog) rate gyro IDG300
- Note: XY is in circuit board plane, Z axis is normal to 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 - SN75C3223)
- Control of supply to internal sensors : ambient temperature, IMUs
- Control of supply to external sensors : ankle angle, SG, SEA, motor temperature
Sensor Power
- EC30 MR-ENC 15.5mA @ 5V 77.5mW
- EC30 HALL SEN 10.6mA @ 5V 53mW
- IDG300 9.5mA @ 3.3V 31.mW
- ADXRS300 6-8mA @ 5V 35mW
- ADIS16100 7-9mA @ 5V 40mW
- ADIS16006 1.5-1.9 @ 3-5V 5 mW
- LIS3LV02DQ .6-.8 @ 2.2-3.3V < 2.6mW
- ankle angle pot 0.1-1mW
software
- ability to reprogram controller over ASYNC serial
- 2 DMA controllers run the two ADC units at 12 bits, 400 KHz total sample rate
- Input capture measures PWM period of magnetic rotary encoder / QEI captures encoder position
- DMA controller sends/receives SPI to digital accelerometer
- Main code loop runs at 500 Hz
- decimation of analog inputs
- reads ankle position
- reads IMU, estimates orientation
- reads motor controller status (motor current, motor position, status)
- processes external communication interface