Beth Test Bench - Revision history

Esden at 00:10, 10 March 2011

2011-03-10T00:10:21Z

← Older revision		Revision as of 18:10, 9 March 2011
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	As with all paparazzi code, you'll find a periodic function that runs at the rate defined in the makefile (or makefile section of your aircraft xml). Beth uses 512 Hz. This timing is generated regularly by libevent (in this case, every ~2ms the periodic function should run). We can register to receive other events (for example here for receiving datalink messages) by registering the functions with libevent.		As with all paparazzi code, you'll find a periodic function that runs at the rate defined in the makefile (or makefile section of your aircraft xml). Beth uses 512 Hz. This timing is generated regularly by libevent (in this case, every ~2ms the periodic function should run). We can register to receive other events (for example here for receiving datalink messages) by registering the functions with libevent.

			[[Category:Hardware]] [[Category:Software]]

Paulcox: /* Science Payload */

2010-08-06T08:04:47Z

Science Payload

@@ Line 44: / Line 44: @@
 * 1. main_overo : Linux application that runs on gumstix overo; libevent driven loop that sends telemetry, receives datalink, initiates the spi link com with Lisa's stm32, and is otherwise free to run control algorithms.
 * 2. main_stm32 : runs on stm32; recuperates pot values from CAN, reads IMU, sends the motor commands, and responds to the overo spi link transactions (receiving thrust and pitch commands from overo and sending sensor data back: see AutopilotMessageBethUp and AutopilotMessageBethDown structures for details).
-The overo must have a linux system running on it, and this is acheived using the openembedded omap3-lisa-image recipe [[LisaOveroImage]].
+: Compiled (and uploaded) using following command :

Paulcox: /* Potentiometers */

2010-07-30T12:14:28Z

Potentiometers

← Older revision		Revision as of 06:14, 30 July 2010
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	The mechanical system is laid out with one potentiometer measuring azimuth mounted below the rotating electrical joint. The joint provides complete rotational freedom while also providing six electrical circuits. A pair of circuit is used for passing GND, another for power (+12V), and the final two circuits for CAN communication. Above the azimuth joint, two additional potentiometers measure elevation and tilt.		The mechanical system is laid out with one potentiometer measuring azimuth mounted below the rotating electrical joint. The joint provides complete rotational freedom while also providing six electrical circuits. A pair of circuit is used for passing GND, another for power (+12V), and the final two circuits for CAN communication. Above the azimuth joint, two additional potentiometers measure elevation and tilt.
	[[Image:Beth_joint_close.jpg\|none\|thumb]] [[Image:Beth_render_joint.jpg\|thumb]]		[[Image:Beth_joint_close.jpg\|none\|thumb]] [[Image:Beth_render_joint.jpg\|none\|thumb]]

	=== Beth Boards ===		=== Beth Boards ===

Paulcox: /* Potentiometers */

2010-07-30T12:12:38Z

Potentiometers

← Older revision		Revision as of 06:12, 30 July 2010
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	The mechanical system is laid out with one potentiometer measuring azimuth mounted below the rotating electrical joint. The joint provides complete rotational freedom while also providing six electrical circuits. A pair of circuit is used for passing GND, another for power (+12V), and the final two circuits for CAN communication. Above the azimuth joint, two additional potentiometers measure elevation and tilt.		The mechanical system is laid out with one potentiometer measuring azimuth mounted below the rotating electrical joint. The joint provides complete rotational freedom while also providing six electrical circuits. A pair of circuit is used for passing GND, another for power (+12V), and the final two circuits for CAN communication. Above the azimuth joint, two additional potentiometers measure elevation and tilt.
	[[Image:Beth_joint_close.jpg\|none\|thumb]] [[Image:Beth_render_joint.jpg~~\|none~~\|thumb]]		[[Image:Beth_joint_close.jpg\|none\|thumb]] [[Image:Beth_render_joint.jpg\|thumb]]

	=== Beth Boards ===		=== Beth Boards ===

Paulcox: /* Potentiometers */

2010-07-30T12:11:47Z

Potentiometers

← Older revision		Revision as of 06:11, 30 July 2010
Line 11:		Line 11:

	The mechanical system is laid out with one potentiometer measuring azimuth mounted below the rotating electrical joint. The joint provides complete rotational freedom while also providing six electrical circuits. A pair of circuit is used for passing GND, another for power (+12V), and the final two circuits for CAN communication. Above the azimuth joint, two additional potentiometers measure elevation and tilt.		The mechanical system is laid out with one potentiometer measuring azimuth mounted below the rotating electrical joint. The joint provides complete rotational freedom while also providing six electrical circuits. A pair of circuit is used for passing GND, another for power (+12V), and the final two circuits for CAN communication. Above the azimuth joint, two additional potentiometers measure elevation and tilt.
	[[Image:Beth_joint_close.jpg\|none\|thumb]]		[[Image:Beth_joint_close.jpg\|none\|thumb]] [[Image:Beth_render_joint.jpg\|none\|thumb]]

	=== Beth Boards ===		=== Beth Boards ===

Paulcox: /* Science Payload */

2010-07-30T12:08:36Z

Science Payload

← Older revision		Revision as of 06:08, 30 July 2010
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	=== Science Payload ===		=== Science Payload ===

	[[Image:Beth_payload.jpg]]		[[Image:Beth_payload.jpg\|thumb]]

	On the end of the long carbon arm are two brushless motors with controllers and an attachment point for the control system. At this time we are using a paparazzi Lisa board and a crista IMU. Lisa fetches the pot measurements via the CAN bus interface, and interfaces to the outside world using wifi. This wifi traffic includes uploading new overo programs (via scp), starting the programs (via ssh), paparazzi telemetry and datalink (via link's -udp option)		On the end of the long carbon arm are two brushless motors with controllers and an attachment point for the control system. At this time we are using a paparazzi Lisa board and a crista IMU. Lisa fetches the pot measurements via the CAN bus interface, and interfaces to the outside world using wifi. This wifi traffic includes uploading new overo programs (via scp), starting the programs (via ssh), paparazzi telemetry and datalink (via link's -udp option)

Paulcox: /* Beth Boards */

2010-07-30T12:07:35Z

Beth Boards

← Older revision		Revision as of 06:07, 30 July 2010
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	The azimuth potentiometer is sampled using a Beth board, and another identical board is used to sample the elev/tilt pots. The two boards communicate on the same CAN bus. Each of these boards provides a socket for the Olimex STM32 header board, a 5V LDO, a op-amp for buffering the ADC inputs, a CAN transceiver, and the connectors for interfacing.		The azimuth potentiometer is sampled using a Beth board, and another identical board is used to sample the elev/tilt pots. The two boards communicate on the same CAN bus. Each of these boards provides a socket for the Olimex STM32 header board, a 5V LDO, a op-amp for buffering the ADC inputs, a CAN transceiver, and the connectors for interfacing.

	[[Image:Beth_board_close.jpg]]		[[Image:Beth_board_close.jpg\|none\|thumb]]

	==== PCBs ====		==== PCBs ====

Paulcox: /* Potentiometers */

2010-07-30T12:06:42Z

Potentiometers

← Older revision		Revision as of 06:06, 30 July 2010
Line 11:		Line 11:

	The mechanical system is laid out with one potentiometer measuring azimuth mounted below the rotating electrical joint. The joint provides complete rotational freedom while also providing six electrical circuits. A pair of circuit is used for passing GND, another for power (+12V), and the final two circuits for CAN communication. Above the azimuth joint, two additional potentiometers measure elevation and tilt.		The mechanical system is laid out with one potentiometer measuring azimuth mounted below the rotating electrical joint. The joint provides complete rotational freedom while also providing six electrical circuits. A pair of circuit is used for passing GND, another for power (+12V), and the final two circuits for CAN communication. Above the azimuth joint, two additional potentiometers measure elevation and tilt.
	[[Image:Beth_joint_close.jpg]]		[[Image:Beth_joint_close.jpg\|none\|thumb]]

	=== Beth Boards ===		=== Beth Boards ===

Paulcox: /* Introduction */

2010-07-30T12:05:20Z

Introduction

← Older revision		Revision as of 06:05, 30 July 2010
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	== Introduction ==		== Introduction ==
			[[Image:Beth_fixture.jpg\|thumb]]
	The Beth test bench is two things:		The Beth test bench is two things:

	* 1. A three degree of freedom mechanical test bench		* 1. A three degree of freedom mechanical test bench
	* 2. A paparazzi build target that provides the code and configuration for the Lisa/Overo and Olimex STM32 boards mounted on item 1		* 2. A paparazzi build target that provides the code and configuration for the Lisa/Overo and Olimex STM32 boards mounted on item 1

	~~[[Image:Beth_fixture.jpg]]~~

	== Architecture ==		== Architecture ==

Paulcox: /* Introduction */

2010-07-30T11:58:02Z

Introduction

← Older revision		Revision as of 05:58, 30 July 2010
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	* 1. A three degree of freedom mechanical test bench		* 1. A three degree of freedom mechanical test bench
	* 2. A paparazzi build target that provides the code and configuration for the Lisa/Overo and Olimex STM32 boards mounted on item 1		* 2. A paparazzi build target that provides the code and configuration for the Lisa/Overo and Olimex STM32 boards mounted on item 1

			[[Image:Beth_fixture.jpg]]

	== Architecture ==		== Architecture ==