AnkleHardwareSpec2007Sep

State Machine Controller

• 25.2V max supply voltage

• precision supply voltage monitor (1%?? accurate battery voltage measurement)

external interface

• 1Mbaud RS-232 level async serial : signals Gnd, Tx, Rx, 3.3V, Vbat (0.25amp resettable fuse)

• 1Mbaud TTL level async serial to motor controller

sensors

• 2 strain gauge inputs (high gain)
• 1 analog input for SEA hall sensor (1x gain)
• ankle angle encoder? : quadrature (5V, single ended)
• 3axis accelerometer
• 3axis rate gyro (Z from ADI, XY from ....)
• external logic switch input for mode control

Motor Controller

• 25.2V max supply voltage (design using 30V MOSFETs, 35V for other bulk caps, and DC-DC)
• support for Maxon EC30 48V (max motor voltage is 24V)
• 2 current sensors

sensors

• motor temperature
• ambient temperature ???
• quadrature (5V, single ended)

Interface to Master

• mix of logic and async serial : Gnd, Tx, Rx, Fault
• master will periodically send ASCII commands

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