S.N.A.K.E.: A Dynamically Reconfigurable Artificial Sensate Skin ...

More documents

Recommendations

Info

C:\Documents and Settings\Gerardo\My Documents\Work\SM (MIT)\Thesis\Code\Firmware\I2C_Master.s43 C:\Documents and Settings\Gerardo\My Documents\Work\SM (MIT)\Thesis\Code\Firmware\I2C_Master.s43 ; Interrupt Vectors Used MSP430x13x/14x/15x/16x ;------------------------------------------------------------------------------ ORG 0FFFEh ; MSP430 RESET Vector DW RESET ; ORG 0FFE2h ; P2 Interrupt vector DW USB_TX_ISR ; ORG 0FFF0h ; I2C interruplt vector DW I2C_ISR ; BIS.B #I2CSTT+I2CSTP+I2CTRX,&I2CTCTL ; Initiate transfer MOV.B #RESET_SKIN_INST, R5 ; Indicate a reflash instruction CALL #I2C_SEND_BYTE ; Send instruction RETI END //EXECUTE SKIN CODE INSTRUCTION Execute<strong>Skin</strong>Code BIC.B #I2CEN,&U0CTL ; Reconfigure I2C BIC.B #XA,&U0CTL ; Reconfigure I2C BIC.B #I2CRM,&I2CTCTL ; ACLK BIS.B #I2CEN,&U0CTL ; Recommended init procedure MOV #0,&I2CSA ; RESET ALL NODES! MOV.B #1, &I2CNDAT BIS.B #MST,&U0CTL ; Master mode BIS.B #I2CSTT+I2CSTP+I2CTRX,&I2CTCTL ; Initiate transfer MOV.B #EXECUTE_CODE_INST, R5 ; Indicate a reflash instruction CALL #I2C_SEND_BYTE ; Send instruction RETI StartSampling CLR R6 CALL #USB_GET ; Get byte CALL #USB_SEND ; echo MOV.B R5, Address(R6) CALL #USB_GET ; Get byte CALL #USB_SEND ; echo INC R6 MOV.B R5, Address(R6) BIS.B #80h, I2CFlags RETI StopSampling BIC.B #80h, I2CFlags RETI End_USB_TX_ISR RETI ;------------------------------------------------------------------------------ I2C_ISR; Common ISR for I2C Module ;------------------------------------------------------------------------------ ADD &I2CIV,PC ; Add I2C offset vector RETI ; No interrupt RETI ; Arbitration Lost RETI ; No Acknowledge RETI ; Own Address RETI ; Register Access Ready JMP RXRDY_ISR ; Receive Ready RETI ; Transmit Ready RETI ; General Call RETI ; Start Condition RXRDY_ISR MOV.B &I2CDRB,R5 ; RX data in R5 bic.B #LPM0,0(SP) ; Clear LPM0 RETI ;------------------------------------------------------------------------------ Page 8 of 8 Page 7 of 8
Appendix E PC Code 183
Page 1:
Author S.N.A.K.E.: A Dynamically Re
Page 5:
S.N.A.K.E.: A Dynamically Reconfigu
Page 9 and 10:
Table of Contents Abstract 3 Acknow
Page 11 and 12:
List of Figures 2-1 Created by MIT
Page 13:
E-1 OpenGL Control Header File . .
Page 17 and 18:
Chapter 1 Introduction “Imaginati
Page 19 and 20:
The current project, named S.N.A.K.
Page 21:
Hardware Each Skin Patch is compose
Page 24 and 25:
living tissue. Particularly in the
Page 26 and 27:
Figure 2-2: Leonardo’s Hand great
Page 28 and 29:
Artificial Sensate Skins elsewhere
Page 30 and 31:
2.1.2 Ultra-dense Sensor Arrays Thi
Page 32 and 33:
2.2 Flexible Circuits Although, not
Page 34 and 35:
2.2.2 Other Technologies Figure 2-6
Page 36 and 37:
human skin. The following design pr
Page 38 and 39:
(a) Skin Patches as data extraction
Page 40 and 41:
Figure 3-3: I 2 C Routing pattern T
Page 42 and 43:
3.2.2 Peer to Peer As we already me
Page 44 and 45:
5. Audio: by adding a MEMS micropho
Page 46 and 47:
Table 3.1: Material thicknesses and
Page 48 and 49:
(a) Node Front (b) Node Back Figure
Page 50 and 51:
Figure 3-9: Skin Patch mechanical t
Page 52 and 53:
used, which only further complicate
Page 54 and 55:
8. Teardrops and filleting were add
Page 56 and 57:
(a) 7.4V, 2.2mAh Li-ion Battery (b)
Page 58 and 59:
in more detail in the Results Chapt
Page 60 and 61:
has a 30mA forward current with a f
Page 62 and 63:
Figure 3-14: Strain gage layer prot
Page 64 and 65:
an unbalanced Wheatstone bridge, fr
Page 66 and 67:
Figure 3-16: QTC response curve for
Page 68 and 69:
(a) Prototype boards used to calibr
Page 70 and 71:
whisker is epoxied to the package o
Page 72 and 73:
Sound The only sensing modality add
Page 74 and 75:
Figure 3-20: Brain regular PCB fabr
Page 76 and 77:
3.4.3 Communications unit The Commu
Page 79 and 80:
Chapter 4 Software “A Scientist d
Page 81 and 82:
Networks. Why is this relevant? Mai
Page 83 and 84:
Figure 4-1: Bootloader memory map C
Page 85 and 86:
Bit Flag Name Description 0x01 FILE
Page 87 and 88:
Figure 4-3: Sampling timing example
Page 89 and 90:
We also mentioned before that there
Page 91 and 92:
Code Instruction Description 0xA0 R
Page 93 and 94:
Component Description 1 Indicates t
Page 95 and 96:
last chapter. Figure 4-5: Automatic
Page 97 and 98:
An important point to stress is tha
Page 99 and 100:
(a) Rotation control (b) Zooming co
Page 101 and 102:
4.3 Communications Software The las
Page 103 and 104:
4.3.2 Peer to Peer Peer to peer com
Page 105 and 106:
Chapter 5 Analysis of Results and E
Page 107 and 108:
Figure 5-1: Stress concentration po
Page 109 and 110:
of the assembled skin patch don’t
Page 111 and 112:
Node SG1 SG2 R(X) R(Y) Δ(X) Δ(Y)
Page 113 and 114:
Or, ∆R = R3 R3 R3 + RC (5.2) Howe
Page 115 and 116:
R3 Microstrain 162Ω −99.7337969
Page 117 and 118:
Figure 5-3: Strain Gage electronic
Page 119 and 120:
(a) Data from both strain gages (b)
Page 121 and 122:
(a) Pressure data being extracted f
Page 123 and 124:
many of these did not work as expec
Page 125 and 126:
Data plots were also extracted for
Page 127 and 128:
(a) Temperature sensor data plots (
Page 129 and 130:
Figure 5-12: Raw microphone data wi
Page 131 and 132: (a) Activity sensor data (b) Whiske
Page 133 and 134: 5.3 Performance Metrics We have pre
Page 135 and 136: (a) I 2 C data when a 1500Ωs resi
Page 137 and 138: Component # per node Current consum
Page 139 and 140: Finally, since power is readily ava
Page 141 and 142: Chapter 6 Conclusions and Future Wo
Page 143 and 144: surface can be used to sense pressu
Page 145 and 146: Implement P2P Communications: curre
Page 147 and 148: Appendix A Abbreviations and Symbol
Page 149 and 150: Appendix B Bill of Materials 149
Page 151 and 152: Appendix C Schematics and PCB Layou
Page 153 and 154: 1 1 2 2 3 3 4 4 D D C C B B A A Tit
Page 155 and 156: Amp1 P0Amp101 P0Amp102 P0Amp103 P0A
Page 157 and 158: P0Cin02 P0East06 P0North06 P0South0
Page 159 and 160: Cain P0C ain01 P0Cain02 L1 P0L101 P
Page 161 and 162: Figure C-10: Node Bottom Overlay 16
Page 163 and 164: 4 3 2 1 A A Brain Communications Ac
Page 165 and 166: C3v P0C3v01 P0C3v02 Cavcc P0Cavcc01
Page 167 and 168: Appendix D Firmware 167
Page 169 and 170: C:\Documents and Settings\Gerardo\M
Page 181: C:\Documents and Settings\Gerardo\M
Page 185 and 186: 1 c:\Documents and Settings\Gerardo
Page 201 and 202: 12 c:\Documents and Settings\Gerard
Page 207 and 208: Bibliography [1] John C. Ansel. Ski
Page 209 and 210: [33] Joseph Jacobson, B Comiskey, C
Page 211: [68] Vilis Tutis. The physiology of
show all

S.N.A.K.E.: A Dynamically Reconfigurable Artificial Sensate Skin ...

Create successful ePaper yourself

Delete template?

Save as template?