Power-board

Power Management and distribution board for Open Dynamic Robot Initiative Robots

Main features

40A 32V DC load switching
Inrush current limiting
Monitor voltage, Current and Energy
Under voltage, Over current shutdown with settable thresholds
Telemetry, load switching via SPI

Wiring

J1 - Programming port

Serial Wire Debug (SWD)

1	2	3	4
3V3	SWDIO	SWCLK	GND

J2 - SPI

Communication port, power board is acting as a SPI Slave device. To be connected to a SPI Master device such as the MasterBoard.

1	2	3	4	5
GND	MISO	CLK	/CS	MOSI

J3 - DC Input

DC input port to be connected to a battery pack / PSU using female XT30 connector

J4-J12 - DC outputs

DC output ports to be connected to any load on the robot using XT30 male connector

J13 External On/Off pushbutton

1	2	3
OFF	COM	ON

Connect a

"Power OFF" push button NORMALLY CLOSED between 1 and 2
"Power ON" push button NORMALLY OPEN between 2 and 3

During programming, short pins 1-2-3 together for the MCU to stay powered at anytime.

If no external pushbutton are used, short pin 1 and 2 to only use onboard pushbuttons. If not, the board will not turn on.

Note: the onboard OFF button control to the MCU reset line.

Communication protocol

Sensor packet

todo

Command packet

Not implemented yet

Flashing firmware

Compiling firmware

1- Install STM32cubeIDE from here: https://www.st.com/en/development-tools/stm32cubeide.html#get-software

2- Clone this repository

3- Open STM32cubeIDE and open the project via File -> Open project via file system select the folder firmware/powerboard/ from this repo. Click on Finish.

open-dynamic-robot-initiative / power-board

readme