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):

Authors

Thomas Flayols
Etienne Arlaud

BSD 3-Clause License