Motor Driver Interface

Parts

Part numbers listed are those of the Digi Key Corporation parts database. Note - some generic parts do not have part numbers listed.

Processor

• ATTINY26-16SI-ND - U3 - Atmel AVR Microcontroller
• LED2 - Green LED for use by programs running on the microcontroller
• R3 - 470 ohm resistor in series with LED2

Data I/O

To Motor Driver

• MC74HC164ADR2OSCT-ND - U6 - 8 bit shift register, converts serial data from SPI to parallel data for the motor drivers

From Switches

• 296-1212-1-ND - U7 - Inverter with Schmitt Trigger, reduces bounce noise from the switches
• 399-2127-ND - C6,C7,C8 - 0.1 microfarad capacitors
• 770-61-R10K-ND - RN1 - Resistor network provides pullup voltages for button signals

From Voltage Sensor

• R4 - 10k ohm resistor on voltage sensor signal
• R5 - 82k ohm resistor on voltage sensor signal
• 399-2127-ND - C9 - 0.1 microfarad capacitor

CAN Specific

• MCP2515 - U2 - Microchip CAN Controller with SPI Interface
• MCP2551 - U1 - Microchip CAN TransponderP966-ND
• R1 - 10k ohm pullup resistor for the RESET command
• R9 - 10k ohm pullup resistor for the CAN chip select

Onboard Power Control

• 296-12290-1-ND - U4 - 5V Linear Regulator
• 1N4004GICT-ND - D1 - Diode
• P966-ND - C1,C2 - 10 microfarad Capacitor
• 399-2127-ND - C3,C4,C5 - 0.1 microfarad Capacitor
• LED1 - Red LED to indicate power activity
• R2 - 470 ohm resistor in series with LED1

Oscillator

• 300-7022-1-ND - U4 - 11.0592 MHZ Clock Siqnal Oscillator

Headers

• A19423-ND - J1 - Power 2-pin header
• A19430-ND - J2 - CAN 3-pin header
• MHB16K-ND - J3 - 16 pin header for connecting to a motor drive
• A19520-ND - J4 - SPI connection to the MCU, 10 pin header
• A19431-ND - J5 - 4 pin header connecting a current/voltage sensor signal to the MCU
• A19432-ND - J6 - 5 pin header connecting the start, stop, manual, and auto driving controls to the MCU

Misc.

• 377-1090-ND - Box to contain the module
• 1892K-ND - Standoffs

Electrical

Port Pin Assignments on MCU

View the mdif schematic with data I/O from the module labled.

• Port A:

* Bit	Dir	Description
* 0	O	Vantec strobe
* 1	I	Auto/Manual switch: 0=Manual, 1=Auto
* 2	I	Remote: 0=Run, 1=Stop
* 3	I	BRB: 0=Stop, 1=Run
* 4		Unused
* 5	I	Battery current input (analog, ADC4)
* 6	I	Battery voltage input (analog, ADC5)
* 7	O	Status LED

* Port B:
* Bit	Dir	Description
* 0	I	SPI data input, with pull-up
* 1	O	SPI data output
* 2	O	SPI clock
* 3	O	CAN /CS
* 4	I	Clock, not usable as I/O
* 5		Unused
* 6	I	CAN INT
* 7	I	/RESET, not usable as I/O
	

Code

C Source Files

• acd.c - analog - to - digital sampling

• can.c - communicates with the CAN controller, pretty much the same for all modules

• Makefile - programmer created file for configuring the compilation for gcc

• mdif.c - contains all control information for the motor drivers

• spi_usi - hardware based spi