ECE 477 Design Review ECE 477 Design Review Group 1 Group 1 Fall 2005 Fall 2005

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

Kwun Fung Yau

ChadCarrie

ZubinRupawala

ManojJacob

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

• Remote Controlled vehicle with a water cannon Remote Controlled vehicle with a water cannon mounted on a pan/tilt turret along with a mounted on a pan/tilt turret along with a cameracamera

• Controller by a remote user at a PC via 802.11b Controller by a remote user at a PC via 802.11b Wireless and navigated by the video cameraWireless and navigated by the video camera

• Intuitive PC interface (designed to be Intuitive PC interface (designed to be controlled like an FPS game – Mouse + WASD)controlled like an FPS game – Mouse + WASD)

• Sensors mounted on vehicle for obstacle Sensors mounted on vehicle for obstacle avoidance and possible target detectionavoidance and possible target detection

Project-Specific Success CriteriaProject-Specific Success Criteria

1.1. Ability to steer and drive the vehicle remotelyAbility to steer and drive the vehicle remotely

2.2. Ability to use a TCP stream over Ethernet to control Ability to use a TCP stream over Ethernet to control the vehicle using a PC (keyboard & mouse)the vehicle using a PC (keyboard & mouse)

3.3. Ability to control the aiming of the water cannon on Ability to control the aiming of the water cannon on two axes of movement using a real-time video feedtwo axes of movement using a real-time video feed

4.4. Ability to shoot the water cannon using a Ability to shoot the water cannon using a diaphragm pumpdiaphragm pump

5.5. Ability to detect and avoid obstacles using onboard Ability to detect and avoid obstacles using onboard sensorssensors

Block DiagramBlock Diagram

Collision Sensors(4 Sensors)

Collision Sensors(4 Sensors)

Turret Servos(2 Servo)

Turret Servos(2 Servo)

Turret stepperController

Turret stepperController

Water CannonPump Control

Water CannonPump Control

Water Cannon PumpWater Cannon Pump

MicrocontrollerMicrocontroller

Personal Computer

Personal Computer

Ethernet + Wireless Bridge

Ethernet + Wireless Bridge

802.11 b

WIFI

Drive Train Controller

Drive Train Controller

Drive Train MotorDrive Train Motor

WebcamWebcam

8

1

4

6

Component Selection RationaleComponent Selection Rationale

• Microcontroller – Freescale MC9S12NE64CPVMicrocontroller – Freescale MC9S12NE64CPV– CodeWarrior – reliable IDECodeWarrior – reliable IDE– 80 pins80 pins– Built in Ethernet interfaceBuilt in Ethernet interface– ATD (for sensors)ATD (for sensors)– PWM (for motors)PWM (for motors)

Other choices – Rabbit RCM3000 ? No!Other choices – Rabbit RCM3000 ? No!

No ATD!No ATD!

• Webcam – Linksys WVC11BWebcam – Linksys WVC11B– Wireless-B Video Camera Wireless-B Video Camera

• (Built in WEB server)(Built in WEB server)

• Water pump – Hargraves Advanced Fluidic Water pump – Hargraves Advanced Fluidic Solutions LTC W311-11 diaphragm pumpSolutions LTC W311-11 diaphragm pump– 30 PSI (5 to 7 feet) (w/o nozzle)30 PSI (5 to 7 feet) (w/o nozzle)

• Pan / Tilt servo – Devantech SRF0XPan / Tilt servo – Devantech SRF0X

Component Selection RationaleComponent Selection Rationale

Component Selection RationaleComponent Selection Rationale

• SensorsSensors– Analog – Analog – Sharp GP2Y0A02YKSharp GP2Y0A02YK (20cm to (20cm to

150cm)150cm)– Digital – Digital – LynxMotion IRPD Ver 2.0LynxMotion IRPD Ver 2.0 (4” to (4” to

26”)26”)• directional output (L / R / C )directional output (L / R / C )

• BatteryBattery– 19.2V battery pack from Hummer H2 19.2V battery pack from Hummer H2

(Steering servo)(Steering servo)– Sanyo KR1400AC +12VDC BatterySanyo KR1400AC +12VDC Battery (All (All

components)components)

Component Selection RationaleComponent Selection Rationale

• Vehicle Platform - 1:6 R/C Full-Function Vehicle Platform - 1:6 R/C Full-Function "Tricked" Hummer"Tricked" Hummer – Nice Plastic ShellNice Plastic Shell– Include battery packInclude battery pack– Huge SizeHuge Size

Packaging DesignPackaging Design

Packaging DesignPackaging Design

Packaging DesignPackaging Design

Similar Commercial ProductSimilar Commercial Product

-- Adventure CamAdventure Cam

Schematic/Theory of OperationSchematic/Theory of Operation3.3vdc

0

0

0

19.2vdc

00

PL4/COLLED

EXTRALED1

MII_TXER/KWH6/PH61

MII_TXEN/KWH5/PH52

MII_TXCLK/KWH4/PH43

MII_TXD3/KWH3/PH34

MII_TXD2/KWH2/PH25

MII_TXD1/KWH1/PH16

MII_TXD0/KWH0/PH07

MII_MDC/KWJ0/PJ08

MII_MDIO/KWJ1/PJ19

VDDX110

VSSX111

MII_CRS/KWJ2/PJ212

MII_COL/KWJ3/PJ313

MII_RXD0/KWG0/PG014

MII_RXD1/KWG1/PG115

MII_RXD2/KWG2/PG216

MII_RXD3/KWG3/PG317

MII_RXCLK/KWG4/PG418

MII_RXDV/KWG5/PG519

MII_RXER/KWG6/PG620

SCI0_RXD/PS021

SCI0_TXD/PS122

SCI1_RXD/PS223

SCI1_TXD/PS324

SPI_MISO/PS425

SPI_MOSI/PS526

SPI_SCK/PS627

SPI_SS/PS728

ECLK/PE429

VSSX230

VDDX231

RESET32

VDDPLL33

XFC34

VSSPLL35

EXTAL36

XTAL37

TEST38

IRQ/PE139

XIRQ/PE040

BKGD/MODC41

PL4/COLLED42

PL3/DUPLED43

VSS244

VDD245

PHY_RBIAS46

PHY_VSSA47

PHY_VDDA48

PHY_VDDTX49

PHY_TXP50

PHY_TXN51

PHY_VSSTX52

PHY_RXP53

PHY_RXN54

PHY_VDDRX55

PHY_VSSRX56

PL2/SPDLED57

VDDR58

PL1/LNKLED59

PL0/ACTLED60

PAD0/AN061

PAD1/AN162

PAD2/AN263

PAD3/AN364

PAD4/AN465

PAD5/AN566

PAD6/AN667

PAD7/AN768

VDDA69

VRH70

VRL71

VSSA72

VSS173

VDD174

PT7/TIM_IOC775

PT6/TIM_IOC676

PT5/TIM_IOC577

PT4/TIM_IOC4/78

PJ7/KWJ7/IIC_SCL79

PJ6/KWJ6/IIC_SDA80

U2

MC9S12NE64

Y2CRYSTAL 25MHz

HEADLIGHT1

GNDS1

VCC2

DIR3

VCC4

OUT15

OUT16

GND7

PWM8

GND9

GNDS10

GNDS20

VCC19

STATUS218

VCC17

OUT216

OUT215

GND14

STATUS113

GND12

GNDS11

H2

TPIC0107B

HEADLIGHT2

1234567891011121314151617181920

J32

HEADER 20

C27

.22

1234567891011121314151617181920

J34

HEADER 20

TAILLIGHT1

123456789

1011121314151617181920

J35

HEADER 20

123456789

1011121314151617181920

J36

HEADER 20

BKGND DEBUG

3.3vdc

TAILLIGHT2

C30

.22

C31

.22

EXTRALED2

R2849.9

R2949.9

R31RBIAS

REG1SDREG2SD

D15DIODE

R3249.9

R3349.9

C33

.22

C34

.22

MOTORPWM

C40.22

C41

470pF

OPTION2

*RESET

PL0/ACTLEDPL1/LNKLED

PL2/SPDLED

PL3/DUPLED

OPTION1

THE MICROCONTROLLER CIRCUIT

Ethernet Crystal SchematicEthernet Crystal Schematic• Created Created

following the following the recommended recommended FreeScale FreeScale SchematicSchematic

0

Y2CRYSTAL 25MHz

R26 10M

C2815pF

C2915pF

0

ETHERNET CRYSTAL SETUP

C40.22

C41

470pF

C43

4700pF

R42

2.2k

*RESET

IR Sensors2 and ServosIR Sensors2 and Servos• IR Sensors2 IR Sensors2

(Front and Rear) (Front and Rear) have an analog have an analog output so they’re output so they’re connected to the connected to the ATDATD

• Servos are Servos are connected to the connected to the TIM channels TIM channels which can be which can be used as simple used as simple PWM’sPWM’s

• Servos are 3.3V Servos are 3.3V logic capablelogic capable

• 0.1uF capacitors 0.1uF capacitors were added as were added as bypass bypass capacitors to the capacitors to the IR Sensor2’sIR Sensor2’s

5gnd

5vdc

5gnd

5vdc2

5vdc2

BACK

FRONT5vdc2

123

J27

PANSERVO

123

J30

IR SENSOR2

123

J31

IR SENSOR2

Front and Back infrared sensors

5gnd

123

J38

STEERINGSERVO

pin 1: output pin 2: 5gnd pin3: 5vdc

123

J39

TILTSERVOC57

.1uF

5gnd

C58.1uF

IR Sensors (Digital)IR Sensors (Digital)• IR Sensors are IR Sensors are

Digital sensors Digital sensors that require 2 that require 2 control signals control signals and 1 status and 1 status signal to the signal to the microcontrollemicrocontrollerr

• 0.01uF 0.01uF capacitors capacitors were added as were added as bypass bypass capacitorscapacitors

C25.01uF

5gnd

C26.01uF

12

J28IR POWER

12

J29IR POWER

123

J33IR SENSOR

123

J37IR SENSOR

5vdc

IR Sensors (Sides)

Power Options and Optional LED’sPower Options and Optional LED’s

• ““Power Options” Power Options” were added to allow were added to allow for expandabilityfor expandability

• Each power option Each power option allows for a 5V 1A allows for a 5V 1A loadload

• The schematics for The schematics for the Power Options the Power Options were built using the were built using the Vishay Si1865DL Vishay Si1865DL application notesapplication notes

• Both require 1 pin to Both require 1 pin to turn on or off the turn on or off the switchswitch

5vdc2

C45

10uF

C461uF

R51

220

EXTRALED2

12

J50HEADER 2

12

J47

OUTPUT1C471uF

R21

D22

D23

R1,C16

ON/OFF5

S24

MOS3

Si1865DL

R4733k

R482k

POWER OPTION CONTROL #1

OPTION1

5gnd

3.3vdc

C48

10uF

C491uF

12

J48

OUTPUT2C501uF

R21

D22

D23

R1,C16

ON/OFF5

S24

MOS4

Si1865DL

R4933k

R502k

POWER OPTION CONTROL #2

OPTION2

5gnd

12

J40HEADER 2

5vdc2

12

J42HEADER 2

R35

220

R36

220

Optional LED's

HEADLIGHT2

HEADLIGHT1

TAILLIGHT2

TAILLIGHT1

EXTRALED1

R37

220

R38

220

R39

220

12

J43HEADER 2

12

J44HEADER 2

12

J46HEADER 2

Power SupplyPower Supply

• Our project has two 5V 3A(max) supply regulators and one 3.3V 3A(max)Our project has two 5V 3A(max) supply regulators and one 3.3V 3A(max)• Each of the two 5V regulators have a Shutdown control which is isolated internally from the outputEach of the two 5V regulators have a Shutdown control which is isolated internally from the output• The 3.3V regulator Shutdown control is tied to ground to keep the regulator on at all timesThe 3.3V regulator Shutdown control is tied to ground to keep the regulator on at all times• The Master Power Switch will disconnect both the 19.2V battery and the 12V batteryThe Master Power Switch will disconnect both the 19.2V battery and the 12V battery• The capacitors on the 5V regulators were given as an example in an application note for the regulatorsThe capacitors on the 5V regulators were given as an example in an application note for the regulators• Overkill on the input and output capacitors was decided to be better than underkillOverkill on the input and output capacitors was decided to be better than underkill

19.2gnd

C56330uF

12VDC

19.2gnd

19.2VDC

12vdc

5vdc2

246

135

J53DPDT SWITCH

VIN1

OUTPUT2

GND3

FB4

SD5

REG5

AP1501_5

D17DIODE SCHOTTKY

5gnd

12

J7

12VDC BATTERY

1 2

J819.2VDC BATTERY

12vdc to 5vdc power regulator

L530uH

19.2 VDC BATTERY (for Motor)

12gnd

19.2vdc

Rail #2

MASTER POWER SWITCH

C51

1000uF

C52330uF

5gnd 0

C53

1000uF

REG2SD

12vdc

C55 1000uf

5vdc

C54330uF

VIN1

OUTPUT2

GND3

FB4

SD5

REG3

AP1501_5

VIN1

OUTPUT2

GND3

FB4

SD5

REG4

AP1501_3

D9DIODE SCHOTTKY

12vdc12vdc to 5vdc power regulator

L330uH

REG1SD

5gnd

12vdc to 3.3vdc power regulator

C36330uF

Rail #1

C38 1000uf

D16DIODE SCHOTTKYL4

33uH

C42

1000uF3.3vdc

C44330uF

RJ45 CircuitRJ45 Circuit

• This This schematic schematic was was recommenderecommended in the d in the FreeScale FreeScale datasheetdatasheet

0

3.3vdc

0

PL4/COLLED

R2849.9

R2949.9

R3249.9

R33 49.9

C35.01uF

T+1

CT2

T-3

R+4

CT5

R-6

EART

HGND

8

RJ2

RJ-45 CONNECTOR

PL3/DUPLED

Water PumpWater Pump• The switch is a The switch is a

SUD50N02-06 SUD50N02-06 Vishay Power Vishay Power MOSFETMOSFET

• The gate of the The gate of the MOSFET is MOSFET is controlled by the controlled by the microcontroller microcontroller to turn it on and to turn it on and offoff

• The MOSFET The MOSFET also has a built also has a built in flyback diode in flyback diode rated at 30Arated at 30A

• The water pump The water pump is a 12V motoris a 12V motor

12vdc

12gnd

G1

D4

S3

MOS5

SUD50N02-0612

J41

WATERPUMP

WATERPUMP SWITCH

PCB LayoutPCB Layout

Layout – Top RightLayout – Top Right• Webcam (1A) Webcam (1A)

and Wireless and Wireless Bridge (1A) Bridge (1A)

• IR Sensor2 IR Sensor2 (Analog) (Analog) (0.2A)(0.2A)

• RJ-45 jackRJ-45 jack• MicrocontrollMicrocontroll

er and its er and its capacitorscapacitors

• Power Power MOSFET MOSFET (0.5A) for the (0.5A) for the Water PumpWater Pump

• Servos Servos (0.75A(0.75A))

Layout – Bottom RightLayout – Bottom Right

• Ethernet Ethernet LED’sLED’s

• Debug 3x2 Debug 3x2 HeaderHeader

• Light LED Light LED HeadersHeaders

• Ethernet Ethernet CrystalCrystal

Layout – Top LeftLayout – Top Left• Power Traces Power Traces

(215mils, 7A & (215mils, 7A & 180mils, 5A)180mils, 5A)

• 3.3V Regulator 3.3V Regulator (.5A)(.5A)

• Intelligent PWM Intelligent PWM H-Bridge (1A)H-Bridge (1A)

• IR Sensor IR Sensor (Digital) (0.2A)(Digital) (0.2A)

• Master Power Master Power Switch DPDTSwitch DPDT

• 33uH inductor for 33uH inductor for 3.3V Regulator3.3V Regulator

Layout – Bottom LeftLayout – Bottom Left• 5V Regulators 5V Regulators

(2.5A each)(2.5A each)• Power Option Power Option

Load Switches Load Switches (1A each)(1A each)

• 2x1000uF input 2x1000uF input capacitors on capacitors on each 5V each 5V RegulatorRegulator

Software Design/Development StatusSoftware Design/Development Status

• Two PartsTwo Parts– PC Interface (VS .NET 2003 C#)PC Interface (VS .NET 2003 C#)

• Kbd / MouseKbd / Mouse• TCP ClientTCP Client

– Microcontroller Subroutines (Codewarrior C)Microcontroller Subroutines (Codewarrior C)• Servo controller subroutinesServo controller subroutines• TCP interface (server) routinesTCP interface (server) routines

• Development StatusDevelopment Status– PC InterfacePC Interface

• Specs, TCP communication, input captureSpecs, TCP communication, input capture– MicrocontrollerMicrocontroller

• Rudimentery TCP server (OpenTCP Stack)Rudimentery TCP server (OpenTCP Stack)• Logic for servo controllers designedLogic for servo controllers designed

Project Completion TimelineProject Completion Timeline

10/10 10/17 10/21 10/31 11/7 11/14 11/21 11/28 12/5Week Of

Testing

Mounting and BuildingSoftware Designing

IntegrationPackaging

Questions / DiscussionQuestions / Discussion