Revision as of 22:46, 26 December 2009 (view source) Ceb (talk | contribs) m ← Older edit		Revision as of 22:49, 26 December 2009 (view source) Ceb (talk | contribs) m (→‎thur nov 12) Newer edit →
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	=thur nov 12=		=thur nov 12=
		+	* emails re SVN and SWIFI builds with GG and CA
	* boost converter design in morning in office		* boost converter design in morning in office
	* boost converter design in afternoon at LAB		* boost converter design in afternoon at LAB
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	http://www.st.com/stonline/products/literature/ds/13827/l6743q.pdf		http://www.st.com/stonline/products/literature/ds/13827/l6743q.pdf
	http://www.intersil.com/data/fn/fn9221.pdf		http://www.intersil.com/data/fn/fn9221.pdf
		+
	=wed nov 11=		=wed nov 11=
	*90 mins : boost converter analysis		*90 mins : boost converter analysis

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Revision as of 22:49, 26 December 2009

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

Nov 2009

todo

• order flex cables
• make PCBs for eddy current sense
• measure resistance on boot (incorporate into mode2)
• implement thermal model, w/updates from resistance measurement.
• incorporate JR3 into LF

• get LF potential function
• add "text code" into the ASC output from SWIFI
• pickle with robo config to make parameter restoration easier.

mon nov 30

sun nov 29

• • clean up SVN
  • develop code to estimate core losses for various inductors.
  • discuss boost converter w/RC

notes

• EDDY current : http://archives.sensorsmag.com/articles/0998/edd0998/index.htm

sat nov 28

• 6 hrs
  • discuss w/ED JR3 code issue
  • monitor lifefix status
  • derive equations for boost converter losses
  • develop code to simulate conveter losses.

notes

• PIC32 peripheral libary : http://www.johnloomis.org/microchip/docs/32-bit-Peripheral-Library-Guide.pdf
• USB framework : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2680&dDocName=en537044
• microchip tcpid state : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2680&dDocName=en537041
• Microchip enternet : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2504
• SPI ethernet controller : [1] http://ww1.microchip.com/downloads/en/DeviceDoc/39662c.pdf

fri nov 27

• 11:30a - 1:30p
  • reviewed emails re lifefix
  • reviewed controls for copley
  • looking into methods to use safety fets to stop the lifefix
  • worked with DG re restarting LF
• 3pm - 9pm
  • discuss w/ED JR3 code issue and need for CML library info

notes

• Web page of docs: http://www.copleycontrols.com/Motion/Downloads/accelnetEtherData.html
  • http://www.copleycontrols.com/Motion/pdf/CMO_programmersGuide.pdf
  • http://www.copleycontrols.com/Motion/pdf/CME2_User_Guide.pdf

thur nov 26

• 9am-1:30p -45
  • review eddy current document, eddy current sensor pcb code
  • JR3 code testing development, integration

• 2:30pm - 7:30p
  • looking into problem with lifefix
  • retuned velocity loop
  • working on JR3 integration to run_lifefix_v3, find bug in JR3 wrapper

wed nov 25

• 9am - 11am
  • testing, debug JR3 library, discussions w/ED. The new time stamp code causes a free error.
• OOO k2hall layout
• 45 mins : PCB spiral code for eddy current. discuss w/RC re coming SM memo
• 3pm-12:15am
  • working on JR3 code integration for LF
  • purchased dinner from TD for 3 of us

tue nov 24

• 3:30pm - 10:20pm
• work w/GG on framework and how to test
• work w/CA on Rev300 pcb
• test JR3 wrapper
• test LF

mon nov 23

• 4 hrs - OOO - emg PCB development
• 7:30p-11:15p
  • meet w/DG - discuss lifefix, V2, white noise
  • look into parameters for WB tuning
  • meet w/RC discuss LRC and boost cvt model

sun nov 22

• 4 hrs - OOO - develop port mapper, and getdigin command to msg system
• 30 mins - eddy current sensor reseach

sat nov 21

• 2 hrs - OOO - working on SPI message system

fri nov 20

• 9am - 12:45am
  • email re tuning, discussion w/RN re boost, email summary of boost
• 1 hr - inductor search, core loss calculations, air core toroid program
• 30 mins : bench testing of 300-217-010
• 2 hr : OOO - code development, start SPI library.

thur nov 19

• 25 mins - phone, email dealing with Rev300 cracks and testing plan.
• 30 mins - review boost converter schematic.
• 30 mins - assist w/tuning, discussion w/Gary re RTOS
• 1hr - testing R300-217 PCA.
• 4 hrs -OOO - message code development.

wed nov 18

• 25 mins discuss re boost converter model w/RC

tue nov 17

• 3 hrs - OOO - code development - lib_tic_timer, uart_msg.

mon nov 16

• 20 mins email re boost converter.

sun nov 15

sat nov 14

• 12pm - 7:30p -15
  • getting S3 operational - exponential voltage mode - SM wasn't running due to run level
  • acoustic measurements

notes

• commands
  • 403 5000  : tau=5%
  • 401 -3000 -34000

fri nov 13

• 9:20a-1pm

notes

• 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

• 8pm - 1am
  • prepare S3 for acoustic experiment

thur nov 12

• emails re SVN and SWIFI builds with GG and CA
• boost converter design in morning in office
• boost converter design in afternoon at LAB
• meet with RN and RC in evening

notes

• 4amp half bridge driver : http://focus.ti.com/lit/ds/symlink/tps28225.pdf
• schottky - sod-323 : http://www.nxp.com/acrobat_download/datasheets/PMEG3020EH_EJ_3.pdf

http://www.st.com/stonline/products/literature/ds/14808/l6743b.pdf http://www.st.com/stonline/products/literature/ds/13827/l6743q.pdf http://www.intersil.com/data/fn/fn9221.pdf

wed nov 11

• 90 mins : boost converter analysis
• 3pm - 1:30am
  • assist w/boost converter project
  • implement supply voltage correction to MC.

tue nov 10

• 15 mins : emails
• OOO 3 hrs - commutations development
• OOO 2 hrs - hal_lib development
• OOO
• 5:30p-9:30p
  • discuss LF and SC w/DG, software w/GG, JR3 w/ED SM w/RC

mon nov 9

• 2.5 hrs :
  • emails w/RN re SM vision, GG and CA re battery packs, w/RC re status
  • phone discuss JR3 w/ED
  • re-route, complete WIP4d routing of wip4e
• OOO 4 hrs developing new MPD style communication algorithms.

sun nov 10

• 2 hrs
  • OOO WIP4d and WIP4e work
  • OOO review xilinx options

sat nov 7

• 4 hrs
  • 000 worked on WIP4d and WIP4e - decided to make EMG a seperate daugerboard.
  • OOO review Xilinx and TI DSPs

fri nov 6

• 12:45p-1:15pm
  • email, record keeping, submit SVN changes after install new version, issues resolving conflicts.
• OOO 5 hrs - worked on WIP4d and WIP4e, and EMG4 interface

thur nov 5

• 9am - 1:20pm -25
  • email about the boost converter project.
  • review possibilities of using pic32 in SWIFI, and on robot SC
    • will need to wire PGC2, and PGC2 to pins 16,17.
    • also errata states that TDO outputs a clock signal at times... doesn't appear to be issue on either SWIFI or SC
  • developing (floating point) code for the function generator.
  • develop simple malloc
• 5pm - 8:15pm
  • order PIC32s
  • improve SVN distro for matlab and telemetry.
  • set up backup PC for ankle tuning / collection
  • tuning trial
  • experiment w/use of pizeo in place of vibe motor

wed nov 4

• 10:30a - 12:20p
  • wip4d routing appears to be complete.
  • registry keys...
• 1:25p-3:25
  • Discuss python JR3 status w/ED
  • Discuss compiler issue w/GG
  • update dirs w/SVN changes at bench.
• 4:15pm - 7:45pm -30
  • discuss python status w/ED, order on method of passing back data on command line

tue nov 3

• 8:00a - 12:15p
  • add registry entries for use of MILE encoder, instant on.
  • expansion of keys and documentation
  • experiment with twiki
• 5-8pm
  • make wip4c revisions - create wip4d
  • continue re-organization of support scripts
  • setup SWIFI for use in lab.

• 10:05p-12:10a
  • setup SWIFI for use in lab.
  • modify keys registry methods, hash won't be used on robot, PC will verify the whole table.
  • SVN issues w/wip4d. and routing.

mon nov 2

• 10:25a-1:30pm -15 min
• emails re plans for today. locate robots, MW re ankle block diagram.
  • contact Alena re locating robots
  • review rev300 schematics, contact MR, make minor changes to IMU
  • complete and mail invoice
• 2:55p - 5:40p (-20 mins)
  • completed review of final schematics.
  • start re-organization of python / matlab support tools
• 5:50pm - 8:15pm
  • meet w/GG and CA - review programming and real-life software debugging!

sun nov 1

• 11:50a-4:20pm
  • deliver cable to track.
  • SVN updates.
  • work on invoice.
  • meet w/PB re O2meter.
  • review some data sets from track study, make sure there are .m, .py tools copied over to assist.