Proto 3 Hardware Specification

Schedule

• Hardware and drivers test complete and ready for QA.
• In progress. Hardware and drivers functionally complete.
• Done. Handoff to API/SDK software. Hardware is released for initial software development. Driver functionality is sufficient for basic device operation.
• Done. No electrical changes are outstanding.
• Done. Driver functionality sufficient for device query is complete.
• Done. Hardware is electrically connected and is sending and receiving signals.
• Done. Hardware is installed and bring up is proceeding.

Devices

• EDISON-ATOM - Ready for hand off.
• EDISON-QUARK - Ready for hand off.
• EDISON-BOARD - Ready for hand off.
• CAMTHERM - Ready for hand off.
• CAMLIDAR - Ready for hand off.
• CAMRGB - In progress.
• MICARRAY - Ready for hand off.
• MOTOR-PAN, MOTOR-TILTU, MOTOR-ROTATE - Ready for hand off.
• MTRDRV-PAN, MTRDRV-TILTU, MTRDRV-ROTATE - Ready for hand off.
• JOY3D - Ready for hand off.
• JOYBLUE - Ready for hand off.
• ADC50 - Ready for hand off.
• OLEDC-FRAME -Ready for hand off.
• AHRS-FRAME - Read for hand off.
• AHRS-GIMBAL - Ready for hand off.
• AI1, AI2, AI3, AI4 - Ready for hand off.

EDISON-ATOM - Processor

• Intel Edison
• Dual core 500 Mhz x86 Pentium class processors
• Linux OS.
• 1 GB LPDDR3 Ram memory.
• 4 GB eMMC onboard long term storage.
• USB 2.0
• Wi-Fi 802.11 a/b/g/n
• Bluetooth 2.1
• Buses: I2C, I2S, SPI, I2S
• GPIO: 40

EDISON-QUARK - Micro Controller

• Single core running at 100 Mhz.
• UART communication with x86 Dual core.
• Wind River real time OS

EDISON-BOARD - Main Board

• Intel Edison Mini-Breakout

CAMTHERM - 8x8 pixel thermal imager

• Panasonic AMG8833
• 3.3v
• 4.5mA max current draw.
• I2C @ 400Khz max
• 8x8 64 pixel array
• 1Hz, 10Hz sample rate
• 0 - 80C
• Accuracy +/- 2.5C
• 0.25C resolution
• NETD (noise equivalent temperature difference)
  • .05C @ 1HZ
  • .016 @ 10Hz
• 7 meter range
• 60 degrees viewing angle

CAMLIDAR - Dual VL53l1X laser time of flight ranging senors

CAMRGB - Minature RGB camera.

MICARRAY - Four Channel Microphone Array

• 4x InvenSense ICS-52000
• Technology: MEMs
• Protocol: TDM
• Resolution: 24 bit per channel
• Sample Rate: 48 kHz synchronized per channel.
• Frequency Response: flat 50 Hz - 20 kHz
• SNR: 65 dBA
• Sensitivity: -26 dB FS
• Directionality: Omni
• Power: 1.4 mA per channel normal .02 mA per channel standby.
• Voltage: 1.8 - 3.3 volts

Status:

9/1/2018. Mic array has been verified to be connected electrically and responding to commands from software. The setup for the mic array with respect to Alsa and Pulse Audio is not straight forward. I am able to send commands to acquire data and then see a pulsed signal returning from mic digital output. I say pulsed because the voltage, on a multi-meter dips to around 1 volt when a command is issued and then returns to 1.8 volts when the command is terminated. I did more reading and now it seems that the outputs from the mic's are sent to a specific mixer input. will see about fixing this after all hardware is up and running as best as possible.

MTR-PAN, MTR-TILTU, MTR-ROTATE : Three Axis Gimbal (proto 3)

• 2x Stepper motor:
  • nema 11,
  • 200 steps per rev.
  • 28x28x38 mm,
  • 3.8 volts .67 ma
• 1x Stepper motor:
  • nema 8,
  • 200 steps per rev.,
  • 20x20x30 mm,
  • 6 volts, .6 ma

Status:

• September/06/2018 - Motors are fixed, No more brown out! All motors are now enabled. A service was also added to start the joystick at boot. The problem was fixed by adjusting the voltage going the pan and tilt motors. these motors should only be provided with 3.8 volts, they were getting 6 volts. This looked a lot like an under volt condition because the voltage draw through the motor voltage regulator was over heating and shutting down when the watts got to high.
• September/05/2018 - With current motors, the 18 watt power supply is browning out when all three motors are powered up and moving. Before some work they were causing a brown out when all three were first powered on. I fixed this by adding power sequencing logic to the start up. This included proper power up sequence for all motors. I also implemenented a current chopper that powers all lines down for n phase changes then drives a single phase change or hold phase to the lines before repeating. This is independently adjustable on each axis. Currently the current chopper is only enabled when the axis power level is zero. Implementing the chopper for a running motor will starve the motor and cause skipping. I think this can be somewhat mitigated by a very small amount of chopping combined with another algorithm to sequence the periods when a motor is applying power, so that the combination of motors getting power at any one moment does not exceed system parameters but still provides enough power for effective operation. Switching to full stepping from half stepping cut the power use by almost half. This is ok because the motor will be geared at 2 or 3 : 1 to reduce power usage and improve gimbal resolution. I'm fairly sure the the pan and tilt motors are under volted because when two are running they start skipping. I also noticed that they do not seem to make a full rotation when asked to using turn_motor.sh. I think this is also related to under voltage as the rotation motor has no such problem when using the same delay.

MTRDRV-MX1508 - 3 Channel GPIO activated digital high current switch.

• 3x MX-1508 motor drivers.
• Voltage: 1.8 volt GPIO. 1.8 - 10 volts switched.
• Current: 1ma per channel GPIO. 2.5 amps per channel max switched.

AHRS-FRAME, AHRS-GIMBAL: Attitude Heading and Reference

• 2x Bosch BNO055
• Gyroscope: 3 axis per sensor 16 bit resolution
• Accelerometer: 3 axis per sensor. 14 bit resolution
• Compass: 3 axis per sensor. 15 bit resolution
• Attitude, Heading, and Reference Co-processor: 32 bit Cortex M0
• Sample Rate: 100 Hz
• Voltage: 2.4 - 3.6
• Current: .04 mA standby 12 mA normal
• Bus: I2c @ 400 kHz, HID over I2C

OLEDC-FRAME: Frame Display

• Waveshare 1.5 inch Color OLED
• Width: 128 pixels
• Height: 128 pixels
• Color Depth: 16-bit 65536 colors
• Bus: Serial 4 wire SPI @ 25 Mhz
• Controller: SSD1351
• Voltage: 3.3 volts
• Power: .01 mA standby 20-40 mA normal
• Controller: SSD1351

JOY3D: Joystick

• 3 axis
• 1 button
• Removable

Status:

September 5, 2018. Stick is fully functional on all access and button. A service was added to start the stick at boot.

JOYBLUE: Bluetooth PSP style game controller

• 4 axis
• 2 button
• Reference controller: Moga PRO Power Controller

AI1, AI2, AI3, AI4 - Neural Network Inference Co-processor. (proto 3)

4x Movidius Myriad 2

Voltage: 5 volts

Power: 1 watt

Compute Capacity: 100 GFLOPS per engine, .4 TFLOPS total

ADC50: High Precision Analog to Digital Converter

• Texas Instruments ADS1115
• 4 channels analog to digital converter with 2 channels comparator.
• 16 bit.
• V in : 0 - 5 volts
• 8 - 860 samples per second.
• I2c bus.