ECE 477 Design Review ECE 477 Design Review Team 1 Team 1 Spring 2008 Spring 2008

Alan Bernstein Ian Alsman Ilya Veygman Darshan Shah

OutlineOutline Project overview Project overview Project-specific success criteriaProject-specific success criteria Block diagramBlock diagram Component selection rationaleComponent selection rationale Packaging designPackaging design Schematic and theory of operationSchematic and theory of operation PCB layoutPCB layout Software design/development statusSoftware design/development status Project completion timelineProject completion timeline Questions / discussionQuestions / discussion

Project OverviewProject Overview

Design of a turret with an armature Design of a turret with an armature structure that holds an airsoft gunstructure that holds an airsoft gun

Detect and fire at enemies through Detect and fire at enemies through both motion and threshold detectionboth motion and threshold detection

Gun will pan/tilt based off coordinates Gun will pan/tilt based off coordinates translated by the microcontroller from translated by the microcontroller from the video feedthe video feed

Friendlies can disarm the weapon with Friendlies can disarm the weapon with a remotea remote

Project-Specific Success CriteriaProject-Specific Success Criteria

1. An ability to electronically fire an airsoft pistol 1. An ability to electronically fire an airsoft pistol (either autonomously or manually).(either autonomously or manually).

2. An ability to detect off-camera motion via 2. An ability to detect off-camera motion via ancillary sensors.ancillary sensors.

3. An ability to remotely disable device to prevent 3. An ability to remotely disable device to prevent “friendly fire.”“friendly fire.”

4. An ability to automatically detect a (hostile) 4. An ability to automatically detect a (hostile) target within the camera’s field of vision.target within the camera’s field of vision.

5. An ability to pan and tilt the firearm assembly 5. An ability to pan and tilt the firearm assembly (a minimum of) (a minimum of) 45° in the longitudinal direction 45° in the longitudinal direction and and 30° in the latitudinal direction.30° in the latitudinal direction.

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Component Selection RationaleComponent Selection Rationale Microcontroller vs. DSPMicrocontroller vs. DSP

• MC9S12XD (144-pin LQFP)MC9S12XD (144-pin LQFP) 80 MHz80 MHz 119 GPIO119 GPIO Peripherals: 2 IPeripherals: 2 I22C, 6 SCI, 3 SPIC, 6 SCI, 3 SPI External Memory Bus Expansion (XEBI)External Memory Bus Expansion (XEBI) Easy to Program (JTAG/BDM)Easy to Program (JTAG/BDM) Takes only 3.3V supply Takes only 3.3V supply much easier much easier

• DSP56371 (80-pin LQFP) and HC9S12 (32-pin DIP)DSP56371 (80-pin LQFP) and HC9S12 (32-pin DIP) DSP: 150 MHz, Micro: 8MHz (control code)DSP: 150 MHz, Micro: 8MHz (control code) GPIO: 39 pinsGPIO: 39 pins No External Memory Bus ExpansionNo External Memory Bus Expansion DSP instruction set (i.e. filtering)DSP instruction set (i.e. filtering) No means of programmingNo means of programming Needs 5V, 3.3V and 1.25V supplies Needs 5V, 3.3V and 1.25V supplies complicated! complicated!

Packaging DesignPackaging Design

Main ConsiderationsMain Considerations Stability and MobilityStability and Mobility ModifiableModifiable Housing for PCB, power supply, and Housing for PCB, power supply, and

other peripheralsother peripherals Motors and GearingMotors and Gearing Gun MountGun Mount BearingsBearings

Schematic/Theory of OperationSchematic/Theory of Operation Overview:Overview:

• ON BOARDON BOARD μμCC CameraCamera Level translatorsLevel translators External RAMExternal RAM Power regulatorsPower regulators Motor control logicMotor control logic Fire ControlFire Control

• OFF BOARDOFF BOARD Motor Driver circuitry (H bridge circuits)Motor Driver circuitry (H bridge circuits) Ancillary sensorsAncillary sensors

• Motion Detection (motion sensors vs. laser trip wires) Motion Detection (motion sensors vs. laser trip wires) Friendly detectorsFriendly detectors

• IR or radio remoteIR or radio remote

Components ON BOARDComponents ON BOARDPartsParts VoltageVoltage FrequencyFrequency Max Max

CurrentCurrentQuaQuantitntityy

Total Total CurrentCurrent

MC9S12XDMC9S12XD144-pin LQFP144-pin LQFP

3.3V3.3V 80 MHz80 MHz 1.5 A*1.5 A* 11 1.5 A1.5 A

CY7C1049 RAMCY7C1049 RAM44-pin TSOP 44-pin TSOP async 512k x 8async 512k x 8

3.3V3.3V 100 MHz max100 MHz max 90 mA90 mA 11 90 mA90 mA

OV6620 CMOS OV6620 CMOS CIF CameraCIF Camera48-pin LCC48-pin LCC

5V5V ~17.73 MHz~17.73 MHz 16 mA16 mA 11 16 mA16 mA

GAL26CV12BGAL26CV12B28-pin DIP28-pin DIP

5V5V 142.8 MHz 142.8 MHz (max)(max)

133 mA133 mA 11 133 mA133 mA

ADG3300ADG330020-pin TSSOP20-pin TSSOP

3.3V, 5V3.3V, 5V 100 MHz (max)100 MHz (max) <1 mA<1 mA 22 2 mA2 mA

MAX3232MAX323216-pin TSSOP16-pin TSSOP

5V5V 5 MHz (max)5 MHz (max) 152 mA152 mA 11 152 mA152 mA

Total Current Draw 5 V RailTotal Current Draw 5 V Rail ~300 mA~300 mA

Total Current Draw 3.3 V RailTotal Current Draw 3.3 V Rail ~1.5 A~1.5 A

Total Current Draw from WallTotal Current Draw from Wall ~1.8 A~1.8 A

* 60 pins used for I/O * 25 mA/pin = 1.5 A

Components OFF BOARDComponents OFF BOARDPartsParts VoltageVoltage FrequencyFrequency Max Max

CurreCurrentnt

QuantiQuantityty

Total Total CurrentCurrent

Stepper MotorStepper Motor6-lead 6-lead (Holding (Holding Torque: Torque: 55 N cm)55 N cm)

3.3V3.3V n/an/a 1.5 A1.5 A 22 1.5 A1.5 A

Stepper MotorStepper Motor8-lead8-lead(Holding (Holding Torque: Torque: 6.2 N m) 6.2 N m)

3.9V3.9V n/an/a 6.36 A6.36 A 11 6.36 A6.36 A

IR SensorsIR Sensors 5V5V 56.9kHz 56.9kHz (carrier)(carrier)

2.0 2.0 mAmA

33 6.0 mA6.0 mA

Total Current Draw 5 V RailTotal Current Draw 5 V Rail 6.37 A6.37 A

Total Current Draw 3.3 V RailTotal Current Draw 3.3 V Rail 1.5 A1.5 A

Total Current Draw from WallTotal Current Draw from Wall 7.87 A7.87 A

Motor ControlMotor Control Logic kept on PCBLogic kept on PCB

• Into PLD:Into PLD: DirectionDirection EnableEnable ClockClock

• Out:Out: 11stst/2/2ndnd/3/3rdrd/4/4thth coil for coil for

some motor turned onsome motor turned on Driver circuitry off-Driver circuitry off-

boardboard• SafetySafety• ModularityModularity• Current demandsCurrent demands

H-Bridge Circuitry (OFF BOARD)H-Bridge Circuitry (OFF BOARD)

Friendly Detector and Motion SensorsFriendly Detector and Motion Sensors

Fire ControlFire Control• Turn AirSoft motor Turn AirSoft motor

on/offon/off IR InputIR Input

• Multiple off-board Multiple off-board sensors summedsensors summed

• Range concernsRange concerns Switch to radio?Switch to radio?

MS_xxxxMS_xxxx• Currently motion Currently motion

sensorssensors• Care about direction Care about direction

of signalof signal• Switch to laser Switch to laser

tripwires?tripwires?

PCB LayoutPCB Layout

Main ConsiderationsMain Considerations• MC9S12XD documentation suggestions:MC9S12XD documentation suggestions:

Decoupling capacitors on supply pairsDecoupling capacitors on supply pairs Star and spoke configuration of copper pourStar and spoke configuration of copper pour

• Headers for Microcontroller for easy routing Headers for Microcontroller for easy routing and for future debuggingand for future debugging

• Organization of PCB layout based on voltage Organization of PCB layout based on voltage (3.3V and 5 V)(3.3V and 5 V)

• Separating analog and digital ground Separating analog and digital ground

Estimated Size: 5 in. X 5 in.Estimated Size: 5 in. X 5 in.

PCB DocumentationPCB Documentation

Component Placement Component Placement

3.3 V POWER

5 V

Software Design/Development StatusSoftware Design/Development Status

Control Code for the Stepper MotorsControl Code for the Stepper Motors• Assembly-based test codeAssembly-based test code• Develop Lookup TableDevelop Lookup Table

CalibrationCalibration

• ““Learning curve” speed control for smoothnessLearning curve” speed control for smoothness Video Processing/Targeting CodeVideo Processing/Targeting Code

• Have basic algorithmsHave basic algorithms• Looking for C-based versionLooking for C-based version

User Interface CodeUser Interface Code• Should be fairly straightforwardShould be fairly straightforward

Flow Chart:Flow Chart:VisualVisualDetectDetect

Startup

Capture backgrounds

Wait

Motion?

Capture Area and Subtract

Target Found?

CoordinatesTo Motor Control

Yes

Yes

No

No

Flow Chart:Flow Chart:ControlControl

SoftwareSoftware

Lookup corresponding

position

Startup

Move to “0,0”position

Wait

Got Coords?

Yes

No

Move main assembly

Fire

Wait

Project Completion TimelineProject Completion Timeline 11stst week March – Finish tweaking PCB and week March – Finish tweaking PCB and

schematic, make (hopefully) final parts orderschematic, make (hopefully) final parts order 7 March – Proof of Parts/Final Schematic/Final 7 March – Proof of Parts/Final Schematic/Final

LayoutLayout Spring Break – Build assembly, begin developing Spring Break – Build assembly, begin developing

softwaresoftware 3-43-4thth week March – Test software on board as part week March – Test software on board as part

of developmentof development 11stst week April – Finish software, begin debugging week April – Finish software, begin debugging 15-20 April – Finish debugging/write user manual15-20 April – Finish debugging/write user manual 23 April – Present PSSCs!!23 April – Present PSSCs!!

TimelineTimeline

Questions / DiscussionQuestions / Discussion