diff --git a/source/car/electronics_embedded_systems/embedded_modules/embedded_modules.rst b/source/car/electronics_embedded_systems/embedded_modules/embedded_modules.rst index 3ca73f9..1145e66 100644 --- a/source/car/electronics_embedded_systems/embedded_modules/embedded_modules.rst +++ b/source/car/electronics_embedded_systems/embedded_modules/embedded_modules.rst @@ -554,10 +554,216 @@ This encoder is connected directly to the CAN bus. | 5 | CAN_LOW | +-----+------------------------+ + + +Decoupling Capacitors +--------------------- +For every power supply, there should be a 0.1 uF capacitor and a bigger one. This should be placed as physically close as possible to the correspondent pwer supply. Check the datasheet for the proer layout. This capacitors operate at a maximum 16V. + +.. figure:: /images/electronics_embedded/stepper_steering_module/cap_array.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + Capacitors array + +Power supply for ADCs +--------------------- +This power supply makes use of a ferrite bed. More specifically it is use for thermistors. + +.. figure:: /images/electronics_embedded/stepper_steering_module/ADCs_supply.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + ADCs supply + + +RJ45 Ethernet Connector +----------------------- + +.. figure:: /images/electronics_embedded/stepper_steering_module/RJ45.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + RJ45 Connector + +|The following table represents the pin configuration for the RJ45. + +-----+------------------------+ + | Pin | Meaning | + +-----+------------------------+ + | 1 | CAN_HIGH | + +-----+------------------------+ + | 2 | CAN_LOW | + +-----+------------------------+ + |3,4,5| GND (PE) | + +-----+------------------------+ + | 6 | Emergency button | + +-----+------------------------+ + | 7,8 | BATT | + +-----+------------------------+ + | 9 | CAN HEART BIT | + +-----+------------------------+ + |10,12| GND | + +-----+------------------------+ + | 11 | Emergency button LED | + +-----+------------------------+ + +Comms submodule +--------------- +For the CAN communication with the module two different tranceivers can be used; TCAM330G or MAX33040EAKA. As of now the TCAM330 serves as the main tranceiver and the MAX330 is a substitute if needed. The image and pinout below shows the MAX330. + + +-----+------------------------+ + | Pin | Meaning | + +-----+------------------------+ + | 1 | CAN_TX1 | + +-----+------------------------+ + | 2 | GND | + +-----+------------------------+ + | 3 |VDD(DecouplingCapacitor)| + +-----+------------------------+ + | 4 | CAN_RX1 | + +-----+------------------------+ + | 5 | SHDN - turn off chip | + +-----+------------------------+ + | 6 | CAN_LOW | + +-----+------------------------+ + | 7 | CAN_HIGH | + +-----+------------------------+ + | 8 | STBY - CHIP HOLD | + +-----+------------------------+ + +It is worth mentioning that PIN 6 and 7 (CAN HIGH and CAN LOW) are connected to a TUBC doide for “electrostatic discharges” protection. + +.. figure:: /images/electronics_embedded/stepper_steering_module/MAX330.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + MAX33040EAKA Tranceiver + +For either of this tranceivers there are resistors that help with the connection with the STM32, the RJ45 and the support JSTs. + +.. figure:: /images/electronics_embedded/stepper_steering_module/tranceivers_resistors.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + Tranceiver resistors + +**CAN topology** +The CAN topology implemented in this project is "Daisy Chain", which has the following structure. + +.. figure:: /images/electronics_embedded/stepper_steering_module/Daisy_chain.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + CAN Topology + +**Encoders** +.. figure:: /images/electronics_embedded/stepper_steering_module/Encoders2.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + Encoders + +DEBUGGING +--------- +The debugging components are quite simple. LEDs are installed with the purpose of knowing the value of different signals. + +.. figure:: /images/electronics_embedded/stepper_steering_module/stepper_debug.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + Debugging LEDs + +A FTDI chip is used to connect via serial communication with the stm and read several values in a terminal. + +.. figure:: /images/electronics_embedded/stepper_steering_module/FTDI.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + FTDI chip + Stepper Driver Connection ------------------------- --- +The main driver used for this module is the STP-DRV-6575 +.. figure:: /images/electronics_embedded/stepper_steering_module/STP-DRV-6575_photo.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + STP-DRV-6575 + +The following diagram shows the connections to the driver and its correspondent signals. + +.. figure:: /images/electronics_embedded/stepper_steering_module/Driver-connections.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + Connections layout + +Here is an explanation if the driver's input and output signals: + + +-------+-------------------------------------------+ + | Signal| Meaning | + +-------+-------------------------------------------+ + | STEP | given an impulse (010), moves 1 step | + +-------+-------------------------------------------+ + | DIR | Clockwise/counterclockwise | + +-------+-------------------------------------------+ + | EN | activate (0), deactivate (1) | + +-------+-------------------------------------------+ + | Fault | Output for proper functioning | + +-------+-------------------------------------------+ + +For more information about the input and output signals for the driver, it may be to refer to the official manual and data sheet. + +.. figure:: /images/electronics_embedded/stepper_steering_module/in_out_driver.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + Driver manual + +The stepper motor used in the steering module is one of the stp-MTRH-42 variety (low voltage, higher torque). If a change is planned, it is important to change the compatibility table between the driver and steppers. + +.. figure:: /images/electronics_embedded/stepper_steering_module/stepper_compatibility.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + Compatibility table + +Since the STM32 works with 3.3V and the driver works starting from 5V, a level shifter is implemented. This level shifter is the TXU0304PWR. ESD diodes are also implemented for static discharges protection. + +.. figure:: /images/electronics_embedded/stepper_steering_module/Driver_levelShifter.png + :align: center + :alt: stm32 schematic + :figclass: align-center + :width: 600px + + Level-shifter Transmission Module =================== diff --git a/source/images/electronics_embedded/stepper_steering_module/ADCs_supply.png b/source/images/electronics_embedded/stepper_steering_module/ADCs_supply.png new file mode 100644 index 0000000..a6ef4be Binary files /dev/null and b/source/images/electronics_embedded/stepper_steering_module/ADCs_supply.png differ diff --git a/source/images/electronics_embedded/stepper_steering_module/Daisy_chain.png b/source/images/electronics_embedded/stepper_steering_module/Daisy_chain.png new file mode 100644 index 0000000..dbda32d Binary files /dev/null and b/source/images/electronics_embedded/stepper_steering_module/Daisy_chain.png differ diff --git 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