Embedded Software Fundamentals

[JuanR-Git]

Introduction

This will be the first general research task for the embedded software team. It will introduce the members to the following:

• hardware we will be using for this years suit
• communication protocols for data acquisition and commands
• firmware development
• system integration in C++.

Goal

All members get a strong foundational understanding of how we are going to design the embedded software system for the exoskeleton suit.

Topics to Research

• IMUs
  • Noise filtering IMU data
  • Sensor Fusion
  • Communication using I2C
    • Can lookin to SPI for future improvements but likely won't be used in this years design.
  • Data Visualization tools/strategies (ROS2 RViz2, etc.)
• Motors
  • Datasheet for this year's motors
  • Motor control parameters
  • Communication for sending commands and receiving encoder position readings (Canbus
• C/C++ development & Embedded programming
  • Linux / Raspberry Pi development
  • Research into an IDE that we can use for programming and debugging on STM32 Boards (Ex: Keil studio, Arduino IDE, etc.)

Deliverables

There is a lot to digest here so there will be no hard deadline for this research task. The suggested approach to learning is as follows:

• Take a little bit of time each day to review supplementary material and do additional Independent research
• Fill out your own research tab in the respective documents as you go (IMU research, Motor Research, etc.). This will act as your cheat sheet and will give us a good pool of information to base our design off of.
• Reach out to senior members for additional guidance to fill in gaps in understanding.

NOTE: In the following weeks it will be important that everyone has a firm understanding of the following topics so please try to organize yourself so you can dedicate enough time to learning to basics.

[Yug-Vashisth]

Checking to see if I can actually comment a gif