SudoFlex project aims to create a board family for digital control applications. SFB1 board is the first step of the project and the only available board in the market for now. This repository includes all necessary information and resources to start to use SFB1. Front and back views of the board are shown below.
Applications
Tech Specs
Control algorithms for the board are developed by built-in blocks and block connections. There are 94 blocks for different functions. A summary of the blocks can be found below.
- 4 Type Conversion Blocks: F32_U32, U32_F32, F32_S32, S32_F32
- 4 Float Check Blocks: ISNAN, ISINF, ISFINITE, ISNORMAL
- 4 Rounding Blocks: CEIL, FLOOR, TRUNC, ROUND
- 15 Numerical Blocks: SQRT, CBRT, LN, LOG, LOG2, EXP, EXP2, SIN, COS, TAN, ASIN, ACOS, ATAN, ATAN2, ABS
- 14 Arithmetic Blocks: ADD, MUL, ADDC, MULC, SUB, DIV, MOD, FMOD, REMAINDER, EXPT, HYPOT
- SMA: Simple Moving Average
- CMA: Cumulative Moving Average
- EMA: Exponential Moving Average
- 8 Bitwise Operation Blocks: SHL, SHR, ROL, ROR, BITAND, BITOR, BITXOR, BITNOT
- 5 Selection Blocks: MAX, MIN, LIMIT, SEL, MUX
- 6 Comparison Blocks: GT, GE, LT, LE, EQ, NE
- 6 Logic Blocks: NOT, AND, OR, XOR, ANDBFOR, ORBFAND
- 2 Flip-flop Blocks:
- SR: Set dominant flip-flop
- RS: Reset dominant flip-flop
- 2 Edge Detection Blocks:
- R_TRIG: Rising edge detection
- F_TRIG: Falling edge detection
- 3 Counter Blocks:
- CTU: Up counter
- CTD: Down Counter
- CTUD: Up-down counter
- 3 Timer Blocks:
- TON: On-delay timer
- TOF: Off-delay timer
- TP: Pulse timer
- 6 I/O Blocks:
- DI: Digital input
- DO: Digital output
- PWMO: PWM output
- PWMI: PWM input
- ENC: Incremental encoder input
- AI: Analog input
- 5 Source Blocks:
- CONST: Constant numbers
- CAPTURE: Captures input values when triggered
- TIME: Provides time value in terms of sampling period
- WAVE: Generates custom defined wave
- PULSE: Pulse generator. Useful for step motor driving.
- 5 Control Blocks:
- UDELAY: Unit delay, delays input for one sampling period
- TFD_1: First-order discrete transfer function
- TFD_2: Second order discrete transfer function
- TFD_3: Third-order discrete transfer function
- PID: PID controller with anti-windup and derivative filter
- 1 Connectivity Block:
- MODBUS_RTU: Modbus RTU communication
- Other Blocks: PAUSE
Pin Mapping and Buton/Led Definitions
| Abbreviation | Description |
|---|---|
| DIx | Digital Input pins |
| DOx | Digital Output pins |
| PWMIx | PWM Input pins |
| PWMOx | PWM Output pins |
| ENCx | Incremental Encoder Input pins |
| AIx | Analog Input pins |
| AOx | Analog Output pins |
| MODBUS_xx | Modbus RTU pins |
| SYNC (26) | Synchronization pin. This pin goes high at the start of sampling and stays high during algorithm execution. So signal frequency is equal to sampling frequency and signal pulse width shows the algorithm execution time. |
| STA (27) | If algorithm execution time exceeds sampling period this pin goes high. It is also connected to STA led. |
| TX, RX (28, 29) | UART Programming Interface pins for SudoFlex-Basic |
| GND (30) | Ground pin for SudoFlex-Basic |
| 3.3V (31) | Power pin for SudoFlex-Basic. Applied voltage must not exceed 3.3V and should be regulated. |
| RFS | Return to factory settings button. If this button is pressed during reset, board clears the saved algorithm and returns to default algorithm string. |
| RST | Reset button |
| LoopSW | Loop on-off switch |
| PWR | Power led |
| STA | Status led. This led turns on if sampling frequency is too high for the current algorithm execution or sampling frequency is zero. |
SudoFlex-Configurator
SudoFlex-Configurator is a desktop GUI application used for developing control algorithms. It has also a serial interface that can be used for downloading generated algorithms to the board and tracing log messages. A screenshot of the application can be seen on the figure below.
