power-board

Power-board

Power Management and distribution board for Open Dynamic Robot Initiative Robots

Main features

• 40A 32V DC load switching
• Inrush current limiting
• Monitor voltage, Current and Energy
• Under voltage, Over current shutdown with settable thresholds
• Telemetry, load switching via SPI

Wiring

J1 - Programming port

Serial Wire Debug (SWD)

1	2	3	4
3V3	SWDIO	SWCLK	GND

####J2 - SPI Communication port, power board is acting as a SPI Slave device. To be connected to a SPI Master device such as the MasterBoard.

1	2	3	4	5
GND	MISO	CLK	/CS	MOSI

J3 - DC Input

DC input port to be connected to a battery pack / PSU using female XT30 connector

J4-J12 - DC outputs

DC output ports to be connected to any load on the robot using XT30 male connector

J13 External On/Off pushbutton

1	2	3
OFF	COM	ON

Connect a

• "Power OFF" push button NORMALLY CLOSED between 1 and 2
• "Power ON" push button NORMALLY OPEN between 2 and 3

During programming, short pins 1-2-3 together for the MCU to stay powered at anytime.

If no external pushbutton are used, short pin 1 and 2 to only use onboard pushbuttons. If not, the board will not turn on.

Note: the onboard OFF button control to the MCU reset line.

Communication protocol

####Sensor packet todo

Command packet

Not implemented yet

Flashing firmware

Compiling firmware

1- Install STM32cubeIDE from here: https://www.st.com/en/development-tools/stm32cubeide.html#get-software

2- Clone this repository

3- Open STM32cubeIDE and open the project via File -> Open project via file system select the folder firmware/powerboard/ from this repo. Click on Finish.