Difference between revisions of "AnkleHardwareSpec2007Sep"

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*[[Motor]]
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*[[AnkleSoftwareSpec2007Sep]]
  
  
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=State Machine Controller=
+
=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)
  
−
* 25.2V max supply voltage
 
  
−
* precision supply voltage monitor (1%?? accurate battery voltage measurement)
+
==Off board interfaces==
  
 +
===Switch Input===
 +
* externally mounted switch (logic levels) input for mode control
  
−
==external interface==
+
===External ASYNC Serial Communication and ISP===
−
* 1Mbaud RS-232 level ASYNC serial : signals GND, Tx, Rx, 3.3V, Vbat (0.25amp resettable fuse)
+
* 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) :
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* 1Mbaud TTL level ASYNC serial to motor controller
+
* 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
−
==sensors==
+
* also include standard debug header, if room permits
−
* 2 strain gauge inputs (high gain)
 
−
* 1 analog input for SEA hall sensor (1x gain)
 
−
* ankle angle encoder? : quadrature (5V, single ended)
 
−
 
 
−
==IMU==
 
−
* 3axis (digital) 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]
 
−
* external logic switch input for mode control
 
−
 
 
  
 +
=== 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 [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)
 +
</strike>
 +
* 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 LEDs mounted so as to be externally visible
  
  
−
=Motor Controller=
+
==Low Power Support==
−
* 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)
+
* 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
  
−
* 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 ==
+
=== Sensor Power===
−
* motor temperature (10k thermoresistor)
 
−
* ambient temperature (10k thermo)
 
−
* 5V quadrature with index (single ended)
 
−
* mix of logic and async serial :  Gnd, Tx, Rx, Fault
 
  
−
==software==
+
* EC30 MR-ENC 15.5mA @ 5V : 77.5mW
−
* master will periodically send ASCII commands to command current and mode
+
* EC30 HALL SEN 10.6mA @ 5V : 53mW
−
* controller will respond with status (encoder position, supply voltage, actual current, temperatures)
 
  
 +
* SG : 73mW(340ohm/5V), 10mW (1k/3.3V), 2.7mW(1k/1.6V)
  
−
==io count==
+
* IDG300 9.5mA @ 3.3V :    31.mW
−
===AD===
+
* ADXRS300 6-8mA @ 5V :    35mW
−
*2 for motor current
+
* ADIS16100 7-9mA @ 5V :    40mW
−
*1 for battery current
 
−
*1 for supply voltage
 
−
*1 or 2 for temperature
 
−
*1 for 5V supply monitor
 
  
−
===digital===
+
* ADIS16006 1.5-1.9mA @ 3-5V : 5 mW
−
*6 PWM output
+
** has 1mA power down mode.  20mS wake up
−
*1 or 2 fault inputs
+
** sensitivity : 0.03%/C, 0.1lsb (1:20000) +-3% cross axis
−
*2 ASYNC in/out
+
* LIS3LV02DQ 0.6-0.8 @ 2.2-3.3V :    < 2.6mW 
−
*3 for ISP
+
** programmable sleep mode with <10uA supply current
−
*3 for encoder
+
** has programmable acceleration alarms to wake CPU
−
*3 for motor hall pos sensor
+
** sensitivity : 0.025%/C, 0.2mg/C (1:10000 / C), +-3.5% cross axis
−
*2 for LEDs
 
  
 +
* ankle angle pot :    0.1-1mW
  
−
= Mechanical =
+
* Power supply (LT3470) efficiency 70%>5mA, 60%@1mA, 35%@0.1mA,  (0.6mW from Vbat when LT3470 enabled and unloaded)
−
* dimensions
 

Latest revision as of 20:14, 18 September 2007


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

  • 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)
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