Difference between revisions of "AnkleHardwareSpec2007Sep"
From DIDEAS Wiki
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| − | = | + | =Master (state machine) Controller= |
* 25.2V max supply voltage | * 25.2V max supply voltage | ||
| − | + | ||
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* or magnetic rotary encoder (such as AS5045 family) [GND, 3.3V, PWM to dsPIC IC timer] | * or magnetic rotary encoder (such as AS5045 family) [GND, 3.3V, PWM to dsPIC IC timer] | ||
| − | ===Strain, SEA, Motor Temp=== | + | ===Strain, SEA, Motor Temp, Supply current=== |
* 4 analog inputs to CPU, DC to 500 Hz analog bandwidth | * 4 analog inputs to CPU, DC to 500 Hz analog bandwidth | ||
* 1 x 10k thermo resistor (requires opamp follower), AGND and signal | * 1 x 10k thermo resistor (requires opamp follower), AGND and signal | ||
| Line 41: | Line 42: | ||
* 10K SMT with opamp follower | * 10K SMT with opamp follower | ||
| + | ===Supply Voltage Monitor=== | ||
| + | * 1% accurate | ||
===IMU=== | ===IMU=== | ||
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| − | + | ||
| − | |||
=Motor Controller= | =Motor Controller= | ||
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| − | == | + | ==Off board interfaces== |
| − | |||
=== Motor position sensor=== | === Motor position sensor=== | ||
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* "direct" connection to Bat+ | * "direct" connection to Bat+ | ||
| − | |||
| − | |||
| − | |||
| + | ==On board sensors== | ||
| + | * 2 current sensors | ||
==software== | ==software== | ||
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===AD=== | ===AD=== | ||
*2 for motor current | *2 for motor current | ||
| + | *1 for 5V supply monitor | ||
| + | |||
*1 for battery current | *1 for battery current | ||
*1 for supply voltage | *1 for supply voltage | ||
| Line 110: | Line 112: | ||
*1 for 5V supply monitor | *1 for 5V supply monitor | ||
| − | ===digital=== | + | ===digital (21 max) === |
*6 PWM output | *6 PWM output | ||
| − | * | + | *2 fault IOs |
| − | *2 ASYNC | + | *2 ASYNC serial |
*3 for ISP | *3 for ISP | ||
*3 for encoder | *3 for encoder | ||
| − | *3 for motor hall | + | *3 for motor hall position sensor |
*2 for LEDs | *2 for LEDs | ||
= Mechanical = | = Mechanical = | ||
* dimensions | * dimensions | ||
Revision as of 15:12, 7 September 2007
Master (state machine) Controller
- 25.2V max supply voltage
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, Supply current
- 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
Supply Voltage Monitor
- 1% accurate
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
software
- 2 DMA controllers run the two ADC units at 12 bits, 400 KHz total sample rate
- Input capture measures PWM period of magnetic rotory 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, calculates orientation
- reads motor controller status (motor current, supply current / voltage, motor position, status)
- processes external communication interface
Motor Controller
- support for Maxon EC30-48V [305015] with 500 CNT MR ENCODER [225778]
- EC30-48V specs : L=65.3uH, R=386mohm, SpeedConst=346 rpm/volt, TorqueConst=27.6mNm/A
- Required maximum RPM : 7500
- 25.38V abs max supply voltage
- suggested design using 30V MOSFETs, 35V bulk caps, and 35V DC-DC converter
- 2 phase current sensors (ACS712-20amp, 1.2mohm)
- Ability to (permanently) short motor leads when primary power absent or if some sort of system failure
Off board interfaces
Motor position sensor
- 5V quadrature with index (single ended)
- hall effect sensor
power / data to master controller
- ASYNC serial to UART
- TTL input to dsPIC fault pin to disable PWM
- TTL output for status
- "direct" connection to Bat+
On board sensors
- 2 current sensors
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 5V supply monitor
- 1 for battery current
- 1 for supply voltage
- 1 or 2 for temperature
- 1 for 5V supply monitor
digital (21 max)
- 6 PWM output
- 2 fault IOs
- 2 ASYNC serial
- 3 for ISP
- 3 for encoder
- 3 for motor hall position sensor
- 2 for LEDs
Mechanical
- dimensions
