Difference between revisions of "Br46 v1"
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=BATRCP requirements= | =BATRCP requirements= | ||
− | *Then a battery module is attached via the power header, the robot will receive the full power and voltage | + | * 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. |
− | *The circuit will fit in the specified container | + | * B2 The circuit will fit in the specified container |
− | *FUP pass though headers will be accessible | + | * B3 robot FUP cables will connect to the BATRCP headers PS1, PM1, PI1 |
− | *BT will indicate it 'status' via a blue and green LED | + | * B4 FUP pass though headers will be accessible |
+ | * B5 BT will indicate it 'status' via a blue and green LED | ||
==sc header== | ==sc header== | ||
− | *A connector will extend/pass though the SC ISP signals | + | * S1 A connector will extend/pass though the SC ISP signals |
− | *The SC can be programmed via the SC pass though header | + | * S2 The SC can be programmed via the SC pass though header |
− | *SC CMD/RSP is available via the SC pass though header | + | * S3 SC CMD/RSP is available via the SC pass though header |
− | *When the SC pass though header is not-connected to a 'PSER'; then the MPD protocol will be avaiable via the bluetooth module. | + | * 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== | ==mc header== | ||
− | *A connector will extend/pass though the MC ISP signals | + | * M1 A connector will extend/pass though the MC ISP signals |
− | *The MC can be programmed via the MC pass though header | + | * M2 The MC can be programmed via the MC pass though header |
− | *MC telemetry is available via the MC pass though header | + | * M3 MC telemetry is available via the MC pass though header |
+ | |||
==imu header== | ==imu header== | ||
− | *A connector will extend/pass though the IMU ISP signals | + | * I1 A connector will extend/pass though the IMU ISP signals |
− | *The IMU can be programmed via the MC pass though header | + | * 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 enginnering 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; connect the SWIFI and run wifi_fast | ||
+ | =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 | ||
=BATMOD requirements= | =BATMOD requirements= |
Revision as of 18:42, 12 November 2010
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Contents
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
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 :
logic
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 enginnering 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; connect the SWIFI and run wifi_fast
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