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| − | {{private}}
| + | #REDIRECT [[Kart]] |
| − | {{TOC right}}
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| − | = Hardware =
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| − | == Control board ==
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| − | The control board has an RS232 interface: DB9 and/or Bluetooth.
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| − | Power the board:
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| − | {| cellpadding="4" cellspacing="0" border="1"
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| − | ! Cable
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| − | ! Connection
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| − | |-
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| − | | black
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| − | | Ground
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| − | |-
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| − | | white
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| − | | 3.3 V
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| − | |-
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| − | | red
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| − | | 5 V (not necessary for base system)
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| − | |}
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| − | Program the controller with <code>I:\Bachelor\SI\Cours\214_Pr1\Electronique\03_Control\FPGA\ELN_kart\Controller\busController.pro</code>.
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| − | === Initial values ===
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| − | For the students to use, some registers need safe initial values, such as the prescalers.
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| − | The VHDL design should foresee:
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| − | * DC motor prescaler: TBD
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| − | * stepper motor prescaler: TBD
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| − | === Test ===
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| − | Check the I2C signals:
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| − | {| cellpadding="4" cellspacing="0" border="1"
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| − | ! Cable
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| − | ! Connection
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| − | |-
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| − | | green
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| − | | SCK
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| − | |-
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| − | | blue
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| − | | SDA
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| − | |-
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| − | | grey
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| − | | freeze (not used yet)
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| − | |}
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| − | Note: you can trig on <code>I/O_13</code> to view the I2C frames.
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| − | There is a 10 kOhm pullup on the SDA signal to have it rising fast enough.
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| − | Make an RS232 connection (115200 8N1) to the board and send hex:
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| − | * 55 00 FF FF AA (<code>test-FFFF.hex</code>)
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| − | * 55 00 F0 0F AA (<code>test-F00F.hex</code>)
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| − | Check that the first I2C data bytes switch properly.
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| − | Note that F00F will start with the least significant byte, thus showing 0FF0 on the scope.
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| − | == DC motor board ==
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| − | Insert the DC motor interface board in the I2C chain.
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| − | Program it with <code>I:\Bachelor\SI\Cours\214_Pr1\Electronique\03_Control\FPGA\ELN_kart\DcMotor\dcMotor.pro</code>.
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| − | === Test prescaler ===
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| − | Make an RS232 connection to the board and send hex:
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| − | * 55 00 00 01 AA 55 01 00 07 AA (<code>prescaler-0001.hex</code>)
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| − | * 55 00 00 04 AA 55 01 00 07 AA (<code>prescaler-0004.hex</code>)
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| − | The speed PWM signal should show a square wave at frequencies in a ratio of 1 to 4.
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| − | === Test PWM ===
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| − | Send hex:
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| − | * 55 01 00 00 AA (<code>speed-00.hex</code>)
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| − | * 55 01 00 01 AA (<code>speed-01.hex</code>)
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| − | * 55 01 00 0E AA (<code>speed-0E.hex</code>)
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| − | * 55 01 00 0F AA (<code>speed-0F.hex</code>)
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| − | The speed PWM signal should reflect the different on/off ratios.
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| − | Note that speed <code>0F.hex</code> should provide the maximal speed: signal always '1',
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| − | whilst speed <code>00.hex</code> cannot provide minimal speed and will have a ratio 1 of 8,
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| − | which won't be enough to have the kart rolling.
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| − | === Test direction ===
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| − | Send hex:
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| − | * 55 01 00 07 AA (<code>speed-07.hex</code>)
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| − | * 55 01 FF F9 AA (<code>speed-FFF9.hex</code>)
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| − | The PWM should remain unchanged with an aspect ratio of 50%, but the direction bit should toggle.
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| − | === Test hardware orientation ===
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| − | Send hex:
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| − | * 55 05 00 00 AA (<code>orientation-fwd.hex</code>)
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| − | * 55 05 00 01 AA (<code>orientation-back.hex</code>)
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| − | This should toggle the direction bit.
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| − | == Stepper motor board ==
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| − | Insert the [[Kart/stepper_motor_controller#Stepper_motor|stepper motor interface board]] in the I2C chain.
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| − | Program it with <code>I:\Bachelor\SI\Cours\214_Pr1\Electronique\03_Control\FPGA\ELN_kart\StepperMotor\stepperMotor.pro</code>.
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| − | === Test prescaler ===
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| − | Make an RS232 connection to the board and send hex:
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| − | * 55 02 00 01 AA (<code>prescaler-0001.hex</code>)
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| − | * 55 02 00 04 AA (<code>prescaler-0004.hex</code>)
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| − | The stepper motor coil controls should show a square wave with duty cycle 25% at frequencies in a ratio of 1 to 4.
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| − | Pull the ''test mode'' button up (on).
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| − | The coil controls should fall at a much lower frequency.
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| − | === Test Angle control ===
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| − | Pull the ''test mode'' button up (on).
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| − | Send hex:
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| − | * 55 02 10 00 AA (<code>prescaler-000x.hex</code>)
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| − | Press the ''end'' button.
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| − | The motor should stop.
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| − | Send hex:
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| − | * 55 03 00 08 AA (<code>angle-08.hex</code>)
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| − | * 55 03 00 00 AA (<code>angle-00.hex</code>)
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| − | The motor will make 8 steps in direction 1-4 and 8 steps in the other direction.
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| − | === Test hardware orientation ===
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| − | Send hex:
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| − | * 55 05 00 04 AA (<code>orientation-cw.hex</code>)
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| − | * 55 03 00 00 AA (<code>angle-00.hex</code>)
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| − | * 55 03 00 08 AA (<code>angle-08.hex</code>)
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| − | The [[Kart/stepper_motor_controller#Stepper_motor|stepper motor]] coils should turn clockwise (1 to 4) after the last command.
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| − | * 55 05 00 06 AA (<code>orientation-ccw.hex</code>)
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| − | * 55 03 00 00 AA (<code>angle-00.hex</code>)
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| − | * 55 03 00 08 AA (<code>angle-08.hex</code>)
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| − | The [[Kart/stepper_motor_controller#Stepper_motor|stepper motor]] coils should turn counterclockwise (4 to 1) after the last command.
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| − | = HDL Student version =
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| − | == Student directories ==
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| − | The source files should be placed in <code>U:\ELN_kart</code>.
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| − | The projects refer to gate libraries found in <code>R:\Modules\SI\2131_ELE\ELN\Labs\Libraries</code>.
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| − | and temporary files are placed in <code>C:\Temp\EDA\<userName>\<designName></code>.
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| − | == Master data ==
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| − | The project is hosted at the svn repository <code>https://repos.hevs.ch/svn/204_Proj1</code>.
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| − | == Preparing the student data files ==
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| − | {{TaskBox|content=
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| − | Execute <code><localMachine>\ELN_kart\saveToR.bat</code>}}
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| − | This replaces the student project at <code>R:\Modules\SI\204_PR1 (Kart)\FPGA\ELN_kart\</code>
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| − | {{TaskBox|content=
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| − | In <code>R:\Modules\SI\204_PR1 (Kart)\FPGA\ELN_kart\</code> remove all projects except:
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| − | * DcMotor
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| − | * Sensors
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| − | * StepperMotor</code>}}
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| − | == Clearing the data for the student version ==
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| − | === DcMotor ===
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| − | {{TaskBox|content=
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| − | Start <code>*\hdlDesigner.bat</code> in ''DcMotor''}}
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| − | {{TaskBox|content=
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| − | Remove architecture <code>RTL</code>, set <code>studentVersion</code> as default view for following blocks:
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| − | * ''dcMotorPWM''}}
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| − | === StepperMotor ===
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| − |
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| − | {{TaskBox|content=
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| − | Start <code>*\hdlDesigner.bat</code> in ''StepperMotor''}}
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| − | {{TaskBox|content=
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| − | Remove architecture <code>RTL</code>, set <code>studentVersion</code> as default view for following blocks:
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| − | * ''angleControl''}}
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| − | {{TaskBox|content=
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| − | Remove following blocks from the <code>StepperMotor</code> library:
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| − | * ''angleDifference''
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| − | * ''coilControl''
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| − | * ''stepperCounter''}}
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| − | == Compress and upload ==
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| − | {{TaskBox|content=
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| − | Zip the contents of <code>R:\Modules\SI\204_PR1 (Kart)\FPGA\ELN_kart</code>
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| − | to a file named <code>ELN_kart.zip</code> and upload it to this wiki.}}
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| | [[Category:Kart]] | | [[Category:Kart]] |
