iCub BACKPACK BOARDS
Revision history
| Rev. | Department | Prepared by | Date | Revision description |
|---|---|---|---|---|
| 0 | icub-tech-iit | A. Mura | 31/08/2023 | First Emission |
Functional Test
The iCub backpack consists of four electronic boards: BMON, BCB, BDC, BBA.
Currently, there is no production setup to test the boards or dedicated firmware to do that: the boards can be programmed following the steps reported in procedures (link), and only a general and functional test can be done, besides a check after the board programming with the programmer.
The overall status of the backpack, which is made up of the four boards mentioned above, is described on this page of the electronics wiki and also on this page of documentation repository.
| Board name | Description | |
|---|---|---|
| BMON | Backpack Battery Monitor Board with I2C interface | |
| BCB | Backpack Control Board with CAN/I2C/Bluetooth/Serial interface | |
| BDC | Backpack DCDC Converters Board with CAN interface | |
| BBA | Backpack Battery Adapter for cabling backpack battery |
BMON
The check can be done during the programming phase described here. The last step: At the end a Programming/Verify complete message confirms the good programming, and the LD1 red LED on the BMON starts to blink should be enough to validate the board, but not to check the current Hall sensor and its reading.
BCB
After programming the board as described here, a functional test can be done. Power the board and see if the LEDs are on: these for voltage regulators, and these for the Bluetooth module. The meaning of the colors of push buttons is described at this link, without the BDC board they can't become red but only green or blinking green.
The BCB should look like this:
BDC
After programming the board as described here, only a visual check can be done since this board is controlled by the BCB board. The LED DL4 (3.3V) should be on. Note: remember to close the connection on P4 (remote sensing) to ensure the 12V voltage regulator works.
The BDC should look like this:
BBA
No tests are required, it is an adapter board. Only visually check for board/components defects.
The BBA is this:
