diff --git a/documentation/masterboard_communication.md b/documentation/masterboard_communication.md index a912a1bb..4d87fca5 100644 --- a/documentation/masterboard_communication.md +++ b/documentation/masterboard_communication.md @@ -16,20 +16,14 @@ On the 4 pairs of wires, only 2 are used by the ethernet 100Mbps and cables are It is possible to make the ethernet cables lighter by using only 2 twisted pairs of wire. The wires can be attached to the power cables without any issues of packet loss. -For reference, here is the wiring: - On a Straight cable, keep the orange wires (1,2) and green wires (3,6). - -Do not untwist the wires! - -![straight-through-cable](https://www.fs.com/images/ckfinder/ftp_images/tutorial/straight-through-cable.png) - +Do not untwist the wires. WiFi ---- The WiFi connection is also happening at the lowest level of the 802.11 specification, using vendor specific action frame. No base station or rooter are needed. No identification is needed. -Ideally a free channel should be used, with a minimum of 2.4Ghz devices surrounding. TODO setup a procedure to change the master board channel, currently hard-coded in the firmware. +Ideally a free channel should be used, with a minimum of 2.4Ghz devices surrounding. The master board will automaticaly detect the chanel used at startup. The interface on the PC needs to support monitor mode and injection. ASUS PCE-AC51 has been tested with a RT Preempt patched OS. @@ -37,7 +31,7 @@ The interface on the PC needs to support monitor mode and injection. ASUS PCE-AC Data packet ----------- -### Current protocol version: **3** +### Current protocol version: **4** Both WiFi and Ethernet use the same data packet format. @@ -58,17 +52,21 @@ Session ID | SPI connected --- | --- 2 bytes | 1 byte -The **SPI connected** field contains an 8 bit integer, each bit of which tells whether or not the corresponding SPI slave is connected (Least significant bit: SPI0, most significant bit: SPI7). + +The **SPI connected** field contains an 8 bit integer, each bit of which tells whether or not the corresponding SPI slave is connected (Least significant bit: SPI0, most significant bit: SPI7). +### Packets Both **Command** and **Sensor** packets encapsulate 6 BLMC µDriver SPI interface packets, without the **Index** and **CRC** fields. Additional, sensor packets also include IMU measurement and AHRS estimation. -### Sensor packet (200 Bytes) -Session ID | µDriver0 | µDriver1 | µDriver2 | µDriver3 | µDriver4 | µDriver5 | IMU | Sensor Index | Packet Loss | Last Command Index ---- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- -2 Bytes | 28 Bytes | 28 Bytes | 28 Bytes | 28 Bytes | 28 Bytes | 28 Bytes | 24 Bytes | 2 Bytes | 2 Bytes | 2 Bytes +### Sensor packet (212 Bytes) +Session ID | µDriver0 | µDriver1 | µDriver2 | µDriver3 | µDriver4 | µDriver5 | IMU | Power Board |Sensor Index | Packet Loss | Last Command Index +--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- +2 Bytes | 28 Bytes | 28 Bytes | 28 Bytes | 28 Bytes | 28 Bytes | 28 Bytes | 24 Bytes | 12 Bytes | 2 Bytes | 2 Bytes | 2 Bytes **µDriverX** corresponds to a BLMC µDriver SPI interface sensor packet without the CRC and index fields. +**Power Board** correspond the powerboard measurment data composed of bus current, voltage and energy. + **IMU** is composed of Accelerometer, Gyroscope, AHRS, and estimation of Linear Acceleration (without gravity) data: AccX | AccY | AccZ | GyrX | GyrY | GyrZ | AHRS Roll | AHRS Pitch | AHRS Yaw | LinAccX | LinAccY | LinAccZ diff --git a/firmware/components/quad_crc/quad_crc.c b/firmware/components/quad_crc/quad_crc.c index e48514df..97a6c62c 100644 --- a/firmware/components/quad_crc/quad_crc.c +++ b/firmware/components/quad_crc/quad_crc.c @@ -82,4 +82,25 @@ uint32_t CRC_compute(uint8_t *bytes, int len) { bool CRC_check(uint8_t *bytes, int len) { return (CRC_compute(bytes, len) == 0); +} + + +uint16_t crc16_ccitt(uint8_t * data, int len) +{ + uint16_t crc = 0xFFFF; + for (unsigned int i = 0; i < len; ++i) { + uint16_t dbyte = data[i]; + crc ^= dbyte << 8; + for (uint8_t j = 0; j < 8; ++j) { + uint16_t mix = crc & 0x8000; + crc = (crc << 1); + if (mix) + crc = crc ^ 0x1021; + } + } + return crc; +} + +bool crc16_ccitt_check(uint8_t * data, int len){ + return (crc16_ccitt(data, len) == 0); } \ No newline at end of file diff --git a/firmware/components/quad_crc/quad_crc.h b/firmware/components/quad_crc/quad_crc.h index 1f5bf265..3026adcc 100644 --- a/firmware/components/quad_crc/quad_crc.h +++ b/firmware/components/quad_crc/quad_crc.h @@ -6,5 +6,6 @@ bool CRC_check(uint8_t *bytes, int len); uint32_t CRC_compute(uint8_t *bytes, int len); - +uint16_t crc16_ccitt(uint8_t * data, int len); +bool crc16_ccitt_check(uint8_t * data, int len); #endif \ No newline at end of file diff --git a/firmware/main/defines.h b/firmware/main/defines.h index 5ef0917b..aece6a90 100644 --- a/firmware/main/defines.h +++ b/firmware/main/defines.h @@ -3,8 +3,12 @@ #include -#define PROTOCOL_VERSION 3 +#define PROTOCOL_VERSION 4 +union floatbytes{ + float f; + uint8_t b[4]; +}; struct sensor_data { uint16_t status; uint16_t timestamp; @@ -32,6 +36,12 @@ struct imu_data { int16_t linear_acceleration[3]; } __attribute__((packed)); +struct powerboard_data { + uint16_t vbus; + int16_t vshunt; + float energy; +} __attribute__((packed)); + struct wifi_eth_packet_init { uint16_t protocol_version; // used to ensure both the interface and the firmware use the same protocol uint16_t session_id; @@ -53,6 +63,7 @@ struct wifi_eth_packet_sensor { uint16_t session_id; struct sensor_data sensor[CONFIG_N_SLAVES]; struct imu_data imu; + struct powerboard_data powerboard; uint16_t sensor_index; uint16_t packet_loss; uint16_t last_cmd_index; diff --git a/firmware/main/masterboard_main.c b/firmware/main/masterboard_main.c index 923278eb..48bcf147 100644 --- a/firmware/main/masterboard_main.c +++ b/firmware/main/masterboard_main.c @@ -347,6 +347,22 @@ static void periodic_timer_callback(void *arg) wifi_eth_tx_data.sensor[i].status = 0xf; // specifying that the transaction failed in the sensor packet } } + + //Slave 7 is always the power board + uint8_t tx_spi_powerboard[12]={0xaa,0xbb,0xcc,0xdd,0xee,0xff,0xaa,0xbb,0xcc,0xdd,0xee,0xff}; //Fake packet, cmd to the power board are not yet implemented + uint8_t rx_spi_powerboard[12]={0}; + spi_send(7, tx_spi_powerboard,rx_spi_powerboard, 12); + if (crc16_ccitt_check(rx_spi_powerboard,12)) //Packet valid? + { + wifi_eth_tx_data.powerboard.vbus = (rx_spi_powerboard[2]<<8) | rx_spi_powerboard[3]; + wifi_eth_tx_data.powerboard.vshunt = (rx_spi_powerboard[4]<<8) | rx_spi_powerboard[5]; + union floatbytes fb; + fb.b[3] = rx_spi_powerboard[6]; + fb.b[2] = rx_spi_powerboard[7]; + fb.b[1] = rx_spi_powerboard[8]; + fb.b[0] = rx_spi_powerboard[9]; + wifi_eth_tx_data.powerboard.energy = fb.f; + } } /* Get IMU latest data*/ diff --git a/hardware/V2/esp32_master_board.brd b/hardware/V2/esp32_master_board.brd index 34d969bf..ab4b7997 100644 --- a/hardware/V2/esp32_master_board.brd +++ b/hardware/V2/esp32_master_board.brd @@ -1,6 +1,6 @@ - + @@ -211,7 +211,7 @@ V2.1 - LAAS CNRS IO33 3.3V MASTER BOARD -V2.1 - LAAS CNRS +V2.2 - LAAS CNRS SPI0 SPI1 SPI2 @@ -330,6 +330,7 @@ V2.1 - LAAS CNRS +>NAME @@ -388,7 +389,7 @@ Source: http://www.hittite.com/product_info/product_specs/dividersdetectors/hmc3 - + <b>Resistors, Capacitors, Inductors</b><p> Based on the previous libraries: <ul> @@ -1458,34 +1459,20 @@ for trimmer refence see : <u>www.electrospec-inc.com/cross_references/trim </table> </BODY></HTML> - -<b>RESISTOR</b> - - - - - - - - ->NAME ->VALUE - - - - - -<b>CAPACITOR</b> - - - - - - - - ->NAME ->VALUE + +0402 (1005 Metric) + +Nick Garner - TeleSense + + + + + + + + +>NAME +>VALUE @@ -1508,19 +1495,6 @@ for trimmer refence see : <u>www.electrospec-inc.com/cross_references/trim - -RESISTOR - - - - - -Chip, 1.00 X 0.50 X 0.60 mm body -<p>Chip package with body size 1.00 X 0.50 X 0.60 mm</p> - - - - CAPACITOR @@ -1529,32 +1503,6 @@ for trimmer refence see : <u>www.electrospec-inc.com/cross_references/trim - - - - - - - - - - - - - - - - - - - - - - - - - - <b>Hirose DF13 Series.</b><p> @@ -1801,11 +1749,17 @@ Source: <a href="http://www.hirose.co.jp/cataloge_hp/e53600014.pdf">http:/ - + + + - - + + + + + + @@ -3066,6 +3020,46 @@ for SMD auto placement equipment + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -3265,91 +3259,99 @@ design rules under a new name. + - + - + - + - + - + - + - - + + + + + + + + + - + - + - + - + - + - + - + - + - + - + - + - + - - + + - + - + - + - + @@ -3374,23 +3376,23 @@ design rules under a new name. - + - + - + - + - + @@ -3405,12 +3407,12 @@ design rules under a new name. - + - - + + @@ -3436,6 +3438,7 @@ design rules under a new name. + @@ -3443,15 +3446,15 @@ design rules under a new name. - + - + - + @@ -3467,7 +3470,7 @@ design rules under a new name. - + @@ -3478,15 +3481,15 @@ design rules under a new name. - + - + - + @@ -3501,7 +3504,7 @@ design rules under a new name. - + @@ -3537,16 +3540,17 @@ design rules under a new name. + - + - + - + @@ -3560,7 +3564,7 @@ design rules under a new name. - + @@ -3569,7 +3573,7 @@ design rules under a new name. - + @@ -3578,7 +3582,7 @@ design rules under a new name. - + @@ -3588,7 +3592,7 @@ design rules under a new name. - + @@ -3596,10 +3600,10 @@ design rules under a new name. - + - + @@ -3607,48 +3611,56 @@ design rules under a new name. - - - + + + + - + - - - - - + + + + + - + - - + + + - + + - + - + + + + + - + - - - - + + + + + @@ -3659,47 +3671,27 @@ design rules under a new name. - + - + - - - - - - - - - - - - - - - - - - - - - - + + - - + + @@ -3709,44 +3701,45 @@ design rules under a new name. - + - + - + - - + + - - - - - - - - - - + + + + + + + - - + + + + + + + + - - - + @@ -3793,7 +3786,7 @@ design rules under a new name. - + @@ -3901,6 +3894,9 @@ design rules under a new name. + + + @@ -3908,16 +3904,16 @@ design rules under a new name. - - - + + + - + @@ -3963,13 +3959,14 @@ design rules under a new name. - + - - + + + @@ -3980,34 +3977,31 @@ design rules under a new name. - + - - + + - - + - - + + - - - - - - + + + + @@ -4025,15 +4019,13 @@ design rules under a new name. - - - - - + + + @@ -4042,30 +4034,19 @@ design rules under a new name. - - - - - - - - + + - + - - - - + + - - - - - - + + + @@ -4075,6 +4056,19 @@ design rules under a new name. + + + + + + + + + + + + + @@ -4098,26 +4092,28 @@ design rules under a new name. - - + + - + - - + + + - - - - + + + + + @@ -4131,24 +4127,22 @@ design rules under a new name. - + - + - - - - - + + + @@ -4156,8 +4150,8 @@ design rules under a new name. - - + + @@ -4165,7 +4159,7 @@ design rules under a new name. - + @@ -4185,16 +4179,13 @@ design rules under a new name. - - + - - - - - + + + @@ -4244,8 +4235,8 @@ design rules under a new name. - - + + @@ -4369,12 +4360,16 @@ design rules under a new name. - - + - - - + + + + + + + + @@ -4402,7 +4397,7 @@ design rules under a new name. - + @@ -4418,15 +4413,15 @@ design rules under a new name. - + - - - + + + @@ -4443,23 +4438,26 @@ design rules under a new name. - - - - + + + + + + + - - - - - + + + + + - + @@ -4469,21 +4467,20 @@ design rules under a new name. - + - - - + + + - - - + + @@ -4505,16 +4502,17 @@ design rules under a new name. - - + + - - + + + @@ -4524,7 +4522,7 @@ design rules under a new name. - + @@ -4543,9 +4541,9 @@ design rules under a new name. - - - + + + @@ -4579,10 +4577,10 @@ design rules under a new name. - - + + - + @@ -4590,21 +4588,34 @@ design rules under a new name. - - - + + + - + - - - - - + + + + + + + + + + + + + + + + + + @@ -4709,7 +4720,6 @@ design rules under a new name. - diff --git a/hardware/V2/esp32_master_board.csv b/hardware/V2/esp32_master_board.csv index 3bd11848..9083516b 100644 --- a/hardware/V2/esp32_master_board.csv +++ b/hardware/V2/esp32_master_board.csv @@ -1,6 +1,6 @@ "Qty";"Value";"Device";"Package";"Parts";"Description";"DESCRIPTION";"HEIGHT";"MANUFACTURER_NAME";"MANUFACTURER_PART_NUMBER";"MOUSER_PART_NUMBER";"MOUSER_PRICE-STOCK";"MPN";"POPULARITY";"RS_PART_NUMBER";"RS_PRICE-STOCK";"SPICEPREFIX";"VALUE"; "1";"0";"R-EU_R0402";"R0402";"L";"RESISTOR, European symbol";"";"";"";"CPL-RES-0402-0-0.063W";"";"";"";"";"";"";"";""; -"1";"1.5k";"R-EU_R0402";"R0402";"R17";"RESISTOR, European symbol";"";"";"";"CPL-RES-0603-1.5K-0.1W";"";"";"";"";"";"";"";""; +"1";"1.5k";"R-EU_R0402";"R0402";"R17";"RESISTOR, European symbol";"";"";"";"ERJ2GEJ152X";"";"";"";"";"";"";"";""; "6";"10";"R-EU_R0402";"R0402";"R1, R2, R3, R4, R20, R21";"RESISTOR, European symbol";"";"";"";"CPL-RES-0402-10-0.063W";"";"";"";"";"";"";"";""; "6";"100n";"C-EUC0402";"C0402";"C4, C5, C6, C7, C8, C9";"CAPACITOR, European symbol";"";"";"";"CPL-CAP-X7R-0402-100NF-16V";"";"";"";"";"";"";"";""; "1";"12.1k";"R-EU_R0402";"R0402";"R7";"RESISTOR, European symbol";"";"";"";"ERJ-U02F1212X";"";"";"";"";"";"";"";""; @@ -14,7 +14,7 @@ "1";"33";"R-EU_R0402";"R0402";"R6";"RESISTOR, European symbol";"";"";"";"CRCW040233R0FKEDC";"";"";"";"";"";"";"";""; "4";"330";"R-EU_R0402";"R0402";"R8, R9, R14, R18";"RESISTOR, European symbol";"";"";"";"RC0402JR-13330RL";"";"";"";"";"";"";"";""; "5";"4.7k";"R-EU_R0402";"R0402";"R5, R15, R16, R19, R22";"RESISTOR, European symbol";"";"";"";"CPL-RES-0402-4.7K-0.063W";"";"";"";"";"";"";"";""; -"1";"470p";"C-EUC0402";"C0402";"C2";"CAPACITOR, European symbol";"";"";"";"0101ZC471KAT2A";"";"";"";"";"";"";"";""; +"1";"470p";"C-EUC0402";"C0402";"C2";"CAPACITOR, European symbol";"";"";"";"";"CL05C471JB5NNNC";"";"";"";"";"";"";""; "4";"49.9";"R-EU_R0402";"R0402";"R10, R11, R12, R13";"RESISTOR, European symbol";"";"";"";"CRCW040249R9FKEDC";"";"";"";"";"";"";"";""; "1";"B3U-1000P-2P-SMD";"SMD-BUTTON(2P-3.0X2.5X1.2+0.4MM)-B3U-1000P-2P-SMD";"SW2-2.6-3.0X2.5X1.2+0.4MM";"SW1";"311020047";"";"";"";"B3U-1000P";"";"";"B3U-1000P-2P-SMD";"";"";"";"";"B3U-1000P-2P-SMD"; "1";"DF13-2P-1.25DSA";"DF13-2P-1.25DSA";"DF13-2P-1.25DSA";"POWER";"DF13-2P";"";"";"";"DF13-3P-1.25DSA";"";"";"";"";"";"";"";""; diff --git a/hardware/V2/esp32_master_board.sch b/hardware/V2/esp32_master_board.sch index cd4d5adc..7cfa6527 100644 --- a/hardware/V2/esp32_master_board.sch +++ b/hardware/V2/esp32_master_board.sch @@ -1,6 +1,6 @@ - + @@ -237,6 +237,7 @@ +>NAME @@ -481,7 +482,7 @@ Version 0.1 (2014-01-04): Initial release. - + <b>Resistors, Capacitors, Inductors</b><p> Based on the previous libraries: <ul> @@ -1551,22 +1552,6 @@ for trimmer refence see : <u>www.electrospec-inc.com/cross_references/trim </table> </BODY></HTML> - -<b>RESISTOR</b> - - - - - - - - ->NAME ->VALUE - - - - <b>RESISTOR</b> @@ -3110,18 +3095,20 @@ Source: http://www.mouser.com/ds/2/392/products_18-2245.pdf - -<b>CAPACITOR</b> - - - - - - - - ->NAME ->VALUE + +0402 (1005 Metric) + +Nick Garner - TeleSense + + + + + + + + +>NAME +>VALUE @@ -4687,12 +4674,6 @@ Source: AVX .. aphvc.pdf - -RESISTOR - - - - RESISTOR @@ -5283,13 +5264,6 @@ Source: http://www.mouser.com/ds/2/392/products_18-2245.pdf - -Chip, 1.00 X 0.50 X 0.60 mm body -<p>Chip package with body size 1.00 X 0.50 X 0.60 mm</p> - - - - CAPACITOR @@ -5820,7 +5794,7 @@ Source: AVX .. aphvc.pdf - + @@ -5830,7 +5804,7 @@ Source: AVX .. aphvc.pdf - + >NAME @@ -5842,20 +5816,17 @@ Source: AVX .. aphvc.pdf - + <B>RESISTOR</B>, European symbol - + - - - @@ -6882,20 +6853,17 @@ Source: AVX .. aphvc.pdf - + <B>CAPACITOR</B>, European symbol - + - - - @@ -7840,84 +7808,6 @@ Source: AVX .. aphvc.pdf - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - <b>Hirose DF13 Series.</b><p> @@ -8884,11 +8774,17 @@ Source: <a href="http://www.hirose.co.jp/cataloge_hp/e53600014.pdf">http:/ - + + + - - + + + + + + @@ -15622,6 +15518,397 @@ Source: AVX .. aphvc.pdf + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J8 +J7 +J6 RX- +J5 +J4 +J3 RX+ +J2 TX- +J1 TX+ +Yellow LED +Green LED +75ohm +75ohm +75ohm +75ohm +1000pF +2KV + + + + + + + + + + + + + + + + + + + + + + + +RD- +P5 +RD+ +TD- +P4 +TD+ +GND + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + +DIP RJ45 Connector; <a href="https://pricing.snapeda.com/parts/HR911105A/DFRobot/view-part?ref=eda">Check prices</a> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -15640,78 +15927,78 @@ Source: AVX .. aphvc.pdf - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - - + + - + - + - + - + @@ -15745,24 +16032,24 @@ Source: AVX .. aphvc.pdf - + - + - + - + - + @@ -15778,12 +16065,12 @@ Source: AVX .. aphvc.pdf - + - - + + @@ -15807,17 +16094,17 @@ Source: AVX .. aphvc.pdf - + - + - + @@ -15827,7 +16114,7 @@ Source: AVX .. aphvc.pdf - + @@ -15836,20 +16123,20 @@ Source: AVX .. aphvc.pdf - + - + - + - + @@ -15882,7 +16169,7 @@ Source: AVX .. aphvc.pdf - + @@ -15893,7 +16180,7 @@ Source: AVX .. aphvc.pdf -MASTER BOARD V2.1 +MASTER BOARD V2.2 LAAS CNRS - Thomas FLAYOLS https://github.com/open-dynamic-robot-initiative/master-board @@ -15936,22 +16223,22 @@ https://github.com/open-dynamic-robot-initiative/master-board - - + + - - - - + + + + - - - - + + + + @@ -15979,19 +16266,19 @@ https://github.com/open-dynamic-robot-initiative/master-board - - + + - - - - + + + + - - + + - - + + @@ -16028,21 +16315,21 @@ https://github.com/open-dynamic-robot-initiative/master-board - - + + - - - - + + + + - - - - + + + + - - + + @@ -16409,47 +16696,50 @@ https://github.com/open-dynamic-robot-initiative/master-board - + + + - - + + + + - - - - + - - + + + + - - - - + + + + @@ -16460,8 +16750,8 @@ https://github.com/open-dynamic-robot-initiative/master-board - - @@ -16472,22 +16762,8 @@ https://github.com/open-dynamic-robot-initiative/master-board - - - - - - - - - - - - - - - + + @@ -16511,37 +16787,36 @@ https://github.com/open-dynamic-robot-initiative/master-board - - + + - - - + + + - - + + - - - - - - - + + + + + + - - + + - - + + - - + + @@ -16558,20 +16833,15 @@ https://github.com/open-dynamic-robot-initiative/master-board - - + - + - - - - - + - + @@ -16595,14 +16865,14 @@ https://github.com/open-dynamic-robot-initiative/master-board - + - - - + + + - - + + @@ -17511,6 +17781,20 @@ https://github.com/open-dynamic-robot-initiative/master-board + + + + + + + + + + + + + + diff --git a/hardware/V2/lib/ESP32.lbr b/hardware/V2/lib/ESP32.lbr index 03d85313..b2db7301 100644 --- a/hardware/V2/lib/ESP32.lbr +++ b/hardware/V2/lib/ESP32.lbr @@ -1,12 +1,12 @@ - + - + @@ -265,6 +265,7 @@ +>NAME diff --git a/hardware/V2/lib/HR911105A.lbr b/hardware/V2/lib/HR911105A.lbr index c8e7f0ca..0a3106da 100644 --- a/hardware/V2/lib/HR911105A.lbr +++ b/hardware/V2/lib/HR911105A.lbr @@ -1,12 +1,13 @@ - + + - + @@ -119,6 +120,7 @@ +>NAME diff --git a/hardware/V2/lib/HR911105A_bis.lbr b/hardware/V2/lib/HR911105A_bis.lbr new file mode 100644 index 00000000..bc700e77 --- /dev/null +++ b/hardware/V2/lib/HR911105A_bis.lbr @@ -0,0 +1,451 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J8 +J7 +J6 RX- +J5 +J4 +J3 RX+ +J2 TX- +J1 TX+ +Yellow LED +Green LED +75ohm +75ohm +75ohm +75ohm +1000pF +2KV + + + + + + + + + + + + + + + + + + + + + + + +RD- +P5 +RD+ +TD- +P4 +TD+ +GND + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + +DIP RJ45 Connector; <a href="https://pricing.snapeda.com/parts/HR911105A/DFRobot/view-part?ref=eda">Check prices</a> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hardware/V2/lib/resistor.lbr b/hardware/V2/lib/resistor.lbr new file mode 100644 index 00000000..acbe7e57 --- /dev/null +++ b/hardware/V2/lib/resistor.lbr @@ -0,0 +1,23868 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>Resistors, Capacitors, Inductors</b><p> +Based on the previous libraries: +<ul> +<li>r.lbr +<li>cap.lbr +<li>cap-fe.lbr +<li>captant.lbr +<li>polcap.lbr +<li>ipc-smd.lbr +</ul> +All SMD packages are defined according to the IPC specifications and CECC<p> +<author>Created by librarian@cadsoft.de</author><p> +<p> +for Electrolyt Capacitors see also :<p> +www.bccomponents.com <p> +www.panasonic.com<p> +www.kemet.com<p> +<p> +for trimmer refence see : <u>www.electrospec-inc.com/cross_references/trimpotcrossref.asp</u><p> + +<map name="nav_main"> +<area shape="rect" coords="0,1,140,23" href="../military_specs.asp" title=""> +<area shape="rect" coords="0,24,140,51" href="../about.asp" title=""> +<area shape="rect" coords="1,52,140,77" href="../rfq.asp" title=""> +<area shape="rect" coords="0,78,139,103" href="../products.asp" title=""> +<area shape="rect" coords="1,102,138,128" href="../excess_inventory.asp" title=""> +<area shape="rect" coords="1,129,138,150" href="../edge.asp" title=""> +<area shape="rect" coords="1,151,139,178" href="../industry_links.asp" title=""> +<area shape="rect" coords="0,179,139,201" href="../comments.asp" title=""> +<area shape="rect" coords="1,203,138,231" href="../directory.asp" title=""> +<area shape="default" nohref> +</map> + +<html> + +<title></title> + + <LINK REL="StyleSheet" TYPE="text/css" HREF="style-sheet.css"> + +<body bgcolor="#ffffff" text="#000000" marginwidth="0" marginheight="0" topmargin="0" leftmargin="0"> +<table border=0 cellspacing=0 cellpadding=0 width="100%" cellpaddding=0 height="55%"> +<tr valign="top"> + +</td> +<! <td width="10">&nbsp;</td> +<td width="90%"> + +<b><font color="#0000FF" size="4">TRIM-POT CROSS REFERENCE</font></b> +<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=2> + <TR> + <TD COLSPAN=8> + <FONT SIZE=3 FACE=ARIAL><B>RECTANGULAR MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BOURNS</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BI&nbsp;TECH</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">DALE-VISHAY</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PHILIPS/MEPCO</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MURATA</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PANASONIC</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">SPECTROL</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MILSPEC</FONT> + </B> + </TD><TD>&nbsp;</TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3 > + 3005P<BR> + 3006P<BR> + 3006W<BR> + 3006Y<BR> + 3009P<BR> + 3009W<BR> + 3009Y<BR> + 3057J<BR> + 3057L<BR> + 3057P<BR> + 3057Y<BR> + 3059J<BR> + 3059L<BR> + 3059P<BR> + 3059Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 89P<BR> + 89W<BR> + 89X<BR> + 89PH<BR> + 76P<BR> + 89XH<BR> + 78SLT<BR> + 78L&nbsp;ALT<BR> + 56P&nbsp;ALT<BR> + 78P&nbsp;ALT<BR> + T8S<BR> + 78L<BR> + 56P<BR> + 78P<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + T18/784<BR> + 783<BR> + 781<BR> + -<BR> + -<BR> + -<BR> + 2199<BR> + 1697/1897<BR> + 1680/1880<BR> + 2187<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 8035EKP/CT20/RJ-20P<BR> + -<BR> + RJ-20X<BR> + -<BR> + -<BR> + -<BR> + 1211L<BR> + 8012EKQ&nbsp;ALT<BR> + 8012EKR&nbsp;ALT<BR> + 1211P<BR> + 8012EKJ<BR> + 8012EKL<BR> + 8012EKQ<BR> + 8012EKR<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 2101P<BR> + 2101W<BR> + 2101Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 2102L<BR> + 2102S<BR> + 2102Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + EVMCOG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 43P<BR> + 43W<BR> + 43Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 40L<BR> + 40P<BR> + 40Y<BR> + 70Y-T602<BR> + 70L<BR> + 70P<BR> + 70Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + RT/RTR12<BR> + RT/RTR12<BR> + RT/RTR12<BR> + -<BR> + RJ/RJR12<BR> + RJ/RJR12<BR> + RJ/RJR12<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SQUARE MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3250L<BR> + 3250P<BR> + 3250W<BR> + 3250X<BR> + 3252P<BR> + 3252W<BR> + 3252X<BR> + 3260P<BR> + 3260W<BR> + 3260X<BR> + 3262P<BR> + 3262W<BR> + 3262X<BR> + 3266P<BR> + 3266W<BR> + 3266X<BR> + 3290H<BR> + 3290P<BR> + 3290W<BR> + 3292P<BR> + 3292W<BR> + 3292X<BR> + 3296P<BR> + 3296W<BR> + 3296X<BR> + 3296Y<BR> + 3296Z<BR> + 3299P<BR> + 3299W<BR> + 3299X<BR> + 3299Y<BR> + 3299Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + -<BR> + 64W&nbsp;ALT<BR> + -<BR> + 64P&nbsp;ALT<BR> + 64W&nbsp;ALT<BR> + 64X&nbsp;ALT<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66P<BR> + 66W<BR> + 66X<BR> + 67P<BR> + 67W<BR> + 67X<BR> + 67Y<BR> + 67Z<BR> + 68P<BR> + 68W<BR> + 68X<BR> + 67Y&nbsp;ALT<BR> + 67Z&nbsp;ALT<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 5050<BR> + 5091<BR> + 5080<BR> + 5087<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + T63YB<BR> + T63XB<BR> + -<BR> + -<BR> + -<BR> + 5887<BR> + 5891<BR> + 5880<BR> + -<BR> + -<BR> + -<BR> + T93Z<BR> + T93YA<BR> + T93XA<BR> + T93YB<BR> + T93XB<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 8026EKP<BR> + 8026EKW<BR> + 8026EKM<BR> + 8026EKP<BR> + 8026EKB<BR> + 8026EKM<BR> + 1309X<BR> + 1309P<BR> + 1309W<BR> + 8024EKP<BR> + 8024EKW<BR> + 8024EKN<BR> + RJ-9P/CT9P<BR> + RJ-9W<BR> + RJ-9X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3105P/3106P<BR> + 3105W/3106W<BR> + 3105X/3106X<BR> + 3105Y/3106Y<BR> + 3105Z/3105Z<BR> + 3102P<BR> + 3102W<BR> + 3102X<BR> + 3102Y<BR> + 3102Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMCBG<BR> + EVMCCG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 55-1-X<BR> + 55-4-X<BR> + 55-3-X<BR> + 55-2-X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 50-2-X<BR> + 50-4-X<BR> + 50-3-X<BR> + -<BR> + -<BR> + -<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 64Y<BR> + 64Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3323P<BR> + 3323S<BR> + 3323W<BR> + 3329H<BR> + 3329P<BR> + 3329W<BR> + 3339H<BR> + 3339P<BR> + 3339W<BR> + 3352E<BR> + 3352H<BR> + 3352K<BR> + 3352P<BR> + 3352T<BR> + 3352V<BR> + 3352W<BR> + 3362H<BR> + 3362M<BR> + 3362P<BR> + 3362R<BR> + 3362S<BR> + 3362U<BR> + 3362W<BR> + 3362X<BR> + 3386B<BR> + 3386C<BR> + 3386F<BR> + 3386H<BR> + 3386K<BR> + 3386M<BR> + 3386P<BR> + 3386S<BR> + 3386W<BR> + 3386X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 25P<BR> + 25S<BR> + 25RX<BR> + 82P<BR> + 82M<BR> + 82PA<BR> + -<BR> + -<BR> + -<BR> + 91E<BR> + 91X<BR> + 91T<BR> + 91B<BR> + 91A<BR> + 91V<BR> + 91W<BR> + 25W<BR> + 25V<BR> + 25P<BR> + -<BR> + 25S<BR> + 25U<BR> + 25RX<BR> + 25X<BR> + 72XW<BR> + 72XL<BR> + 72PM<BR> + 72RX<BR> + -<BR> + 72PX<BR> + 72P<BR> + 72RXW<BR> + 72RXL<BR> + 72X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + T7YB<BR> + T7YA<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + TXD<BR> + TYA<BR> + TYP<BR> + -<BR> + TYD<BR> + TX<BR> + -<BR> + 150SX<BR> + 100SX<BR> + 102T<BR> + 101S<BR> + 190T<BR> + 150TX<BR> + 101<BR> + -<BR> + -<BR> + 101SX<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ET6P<BR> + ET6S<BR> + ET6X<BR> + RJ-6W/8014EMW<BR> + RJ-6P/8014EMP<BR> + RJ-6X/8014EMX<BR> + TM7W<BR> + TM7P<BR> + TM7X<BR> + -<BR> + 8017SMS<BR> + -<BR> + 8017SMB<BR> + 8017SMA<BR> + -<BR> + -<BR> + CT-6W<BR> + CT-6H<BR> + CT-6P<BR> + CT-6R<BR> + -<BR> + CT-6V<BR> + CT-6X<BR> + -<BR> + -<BR> + 8038EKV<BR> + -<BR> + 8038EKX<BR> + -<BR> + -<BR> + 8038EKP<BR> + 8038EKZ<BR> + 8038EKW<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 3321H<BR> + 3321P<BR> + 3321N<BR> + 1102H<BR> + 1102P<BR> + 1102T<BR> + RVA0911V304A<BR> + -<BR> + RVA0911H413A<BR> + RVG0707V100A<BR> + RVA0607V(H)306A<BR> + RVA1214H213A<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3104B<BR> + 3104C<BR> + 3104F<BR> + 3104H<BR> + -<BR> + 3104M<BR> + 3104P<BR> + 3104S<BR> + 3104W<BR> + 3104X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + EVMQ0G<BR> + EVMQIG<BR> + EVMQ3G<BR> + EVMS0G<BR> + EVMQ0G<BR> + EVMG0G<BR> + -<BR> + -<BR> + -<BR> + EVMK4GA00B<BR> + EVM30GA00B<BR> + EVMK0GA00B<BR> + EVM38GA00B<BR> + EVMB6<BR> + EVLQ0<BR> + -<BR> + EVMMSG<BR> + EVMMBG<BR> + 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+http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors wave soldering +SMD (Chip) Long Life 139 CLL +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors SMD (Chip) +Long life base plate, High temperature 140 CLH +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors wave soldering +SMD (Chip) Long Life 139 CLL +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors SMD (Chip) +Long life base plate, very low impedance 150 CLZ +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors SMD (Chip) +Long life base plate, High temperature 140 CLH +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors SMD (Chip) +Long life base plate, very low impedance 150 CLZ +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors SMD (Chip) +Long life base plate, very low impedance 150 CLZ +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors +SMD (Chip) Long Life Vertical 153 CLV +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors +SMD (Chip) Long Life Vertical 153 CLV +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors reflow soldering +SMD (Chip) Long Life 139 CLL +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors +SMD (Chip) Long Life Vertical 153 CLV +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors +SMD (Chip) Long Life Vertical 153 CLV +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors +SMD (Chip) Long Life Vertical 153 CLV +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors +SMD (Chip) Long Life Vertical 153 CLV +http://www.bccomponents.com/ + + + + + +Aluminum electrolytic capacitors +SMD (Chip) Long Life Vertical 153 CLV +http://www.bccomponents.com/ + + + + + +ELECTROLYTIC CAPACITOR +diameter 6 mm, grid 5.08 mm + + + + + +Aluminum electrolytic capacitors +High Temperature solid electrolytic SMD 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Package F + + + + + +Panasonic Aluminium Electrolytic Capacitor VS-Serie Package G + + + + + +ELECTROLYTIC CAPACITOR +diameter 5 mm, grid 2.54 mm + + + + + +Chip Capacitor Polar tantalum capacitors with solid electrolyte +Siemens Matsushita Components B 45 194, B 45 197, B 45 198 +Source: www.farnell.com/datasheets/247.pdf + + + + + +ELECTROLYTIC CAPACITOR +grid 2.54 mm, diameter 6 mm + + + + + +Chip Capacitor Polar tantalum capacitors with solid electrolyte +Siemens Matsushita Components B 45 194 +Source: www.farnell.com/datasheets/247.pdf + + + + + +Chip Capacitor Polar tantalum capacitors with solid electrolyte +Siemens Matsushita Components B 45 194 +Source: www.farnell.com/datasheets/247.pdf + + + + + +Chip Capacitor Polar tantalum capacitors with solid electrolyte +Siemens Matsushita Components B 45 194, B 45 197, B 45 198 +Source: www.farnell.com/datasheets/247.pdf + + + + + +Chip Capacitor Polar tantalum capacitors with solid electrolyte +Siemens Matsushita Components B 45 194, B 45 197, B 45 198 +Source: www.farnell.com/datasheets/247.pdf + + + + + +Chip Capacitor Polar tantalum capacitors with solid electrolyte +Siemens Matsushita Components B 45 194, B 45 197, B 45 198 +Source: www.farnell.com/datasheets/247.pdf + + + + + +Chip Capacitor Polar tantalum capacitors with solid electrolyte +Siemens Matsushita Components B 45 194, B 45 197, B 45 198 +Source: www.farnell.com/datasheets/247.pdf + + + + + +Trimm resistor MEGGIT + + + + + +Trimm resistor MEGGIT + + + + + +Trimm resistor BOURNS +0,1W 25% + + + + + +Trimm resistor BOURNS + + + + + +Trimm resistor MEGGIT + + + + + +Trimm resistor BOURNS +0,25W, 20% +Source: Data sheet + + + + + +Trimm resistor AVX + + + + + +Trimm resistor VISHAY + + + + + +Trimm resistor BOURNS +SMD Cermet trimmer + + + + + +Trimm resistor BOURNS +Side Adjust + + + + + +Trimm resistor BOURNS +Top Adjust + + + + + +Trimm resistor BOURNS +Side Adjust + + + + + +Trimm resistor Spectrol +abgedichtet nach IP67 + + + + + +Trimm resistor 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Reflow Soldering +source Beyschlag + + + + + +CECC Size RC3715 Wave Soldering +source Beyschlag + + + + + +CECC Size RC6123 Reflow Soldering +source Beyschlag + + + + + +CECC Size RC2211 Wave Soldering +source Beyschlag + + + + + +CECC Size RC6123 Wave Soldering +source Beyschlag + + + + + +RESISTOR +type RDH, grid 15 mm + + + + + +RESISTOR +type 0204, grid 2.5 mm + + + + + +RESISTOR +type 0309, grid 2.5 mm + + + + + +RESISTOR chip +Source: http://www.vishay.com/docs/20008/dcrcw.pdf + + + + + +Bulk Metal® Foil Technology, Tubular Axial Lead Resistors, Meets or Exceeds MIL-R-39005 Requirements +MIL SIZE RNC55 +Source: VISHAY .. vta56.pdf + + + + + +Bulk Metal® Foil Technology, Tubular Axial Lead Resistors, Meets or Exceeds MIL-R-39005 Requirements +MIL SIZE RNC60 +Source: VISHAY .. vta56.pdf + + + + + +Bulk Metal® Foil Technology, Tubular Axial Lead Resistors, Meets or Exceeds MIL-R-39005 Requirements +MIL SIZE RBR52 +Source: VISHAY .. vta56.pdf + + + + + +Bulk Metal® Foil Technology, Tubular Axial Lead Resistors, Meets or Exceeds MIL-R-39005 Requirements +MIL SIZE RBR53 +Source: VISHAY .. vta56.pdf + + + + + +Bulk Metal® Foil Technology, Tubular Axial Lead Resistors, Meets or Exceeds MIL-R-39005 Requirements +MIL SIZE RBR55 +Source: VISHAY .. vta56.pdf + + + + + +Bulk Metal® Foil Technology, Tubular Axial Lead Resistors, Meets or Exceeds MIL-R-39005 Requirements +MIL SIZE RBR54 +Source: VISHAY .. vta56.pdf + + + + + +Package 4527 +Source: http://www.vishay.com/docs/31059/wsrhigh.pdf + + + + + +Bulk Metal® Foil Technology, Tubular Axial Lead Resistors, Meets or Exceeds MIL-R-39005 Requirements +MIL SIZE RBR56 +Source: VISHAY .. vta56.pdf + + + + + +Wirewound Resistors, Precision Power +Source: VISHAY wscwsn.pdf + + + + + +Wirewound Resistors, Precision Power +Source: VISHAY wscwsn.pdf + + + + + +Wirewound Resistors, Precision Power +Source: VISHAY wscwsn.pdf + + + + + +Wirewound Resistors, Precision Power +Source: VISHAY wscwsn.pdf + + + + + +Wirewound Resistors, Precision Power +Source: VISHAY wscwsn.pdf + + + + + +Wirewound Resistors, Precision Power +Source: VISHAY wscwsn.pdf + + + + + +CRCW1218 Thick Film, Rectangular Chip Resistors +Source: http://www.vishay.com .. dcrcw.pdf + + + + + +Chip, 0.40 X 0.20 X 0.16 mm body +<p>Chip package with body size 0.40 X 0.20 X 0.16 mm</p> + + + + + +Chip, 1.00 X 0.50 X 0.60 mm body +<p>Chip package with body size 1.00 X 0.50 X 0.60 mm</p> + + + + + +Chip Monolithic Ceramic Capacitors Medium Voltage High Capacitance for General Use +Source: http://www.murata.com .. GRM43DR72E224KW01.pdf + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR + + + + + +CAPACITOR +grid 2.5 mm, outline 2.4 x 4.4 mm + + + + + +CAPACITOR +grid 2.5 mm, outline 2.5 x 5 mm + + + + + +CAPACITOR +grid 2.5 mm, outline 3 x 5 mm + + + + + +CAPACITOR +grid 2.5 mm, outline 4 x 5 mm + + + + + +CAPACITOR +grid 2.5 mm, outline 5 x 5 mm + + + + + +CAPACITOR +grid 2.5 mm + 5 mm, outline 2.4 x 7 mm + + + + + +CAPACITOR +grid 2.5 + 5 mm, outline 2.5 x 7.5 mm + + + + + +CAPACITOR +grid 2.5 mm, outline 6 x 5 mm + + + + + +CAPACITOR +grid 2.5 + 5 mm, outline 3.5 x 7.5 mm + + + + + +CAPACITOR +grid 2.5 + 5 mm, outline 4.5 x 7.5 mm + + + + + +CAPACITOR +grid 2.5 + 5 mm, outline 5.5 x 7.5 mm + + + + + +CAPACITOR +grid 5 mm, outline 2.4 x 4.4 mm + + + + + +CAPACITOR + + + + + 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The URNs of those assets +will not be understood (or retained) with this version. + + +Since Version 8.3, EAGLE supports the association of 3D packages +with devices in libraries, schematics, and board files. Those 3D +packages will not be understood (or retained) with this version. + + + diff --git a/hardware/V2/production_files/assembly_bot.pdf b/hardware/V2/production_files/assembly_bot.pdf deleted file mode 100644 index 135f075c..00000000 Binary files a/hardware/V2/production_files/assembly_bot.pdf and /dev/null differ diff --git a/hardware/V2/production_files/assembly_top.pdf b/hardware/V2/production_files/assembly_top.pdf deleted file mode 100644 index 3adb4954..00000000 Binary files a/hardware/V2/production_files/assembly_top.pdf and /dev/null differ diff --git a/hardware/V2/production_files/esp32_master_board.mnb b/hardware/V2/production_files/esp32_master_board.mnb index 37f0e187..5c8dfe23 100644 --- a/hardware/V2/production_files/esp32_master_board.mnb +++ b/hardware/V2/production_files/esp32_master_board.mnb @@ -1,4 +1,4 @@ IC4 32.43 17.58 90 WS2812B WS2812B -R20 40.96 15.24 225 10 R0402 -R21 41.91 16.19 225 10 R0402 +R20 40.96 15.24 225 10 0402 +R21 41.91 16.19 225 10 0402 U$1 55.36 16.30 90 ESP32-WROOM ESP32-WROOM diff --git a/hardware/V2/production_files/esp32_master_board.mnt b/hardware/V2/production_files/esp32_master_board.mnt index 295c077f..7228458c 100644 --- a/hardware/V2/production_files/esp32_master_board.mnt +++ b/hardware/V2/production_files/esp32_master_board.mnt @@ -1,45 +1,45 @@ -C1 24.13 16.35 180 22n C0402 -C2 35.24 5.24 0 470p C0402 -C3 35.24 6.35 0 1u LOW ESR C0402 -C4 39.53 7.94 0 100n C0402 -C5 24.13 17.46 180 100n C0402 -C6 27.62 15.24 0 100n C0402 -C7 29.11 17.58 0 100n C0402 -C8 39.37 14.76 0 100n C0402 -C9 62.55 9.37 0 100n C0402 +C1 24.13 16.35 180 22n 0402 +C2 35.24 5.24 0 470p 0402 +C3 35.24 6.35 0 1u LOW ESR 0402 +C4 39.53 7.94 0 100n 0402 +C5 24.13 17.46 180 100n 0402 +C6 27.62 15.24 0 100n 0402 +C7 29.11 17.58 0 100n 0402 +C8 39.37 14.76 0 100n 0402 +C9 62.55 9.37 0 100n 0402 C10 60.48 6.03 180 22u C0805 C11 42.86 31.91 270 22u C0805 C12 45.56 31.91 270 22u C0805 C13 44.44 28.11 180 2.2u C1210 -C14 35.01 24.58 270 1u C0402 -C15 41.12 24.29 90 3.3n C0402 +C14 35.01 24.58 270 1u 0402 +C15 41.12 24.29 90 3.3n 0402 D1 61.91 14.61 270 RED CHIPLED_0603 D2 61.91 16.03 270 GREEN CHIPLED_0603 IC1 28.89 20.96 180 SN74HC138PW SOP65P640X120-16N IC2 38.26 24.61 0 MAX17502EATB+T SON50P200X300X80-11N IC3 50.64 11.43 90 WS2812B WS2812B -L 30.16 14.76 270 0 R0402 +L 30.16 14.76 270 0 0402 L1 37.31 30.96 90 15uH LPS6235 -R1 39.37 5.40 180 10 R0402 -R2 39.37 6.67 180 10 R0402 -R3 39.21 9.21 180 10 R0402 -R4 39.37 10.48 180 10 R0402 -R5 39.37 13.65 0 4.7k R0402 -R6 33.02 5.40 90 33 R0402 -R7 27.78 8.57 0 12.1k R0402 -R8 24.13 8.73 0 330 R0402 -R9 24.13 7.46 0 330 R0402 -R10 24.13 13.34 0 49.9 R0402 -R11 24.13 15.24 0 49.9 R0402 -R12 24.13 10.00 0 49.9 R0402 -R13 24.13 12.07 0 49.9 R0402 -R14 57.31 9.21 270 330 R0402 -R15 62.55 8.10 0 4.7k R0402 -R16 39.37 12.38 0 4.7k R0402 -R17 55.72 20.16 0 1.5k R0402 -R18 56.83 18.89 0 330 R0402 -R19 58.74 9.21 270 4.7k R0402 -R22 55.88 8.57 270 4.7k R0402 +R1 39.37 5.40 180 10 0402 +R2 39.37 6.67 180 10 0402 +R3 39.21 9.21 180 10 0402 +R4 39.37 10.48 180 10 0402 +R5 39.37 13.65 0 4.7k 0402 +R6 33.02 5.40 90 33 0402 +R7 27.78 8.57 0 12.1k 0402 +R8 24.13 8.73 0 330 0402 +R9 24.13 7.46 0 330 0402 +R10 24.13 13.34 0 49.9 0402 +R11 24.13 15.24 0 49.9 0402 +R12 24.13 10.00 0 49.9 0402 +R13 24.13 12.07 0 49.9 0402 +R14 57.31 9.21 270 330 0402 +R15 62.55 8.10 0 4.7k 0402 +R16 39.37 12.38 0 4.7k 0402 +R17 55.72 20.16 0 1.5k 0402 +R18 56.83 18.89 0 330 0402 +R19 58.74 9.21 270 4.7k 0402 +R22 55.88 8.57 270 4.7k 0402 SW1 61.44 11.43 180 B3U-1000P-2P-SMD SW2-2.6-3.0X2.5X1.2+0.4MM U$1 56.86 15.30 90 ESP32-WROOM ESP32-WROOM U$2 33.02 10.16 90 LAN8720 QFN24 diff --git a/hardware/V2/production_files/esp32_master_board_2020-08-26.zip b/hardware/V2/production_files/esp32_master_board_2020-08-26.zip deleted file mode 100644 index 316a81ad..00000000 Binary files a/hardware/V2/production_files/esp32_master_board_2020-08-26.zip and /dev/null differ diff --git a/hardware/V2/production_files/esp32_master_board_2021-09-30.zip b/hardware/V2/production_files/esp32_master_board_2021-09-30.zip new file mode 100644 index 00000000..1c203681 Binary files /dev/null and b/hardware/V2/production_files/esp32_master_board_2021-09-30.zip differ diff --git a/hardware/V2/production_files/seeed_BOM.csv b/hardware/V2/production_files/seeed_BOM.csv deleted file mode 100644 index cf99de94..00000000 --- a/hardware/V2/production_files/seeed_BOM.csv +++ /dev/null @@ -1,32 +0,0 @@ -Schematic Reference,MPN,Qty,Octopart URL -"IC3, IC4",WS2812B,2,https://octopart.com/ws2812b-worldsemi-107467967 -U$3,HR911105A,1,https://octopart.com/hr911105a-hanrun-61493516 -U$1,ESP32-WROOM-32D (4MB),1,https://octopart.com/esp32-wroom-32d+%284mb%29-espressif+systems-107387864 -IC2,MAX17502EATB+T,1,https://octopart.com/max17502eatb%2Bt-maxim+integrated-22269240 -L1,LPS6235-153MRB,1,https://octopart.com/lps6235-153mrb-coilcraft-30061416 -U$2,LAN8720A-CP,1,https://octopart.com/lan8720a-cp-microchip-24995092 -SW1,B3U-1000P,1,https://octopart.com/b3u-1000p-omron-1057357 -IC1,SN74HC138PW,1,https://octopart.com/sn74hc138pw-texas+instruments-884216 -C13,C3225X7R1H225K250AB,1,https://octopart.com/c3225x7r1h225k250ab-tdk-25947869 -U$4,DF13-6P-1.25DSA,1,https://octopart.com/df13-6p-1.25dsa-hirose-261609 -"C10, C11, C12",GRM21BR60J226ME39L,3,https://octopart.com/grm21br60j226me39l-murata-196432 -"PROG, SPI_0, SPI_1, SPI_2, SPI_3, SPI_4, SPI_5, SPI_6, SPI_7",DF13-5P-1.25DSA,9,https://octopart.com/df13-5p-1.25dsa-hirose-261608 -U$6,DF13-4P-1.25DSA,1,https://octopart.com/df13-4p-1.25dsa-hirose-261607 -D2,HSMG-C190,1,https://octopart.com/hsmg-c190-broadcom-71131307 -U$5,DF13-3P-1.25DSA,1,https://octopart.com/df13-3p-1.25dsa-hirose-261606 -POWER,DF13-2P-1.25DSA,1,https://octopart.com/df13-2p-1.25dsa-hirose-261605 -D1,HSMH-C190,1,https://octopart.com/hsmh-c190-broadcom-71131319 -"C4, C5, C6, C7, C8, C9",C0603C104K5RACTU,6,https://octopart.com/c0603c104k5ractu-kemet-139244 -R17,ERJ-3EKF1501V,1,https://octopart.com/erj-3ekf1501v-panasonic-55403651 -C2,0101ZC471KAT2A,1,https://octopart.com/0101zc471kat2a-avx-75477894 -R7,ERJ-U02F1212X,1,https://octopart.com/erj-u02f1212x-panasonic-26471576 -"R5, R15, R16, R19, R22",ERJ-2RKF4701X,5,https://octopart.com/erj-2rkf4701x-panasonic-9266644 -C3,CC0402KRX5R5BB105,1,https://octopart.com/cc0402krx5r5bb105-yageo-42244618 -C14,CC0402KRX5R5BB105,1,https://octopart.com/cc0402krx5r5bb105-yageo-42244618 -"R1, R2, R3, R4, R20, R21",ERJ-2RKF10R0X,6,https://octopart.com/erj-2rkf10r0x-panasonic-55404982 -"R10, R11, R12, R13",CRCW040249R9FKEDC,4,https://octopart.com/crcw040249r9fkedc-vishay-23798224 -R6,CRCW040233R0FKEDC,1,https://octopart.com/crcw040233r0fkedc-vishay-74573975 -L,ERJ-2GE0R00X,1,https://octopart.com/erj-2ge0r00x-panasonic-55404976 -C1,885012205052,1,https://octopart.com/885012205052-w%C3%BCrth+elektronik-53703189 -C15,885012205064,1,https://octopart.com/885012205064-w%C3%BCrth+elektronik-53703201 -"R8, R9, R14, R18",RC0402JR-13330RL,4,https://octopart.com/rc0402jr-13330rl-yageo-9296986 diff --git a/sdk/master_board_sdk/example/example.py b/sdk/master_board_sdk/example/example.py index a9b54f9c..ad7550b6 100644 --- a/sdk/master_board_sdk/example/example.py +++ b/sdk/master_board_sdk/example/example.py @@ -106,6 +106,7 @@ def example_script(name_interface): # To read IMU data in Python use robot_if.imu_data_accelerometer(i), robot_if.imu_data_gyroscope(i) # or robot_if.imu_data_attitude(i) with i = 0, 1 or 2 robot_if.PrintIMU() + robot_if.PrintPowerBoard() robot_if.PrintADC() robot_if.PrintMotors() robot_if.PrintMotorDrivers() diff --git a/sdk/master_board_sdk/include/master_board_sdk/defines.h b/sdk/master_board_sdk/include/master_board_sdk/defines.h index 45ac5066..9c48f305 100644 --- a/sdk/master_board_sdk/include/master_board_sdk/defines.h +++ b/sdk/master_board_sdk/include/master_board_sdk/defines.h @@ -42,6 +42,19 @@ struct imu_data_t float linear_acceleration[3]; } __attribute__((packed)); +struct powerboard_packet_t +{ + uint16_t vbus; + int16_t vshunt; + float energy; +} __attribute__((packed)); + +struct powerboard_data_t { + float current_bus; + float voltage_bus; + float energy_bus; +} __attribute__((packed)); + struct dual_motor_driver_sensor_data_t { uint16_t status; @@ -64,6 +77,7 @@ struct sensor_packet_t uint16_t session_id; struct dual_motor_driver_sensor_packet_t dual_motor_driver_sensor_packets[N_SLAVES]; struct imu_packet_t imu; + struct powerboard_packet_t powerboard; uint16_t sensor_index; uint16_t packet_loss; uint16_t last_cmd_index; diff --git a/sdk/master_board_sdk/include/master_board_sdk/master_board_interface.h b/sdk/master_board_sdk/include/master_board_sdk/master_board_interface.h index 00a08537..165c1bbb 100644 --- a/sdk/master_board_sdk/include/master_board_sdk/master_board_interface.h +++ b/sdk/master_board_sdk/include/master_board_sdk/master_board_interface.h @@ -28,6 +28,7 @@ class MasterBoardInterface : public LINK_manager_callback void ParseSensorData(); //Parse and convert the latest received sensor data. User need to call this before reading any field. void PrintIMU(); //Print IMU data on stdout. Usefull for debug. + void PrintPowerBoard(); void PrintADC(); //Print ACD data on stdout. Usefull for debug. void PrintMotors(); //Print motors data on stdout. Usefull for debug. void PrintMotorDrivers(); //Print motor drivers data on stdout. Usefull for debug. void PrintMotors(); //Print Motors data on stdout. Usefull for debug. @@ -66,6 +67,7 @@ class MasterBoardInterface : public LINK_manager_callback struct sensor_packet_t sensor_packet; struct dual_motor_driver_sensor_data_t dual_motor_driver_sensor_data[N_SLAVES]; struct imu_data_t imu_data; + struct powerboard_data_t powerboard_data; bool first_sensor_received = false; @@ -132,6 +134,9 @@ class MasterBoardInterface : public LINK_manager_callback float imu_data_gyroscope(int i) { return (this->imu_data.gyroscope[i]); }; float imu_data_attitude(int i) { return (this->imu_data.attitude[i]); }; float imu_data_linear_acceleration(int i) { return (this->imu_data.linear_acceleration[i]); }; + float powerboard_current() { return powerboard_data.current_bus; }; + float powerboard_voltage() { return powerboard_data.voltage_bus; }; + float powerboard_energy() { return powerboard_data.energy_bus; }; imu_data_t get_imu_data() const { return imu_data; } }; diff --git a/sdk/master_board_sdk/include/master_board_sdk/protocol.h b/sdk/master_board_sdk/include/master_board_sdk/protocol.h index 44e395ad..9129760c 100644 --- a/sdk/master_board_sdk/include/master_board_sdk/protocol.h +++ b/sdk/master_board_sdk/include/master_board_sdk/protocol.h @@ -3,7 +3,7 @@ #include -#define PROTOCOL_VERSION 3 +#define PROTOCOL_VERSION 4 /* Position of the values in the command packet */ #define UD_COMMAND_MODE 0 diff --git a/sdk/master_board_sdk/src/master_board_interface.cpp b/sdk/master_board_sdk/src/master_board_interface.cpp index 0a987dbd..26dbf915 100644 --- a/sdk/master_board_sdk/src/master_board_interface.cpp +++ b/sdk/master_board_sdk/src/master_board_interface.cpp @@ -347,6 +347,12 @@ void MasterBoardInterface::ParseSensorData() imu_data.linear_acceleration[i] = D16QN_TO_FLOAT(sensor_packet.imu.linear_acceleration[i], IMU_QN_ACC); } + /*Read Power Board data*/ + powerboard_data.current_bus = sensor_packet.powerboard.vshunt * 5e-6 / 4e-3; + powerboard_data.voltage_bus = sensor_packet.powerboard.vbus * 3.125e-3; + powerboard_data.energy_bus = sensor_packet.powerboard.energy * 3.125e-3 * 5e-6 / 4e-3 ; + + //Read Motor Driver Data for (int i = 0; i < N_SLAVES; i++) { @@ -410,6 +416,14 @@ void MasterBoardInterface::PrintIMU() imu_data.linear_acceleration[2]); } +void MasterBoardInterface::PrintPowerBoard() +{ + printf(" | Bus Voltage | Bus Current | Bus Energy | \n"); + printf("Power board | %6.3f V | %6.3f A | %6.1f J |\n\n", + powerboard_data.voltage_bus, + powerboard_data.current_bus, + powerboard_data.energy_bus); +} void MasterBoardInterface::PrintADC() { bool printed = 0; diff --git a/sdk/master_board_sdk/srcpy/my_bindings_headr.cpp b/sdk/master_board_sdk/srcpy/my_bindings_headr.cpp index f0208c59..929f520a 100644 --- a/sdk/master_board_sdk/srcpy/my_bindings_headr.cpp +++ b/sdk/master_board_sdk/srcpy/my_bindings_headr.cpp @@ -31,6 +31,7 @@ boost::python::tuple wrap_adc(MotorDriver const * motDriver) .def("SendCommand", &MasterBoardInterface::SendCommand) .def("ParseSensorData", &MasterBoardInterface::ParseSensorData) .def("PrintIMU", &MasterBoardInterface::PrintIMU) + .def("PrintPowerBoard", &MasterBoardInterface::PrintPowerBoard) .def("PrintADC", &MasterBoardInterface::PrintADC) .def("PrintMotors", &MasterBoardInterface::PrintMotors) .def("PrintMotorDrivers", &MasterBoardInterface::PrintMotorDrivers) @@ -43,6 +44,9 @@ boost::python::tuple wrap_adc(MotorDriver const * motDriver) .def("imu_data_gyroscope", make_function(&MasterBoardInterface::imu_data_gyroscope)) .def("imu_data_attitude", make_function(&MasterBoardInterface::imu_data_attitude)) .def("imu_data_linear_acceleration", make_function(&MasterBoardInterface::imu_data_linear_acceleration)) + .def("powerboard_current", make_function(&MasterBoardInterface::powerboard_current)) + .def("powerboard_voltage", make_function(&MasterBoardInterface::powerboard_voltage)) + .def("powerboard_energy", make_function(&MasterBoardInterface::powerboard_energy)) .def("IsAckMsgReceived", &MasterBoardInterface::IsAckMsgReceived) .def("SendInit", &MasterBoardInterface::SendInit)