ECE 477 Design Review ECE 477 Design Review Team 10 Team 10 Spring 2008 Spring 2008

Paste a photo of team members here, annotated with names of team members.

Paul Ng

Daniel BixbyDavid Collins

Matt Ligocki

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

Overall ObjectivesOverall Objectives

• Create an Unmanned Aerial Vehicle (UAV) which is capable of Create an Unmanned Aerial Vehicle (UAV) which is capable of the following:the following:

• Autonomous flightAutonomous flight• GPS navigationGPS navigation• Ground photographyGround photography

Project Overview (cont)Project Overview (cont)

Planned implementationPlanned implementation• Multiplex Easy Glider RC planeMultiplex Easy Glider RC plane• Manual takeoff, landing Manual takeoff, landing • Controlled by PCB at cruising altitudeControlled by PCB at cruising altitude• PCB triggers digital camera upon reaching GPS waypointsPCB triggers digital camera upon reaching GPS waypoints

Project Overview (cont)Project Overview (cont)PCB Plane Control - InPCB Plane Control - In• Orientation - Thermopile tilt sensingOrientation - Thermopile tilt sensing• Velocity, position – GPS ModuleVelocity, position – GPS Module• Destination data – Pre-written SD CardDestination data – Pre-written SD Card

OutOut• Drives servos for ailerons, rudder, elevatorDrives servos for ailerons, rudder, elevator• Drives motor ESCDrives motor ESC

Project-Specific Success CriteriaProject-Specific Success Criteria

• An ability to fly an R/C plane autonomously An ability to fly an R/C plane autonomously once airborne, based on pre-programmed once airborne, based on pre-programmed waypoints.waypoints.

• An ability to decode and display GPS An ability to decode and display GPS coordinates.coordinates.

• An ability to control motor speed and control An ability to control motor speed and control surface position.surface position.

• An ability to capture still images.An ability to capture still images.• An ability to read waypoints from a MicroSD An ability to read waypoints from a MicroSD

removable storage device.removable storage device.

Block DiagramBlock Diagram

Component Selection RationaleComponent Selection RationaleMicrocontrollerMicrocontroller

• Chosen component: MC9S12A64Chosen component: MC9S12A64– Full assortment of required interfacesFull assortment of required interfaces– 16 bit PWM16 bit PWM– Dual SCI portsDual SCI ports– Small 80 pin package and modest amount Small 80 pin package and modest amount

of memoryof memory– Familiarity with processor family and Familiarity with processor family and

development environmentdevelopment environment• Competing Alternative: HCS12E seriesCompeting Alternative: HCS12E series

Component Selection RationaleComponent Selection RationaleGPSGPS

• Chosen component: ETek EB-85AChosen component: ETek EB-85A– 2.6 m accuracy using DGPS and 2.6 m accuracy using DGPS and

WAASWAAS– 5 Hz refresh rate5 Hz refresh rate– Built in antennaBuilt in antenna– Extremely light weight: 0.52 ozExtremely light weight: 0.52 oz– Lower price: $100 vs $200Lower price: $100 vs $200

• Competing Alternative: Garmin Competing Alternative: Garmin GPS-18GPS-18

ETek EB-85A

Garmin GPS-18

Component Selection RationaleComponent Selection RationaleAirframeAirframe

• Chosen component: Multiplex Easy Glider ElectricChosen component: Multiplex Easy Glider Electric– Foam construction for durability and easy repairFoam construction for durability and easy repair– Glider design for stable flightGlider design for stable flight– Large 71 in wingspanLarge 71 in wingspan– Included ailerons for flight stabilizationIncluded ailerons for flight stabilization

• Competing Alternatives: Multiplex Easy Star, Super Competing Alternatives: Multiplex Easy Star, Super Cub ElectricCub Electric

Easy Glider Electric Easy Star Super Cub Electric

Packaging DesignPackaging Design

• Plane is the packagePlane is the package• PCB and camera must fit inside fuselage PCB and camera must fit inside fuselage

along with the standard components.along with the standard components.• Components must not exceed EasyGlider Components must not exceed EasyGlider

limit of 31 oz.limit of 31 oz.• Components must be balanced with the Components must be balanced with the

structure of the plane.structure of the plane.• Excessive mods can alter the aerodynamics Excessive mods can alter the aerodynamics

of the plane.of the plane.

Packaging Design - WeightPackaging Design - Weight

Packaging Design - SpacePackaging Design - Space

Critical ItemsCritical Items• PCB - will be mounted on edges of cockpit PCB - will be mounted on edges of cockpit

area, PCB component height requires some area, PCB component height requires some hollowing out of cockpit plughollowing out of cockpit plug

• Upgraded Motor – virtually same size as the Upgraded Motor – virtually same size as the stock motor, fits in original spot in plane stock motor, fits in original spot in plane nosenose

• Camera – most difficult, requires the most Camera – most difficult, requires the most substantial foam cuttingsubstantial foam cutting

Packaging Design - SpacePackaging Design - Space

Outside FuselageOutside Fuselage• Aileron Servos (2)Aileron Servos (2)• Thermopiles (4)Thermopiles (4)• GPS ModuleGPS ModuleInside FuselageInside Fuselage• Rudder, Elevator ServosRudder, Elevator Servos• Radio ReceiverRadio Receiver• Drive Motor ESCDrive Motor ESC• CameraCamera• BatteryBattery• Drive MotorDrive Motor• GearboxGearbox

Packaging Design - BalancePackaging Design - Balance

• Nose-heavyNose-heavy• Battery, GPS Module used for final balancing, lever-Battery, GPS Module used for final balancing, lever-

arm manipulationarm manipulation

Schematic (Microcontroller)Schematic (Microcontroller)

Schematic (Clock Generator)Schematic (Clock Generator)

•Standard Pierce Oscillator.

•Follows Manufacturer's Specifications and Requirements for MCU.

Schematic (Servo Controls)Schematic (Servo Controls)

SERVOS

Manual Override

Schematic (GPS Connections)Schematic (GPS Connections)

LEVEL TRANSLATORSGPS

Module

2.8V Regulator

Schematic (Camera)Schematic (Camera)

Darlington Array

Works by pulling low switches on HP Photosmart R707 camera.

Schematic (Power Supply)Schematic (Power Supply)

Buck Non-Synchronous Step Down Voltage Regulator

Available in both 3.3V and 5V ranges.

Up to 87% Efficiency.

Schematic (LCD Interface)Schematic (LCD Interface)

Uses a MAX3227 Level translator to convert from CMOS to RS-232.

Converts from 0-5V to -12 to +12V.

Schematic/Theory of OperationSchematic/Theory of Operation

Level Translators to 3.3V

Schematic (Thermopile)Schematic (Thermopile)

Low Power Amplifiers

Thermopiles

Thermopiles

Schematic (Miscellaneous)Schematic (Miscellaneous)Voltage Sensing Circuit

Radio Receiver

Voltage Sensing Circuit used to gauge battery life to estimate flight time remaining.

10V Zener used for voltage protection

PCB LayoutPCB Layout

• Dimensions: 3.5”x2.5”Dimensions: 3.5”x2.5”• High component densityHigh component density• 0805 SMD resistors/capacitors0805 SMD resistors/capacitors• 2 Power supplies: 3.3V, 5V2 Power supplies: 3.3V, 5V• Up to 3A current draw per railUp to 3A current draw per rail• Few sensitive signalsFew sensitive signals• Nets routed by priorityNets routed by priority• Status: 100% Placed, 94% RoutedStatus: 100% Placed, 94% Routed

(Not including ground planes)(Not including ground planes)

PCB LayoutPCB Layout

Top CopperTop Copper

PCB LayoutPCB Layout

Bottom CopperBottom Copper

PCB LayoutPCB Layout

MicrocontrollerMicrocontroller

PCB LayoutPCB Layout

Clock/CameraClock/Camera

PCB LayoutPCB Layout

Clock/CameraClock/Camera

PCB LayoutPCB Layout

Power SupplyPower Supply

PCB LayoutPCB Layout

ThermopileThermopile

PCB LayoutPCB Layout

Plane ControlPlane Control

PCB LayoutPCB Layout

SD Card/LCD/GPSSD Card/LCD/GPS

PCB LayoutPCB Layout

SD Card/LCD/GPSSD Card/LCD/GPS

Software DesignSoftware Design

• SCI and IOC interrupts fill variables then set SCI and IOC interrupts fill variables then set flags for GPS and radio interfacingflags for GPS and radio interfacing

• Timer interrupt used to create time stampsTimer interrupt used to create time stamps• MicroSD interface is polling basedMicroSD interface is polling based• Overall operation in a main loopOverall operation in a main loop• Each module is written in its own source and Each module is written in its own source and

header C filesheader C files

Software Development StatusSoftware Development Status

• Completed Interfaces using 9S12C32:Completed Interfaces using 9S12C32:– Timer counter used for time stampingTimer counter used for time stamping– MicroSD card read and write over SPIMicroSD card read and write over SPI– Digital camera control using several GPIO pinsDigital camera control using several GPIO pins– Radio receiver tracking with input captureRadio receiver tracking with input capture– Servo motor control with 16 bit PWMServo motor control with 16 bit PWM

• Tasks to complete next:Tasks to complete next:– Write GPS interface for 9S12C32Write GPS interface for 9S12C32– Port code to 9S12A64 custom dev boardPort code to 9S12A64 custom dev board– Write stabilization and navigation softwareWrite stabilization and navigation software

Project Completion TimelineProject Completion Timeline

WeekWeek 2/24 – 2/24 – 3/13/1

3/2 – 3/2 – 3/83/8

3/9 – 3/9 – 3/153/15

3/16 – 3/16 – 3/223/22

3/23 – 3/23 – 3/293/29

3/30 – 3/30 – 4/54/5

4/6 – 4/6 – 4/124/12

4/13 – 4/13 – 4/194/19

4/20 – 4/20 – 4/264/26

4/27 – 4/27 – 5/35/3

88 99 1010 1111 1212 1313 1414 1515 1616 1717

Finalize PCBFinalize PCB

Populate PCBPopulate PCB

Software DesignSoftware Design

PackagingPackaging

TestingTesting

DocumentationDocumentation

Questions / DiscussionQuestions / Discussion