GPS Waypoint Navigation Team M-2: Charles Norman (M2-1) Julio Segundo (M2-2) Nan Li (M2-3) Shanshan Ma (M2-4) Design Manager: Zack Menegakis Presentation 4: Gate Level Design February 13, 2006 Overall Project Objective: Design a chip that navigates an aircraft to pre-determined waypoints.

Status Design Proposal Design Proposal Project chosen Project chosen Architecture Proposal Architecture Proposal MATLAB simulated MATLAB simulated Behavioral Verilog written Behavioral Verilog written Behavioral Verilog simulated Behavioral Verilog simulated Floorplan Floorplan Structural Verilog written Structural Verilog written  Structural Verilog simulated Floorplan and more accurate transistor count Floorplan and more accurate transistor count  Schematic Design  Layout  Simulations

Design Decisions  Accuracy –Input in decimal format instead of Sexgasimal –GPS ~105 feet to 1 foot –Removed Sexgasimal module  Power –On/Off Power Control for Logic Modules  Clock Speed –Lowest Support Speed: 50 Knots –Highest Support Speed: 510 Knots –Average Crusting Speed: 70 – 100 Knots –6 different clock speed  Ripple carry adder  Ripple carry adder –Consume 60,000 less static power than dynamic power at 1.8V –Smallest in size –14 transistors half adder –16 transistors full adder

Clock Speed  Input –61.44 kHz for input –Reading series => 2048 Hz (61.44kHz/30)  Heading –8hz for clock before heading module –To observe change in both longitude and latitude instead of only one of them –Gives accurate direction and speed  Output to Black box –5 outputs in series/3 different size => 3 different clocks –80hz for output from heading –160hz for output from distance –240hz for output from waypoint comparator

Design Decisions  Inputs –Latitude & Longitude Coordinates : 1 bit each –Speed :1 bit –Altitude : 1bit –Mode : 2-bit unsigned  Input to Black box –Atan2 Calculator(2) : 2 bits each / 4 bits total –Square Root Calculator: 1  Output from Black box –Atan2 Calculator(2) : 9 bits each / 18 bits total –Square Root Calculator: 9 bits  Output –Angle Correction : 9-bit 2’s complement –Speed Correction : 10-bit 2’s complement –Altitude Correction : 16-bit 2’s complement  Total –72 bits

Overflow Case Problem : Flying over the border +180 to -180 Solution : if either longitude is negative and it’s close to the border, add 360 to the negative value

Block Level System Diagram

Transistor Estimates Component Last Count Recent Count FSM SRAM Registers/Buffers Speed Comparator Angle Comparator Altitude Comparator Waypoint Comparator Heading Calculator Distance Calculator Speed Calculator (2)Sexgasimal26580 Total17,

Behavior Verilog  /* Clock converter from 61.44KHz to 160Hz */  module mclk  (output clkm,  input clock);   reg [8:0] s384;  clock) begin  if(s384 < 383)  s384 <= s ;  else  s384 <= 0;  end  assign clkm = (s384 == 383);  endmodule  /* Clock converter from 240Hz to 80Hz */  module lclk  (output clkl,  input clock);   reg [9:0] s3;  clock) begin  if(s3 < 767)  s3 <= s3 + 1;  else  s3 <= 0;  end  assign clkl = (s3 == 767);  endmodule /* Current Latitude Register */ module curlat_reg (output reg [29:0] curlat, (output reg [29:0] curlat, input lat, input lat, input [4:0] num, input [4:0] num, input clock); input clock); clock) begin clock) begin curlat[num] <= lat; curlat[num] <= lat; end end endmodule // curlat_reg /* All inner registers */ module inputs (output reg [29:0] curlatrg, curlonrg, prelat, prelon, (output reg [29:0] curlatrg, curlonrg, prelat, prelon, output reg [14:0] curaltrg, output reg [14:0] curaltrg, output reg [8:0] curspdrg, output reg [8:0] curspdrg, output clk, output clk, input [29:0] curlat, curlon, input [29:0] curlat, curlon, input [14:0] curalt, input [14:0] curalt, input [8:0] curspd, input [8:0] curspd, input [4:0] num); input [4:0] num); assign clk = (num[4]&num[3]&num[2]&num[1]); assign clk = (num[4]&num[3]&num[2]&num[1]); clk) begin clk) begin curlatrg <= curlat; curlatrg <= curlat; curlonrg <= curlon; curlonrg <= curlon; prelat <= curlatrg; prelat <= curlatrg; prelon <= curlonrg; prelon <= curlonrg; curaltrg <= curalt; curaltrg <= curalt; curspdrg <= curspd; curspdrg <= curspd; end endendmodule

Structural Verilog module wp_comp ( output result, output [29:0] lon_change, lat_change, input [29:0] curlonin, curlatin, wplatin, wplonin, input control); wire [29:0] rcurlat, rcurlon, rprelat, rprelon, lat, lon, curlat, curlon, prelat, prelon, wplat, wplon, preresult; wire [29:0] S, S2, S3, S4; wire w1, w2, w3, w4, w5, w6, w7; and c1[29:0](curlat[29:0], curlatin[29:0], control); and c2[29:0](curlon[29:0], curlonin[29:0], control); and c3[29:0](wplat[29:0], wplatin[29:0], control); and c4[29:0](wplon[29:0], wplonin[29:0], control); and g1(w1, curlon[29], curlon[28], curlon[26]), g2(w2, ~curlon[27], ~curlon[25]), g3(w3, ~wplon[29], ~wplon[28], ~wplon[26]), g4(w4, wplon[27], wplon[25]), g5(w5, w1, w2), g6(w6, w3, w4), g7(w7, w5, w6);//if w7 is high, our current long is neg and g8(w8, ~curlon[29], ~curlon[28], ~curlon[26]), g9(w9, curlon[27], curlon[25]), g10(w10, wplon[29], wplon[28], wplon[26]), g11(w11, ~wplon[27], ~wplon[25]), g12(w12, w8, w9), g13(w13, w10, w11), g14(w14, w12, w13);//if w14 is high, our previous longitude is neg TwosCompAdder a(30'b , curlon, 1'b0, S), b(30'b , wplon, 1'b0, S2); //this can be OPTIMIZED by ANDing the select line with the 360 right before it is added to the number thirtybitmux2to1 p(curlon, S,w7,rcurlon), q(wplon, S2, w14, rprelon); TwosCompAdder c(wplat, curlat, 1'b1, lat_change); TwosCompAdder d(rprelon, rcurlon, 1'b1, lon_change); //This logic checks to see if the change in lat and lon are both zero (if we are at waypoint, 'result' is high) nor n1[29:0](preresult[29:0], lat_change[29:0], lon_change[29:0]); and a1(ppreresult0, preresult[3], preresult[2], preresult[1], preresult[0]), a2(ppreresult1, preresult[7], preresult[6], preresult[5], preresult[4]), a3(ppreresult2, preresult[11], preresult[10], preresult[9], preresult[8]), a4(ppreresult3, preresult[15], preresult[14], preresult[13], preresult[12]), a5(ppreresult4, preresult[19], preresult[18], preresult[17], preresult[16]), a6(ppreresult5, preresult[23], preresult[22], preresult[21], preresult[20]), a7(ppreresult6, preresult[27], preresult[26], preresult[25], preresult[24]), a8(ppreresult7, preresult[29], preresult[28]), a9(ppreresult8, ppreresult0, ppreresult1, ppreresult2, ppreresult3), a10(ppreresult9, ppreresult4, ppreresult5, ppreresult6, ppreresult7), a11(result, ppreresult8, ppreresult9); // assign result= ( (lat_change == 0) && (lon_change == 0)); endmodule // wp_comp

SRAM Schematic

Metal Directions Vdd, Gnd, Local Interconnect Metal 1: Horizontal Metal 2: Vertical Clk, Global Interconnect Metal 3: Horizontal Metal 4: Vertical

Problems  Pins -> buffers -> clock -> transistor counts increased!!  Over flow cases = transistor counts BOOM!

What’s Next… Here’s what’s on our agenda for next week…  Finish Module Schematics  Creating Module Layout

Questions? Comments? Ideas?