zach allen chris chan ben wolpoff shane zinner project z: stereo range finding based on motorola...
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Zach Allen
Chris Chan
Ben Wolpoff
Shane Zinner
Project Z: Stereo Range Finding Based Project Z: Stereo Range Finding Based on Motorola Dragonball Processoron Motorola Dragonball Processor
OverviewOverview
Introduction System Overview Hardware Software Features Implementation Potential Issues Schedule
Milestones Contingency Plans Parts List Cost/Expense
Estimates Marketability Investment Returns Conclusion
IntroductionIntroduction
Purpose Familiarize and learn about embedded computing based on a state
of the art processor. Learn about Board Layout and Issues. Learn about an embedded operating system and issues associated
with a real-time environment. High Level Functionality
Precision range finding based on a stereo range finding system. Run embedded software.
Goals Fabricate the board and run simple code. Interface with video encoding chip and code for range finding. Run embedded Linux.
System Overview System Overview
Hardware Hardware
Motorola MC68VZ328 Dragonball Processor
32MB Flash Memory Conexant BT835 Graphics
Processor Grayscale 640x512 LCD Grayscale ASCII Text LCD NTSC Standard Cameras Xilinx FPGA Laser Pointer
SoftwareSoftware
Range Finding Image Processing LCD Interaction Memory Management Embedded Linux (uCLinux)
FeaturesFeatures
LCDs Plain ASCII Text LCD 640x512 TFT Grayscale LCD
Embedded Operating System uCLinux
Range Finding Dual Camera Stereo Vision Laser Pointer Tracking
Large Internal Storage 32 MB Flash Memory
Board ImplementationBoard Implementation
Board Design Layout in P-Cad Fabrication and Population
Hardware ImplementationHardware Implementation
Stereo Range finding 2 NTSC Cameras Conexant BT835 Graphics Processor
Up to 4 Analog NTSC Inputs Outputs in YCrCb Which Is Easily Converted To An RGB Signal Hardware Scaling and Filtering Low Cost Solution
1 Common Physical Point Are Found From Both Cameras (Laser Pointer). Based on the positions of the Cameras and the pixel differences in the red laser dot, a distance can be calculated.
Motorola Dragonball MC68VZ328 Processor TQFP Product Specs Can Be Found At:
http://e-www.motorola.com/webapp/sps/site/prod_summary.jsp?code=MC68VZ328
Software ImplementationSoftware Implementation
LCD Interaction Drivers
Range Finding Trigonometric Algorithm Convert to RGB Scale Find Common Laser Points BT835 Drivers
Memory Management
OS ImplementationOS Implementation
uCLinux uClinux is a derivative of Linux 2.0 kernel intended for
microcontrollers without Memory Management Units (MMUs). Common Linux API uCkernel < 512 kb uCkernel + tools < 900 kb Successfully Run On the Motorola Dragonball EZ Processor and
Other 68k Derivatives
ScheduleSchedule
Project Timeline Overall Layout of Tasks Timeline for Completion
Milestones Milestone 1 Milestone 2 Expo
Potential Problems Contingency Plans
MilestonesMilestones
Milestone 1 Board designed around Dragonball VZ processor, laid out, fabricated
and populated. Boot monitor designed, tested and working. Design, test, and run RAM interface and be able to run simple
instructions (nop). Milestone 2
Boots internally. Rangefinder built, and code developed for video chip interface, range
finding, and LCD display.
MilestonesMilestones
Expo Get system to run embedded Linux. Linux interfaces with graphics chip. Modify code to run on Linux. Final Debugging. Magical Demonstration and working project. It will be “the one.”
Potential Issues/ProblemsPotential Issues/Problems
Interfacing Between the Conexant BT835 and Motorola Dragonball Processor.
FPGA Bus Speed Issues. Addressing Issues With Large Amount of Memory. May Need Some External RAM Storage for LCD. Various Real Time Issues. Embedded Linux (Drivers, Compilation, Running) All or Nothing Fabrication Process (Finances). Learning All The Software (P-Cad, uCLinux, CodeWarrior/Microtek)
Contingency PlansContingency Plans
Instead of Stereo Range Finding Switch To Ultrasonic Range Finding. Select Different FPGA In The Event of Bus Speed Issues. Reduce Memory Size or Redesign Addressing Space In the Event of Address Space
Issues. May Need To Use Part of Flash Memory For Peripherals or Integrate DRAM (needs to
be done before board fabrication) if LCD needs External Storage. Will Need To Keep Real Time Issues In Mind and Modify Coding Style. Embedded OS
Drivers – Interact Directly with the Device Do Not Run an Embedded OS.
Parts ListParts List
Cost/Expense EstimatesCost/Expense Estimates
MarketabilityMarketability
Military Survey Sites Golf Aerospace Applications People That Like to Think They’re James Bond
Investment ReturnsInvestment Returns
ConclusionConclusion
Stereo Range Finding Motorola Dragonball VZ
Processor Real Time Embedded
Software Modularity in Design Sufficient Market Demand