Revision as of 20:41, 12 November 2010

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

Edit

• garden12 ; emg_2009 ; Enc_2010 ; AKENC ; Kknee1 ; Br46_v1 gps1 ; lifefix ; battery ; loadwasher ; elecdog ; Brushless_control ; ceb_misc_prj ; pf_top_nav ; T

getting started

• 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>
  • 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

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.

SC connection

• 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

issues

• 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

development

46 class 2

• http://www.blueradios.com/hardware_C46.htm
• http://www.blueradios.com/BR-C46AR.pdf
• http://www.blueradios.com/WML-C46A_R_Overall.pdf 17.6x11.8

40 class 1

• http://www.blueradios.com/hardware_C40.htm
• http://www.blueradios.com/WML-C40A_Overall.pdf 24x 13.x
• http://www.sparkfun.com/datasheets/Wireless/Bluetooth/BlueRadios_ATMP_Commands_Rev_3.5.1.1.0.pdf

mosfets

• http://www.fairchildsemi.com/ds/FD%2FFDMS6681Z.pdf

battery module

• 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 :
  • http://www.samtec.com/documents/webfiles/pdf/mptc-RA_MPSC-RA.PDF
  • http://www.samtec.com/documents/webfiles/cpdf/MPSC-XX-XX-XX-01-XX-X-RA-XX-MKT.pdf

logic

• http://www.diodes.com/datasheets/74LVCE1G08.pdf
• http://www.st.com/stonline/books/pdf/docs/5733.pdf

note

• 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

• http://www.keyelco.com/pdfs/M55-prod07.pdf
• http://www.littelfuse.com/data/en/Data_Sheets/Littelfuse-Fuse-891.pdf

BATRCP requirements

• 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

sc header

• 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.

mc header

• 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

imu header

• I1 A connector will extend/pass though the IMU ISP signals
• I2 The IMU can be programmed via the MC pass though header

BATRCP test

• 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

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

results

sn#1

• passed : S1-S3, M1-M3

sn#2

• passed : S1-S3, M1-M3

sn#3

• passed : S1-S3, M1-M3

BATMOD requirements