Development and testing of radio modules for robot communication

Transcription

1 Development and testing of radio modules for robot communication Semester Project Arthur Gay EPFL June 2017 Arthur Gay (EPFL) Radio modules for robot communication June / 30

2 Project Objectives Replace the current transceiver nrf905 in amphibious robots with a better transceiver. Arthur Gay (EPFL) Radio modules for robot communication June / 30

3 Table of Contents 1 Identify the Requirements 2 Survey of Available Transceivers 3 Testing and Evaluation 4 Design and Assembly of the PCB Arthur Gay (EPFL) Radio modules for robot communication June / 30

4 Identified Requirements 433 MHz or 868 MHz Transceiver: RX and TX Well documented Widely available Arthur Gay (EPFL) Radio modules for robot communication June / 30

5 Survey of Available Transceivers 13 transceivers from 10 manufacturers. Criteria: RX Sensitivity TX Power datarate package, RX current, TX current documentation features and ease of use availability Arthur Gay (EPFL) Radio modules for robot communication June / 30

6 Survey of Available Transceivers Part Mfr. RX Sensitivity TX power Max data S2-LP ST -130dBm +16dBm 500kbps SPIRIT1 ST -118dBm +16dBm 500kbps Si4455 SiLabs -116dBm +13dBm 500kbps MRF89XA Microchip -113dBm +12.5dBm 200kbps CC1310 TI -124dBm +15dBm 50kbps nrf905 NRF -100dBm +10dBm 50kbps ATA5428 Atmel dBm +10dbBm 20kbps ADF7020 analog -119dBm +13dBm 200kbps ADF7025 analog dBm +13dBm 384kbps RF69W hoperf CMT2300A cmostek MAX2904 maxim Table: Chips comparison, ordered from best to worst performance. Arthur Gay (EPFL) Radio modules for robot communication June / 30

7 Survey of Available Transceivers Overall performances: S2-LP SPIRIT1 Si4455 MRF89XA CC1310 nrf905 Arthur Gay (EPFL) Radio modules for robot communication June / 30

8 Testing and Evaluation of the SPIRIT1 Available Parameters: frequency modulation datarate frequency deviation bandwidth output power Arthur Gay (EPFL) Radio modules for robot communication June / 30

9 Testing and Evaluation of the SPIRIT1 Measurable performance: range RSSI packet loss preamble quality indicator synchronization quality indicator Arthur Gay (EPFL) Radio modules for robot communication June / 30

10 Testing and Evaluation of the SPIRIT1 Arthur Gay (EPFL) Radio modules for robot communication June / 30

11 Testing and Evaluation of the SPIRIT1 UART RF Computer Node A Node B 1 UART protocol 2 RF protocol Arthur Gay (EPFL) Radio modules for robot communication June / 30

12 Testing and Evaluation of the SPIRIT1 UART protocol IDLE 0xA Start=0xA5 Length Address data data START 1 byte LENGTH 2 bytes DATA all bytes read n bytes Arthur Gay (EPFL) Radio modules for robot communication June / 30

13 Testing and Evaluation of the SPIRIT1 UART protocol: generator constants.h definition.xml Generator constants.py callbacks.c/h Arthur Gay (EPFL) Radio modules for robot communication June / 30

14 Testing and Evaluation of the SPIRIT1 UART protocol: generator <?xml v e r s i o n = 1.0?> <p r o t o c o l> <c o n s t a n t s> <c o n s t a n t> <name>constant NAME</name> <d e s c r i p t i o n> Constant d e s c r i p t i o n f o r documentation p u r p o s e which i s added as comment i n t h e g e n e r a t e d s o u r c e f i l e s. </ d e s c r i p t i o n> <v a l u e><! [ CDATA[(1<<0) // A r b i t r a r y code ] ]></ v a l u e> </ c o n s t a n t> </ c o n s t a n t s> <r e g i s t e r s> <r e g i s t e r> <name>register NAME</name> <d e s c r i p t i o n> R e g i s t e r d e s c r i p t i o n f o r documentation p u r p o s e which i s added as comments i n t h e g e n e r a t e d s o u r c e f i l e s. </ d e s c r i p t i o n> <address>0x0001</ address> <! The address i s 18 b i t s long. > <l e n g t h>1</ l e n g t h> <! The i n d i c a t i v e l e n g t h < 64 > </ r e g i s t e r> </ r e g i s t e r s> </ p r o t o c o l> Arthur Gay (EPFL) Radio modules for robot communication June / 30

15 Testing and Evaluation of the SPIRIT1 UART protocol: Streamed Variables computer SVLST SVITM 0x00,0x01, VARNAME0\0 SVITM 0x01,0x01, VARNAME1\0 SVITM 0x02,0x01, VARNAME2\0 SVITM 0x03,0x01, VARNAME3\0 SVITM... SVVAL,0x00,0x0032B32B SVVAL... device Arthur Gay (EPFL) Radio modules for robot communication June / 30

16 Testing and Evaluation of the SPIRIT1 Radio protocol Three commands: 1 NOP: empty packet. (PING) 2 ACK: response to NOP. (PONG) 3 RADIOCONF: new radio configuration. Arthur Gay (EPFL) Radio modules for robot communication June / 30

17 Testing and Evaluation of the SPIRIT1 GUI Interface Arthur Gay (EPFL) Radio modules for robot communication June / 30

18 Results Antenna characterization Arthur Gay (EPFL) Radio modules for robot communication June / 30

19 Results Antenna characterization Arthur Gay (EPFL) Radio modules for robot communication June / 30

20 Results Antenna characterization Arthur Gay (EPFL) Radio modules for robot communication June / 30

21 Results Antenna characterization Arthur Gay (EPFL) Radio modules for robot communication June / 30

22 Results Range Arthur Gay (EPFL) Radio modules for robot communication June / 30

23 Results Range Arthur Gay (EPFL) Radio modules for robot communication June / 30

24 Module Arthur Gay (EPFL) Radio modules for robot communication June / 30

25 Module Arthur Gay (EPFL) Radio modules for robot communication June / 30

26 Module Arthur Gay (EPFL) Radio modules for robot communication June / 30

27 Module Arthur Gay (EPFL) Radio modules for robot communication June / 30

28 Module Possible failure causes: The LOCKWON state may persist indefinitely in two cases: in case of hardware problem (bad XTAL or chip soldering). if a TX, LOCKTX, RX, LOCKRX command is sent with a bad VCO calibration word (RCO VCO CALIBR IN[1:0]) or if the VCO calibration fails. Possible solution: standard schematic instead of TX boost mode. Arthur Gay (EPFL) Radio modules for robot communication June / 30

29 Regulation RIR Frequency band Remarks RIR MHz 25 mw e.r.p. / 1 % DC RIR MHz 25 mw e.r.p. / 0.1 % DC RIR MHz 25 mw e.r.p. / 0.1 % DC / FHSS RIR MHz 25 mw e.r.p. / 1 % DC / FHSS SPIRIT1 hop time: 54 µs nrf905 hop time: 650 µs Arthur Gay (EPFL) Radio modules for robot communication June / 30

30 Arthur Gay (EPFL) Radio modules for robot communication June / 30