master-board

Hardware and Firmware of the Solo Quadruped Master Board.

This board centralises all the sensor and actuator data and provides wired and wireless connection to a realtime computer.

Connectivity:

SPI: Address up to 8 SPI Slave: (max 80Mhz, DMA capable) compatible with BLMC µDriver SPI interface
Wifi: Wireless communication with a computer via raw ESP-NOW: round trip time of 1.2ms (including driver and OS latency) for a 127bytes message.
Ethernet: Wired communication with a computer via raw frames: round trip time of 0.2ms (including driver and OS latency) for a 127bytes message.
GPIO: 4GPIO free. Can be mapped to I2C, UART etc.. Two of them are curently used for IMU communication via UART
UART: Used to upgrade the ESP32 firmware, free on normal operation.

The board is programed via the ESP-IDF tool chain https://github.com/espressif/esp-idf

Wireless closed loop control at 1kHz demo (click to see video):

IMU, ethernet closed loop cntrol at 1kHz demo (click to see video):

LED status

Red fade: Waiting for init
Magenta fade: SPI Autodetect
Blue fade: waiting for first commmand
Green fade: Active control
Yellow blink: ethernet link down state awaiting for link up
Red blink: error state (communication with PC), awaiting for new init msg
White blink: state machine error (should never happen)