EEprom Organization

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The µNav board has an 24LC024 EEprom on board for storage of operational parameters (256 bytes). Numeric values are in Little Endian format (LSB->MSB : dsPic33 native format). Non-Numeric values (such as dates) follows EU conventions.
Values are listed using format [offset] [number of bytes used] - (usage)

Version

[0x00] [2] - Hardware release version (major version . minor version)
[0x02] [3] - Software release version (major version . minor version . subversion)
[0x05] [3] - Software build date (dd.mm.yy)

range 0x08-0x0C is reserved for future usage

General Configuration parameters (preliminary)

[0x00] [1] - Board is Master or Slave (0 = master, 1 = slave)
[0x00] [1] - Slave address (0-3)
[0x00] [1] - UART1 baud rate:

0 = 2400
1 = 4800
2 = 9600
3 = 14400
4 = 19200
5 = 28800
6 = 38400
7 = 56000
8 = 57600
9 = 115200

[0x00] [1B] - UART2 baud rate (same scheme as UART1)

PWM Configuration (preliminary)

[0x00] [1] - PWM frequency:

0 = 9 kHz
1 = 19 kHz
2 = 38 kHz

[0x00] [1] - PWM mode:

0 = LAP (Locked Anti-Phase)
1 = S/M (Sign Magnitude)

[0x00] [1] - Motors Enable:

0 = tied to LOW
1 = tied to HIGH
2 = controlled

PID Configuration (preliminary)

[0x00] [2] - Kp
[0x00] [2] - Kd
[0x00] [2] - Ki
[0x00] [1] - PID period:

0 = 1 ms
1 = 2 ms
2 = 5 ms
3 = 10 ms

Chassis configuration (preliminary)

[0x00] [1] - Number of Motors (from 2 to 8)
[0x00] [1] - Number of Axles (from 1 to 4)
[0x00] [2] - Wheel track in mm (referred to center of tire tread)
[0x00] [2] - Axles spacing in mm (0 if robot has only 1 axle)
[0x00] [2] - Tires diameter in mm

Motor configuration (preliminary)

[0x00] [2] - RPM Max
[0x00] [2] - Encoder resolution in CPR
[0x00] [1] - Gear ratio (divider only)
[0x00] [2] - Max current per motor in mA