tartan-auv / tauv-hardware

PCB designs for TartanAUV

TAUV-Hardware

Repository for TAUV Altium documents

Boards:

TAUV-PWR_STK

Next generation power management stack consisting of 2 boards. Manufacturing graciously sponsored by PCBway.com

TAUV-Disconnect

Disconnect board for easy flange access

TAUV-Interfacer

Utilizes a pair of STM32F7 processors to run hydrophone DOA estimates, and control/interface with LEDs, Servos, Jetson, and PowerBoard.

TAUV-Acoustics Power Board

For powering the acoustics setup. Has low-noise 5V and 24V outputs.

tauv-hardware's Issues

Create official release of V1 Stack Rev A

Include BOM of all boards in separate files, Libraries, and all files related to the function of the stack within the sub (reg board, thruster board, kill switch board)

Build acoustics modem board

Goal: Build a modem board to a Teensy microcontroller to transmit and receive from a homemade piezo transducer.

Inputs:

• Clean 5V supply and 24V supply from acoustics power board (will need to assemble another)
• Dirty 16V supply from battery (if needed)
• Reference 3V3 supply from Teensy
• 2x 3V3 logic level digital inputs to drive transducer (Tx +, Tx -)

Outputs:

• 1x 0V-3V3 amplified signal referenced at 1/2 3V3, and reference voltage (Rx +, Rx -)

Notes:
Talk to @theochemel for sketch of schematic diagrams.
Everything visible to the piezo needs to be super high impedance. Even inputs of regular op amps are not high impedance enough. Talk to @theochemel !

Resources:
Xia paper on which this is all modeled <- READ THIS!!!! We are basically recreating this circuit

Build new power board

Build acoustics power board

Build lift handles

Upload acoustics frontend to Github

Build acoustics PHOD amplifier board

Goal: Build an amplifier board to allow 4 PHOD-1 hydrophones to interface with a Teensy or Zybo Z7 FPGA ADC.

Inputs:

• Clean 5V supply and 24V supply from acoustics power board (will need to assemble another)
• Dirty 16V supply from battery (if needed)
• Reference 3V3 supply from Teensy
• 3V3 level I2C or logic inputs for variable gain
• 4x PHOD-1s

Outputs:

• 4x 0-3V3 amplified outputs referenced to 1/2 3V3

Functionality:

1. First amplifier stage
2. Filter stage, likely bandpass with 20kHz low cutoff, 60 kHz high cutoff, but may need to be adjusted
3. Second amplifier stage

One amplifier stage should be programmable from the microcontroller, and the other should be easily adjustable with a potentiometer or by swapping resistors.

Resources:
Sparton PHOD-1 Datasheet

Power system Rev B

Add jumpers for turning on regulators and thrusters independently and without the need for a specialized connector.
Make it possible to activate and deactivate power lines at will (maybe even make it possible to power cycle the Jetson while in the water)
Other quality of life changes to be added
Integrate arduino or other microcontroller into the board? (This should be a separate version labeled as V2)

Consolidate component library

Merge our component library, CMR's component library, and anything else floating around so we have a single library everyone can contribute to