odri_master_board_sdk repository

Repository Summary

Checkout URI https://github.com/stack-of-tasks/odri_master_board_sdk_release.git
VCS Type git
VCS Version master
Last Updated 2023-10-11
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
master_board_sdk 1.0.5

README

master-board

Hardware and Firmware of the Solo Quadruped Master Board.

This board centralises all the sensor and actuator data and provides wired and wireless connection to a realtime computer.

Connectivity:

  • SPI: Address up to 8 SPI Slave: (max 80Mhz, DMA capable) compatible with BLMC ┬ÁDriver SPI interface
  • Wifi: Wireless communication with a computer via raw ESP-NOW: round trip time of 1.2ms (including driver and OS latency) for a 127bytes message.
  • Ethernet: Wired communication with a computer via raw frames: round trip time of 0.2ms (including driver and OS latency) for a 127bytes message.
  • GPIO: 4GPIO free. Can be mapped to I2C, UART etc.. Two of them are curently used for IMU communication via UART
  • UART: Used to upgrade the ESP32 firmware, free on normal operation.

The board is programed via the ESP-IDF tool chain https://github.com/espressif/esp-idf

Wireless closed loop control at 1kHz demo (click to see video): Alt text

IMU, ethernet closed loop cntrol at 1kHz demo (click to see video): Alt text

LED status

Red fade: Waiting for init
Magenta fade: SPI Autodetect
Blue fade: waiting for first commmand
Green fade: Active control
Yellow blink: ethernet link down state awaiting for link up
Red blink: error state (communication with PC), awaiting for new init msg
White blink: state machine error (should never happen)

Documentation

Here are some helpful links to the documentation :

How to Flash the Master Board (install esp-idf and flash the firmware)

SDK : How to Prepare Your Interface and Run the Example

Master Board State Machine Description

Description of the Communication Between the Master Board and the Computer

Description of the BLMC ┬ÁDriver SPI Interface

Wiring the Master Board

Master Board Ordering and Preparation

Authors

Thomas Flayols
Etienne Arlaud

License

BSD 2-Clause License

Copyright (c) 2019, LAAS-CNRS, Max Planck Gesellschaft, New York University

More Information

Open Dynamic Robot Initiative

CONTRIBUTING

No CONTRIBUTING.md found.