Hours 1005

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

MAY 2010

sat may 1

3.5 hrs - renishaw development - develope IC code

sun may 2

• 2 hrs, how to connect SSI to P32
• 8pm - 10:45p
  • develope renishaw SSI code, timing
  • servo robot, observe IC outputs, collect data on velocity, matlab analysis

mon may 3

• 3 hrs - meet with HH and GG re SM

tue may 4

• 15 min - discuss FF with DG
• 15 min w/HH

wed may 5

• 11am to 10pm working on RLS

thur may 6

• 8:45a -
• 10 hrs
  • RMB replacement design.
  • on w/CA on details of how to have wire leave the PCA

fri may 7

• 12 hrs
  • discuss no-component areas of PCB w/CA and CW.
  • re-layout
  • finalize RMB desin that uses 16 bits bi-polar differential ADCs
  • finalize the RMB replacement. submit PCBs for fab. need to submit silk screens

sat may 8

• 6 hrs
  • created new AKENC4 using the AM256Q

sun may 9

• 6 hrs
  • started writing code for AKENC, found problems in the PCBs
  • corrected problems in akenc2 and akenc3 pcbs.
  • updated parts data base for akenc, in preparation for the order.

mon may 10

• 12 hrs
  • discuss with SPE the state of affairs for the PCAs
  • continue rework of akencX,
  • add DAC to akenc4
  • document ECOs for use of SSI on Rev300 hardware.
  • digikey parts order
  • software development for akencX

tue may 11

• 8:45a - 10pm
  • code development for XLP and AM8192
  • deal with fedex on delivery delays
  • start assembly and testing ENC3
  • apply ENC ECOs to SC-300-10, begin testing
  • bring up UART

wed may 12

• 9:50a-10pm
  • code testing
  • cut PCBs (-2.5 hrs misc at mit)
  • dinner w/RC. (-1hr)
  • move equipment to new space.

thur may 13

9:50am - 10:50 pm

• • look for QNF28 ZIF, contact various sources for availability

• • complete assembly
  • debug EEPROM emulation for AM8192
  • fix RLS power on circut (was stuck on due to very required Vgsth)
  • place digikey order for ZIF

fri may 14

• 9:30a - 1:15pm
  • rewrite IIC emulator statemachine

sat may 15

• 10am - 4pm -45
  • iic emulator

sun may 16

• 8:45- 10:30pm, -1.5
  • completed IIC emulator
  • debug SSI interface
  • looking into ADC CS issue

mon may 17

• 9:00a-10:30p -1.5
  • change config bit - ADC cs working, WDT
  • routing of RMK3B1 compatible
  • change sample rate to 50khz, review ADC noise distro - rather large (+-200 LSBs!)

tue may 18

• 7:10a - 1:20am -2hrs
  • RMK3b1 layout, make measurements on holder
  • IW10dc submission
  • assemble 2nd AKENC3

wed may 19

• 9:30am - 11:30p
  • complete assembly of 2nd AKENC3 and debug
  • review boost converter schematic, recommendations for how to implement PWM pulse skip
  • get SSI and ADCs operational
  • working on communication between robot and sensor board.
  • discuss w/RC how best to proceed. whats to wrap with MILE.

thur may 20

• 8:15a-10:30p : -30, -15
  • testing of IC for incremental encoder
  • robot communication code development
  • looking for PCBs
  • discuss communication errors w/GG
  • implment atan2 in integer.
  • find problem with ADCs when MC sends more than 50 SSI msgs per sec / less than 100

fri may 21

• • investigate issue of ADC data corruption when MC is query >50msg per sec.
  • discussed comm error w/HH, email GG possible solutions
  • prepare PDFs of sch, pcb for assembly
• 8:40a - 1:30pm

• 3pm - 9:15pm
  • setup workspace
  • issue with computer installation of 3.23 compiler - code won't build.
  • work w/CA re wiring AKENC3
  • digikey order.

sat may 22

• 7:30a - 5:05pm -45
  • design and implement more robust MC - AKENC SSI protocol. Use timer to pace the SSI clock.
  • reinstall compiler tools. change MC firmware to run w/V3.23 compiler.
  • assembly of ZIFQFN, AKENC3m, AKENC4m

sun may 23

• 4pm - 10:30pm -2 hrs.
  • continue assembly AKENC3m, AKENC4m
  • during testing of AKENC3m, it appears to fail - can't program
  • setup 4m target map, initial testing

• • digikey order for AkencXX

mon may 24

• 8:30am - 5:30pm -30
  • issue with component mixup (caps and resistor switched?)
  • complete assembly AKENC4m
  • modify wifi_fast to identify baudrate and packet size miss match - and give clear messages.

tue may 25

• 9am - 11:50p -1.5hr
  • sent initial firmware to GG and long email to describe.
  • complete repair, assembly AKENC3m
  • assist ED w/code architecture related to SWIFI, and dataport.
  • tracing timing issues in MC main loop
  • working on CRC issue

wed may 26

• 9am - 12:05am -2.25 hr
  • continue exploring / fixing causes of the CRC communication issue
  • created paste files for akenc, sent to Ltroics
  • made AKENC3 (1st serial) operational for testing of PCA on H2
  • assist ED w/code architecture related to SWIFI, and dataport - needed to use correct ser PORT
  • basic docs for AKENC [1]
  • email GG re firmware, compiler issue.
  • AKENC3d ADCs working, setup/ran experiment to observe velocity

thur may 27

• 30 mins : GG re compiler bugs w/PIC24F and how to fix.
• 30 mins : update target map files, email GG
• 20 mins : GG re magnet
• 1 hr : discuss wifi.py operation under linux, data synchronization, need for start

/stop command. Email ED, GG re the same.

fri may 28

• 2 hrs : investigate ADC issue (when MC is asking for 40 bit SSI). Found AM256Q buffered outputs non-functional. Em RC, GG.
• 30m : email ED re firmware usge, GG re AKENC assembly, and request for V2.

sat may 29

14:20pm - 5:45p; 9:00p-11:45pm

• • fixed ADC issue
  • correct MC missing trigger
  • discussion w/HH re plan
  • investigate CRC errors, collect data on error rates as various parameters are adjusted.

sun may 30

• 10:30a - 4:15p
  • rewrite analog for higher sample rate
  • create processing loop for computing velocity in background
  • discussion w/RC re status and plan
• 9:35p-12:30a
  • clean up AAS firmware for clean compile
  • add global and system parametrs to MC to turn on / off features; update all MC projects w/new files

mon may 31

• 8:50a -3:30pm -2.5hrs
  • experiments with using SPI for SSI master and slave