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Notes for FC-CONTROL_BOARD

Hardware notes

FC Control board v0.1

Known faults

  • Wrong 3.3v regulator pinout ordered. Footprint is correct but non standard part was ordered.
  • 5v from USB goes directly to regulated 5v rail (can lead to excessive current draw from/to USB). Should be separate or have reverse current protection.
  • Servo pin header had wrong pinout. Should be 5v, GND, signal. Not signal, 5v, GND.
  • Negative battery terminal is not connected.
  • Silkscreen needs to be improved.
    • Add pinout for servo header.
    • Add pinout for battery header.
    • Label for Reset and Boot buttons needs to be fixed.
  • Screw hole is under the USB connector. Connector should be moved to the side.
  • Components at the back block mounting of back wing.

Improvements

  • Improve Voltage/Current protection for USB and battery.
  • Add connector with more GPIO pins for future expansion.
  • Test opamp circuit for halleffect encoder. Implement on pcb if works well.
  • 3.3v and 5v routing is not well done, can be improved.

MAC address

Mac address for the board can be gotten by using env:print-mac and reading serial output.

- FC Control board v0.1: 34:85:18:5C:4E:F0

FC Control board v1.1

Addressed issues

  • Changed footprint for the ESP32-S3 (easier to solder)
  • Servo pin header switched to GND, 5V, signal
  • Negative battery terminal is not connected.
  • Silkscreen needs to be improved. (sort of)
    • Add pinout for battery header.
    • Add pinout for servo header.
    • Label for Reset and Boot buttons needs to be fixed.
  • Screw hole is under the USB connector. Connector should be moved to the side.
  • Components at the back block mounting of back wing.

Additional features

  • Added a buzzer

What's left

  • 5v from USB goes directly to regulated 5v rail (can lead to excessive current draw from/to USB). Should be separate or have reverse current protection.
  • Improve Voltage/Current protection for USB and battery.
  • Add connector with more GPIO pins for future expansion.
  • Test opamp circuit for halleffect encoder. Implement on pcb if works well.
  • 3.3v and 5v routing is not well done, can be improved.
  • Add connector for the camera
  • Add connectors for the hall-effect sensors
  • Add tail-light LED
  • Decrease bat_level measurements from reading 3.3V to 3.0V as max battery voltage (ESP32 ADC is shit)
  • Fix silkscreen text sizing

FC Control board v1.2

Addressed issues

Additional features

  • Add tail-light LED

Improvements

  • Add IMU
  • Fix button footprints
  • Add reverse current diodes for LDOs
  • Add small switch with MOSFET to connect/disconnect battery
  • Change motor drivers
  • Add fuse for USB
  • Add undervoltage protection for the battery

FC Control board v1.3 [WIP]

Addressed issues

  • Add IMU
  • Fix button footprints
  • Add reverse current diodes for LDOs
  • Add small switch with MOSFET to connect/disconnect battery
  • Change motor drivers
  • Add fuse for USB

Improvements

Hall effect sensor things (Johan)

  • DRV5056
    • Unipolar, has been used for the first prototypes.
    • A2 sensitivity gives 0.1 - 0.9 v centered at 0.6v when measuring from outside of wheel.
      • This is how Johan tested during christmas break.
        • Was then driven at 3.3 v?
      • A2 has 100 mv/mT at 5 V, 39 mT range
      • If a bipolar sensor is used, then a larger gain can be used without problems since saturation is not a problem in the same way. (0.1 v is the lowest value that can be outputted)
        • 39 * 0.5/3.3 = 5.9 mT
  • DRV5055
    • Bipolar, has not been used yet.
    • A1 has $\pm$ 21 mT range
      • Buy 2 for "outside wheel measurements"
        • 15 mm distance from magnet to sensor
    • Inside wheel measurements
      • ~ 5 mm distance from magnet to sensor
      • 1/3 of the distance
      • Field strength is $\propto 1/r^3$
      • $\frac{1/5^3}{1/15^3} = 3^3 = 27$
      • This could give ~ $27 \cdot 5.9 = 160$ mT
      • A4 has $\pm$ 169 mT range
        • Buy 2 for "inside wheel measurements"
  • TMAG5273
    • I2C alt text
    • A,B,C,D have different addresses
    • 1 or 2 has different sensitivity
      • Buy 2 of each range for testing with different addresses
        • A1, B1, C2, D2
        • These are not all in stock at mouser...
        • alt text
          • Buy one of each
  • MLX90393
    • Used in foot sensor project