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Blimpage. Critical Design Review. Blimpage Team: Daniel McCabe Nguyen Trinh Joseph Brannan David Wolpoff Philip Grippi. System Overview. Modular general-purpose drone controller Navigation, collision-detection, general motor interfaces, data collection

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critical design review

Blimpage

Critical Design Review

Blimpage Team:

Daniel McCabe

Nguyen Trinh

Joseph Brannan

David Wolpoff

Philip Grippi

system overview
System Overview
  • Modular general-purpose drone controller
  • Navigation, collision-detection, general motor interfaces, data collection
  • Zero-impact on system performance
    • Lightweight, independently powered
what is the blimpage
What is the Blimpage
  • Composed of six main modules:
    • General-purpose microcontroller network
    • Motor / servo controller
    • Position and heading monitoring
    • Collision-detection / alarm
    • Data collection
    • Off-module communication
the micros
The Micros

MSP 430 F1232 Micro Controllers

Key Features:

Ultra Low Power:

300 μA (Active)0.7 μA (Standby)

C-Programming Interface

master functions
Master Functions
  • Arbitrates data transfers on i2c bus
  • Prioritize Data Transfers
  • Passes data among subsystems
  • Handle user-input objectives
  • Coordinate startups and shutdowns
  • Bleating
master state machine
Master State Machine
  • And Now Something COMPLETELY different.
master state machine take 2
Master State Machine. Take 2
  • Init
    • Initialize all slaves.
  • Query
    • Check who has data
    • Prioritize data
  • Idle
    • Handle ‘master’ tasks.
  • Xfer
    • Carry out all bus transactions in priority order.
command set
Command Set
  • Initialization:
    • From Master: “Are you alive and what is your target type?”
    • From Slave: “I am target type TARGET.” 
  • Query Data:
    • From Master: “Do you have data?”
    • From slave: “I have data for TARGET, of priority DATA”
  • Transfer Data:
    • From Master: “Here is DATA from TARGET”
    • From slave: “Her is DATA for TARGET”
  • Objective Update:
    • From Master: “New objective from TARGET is DATA”
    • From slave: “New objective for TARGET is DATA”
  • Global Abort:
    • From Master: “halt immediatly”
    • From Slave: “They sky has fallen! Tell everyone to halt”
  • Global Abort:
    • From Master: “halt immediatly”
    • From Slave: “They sky has fallen! Tell everyone to halt”
  • Local Abort:
    • From Slave: “I'm dead, go on without me”
  •  Block Transfer:
    • From Master: “I have DATA words from TARGET”
    • From slave: “I have DATA words for TARGET”
    • Master then reads DATA words from slave and writes them to TARGET. 
  • Debug Code:
    • From slave: “Process debug info DATA”
  • Global Reset:
    • From Master: “Reset yourself, and restart operations.”
modified i 2 c protocol
Modified i2c Protocol

START:

STOP:

ADDRESS CYCLE:

i2c functionality
i2c Functionality
  • Fully compatible with standard i2c devices
  • Added START pin for micro-controllers
  • 7-bit address size
  • 8-bit data size
  • 16-bit word size: for large block transfers
position and heading intro
Position and Heading Intro
  • Detects position from digital compass- HMR3100
  • Detects heading from HMR3100 and twoaccelerometers-ADXL3100
  • Sends direction instruction to Motor Controller Module via I2C bus
  • Receives collision direction information via I2C bus from Collision Detection Module
position heading block diagram
Position/Heading Block Diagram

HMR3100

Pos/Heading uC

Master uC

-

ADXL311

-

-

||

||

||

--------------------------------------------------------------------------------------------------

I2C BUS

||

Motor uC

Collision uC

digital compass hmr3100
Digital Compass HMR3100
  • 5 degree Heading Accuracy, 0.5 degree Resolution
  • 2-axis Capability
  • Uses 3.3 V DC Single Supply Operation
  • Uses 9600 N.8.1 communication for outputting binary data
  • Delivers output binary data to UART of Positon/Heading uC
  • UART binary data converts into decimal data for position’s degree
  • With output data of ADXL311, sends direction instruction to motor controllers module via I2C bus
hmr3100 time diagram
HMR3100 Time Diagram

Continuous Mode: 2 Hz heading queries at 9600 baud rate

Calibration Mode:

accelerometer adxl311
Accelerometer ADXL311
  • Dual-axis accelerometer
  • Uses 5-V single-supply operation with 0.4 mA typical consumption
  • Uses Internal Low Pass Filter with bandwidth of 10 Hz
  • Based on blimp’s average acceleration of 5 (cm/s)/s, 50 mV (VPP) variation of output voltage from ADXL311
  • Put the variation of output voltage through an external LPF (MAX7490) of 2 Hz
  • Then scale the variation of output voltage 7 times bigger from TLV2370 Op-amp
  • Then put the amplified variation output voltage into the ADC10 in Pos/Heading uC
adxl3100 and logic block diagram
ADXL3100 and Logic Block Diagram

MAX7490

TLV2370

Pos/Heading uC

ADXL311

---

------

-----

ADC10

LP Filter

motor control intro
Motor Control Intro
  • Motor module uC receives direction instruction over I2C bus from Position and Heading Module
  • 4 uC logic level outputs are optically isolated from H-Bridges – control 2 motors’ behavior
  • uC logic level PWM signal is optically isolated from Servo
  • Two fans operate in forward or reverse
  • Servo controls position of fans (up or straight)
  • 3 V battery powers motors and servo
motor control block diagram
Motor Control Block Diagram

-------------------------

|

|

x2 H-Bridge Motor

Drivers

Motor uC

x4 optical

isolators

|

|

|

|

-----

----

|

-----

<---

-----

-----

-----

|

optical

isolator

^

|

|

Micro Servo

|

|

PWM

signal

3 V Battery

--------

-----

|

|

<---

|

|

----------------------

collision detection intro
Collision Detection Intro
  • Collision module uC cycles through 6 channels on Mux/Demux using binary addressing
  • Vcc enable signal multiplexed to 6 Voltage Regulators which power 6 distance sensors (limits power consumption)
  • Distance sensor outputs de-multiplexed into LPF
  • LPF output sampled by uC’s ADC10
  • Collision status register and priority flag updated
  • Collision direction information passed over I2C bus to positioning and heading module
  • 5 V regulated voltage powers module components
collision detection block diagram

|

Collision Detection Block Diagram

----------

----------------

------

6x Collision Sensors

|

|

output

Mux/Demux

>----

|

|

-

-<

---Vcc

6x Voltage Regulators

|

<-------

-<

|

<--------

|

power

|

^

^

^

|

|

|

Channel select

--------------------

|

|

>----

--

Collision uC Slave

LP Filter

communications
Communications
  • Enables communication with “outside” world.
  • RS232 protocol, via MAX3233.
  • Reads data from Master and outputs it to host PC for interpretation.
  • Reads data from host and outputs it to Master.
  • Enables debugging, etc.
data acquisition
Data Acquisition
  • Servo Motorized ‘message’ deployment
  • Delivers messages discreetly and accurately.
  • Camera scrapped for blimp due to weight constraints.
  • (Time Permitting) JamCam camera will be deployed on R/C Car
    • RS232 communication
    • Documented protocol
  • (Time Permitting) Audio/Temperature/Humidity Sensors
parts list
Parts List
  • Motor Control
    • 4 Zetex 20V N-Channel MOSFETs
    • 4 Zetex 20V P-Channel MOSFETs
    • 5 NEC High Isolation Voltage SOP Photocouplers
    • 2 small DC fan motors
    • 1 4.7 g Cirrus Micro Servo
  • Collision Detection
    • 1 ADG527A Analog Devices Multiplexer
    • 1 MAX7490 Maxim Dual Universal Switched Capacitor Filter
    • 6 LT1121-3.3 Linear Technology Micropower Low Dropout Regulators with Shutdown
    • 6 GP2D12 Sharpe General Purpose Type Distance Measuring Sensors
    • 1 Diodes Incorporated Surface Mount 3.3V Zener Diode
  • Positioning and Heading
    • 1 HMR3100 Honeywell Digital Compass Solution
    • 1 ADXL311 Analog Devices Low Cost, Ultra-compact +-2g Dual Axis Accelerometer
  • 1 MAX7490 Maxim Dual Universal Switched Capacitor Filter
parts list 2
Parts List 2
  • Master
    • 6 MSP430F1232 Microcontrollers
    • 1 Clock in a Box
    • 1 TPS61100 Switching boost converter
  • Communal
    • Various Resistors
    • Various Capacitors
    • Various Inductors
  • Assorted PCB’s
  • Blimp
costs the big stuff
Costs (The Big Stuff)
  • Microcontrollers: $40.00 x 3 revisions = $120.00
  • Compass: $100.00
  • Infrared Rangefinders: $60.00
  • PCB’s $80 x 3 revisions = $240.00
  • Blimp $100.00
  • Programming tool: $200.00
  • Assorted DigiKey purchases: $300.00
  • Total Costs: $1120.00
  • Sanity: Priceless (but absent)
slide32
ROI
  • Projected Development Cost: $1200.00
  • Projected Production Cost at Volume: $500.00
  • Projected Cost to consumer: $5000.00 (including support)
  • Projected Sales: 10,000 units.
  • ROI: $45,000,000
division of labor
Division of Labor
  • Master / Slave system (i2c)
    • Dave, Dan
  • Communication Module
    • Dave, Phil
  • Motor Control, Collision Detection
    • Joe
  • Position / Heading
    • Nguyen
  • Data Collection Module
    • Phil, Dan
division of labor35
Division of Labor
  • Group Tasks
    • Documentation
    • PCB Population
    • Systems Integration
    • Review and Testing
milestone 1
Milestone 1
  • Airborne Blimp
  • Final Testing
    • Collision
    • Motor
  • Basic functionality
    • Pos/Head
    • Comms
    • Data Acq.
milestone 2
Milestone 2
  • Significant Blimp Maneuverability
  • Basic testing on R/C Car
  • All modules completed and in testing
  • Basic user interface (for destination data)
slide38
Expo
  • All systems fully implemented and tested
  • Documentation Complete
    • User’s Manual
    • Technical Manual
  • Happy Jack