2004 CAPSTONE CDR2004 CAPSTONE CDR

Team SAFE Members Anders Fornberg Alejandro Henriquez Shannon Lahr Aaron Lyons Sean Groves

Shannon

Presentation OverviewPresentation Overview

Project Overview System Specification Subsystem Design

Processor & FPGA Power & Structures Sensors & Motors

Current Status and Project Goals

Shannon

Project DescriptionProject Description

• Modified RC car that can sense an accident threat and take corrective action

• Detects and Prevents multiple accidents• Head on Collisions• Merging into blind spots• Backing into Stationary Objects

Shannon

Modes of Operation 3 Modes of operation 1) User has complete control of the RC car.

2) Primary: SAFE System provides audible warning when an accident is immanent. If corrective action is not taken than Safe System takes control.

3) When accident is immanent, SAFE System takes immediate action and assumes control from the user.

Shannon

System Overview

Aaron

Interface Specification

Aaron

Interrupt Type

Aaron

Current Speed

Aaron

Speed Action

Aaron

Turn Action

Aaron

Core Microprocessor MC68HC11E0

Basic Functionality Manager Memory access Data execution FPGA IRQ requests

Sensors LCD control

20x4 DMC-20434N RS232

Communication Downloading Data

VRH52 VRL51

PA331

PA430

PA529

PA628

PA727

PB042

PB141

PB240

PB339

PB438

PB537

PB636

PB735

PC09

PC110

PC211

PC312

PC413

PC514

PC615

PC716

PD020

PD121

PD222

PD323

PD424

PD525

E5

VDD26

XT8

EX7

RST17

IRQ19

XIRQ18

MODB2

PA034

PA133

PA232

PE043

PE145

PE247

PE349

PE444

PE546

PE648

PE750

AS4MODA

3

R/W6

U1

MC68HC11E0

Alex

FPGA XCS10

Basic Functionality Work Horse Read Sensors Chip Select

Send Interrupts (XIRQ) Provide HC11 with:

Interrupt reg. Speed reg. Distance reg.

Receive Data from HC11 Speed Action reg. Turn Action reg.

Interrupt car control Speed Controller Steering Controller

PROGRAM55

CCLK73

I/O70

SGCK1(I/O)A1510

SGCK2(I/O)29

SGCK3(I/O)51

SGCK4(I/O)DOUT72

PGCK1(I/O)A1613

PGCK2(I/O)35

PGCK3(I/O)57

PGCK4(I/O)A178

TDI(I/O)15

TDO(I/O)75

TMS(I/O)17

TCK(I/O)16

MODE32

NC30

NC34

DIN(I/O)71

I/O69I/O67I/O65I/O61I/O59I/O58I/O56

HDC36

LDC(I/O)37

INIT(I/O)41DONE53

I/O60

(I/O)CS1/A279

(I/O)WS/AO77

I/O66

(I/O)A1714

I/O26

I/O18

I/O19

I/O20

I/O23

I/O24

I/O25

I/O27

I/O28

I/O38

I/O39

I/O40

I/O44

I/O45

I/O46

I/O47

I/O48

I/O49

I/O50

I/O62

I/O68

(I/O)A380

(I/O)A481

(I/O)A582

(I/O)A683

(I/O)A784

(I/O)A83

(I/O)A94

(I/O)A105

(I/O)A116

(I/O)A127

(I/O)A138

(I/O)A149

U31

XCS10/LCC

Alex

Alex

Memory Map

Alex

Power

Shannon

Power Continued

20ft tether to power car during testing

3 9V batteries in parallel for expo 150mAh/battery = 450mAh

Expected mAh of project: Board = 100mA 6 Sensors = 180 mA LCD Screen = 4.5mA Total = Approximately 300mA

Shannon

Structures

Shannon

Structures Continued

Shannon

Structures Continued

Shannon

Structures Continued

Shannon

Drive/Steering Motor Control

Anders

Pulse Steering Motor Control

00.5

11.5

2

2.53

3.5

44.5

0 0.5 1 1.5 2 2.5 3 3.5

Time [ms]

Am

pli

tud

e [

V] Straight

Full Left

Full Right

Slow Right

Slow Left

Steering Motor Waveform

Pulse Steering Motor Motor

Burst Rate 20ms

Forward Pulse Width 1.5ms

Max Left 1ms

Max Right 2ms

Slight Left 1.4ms

Slight Right 1.6msAnders

Pulse Drive Motor Control

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

0 1 2 3 4

Time [ms]

Am

pli

tud

e [

V]

Neutral

Max Forward

Max Reverse

Pulse Drive Motor

Burst Rate 20ms

Neutral PW 1.5ms

Max Forward PW

1ms

Max Reverse PW

2ms

Vmax 4.125

Drive Motor Waveform

Anders

Sensor Package

Problems Encountered•Voltage level would drift for various reason•Highly Dependent on surface tilt and material•Non linear output at large distances•“Sort of” reliable at < 40 inches•Needed use of op-amp, AC to DC, and A-D converter

9 V Sensors

0

100

200

300

400

500

600

700

0 10 20 30 40 50 60 70

Distance [inches]

Ou

tpu

t [m

V]

Anders

Sensor Package SRF04Voltage 5v

Current 30mA Typ. 50mA Max

Maximum Range 3 m

Minimum Range 3 cm

Densitivity Detect a 3cm diameter stick at >2 m

Size 1.75”w x .625”h x .5” d

Anders

Sensor SRF04 at 14 in high

0

2

4

6

8

10

12

14

0 20 40 60 80 100 120

Distance (inches)

Pu

lse

Wid

th (

mS

ec

)

Sensor Data

Equation For Linear Section

t=.1461*d+.0144

Anders

Sensor Field

Anders

Current Status

Processor and Memory

11 10

74HC14

ADDR4VRH52 VRL51

PA331

PA430

PA529

PA628

PA727

PB042

PB141

PB240

PB339

PB438

PB537

PB636

PB735

PC09

PC110

PC211

PC312

PC413

PC514

PC615

PC716

PD020

PD121

PD222

PD323

PD424

PD525

E5

VDD26

XT8

EX7

RST17

IRQ19

XIRQ18

MODB2

PA034

PA133

PA232

PE043

PE145

PE247

PE349

PE444

PE546

PE648

PE750

AS4MODA

3

R/W6

U1

MC68HC11E0

ADDR5

11 10

74HC14

ADDR6VCC

ADDR1

ADDR2ADDR3

ADDR7

VCC

ADDR1

/E

ADDR6

DIR1

A89

B811B712B613B514B415B316B217B118

G19

VCC20

A12

A23

A34

A45

A56

A67

A78

U27

MM74HC245A

VCC

VCC

D011

D112

D213

D315

A117

A84

A139 A128

A106

A021

A123

A224

A325

A426

A51

A62

A73

A95

A1410

D416

D517

D618

D719

VCC28

OE22

WE27

CE20

U34

CY62256

A9A8

A11A10

A14A13A12

A15

1K

1uF

ADDR12

ADDR14ADDR13

D1D0

D2

OUT5

Y1

OSC8

D3D4

8Mhz

D5

R15RES

D6D7

D0D1D2

ADDR5

ADDR7

D3D4

ADDR11

D5D6

ADDR8

D7

D0

VCC

ADDR9

D1

ADDR10

Decoupleing Caps needed

ADDR11ADDR12

D2

ADDR0

ADDR13ADDR14

ADDR10

ADDR15

D3

1

2

SW2

SW TACT-SPST-2

DATA0

D1 R1

C1

3 4

U24B

74HC14

5 6

U24C

74HC14

RESET SWITCH

From Xilinx Page

4

56

U11B

74HC08

VCC

DONE

DATA1

ADDR4

D4

DATA2

11 10

74HC14

WE1

GN

D14

CE20

OE22

VCC28

I/O011

I/O112

I/O213

I/O315

I/O416

I/O517

I/O618

I/O719

A010

A19

A28

A37

A46

A55

A64

A73

A825

A924

A1021

A1123

A122

A1326

A1427

U37

AT28LV256

DATA3

ADDR15

ADDR9

ADDR[0:15]

D03

D14

D27

D38

D413

D514

D617

D718

OE1 LE

11

Q02

Q15

Q26

Q39

Q412

Q515

Q616

Q719

U26

CD74HC373

DATA4

ADDR8

D5 DATA5

DIR1

A89

B811B712B613B514B415B316B217B118

G19

VCC20

A12

A23

A34

A45

A56

A67

A78

U23

MM74HC245A

DATA6DATA7

D6

ADDR0

4.7K SIP

VCC

ADDR2

VCC

D7

ADDR3

Sean

Processor and Memory

Wired and tested Runs Code from EPROM Fully functional RAM

Serial Port Construction New clock

Sean

Current Status

FPGA and EPROM

DONE

VCC

To processor and memory page

300 ohm

VCC

4.7K

PROGRAM55

CCLK73

I/O70

SGCK1(I/O)A1510

SGCK2(I/O)29

SGCK3(I/O)51

SGCK4(I/O)DOUT72

PGCK1(I/O)A1613

PGCK2(I/O)35

PGCK3(I/O)57

PGCK4(I/O)A178

TDI(I/O)15

TDO(I/O)75

TMS(I/O)17

TCK(I/O)16

MODE32

NC30

NC34

DIN(I/O)71

I/O69I/O67I/O65I/O61I/O59I/O58I/O56

HDC36

LDC(I/O)37

INIT(I/O)41DONE53

I/O60

(I/O)CS1/A279

(I/O)WS/AO77

I/O66

(I/O)A1714

I/O26

I/O18

I/O19

I/O20

I/O23

I/O24

I/O25

I/O27

I/O28

I/O38

I/O39

I/O40

I/O44

I/O45

I/O46

I/O47

I/O48

I/O49

I/O50

I/O62

I/O68

(I/O)A380

(I/O)A481

(I/O)A582

(I/O)A683

(I/O)A784

(I/O)A83

(I/O)A94

(I/O)A105

(I/O)A116

(I/O)A127

(I/O)A138

(I/O)A149

U31

XCS10/LCC

GND6

TDI1

TMS2

TCK3

TDO4

VCC5

JTAG Conn.

VCC33

Data

(DO

)1

D69

GND

11

D712

CEO

bar

13

D514D315D116TD017VCC18VC

CO19

VCC

20

D22

CLK

3

TDI4

TMS5

TCK6

D4/CFbar7

OE/RESETbar8

CEba

r10

U29

XC18V256

VCC

Sean

FPGA and EPROM

Sean

001

111

Problems Encountered

Learning Curve Wire-wrap Issues B-scan for FPGA Xilinx project navigator link to

Impact Power-Ground Short Inaccurate Part Specifications Labeling

Sean

Division of Labor•Aaron Lyons

•Software Development

•Core Microprocessor

•RC Car Test & Modification

•Alex Henriquez•Core Microprocessor

•Software Development

•Sensors

•Anders Fornberg•Sensors

•RC Car Test

•Motor Control

• Sean Groves• Power• Core Microprocessor• Motor Control

• Shannon Lahr• Motor Control • Power• RC Car Test

• Everyone• Documentation• Project/Deadline

Management

Lead for the taskSean

Milestone 1

FPGA control of drive/steering and Chip Select

Sampling from Sensors Interrupt Controller Dip Switches RS232 Communication

Sean

Milestone 2

Boot Monitor LCD Implementation Mounting Specifications LED/Audio Integration Subsystem Integration Multiple Mode Operation

Sean

Future Concerns

Physical limitations that software can not cope with

Tracking Speed of Sensors Board integrity during testing Low Speed Response

Sean

Project SchedualeProject ScheduleProject Schedule

Sean

Parts List/Cost Estimate Main Board Description Price Quantity Total

-Processor MC68HC11 $0 1 $0

-EPROM Fairchild 27C512 $0 1 $0 -FPGA Spartan XCS10 $0 2 $0

-RAM Cypress 62258 $0 1 $0 -Board $25 1 $25 -Plastic Standoffs $0.20 10 $2 SensorsFront, Back, Side, Angle Devantech SRF04 Ranger $35 6 $210

Other Parts-RC Car Rustler by Traxxas $165 1 $165

-Battery Charger AC/DC Charger $40 1 $40

-Battery 7.2V Battery $15 2 $30

-Battery 9 V Battery $3 8 $24

-Plexi Glass $5 10 x 12 $5

-Metal $10 10 x 12 $10

-Metal Standoffs $1.70 20 $34.00 -Tether ~$.10/ft 40ft $4

Total $548.60

Sean

QUESTIONS???QUESTIONS???