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UNIVERSITYOFVICTORIA
DepartmentofElectricalandComputerEngineering
ELEC499/CENG499
ProgressReport2
Project#15:
DABS
(DynamicallyAdjustableBicycleSuspension)
February 18, 2011
Prepared for:
Dr. Michael McGuire
Team Members:
Kenyon Campbell [email protected]
Thayer Fox [email protected]
Paul Green* [email protected]
Phil Laird [email protected]
*Primary Contact Member
2
Summary
This report outlines the progress we have made since our initial progress report. It provides a more
detailed explanation of various sub systems, as well as our design decisions regarding parts choice and
system function. As of now, our team has made good progress, adhering to our anticipated deadlines
and goals. We have received all of our major components and work has begun assembling our first
prototype. Additionally, several tests have been conducted to ensure that critical components, such as
the stepper motor, associated driver chips and the accelerometer will perform as expected in our
finished project. To date, some major hurdles in our project have already been overcome; OLED
initialization and control is operational and mounts for most of the sensors have been devised. This
document will also provide a more detailed task assignment to ensure we continue to meet deadlines.
3
CircuitDesignandImplementation
The electronics of the DABS system can be broken into four distinct categories: user interface and
processing unit, sensors, actuation system and power supply.
The microprocessor selected for this project is the Microchip PIC24HJ128GP504. This 16‐bit controller
was chosen for its large array of digital and analog I/O, its support of the PMP (Parallel Master Port)
protocol for communication with our display, its low power consumption and its large memory. The
processor is responsible for interpretation of the analog sensors values, evaluation of the data and
control of the variable position actuators.
User interface for DABS consists of a colour organic light emitting diode (OLED) display and a 5‐way
navigation joystick. The OLED screen was chosen for its ease of viewing in sunlight and its low power
usage. Unlike a traditional LCD, no backlight is required for the OLED, resulting in significant power
savings. To allow user control of the system, a five‐way tactile joystick was selected. This joystick is
similar to the style commonly used in many cellphones and other consumer electronics. It has proved to
be a very efficient input device to navigate multi‐layer vertical and horizontal menus.
The DABS system is heavily reliant upon external sensors. One such sensor is the accelerometer. This
device provides the most vital information. Extraction of both vertical and for‐aft acceleration
information was vital, while ignoring the lateral acceleration. This requirement was satisfied by
incorporating a two‐axis accelerometer mounted on the plane of the bike. The ADXL278 dual axis
accelerometer has an operating voltage of 3.6‐5V and detects acceleration of +/‐ 35G on both axis.
The other critical sensor needed for the DABS system was a position sensor. This was needed to
determine the position of the shock at any time. A main design requirement was that there could be no
contact between the upper and lower shock sections. The MP1 Magneto‐Pot from Spectra Symbol is a
contactless linear sensor that satisfies our design requirements. The sensor used in the system has a
150mm operating range, easily accommodating the full range of the shock. The mounting and operation
of the sensor is discussed in the mechanical design section of this report.
There we
considera
our micro
provide th
second sig
Figure 1: P
As of writ
the device
connectio
motor dri
(Figure 1)
and the st
re few device
ations involve
ocontroller. In
he logic outpu
gnal for moto
Prototyped syst
ing, we have
e datasheets
ons were corr
ver chips. Af
. This prototy
tepper driver
es on the mar
d using a sim
nstead, we de
ut to drive th
or direction. T
tem including a
completed th
and applicati
rect. Schemat
fter reviewing
ype impleme
rs.
rket that were
ple H‐Bridge
ecided on the
e motors coil
This drastical
accelerometer
he first revisio
on notes was
tic symbols w
g our design, w
nted the circ
e suitable cho
driver chip, b
e Allegro Micr
s, while only
ly reduced th
OLED screen, m
on of our syst
s done, to ens
were created f
we construct
uitry for the m
oices for our s
but this would
rosystems A3
needing a ste
he number of
microcontrolle
tem circuit sc
sure the nece
for the OLED
ted our first b
micro‐contro
stepper drive
d have used t
3967SLBTR‐T,
ep input for m
f microcontro
er and stepper d
chematic. Ca
essary suppor
module and
breadboarded
ller, accelero
er control. Ini
too many pin
which would
motor speed
oller pins requ
driver.
refully readin
rt circuitry an
the stepper
d prototype
ometer, the O
4
itial
s on
d
and a
uired.
ng of
nd
OLED
5
MechanicalDesign
The physical mounting and mechanical design of the DABS system was a problem that the team
encountered early on. The sensor and motors needed to be mounted to the fork cleanly, as well as be
protected from the rough conditions encountered while mountain biking. Secure housings and
mounting brackets were crucial.
The position sensor is housed inside of a protective ⅛” acrylic tube attached to the lower fork leg. A
nylon bushing is located at the top of this tube and guides the magnetic marker along the track of the
position sensor. The magnetic marker is attached to a long stainless steel rod, fixed to the upper fork
crown by a clamp. The accelerometer housing is designed to provide a secure and rigid contact with the
fork. In order to achieve this, the accelerometer is mounted directly on an aluminum plate, bolted to
the disc brake tabs found on the lower left fork leg. The accelerometer and associated wiring will be
placed inside of a plastic housing filled with potting compound.
Selection of the stepper motors were based on measurements taken to determine the torque needed to
rotate the compression and damping knobs on the fork. Several measurements were taken, to
determine approximately 75 mNm are needed to rotate the adjustment knobs axially. Motors were
chosen that would provide at least 1.5 times the needed torque. The Soyo Unipolar Stepper Motors
provide 250 mNm of torque. Unipolar motors were chosen because the torque is held constant over a
wider speed range versus that of a bipolar motor. The compression damping motor shaft will attach to
the adjustment knob via a 12mm hex socket while the rebound damping will adjust via a 3mm hex key.
The motors are held static to the fork via custom brackets mounted to the fork.
Testing
Testing ha
accelerom
Our meth
measured
values fro
observe t
Figure 2: A
Figure 3: A
gandEva
as played a la
meter output
od of testing
d the correspo
om the device
he accelerom
Accelerometer i
Accelerometer o
aluation
rge part in th
for both posi
is as follows.
onding voltag
e’s datasheet
meter’s transie
in a static posi
output during
he developme
ition and imp
. We position
ges on the X a
of ½ the supp
ent output (F
tion with X and
a sharp impac
ent of DABS.
act measurem
ned the accel
and Y outputs
ply voltage. S
Figure 3).
d Y horizontal.
t.
Currently, we
ments and ar
erometer in t
s (Figure 2). T
Several hard i
e have tested
re satisfied wi
the default or
These matche
impacts were
d the
ith the results
rientation an
ed the given
e simulated, t
6
s.
d
to
7
Stepper drivers were tested in conjunction with the motors. A function generator was used to simulate
the drive signal that would be provided by the microcontroller. We noted as expected, that the torque
of the motor was inversely proportional to its speed. We were able to adjust the smoothness of the
motor by carefully tuning the voltage on the driver’s REF pin. An optimal balance between torque and
step coarseness can be obtained. We have begun the assembly of an apparatus to support the dampers
and motors for testing. This will make it easier to test the effectiveness of our drive before the final
mounting system has been constructed.
The ADC and the OLED were tested together. Data was read in from the accelerometer, and depending
on the orientation of the accelerometer, the OLED would change its display colour.
8
ControlAlgorithm
The functionality of the system has been designed to detect and adapt to the most common riding
scenarios. Table 1 classifies each riding scenario by the output from the position and accelerometer
data. Additionally, the table outlines the adjustments to the compression and rebound damping. The
data from each sensor will be monitored and when a specific riding scenario is detected, the system will
enter that mode of operation. This table forms the basis for the functionality of our system and allows
for future expansion as more use cases are defined.
Riding
Scenario
Position
Output
Accelerometer Output Compression
Adjustment
Rebound
Adjustment
Notes
General
Riding
Normal
(sag point)
‐ Any incline
‐ Mostly vertical component
Defined in
Setup
Defined in
Setup
Drop Off Full Extension ‐ Nose down
‐ Close to weightless
Increase w/
time to a limit
Increase w/
time to a limit
Uphill Above Sag
Point
(Close to Full)
‐ Nose up >3%
‐ Increased horizontal
component
Fully Closed
(Locked Out)
N/A
Only want to activate when
a sustained grade is
encountered
Downhill Below Sag
Point
‐ Nose down < ‐3%
‐ Increased horizontal
component
Decrease Increase
Smooth Road Normal
(Very little
variation)
‐ Any incline
‐ Very little variation
Fully Closed
(Locked Out)
N/A
Only want to activate when
a smooth road encountered
for a sustained amount of
time
Bump/Rut Quick Change ‐ Any incline
‐ Large Spikes
Decrease Increase
Washboard Repetitive
Quick Changes
‐ Any incline
‐ Large Spikes
Decrease Decrease Want to detect very rough,
sustained terrain
Table 1: Riding Scenarios
9
The default mode will be the general riding scenario. Settings for this mode will be defined during
setup. Several predefined settings will be available to allow the user to select the style of ride that they
are expecting. Table 2 outlines the predefined general riding settings that will be available to the user.
There will also be a full manual mode, which will allow the user to precisely define the compression and
rebound damping settings that they want to use for general riding. Specific values will be assigned once
development has completed and testing can be done on the system to determine appropriate values.
Riding Style Compression Damping Rebound Damping
Cross Country High Low
Downhill Low Mid
All Mountain Mid Mid
Road Ride Full (Lockout) Low
Race High Low
Custom User Defined User Defined
Table 2: Default Riding Settings
System
The firmw
motors an
1. In
p
2. In
m
3. A
sh
4. Lo
5. U
6. H
7. G
Currently
tested. T
function t
mFirmwar
ware is respon
nd updating t
nitialize all the
ort, the SPI b
nitialize the b
motor chips, th
nalyze data in
hock’s compr
og data to the
pdate the GU
andle user in
o back to ste
the accelero
he focus of p
to writing the
re
nsible for coll
he OLED scre
e chip periph
us, and gener
oard, includin
he OLED scre
ncoming from
ression and re
e Micro SD ca
UI.
put via the 5‐
p 3
meter, linear
rogramming t
e control algo
ecting all the
een when nec
erals includin
ral purpose in
ng the accele
en and the SD
m position sen
ebound.
ard.
‐button joyst
r magneto pot
the firmware
rithms and de
Figure 3:
data from th
cessary. The b
ng, the analog
nput/output.
rometer, the
D card.
nsor and both
ick.
t and the OLE
e has now shif
eveloping a u
System Over
he external se
basic flow of
gue to digital
magneto‐pot
h axes of the
ED screen are
fted from get
user interface
rview
ensors, actuat
the program
converter, th
tentiometer,
acceleromete
e functional a
tting the perip
e.
ting the stepp
is as follows:
he parallel ma
the stepper
er and adjust
nd have been
pherals to
10
per
:
aster
the
n
11
WebsiteWe have completed the backbone of our website and will continue to add more information as progress
on our project is made. The current website can be found at: http://www.engr.uvic.ca/~tfox/.
Our project management and task tracking can be viewed on our team’s code tracking website:
http://code.google.com/p/elektroshok/.
12
ChallengesandResolutions
Progress has been steady with only a few unexpected challenges arising. The following is a summary of
these and their resolutions:
1. We had incorrectly assumed that the micro‐controller could handle higher voltages on its analog
input for the A/D converter by using an external reference. On this assumption we were
confident that a 5V rated accelerometer would be compatible. In‐order solve this issue we
determined that we could operate the accelerometer at a lower voltage. This would be supplied
by the 5V supply and regulated with a 3.6V Zener diode. This modification in conjunction with
the micro‐controller’s maximum tolerance for the input, as well as knowing that at full
deflection the accelerometer would output Vcc‐.25V, is acceptable as it will be within the micro‐
controller’s range.
2. A small issue which plagued us during the first attempt at programming the micro‐controller
was communication between the microcontroller and the ICD (In Circuit Debugger). We were
unable to connect to the device and were receiving a voltage level error in the debugging
window. The chip also heated up dramatically. Unfortunately, the silkscreen printed on the off‐
brand ICD was not correct. After following the traces on the board, we changed the wiring and
the chip programed successfully.
3. While selecting the stepper motors the feasibility of using gears to achieve the needed torque
was explored. It was determined that we were limited by the space available and that
implementing gears would introduce more problems, as well as create vulnerabilities within the
system. With this knowledge, we decided to go with a slightly larger stepper motor instead of a
geared system. This way the durability of the system is not affected and we are guaranteed to
achieve the torque needed to rotate the adjusters.
4. There were issues in bringing up the OLED. After reading the timing diagrams for writing to the
OLED and configuring the writing algorithms accordingly, data was not being successfully written
to the OLED. Large delays were required for writes to be successful. This issue is currently
under investigation as the large delays are unacceptable in the final system.
14
UpdatedProjectMilestoneTimelineJanuary 21st Progress Report #1
‐ All major system components spec’d and ordered
Completed
‐ Microprocessor development board up and running
Completed
January 28th ‐ Initial circuit design Completed Ongoing
February 4th ‐ Initial firmware completed (support for all peripherals)
Completed Ongoing
‐ Initial hardware layout and circuit bread‐boarding
Completed
February 16th Midterm Review Meeting
February 18th Progress Report #2
‐ Coding of control algorithms In Progress
‐ Mechanical mounting Not Yet Competed
‐ PCB layouts In Progress
February 23th Mechanical mounting
February 25th ‐ Completed control algorithm On track
‐ Ready for testing On track
‐ Mechanical mounting of actuators and sensors On track
March 18th ‐ Working prototype
‐ Completed poster
March 25th Poster Presentation
‐ Completed final report
‐ Completed website
March 31st Final Report submitted
Project URL submitted
ID Task Mode
Resource Names
Task Name Start Finish % Complete
1 Kenyon Riding Scenarios Sat 1/1/11 Thu 3/24/11 62%
2 Kenyon Fork Selection Sat 1/1/11 Wed 1/19/11 100%
3 Kenyon Mechanical Design Mon 2/21/1 Mon 2/21/11 0%
4 Kenyon Accelerometer Fri 1/14/11 Wed 2/2/11 90%
5 Kenyon Position Sensor Fri 1/14/11 Wed 2/2/11 90%
6 Kenyon Compression Motor Fri 1/21/11 Wed 2/9/11 80%
7 Kenyon Rebound Motor Fri 1/21/11 Wed 2/9/11 80%
8 Kenyon Head Unit Housing Sat 2/5/11 Wed 2/23/11 50%
9 Kenyon Acceleration Math Analysis Thu 2/10/11Tue 3/1/11 15%
10 Kenyon Position Math Analysis Thu 2/10/11Tue 3/1/11 75%
11 Collaborative Component Selection Tue 12/14/1 Tue 12/14/10 100%
12 Collaborative Control Algorithm Tue 2/15/11 Tue 3/1/11 40%
13 Thayer Website Construction Fri 1/7/11 Mon 1/10/11 100%
14 Thayer Initial acquisition and function test of ICD2
Mon 1/3/11 Mon 1/3/11 100%
15 Thayer Expense Tracking Sun 1/9/11 Thu 3/24/11 50%
16 Thayer PIC Breakout Board Sun 1/9/11 Mon 1/17/11 100%
17 Thayer Initial SMT Mounting Tue 2/1/11 Mon 2/28/11 100%
18 Thayer Mounting Bracket for Steppers Fri 2/25/11 Fri 2/25/11 0%
19 Thayer Website Content Mon 2/7/11 Tue 3/15/11 25%
20 Thayer User Interface Thu 2/24/11Tue 3/15/11 0%
21 Thayer Spec and Source OLED Mon 1/10/1 Mon 1/24/11 100%
22 Thayer Spec Better Switch Tue 2/1/11 Fri 2/11/11 100%
23 Thayer DigiKey Order #1 Mon 1/17/1 Mon 1/24/11 100%
24 Thayer DigiKey Order #2 Mon 2/21/1 Mon 2/28/11 0%
25 Phil Get NM101 to work Sun 1/2/11 Fri 1/7/11 17%
26 Phil Micro‐Controller Selection Mon 1/10/1 Mon 1/17/11 100%
27 Phil Motor Code Tue 1/11/11 Tue 3/15/11 50%
28 Phil Accelerometer Code Tue 1/11/11 Tue 3/15/11 40%
29 Phil OLED Code Tue 1/11/11 Tue 3/15/11 20%
30 Phil Code to Support Lock Out Mon 2/14/1 Tue 3/15/11 0%
31 Phil Code to Support Large Drop Mon 2/14/1 Tue 3/15/11 0%
32 Phil SD Card Code Fri 12/24/10Fri 2/25/11 0%
33 Phil ADC Code Tue 1/11/11 Tue 3/15/11 0%
34 Phil PMP code Tue 1/11/11 Tue 3/15/11 0%
35 Phil SPI Code Tue 1/11/11 Tue 3/15/11 0%
36 Phil Integrate Microchip Fat 16 library Fri 12/24/10
Fri 2/25/11 0%
37 Phil Code to support 5B joystick Fri 12/24/10Fri 2/25/11 0%
Kenyon
Kenyon
Kenyon
Kenyon
Kenyon
Kenyon
Kenyon
Kenyon
Kenyon
Kenyon
12/14
Collaborative
Thayer
Thayer
Thayer
Thayer
Thayer
Thayer
Thayer
Thayer
Thayer
Thayer
Thayer
Thayer
Phil
Phil
Phil
Phil
Phil
Phil
Phil
Phil
Phil
Phil
Phil
Phil
Phil
T F S S M T W T F S S M T W T F28, '10 Dec 19, '10 Jan 9, '11 Jan 30, '11 Feb 20, '11 Mar 13, '11 Apr 3, '
Task
Split
Milestone
Summary
Project Summary
External Tasks
External Milestone
Inactive Task
Inactive Milestone
Inactive Summary
Manual Task
Duration‐only
Manual Summary Rollup
Manual Summary
Start‐only
Finish‐only
Deadline
Progress
Page 1
Project: ganttDate: Mon 2/21/11
ID Task Mode
Resource Names
Task Name Start Finish % Complete
38 Phil Code to log accelerometer data onto SD
Tue 1/11/11 Tue 3/15/11 0%
39 Phil Code to log linear pot data onto SD Tue 1/11/11 Tue 3/15/11 0%
40 Phil Code to write a single image to the OLED
Fri 12/24/10
Fri 2/25/11 0%
41 Phil Figure out how to use DAM to go from SD to OLED while using minimum CPU cycles
Tue 1/11/11 Tue 3/15/11 0%
42 Phil Chip support code to generate correct timer values based on clock speed
Tue 1/11/11 Tue 3/15/11 0%
43 Paul Component Selection Mon 1/10/1 Mon 1/17/11 100%
44 Paul Add tasks from Google Docs Mon 1/10/1 Mon 1/17/11 100%
45 Paul Circuit Schematic Wed 1/19/1 Fri 2/18/11 90%
46 Paul PCB Layout Tue 2/1/11 Mon 2/28/11 0%
47 Paul Power Supply Thu 1/13/11Wed 3/2/11 50%
48 Paul Breadboard Circuit Tue 2/1/11 Tue 2/15/11 75%
49 Paul stepper zeroing Tue 2/1/11 Thu 2/3/11 20%
50 Paul Wiring and connectors for position sensor.
Thu 2/3/11 Fri 3/4/11 0%
51 Paul Wiring and connectors for acceleromWed 2/2/11 Fri 2/4/11 0%
52 Paul Breadboard the accelerometer Fri 1/21/11 Wed 2/2/11 100%
53 Paul slider bushing Mon 2/21/1 Thu 2/24/11 0%
54 Paul battery Pack Mon 2/28/1 Tue 3/8/11 0%
55 Paul Test Apparatus for Damper actuatio Mon 2/21/1 Fri 2/25/11 50%
56 Paul SD reader breadboard Mon 2/21/1 Fri 2/25/11 0%
57 Paul Increase Stepper Speed Fri 2/11/11 Mon 2/28/11 50%
58 Paul Proto‐Board Version of System Mon 2/28/1 Wed 3/9/11 0%
Phil
Phil
Phil
Phil
Phil
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
Paul
T F S S M T W T F S S M T W T F28, '10 Dec 19, '10 Jan 9, '11 Jan 30, '11 Feb 20, '11 Mar 13, '11 Apr 3, '
Task
Split
Milestone
Summary
Project Summary
External Tasks
External Milestone
Inactive Task
Inactive Milestone
Inactive Summary
Manual Task
Duration‐only
Manual Summary Rollup
Manual Summary
Start‐only
Finish‐only
Deadline
Progress
Page 2
Project: ganttDate: Mon 2/21/11
1
1
2
2
3
3
4
4
D D
C C
B B
A A
Title
Number RevisionSize
A4
Date: 21/02/2011 Sheet ofFile: C:\Documents and Settings\..\Accelerometer_Module.SchDocDrawn By:
VDD31
Yout 2
COM 3
ST4 NC 5
Xout6
VDD7
VDD2 8U1
ADXL278
0.1F
C1Cap
12345
P1
Header 5
1K
R1
Res1
D1
D ZenerPIC101
PIC102COC1 PID101 PID102
COD1PIP101
PIP102
PIP103
PIP104
PIP105
COP1
PIR101 PIR102COR1PIU101
PIU102
PIU103
PIU104 PIU105
PIU106
PIU107
PIU108
COU1
PIC101PID101
PIP103PIU103
PIC102PID102 PIR101
PIU101
PIU107
PIU108 PIP101
PIU106
PIP102PIR102
PIP104
PIU102 PIP105
PIU104 PIU105
1
1
2
2
3
3
4
4
D D
C C
B B
A A
Title
Number RevisionSize
A4
Date: 21/02/2011 Sheet ofFile: C:\Documents and Settings\..\Driver.SchDocDrawn By:
REF1
RC22
/SLEEP3
OUT2B4
LOAD SUPPY25
GND6
GND7
SENSE28
OUT2A9
STEP10
DIR11
MS112 MS2 13LOGIC SUPPLY 14
/ENABLE 15OUT1A 16SENSE1 17
GNG 18GND 19
LOAD SUPPLY1 20OUT1B 21/RESET 22RC1 23PFD 24U2
A3967
GND
GND
3.3V
12V12V
0.75RSENSE1Res1
OUT1BCOMP
OUT2BCOMP
OUT1ACOMPOUT2ACOMPSTEPCOMPDIRCOMP
/SLEEPCOMP
/ENABLECOMP
10K
R5RPot
5.1K
R9Res1
3.3V
10K
R2Res1
3.3V
20K
R7Res1680pF
C2Cap
20K
R8Res1 680pF
C3Cap
0.75RSENSE2Res1
10K
R16
Res1
3.3V
10KR18
Res1
10K
R3Res1
10K
R4Res1
10K
R17Res1
GND
3.3V
REF1
RC22
/SLEEP3
OUT2B4
LOAD SUPPY25
GND6
GND7
SENSE28
OUT2A9
STEP10
DIR11
MS112 MS2 13LOGIC SUPPLY 14
/ENABLE 15OUT1A 16SENSE1 17
GNG 18GND 19
LOAD SUPPLY1 20OUT1B 21/RESET 22RC1 23PFD 24U3
A3967
GND
GND
3.3V
12V12V
0.75RSENSE3Res1
OUT1BREB
OUT2BREB
OUT1AREBOUT2AREBSTEPREBDIRREB
/SLEEPREB
/ENABLEREB
10K
R12RPot
5.1K
R15Res1
3.3V
10K
R6Res1
3.3V
20K
R13Res1680pF
C4Cap
20K
R14Res1 680pF
C5Cap
0.75RSENSE4
Res1
10K
R19
Res1
3.3V
10KR21
Res1
10K
R10Res1
10K
R11Res1
10K
R20Res1
GND
3.3V
BLKGRNREDBLU
P2
Compression
OUT1ACOMPOUT1BCOMPOUT2ACOMPOUT2BCOMP
BLKGRNREDBLU
P3
Rebound
OUT1AREBOUT1BREBOUT2AREBOUT2BREB
PIC201
PIC202COC2
PIC301
PIC302 COC3
PIC401
PIC402COC4
PIC501
PIC502 COC5
PIP201
PIP202
PIP203
PIP204
COP2
PIP301
PIP302
PIP303
PIP304
COP3
PIR201
PIR202COR2
PIR301
PIR302
COR3PIR401
PIR402
COR4
PIR501
PIR502PIR503
COR5
PIR601
PIR602COR6
PIR701
PIR702COR7
PIR801
PIR802COR8
PIR901
PIR902COR9PIR1001
PIR1002
COR10PIR1101
PIR1102
COR11
PIR1201
PIR1202PIR1203
COR12
PIR1301
PIR1302COR13
PIR1401
PIR1402COR14
PIR1501
PIR1502COR15
PIR1601PIR1602COR16
PIR1701
PIR1702
COR17
PIR1801PIR1802
COR18
PIR1901PIR1902COR19
PIR2001
PIR2002
COR20
PIR2101PIR2102
COR21
PIRSENSE101PIRSENSE102
CORSENSE1PIRSENSE201PIRSENSE202
CORSENSE2
PIRSENSE301PIRSENSE302
CORSENSE3
PIRSENSE401PIRSENSE402
CORSENSE4
PIU201
PIU202
PIU203
PIU204
PIU205
PIU206
PIU207
PIU208
PIU209
PIU2010
PIU2011
PIU2012 PIU2013
PIU2014
PIU2015
PIU2016
PIU2017
PIU2018
PIU2019
PIU2020
PIU2021
PIU2022
PIU2023
PIU2024
COU2
PIU301
PIU302
PIU303
PIU304
PIU305
PIU306
PIU307
PIU308
PIU309
PIU3010
PIU3011
PIU3012 PIU3013
PIU3014
PIU3015
PIU3016
PIU3017
PIU3018
PIU3019
PIU3020
PIU3021
PIU3022
PIU3023
PIU3024
COU3
PIR202
PIR301 PIR401PIR502
PIR602
PIR1001 PIR1101
PIR1202
PIR1602 PIR1801
PIR1902 PIR2101
PIU2014
PIU3014
PIU205
PIU2020
PIU305
PIU3020
PIC201 PIC301
PIC401 PIC501
PIR701 PIR801
PIR901
PIR1301 PIR1401
PIR1501
PIR1702
PIR2002
PIRSENSE102 PIRSENSE201
PIRSENSE302 PIRSENSE401
PIU206
PIU207 PIU2018
PIU2019
PIU306
PIU307 PIU3018
PIU3019
PIC202 PIR702 PIU202 PIC302PIR802PIU2023
PIC402 PIR1302 PIU302 PIC502PIR1402PIU3023
PIP201
PIU2016
POOUT1ACOMPPIP202
PIU2021
POOUT1BCOMPPIP203
PIU209
POOUT2ACOMPPIP204
PIU204
POOUT2BCOMP
PIR201
PIU203
PO0SLEEPCOMP
PIR302PIU2024
PIR402
PIU2022PIR501
PIR902
PIR503 PIU201 PIR601
PIU303
PO0SLEEPREB
PIR1002PIU3024 PIR1102
PIU3022PIR1201
PIR1502
PIR1203 PIU301
PIR1601PIU2012
PIR1701
PIU2015
PO0ENABLECOMPPIR1802PIU2013
PIR1901PIU3012
PIR2001
PIU3015
PO0ENABLEREBPIR2102PIU3013
PIRSENSE101 PIU208 PIRSENSE202PIU2017
PIRSENSE301 PIU308 PIRSENSE402PIU3017
PIU2010POSTEPCOMPPIU2011PODIRCOMP
PIP304
PIU304
POOUT2BREB
PIP303
PIU309POOUT2AREBPIU3010POSTEPREBPIU3011PODIRREB
PIP301
PIU3016POOUT1AREB
PIP302
PIU3021POOUT1BREB
PO0ENABLECOMP
PO0ENABLEREB
PO0SLEEPCOMP
PO0SLEEPREB
PODIRCOMP
PODIRREB
POOUT1ACOMP
POOUT1AREB
POOUT1BCOMP
POOUT1BREB
POOUT2ACOMP
POOUT2AREB
POOUT2BCOMP
POOUT2BREB
POSTEPCOMP
POSTEPREB
1
1
2
2
3
3
4
4
D D
C C
B B
A A
Title
Number RevisionSize
A4
Date: 21/02/2011 Sheet ofFile: C:\Documents and Settings\..\Elektroshok_01.SchDocDrawn By:
AN0/VREF+/CN2/RA0 19
AN1/VREF-/CN3/RA1 20
AN10/RTCC/RP14/CN12/PMWR/RB14 14AN11/RP13/CN13/PMRD/RB13 11AN12/RP12/CN14/PMD0/RB12 10
AN4/C1IN-/RP2/CN6/RB2 23
AN5/C1IN+/RP3/CN7/RB3 24
AN6/RP16/CN8/RC025
AN7/RP17/CN9/RC126
AN8/CVREF/RP18/PMA2/CN10/RC227
AN9/RP15/CN11/PMCS1/RB15 15
AVDD17
AVSS16
INT0/RP7/CN23/PMD5/RB7 43
MCLR18
OSC1/CLKI/CN30/RA2 30
OSC2/CLKO/CN29/RA3 31
PGEC1/AN3/C2IN+/RP1/CN5/RB1 22
PGEC2/RP11/CN15/PMD1/RB11 9
PGEC3/ASCL1/RP6/CN24/PMD6/RB6 42
PGED1/AN2/C2IN-/RP0/CN4/RB0 21
PGED2/EMCD2/RP10/CN16/PMD2/RB10 8
PGED3/ASDA1/RP5/CN27/PMD7/RB5 41
RP19/CN28/PMBE/RC336
RP20/CN25/PMA4/RC437
RP21/CN26/PMA3/RC538
RP22/CN18/PMA1/RC62
RP23/CN17/PMA0/RC73
RP24/CN20/PMA5/RC84
RP25/CN19/PMA6/RC95
SCL1/RP8/CN22/PMD4/RB8 44
SDA1/RP9/CN21/PMD3/RB9 1
SOSCI/RP4/CN1/RB4 33
SOSCO/T1CK/CN0/RA4 34
TCK/PMA7/RA7 13
TDI/PMA9/RA9 35TDO/PMA8/RA8 32
TMS/PMA10/RA10 12
VCAP/VDDCORE7
VDD28
VDD40
VSS6
VSS29
VSS39
U4
PIC24HJ128GP504-I/PT
123
P7
Position Sensor
123
456
P6
Nav Switch
10uF tant
C7Cap
0.1uF
C8Cap
470
R24Res1
10K
R22
Res1S1
SW-PB
GND
3.3V
GND
3.3V
PMPD3PMPD4
PMPD2PMPD1PMPD0PMPRDPMPWRPMCS1
PMPD5PMPD6PMPD7
PMPA0
RESET OLED
Yin
Xin
SELECTLEFT
UPRIGHTDOWN
LEFTSELECTUP
RIGHT
DOWN
Wipper
VCC
GND
10k
R26Res1
10k
R25Res1
10k
R27Res1
10k
R28Res1
10k
R29Res1
MCLR1
VDD2
GND3
PGD4
PGC5
P5
ICD2
RESET OLEDPMCS1
PMPD7PMPD6PMPD5PMPD4PMPD3PMPD2PMPD1PMPD0
GND
5V
PMPRDPMPWR
PMPA0
3.3V
GND0.1uF
C9Cap
12345
P8
Accelerometer
GND
5V
STYin
Xin
STEPREB
DIRREB
/SLEEPCOMP
/SLEEPREB
3.3V
GND
12345678910111213141516
P4
Header 16
0.1uF
C6
CapW2
Jumper
10K
R23Res1
W1Jumper
3.3V
Wipper
STEPCOMP
DIRCOMP
BATSTAT
SDI
SDOSCK
GND
Vin VoutGND
VR1
R-783.3-0.5
Vin VoutGND
VR2
R-785.0-0.5
Vin VoutGND
VR3
REG12V
3.3V 5V 12V
10uF
C12Cap
10uFC10
Cap10uFC11
Cap
1Battery
PI101
PI102CO1
PIC601 PIC602
COC6
PIC701
PIC702COC7
PIC801
PIC802COC8
PIC901
PIC902COC9
PIC1001
PIC1002
COC10 PIC1101
PIC1102
COC11
PIC1201
PIC1202COC12
PIP401
PIP402
PIP403
PIP404
PIP405
PIP406
PIP407
PIP408
PIP409
PIP4010
PIP4011
PIP4012
PIP4013
PIP4014
PIP4015
PIP4016
COP4
PIP501
PIP502
PIP503
PIP504
PIP505
COP5
PIP601
PIP602
PIP603
PIP604
PIP605
PIP606
COP6
PIP701
PIP702
PIP703
COP7
PIP801
PIP802
PIP803
PIP804
PIP805
COP8
PIR2201
PIR2202COR22
PIR2301
PIR2302COR23
PIR2401
PIR2402
COR24
PIR2501
PIR2502COR25
PIR2601
PIR2602COR26
PIR2701
PIR2702COR27
PIR2801
PIR2802COR28
PIR2901
PIR2902COR29
PIS101 PIS102
COS1
PIU401
PIU402
PIU403
PIU404
PIU405
PIU406
PIU407
PIU408
PIU409
PIU4010
PIU4011
PIU4012
PIU4013
PIU4014
PIU4015
PIU4016
PIU4017
PIU4018 PIU4019
PIU4020
PIU4021
PIU4022
PIU4023
PIU4024
PIU4025
PIU4026
PIU4027
PIU4028
PIU4029
PIU4030
PIU4031
PIU4032
PIU4033
PIU4034
PIU4035
PIU4036
PIU4037
PIU4038
PIU4039
PIU4040
PIU4041
PIU4042
PIU4043
PIU4044
COU4
PIVR101
PIVR102
PIVR103
COVR1
PIVR201
PIVR202
PIVR203
COVR2
PIVR301
PIVR302
PIVR303
COVR3
PIW101
PIW102
COW1
PIW201 PIW202
COW2
PIC802 PIC901
PIP502
PIR2202 PIR2302
PIR2501 PIR2601 PIR2701 PIR2801 PIR2901
PIU4017
PIU4028
PIU4040
PIVR103
PIP4015
PIP802
PIVR203 PIVR303
PI102
PIC601
PIC701 PIC801 PIC902
PIC1002 PIC1102PIC1201
PIP4016
PIP503
PIP601
PIP703
PIP803
PIS101
PIU406
PIU4016
PIU4029
PIU4039
PIVR102 PIVR202 PIVR302
PI101PIC1001 PIC1101PIC1202 PIVR101 PIVR201 PIVR301
PIC602
PIR2201
PIR2401
PIS102
PIC702
PIU407
PIP401
PIU4012
PORESET OLEDPIP402
PIU4015
POPMCS1PIP403
PIU403
POPMPA0PIP404
PIU4011
POPMPRDPIP405
PIU4014
POPMPWRPIP406
PIP407
PIU4041
POPMPD7PIP408
PIU4042
POPMPD6PIP409
PIU4043
POPMPD5PIP4010
PIU4044
POPMPD4PIP4011
PIU401
POPMPD3PIP4012
PIU408
POPMPD2PIP4013
PIU409
POPMPD1PIP4014
PIU4010
POPMPD0PIP501
PIR2301PIW101
PIP504PIU4021
PIP602
PIR2602
PIU4037
POSELECTPIP603
PIR2502
PIU4036
POLEFT
PIP604
PIR2702
PIU4038
POUPPIP605
PIR2802
PIU4035
PORIGHTPIP606
PIR2902
PIU4034
PODOWN
PIP701
PIU4024
POWipper
PIP505
PIP801
PIU4022
POXin
PIP804
PIU4023
POYinPIP805POST
PIR2402PIW201
PIU402POSDI
PIU404POSDOPIU405POSCK
PIU4013
PIU4018PIW102 PIU4019
PIU4020
PIU4025POBATSTATPIU4026PO0SLEEPCOMPPIU4027POSTEPCOMP
PIU4030PODIRCOMPPIU4031PO0SLEEPREB
PIU4032POSTEPREB
PIU4033PODIRREB
PIW202
PIP702
PO0SLEEPCOMP
PO0SLEEPREB
POBATSTAT
PODIRCOMP
PODIRREB
PODOWN
POLEFT
POPMCS1
POPMPA0POPMPD0POPMPD1POPMPD2POPMPD3POPMPD4POPMPD5POPMPD6POPMPD7
POPMPRDPOPMPWR
PORESET OLEDPORIGHT
POSCK
POSDI
POSDO
POSELECT
POST
POSTEPCOMP
POSTEPREB
POUP
POWIPPER
POXIN
POYIN
1
1
2
2
3
3
4
4
D D
C C
B B
A A
Title
Number RevisionSize
A4
Date: 21/02/2011 Sheet ofFile: C:\Documents and Settings\..\OLED Display.SchDocDrawn By:
RES1
CS2
DC3
RD4
RW5
VSL6
D7
7
D6
8
D5
9
D4
10
D3
11
D2
12
D1
13
D0
14
+5V 15
GND 16
Cannot open file C:\Users\Fox\Desktop\tubez.bmp
*1
OLED
RESET OLED
PMCS1
PMPD
7
PMPD
6
PMPD
5
PMPD
4
PMPD
3
PMPD
2
PMPD
1
PMPD
0
GND
5V
PMPRD
PMPWR
PMPA0
PI0101
PI0102
PI0103
PI0104
PI0105
PI0106
PI0107 PI0108 PI0109 PI01010 PI01011 PI01012 PI01013 PI01014
PI01015
PI01016
CO01
PI01015
PI01016
PI0101PORESET OLED
PI0102POPMCS1
PI0103POPMPA0
PI0104POPMPRD
PI0105POPMPWR
PI0106
PI0107
POPMPD7PI0108
POPMPD6PI0109
POPMPD5PI01010
POPMPD4PI01011
POPMPD3PI01012
POPMPD2PI01013
POPMPD1PI01014
POPMPD0
POPMCS1
POPMPA0
POPMPD0POPMPD1POPMPD2POPMPD3POPMPD4POPMPD5POPMPD6POPMPD7
POPMPRD
POPMPWR
PORESET OLED
1
1
2
2
3
3
4
4
D D
C C
B B
A A
Title
Number RevisionSize
A4
Date: 21/02/2011 Sheet ofFile: C:\Documents and Settings\..\SD Card.SchDocDrawn By:
123456789101112
P9
Header 12HGND
ACTIVITY1LED110K
R31Res1
10K
R32Res1
10K
R33Res1
10K
R34Res1
10K
R35Res1
180
R30
Res1
3.3V
0.1uF
C13Cap Pol1
GND/CSSDO
SCK
SDI
CDWD
PIACTIVITY101PIACTIVITY102
COACTIVITY1
PIC1301PIC1302
COC13
PIP901
PIP902
PIP903
PIP904
PIP905
PIP906
PIP907
PIP908
PIP909
PIP9010
PIP9011
PIP9012
COP9
PIR3001PIR3002COR30
PIR3101
PIR3102COR31
PIR3201
PIR3202COR32
PIR3301
PIR3302COR33
PIR3401
PIR3402COR34
PIR3501
PIR3502COR35
PIC1301
PIP904
PIR3002
PIR3102 PIR3202 PIR3302 PIR3402 PIR3502PIC1302
PIP903
PIP906
PIP9012
PIACTIVITY101PIR3001
PIACTIVITY102PIP901PO0CSPIP902POSDO
PIP905POSCK
PIP907
PIR3101
POSDIPIP908
PIR3501
PIP909
PIR3401
PIP9010POCDPIP9011
PIR3201 PIR3301
POWD
PO0CS
POCD
POSCK
POSDI
POSDO
POWD