Difference between revisions of "AnkleHardwareSpec2007Sep"

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m (→‎Motor Controller)
m (→‎Master (state machine) Controller)
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=Master (state machine) Controller=
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=State Machine (Master) Controller=
  
 
* 25.2V max supply voltage
 
* 25.2V max supply voltage
−
 
−
 
−
 
  
  
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* external logic switch input for mode control
 
* external logic switch input for mode control
  
−
===External communication and ISP===
+
===External Serial Communication and ISP===
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* 1Mbaud MAX RS-232 level ASYNC serial with power
+
* Ability to support a variety of attached serial devices: wired RS-232, Bluetooth, 802.11, and ISP. 
−
* Want the abiltiy to support a varitify devices, including wired RS232, Bluetooth, and 802.11
+
* 1Mbaud (max) RS-232 level ASYNC serial with power (Tx, Rx, RTS, CTS)
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* signals GND, Tx, Rx, 3.3V, Vbat (0.25amp resettable fuse)  
+
* Power for external devices:  5V and Vbat (with 0.25amp self resettable fuse)  
−
* Might want this header to have ISP signals, PGC, PGD, MCLR
+
* ISP signals (PGC, PGD, MCLR) - allows external programming
 +
* signals: Vbat, Vcc5,  GND, Tx, Rx, RTS, CTS, PGC, PGD, MCLR
  
−
===Motor controller interface===
+
=== power / data to Motor Controller ===
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* Bring battery power from motor controller
+
* logic level ASYNC 2-wire serial between master and motor controller CPUs  
−
* TTL level ASYNC serial between master and motor controller CPUs (1Mbaud max)
+
* logic level output to motor controller fault pin to disable PWM
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* Signals: BAT+, GND, TX, Rx, DigOut, DigIn
+
* logic level input for motor controller alert status
−
* Use board to board stacking ???
+
* battery power from motor controller  
−
* Motor controller ISP signals??? (PGC, PGD, MCLR)
+
* ??? board to board stacking connector (more reliable that wires)
  
 
===Ankle Angle ??? ===
 
===Ankle Angle ??? ===
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==On board sensors==
 
==On board sensors==
 +
 
===Ambient Temperature===
 
===Ambient Temperature===
−
* Place very close to XY axis IMU
+
* Thermo resistor with opamp follower placed very close to XY axis IMU
−
* 10K SMT with opamp follower
 
  
 
===Supply Voltage Monitor===
 
===Supply Voltage Monitor===
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==software==
 
==software==
 +
* ability to reprogram SM Controller over ASYNC serial
 
* 2 DMA controllers run the two ADC units at 12 bits, 400 KHz total sample rate
 
* 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
 
* Input capture measures PWM period of magnetic rotory encoder
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** reads motor controller status (motor current, supply current / voltage, motor position, status)
 
** reads motor controller status (motor current, supply current / voltage, motor position, status)
 
** processes external communication interface
 
** processes external communication interface
−
 
−
 
−
 
−
 
  
 
=Motor Controller=
 
=Motor Controller=
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* suggested design using 30V MOSFETs, 35V bulk caps, and 35V DC-DC converter
 
* suggested design using 30V MOSFETs, 35V bulk caps, and 35V DC-DC converter
 
* 2 phase current sensors  (ACS712-20amp, 1.2mohm)
 
* 2 phase current sensors  (ACS712-20amp, 1.2mohm)
−
* Ability to (indefinitely) short motor leads when primary power absent or if some sort of system failure
+
* Ability to (permanently) short motor leads when primary power absent or if some sort of system failure
  
  
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=== Motor position sensor===
 
=== Motor position sensor===
−
* quadrature with index 5V (single or differential? )
+
* 5V quadrature with index (single ended)
−
* hall effect sensor 5V (may require pullups)
+
* hall effect sensor
  
−
=== power / data to Master Controller ===
+
=== power / data to master controller ===
 
* ASYNC serial to UART  
 
* ASYNC serial to UART  
 
* TTL input to dsPIC fault pin to disable PWM
 
* TTL input to dsPIC fault pin to disable PWM
 
* TTL output for status
 
* TTL output for status
 
* "direct" connection to Bat+
 
* "direct" connection to Bat+
−
* common (GND)
 
−
* Might want this header to have motor ISP signals going to local digital IO
 
−
 
−
* logic level ASYNC 2-wire serial between master and motor controller CPUs
 
−
* logic level input from SM Controller to /FLTB to disable PWM
 
−
* logic level output to alert SM Controller alert status
 
−
* battery power to SM controller
 
−
* ??? board to board stacking connector (more reliable that wires)
 
−
 
  
  
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* master will periodically send ASCII commands to command current and mode
 
* master will periodically send ASCII commands to command current and mode
 
* controller will respond with status (encoder position, supply voltage, actual current, temperatures)
 
* controller will respond with status (encoder position, supply voltage, actual current, temperatures)
−
* ability to reprogram Motor Controller over ASYNC serial
+
 
  
 
==io count==
 
==io count==
−
===analog (6) ===
+
===AD===
 
*2 for motor current
 
*2 for motor current
−
*1 for 5V (AVcc5/2) supply monitor
+
*1 for 5V supply monitor
 +
 
 
*1 for battery current
 
*1 for battery current
 
*1 for supply voltage
 
*1 for supply voltage
 
*1 or 2 for temperature
 
*1 or 2 for temperature
−
 
+
*1 for 5V supply monitor
  
 
===digital (21 max) ===
 
===digital (21 max) ===

Revision as of 17:16, 7 September 2007

State Machine (Master) Controller

  • 25.2V max supply voltage


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 with power (Tx, Rx, RTS, CTS)
  • Power for external devices: 5V and Vbat (with 0.25amp self resettable fuse)
  • ISP signals (PGC, PGD, MCLR) - allows external programming
  • signals: Vbat, Vcc5, GND, Tx, Rx, RTS, CTS, PGC, PGD, MCLR

power / data to Motor Controller

  • logic level ASYNC 2-wire serial between master and motor controller CPUs
  • logic level output to motor controller fault pin to disable PWM
  • logic level input for motor controller alert status
  • battery power from motor controller
  •  ??? board to board stacking connector (more reliable that wires)

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

  • Thermo resistor with opamp follower placed very close to XY axis IMU

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

  • ability to reprogram SM 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 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

  • 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
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