Commit e6f17e9e authored by Jake Read's avatar Jake Read
Browse files

cleanup for squids

parent 9de71512
......@@ -34,7 +34,9 @@ At the end of the day, current moves through coils, voltages are read and delive
[Router Daughterboard](https://gitlab.cba.mit.edu/squidworks/daughterboard-router) adds four (4) very-fast-uart (codename VFP) links to the motherboard, establishing system hubs, etc. These can be chained / etc - there is no graph size limit.
[Power Distribution Boards](https://gitlab.cba.mit.edu/squidworks/pdbs) are handy circuits for bussing power (separate from network) around a machine.
[Power Distribution Boards](https://gitlab.cba.mit.edu/squidworks/pdbs) are handy circuits for bussing power (separate from network) around a machine.
[SPI Daughters](https://gitlab.cba.mit.edu/squidworks/spies) are small circuits used to locate sensors off board, i.e. the encoder for brushless servos and spindles.
**Planned Endpoints** include a DC motor driver and BLDC motor driver, both exist in revisions for earlier architectures. Also including an Ultrasonic driver. Many of these boards are just variations on the h-bridge, so there will be some attempt to anneal towards generic power control for i.e. heating, melting, solenoid switching, etc. Sensing is another topic.
......@@ -56,11 +58,11 @@ At the end of the day, current moves through coils, voltages are read and delive
### Powering Distribution
The network cables don't carry any power, just four pairs of differential signals. So each board needs a power connection as well.
The network cables don't carry any power, just four pairs of differential signals. So each board needs a power connection as well. I am becoming partial to XT30 connectors, and the power-top board [in here](https://gitlab.cba.mit.edu/squidworks/pdbs) has one of those included, but there are no rules.
I have a small set of power distribution boards:
[PDBs](https://gitlab.cba.mit.edu/jakeread/pdbs)
[PDBs](https://gitlab.cba.mit.edu/squidworks/pdbs)
I hook these up end-to-end to make blocks of just-the-kind of power splitter, etc, that I want.
......@@ -86,24 +88,16 @@ One cool thing about RJ45 is the modularity of the cables. We can use commodity
![rj45 video](images/rj45-assembly.mp4)
```make sure those tabs are on the same side of the flat cable```
```
make sure those tabs are on the same side of the flat cable
```
![rj45](images/rj45-tabs.jpg)
To power the boards, I put M3 'studs' on each PCB. These can handle lots of current, and have a good mechanical connection. To hookup, I solder or crimp eye-terminals onto ~ 18ga - 14ga wire, then screw them down with short M3 Socket Head Screws.
Power can be bussed - i.e. we can screw two terminals onto the same stud to make the circuit a 'drop' on the line.
## Network Interface
## Software
Once you understand the packet structure, any program you can imagine to write that has access to a USB or Serial Port, can issue and receieve packets. For us, this means [RNDMC](https://gitlab.cba.mit.edu/jakeread/rndmc) - a Reconfigurable Numeric Dataflow Machine Controller. For you, it might mean some other Node.js program (some exaple code for a simple version of which is available [here](atkterminal.js)), or Python, etc.
Very in-flux, pls check back soon.
## [Firmware -> XMEGAs](reproduction/firmware.md)
Once you've gotten your hands on / or built some ATK Hardware, you'll need to load some C Code (firmware!) onto each chip. The link above is a guide for this.
## [Circuit Reference](reproduction/circuits.md)
If you'd like to make your own hardware for the network, I recommend using the [ATKBreadBoardBoard](https://gitlab.cba.mit.edu/jakeread/atkbreadboardboard) whose documentation also includes a 'daughter' board starter - this will let you plug some new circuitry right onto the available XMEGA pinouts, and use known-to-work programming, voltage regulation, and network interface hardware.
Along with this note, there's more detailed explanation in the link above.
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment