ece 477 design review team 1 spring 2008
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ECE 477 Design Review Team 1  Spring 2008. Alan Bernstein. Ian Alsman. Ilya Veygman. Darshan Shah. Outline. Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation PCB layout

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ece 477 design review team 1 spring 2008

ECE 477 Design Review Team 1  Spring 2008

Alan Bernstein

Ian Alsman

Ilya Veygman

Darshan Shah

outline
Outline
  • Project overview
  • Project-specific success criteria
  • Block diagram
  • Component selection rationale
  • Packaging design
  • Schematic and theory of operation
  • PCB layout
  • Software design/development status
  • Project completion timeline
  • Questions / discussion
project overview
Project Overview
  • Design of a turret with an armature structure that holds an airsoft gun
  • Detect and fire at enemies through both motion and threshold detection
  • Gun will pan/tilt based off coordinates translated by the microcontroller from the video feed
  • Friendlies can disarm the weapon with a remote
project specific success criteria
Project-Specific Success Criteria

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

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

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

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

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

component selection rationale
Component Selection Rationale
  • Microcontroller vs. DSP
    • MC9S12XD (144-pin LQFP)
      • 80 MHz
      • 119 GPIO
      • Peripherals: 2 I2C, 6 SCI, 3 SPI
      • External Memory Bus Expansion (XEBI)
      • Easy to Program (JTAG/BDM)
      • Takes only 3.3V supply  much easier
    • DSP56371 (80-pin LQFP) and HC9S12 (32-pin DIP)
      • DSP: 150 MHz, Micro: 8MHz (control code)
      • GPIO: 39 pins
      • No External Memory Bus Expansion
      • DSP instruction set (i.e. filtering)
      • No means of programming
      • Needs 5V, 3.3V and 1.25V supplies  complicated!
packaging design
Packaging Design

Main Considerations

  • Stability and Mobility
  • Modifiable
  • Housing for PCB, power supply, and other peripherals
  • Motors and Gearing
  • Gun Mount
  • Bearings
schematic theory of operation
Schematic/Theory of Operation
  • Overview:
    • ON BOARD
      • μC
      • Camera
      • Level translators
      • External RAM
      • Power regulators
      • Motor control logic
      • Fire Control
    • OFF BOARD
      • Motor Driver circuitry (H bridge circuits)
      • Ancillary sensors
        • Motion Detection (motion sensors vs. laser trip wires)
      • Friendly detectors
        • IR or radio remote
components on board
Components ON BOARD

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

motor control
Motor Control
  • Logic kept on PCB
    • Into PLD:
      • Direction
      • Enable
      • Clock
    • Out:
      • 1st/2nd/3rd/4th coil for some motor turned on
  • Driver circuitry off-board
    • Safety
    • Modularity
    • Current demands
friendly detector and motion sensors
Friendly Detector and Motion Sensors
  • Fire Control
    • Turn AirSoft motor on/off
  • IR Input
    • Multiple off-board sensors summed
    • Range concerns
      • Switch to radio?
  • MS_xxxx
    • Currently motion sensors
    • Care about direction of signal
    • Switch to laser tripwires?
pcb layout
PCB Layout
  • Main Considerations
    • MC9S12XD documentation suggestions:
      • Decoupling capacitors on supply pairs
      • Star and spoke configuration of copper pour
    • Headers for Microcontroller for easy routing and for future debugging
    • Organization of PCB layout based on voltage (3.3V and 5 V)
    • Separating analog and digital ground
  • Estimated Size: 5 in. X 5 in.
software design development status
Software Design/Development Status
  • Control Code for the Stepper Motors
    • Assembly-based test code
    • Develop Lookup Table
      • Calibration
    • “Learning curve” speed control for smoothness
  • Video Processing/Targeting Code
    • Have basic algorithms
    • Looking for C-based version
  • User Interface Code
    • Should be fairly straightforward
flow chart visual detect
Flow Chart: Visual Detect

Startup

Capture

backgrounds

Wait

Motion?

No

Yes

Capture

Area and

Subtract

Target

Found?

Coordinates

To Motor

Control

Yes

No

flow chart control software
Flow Chart: Control Software

Startup

Move to “0,0”

position

Wait

Got

Coords?

No

Wait

Yes

Lookup

corresponding

position

Move main

assembly

Fire

project completion timeline
Project Completion Timeline
  • 1st week March – Finish tweaking PCB and schematic, make (hopefully) final parts order
  • 7 March – Proof of Parts/Final Schematic/Final Layout
  • Spring Break – Build assembly, begin developing software
  • 3-4th week March – Test software on board as part of development
  • 1st week April – Finish software, begin debugging
  • 15-20 April – Finish debugging/write user manual
  • 23 April – Present PSSCs!!
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