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):
Here are some helpful links to the documentation :
How to flash the Master Board (install esp-idf and flash the firmware)
SDK : How to prepare your interface and run the example
Master Board State Machine Description
Description of the communication between the Master Board and the computer
Description of the BLMC µDriver SPI interface
Thomas Flayols
Etienne Arlaud
BSD 3-Clause License
Copyright (c) 2019, LAAS-CNRS, Max Planck Gesellschaft, New York University