Commit c9c95ba7 authored by Jake Read's avatar Jake Read

add notes for new board

parent 65d9f07b
\ No newline at end of file
......@@ -186,17 +186,37 @@ Great Resource on ground planes -
# Jake's Notes
- just on to powering up motor and then scoping current sense
- might want a bigger sense r, considering 0-5a not 0-10a
- spi pins are mostly off, probably a mistake in labelling uart / spi peripherals
- pc0 / in1
- pc1 / in2
- pc2 / nfault
- pc3 / nsleep
- pb0 / adc
- dump nsleep to hi to turn on,
- in1 pwm w/ in2 lo for one d
- in2 pwm w/ in1 lo for other direction
- when both hi, breaking
- when both lo, coasting
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I modified *some* aspects of the board, and pinouts go through the [xmega motherboard](
Here are the pinouts as they stand:
**PB1:** The DRV8701's Sense Output (amplifier output)
**PB6:** DRV8701 NFault
**PB7:** DRV8701 SNSOut (logic / flag)
**PC4:** DRV8701 NSleep
**PC6:** IN1
**PC7:** IN2
**PD4:** PWM -> RC Filter -> DRV8701 VRef
**PE4:** Encoder (SPI) Chip Select
**PE5:** Encoder (SPI) Clock
**PE6:** Encoder (SPI) MISO
**PE7:** Encoder (SPI) MOSI
### RC Filter to VREF, and Chopping
There is an RC Filter in front of the DRV8701's VRef. I assumed we would run 100kHz pwm into this RC filter, to output analog voltages that the DRV8701 will use in it's comparator / chopper drive.
The R is 1kOhm and the C is 1uF, which *should* have a low-pass around 150kHz, but please check that I calculated that properly.
The datasheet includes a note on which VRef voltages will lead to which chopping currents based on the size of the sense resistor. I placed a 50mOhm resistor on the board, but this can change. It was the recommended value in the datasheet.
### The IDrive Pin
I have a 10kOhm resistor here, but I think it would 'properly' be 33kOhm. I think this will *increase* the drive current, which will just waste a little bit of energy, no worries.
### Sense Out
The DRV8701's Sense Amplifier output is still connected to PB1 to be read on the ADC.
\ No newline at end of file
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<text x="-1.27" y="1.143" size="0.6096" layer="25" font="vector" ratio="20">&gt;NAME</text>
<text x="-1.27" y="-1.016" size="0.6096" layer="27" font="vector" ratio="20" align="top-left">&gt;VALUE</text>
<package name="1X01_OFFSET">
<description>&lt;h3&gt;Plated Through Hole - Long Pad w/ Offset Hole&lt;/h3&gt;
&lt;ul&gt;&lt;li&gt;Pin count:1&lt;/li&gt;
&lt;p&gt;Example device(s):
<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
<wire x1="-1.27" y1="-0.635" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
<wire x1="-0.635" y1="-1.27" x2="0.635" y2="-1.27" width="0.2032" layer="21"/>
<wire x1="0.635" y1="-1.27" x2="1.27" y2="-0.635" width="0.2032" layer="21"/>
<wire x1="1.27" y1="-0.635" x2="1.27" y2="0.635" width="0.2032" layer="21"/>
<pad name="1" x="0" y="0" drill="1.1176" diameter="1.8796" shape="offset" rot="R90"/>
<text x="-1.27" y="3.048" size="0.6096" layer="25" font="vector" ratio="20">&gt;NAME</text>
<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">&gt;VALUE</text>
<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
<library name="passives">
<package name="0603-CAP">
<wire x1="-0.356" y1="0.332" x2="0.356" y2="0.332" width="0.1016" layer="51"/>
<wire x1="-0.356" y1="-0.319" x2="0.356" y2="-0.319" width="0.1016" layer="51"/>
<smd name="1" x="-0.8" y="0" dx="0.96" dy="0.8" layer="1"/>
<smd name="2" x="0.8" y="0" dx="0.96" dy="0.8" layer="1"/>
<text x="-0.889" y="1.397" size="1.016" layer="25">&gt;NAME</text>
<text x="-1.016" y="-2.413" size="1.016" layer="27">&gt;VALUE</text>
<rectangle x1="-0.8382" y1="-0.4" x2="-0.3381" y2="0.4" layer="51"/>
<rectangle x1="0.3302" y1="-0.4" x2="0.8303" y2="0.4" layer="51"/>
<rectangle x1="-0.1999" y1="-0.3" x2="0.1999" y2="0.3" layer="35"/>
<package name="0805">
<smd name="1" x="-0.95" y="0" dx="0.7" dy="1.2" layer="1"/>
<smd name="2" x="0.95" y="0" dx="0.7" dy="1.2" layer="1"/>
<text x="-0.762" y="0.8255" size="1.016" layer="25">&gt;NAME</text>
<text x="-1.016" y="-2.032" size="1.016" layer="27">&gt;VALUE</text>
<package name="R2512_SHUNT">
<wire x1="-2.362" y1="1.473" x2="2.387" y2="1.473" width="0.1524" layer="51"/>
<wire x1="-2.362" y1="-1.473" x2="2.387" y2="-1.473" width="0.1524" layer="51"/>
<smd name="A" x="-2.8" y="0" dx="1.8" dy="3.2" layer="1" thermals="no"/>
<smd name="B" x="2.8" y="0" dx="1.8" dy="3.2" layer="1" thermals="no"/>
<text x="-2.54" y="1.905" size="1.016" layer="25">&gt;NAME</text>
<text x="-2.54" y="-3.175" size="1.016" layer="27">&gt;VALUE</text>
<rectangle x1="-3.2004" y1="-1.5494" x2="-2.3505" y2="1.5507" layer="51"/>
<rectangle x1="2.3622" y1="-1.5494" x2="3.2121" y2="1.5507" layer="51"/>
<smd name="SA" x="-1.414" y="1.3" dx="0.5" dy="0.5" layer="1" rot="R180"/>
<smd name="SB" x="1.386" y="1.3" dx="0.5" dy="0.5" layer="1"/>
<wire x1="-1.4" y1="1.3" x2="-2.4" y2="1.3" width="0.2032" layer="1"/>
<wire x1="1.4" y1="1.3" x2="2.2" y2="1.3" width="0.2032" layer="1"/>
<package name="1206">
<wire x1="-0.965" y1="0.787" x2="0.965" y2="0.787" width="0.1016" layer="51"/>
<wire x1="-0.965" y1="-0.787" x2="0.965" y2="-0.787" width="0.1016" layer="51"/>
<smd name="1" x="-1.4" y="0" dx="1.6" dy="1.8" layer="1"/>
<smd name="2" x="1.4" y="0" dx="1.6" dy="1.8" layer="1"/>
<text x="-1.27" y="1.143" size="1.016" layer="25">&gt;NAME</text>
<text x="-1.397" y="-2.794" size="1.016" layer="27">&gt;VALUE</text>
<rectangle x1="-1.7018" y1="-0.8509" x2="-0.9517" y2="0.8491" layer="51"/>
<rectangle x1="0.9517" y1="-0.8491" x2="1.7018" y2="0.8509" layer="51"/>
<rectangle x1="-0.1999" y1="-0.4001" x2="0.1999" y2="0.4001" layer="35"/>
<library name="power">
<package name="DSOP-ADVANCE">
<smd name="P$1" x="-1.905" y="-2.8" dx="0.65" dy="1" layer="1"/>
<smd name="P$2" x="-0.635" y="-2.8" dx="0.65" dy="1" layer="1"/>
<smd name="P$3" x="0.635" y="-2.8" dx="0.65" dy="1" layer="1"/>
<smd name="P$4" x="1.905" y="-2.8" dx="0.65" dy="1" layer="1"/>
<smd name="P$5" x="0" y="0.95" dx="5.5" dy="4.7" layer="1"/>
<circle x="-2.7" y="-3.8" radius="0.22360625" width="0.127" layer="21"/>
<wire x1="-2.5" y1="3" x2="2.5" y2="3" width="0.127" layer="48"/>
<wire x1="2.5" y1="3" x2="2.5" y2="-3" width="0.127" layer="48"/>
<wire x1="2.5" y1="-3" x2="-2.5" y2="-3" width="0.127" layer="48"/>
<wire x1="-2.5" y1="-3" x2="-2.5" y2="3" width="0.127" layer="48"/>
<package name="DRV8701">
<smd name="1" x="-1.9" y="1.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="2" x="-1.9" y="0.75" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="3" x="-1.9" y="0.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="4" x="-1.9" y="-0.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="5" x="-1.9" y="-0.75" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="6" x="-1.9" y="-1.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="18" x="1.9" y="1.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="17" x="1.9" y="0.75" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="16" x="1.9" y="0.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="15" x="1.9" y="-0.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="14" x="1.9" y="-0.75" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="13" x="1.9" y="-1.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="24" x="-1.25" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="23" x="-0.75" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="22" x="-0.25" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="21" x="0.25" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="20" x="0.75" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="19" x="1.25" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="7" x="-1.25" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="8" x="-0.75" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="9" x="-0.25" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="10" x="0.25" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="11" x="0.75" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="12" x="1.25" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="25" x="0" y="0" dx="2.8" dy="2.8" layer="1"/>
<wire x1="-2" y1="2" x2="-2" y2="-2" width="0.127" layer="51"/>
<wire x1="-2" y1="-2" x2="2" y2="-2" width="0.127" layer="51"/>
<wire x1="2" y1="-2" x2="2" y2="2" width="0.127" layer="51"/>
<wire x1="2" y1="2" x2="-2" y2="2" width="0.127" layer="51"/>
<circle x="-2.15" y="1.2" radius="0.05" width="0.127" layer="21"/>
<wire x1="-2" y1="2" x2="-1.7" y2="2" width="0.127" layer="21"/>
<wire x1="-2.05" y1="2" x2="-2.05" y2="1.7" width="0.127" layer="21"/>
<wire x1="1.7" y1="2" x2="2" y2="2" width="0.127" layer="21"/>
<wire x1="2" y1="2" x2="2" y2="1.7" width="0.127" layer="21"/>
<wire x1="2" y1="-1.7" x2="2" y2="-2" width="0.127" layer="21"/>
<wire x1="2" y1="-2" x2="1.7" y2="-2" width="0.127" layer="21"/>
<wire x1="-1.7" y1="-2" x2="-2" y2="-2" width="0.127" layer="21"/>
<wire x1="-2" y1="-2" x2="-2" y2="-1.7" width="0.127" layer="21"/>
<text x="-1.85" y="2.95" size="1.27" layer="25">&gt;NAME</text>
<text x="-2.05" y="-4.15" size="1.27" layer="27">&gt;VALUE</text>
<library name="connector">
<package name="ATK-BFPP-TOP-FX8-60">
<smd name="P$1" x="-8.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<pad name="P$61" x="-16.5" y="0" drill="4.5" diameter="6.5" thermals="no"/>
<pad name="P$62" x="16.4" y="0" drill="4.5" diameter="6.5" thermals="no"/>
<smd name="P$60" x="-8.6" y="2.7" dx="0.35" dy="1.7" layer="1"/>
<rectangle x1="-12.3" y1="-2.55" x2="12.3" y2="2.55" layer="51"/>
<hole x="-11.525" y="-1.8" drill="1.1"/>
<hole x="11.525" y="-1.8" drill="0.7"/>
<smd name="P$2" x="-8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$3" x="-7.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$4" x="-6.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$5" x="-6.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$6" x="-5.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$7" x="-5" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$8" x="-4.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$9" x="-3.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$10" x="-3.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$11" x="-2.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$12" x="-2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$13" x="-1.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$14" x="-0.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$15" x="-0.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$16" x="0.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$17" x="1" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$18" x="1.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$19" x="2.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$20" x="2.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$21" x="3.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$22" x="4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$23" x="4.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$24" x="5.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$25" x="5.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$26" x="6.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$27" x="7" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$28" x="7.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$29" x="8.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$30" x="8.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$31" x="8.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$32" x="8.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$33" x="7.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$34" x="7" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$35" x="6.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$36" x="5.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$37" x="5.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$38" x="4.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$39" x="4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$40" x="3.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$41" x="2.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$42" x="2.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$43" x="1.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$44" x="1" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$45" x="0.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$46" x="-0.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$47" x="-0.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$48" x="-1.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$49" x="-2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$50" x="-2.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$51" x="-3.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$52" x="-3.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$53" x="-4.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$54" x="-5" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$55" x="-5.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$56" x="-6.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$57" x="-6.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$58" x="-7.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$59" x="-8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<polygon width="0.127" layer="31">
<vertex x="-16.8" y="3.1"/>
<vertex x="-16.8" y="2.3" curve="90"/>
<vertex x="-18.8" y="0.3"/>
<vertex x="-19.6" y="0.3" curve="-90"/>
<polygon width="0.127" layer="31">
<vertex x="-19.6" y="-0.3"/>
<vertex x="-18.8" y="-0.3" curve="90"/>
<vertex x="-16.8" y="-2.3"/>
<vertex x="-16.8" y="-3.1" curve="-90"/>
<polygon width="0.127" layer="31">
<vertex x="-16.2" y="-3.1"/>
<vertex x="-16.2" y="-2.3" curve="90"/>
<vertex x="-14.2" y="-0.3"/>
<vertex x="-13.4" y="-0.3" curve="-90"/>
<polygon width="0.127" layer="31">
<vertex x="-13.4" y="0.3"/>
<vertex x="-14.2" y="0.3" curve="90"/>
<vertex x="-16.2" y="2.3"/>
<vertex x="-16.2" y="3.1" curve="-90"/>
<polygon width="0.127" layer="31">
<vertex x="16.1" y="3.1"/>
<vertex x="16.1" y="2.3" curve="90"/>
<vertex x="14.1" y="0.3"/>
<vertex x="13.3" y="0.3" curve="-90"/>
<polygon width="0.127" layer="31">
<vertex x="13.3" y="-0.3"/>
<vertex x="14.1" y="-0.3" curve="90"/>
<vertex x="16.1" y="-2.3"/>
<vertex x="16.1" y="-3.1" curve="-90"/>
<polygon width="0.127" layer="31">
<vertex x="16.7" y="-3.1"/>