Robotic hand project for actuators/power electronics and sensors/instrumentation university courses (firmware).

robotic_hand_pcb hardware repo: robotic_hand_pcb.

Drawio file here: robotic_hand.drawio.

8 MHz High Speed External (HSE)
↓
Phase-Locked Loop Main (PLLM)
↓
180 MHz SYSCLK
↓
180 MHz HCLK
↓
 → 45 MHz APB1 (Maxed) → 90 MHz APB1 Timer
 → 90 MHz APB2 (Maxed) → 180 MHz APB2 Timer

The VL53L4CD was chosen for it's close range high accuracy ranging performance.

As specified by datasheets, I2C Fast Mode is used for the (fast mode standard) 400 kHz clock.

A clock duty cycle of 2 (50/50) is used for simplicity.

1. vl53l4cd_hal_i2c.h
2. vl53l4cd_hal_i2c.c
3. VL53L4CD_ULD_Driver
   1. VL53L4CD_api.h
   2. VL53L4CD_api.c
   3. VL53L4CD_calibration.h
   4. VL53L4CD_calibration.c

The ADS114S08 was chosen for it's high configurability and 16-bit precision analog readings within a small package.

The datasheet specifies the use of SPI mode 1:

• CPOL = 0 (low).
• CPHA = 1 (2nd edge).

Clock rate is limited to approximately less than 10 MHz. Given that SPI2 runs on the APB1 bus clock (45 MHz), and the prescaler values are powers of 2 (2, 4, 8, etc.):

$$Clock = \frac{Source}{PSC} = \frac{ 45 \space \mathrm{MHz} }{ 8 } = 5.625 \space \mathrm{MHz}$$

Final clock rate is 5.625 MHz.

GPIO_EXTI2is configured for the DRDY pin of the ADS114S08 to trigger an MCU response:

• External Interrupt Mode with Falling edge trigger detection.
• No Pull-up.

1. ads114s08_hal_spi.h.
2. ads114s08_hal_spi.c.