Initial release - Githubissues

107-systems / l3xz-leg-ctrl-hardware

Leg controller for the L3X-Z Hexapod.

https://107-systems.org

CERN Open Hardware Licence Version 2 - Weakly Reciprocal

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Initial release #1

Closed generationmake closed 2 years ago

generationmake commented 2 years ago

initial release

generationmake commented 2 years ago

@aentinger and @wuehr1999 please take a look at this and check the schematic.

I will laso add some features.

i2c eeprom to store settings
qwiic connector
connector for 2 servos

anything else?

aentinger commented 2 years ago

Good Morning @generationmake :coffee: :wave:

This is just a very pre-eliminary review from my end.

There's no need for servo connectors (those are controlled via Lynxmotion SSC32-U).
Maybe add some RC-low-pass-filter for the bumper input.
Most important feedback: We need power-supply via CAN connector. As a CAN connector we should probably use the one which is UAVCAN standard (JST, see viper drone hw spec) and have additionally either 5 or 3V3 volt on it in order to power the Arduino Nano, since it will not be powered via USB. Probably better would be if we could directly feed 4S LiFePo voltage via CAN connectors and step-down to the required voltage on the board (no need for separate down-converter somewhere else on the robot).

Cheers, Alex

wuehr1999 commented 2 years ago

Hi @generationmake, I think there might be some missing capacitors at Y1.

generationmake commented 2 years ago

hi @aentinger and @wuehr1999 please review schematic again. Thanks

wuehr1999 commented 2 years ago

Hi @generationmake. The schematics look good to me. You could add some pull up resistors for the I2C-bus, but it is also fine without them.

aentinger commented 2 years ago

Looks good to me :+1: Although I'd be probably renaming the 5V net to VBAT, since right now the schematic appears like there would be 5V on the CANVCC line while in reality its rather V_4_CELL_LIPO_BAT.

generationmake commented 2 years ago

Hi @aentinger the dronecode standard defines to use +5V with its connectors and I want to stick with this spec to simplify interoperation wit other dronecode devices like the motor controller. If you want to use a higher voltage we should use a different connector and block this voltage from the dronecode connectors.

aentinger commented 2 years ago

Allright, but then I need to splice 5V into the system from somewhere. Could use a second BEC for that. This whole robot is going to be a hot-cable-mess.

generationmake commented 2 years ago

Hi @aentinger and @wuehr1999 now I am completely finished with this project (schematic and layout). From my point of view we could order.

Any comments from your side? Should we place any more labels on the PCB? Do we have a project logo? Is there an uavcan label?

Thanks

wuehr1999 commented 2 years ago

Hi @generationmake. There are some issues with the vias on CN2, CN3, CN4 and CN5. Also please doublecheck the pad constraints of U1 and U2.

generationmake commented 2 years ago

Hi @wuehr1999 I have done a design rules check on my own: The vias in the pads of CN2..5 should give them more stability. So, is intended. Furthermore the package for U1 and U2 is OK but the pins are a little bit too close together for the DRC. SO this should be OK as well.

@aentinger I found out that the MCP2515 in the SO package is out of stock nearly everywhere. Should we switch to the DIL package for better availability?

aentinger commented 2 years ago

Is we can't source the SO package better go for DIL. No need to make our live harder than is it. Thank you :bow:

generationmake commented 2 years ago

good morning @aentinger

any comments on the labels? especially for uavcan?

generationmake commented 2 years ago

pcb ordered - will merge

aentinger commented 1 year ago

If you think you are done please load it into Aisler so I can order it. Also PLZ send me a BOM for any parts you need.

Von: wuehr1999 @.***> Gesendet: Sonntag, 10. April 2022 17:17:08 An: 107-systems/l3xz-hw_leg-controller Cc: Alexander Entinger; Mention Betreff: Re: [107-systems/l3xz-hw_leg-controller] Initial release (PR #1)

Hi @generationmakehttps://github.com/generationmake. There are some issues with the vias on CN2, CN3, CN4 and CN5. Also please doublecheck the pad constraints of U1 and U2.

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