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  • High side current monitor ICs: INA168-9, INA138-9, INA270-1, INA210,211,212,4,9 INA 193,196,197
  • INA139 CMRR -~60db @ 1Mhz w/G=100
  • INA209 - I2C high side current and voltage measurement.
  • INA210-214 H&L side, offer high gain, but not enough common mode rejection @ 1MHz (-40db), and also only 10khz BW (or less), allows DC offset and thus is bi-directional
  • INA200-202 - gain to 100khz, but not enough CMRR and PSRR
  • INA203-205 - current shunt montor w/2 comps - 500khz - TSSOP14
  • INA193-198 - voltage output, 100khz, 50db CMRR @ 1mhz
  • AD8211 - H&Low side, high BW, good CMRR, gain=20
  • AD8212 - adjust gain, but BW decreases w/gain
  • AD8213 - dual monitor, G=20, MSOP10, high and low side

  • SC sends commands periodically specifying the (minimum) boost converter output voltage.
    • boost converter is not normally active or switching
  • SC command for emergency shut off, not re-enabled until re-insertion.
  • battery terminals are not normally live. thus impossible to externally short.
  • external power enabled when battery inserted into robot.
    • micro power hall sensor senses a magnet and enables BAF
    • high impedance source that is 'shorted' when connected to robot and enables BAF
    • BAF 'soft starts' robot - avoiding inrush current
  • low voltage (and fuel gauge) shutoff - voltage of each cell is indepentically monitored.
  • impedance tracking of each cell?
  • fuel gauge : micropower current sensor that integrates charge/discharge of battery.
  • electronic fuse : SC sends commands periodically that specify the maximum amount of current and/or power allowed.
  • internal charger and balancer PDF
    • inductive charging.
  • believe a MSP430 micro should be employed. lowest possible power
    • has ADCs, however, *might* not be accurate enough to monitor cell voltages (15V/4096 = 4mV) - may require external 16 bit ADC, or opamp conditioning