Posts Tagged “Igor”

The rubber hits the road. Sort of.

Now that the hull is (almost) complete, it's time to start soldering the electronics into place.
Now that the hull is (almost) complete, it's time to start soldering the electronics into place.

Due to other, exciting distractions (which I will mention in a later post), I haven’t had a chance to keep the blog up to date. Still, work progresses on the boat, and that’s the important part. Last month, with the keel now in its new position about 30mm further back along the hull, and sealed into place, it was time to add the electronics board.

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Sailboat Guidance System

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A quick look at the almost-complete Sailboat Guidance System (SGS). The board on the left is Igor. Otto is on the right, and the main CPU (Mother) is hidden underneath. The ribbon cable brings all the I/O to and from the boards. The red insulating tape is to remind me of some of the last remaining wires which need to be connected. You can also just about make out the DC/DC converter which is just underneath the ribbon cable at the bottom of the picture.

The Software...

The FreeBSD Daemon, ready to take on Neptune and his cohorts.
The FreeBSD Daemon, ready to take on Neptune and his cohorts.

I’ve been asked recently, about the software platforms used on board Beoga Beag. This seems as good a time as any, to talk about the various layers. As mentioned previously, the lower layer is a custom board, running an ATmega8 Atmel processor. The software (Igor and Otto) is custom-written in C for the boat.

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Battery and Solar Design

Sealed Lead-Acid Battery
Sealed Lead-Acid Battery.

Looking at the system power design, the majority of the circuits will run off a +5 volt rail. Those elements which need a different voltage, such as the main processor board, will derive their own requirements from the main Vcc rail.

There will be at least two Vcc busses on board. Labeled, oddly enough, as Vcc1 and Vcc2. The difference between them is that Vcc1 is always on, at all times, and Vcc2 (through VccN) are selectable by Igor.

The main processor runs off Vcc2, but Igor (and Otto) both run off Vcc1. In situations where voltage levels are critical, Vcc2 will be switched off and the boat will continue on whatever course had previously been set, until either voltage levels are healthy, the specified “wake-up” time has elapsed, or there are critical issues which require Mother to get involved. A critical situation could be something like a dramatic wind shift, or an error such as a mis-reading from a sensor.

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Igor and Otto

A custom-designed PCB from Kalopa Research, with an Atmel ATmega8 processor and a range of hardware options.
A custom-designed PCB from Kalopa Research, with an Atmel ATmega8 processor and a range of hardware options. This example is configured with an RS-232 port (the RJ45 socket on the left), 8 RC servo outputs, and a powerful "H-Bridge" motor controller.

The Kalopa motor control board was designed as a general-purpose Atmel board with ancillary electronics for a wide variety of purposes. It includes two H-Bridge motor controllers, driven by two 16 bit PWM outputs. You can exchange one of the motor controllers for an 8-channel servo controller, also using one of the PWM outputs. It has a standard RS232 port with an RJ45 connector on the end. There is a MAX232 to convert logic levels to proper RS232 voltages. If you want to use radio control, you can instead populate the board with an R5-434 radio receiver. It will listen for data on 434MHz and feed it to the Atmel. The processor itself is the bog-standard Atmel ATmega8 with 8k of code and about 512 bytes of RAM.

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