TCSP – Software Design

Design Considerations Major consideration – Device Timing Requirements GPS – outputs at 38400 baud almost continuously, needs interrupt to fill a buffer as well as set flags Radio receiver – requires precise pulse measurement, thus input capture interrupt used Camera – very slow (500 ms pulses) controlled via an event queue that is checked periodically MicroSD – synchronous operation leads to loose time constraints and a polling based driver. Digital I/O, ATD, and PWM can be handled in a polling fashion in the main loop Other considerations Minimizing code complexity to ensure everything fits into the flash memory on the micro

Software Hierarchy

Development Status Camera, MicroSD, Servo, Radio Timer, SCI GPS Working on 9S12C32, ready to port Timer, SCI Working on 9S12A64 GPS Ported to 9S12A64, but has some issues Navigation Algorithms need to be created

Questions?