Zach Allen Chris Chan Ben Wolpoff Shane Zinner Project Z: Stereo Range Finding Based on Motorola Dragonball Processor Critical Design Review (CDR)

Overview Quick Overview  Baseline vs Desired Functionality  Block Diagram Hardware  Microcontroller: Features and Mechanical Data  Graphics Chip  Flash & SDRAM  Peripherals LCDs & Cameras  Circuit Diagrams  Memory Map  Timing Diagrams  Routed PCB Software  Boot monitor  LCD Drivers  Range-finding  RTOS Schedule  Comprehensive  Milestones  Division of Labor/Responsibilities Parts  Parts List  Cost Conclusion

Functionality Absolute Minimal Functionality: Laid out functioning PCB. Boot monitor working and running code. Processor is able to read data from an input device and store it in SDRAM.  The Plan: Graphics chip streaming data from NTSC sugarcube cameras over i2c bus.  The Backup Plan: Jamcam 2.0 digital camera with serial interface.  The Absolute Worst Case Scenario Ultrasonic Rangefinder over i2c bus. Range finding based on data read in from hopefully the graphics chip. Above the Call of Duty Functionality: Run Embedded Linux Integrate Touch Screen Functionality – Touch the object and range appears. Display ranges on a PC terminal.

Block Diagram

Microcontroller Data Motorola MC68VZ328 Dragonball Processor  24 Bit External Address Bus  8 Built in Chip Selects  16 Bit Data Bus  33 Mhz Operation (5.4 MIPS)  SDRAM Controller  Glueless Interface to Flash/SRAM/EPROM  2 UARTs  2 Serial Peripheral Interface Ports  LCD Controller for 640*512 LCD  Boot Strap Mode Function (Allows execution to run program stored in system memory)  7 Priority Levels For Interrupt Control  3.0V +/- 10% Operation

DC Electrical Characteristics DC Electrical Characteristics

Mechanical Data TQFP (Thin Quad Flat Pack) Pin-out and Dimensions

Graphics Chip TI TVP5145 Graphics Chip TI TVP5145 Texas Instruments TVP5145 Video Decoder Chip  Accepts NTSC, PAL, and SECAM composite video, S- video  Single MHz or 27-MHz reference crystal for all standards  Standard programmable video output formats: 20-/16-bit 4:2:2 YCbCr 10-/8-bit 4:2:2 YCbCr ITU-R BT /8-bit 4:2:2 with embedded syncs  Programmable host port options including I2C and PHI (3 modes)

DC Electrical Characteristics DC Electrical Characteristics

Mechanical Data Mechanical Data TQFP Package Pin-Out and Dimensions

Flash and SDRAM Flash and SDRAM Flash  3.0 – 3.6 V read, erase and program operations.  64 Megabit(4Mx16bit) CMOS  Ultra Low Power Consumption  Sector Protection SDRAM  3.3V +-.3V operation  4Meg x 16 bit x 4 Banks  Self Refresh Mode  Fully Synchronous – All signals registered on positive edge

Peripherals Peripherals Cameras / Range-finding Devices 1. Sugarcube  NTSC Standard Output  5V Powered  Manual Focus 2. Jamcam 2.0  640x480 Image Capture  Powered by 9V Battery  Serial Interface 3. Ultrasonic Range-finder  Short range – 6Meters  I2C I/O LCDs 1. Text/ASCII LCD  4 rows x 20 character lines  5x8 or 5x10 pixel characters  5V operation 2. TFT LCD Display  320x280 resolution  Backlit  Standard 8 Bit Header

Power and Reset Power and Reset

Processor Processor

Memory Memory

Serial RS-232 Ports Serial RS-232 Ports

LCDs LCDs

Video Decoder Video Decoder

Headers Headers

Memory Map Memory Map

SDRAM Timing (write) SDRAM Timing (write)

SDRAM Timing (read) SDRAM Timing (read)

Flash Timing (read) Flash Timing (read)

TFT LCD Timing TFT LCD Timing

Routed PCB Top Layer Routed PCB Top Layer

Routed PCB Bottom Layer Routed PCB Bottom Layer

Routed PCB The One Routed PCB The One

Boot Monitor Initialize the Processor  Registers  Clocks  Serial Interface  Setup Memory Map User Interface  Terminal interaction  User Menu Download Code Execute Code Input is a Motorola S-Record

LCD Drivers ASCII LCD  Initialization Code  User Defined Characters  Write A Character  Write a String  Clear Screen  Go to Specific Location TFT LCD  Use Internal Dragonball TFT Controller.  Possible Touchscreen Interface.

Range-Finding Separate Memory into 2 Arrays for data From Each Camera and Store Video RGB Data Into Memory Find The Common Pixels Between 2 Cameras Utilizing Red Laser Pointer Find the Offset between the two arrays of pixels. Use a trigonometric relation to calculate the distance from the laser origin to the object being distanced.

RTOS (uCLinux) 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

Milestones 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.

Milestones 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.”

Division of Labor Allen  Boot Monitor Initialization  Range Finding Algorithm Chan  User Interface Code  Range Finding Frame Grabbing and Dumping Wolpoff  Boot Monitor Serial Code  LCD Display Code Zinner  Populate Board  Burn Flash and Basic Program All  Embedded Linux Build  Test Board

Parts List/Expenses Parts List/Expenses

Conclusion Stereo Range Finding Motorola Dragonball VZ Processor Real Time Embedded Software Modularity in Design Sufficient Market Demand