Difference between revisions of "Upd 219 imu"
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| − | + | {{pf_top_nav}} | |
| − | |||
| − | = | + | =datasheets= |
| + | *[http://focus.ti.com/lit/ds/symlink/tps79301.pdf PDF TPS79330 U9] | ||
| + | *[http://focus.ti.com/lit/ds/symlink/tps60240.pdf PDF TPS60241 U6] | ||
| + | *[http://ww1.microchip.com/downloads/en/DeviceDoc/70292C.pdf PDF dsPIC GP804] will use watchdog to wake from sleep mode. Sec 6.5 PDF pg 83. ASM("PWRSAV #SLEEP_MODE") sec 10.1 | ||
| + | *[http://ww1.microchip.com/downloads/en/DeviceDoc/21733h.pdf PDF MCP6004] | ||
| + | *[http://www.freescale.com/files/sensors/doc/data_sheet/MMA7360L.pdf PDF for MMA7360] | ||
| + | *[http://www.sparkfun.com/commerce/product_info.php?products_id=9251 ADXRS610] [http://www.sparkfun.com/datasheets/Sensors/ADXRS610.pdf PDF] | ||
| + | *[http://www.sparkfun.com/commerce/product_info.php?products_id=308 MMA7260] [http://www.sparkfun.com/datasheets/Accelerometers/MMA7260Q-Rev1.pdf PDF] | ||
| + | *[http://www.sparkfun.com/commerce/product_info.php?products_id=700 IDG300] [http://www.sparkfun.com/datasheets/Components/IDG-300_Datasheet.pdf PDF] | ||
| + | *[http://www.sparkfun.com/commerce/product_info.php?products_id=9070 IDC500] [http://www.sparkfun.com/datasheets/Components/SMD/Datasheet_IDG500.pdf PDF] | ||
| − | =3= | + | =ECOs= |
| + | ==ADC OVERVOLTAGE ECO (COMPLETED ON #1-#3) == | ||
| + | The circuit to measure the supply voltage causes an over voltage condition on the ADCs - corrupting all measurements. | ||
| + | * replace R43 w/1.0meg resistor | ||
| + | |||
| + | ==ADXR610 fullscale / bandwidth ECO== | ||
| + | * Remove R45 (267k) - changes max rate of ADXRS610 | ||
| + | * Change C56 to 6.31nF (no standard value of CAPS, might use 5.6nF+400pF? or 6.7nF....) | ||
| + | * this pair of modifications results in the ADXRS610 BW = 140hz. | ||
| + | |||
| + | =IMU= | ||
| + | * w/Cout=33nF, and R45=267, Bw=45 hz | ||
| + | * All signals have 1.6Khz BW going into dSPIC | ||
| + | * IDG300 internal RC filter of 140 Hz - internal drive freq >= 10khz. should choose sample rate to move peak into high end of digital sample band. | ||
| + | |||
| + | ==1== | ||
| + | *7-13-09 : changed R43 to 1.0meg | ||
| + | *7-3-09 : location IW. reprogram with firmware that supports command 2020 | ||
| + | *6-26-09 : location CEB lab | ||
| + | *6-23-09 : seems to be working | ||
| + | *1-24-09 : boots and can reprogram - this will be the IMU development device. | ||
| + | |||
| + | *1-24-09 : removed broken jumper wires from GND to R28. Shorted Q4 gate to ground. | ||
| + | *1-24-09 : is missing pushbutton switch and is missing PB pad. Remain 3 pads don't seem to be enough to switch the system on. | ||
| + | |||
| + | |||
| + | ==2== | ||
| + | *10-14-09 : discovered that R23 had a cold solder join | ||
| + | *10-13-09 : discovered dead on ankle. no flashing light. probably over voltage event. | ||
| + | *10-12-09 : installed latest firmware. | ||
| + | *7-13-09 : changed R43 to 1.0meg | ||
| + | *7-10-09 : switcher replaced. | ||
| + | *7-2-09 : IMU#2 - doesn't power with either of 2 cables. probably due to review polarity cable - probably needs new switcher. | ||
| + | *6-23-09 : seems to be working with 'blue' cable w/red and black marks on connector | ||
| + | *1-24-09 : was able to erase and reprogram. | ||
| + | *1-24-09 : system is getting 3.3V w/push button - however, unable to program over protected segments | ||
| + | |||
| + | ==3== | ||
| + | *7-13-09 : changed R43 to 1.0meg | ||
| + | *6-23-09 : seems to be working. appears to have been relabeled with #1 (despite the #3 appearing on two ICs.) removed label | ||
| + | *1-24-09 : switching regulator gets voltage w/PB, however, 3.3V is unchanged. | ||
| + | ==4== | ||
| + | |||
| + | =IMU cables= | ||
| + | * IMU cables with red wire are all subject to intermittent connections due to large wire size. use a small screw driver or xacto to press wires back into IDC slots. | ||
| + | ==pinout (new SC Rev200 -> IMU cable== | ||
| + | *12pin -> 10pin | ||
| + | *1 -> 10 | ||
| + | *2 -> NC | ||
| + | *3 -> 7 | ||
| + | *4 -> 6 | ||
| + | *5 -> 5 | ||
| + | *6 -> 4 | ||
| + | *7 -> 2 | ||
| + | *8 -> 9 | ||
| + | *9 -> 8 | ||
| + | *10 -> NC | ||
| + | *11 -> 1 | ||
| + | *12 -> NC | ||
| + | |||
| + | |||
| + | ==pinout (old SC Rev100->IMU) cable== | ||
| + | *12pin -> 10pin | ||
| + | *1 -> 1 (VBAT) | ||
| + | *2 -> NC | ||
| + | *3 -> 4 (SS) | ||
| + | *4 -> 5 (SLK) | ||
| + | *5 -> 6 (MOSI) | ||
| + | *6 -> 7 (MISO) | ||
| + | *7 -> 9 (SRVC) | ||
| + | *8 -> 2 (DEBUG) | ||
| + | *9 -> 3 (SCPWREN) | ||
| + | *10 -> NC | ||
| + | *11 -> 10 (GND) | ||
| + | *12 -> NC | ||
Latest revision as of 16:11, 30 October 2009
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
Contents
datasheets
- PDF TPS79330 U9
- PDF TPS60241 U6
- PDF dsPIC GP804 will use watchdog to wake from sleep mode. Sec 6.5 PDF pg 83. ASM("PWRSAV #SLEEP_MODE") sec 10.1
- PDF MCP6004
- PDF for MMA7360
- ADXRS610 PDF
- MMA7260 PDF
- IDG300 PDF
- IDC500 PDF
ECOs
ADC OVERVOLTAGE ECO (COMPLETED ON #1-#3)
The circuit to measure the supply voltage causes an over voltage condition on the ADCs - corrupting all measurements.
- replace R43 w/1.0meg resistor
ADXR610 fullscale / bandwidth ECO
- Remove R45 (267k) - changes max rate of ADXRS610
- Change C56 to 6.31nF (no standard value of CAPS, might use 5.6nF+400pF? or 6.7nF....)
- this pair of modifications results in the ADXRS610 BW = 140hz.
IMU
- w/Cout=33nF, and R45=267, Bw=45 hz
- All signals have 1.6Khz BW going into dSPIC
- IDG300 internal RC filter of 140 Hz - internal drive freq >= 10khz. should choose sample rate to move peak into high end of digital sample band.
1
- 7-13-09 : changed R43 to 1.0meg
- 7-3-09 : location IW. reprogram with firmware that supports command 2020
- 6-26-09 : location CEB lab
- 6-23-09 : seems to be working
- 1-24-09 : boots and can reprogram - this will be the IMU development device.
- 1-24-09 : removed broken jumper wires from GND to R28. Shorted Q4 gate to ground.
- 1-24-09 : is missing pushbutton switch and is missing PB pad. Remain 3 pads don't seem to be enough to switch the system on.
2
- 10-14-09 : discovered that R23 had a cold solder join
- 10-13-09 : discovered dead on ankle. no flashing light. probably over voltage event.
- 10-12-09 : installed latest firmware.
- 7-13-09 : changed R43 to 1.0meg
- 7-10-09 : switcher replaced.
- 7-2-09 : IMU#2 - doesn't power with either of 2 cables. probably due to review polarity cable - probably needs new switcher.
- 6-23-09 : seems to be working with 'blue' cable w/red and black marks on connector
- 1-24-09 : was able to erase and reprogram.
- 1-24-09 : system is getting 3.3V w/push button - however, unable to program over protected segments
3
- 7-13-09 : changed R43 to 1.0meg
- 6-23-09 : seems to be working. appears to have been relabeled with #1 (despite the #3 appearing on two ICs.) removed label
- 1-24-09 : switching regulator gets voltage w/PB, however, 3.3V is unchanged.
4
IMU cables
- IMU cables with red wire are all subject to intermittent connections due to large wire size. use a small screw driver or xacto to press wires back into IDC slots.
pinout (new SC Rev200 -> IMU cable
- 12pin -> 10pin
- 1 -> 10
- 2 -> NC
- 3 -> 7
- 4 -> 6
- 5 -> 5
- 6 -> 4
- 7 -> 2
- 8 -> 9
- 9 -> 8
- 10 -> NC
- 11 -> 1
- 12 -> NC
pinout (old SC Rev100->IMU) cable
- 12pin -> 10pin
- 1 -> 1 (VBAT)
- 2 -> NC
- 3 -> 4 (SS)
- 4 -> 5 (SLK)
- 5 -> 6 (MOSI)
- 6 -> 7 (MISO)
- 7 -> 9 (SRVC)
- 8 -> 2 (DEBUG)
- 9 -> 3 (SCPWREN)
- 10 -> NC
- 11 -> 10 (GND)
- 12 -> NC
