https://reprap.org/mediawiki/api.php?action=feedcontributions&user=Ronan&feedformat=atomRepRap - User contributions [en]2024-03-28T09:52:45ZUser contributionsMediaWiki 1.30.0https://reprap.org/mediawiki/index.php?title=BLDC&diff=5677BLDC2010-02-01T00:41:12Z<p>Ronan: New page: Brushless DC electric motor, cf [http://en.wikipedia.org/wiki/BLDC] advantages * cheaper motor drawbacks * complex software</p>
<hr />
<div>Brushless DC electric motor, cf [http://en.wikipedia.org/wiki/BLDC]<br />
<br />
advantages<br />
* cheaper motor<br />
<br />
<br />
drawbacks<br />
* complex software</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1769Noduino2009-03-02T00:14:32Z<p>Ronan: /* Proposal design */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* Use 12-bit High Speed [[PSC]] for high speed brushless DC motor applications<br />
* cheap and small : <br />
** small , when size does matter<br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
<br />
= Work In Progress =<br />
<br />
At this time , I do the electronic board. <br />
Help is welcome for firmware, website host software.<br />
<br />
[[Image:Noduino.png|thumb|Schematics are made in Kicad]]<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
This serie is a kind of mix between AT90CAN serie for CAN bus and AT90PWM serie with power stage controller.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
* TMS320C2000<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
[http://www.octrium.com/products.html octrium] use CanFestival and FreeRTOS on their product but don't release their sources.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1768Noduino2009-03-02T00:06:00Z<p>Ronan: /* MCU considerations */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* Use 12-bit High Speed [[PSC]] for high speed brushless DC motor applications<br />
* cheap and small : <br />
** small , when size does matter<br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
<br />
= Work In Progress =<br />
<br />
At this time , I do the electronic board. <br />
Help is welcome for firmware, website host software.<br />
<br />
[[Image:Noduino.png|thumb|Schematics are made in Kicad]]<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
* TMS320C2000<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
[http://www.octrium.com/products.html octrium] use CanFestival and FreeRTOS on their product but don't release their sources.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=PSC&diff=1767PSC2009-03-01T23:46:36Z<p>Ronan: New page: Power Stage Controller</p>
<hr />
<div>Power Stage Controller</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1766Noduino2009-03-01T23:26:56Z<p>Ronan: /* Features */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* Use 12-bit High Speed [[PSC]] for high speed brushless DC motor applications<br />
* cheap and small : <br />
** small , when size does matter<br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
<br />
= Work In Progress =<br />
<br />
At this time , I do the electronic board. <br />
Help is welcome for firmware, website host software.<br />
<br />
[[Image:Noduino.png|thumb|Schematics are made in Kicad]]<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
[http://www.octrium.com/products.html octrium] use CanFestival and FreeRTOS on their product but don't release their sources.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic&diff=1718Robotic2009-02-28T03:39:18Z<p>Ronan: /* Hardware */</p>
<hr />
<div>Robotic stuff at RepRap<br />
<br />
= Introduction = <br />
<br />
Why discuss about Repraped robot on Reprap wiki ?<br />
<br />
* Share components : <br />
Since Reprap has already a lot of open hardware actuators and sensors,<br />
robotic people can use reprap parts as part of their robotic ( autonomous, artistic ... ) and create new that will fit with reprap.<br />
<br />
* Reprapable robot <br />
Robot are a set of part like PCs are but that doesn't benefit of the mass market, so good one are really expensive. Do its own parts with reprap will make them become available for the mass via open source initiative.<br />
<br />
* Reprap's arm, leg and brain :<br />
Today, reprap is not able to feed itself. Tomorrow , we can imagine some AI brain, and see the machine or another reprap project robot found its food (collaboration or autonomous work).<br />
<br />
* If the project is not welcome here , we can move it latter. But the most we share , the best we can.<br />
= Hardware =<br />
<br />
* [[Noduino]] , a smart , small and cheap board for robotic actuators and sensors ( WIP ).<br />
design to use CANbus as polybot G3 (http://www2.parc.com/spl/projects/modrobots/chain/polybot/g3.html)<br />
Who did say CANbus won't fit in robotic ? <br />
* see reprap wiki parts.<br />
<br />
wishlist : <br />
* http://objects.reprap.org/wiki/Drexler_Arm<br />
* [[robotic_arm]]<br />
<br />
= Software =<br />
<br />
== Embedded software ==<br />
<br />
=== CANopen initiative ===<br />
<br />
see [[CANopen]]<br />
<br />
== Host/brain/master software ==<br />
<br />
=== Blender as a masterpiece ===<br />
<br />
Open Source Robotic Studio ? look the well documented and up to date draft of Dr Herman Bruyninckx :<br />
* http://people.mech.kuleuven.be/~bruyninc/blender/roadmap.html<br />
* http://people.mech.kuleuven.be/~bruyninc/robotstandards/ host 2 very interesting papers.<br />
* http://www.orocos.org use blender for robotics and machines , very interesting framework started by Dr Bruyninckx.<br />
* http://colladablender.illusoft.com/cms/content/blogsection/6/45/ Collada 1.4.0 Plug-in for Blender<br />
* http://www.blendernation.com/2006/07/13/3d-milling-using-blender/ they do it !<br />
<br />
=== Open Source Robotic Projects === <br />
<br />
http://www.swarmrobot.org small bots using AVR atmega168v</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1644Noduino2009-02-22T23:10:15Z<p>Ronan: /* Work In Progress */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** small , when size does matter<br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Work In Progress =<br />
<br />
At this time , I do the electronic board. <br />
Help is welcome for firmware, website host software.<br />
<br />
[[Image:Noduino.png|thumb|Schematics are made in Kicad]]<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
[http://www.octrium.com/products.html octrium] use CanFestival and FreeRTOS on their product but don't release their sources.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1643Noduino2009-02-22T23:08:26Z<p>Ronan: /* Work In Progress */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** small , when size does matter<br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Work In Progress =<br />
<br />
[[Image:Noduino.png|thumb|Schematics are made in Kicad]]<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
[http://www.octrium.com/products.html octrium] use CanFestival and FreeRTOS on their product but don't release their sources.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=File:Noduino.png&diff=1642File:Noduino.png2009-02-22T23:05:45Z<p>Ronan: Early schematic of the Noduino board</p>
<hr />
<div>Early schematic of the Noduino board</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1641Noduino2009-02-22T22:27:52Z<p>Ronan: </p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** small , when size does matter<br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Work In Progress =<br />
<br />
[http://img530.imageshack.us/img530/707/noduino.png Picture of actual schematic]<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
[http://www.octrium.com/products.html octrium] use CanFestival and FreeRTOS on their product but don't release their sources.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic_arm&diff=1640Robotic arm2009-02-22T15:17:24Z<p>Ronan: /* Rotating Electrical Connector */</p>
<hr />
<div>= Theory = <br />
<br />
* http://www.societyofrobots.com/robot_arm_tutorial.shtml<br />
* http://www.scholarpedia.org/article/Light-weight_robots<br />
* http://www.xrobots.co.uk/<br />
<br />
= connector =<br />
<br />
== Rotating Electrical Connector ==<br />
* http://www.swivelelectricalconnector.com/rotating_electrical_connectors/swivel_electrical_connector_best.php <br />
* http://aksr.co.kr/tech/images/faq04.jpg<br />
"Quick-locking circular Ethernet connector"<br />
<br />
== Mechanic ==<br />
<br />
* "swivel" http://www.bestmarineimports.com/Connectors.html<br />
<br />
= products =<br />
<br />
* http://robots.net/article/2700.html<br />
* http://www.army-technology.com/contractor_images/i_robot/i_robot3.jpg<br />
* http://larryo.org/work/robotics/robotics_hardware.html</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CAN&diff=1633CAN2009-02-22T01:16:09Z<p>Ronan: /* Possible CAN transceiver */</p>
<hr />
<div>= CAN topic =<br />
<br />
[[CAN]] ( Controller-area network ) area for hardware relative topics.<br />
* for information about CAN/CANopen stack , go [[CANopen]]<br />
* for specific information about CAN on AVR , go [[CAN_AVR]]<br />
* [[Noduino]] a smart , small and cheap board for actuators and sensors ( WIP )<br />
<br />
== Possible CAN transceiver ==<br />
<br />
interface between the CAN protocol controller and the physical bus. The device provides differential transmit capability to the bus and differential receive capability to the CAN controller.<br />
<br />
* NXP : PCA82C250<br />
* ATMEL : ATA6660 <br />
* Microchip : MCP2551<br />
* Texas Instrument : SN65HVD230<br />
<br />
There is a lot of such pin out compatible chip.<br />
<br />
LIN+CAN transceiver in one chip : <br />
* http://www.infineon.com/cms/en/product/technology/designlink/2007-2/c_power/b_tle7263e.html<br />
<br />
= Single Wire CAN =<br />
<br />
http://zone.ni.com/devzone/cda/tut/p/id/3160<br />
<br />
= CAN network interesting chipset products =<br />
* Brushless Motor Driver : http://atmel.com/dyn/corporate/view_detail.asp?ref=&FileName=ATA6833_34_10_20.html&SEC_NAME=Product</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic&diff=1567Robotic2009-02-10T04:27:35Z<p>Ronan: /* Blender as a masterpiece */</p>
<hr />
<div>Robotic stuff at RepRap<br />
<br />
= Introduction = <br />
<br />
Why discuss about Repraped robot on Reprap wiki ?<br />
<br />
* Share components : <br />
Since Reprap has already a lot of open hardware actuators and sensors,<br />
robotic people can use reprap parts as part of their robotic ( autonomous, artistic ... ) and create new that will fit with reprap.<br />
<br />
* Reprapable robot <br />
Robot are a set of part like PCs are but that doesn't benefit of the mass market, so good one are really expensive. Do its own parts with reprap will make them become available for the mass via open source initiative.<br />
<br />
* Reprap's arm, leg and brain :<br />
Today, reprap is not able to feed itself. Tomorrow , we can imagine some AI brain, and see the machine or another reprap project robot found its food (collaboration or autonomous work).<br />
<br />
* If the project is not welcome here , we can move it latter. But the most we share , the best we can.<br />
= Hardware =<br />
<br />
* [[Noduino]] , a smart , small and cheap board for robotic actuators and sensors ( WIP ).<br />
* see reprap wiki parts.<br />
<br />
wishlist : <br />
* http://objects.reprap.org/wiki/Drexler_Arm<br />
* [[robotic_arm]]<br />
<br />
= Software =<br />
<br />
== Embedded software ==<br />
<br />
=== CANopen initiative ===<br />
<br />
see [[CANopen]]<br />
<br />
== Host/brain/master software ==<br />
<br />
=== Blender as a masterpiece ===<br />
<br />
Open Source Robotic Studio ? look the well documented and up to date draft of Dr Herman Bruyninckx :<br />
* http://people.mech.kuleuven.be/~bruyninc/blender/roadmap.html<br />
* http://people.mech.kuleuven.be/~bruyninc/robotstandards/ host 2 very interesting papers.<br />
* http://www.orocos.org use blender for robotics and machines , very interesting framework started by Dr Bruyninckx.<br />
* http://colladablender.illusoft.com/cms/content/blogsection/6/45/ Collada 1.4.0 Plug-in for Blender<br />
* http://www.blendernation.com/2006/07/13/3d-milling-using-blender/ they do it !<br />
<br />
=== Open Source Robotic Projects === <br />
<br />
http://www.swarmrobot.org small bots using AVR atmega168v</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic_arm&diff=1546Robotic arm2009-02-07T21:46:58Z<p>Ronan: /* products */</p>
<hr />
<div>= Theory = <br />
<br />
* http://www.societyofrobots.com/robot_arm_tutorial.shtml<br />
* http://www.scholarpedia.org/article/Light-weight_robots<br />
* http://www.xrobots.co.uk/<br />
<br />
= connector =<br />
<br />
== Rotating Electrical Connector ==<br />
* http://www.swivelelectricalconnector.com/rotating_electrical_connectors/swivel_electrical_connector_best.php <br />
* http://aksr.co.kr/tech/images/faq04.jpg<br />
<br />
== Mechanic ==<br />
<br />
* "swivel" http://www.bestmarineimports.com/Connectors.html<br />
<br />
= products =<br />
<br />
* http://robots.net/article/2700.html<br />
* http://www.army-technology.com/contractor_images/i_robot/i_robot3.jpg<br />
* http://larryo.org/work/robotics/robotics_hardware.html</div>Ronanhttps://reprap.org/mediawiki/index.php?title=User:Ronan&diff=1454User:Ronan2009-01-08T23:37:07Z<p>Ronan: /* robotic artistic projects */</p>
<hr />
<div>= whoami =<br />
<br />
I'm Software architect with automation background. I've worked on open sources software on embedded hardware, specially with openembedded that i really like. You can see my linkedin Public Profile at http://www.linkedin.com/pub/7/879/a33 .<br />
Join us in reprap group !<br />
<br />
My openembedded user page : http://wiki.openembedded.net/index.php/User:Ronan<br />
<br />
Our french fablab at tmplab Vitry : http://dev.tmplab.org/wiki/tmp-usine ( in construction , come on ! )<br />
<br />
Contact : ronan @antispam@ aimao ^dot^ org<br />
<br />
= interests =<br />
<br />
I'm interesting in RepRap project because :<br />
* it's an open source project <br />
* it can share a lot with robotic projects <br />
* it can provide cheap and quality machines for autonomy projects as ecovillage ( see http://gen.ecovillage.org/ )<br />
<br />
= work on reprap =<br />
<br />
I focus on smart actuators and sensors architecture.<br />
I believe that a decentralized architecture is more efficient and cheap that the actual centralized one.<br />
IHMO , a good way to have such architecture is CANopen. I'll explain why soon. See <br />
http://www.can-cia.org/index.php?id=90 for more information.<br />
<br />
At spare time, I'm studying make arduino working as a [[CANopen]] node for reprap and others [[Robotic]] projets. To do that , i first need to get [[CAN_AVR|CAN on AVR]] working, then make the [[noduino]].<br />
<br />
= links =<br />
<br />
== humanoid ==<br />
<br />
* http://www.robotcub.org humanoid robot <br />
* http://www.ibm.com/developerworks/linux/library/l-robotools/<br />
* http://www.tudelft.nl/live/pagina.jsp?id=f58fa261-f359-4d83-81ce-78bc182750ea&lang=en<br />
* robotics.youngester.com/<br />
<br />
== robotic artistic projects ==<br />
<br />
* http://www.microbotic.org Christopher Conte robot<br />
* http://www.hektor.ch/Videos/Beautifull-Place.mov/<br />
<br />
== links for myself ==<br />
<br />
* PCB engraver : http://blog.erikdebruijn.nl/archives/62-RepRap-in-simple-terms,-part-1-replication..html<br />
* SMD soldering : http://www.seattlerobotics.org/encoder/200006/oven_art.htm<br />
* http://www.wireless.is/projects/crows/ A Vending Machine for Crows - arduino feeder for reprap , collaboration mode<br />
* http://www.eoat.com : end of arm tooling (EOAT)<br />
* http://anver.com/document/vacuum%20components/vacuum%20cups/ball_swivel_connectors.htm<br />
* http://www.precidip.com/data/en/Technical_Assistance/SLC_general_specs.asp<br />
* http://www.sics.se/~adam/uip/index.php/Main_Page</div>Ronanhttps://reprap.org/mediawiki/index.php?title=User:Ronan&diff=1444User:Ronan2009-01-07T15:51:00Z<p>Ronan: /* links for myself */</p>
<hr />
<div>= whoami =<br />
<br />
I'm Software architect with automation background. I've worked on open sources software on embedded hardware, specially with openembedded that i really like. You can see my linkedin Public Profile at http://www.linkedin.com/pub/7/879/a33 .<br />
Join us in reprap group !<br />
<br />
My openembedded user page : http://wiki.openembedded.net/index.php/User:Ronan<br />
<br />
Our french fablab at tmplab Vitry : http://dev.tmplab.org/wiki/tmp-usine ( in construction , come on ! )<br />
<br />
Contact : ronan @antispam@ aimao ^dot^ org<br />
<br />
= interests =<br />
<br />
I'm interesting in RepRap project because :<br />
* it's an open source project <br />
* it can share a lot with robotic projects <br />
* it can provide cheap and quality machines for autonomy projects as ecovillage ( see http://gen.ecovillage.org/ )<br />
<br />
= work on reprap =<br />
<br />
I focus on smart actuators and sensors architecture.<br />
I believe that a decentralized architecture is more efficient and cheap that the actual centralized one.<br />
IHMO , a good way to have such architecture is CANopen. I'll explain why soon. See <br />
http://www.can-cia.org/index.php?id=90 for more information.<br />
<br />
At spare time, I'm studying make arduino working as a [[CANopen]] node for reprap and others [[Robotic]] projets. To do that , i first need to get [[CAN_AVR|CAN on AVR]] working, then make the [[noduino]].<br />
<br />
= links =<br />
<br />
== humanoid ==<br />
<br />
* http://www.robotcub.org humanoid robot <br />
* http://www.ibm.com/developerworks/linux/library/l-robotools/<br />
* http://www.tudelft.nl/live/pagina.jsp?id=f58fa261-f359-4d83-81ce-78bc182750ea&lang=en<br />
* robotics.youngester.com/<br />
<br />
== robotic artistic projects ==<br />
<br />
* http://www.microbotic.org Christopher Conte robot<br />
<br />
== links for myself ==<br />
<br />
* PCB engraver : http://blog.erikdebruijn.nl/archives/62-RepRap-in-simple-terms,-part-1-replication..html<br />
* SMD soldering : http://www.seattlerobotics.org/encoder/200006/oven_art.htm<br />
* http://www.wireless.is/projects/crows/ A Vending Machine for Crows - arduino feeder for reprap , collaboration mode<br />
* http://www.eoat.com : end of arm tooling (EOAT)<br />
* http://anver.com/document/vacuum%20components/vacuum%20cups/ball_swivel_connectors.htm<br />
* http://www.precidip.com/data/en/Technical_Assistance/SLC_general_specs.asp<br />
* http://www.sics.se/~adam/uip/index.php/Main_Page</div>Ronanhttps://reprap.org/mediawiki/index.php?title=User:Ronan&diff=1442User:Ronan2009-01-06T23:59:49Z<p>Ronan: /* links for myself */</p>
<hr />
<div>= whoami =<br />
<br />
I'm Software architect with automation background. I've worked on open sources software on embedded hardware, specially with openembedded that i really like. You can see my linkedin Public Profile at http://www.linkedin.com/pub/7/879/a33 .<br />
Join us in reprap group !<br />
<br />
My openembedded user page : http://wiki.openembedded.net/index.php/User:Ronan<br />
<br />
Our french fablab at tmplab Vitry : http://dev.tmplab.org/wiki/tmp-usine ( in construction , come on ! )<br />
<br />
Contact : ronan @antispam@ aimao ^dot^ org<br />
<br />
= interests =<br />
<br />
I'm interesting in RepRap project because :<br />
* it's an open source project <br />
* it can share a lot with robotic projects <br />
* it can provide cheap and quality machines for autonomy projects as ecovillage ( see http://gen.ecovillage.org/ )<br />
<br />
= work on reprap =<br />
<br />
I focus on smart actuators and sensors architecture.<br />
I believe that a decentralized architecture is more efficient and cheap that the actual centralized one.<br />
IHMO , a good way to have such architecture is CANopen. I'll explain why soon. See <br />
http://www.can-cia.org/index.php?id=90 for more information.<br />
<br />
At spare time, I'm studying make arduino working as a [[CANopen]] node for reprap and others [[Robotic]] projets. To do that , i first need to get [[CAN_AVR|CAN on AVR]] working, then make the [[noduino]].<br />
<br />
= links =<br />
<br />
== humanoid ==<br />
<br />
* http://www.robotcub.org humanoid robot <br />
* http://www.ibm.com/developerworks/linux/library/l-robotools/<br />
* http://www.tudelft.nl/live/pagina.jsp?id=f58fa261-f359-4d83-81ce-78bc182750ea&lang=en<br />
* robotics.youngester.com/<br />
<br />
== robotic artistic projects ==<br />
<br />
* http://www.microbotic.org Christopher Conte robot<br />
<br />
== links for myself ==<br />
<br />
* PCB engraver : http://blog.erikdebruijn.nl/archives/62-RepRap-in-simple-terms,-part-1-replication..html<br />
* SMD soldering : http://www.seattlerobotics.org/encoder/200006/oven_art.htm<br />
* http://www.wireless.is/projects/crows/ A Vending Machine for Crows - arduino feeder for reprap , collaboration mode<br />
* http://www.eoat.com : end of arm tooling (EOAT)<br />
* http://anver.com/document/vacuum%20components/vacuum%20cups/ball_swivel_connectors.htm<br />
* http://www.precidip.com/data/en/Technical_Assistance/SLC_general_specs.asp</div>Ronanhttps://reprap.org/mediawiki/index.php?title=AVR&diff=1439AVR2009-01-06T11:34:02Z<p>Ronan: /* AVR ISP */</p>
<hr />
<div>information about AVR<br />
<br />
= Possible programmer =<br />
<br />
== Serial with a bootloader ==<br />
<br />
FTDI products :<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
Note FTDI bitbanging is not well supported with avrdude under linux<br />
<br />
TODO ftbb :<br />
<br />
* ftdi_usb_open: device not foundSegmentation fault<br />
* port to 5.5 ( API has changed since 5.1 )<br />
* find good solution to run it as user<br />
* test arduino configuration<br />
* ISP LED<br />
<br />
== JTAG ==<br />
<br />
Warning : standard atmega has no jtag.<br />
<br />
* AVR Dragon low cost JTAG/ICSP ( 50 $ ) , see :<br />
** http://support.atmel.no/knowledgebase/avrstudiohelp/mergedProjects/AVRDragon/AVRDragon.htm<br />
** http://www.hbrobotics.org/wiki/index.php5/AVR-Dragon_Under_Linux<br />
* AVR JTAG ICE clone , kits start at 15 € , a good choice for DIY guy.<br />
** http://aquaticus.info/jtag <br />
* low cost parallels jtag ( 5$ ) , slow but cheap ( for occasional needs as bootloader flashing ).<br />
<br />
Of course, JTAG interface is not useful for user who don't need bootloader flashing and embedded software developing<br />
<br />
== AVR ISP ==<br />
<br />
* [http://www.geocities.jp/arduino_diecimila/bootloader/index_en.html] use ftdi on arduino board to emulate an ISP programmer <br />
* [http://www.adafruit.com/index.php?main_page=product_info&cPath=16&products_id=46 USBtinyISP AVR Programmer Kit]<br />
* [http://www.embedded-projects.net/index.php?page_id=165 USBprog - An open source all purpose tool (AVR ISP, ARM7/ARM9, AT89,JTAG, RS232, IO)] seems to be a killer product but users reports a lack of quality software and no answer on patch submits</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1433Noduino2009-01-03T20:56:35Z<p>Ronan: /* Features */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** small , when size does matter<br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
[http://www.octrium.com/products.html octrium] use CanFestival and FreeRTOS on their product but don't release their sources.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1432Noduino2009-01-03T20:50:09Z<p>Ronan: /* OS considerations */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
[http://www.octrium.com/products.html octrium] use CanFestival and FreeRTOS on their product but don't release their sources.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1431Noduino2009-01-03T19:17:29Z<p>Ronan: /* Proposal design */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Programmer =<br />
<br />
look [[AVR]] section.<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1430Noduino2009-01-03T19:17:02Z<p>Ronan: /* Possible programmer */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
look [AVR]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=AVR&diff=1429AVR2009-01-03T19:16:34Z<p>Ronan: New page: information about AVR = Possible programmer = == Serial with a bootloader == FTDI products : * [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio] * [http://www.sparkfun.c...</p>
<hr />
<div>information about AVR<br />
<br />
= Possible programmer =<br />
<br />
== Serial with a bootloader ==<br />
<br />
FTDI products :<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
Note FTDI bitbanging is not well supported with avrdude under linux<br />
<br />
TODO ftbb :<br />
<br />
* ftdi_usb_open: device not foundSegmentation fault<br />
* port to 5.5 ( API has changed since 5.1 )<br />
* find good solution to run it as user<br />
* test arduino configuration<br />
* ISP LED<br />
<br />
== JTAG ==<br />
<br />
Warning : standard atmega has no jtag.<br />
<br />
* AVR Dragon low cost JTAG/ICSP ( 50 $ ) , see :<br />
** http://support.atmel.no/knowledgebase/avrstudiohelp/mergedProjects/AVRDragon/AVRDragon.htm<br />
** http://www.hbrobotics.org/wiki/index.php5/AVR-Dragon_Under_Linux<br />
* AVR JTAG ICE clone , kits start at 15 € , a good choice for DIY guy.<br />
** http://aquaticus.info/jtag <br />
* low cost parallels jtag ( 5$ ) , slow but cheap ( for occasional needs as bootloader flashing ).<br />
<br />
Of course, JTAG interface is not useful for user who don't need bootloader flashing and embedded software developing<br />
<br />
== AVR ISP ==<br />
<br />
* [http://www.adafruit.com/index.php?main_page=product_info&cPath=16&products_id=46 USBtinyISP AVR Programmer Kit]<br />
* [http://www.embedded-projects.net/index.php?page_id=165 USBprog - An open source all purpose tool (AVR ISP, ARM7/ARM9, AT89,JTAG, RS232, IO)] seems to be a killer product but users reports a lack of quality software and no answer on patch submits</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CAN_AVR&diff=1428CAN AVR2009-01-03T19:15:04Z<p>Ronan: </p>
<hr />
<div>= About =<br />
<br />
[[CAN]] ( Controller-area network ) on AVR chipsets.<br />
for information about CAN/CANopen stack , go here [[CANopen]].<br />
for general information about CAN chipsets and physical topics , go [[CAN]].<br />
<br />
= ard'ware =<br />
<br />
<br />
Usual Arduino AtmegaXXX have no CAN controller.<br />
I see 3 methods to get it :<br />
<br />
# AVR using SPI/UART/... connecting to a CAN controller like MCP2515 :<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.mikroe.com/en/tools/can2/<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.kreatives-chaos.com/artikel/universelle-can-bibliothek<br />
# Emulate the CAN controller with external interrupt register and threading support :<br />
#* http://caraca.sourceforge.net/<br />
# Use automotive serie of AtMega that have CAN controller <br />
<br />
IMHO , the 3rd method is the more efficient. <br />
<br />
== AtMega automotive serie ==<br />
<br />
* ATmega16M1<br />
* ATmega32M1<br />
* ATmega64M1<br />
* ATmega32C1<br />
* ATmega64C1<br />
<br />
M serie has one 12-bit High Speed PSC (Power Stage Controller) :<br />
* Non Overlapping Inverted PWM Output Pins With Flexible Dead-Time<br />
* Variable PWM duty Cycle and Frequency<br />
* Synchronous Update of all PWM Registers<br />
* Auto Stop Function for Emergency Event<br />
<br />
supported by avr-libc , it that can be useful.<br />
<br />
They have JTAG _AND_ ISP. Using ATmega let us in the arduino community , our tool set and knowledge. <br />
<br />
So the more valuable is ATmega64M with 64kb like sanguino but the cheapest could fit needs of most people.<br />
<br />
more infos on this atmel products :<br />
* http://atmel.com/products/canvan<br />
* [http://www.globalspec.com/FeaturedProducts/Detail/Atmel/AVR_MCUs_for_Automotive_Motor_Control_Applications/67093/0?fromSpotlight=1 AVR MCUs for Automotive Motor Control Applications]<br />
<br />
= see [[Noduino]] development = <br />
<br />
== Possible LIN transceiver ==<br />
<br />
<br />
= share work with others open source projects =<br />
<br />
* CAN support is a feature request of openservo project : http://openservo.com/Software_Feature_Requests <br />
OpenServo 2.1 is based on AVR ATmega168 .<br />
* http://ecomodder.com/wiki/index.php/MPGuino , this community need CAN support too.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CAN_AVR&diff=1427CAN AVR2009-01-03T19:13:11Z<p>Ronan: /* AVR ISP */</p>
<hr />
<div>= About =<br />
<br />
[[CAN]] ( Controller-area network ) on AVR chipsets.<br />
for information about CAN/CANopen stack , go here [[CANopen]].<br />
for general information about CAN chipsets and physical topics , go [[CAN]].<br />
<br />
= ard'ware =<br />
<br />
<br />
Usual Arduino AtmegaXXX have no CAN controller.<br />
I see 3 methods to get it :<br />
<br />
# AVR using SPI/UART/... connecting to a CAN controller like MCP2515 :<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.mikroe.com/en/tools/can2/<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.kreatives-chaos.com/artikel/universelle-can-bibliothek<br />
# Emulate the CAN controller with external interrupt register and threading support :<br />
#* http://caraca.sourceforge.net/<br />
# Use automotive serie of AtMega that have CAN controller <br />
<br />
IMHO , the 3rd method is the more efficient. <br />
<br />
== AtMega automotive serie ==<br />
<br />
* ATmega16M1<br />
* ATmega32M1<br />
* ATmega64M1<br />
* ATmega32C1<br />
* ATmega64C1<br />
<br />
M serie has one 12-bit High Speed PSC (Power Stage Controller) :<br />
* Non Overlapping Inverted PWM Output Pins With Flexible Dead-Time<br />
* Variable PWM duty Cycle and Frequency<br />
* Synchronous Update of all PWM Registers<br />
* Auto Stop Function for Emergency Event<br />
<br />
supported by avr-libc , it that can be useful.<br />
<br />
They have JTAG _AND_ ISP. Using ATmega let us in the arduino community , our tool set and knowledge. <br />
<br />
So the more valuable is ATmega64M with 64kb like sanguino but the cheapest could fit needs of most people.<br />
<br />
more infos on this atmel products :<br />
* http://atmel.com/products/canvan<br />
* [http://www.globalspec.com/FeaturedProducts/Detail/Atmel/AVR_MCUs_for_Automotive_Motor_Control_Applications/67093/0?fromSpotlight=1 AVR MCUs for Automotive Motor Control Applications]<br />
<br />
= see [[Noduino]] development = <br />
<br />
== Possible LIN transceiver ==<br />
<br />
== JTAG ==<br />
<br />
* AVR Dragon low cost JTAG/ICSP ( 50 $ ) , see :<br />
** http://support.atmel.no/knowledgebase/avrstudiohelp/mergedProjects/AVRDragon/AVRDragon.htm<br />
** http://www.hbrobotics.org/wiki/index.php5/AVR-Dragon_Under_Linux<br />
* AVR JTAG ICE clone , kits start at 15 € , a good choice for DIY guy.<br />
** http://aquaticus.info/jtag <br />
* low cost parallels jtag ( 5$ ) , slow but cheap ( for occasional needs as bootloader flashing ).<br />
<br />
Of course, JTAG interface is not useful for user who don't need bootloader flashing and embedded software developing<br />
<br />
== AVR ISP ==<br />
<br />
* [http://www.adafruit.com/index.php?main_page=product_info&cPath=16&products_id=46 USBtinyISP AVR Programmer Kit]<br />
* [http://www.embedded-projects.net/index.php?page_id=165 USBprog - An open source all purpose tool (AVR ISP, ARM7/ARM9, AT89,JTAG, RS232, IO)] seems to be a killer product but users reports a lack of quality software and no answer on patch submits<br />
<br />
= share work with others open source projects =<br />
<br />
* CAN support is a feature request of openservo project : http://openservo.com/Software_Feature_Requests <br />
OpenServo 2.1 is based on AVR ATmega168 .<br />
* http://ecomodder.com/wiki/index.php/MPGuino , this community need CAN support too.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1426Noduino2009-01-03T19:09:15Z<p>Ronan: /* Serial with a bootloader */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look [[CAN_AVR#JTAG]]<br />
<br />
== Serial with a bootloader ==<br />
<br />
FTDI products :<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
Note FTDI bitbanging is not well supported with avrdude under linux<br />
<br />
TODO ftbb :<br />
<br />
* ftdi_usb_open: device not foundSegmentation fault<br />
* port to 5.5 ( API has changed since 5.1 )<br />
* find good solution to run it as user<br />
* test arduino configuration<br />
* ISP LED<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CAN_AVR&diff=1425CAN AVR2009-01-03T10:26:29Z<p>Ronan: /* JTAG */</p>
<hr />
<div>= About =<br />
<br />
[[CAN]] ( Controller-area network ) on AVR chipsets.<br />
for information about CAN/CANopen stack , go here [[CANopen]].<br />
for general information about CAN chipsets and physical topics , go [[CAN]].<br />
<br />
= ard'ware =<br />
<br />
<br />
Usual Arduino AtmegaXXX have no CAN controller.<br />
I see 3 methods to get it :<br />
<br />
# AVR using SPI/UART/... connecting to a CAN controller like MCP2515 :<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.mikroe.com/en/tools/can2/<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.kreatives-chaos.com/artikel/universelle-can-bibliothek<br />
# Emulate the CAN controller with external interrupt register and threading support :<br />
#* http://caraca.sourceforge.net/<br />
# Use automotive serie of AtMega that have CAN controller <br />
<br />
IMHO , the 3rd method is the more efficient. <br />
<br />
== AtMega automotive serie ==<br />
<br />
* ATmega16M1<br />
* ATmega32M1<br />
* ATmega64M1<br />
* ATmega32C1<br />
* ATmega64C1<br />
<br />
M serie has one 12-bit High Speed PSC (Power Stage Controller) :<br />
* Non Overlapping Inverted PWM Output Pins With Flexible Dead-Time<br />
* Variable PWM duty Cycle and Frequency<br />
* Synchronous Update of all PWM Registers<br />
* Auto Stop Function for Emergency Event<br />
<br />
supported by avr-libc , it that can be useful.<br />
<br />
They have JTAG _AND_ ISP. Using ATmega let us in the arduino community , our tool set and knowledge. <br />
<br />
So the more valuable is ATmega64M with 64kb like sanguino but the cheapest could fit needs of most people.<br />
<br />
more infos on this atmel products :<br />
* http://atmel.com/products/canvan<br />
* [http://www.globalspec.com/FeaturedProducts/Detail/Atmel/AVR_MCUs_for_Automotive_Motor_Control_Applications/67093/0?fromSpotlight=1 AVR MCUs for Automotive Motor Control Applications]<br />
<br />
= see [[Noduino]] development = <br />
<br />
== Possible LIN transceiver ==<br />
<br />
== JTAG ==<br />
<br />
* AVR Dragon low cost JTAG/ICSP ( 50 $ ) , see :<br />
** http://support.atmel.no/knowledgebase/avrstudiohelp/mergedProjects/AVRDragon/AVRDragon.htm<br />
** http://www.hbrobotics.org/wiki/index.php5/AVR-Dragon_Under_Linux<br />
* AVR JTAG ICE clone , kits start at 15 € , a good choice for DIY guy.<br />
** http://aquaticus.info/jtag <br />
* low cost parallels jtag ( 5$ ) , slow but cheap ( for occasional needs as bootloader flashing ).<br />
<br />
Of course, JTAG interface is not useful for user who don't need bootloader flashing and embedded software developing<br />
<br />
== AVR ISP ==<br />
<br />
* [http://www.adafruit.com/index.php?main_page=product_info&cPath=16&products_id=46 USBtinyISP AVR Programmer Kit]<br />
* [http://www.embedded-projects.net/index.php?page_id=165 USBprog - An open source all purpose tool (AVR ISP, ARM7/ARM9, AT89,JTAG, RS232, IO)] seems to be a killer product<br />
<br />
= share work with others open source projects =<br />
<br />
* CAN support is a feature request of openservo project : http://openservo.com/Software_Feature_Requests <br />
OpenServo 2.1 is based on AVR ATmega168 .<br />
* http://ecomodder.com/wiki/index.php/MPGuino , this community need CAN support too.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CANopen&diff=1415CANopen2008-12-30T17:58:10Z<p>Ronan: /* links */</p>
<hr />
<div>= CANopen Headquarter =<br />
<br />
[[Image:Canopen-logo.gif|right|200px]]<br />
<br />
For people who are interesting in a CANopen architecture on reprap or other arduino/AVR/atmega projects.<br />
CAN & ethernet powerlink related stuff too. <br />
<br />
People interested , add you there :<br />
* [[User:Ronan|Ronan]]<br />
* [[User:Seeedstudio|Seeedstudio]]<br />
<br />
Some people are cons CANopen implementation , arguing it's expensive and complex. Since this protocol is made to be cheap and simple, and most of this people don't know CANopen, we can only waste our time trying to explain what it is here since there is a lot of information on the web. We understood that "It's already have been discussed" here :<br />
* http://forums.reprap.org/read.php?13,16148 <br />
* http://forums.reprap.org/read.php?13,5128<br />
<br />
<br />
Main CANopen Features from http://www.thaiio.com/CANinfo.html :<br />
<br />
* Network Management (Network Start-Up, Node Monitoring, Node Synchronization, etc.)<br />
* Master/Slave configuration, Multi-Master & direct communication between Slaves supported<br />
* Was originally designed for Motion Control<br />
* Supports device profiles for Digital I/O, Analog I/O, Motion Controllers, Sensors, Actuator, etc.<br />
* All CANopen devices “speak the same language”<br />
* Devices are interchangeable (plug & play)<br />
<br />
Looks http://en.wikipedia.org/wiki/CANopen and links in bottom page for further information.<br />
<br />
= CiA profiles =<br />
<br />
Interesting profiles for reprap : <br />
<br />
* CiA 402: CANopen device profile for drives and motion control<br />
* CiA 406: Device profile for encoders (rotating and linear) - product example http://www.vicatronic.fr/fraba.htm<br />
* CiA 420 series: CANopen profiles for extruder downstream devices<br />
<br />
find tutorial and presentation about CANopen here : http://www.canseminar.com/Tutorials.html<br />
<br />
<br />
= Hardware =<br />
<br />
hardware considerations have move on [[CAN_AVR]] page.<br />
<br />
= Software =<br />
<br />
== CANopen stack ==<br />
<br />
=== CanFestival ===<br />
<br />
An AVR Port by Andreas GLAUSER and Peter CHRISTEN already exists in CanFestival for at90can128.<br />
I've worked to make it compile fine , fix some header and autotools. I've not commit yet my modification because i can't test it for the moment because i need the hardware. Why use this stack ?<br />
<br />
* because it's already available for PIC18, C51, AVR etc see http://www.canfestival.org/documentation/supported-platforms-and-can-devices . Future architecture could use specialized MCU sharing same pieces of softwares.<br />
* it's maintained by few company like Lolitech<br />
* it's quality code , revision 3, many years experiences <br />
* it's a more and more complete CANopen stack ( lot of profiles )<br />
* has tools as Object Dictionary editor, virtual master node ...<br />
[[User:Ronan|Ronan]]<br />
<br />
Modification list :<br />
<br />
* remove static config.h<br />
* fix source header for avr-libc<br />
* add Makefile.in for drivers/AVR<br />
* add MCU switch in configure<br />
* convert example/AVR/Slave Makefile into a proper Makefile.in<br />
<br />
== CANopen bootloader ==<br />
<br />
First thing we need after making CANopen working is a bootloader on CANopen.<br />
<br />
= links =<br />
<br />
* http://www.dofscandinavia.com/akhe/wiki/doku.php/can_information<br />
* http://www.canfestival.org : open source CAN and CANopen stack.<br />
* http://www.ocera.org/download/documents/documentation/wp2.html CANopen is a part of OCERA architecture. <br />
* http://www.beremiz.org : Open Source framework for automation<br />
* http://www.ethernet-powerlink.org is "CANopen over Ethernet"<br />
<br />
= share work with others open source projects =<br />
<br />
* http://www.irobotics.org/robochair.html mobile robotics open platfom for assistive applications , use CANopen.<br />
* http://caraca.sourceforge.net CAN Remote Automation and Control with the AVR , and already has CAN using an obsolete<br />
AT90S4433 and his external interrupt register.<br />
* http://ecomodder.com community need CAN/CANopen to communicate with their car and work with arduino.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1414Noduino2008-12-30T17:54:52Z<p>Ronan: </p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [[CAN_AVR#AtMega_automotive_serie|AtMega from automotive serie]] as the ATmega64C1<br />
with a [[CAN#Possible_CAN_transceiver|CAN transceiver]] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look [[CAN_AVR#JTAG]]<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html CAN with FreeRTOS on AT90CAN128]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1413Noduino2008-12-30T17:52:18Z<p>Ronan: </p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [http://objects.reprap.org/wiki/CAN_AVR#AtMega_automotive_serie AtMega from automotive serie] as the ATmega64C1<br />
with a [http://objects.reprap.org/wiki/CAN#Possible_CAN_transceiver CAN transceiver] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look http://objects.reprap.org/wiki/CAN_AVR#JTAG<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [[FreeRTOS]] could be a good option.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1412Noduino2008-12-30T17:50:30Z<p>Ronan: </p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [http://objects.reprap.org/wiki/CAN_AVR#AtMega_automotive_serie AtMega from automotive serie] as the ATmega64C1<br />
with a [http://objects.reprap.org/wiki/CAN#Possible_CAN_transceiver CAN transceiver] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look http://objects.reprap.org/wiki/CAN_AVR#JTAG<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [FreeRTOS] could be a good option.<br />
useful topics :<br />
* [http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html ]</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1411Noduino2008-12-30T17:49:13Z<p>Ronan: /* MCU considerations */</p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [http://objects.reprap.org/wiki/CAN_AVR#AtMega_automotive_serie AtMega from automotive serie] as the ATmega64C1<br />
with a [http://objects.reprap.org/wiki/CAN#Possible_CAN_transceiver CAN transceiver] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look http://objects.reprap.org/wiki/CAN_AVR#JTAG<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.<br />
<br />
= OS considerations =<br />
<br />
Perharps we need realtime thread support so [FreeRTOS] could be a good option.<br />
cf http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html</div>Ronanhttps://reprap.org/mediawiki/index.php?title=FreeRTOS&diff=1410FreeRTOS2008-12-30T17:47:09Z<p>Ronan: New page: some related topics on FreeRTOS on Atmega : * http://gonium.net/md/2008/08/10/freertos_for_atmega644/ * http://www.kieltech.de/uweswiki/FreeRTOS to run this you need : ** dev-embedded/sr...</p>
<hr />
<div><br />
some related topics on FreeRTOS on Atmega :<br />
<br />
* http://gonium.net/md/2008/08/10/freertos_for_atmega644/<br />
* http://www.kieltech.de/uweswiki/FreeRTOS<br />
to run this you need :<br />
** dev-embedded/srecord</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1409Noduino2008-12-30T17:29:23Z<p>Ronan: </p>
<hr />
<div>It's a WIP project. Contact [[User:Ronan|me]] for offering help , questions etc<br />
<br />
= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [http://objects.reprap.org/wiki/CAN_AVR#AtMega_automotive_serie AtMega from automotive serie] as the ATmega64C1<br />
with a [http://objects.reprap.org/wiki/CAN#Possible_CAN_transceiver CAN transceiver] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look http://objects.reprap.org/wiki/CAN_AVR#JTAG<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic_arm&diff=1408Robotic arm2008-12-30T12:52:22Z<p>Ronan: /* Theory */</p>
<hr />
<div>= Theory = <br />
<br />
* http://www.societyofrobots.com/robot_arm_tutorial.shtml<br />
* http://www.scholarpedia.org/article/Light-weight_robots<br />
* http://www.xrobots.co.uk/<br />
<br />
= connector =<br />
<br />
== Rotating Electrical Connector ==<br />
* http://www.swivelelectricalconnector.com/rotating_electrical_connectors/swivel_electrical_connector_best.php <br />
* http://aksr.co.kr/tech/images/faq04.jpg<br />
<br />
== Mechanic ==<br />
<br />
* "swivel" http://www.bestmarineimports.com/Connectors.html<br />
<br />
= products =<br />
<br />
* http://www.army-technology.com/contractor_images/i_robot/i_robot3.jpg<br />
* http://larryo.org/work/robotics/robotics_hardware.html</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1406Noduino2008-12-29T22:54:16Z<p>Ronan: /* Possible programmer */</p>
<hr />
<div>= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Proposal design =<br />
<br />
Use an [http://objects.reprap.org/wiki/CAN_AVR#AtMega_automotive_serie AtMega from automotive serie] as the ATmega64C1<br />
with a [http://objects.reprap.org/wiki/CAN#Possible_CAN_transceiver CAN transceiver] or just a DIP connector to let user choose his transceiver.<br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look http://objects.reprap.org/wiki/CAN_AVR#JTAG<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CAN&diff=1405CAN2008-12-29T22:52:36Z<p>Ronan: </p>
<hr />
<div>= CAN topic =<br />
<br />
[[CAN]] ( Controller-area network ) area for hardware relative topics.<br />
* for information about CAN/CANopen stack , go [[CANopen]]<br />
* for specific information about CAN on AVR , go [[CAN_AVR]]<br />
* [[Noduino]] a smart , small and cheap board for actuators and sensors ( WIP )<br />
<br />
== Possible CAN transceiver ==<br />
<br />
interface between the CAN protocol controller and the physical bus. The device provides differential transmit capability to the bus and differential receive capability to the CAN controller.<br />
<br />
* NXP : PCA82C250<br />
* ATMEL : ATA6660 <br />
* Microchip : MCP2551<br />
<br />
There is a lot of such pin out compatible chip.<br />
<br />
LIN+CAN transceiver in one chip : <br />
* http://www.infineon.com/cms/en/product/technology/designlink/2007-2/c_power/b_tle7263e.html<br />
<br />
= Single Wire CAN =<br />
<br />
http://zone.ni.com/devzone/cda/tut/p/id/3160<br />
<br />
= CAN network interesting chipset products =<br />
* Brushless Motor Driver : http://atmel.com/dyn/corporate/view_detail.asp?ref=&FileName=ATA6833_34_10_20.html&SEC_NAME=Product</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic&diff=1404Robotic2008-12-29T19:33:54Z<p>Ronan: /* Blender as a masterpiece */</p>
<hr />
<div>Robotic stuff at RepRap<br />
<br />
= Introduction = <br />
<br />
Why discuss about Repraped robot on Reprap wiki ?<br />
<br />
* Share components : <br />
Since Reprap has already a lot of open hardware actuators and sensors,<br />
robotic people can use reprap parts as part of their robotic ( autonomous, artistic ... ) and create new that will fit with reprap.<br />
<br />
* Reprapable robot <br />
Robot are a set of part like PCs are but that doesn't benefit of the mass market, so good one are really expensive. Do its own parts with reprap will make them become available for the mass via open source initiative.<br />
<br />
* Reprap's arm, leg and brain :<br />
Today, reprap is not able to feed itself. Tomorrow , we can imagine some AI brain, and see the machine or another reprap project robot found its food (collaboration or autonomous work).<br />
<br />
* If the project is not welcome here , we can move it latter. But the most we share , the best we can.<br />
= Hardware =<br />
<br />
* [[Noduino]] , a smart , small and cheap board for robotic actuators and sensors ( WIP ).<br />
* see reprap wiki parts.<br />
<br />
wishlist : <br />
* http://objects.reprap.org/wiki/Drexler_Arm<br />
* [[robotic_arm]]<br />
<br />
= Software =<br />
<br />
== Embedded software ==<br />
<br />
=== CANopen initiative ===<br />
<br />
see [[CANopen]]<br />
<br />
== Host/brain/master software ==<br />
<br />
=== Blender as a masterpiece ===<br />
<br />
Open Source Robotic Studio ? look the well documented and up to date draft of Dr Herman Bruyninckx :<br />
* http://people.mech.kuleuven.be/~bruyninc/blender/roadmap.html<br />
* http://people.mech.kuleuven.be/~bruyninc/robotstandards/ host 2 very interesting papers.<br />
* http://www.orocos.org use blender for robotics and machines , very interesting framework started by Dr Bruyninckx.<br />
* http://colladablender.illusoft.com/cms/content/blogsection/6/45/ Collada 1.4.0 Plug-in for Blender<br />
<br />
=== Open Source Robotic Projects === <br />
<br />
http://www.swarmrobot.org small bots using AVR atmega168v</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1403Noduino2008-12-29T18:36:29Z<p>Ronan: /* Features */</p>
<hr />
<div>= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer )<br />
** no battery ?<br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look http://objects.reprap.org/wiki/CAN_AVR#JTAG<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1402Noduino2008-12-29T18:34:34Z<p>Ronan: </p>
<hr />
<div>= Goal =<br />
<br />
Provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA ... more on [[robotic]] <br />
<br />
= Features =<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer ) <br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look http://objects.reprap.org/wiki/CAN_AVR#JTAG<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1401Noduino2008-12-29T18:33:05Z<p>Ronan: </p>
<hr />
<div>The goal of this project is to provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context . Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA... more on [[robotic]] <br />
<br />
Features :<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a distributed network. see [[CANopen]] for software.<br />
* cheap and small : <br />
** no electronic parts to program/debug as Arduino mini pro , Lilypad Arduino ... use a CAN bootloader ( or a programmer )<br />
** no switch to set Node-ID , use LSS fastscan ( or set it with the programmer ) <br />
<br />
= Possible programmer =<br />
<br />
== JTAG ==<br />
look http://objects.reprap.org/wiki/CAN_AVR#JTAG<br />
<br />
== Serial with a bootloader ==<br />
<br />
* [http://www.seeedstudio.com/blog/?p=194 UartSB from seeedstudio]<br />
* [http://www.sparkfun.com/commerce/product_info.php?products_id=8772 FTDI Basic Breakout from sparkfun]<br />
<br />
= relative commercial products = <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
= MCU considerations =<br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CAN_AVR&diff=1400CAN AVR2008-12-29T17:14:19Z<p>Ronan: /* share work with others open source projects */</p>
<hr />
<div>= About =<br />
<br />
[[CAN]] ( Controller-area network ) on AVR chipsets.<br />
for information about CAN/CANopen stack , go here [[CANopen]].<br />
for general information about CAN chipsets and physical topics , go [[CAN]].<br />
<br />
= ard'ware =<br />
<br />
<br />
Usual Arduino AtmegaXXX have no CAN controller.<br />
I see 3 methods to get it :<br />
<br />
# AVR using SPI/UART/... connecting to a CAN controller like MCP2515 :<br />
#* http://www.mikroe.com/en/tools/can2/<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.kreatives-chaos.com/artikel/universelle-can-bibliothek<br />
# Emulate the CAN controller with external interrupt register and threading support :<br />
#* http://caraca.sourceforge.net/<br />
# Use automotive serie of AtMega that have CAN controller <br />
<br />
IMHO , the 3rd method is the more efficient. <br />
<br />
== AtMega automotive serie ==<br />
<br />
* ATmega16M1<br />
* ATmega32M1<br />
* ATmega64M1<br />
* ATmega32C1<br />
* ATmega64C1<br />
<br />
M serie has one 12-bit High Speed PSC (Power Stage Controller) :<br />
* Non Overlapping Inverted PWM Output Pins With Flexible Dead-Time<br />
* Variable PWM duty Cycle and Frequency<br />
* Synchronous Update of all PWM Registers<br />
* Auto Stop Function for Emergency Event<br />
<br />
supported by avr-libc , it that can be useful.<br />
<br />
They have JTAG _AND_ ISP. Using ATmega let us in the arduino community , our tool set and knowledge. <br />
<br />
So the more valuable is ATmega64M with 64kb like sanguino but the cheapest could fit needs of most people.<br />
<br />
more infos on this atmel products :<br />
* http://atmel.com/products/canvan<br />
* [http://www.globalspec.com/FeaturedProducts/Detail/Atmel/AVR_MCUs_for_Automotive_Motor_Control_Applications/67093/0?fromSpotlight=1 AVR MCUs for Automotive Motor Control Applications]<br />
<br />
= see [[Noduino]] development = <br />
<br />
== Possible LIN transceiver ==<br />
<br />
== JTAG ==<br />
<br />
* AVR Dragon low cost JTAG/ICSP ( 50 $ ) , see :<br />
** http://support.atmel.no/knowledgebase/avrstudiohelp/mergedProjects/AVRDragon/AVRDragon.htm<br />
** http://www.hbrobotics.org/wiki/index.php5/AVR-Dragon_Under_Linux<br />
* AVR JTAG ICE clone , kits start at 15 € , a good choice for DIY guy.<br />
** http://aquaticus.info/jtag <br />
* low cost parallels jtag ( 5$ ) , slow but cheap ( for occasional needs as bootloader flashing ).<br />
<br />
Of course, JTAG interface is not useful for user who don't need bootloader flashing and embedded software developing<br />
<br />
= share work with others open source projects =<br />
<br />
* CAN support is a feature request of openservo project : http://openservo.com/Software_Feature_Requests <br />
OpenServo 2.1 is based on AVR ATmega168 .<br />
* http://ecomodder.com/wiki/index.php/MPGuino , this community need CAN support too.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CAN_AVR&diff=1399CAN AVR2008-12-29T15:58:29Z<p>Ronan: /* ard'ware */</p>
<hr />
<div>= About =<br />
<br />
[[CAN]] ( Controller-area network ) on AVR chipsets.<br />
for information about CAN/CANopen stack , go here [[CANopen]].<br />
for general information about CAN chipsets and physical topics , go [[CAN]].<br />
<br />
= ard'ware =<br />
<br />
<br />
Usual Arduino AtmegaXXX have no CAN controller.<br />
I see 3 methods to get it :<br />
<br />
# AVR using SPI/UART/... connecting to a CAN controller like MCP2515 :<br />
#* http://www.mikroe.com/en/tools/can2/<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.kreatives-chaos.com/artikel/universelle-can-bibliothek<br />
# Emulate the CAN controller with external interrupt register and threading support :<br />
#* http://caraca.sourceforge.net/<br />
# Use automotive serie of AtMega that have CAN controller <br />
<br />
IMHO , the 3rd method is the more efficient. <br />
<br />
== AtMega automotive serie ==<br />
<br />
* ATmega16M1<br />
* ATmega32M1<br />
* ATmega64M1<br />
* ATmega32C1<br />
* ATmega64C1<br />
<br />
M serie has one 12-bit High Speed PSC (Power Stage Controller) :<br />
* Non Overlapping Inverted PWM Output Pins With Flexible Dead-Time<br />
* Variable PWM duty Cycle and Frequency<br />
* Synchronous Update of all PWM Registers<br />
* Auto Stop Function for Emergency Event<br />
<br />
supported by avr-libc , it that can be useful.<br />
<br />
They have JTAG _AND_ ISP. Using ATmega let us in the arduino community , our tool set and knowledge. <br />
<br />
So the more valuable is ATmega64M with 64kb like sanguino but the cheapest could fit needs of most people.<br />
<br />
more infos on this atmel products :<br />
* http://atmel.com/products/canvan<br />
* [http://www.globalspec.com/FeaturedProducts/Detail/Atmel/AVR_MCUs_for_Automotive_Motor_Control_Applications/67093/0?fromSpotlight=1 AVR MCUs for Automotive Motor Control Applications]<br />
<br />
= see [[Noduino]] development = <br />
<br />
== Possible LIN transceiver ==<br />
<br />
== JTAG ==<br />
<br />
* AVR Dragon low cost JTAG/ICSP ( 50 $ ) , see :<br />
** http://support.atmel.no/knowledgebase/avrstudiohelp/mergedProjects/AVRDragon/AVRDragon.htm<br />
** http://www.hbrobotics.org/wiki/index.php5/AVR-Dragon_Under_Linux<br />
* AVR JTAG ICE clone , kits start at 15 € , a good choice for DIY guy.<br />
** http://aquaticus.info/jtag <br />
* low cost parallels jtag ( 5$ ) , slow but cheap ( for occasional needs as bootloader flashing ).<br />
<br />
Of course, JTAG interface is not useful for user who don't need bootloader flashing and embedded software developing<br />
<br />
= share work with others open source projects =<br />
<br />
* CAN support is a feature request of openservo project : http://openservo.com/Software_Feature_Requests <br />
OpenServo 2.1 is based on AVR ATmega168 .</div>Ronanhttps://reprap.org/mediawiki/index.php?title=CAN_AVR&diff=1398CAN AVR2008-12-29T15:24:44Z<p>Ronan: /* ard'ware */</p>
<hr />
<div>= About =<br />
<br />
[[CAN]] ( Controller-area network ) on AVR chipsets.<br />
for information about CAN/CANopen stack , go here [[CANopen]].<br />
for general information about CAN chipsets and physical topics , go [[CAN]].<br />
<br />
= ard'ware =<br />
<br />
<br />
Usual Arduino AtmegaXXX have no CAN controller.<br />
I see 3 methods to get it :<br />
<br />
# AVR using SPI/UART/... connecting to a CAN controller like MCP2515 :<br />
#* http://www.mikroe.com/en/tools/can2/<br />
#* http://www.siwawi.arubi.uni-kl.de/avr_projects/can/index.html<br />
#* http://www.kreatives-chaos.com/artikel/universelle-can-bibliothek<br />
# Emulate the CAN controller with external interrupt register and threading support :<br />
#* http://caraca.sourceforge.net/<br />
# Use automotive serie of AtMega that have CAN controller :<br />
#* ATmega16M1<br />
#* ATmega32M1<br />
#* ATmega64M1<br />
#* ATmega32C1<br />
#* ATmega64C1<br />
<br />
M serie has one 12-bit High Speed PSC (Power Stage Controller) :<br />
* Non Overlapping Inverted PWM Output Pins With Flexible Dead-Time<br />
* Variable PWM duty Cycle and Frequency<br />
* Synchronous Update of all PWM Registers<br />
* Auto Stop Function for Emergency Event<br />
<br />
supported by avr-libc , it that can be useful.<br />
<br />
IMHO , the 3rd method is the more efficient. <br />
<br />
They have JTAG _AND_ ISP. Using ATmega let us in the arduino community , our tool set and knowledge. <br />
<br />
So the more valuable is ATmega64M with 64kb like sanguino but the cheapest could fit needs of most people.<br />
We perharps need to add a DIP switch to configure CAN ID and a CAN transceiver.<br />
<br />
more infos on this atmel products at http://atmel.com/products/canvan<br />
<br />
= see [[Noduino]] development = <br />
<br />
== Possible LIN transceiver ==<br />
<br />
== JTAG ==<br />
<br />
* AVR Dragon low cost JTAG/ICSP ( 50 $ ) , see :<br />
** http://support.atmel.no/knowledgebase/avrstudiohelp/mergedProjects/AVRDragon/AVRDragon.htm<br />
** http://www.hbrobotics.org/wiki/index.php5/AVR-Dragon_Under_Linux<br />
* AVR JTAG ICE clone , kits start at 15 € , a good choice for DIY guy.<br />
** http://aquaticus.info/jtag <br />
* low cost parallels jtag ( 5$ ) , slow but cheap ( for occasional needs as bootloader flashing ).<br />
<br />
Of course, JTAG interface is not useful for user who don't need bootloader flashing and embedded software developing<br />
<br />
= share work with others open source projects =<br />
<br />
* CAN support is a feature request of openservo project : http://openservo.com/Software_Feature_Requests <br />
OpenServo 2.1 is based on AVR ATmega168 .</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic_arm&diff=1361Robotic arm2008-12-17T16:58:20Z<p>Ronan: /* products */</p>
<hr />
<div>= connector =<br />
<br />
== Rotating Electrical Connector ==<br />
* http://www.swivelelectricalconnector.com/rotating_electrical_connectors/swivel_electrical_connector_best.php <br />
* http://aksr.co.kr/tech/images/faq04.jpg<br />
<br />
== Mechanic ==<br />
<br />
* "swivel" http://www.bestmarineimports.com/Connectors.html<br />
<br />
= products =<br />
<br />
* http://www.army-technology.com/contractor_images/i_robot/i_robot3.jpg<br />
* http://larryo.org/work/robotics/robotics_hardware.html</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1360Noduino2008-12-17T16:55:48Z<p>Ronan: </p>
<hr />
<div>The goal of this project is to provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context :<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a multi agent/client network. see [[CANopen]] for software.<br />
* cheap and small : Like Arduino mini pro , Lilypad Arduino ... we don't need the electronic part to program/debug in each node so we can make a minimalist board ( breakout , head board ). Small units could be easily integrate in [[robotic_arm]] , little robot like swarmbot , sensors projects like CARACA... more on [[robotic]]<br />
<br />
relative commercial products : <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.</div>Ronanhttps://reprap.org/mediawiki/index.php?title=User:Ronan&diff=1357User:Ronan2008-12-17T16:08:43Z<p>Ronan: /* links for myself */</p>
<hr />
<div>= whoami =<br />
<br />
I'm Software architect with automation background. I've worked on open sources software on embedded hardware, specially with openembedded that i really like. You can see my linkedin Public Profile at http://www.linkedin.com/pub/7/879/a33 .<br />
Join us in reprap group !<br />
<br />
My openembedded user page : http://wiki.openembedded.net/index.php/User:Ronan<br />
<br />
Our french fablab at tmplab Vitry : http://dev.tmplab.org/wiki/tmp-usine ( in construction , come on ! )<br />
<br />
Contact : ronan @antispam@ aimao ^dot^ org<br />
<br />
= interests =<br />
<br />
I'm interesting in RepRap project because :<br />
* it's an open source project <br />
* it can share a lot with robotic projects <br />
* it can provide cheap and quality machines for autonomy projects as ecovillage ( see http://gen.ecovillage.org/ )<br />
<br />
= work on reprap =<br />
<br />
I focus on smart actuators and sensors architecture.<br />
I believe that a decentralized architecture is more efficient and cheap that the actual centralized one.<br />
IHMO , a good way to have such architecture is CANopen. I'll explain why soon. See <br />
http://www.can-cia.org/index.php?id=90 for more information.<br />
<br />
At spare time, I'm studying make arduino working as a [[CANopen]] node for reprap and others [[Robotic]] projets. To do that , i first need to get [[CAN_AVR|CAN on AVR]] working, then make the [[noduino]].<br />
<br />
= links =<br />
<br />
== humanoid ==<br />
<br />
* http://www.robotcub.org humanoid robot <br />
* http://www.ibm.com/developerworks/linux/library/l-robotools/<br />
* http://www.tudelft.nl/live/pagina.jsp?id=f58fa261-f359-4d83-81ce-78bc182750ea&lang=en<br />
* robotics.youngester.com/<br />
<br />
== robotic artistic projects ==<br />
<br />
* http://www.microbotic.org Christopher Conte robot<br />
<br />
== links for myself ==<br />
<br />
* PCB engraver : http://blog.erikdebruijn.nl/archives/62-RepRap-in-simple-terms,-part-1-replication..html<br />
* SMD soldering : http://www.seattlerobotics.org/encoder/200006/oven_art.htm<br />
* http://www.wireless.is/projects/crows/ A Vending Machine for Crows - arduino feeder for reprap , collaboration mode<br />
* http://www.eoat.com : end of arm tooling (EOAT)<br />
* http://anver.com/document/vacuum%20components/vacuum%20cups/ball_swivel_connectors.htm</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic_arm&diff=1356Robotic arm2008-12-17T16:04:36Z<p>Ronan: New page: = connector = * "Rotating Electrical Connector" http://www.swivelelectricalconnector.com/rotating_electrical_connectors/swivel_electrical_connector_best.php * "swivel" http://www.bestma...</p>
<hr />
<div>= connector =<br />
<br />
* "Rotating Electrical Connector" http://www.swivelelectricalconnector.com/rotating_electrical_connectors/swivel_electrical_connector_best.php <br />
* "swivel" http://www.bestmarineimports.com/Connectors.html<br />
<br />
= products =<br />
<br />
* http://www.army-technology.com/contractor_images/i_robot/i_robot3.jpg</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Robotic&diff=1355Robotic2008-12-17T15:59:50Z<p>Ronan: /* Hardware */</p>
<hr />
<div>Robotic stuff at RepRap<br />
<br />
= Introduction = <br />
<br />
Why discuss about Repraped robot on Reprap wiki ?<br />
<br />
* Share components : <br />
Since Reprap has already a lot of open hardware actuators and sensors,<br />
robotic people can use reprap parts as part of their robotic ( autonomous, artistic ... ) and create new that will fit with reprap.<br />
<br />
* Reprapable robot <br />
Robot are a set of part like PCs are but that doesn't benefit of the mass market, so good one are really expensive. Do its own parts with reprap will make them become available for the mass via open source initiative.<br />
<br />
* Reprap's arm, leg and brain :<br />
Today, reprap is not able to feed itself. Tomorrow , we can imagine some AI brain, and see the machine or another reprap project robot found its food (collaboration or autonomous work).<br />
<br />
* If the project is not welcome here , we can move it latter. But the most we share , the best we can.<br />
= Hardware =<br />
<br />
* [[Noduino]] , a smart , small and cheap board for robotic actuators and sensors ( WIP ).<br />
* see reprap wiki parts.<br />
<br />
wishlist : <br />
* http://objects.reprap.org/wiki/Drexler_Arm<br />
* [[robotic_arm]]<br />
<br />
= Software =<br />
<br />
== Embedded software ==<br />
<br />
=== CANopen initiative ===<br />
<br />
see [[CANopen]]<br />
<br />
== Host/brain/master software ==<br />
<br />
=== Blender as a masterpiece ===<br />
<br />
Open Source Robotic Studio ? look the well documented and up to date draft of Dr Herman Bruyninckx :<br />
* http://people.mech.kuleuven.be/~bruyninc/blender/roadmap.html<br />
* http://people.mech.kuleuven.be/~bruyninc/robotstandards/ host 2 very interesting papers.<br />
* http://www.orocos.org use blender for robotics and machines , very interesting framework started by Dr Bruyninckx.<br />
<br />
<br />
=== Open Source Robotic Projects === <br />
<br />
http://www.swarmrobot.org small bots using AVR atmega168v</div>Ronanhttps://reprap.org/mediawiki/index.php?title=Noduino&diff=1354Noduino2008-12-17T15:53:16Z<p>Ronan: </p>
<hr />
<div>The goal of this project is to provide a smart , small and cheap board for actuators / sensors / in automation and [[robotic]] context :<br />
<br />
* Smart , using [[CAN]] network and industrial quality software , to create a multi agent/client network. see [[CANopen]] for software.<br />
* cheap and small : Like Arduino mini pro , Lilypad Arduino ... we don't need the electronic part to program/debug in each node so we can make a minimalist board ( breakout , head board ). Small units could be easily integrate in robotic arm , little robot like swarmbot , sensors projects like CARACA... more on [[robotic]]<br />
<br />
relative commercial products : <br />
<br />
* http://www.candip.com/candip-m162.htm ATMega162 + CAN controller SJA1000<br />
* http://www.grifo.com/CAN/uk_gm1.htm Atmel T89C51CC01 <br />
<br />
Atmel AVR ( see [[CAN_AVR]] ) or others products if AVR are not suitable for our constraints. Good alternative could be AT89x microcontrollers based on the 8051 architecture, industrial standard.</div>Ronan