MAIS

1 Document Scope

Info

This procedure shows how to test MAIS electronic boards and applies to the following IIT code :

• 1745.D MAISR (right hand), IIT - Electronic board, 32-channel miniature ADC card, without protection for inverted power polarity (With extended power range)
• 1746.D MAISL (left hand), IIT - Electronic board, 32-channel miniature ADC card, without protection for inverted power (With extended power range)

2 Requirements

2.1 Hardware Requirements

• ESD USB-CAN with usb power supply cable. [cod.IIT 1014]
• In-circuit debugging device Microchip ® MPLAB ICD2
• Magnet (4)
• ESD-USB CAN with USB power supply cable (1)
• Programming cable (2)
• Hall sensors board (3)
• Capacitor array, 4x100nF, 16V, 20%, X7R, SMD, 1206

2.2 Software Requirements

• Windows 10 :

  • MPLAB IDE v8.50
  • GULP software tool [© Istituro Italiano di Tecnologia]
  • ESD CAN-USB SDK and drivers [© esd electronics gmbh]

• Ubultu 20.04 LTS :

  • robotology-superbuild installed

3 Visual Check

Check if the mais board has some damages or aseembly/soldering problems

4 Connections

• Connect both ESD USB-CAN and ICD3 to the Windows 10 machine
• Connect the programming cable (2) to the ICD2 debugger

5 Bototloader install

• Download and extract this archive
• Run MPLAB IDE
• File->Open Workspace and select the AdCStrain.mcw workspace inside the above folder
• File->Import... and select Bootloader.hex

• Place the nails of the programming cable (2) as in the picture below taking care to keep it until the ptogramming is not ended.

• Click on Program target device and wait the process to end verifying that no errors are rised.

5 Firmware install

On the Ubuntu machine/partition

• attach the USB/CAN model 2066 to pc
• attach the DB9 to USB/CAN
• attach the molex 4 pins connector to the MAIS board
• In a shell type

sudo ip link set can0 type can bitrate 1000000
sudo ip link set up can0

this allows you to communicate with the CAN device.

• Now launch:

  FirmwareUpdater -a
  

• select SOCKET_CAN and then Discover

• Download the mais firmware
• select Upload Application and select the mais.hex file just downloaded
• select Cahnge CAN addresschange CAN ADDRESS to 5

6 Mount Capacitor Array

Mount the Capacitor array, 4x100nF, 16V, 20%, X7R, SMD, 1206 on the C15 position

7 Test Hall Sensors

Connect the Hall sensors (3) to one of the connectors of the mais to be tested

On the Windows 10 machine/partition

• launch the app CANreal
• Select the following parameters:

• Click on “Start”
• On the bottom, make sure that the parameters correspond to these in the picture:

• Click on “Send”

At this point the software starts to print data and you can leave it in the background.

• Run GULP
• File->Load Parameters... and select AdCMais8bit.Xgup in the previously extracted folder
• Click Start
• Move the magnet (4) near the hall sensors and check that the three lines plotted in GULP move

Repeat the operation in point 7 for the other connectors on the mais

Note

Once done the test for each connector, please revert the CAN ID back to 14.