Difference between revisions of "AnkleHardwareSpec2007Sep"
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=State Machine Controller= | =State Machine Controller= | ||
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* 25.2V max supply voltage | * 25.2V max supply voltage | ||
− | * precision supply voltage monitor (1% | + | * precision supply voltage monitor (better that 1% accurate battery voltage measurement) |
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− | == | + | ==Off board interfaces== |
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− | == | + | ===Switch Input=== |
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* external logic switch input for mode control | * external logic switch input for mode control | ||
+ | ===External communication and ISP=== | ||
+ | * 1Mbaud MAX RS-232 level ASYNC serial with power | ||
+ | * Want the abiltiy to support a varitify devices, including wired RS232, Bluetooth, and 802.11 | ||
+ | * signals GND, Tx, Rx, 3.3V, Vbat (0.25amp resettable fuse) | ||
+ | * Might want this header to have ISP signals, PGC, PGD, MCLR | ||
+ | ===Motor controller interface=== | ||
+ | * Bring battery power from motor controller | ||
+ | * TTL level ASYNC serial between master and motor controller CPUs (1Mbaud max) | ||
+ | * Signals: BAT+, GND, TX, Rx, DigOut, DigIn | ||
+ | * Use board to board stacking ??? | ||
+ | * Motor controller ISP signals??? (PGC, PGD, MCLR) | ||
+ | ===Ankle Angle ??? === | ||
+ | * 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=== | ||
+ | * 4 analog inputs to CPU, DC to 500 Hz analog bandwidth | ||
+ | * 1 x 10k thermo resistor (requires opamp follower), AGND and signal | ||
+ | * 2 x strain gauge bridges (high gain INA326), AGND, SG+, SG-, bridge reference | ||
+ | * SG bridge reference voltage through 0.1% resistance from AVCC5 | ||
+ | * 1 x analog input for SEA hall sensor board (no voltage or current amp required) : 3.3V, AGND, signal | ||
+ | ==On board sensors== | ||
+ | ===Ambient Temperature=== | ||
+ | * Place very close to XY axis IMU | ||
+ | * 10K SMT with opamp follower | ||
+ | ===IMU=== | ||
+ | * One SPI device, and (upto) 3 analog rate gyro signals | ||
+ | * 3axis (SPI) accelerometer [http://www.sparkfun.com/commerce/product_info.php?products_id=753 LIS3LV02DQ] | ||
+ | * 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] | ||
+ | * Note: XY is in circuit board plane, Z axis is normal to circuit board plane | ||
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=Motor Controller= | =Motor Controller= | ||
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* 5V quadrature with index (single ended) | * 5V quadrature with index (single ended) | ||
* mix of logic and async serial : Gnd, Tx, Rx, Fault | * mix of logic and async serial : Gnd, Tx, Rx, Fault | ||
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+ | ===Supply (battery) monitor=== | ||
+ | * better than 1% accurate monitor of supply voltage | ||
+ | * supply current monitor | ||
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==software== | ==software== |
Revision as of 14:25, 7 September 2007
State Machine Controller
- 25.2V max supply voltage
- precision supply voltage monitor (better that 1% accurate battery voltage measurement)
Off board interfaces
Switch Input
- external logic switch input for mode control
External communication and ISP
- 1Mbaud MAX RS-232 level ASYNC serial with power
- Want the abiltiy to support a varitify devices, including wired RS232, Bluetooth, and 802.11
- signals GND, Tx, Rx, 3.3V, Vbat (0.25amp resettable fuse)
- Might want this header to have ISP signals, PGC, PGD, MCLR
Motor controller interface
- Bring battery power from motor controller
- TTL level ASYNC serial between master and motor controller CPUs (1Mbaud max)
- Signals: BAT+, GND, TX, Rx, DigOut, DigIn
- Use board to board stacking ???
- Motor controller ISP signals??? (PGC, PGD, MCLR)
Ankle Angle ???
- 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
- 4 analog inputs to CPU, DC to 500 Hz analog bandwidth
- 1 x 10k thermo resistor (requires opamp follower), AGND and signal
- 2 x strain gauge bridges (high gain INA326), AGND, SG+, SG-, bridge reference
- SG bridge reference voltage through 0.1% resistance from AVCC5
- 1 x analog input for SEA hall sensor board (no voltage or current amp required) : 3.3V, AGND, signal
On board sensors
Ambient Temperature
- Place very close to XY axis IMU
- 10K SMT with opamp follower
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
=
Motor Controller
- support for Maxon EC30-48V [305015] with 500 CNT MR ENCODER [225778] (L=65.3uH, R=386mohm, SpeedConst=346 rpm/volt, TorqueConst=27.6mNm/A, max RPM = 7500)
- 25.38V abs max supply voltage
- suggested design using 30V MOSFETs, 35V bulk caps, and 35V DC-DC converter
- short motor leads when primary power absent
- 2 phase current sensors (ACS712-20amp, 1.2mohm)
external connectors
- motor temperature (10k thermoresistor)
- ambient temperature (10k thermo)
- 5V quadrature with index (single ended)
- mix of logic and async serial : Gnd, Tx, Rx, Fault
Supply (battery) monitor
- better than 1% accurate monitor of supply voltage
- supply current monitor
software
- master will periodically send ASCII commands to command current and mode
- controller will respond with status (encoder position, supply voltage, actual current, temperatures)
io count
AD
- 2 for motor current
- 1 for battery current
- 1 for supply voltage
- 1 or 2 for temperature
- 1 for 5V supply monitor
digital
- 6 PWM output
- 1 or 2 fault inputs
- 2 ASYNC in/out
- 3 for ISP
- 3 for encoder
- 3 for motor hall pos sensor
- 2 for LEDs
Mechanical
- dimensions