- Custom Development
This is an old revision of the document!
FlexSEA-Rigid is a one-board solution that integrates the features of four individual boards. It is used for Dephy ExoBoots, and for the Dephy Actuator Packages. The design is divided in four logical blocks. Staying consistent with the business-naming convention adopted previously, the modules are named Regulate, Manage, Execute, and Communicate.
Manage (Mn): very similar to the original FlexSEA-Manage, this module is centered around a powerful STM32F4 (STM32F7 for v1.0 and above) Cortex-M4 microcontroller. It will host our high-level walking controllers.
Execute (Ex): simplified version of the original FlexSEA-Execute, this module has one and only one goal: control our brushless motor. It will run fast, low-level controllers, based on the state requested by Manage.
Regulate (Re): this module is a hybrid between FlexSEA-Battery and the Safety-Co Processor microcontroller that was present on the original FlexSEA-Execute circuit. It contains the turn-on/off logic, and many sensors to monitor experiments and board state. It supervises Manage and Execute.
Communicate (Co): this module regroups all of the communication peripherals present on FlexSEA-Rigid. Wired interfaces include one USB port (CDC, virtual COM port), and one RS-485 interface. Wireless capability is provided by a pre-certified Bluetooth module (RN-42 or equivalent). Other peripherals are available on the expansion connector.
1.0 - 3.0: