Establish CAN Bus Network Real Time Control #7
Description
Introduction
As we enter the second stage of the hardware design we have established our main method of communication between our 10 modules (4 motors, 4 joint MCUs, Power MCU and Raspberry Pi 5) to be via a CAN Bus network. We have to flesh out the logistics that come with using a centralized communication network.
The rest of our current hardware is as follows:
- IMUs: LSM6DS3TR-C 6-DoF (using I2C protocol)
- Motors: AK70-9 KV60 CubeMars Motors
- Development Board (Joints): NUCLEO-F446RE
- Main Controller: Raspberry Pi 5
Tasks
- Determine concrete timing requirements for the different modules in the system. This includes set speeds for main controller model torque commands, joint controller feedback loop, and retrieval of system monitoring data (power, current, status, etc).
- Establish real time architecture of our system. This should include our strategy for interrupting processes in errors of varying severities / assigning priorities to each error and process.