Commit 2c060ed1 authored by Ruben Castro's avatar Ruben Castro

Merge branch 'jake' into 'master'

Jake

See merge request !1
parents b0ceaa41 8207b839
jake/
**.elf
**.hex
**.bin
**.lss
**.map
**.srec
**.o
**.d
**.DS_Store
**.b#*
**.s#*
**.atsuo
**/ASF/
js/node_modules/
sim/js_code.txt
sim/TinyNets/nbproject/
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......@@ -25,21 +25,21 @@ ______________
## DRV8701 Rules:
Vgs(voltage applied to MOSFET gate) = 9.5V
Ivcp(current capable of being applied to MOSFET gate - dependent on Vm) = 12mA
20v/v conversion for current sense - for 0-10A to 0-1.5V mapping, you need a ~7 mOhm resistor rated for >=2watts
Lots of passive components need to be around the IC.
20v/v conversion for current sense - for 0-10A to 0-1.5V mapping, you need a ~ 7 mOhm resistor rated for >=2watts
Lots of passive components need to be around the IC.
Here is board version 2.0
Here is board version 2.1, updated for a new 'mother' board ...
## TOP
## Circuit
![routedTop](media/circuitV2Top.png)
![routedTop](images/routed.png)
## BOTTOM
## Schematic
![routedBottom](media/circuitV2Bottom.png)
![routedBottom](images/schematic.png)
......@@ -173,11 +173,6 @@ Depends on how quickly you want to test them ;)
![board](media/workingboard.jpg)
# Sources:
MOSFET: https://www.digikey.com/product-detail/en/alpha-omega-semiconductor-inc/AON7410/785-1581-1-ND/3621507
......@@ -188,3 +183,40 @@ General TI-DRV-style Motor Driver PCB Layout manual: http://www.ti.com/general/d
Great Resource on ground planes - https://www.maximintegrated.com/en/app-notes/index.mvp/id/5450
# Jake's Notes
I modified *some* aspects of the board, and pinouts go through the [xmega motherboard](https://gitlab.cba.mit.edu/jakeread/motherboard-xmega).
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.
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