Commit c9c95ba7 authored by Jake Read's avatar Jake Read

add notes for new board

parent 65d9f07b
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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......@@ -186,17 +186,37 @@ Great Resource on ground planes - https://www.maximintegrated.com/en/app-notes/i
# 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
\ No newline at end of file
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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......@@ -760,7 +760,7 @@ design rules under a new name.</description>
<attribute name="NAME" x="23.45" y="25.35" size="1.27" layer="25" rot="R270"/>
<attribute name="VALUE" x="16.35" y="25.55" size="1.27" layer="27" rot="R270"/>
</element>
<element name="R5" library="passives" package="R2512_SHUNT" value="7mOhm" x="22.7" y="14.7" smashed="yes" rot="R90">
<element name="R5" library="passives" package="R2512_SHUNT" value="50mOhm" x="22.7" y="14.7" smashed="yes" rot="R90">
<attribute name="NAME" x="20.795" y="12.16" size="1.016" layer="25" rot="R90"/>
<attribute name="VALUE" x="25.875" y="12.16" size="1.016" layer="27" rot="R90"/>
</element>
......
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......@@ -2731,7 +2731,7 @@ JST-SH type.
<part name="Q3" library="power" deviceset="NFET-TPW4R008NH" device=""/>
<part name="Q4" library="power" deviceset="NFET-TPW4R008NH" device=""/>
<part name="U2" library="power" deviceset="DRV8701" device="QFN24"/>
<part name="R5" library="passives" deviceset="R_SHUNT" device="2512" value="7mOhm"/>
<part name="R5" library="passives" deviceset="R_SHUNT" device="2512" value="50mOhm"/>
<part name="C5" library="passives" deviceset="CAP" device="1206" value="10uF"/>
<part name="C8" library="passives" deviceset="CAP" device="1206" value="10uF"/>
<part name="C9" library="passives" deviceset="CAP" device="1206" value="10uF"/>
......
......@@ -9,9 +9,9 @@ AutoSaveProject=1
UsedLibraryUrn="urn:adsk.eagle:library:371"
UsedLibrary="D:/dropbox/CBA/doc/libraries/eagle/connector.lbr"
UsedLibrary="D:/dropbox/CBA/doc/libraries/eagle/power.lbr"
UsedLibrary="D:/dropbox/CBA/doc/libraries/eagle/motors.lbr"
UsedLibrary="D:/dropbox/CBA/doc/libraries/eagle/passives.lbr"
UsedLibrary="D:/dropbox/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-Connectors.lbr"
UsedLibrary="D:/dropbox/CBA/doc/libraries/eagle/motors.lbr"
[Win_1]
Type="Library Editor"
......@@ -62,7 +62,7 @@ Package="R2512_SHUNT"
Type="Schematic Editor"
Number=1
File="RMEC_SCHEM.sch"
View="191.166 95.0317 357.571 202.53"
View="140.547 29.5495 279.218 119.131"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
......@@ -101,14 +101,14 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=97
Views=" 1: 191.166 95.0317 357.571 202.53"
Views=" 1: 140.547 29.5495 279.218 119.131"
Sheet="1"
[Win_3]
Type="Board Editor"
Number=2
File="RMEC_SCHEM.brd"
View="-27.9999 -10.6227 109.37 53.4766"
View="16.8805 20.8927 27.5797 25.8852"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.254 0.2032 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
......@@ -153,7 +153,7 @@ Type="Control Panel"
Number=0
[Desktop]
Screen="1920 1080"
Screen="3000 1920"
Window="Win_1"
Window="Win_2"
Window="Win_3"
......
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