Random Information Dump

Replacing Safety (F0 vs F1 vs ESP32):

• ESP32

  • Versatile,

  • Don’t need ESP32 beefiness + wifi

  • Accurate timers + spi bus are requirements for safety + 16 channels + 15 out (50Hz) + 1 input

  • WONT need wifi on safety

CV Processing (Jetson vs RPi4):

• Firmware has handled this really well

• Nvidia Jetson Research Page

• Current CV Laptop Specs

  • Model: Lenovo Thinkpad T490

  • Processor: i5-8265U base 1.80 GHz boost 3.90 GHz 4 cores 8 threads

  • Memory: 8 GB (2x4) at 2400

  • Storage: SKHynix_HFS256GD9TNI-L2B0B 256 GB SSD

  • Graphics: Intel UHD Graphics 620

VectorNav Connection Notes:

• All VN inputs from VN-300 connect to the H7 microcontroller in H7PartA.SchDoc. TX1/RX1 are optional as the breakout board is also optional. Primary communication will take place over TX2/RX2. VN-300 communication is all asynchronous.

• RESTORE_VN details:

  • If high at reset, the device will restore to factory default state.

  • Internally held low with 10k resistor.

• Header to send the RS-232 lines to https://www.sparkfun.com/products/11189 aka a MAX3232 breakout board for conversion into TTL. In our case the board only performs a bit flip thought it is capable of voltage scaling as well.

  • The header we use is a six pin header. This is because the MAX3232 can convert 2 Rx/Tx pairs, but we’ll only need to do one conversion maximum.

  • The pin ordering is exactly as is specified in the MAX3232 datasheet.

• The header is optional if firmware wants to use the second set of rx/tx.

• Rx/Tx comes in from VN is _VN, they are flipped on the H7PartA page when they are connected to the microcontroller.