Issues & TODOs

From EE Handoff — 22 items, 11 blocking FCC certification

Priority:Blocking FCC — must complete before certificationNice to have — improves qualityFuture — next revision

Priority:

Write IMU (ICM-42688-P) and Magnetometer (IIS2MDCTR) driversBlocking FCCFirmware

New IMU and magnetometer on Stretch 4 Calder board need full driver implementations

SOC correction algorithm for sleep modeNice to HaveFirmware

Battery state-of-charge drifts during sleep, need correction on wake

Better UART comms ESP↔SAMD (master/slave approach)Nice to HaveFirmware

Current UART communication between ESP32 and SAMD needs reliability improvements

Low battery user feedback on power button pressNice to HaveFirmware

Visual/audio feedback when user presses power button with low battery

ESP RPC comms layerFutureFirmware

New RPC communication layer for ESP32 co-processor

Fuse blown notificationNice to HaveFirmware

Detect and notify user when e-fuse has been triggered

Charger fault notificationNice to HaveFirmware

Detect and report charger fault conditions to user

Test INA228 over-current alert for short circuit protectionBlocking FCCHardware

Verify the INA228 current sensor alert mechanism works for protection

Add Zener diode (13V) across Gate/Source of actuator mosfetsNice to HaveHardware

Protection against voltage spikes on actuator MOSFET gates

Consider Ti Efuse for future designFutureHardware

Evaluate Texas Instruments e-fuse ICs for improved circuit protection

Optimize 3V3_AUX rail eliminationFutureHardware

Simplify power rail design by removing 3V3_AUX if possible

Create Python EMC test scriptBlocking FCCEMC

Run all actuators, sensors, LiDARs, cameras, WiFi, Firebase, USB devices simultaneously for EMC testing

Do pre-scans with Calder boardBlocking FCCEMC

Run EMC pre-scans with the new Stretch 4 Calder board before lab visit

Target Class A first, then try Class BBlocking FCCEMC

Start with less strict Class A compliance, attempt Class B if passing

Conducted emissions: test with common mode choke if neededBlocking FCCEMC

Add common mode choke on power input if conducted emissions are problematic

Bring heavy CM choke + custom charger cable to test labBlocking FCCEMC

Physical hardware needed for test lab visit

Build proper RDK bring-up scriptBlocking FCCTesting

Improve the crude existing bring-up script for Robot Developer Kit

Connect all hello-devices to USB-C ports, power cycle, verify USB busBlocking FCCTesting

Systematic USB device enumeration and verification test

Command each device to moveBlocking FCCTesting

Verify each actuator responds to motion commands

Trigger sync and runstop pulseBlocking FCCTesting

Verify sync signal propagation and runstop safety mechanism

Test WiFi comms during RDKNice to HaveTesting

Verify WiFi connectivity and communication during bring-up

Flash dummy Firebase script, test, wipe credentialsNice to HaveTesting

Test cloud connectivity then clean up credentials