From DIDEAS Wiki
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
- garden12 ; emg_2009 ; Enc_2010 ; AKENC ; Kknee1 ; Br46_v1 gps1 ; lifefix ; battery ; loadwasher ; elecdog ; Brushless_control ; ceb_misc_prj ; pf_top_nav ; T
- 1 getting started
- 2 issues
- 3 development
- 4 fuses and holders
- 5 BATRCP requirements
- 6 BATRCP test
- 7 imu header tests
- 8 results
- 9 BATMOD requirements
- power the board with 10-25 volts. It should consume ~120mW. And when first powered, the red light flash indicating that it is discoverable by other BT devices.
Initial BT configuration
- Can communicate directly with the BT module from the 'IMU1' port. With a virgin module, the baud rate is 9600, N, 8, 1. Or just 'do_serial.py <port> 9600' You can connect a PSER directly to this port.
- Verify module communication with the command "AT" <CR>
- Change the radio name with 'ATSN,radio_name'. Read back with atsi,2
- may need to issue fast data mode to radio at boot
- may want to ignore UART data until connected. (ATSW25)
- The BT module baudrate needs to be configured to 115,200 to work with the robot. Issue this command:
- ATSW20,472,0,0,1 <CR>
- change the COD : ATSC,0000700
- view with ATSI,5
- See section 3.6.7 for details.
- will need to re-connect do serial at this point
- May wish to change the passcode at some point. It is 'default'
- change flash rate : ATSW27,ms read back with ATSI,11
config with utility bt_config.py
The utility "bt_config.py" lives in "support_scripts".
By connecting a PSER1 to a board with a blueradio's WT40 (such as the BATRCP3), the blueradio may be configured for use with the robot.
- First connect the PSER to the module via the 9x1mm headers. Typically a NULL cable is required, thus pins 2 and 3 of the cable will be swapped. The cable requires connections on wires 1,2,3, and 9.
- PSER1 3 pin aux power connector. The power supply may vary between ~7 and 26 volts. (120mW is the expected load.)
- Determine the COMM port of the PSER1.
- Run the bt_config.py utility.
Usage: bt_config.py [options] Options: -h, --help show this help message and exit -c COM_PORT, -p COM_PORT, --com_port=COM_PORT COM PORT number for serial port connection -g, --get_config read back the config of the BT module. -s, --set_config set the config of the BT module. -N BT_NAME, --name=BT_NAME set the name of the BT module -P PASSWORD, --password=PASSWORD TO BE COMPLETED : set the password for the BT module -C COD, --COD=COD set the COD for the BT module
bt_config.py -p 73 -g -N bt_name -C 700 -s
- ATSP,<New PIN>,<Old PIN> : Sets PIN (Personal Identification Number).
- ATOP,<PIN> : Overwrites the PIN without needing the old PIN.
wireless BT connection
- Should be able to pair with the module with standard PC software. Using the pass code 'default'
- When 'connected' the blue LED is visible.
- When a BT connection is made or broken, the module reports over the serial port. These message could interfere with FUP command processing.
- Connect the robot FUP to the port labeled SC1
- Use the port SC2 for programming and communication (with either PSER or SWIFI).
- If no other device is connected to the SC2, then the BT module will be able to communicate with the robot connected at SC1
- when sending data wireless to the module, it appears to be very slow and only accept data periodically. (The TX signal shows bursts of data.)
- when sending data wired to the module, it accepts and transmits it rapid. at 115k baud, not RTS negation, but at 921k there is RTS negation
46 class 2
- http://www.blueradios.com/WML-C46A_R_Overall.pdf 17.6x11.8
40 class 1
- http://www.blueradios.com/WML-C40A_Overall.pdf 24x 13.x
- dual cmp w/ref : http://cds.linear.com/docs/Datasheet/6700123fg.pdf
- Red/green LED : http://media.digikey.com/PDF/Data%20Sheets/Panasonic%20LEDs%20PDFs/LNJ115W87RA1.pdf
- 16V, 40ohm zener : http://www.diodes.com/datasheets/ds18004.pdf
- opamp : http://focus.ti.com/lit/ds/symlink/tl343.pdf
- LV reset : http://www.onsemi.com/pub_link/Collateral/NCP302-D.PDF (OBS)
- LV reset : http://www.micrel.com/_PDF/mic2775.pdf
- buck converter : http://cds.linear.com/docs/Datasheet/3470fc.pdf
- Nfet for power control : http://www.diodes.com/datasheets/ds30928.pdf
- key rx : http://www.linxtechnologies.com/Documents/RXM-xxx-LR_Data_Guide.pdf
- samtech connector :
- PSer2hb leaves IO pins as NC. Will need to add pullup/pulldown
- Pser1 probably also leaves IO as NC.
- want to use FUP IP pin to disconnected on-board bluetooth Rx driver.
fuses and holders
- B1 Then a battery module is attached via the power header, the robot will receive the full power and voltage availabl from the battery pack.
- B2 The circuit will fit in the specified container
- B3 robot FUP cables will connect to the BATRCP headers PS1, PM1, PI1
- B4 FUP pass though headers will be accessible
- B5 BT will indicate it 'status' via a blue and green LED
- S1 A connector will extend/pass though the SC ISP signals
- S2 The SC can be programmed via the SC pass though header
- S3 SC CMD/RSP is available via the SC pass though header
- S4 When the SC pass though header is not-connected to a 'PSER'; then the MPD protocol will be avaiable via the bluetooth module.
- M1 A connector will extend/pass though the MC ISP signals
- M2 The MC can be programmed via the MC pass though header
- M3 MC telemetry is available via the MC pass though header
- I1 A connector will extend/pass though the IMU ISP signals
- I2 The IMU can be programmed via the MC pass though header
- B1 : can a subject use the robot
- B2 : can the board be enclosed in the battery pack
- B3 : can the robot be connect to each of the connectors PS1, PM1, PI1 while installed in the battery pack
- B4 : can the PSER be connected to PS2, PM2, PI2 when in the battery pack
- B5 : when powered, does the GREEN led flash and when the BT is connected is the BLUE LED lit
sc header tests
- S1 : no test required
- S2 : Connect the PSER to PS2, connect the SC FUP to PS1. Use MPLAB IDE to program the SC
- S3 : Connect PSER to PS2, run do_command.py -p <serial port> -n 10 -s 104 should have 10 successful responses
- S4 : Use the PDA to connect to the BT module, use the engineering status screen to read the status
- S5 : if the 3.3V supply is 'off', then the BATRCP hardware will reduce its battery power drain to < 1uA
mc header tests
- M1 : no test required
- M2 : Connect the PSER to PM2, connect the MC FUP to PM1. Use MPLAB IDE to program the MC
- M3 : connect PSER and run wifi_fast.py. Verify that telemetry is received and that adjustments can be made
- M3b : connect the SWIFI and run wifi_fast. Verify that telemetry is received and that adjustments can be made
imu header tests
- I1 : no test required
- I2 : Connect the PSER to PI2, connect the IMU FUP to PI1. Use MPLAB IDE to program the IMU
- passed : S1-S3, M1-M3
- passed : S1-S3, M1-M3
- passed : S1-S3, M1-M3