HeliCAL PCB
Off-loader for real-time hardware tasks on the HeliCAL system
Embedded Files
Overview:
This PCB aims to offload real-time hardware tasks like precise timing and interrupt handling from the Jetson Nano controlling the HeliCAL System, a Computed Axial Lithography (CAL) 3D printer, to an ESP32S2, enabling accurate encoder tracking and PWM control via UART (or I2C) communication, while also providing standardized connections for off-board sensors and actuators on the HeliCAL system (no more breadboard!) as well as an on-board accelerometer for system balancing.
Link to the full Google Docs documentation
Features:
ESP32S2 Microcontroller for various real-time hardware tasks
Quadrature Encoder Tick Counting
PWM Output to the DC motor driver
Falling edge hardware interrupt for off-board beam break sensor
UART Communication between ESP32S2 and Nvidia Jetson Nano
I2C Communication between various on and off-board components
On-board MPU6500 6DOF IMU used for real-time rotational balancing of HeliCAL system
5v to 3.3V Regulator
Nvidia Jetson J41 Pin Hat Connector
Plug-in JST Connectors for various off-board sensors and actuators
1x Quadrature Encoder
1x Beam Break Encoder
8x I2C TIC Stepper Drivers
1x DC Motor Driver
3x Extra I2C slots for future additions
Plug-in 2x5 Pin Connector for 4x off-board MAG SRX Quadrature Encoders
Overall Zoomed Out Schematic
Off-board Sensor + Actuator Plug-in
ESP32S2 Microcontroller
Nvidia Jetson Nano 41 Hat + PCB USB-C Connector
MPU6500 6DOF IMU
5v to 3.3V Regulator + MISC
Completed Layout
Bill of Materials
Final Product
PCBs arrived from JLC
Solder Paste Stencil (IMU is very smol)
Ready for hotplate
Fully assembled
These three images show the PCB fully integrated with the system
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