ECE 477 Design Review Team 1  Spring 2008 Alan BernsteinIan AlsmanIlya VeygmanDarshan Shah

Outline Project overview Project overview Project-specific success criteria Project-specific success criteria Block diagram Block diagram Component selection rationale Component selection rationale Packaging design Packaging design Schematic and theory of operation Schematic and theory of operation PCB layout PCB layout Software design/development status Software design/development status Project completion timeline Project completion timeline Questions / discussion Questions / discussion

Project Overview Design of a turret with an armature structure that holds an airsoft gun Design of a turret with an armature structure that holds an airsoft gun Detect and fire at enemies through both motion and threshold detection 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 Gun will pan/tilt based off coordinates translated by the microcontroller from the video feed Friendlies can disarm the weapon with a remote Friendlies can disarm the weapon with a remote

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.

BLOCKDIAGRAMBLOCKDIAGRAMBLOCKDIAGRAMBLOCKDIAGRAM

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

Packaging Design Main Considerations Stability and Mobility Stability and Mobility Modifiable Modifiable Housing for PCB, power supply, and other peripherals Housing for PCB, power supply, and other peripherals Motors and Gearing Motors and Gearing Gun Mount Gun Mount Bearings Bearings

Schematic/Theory of Operation Overview: Overview: ON BOARDON BOARD μC μC Camera Camera Level translators Level translators External RAM External RAM Power regulators Power regulators Motor control logic Motor control logic Fire Control Fire Control OFF BOARDOFF BOARD Motor Driver circuitry (H bridge circuits) Motor Driver circuitry (H bridge circuits) Ancillary sensors Ancillary sensors Motion Detection (motion sensors vs. laser trip wires)Motion Detection (motion sensors vs. laser trip wires) Friendly detectors Friendly detectors IR or radio remoteIR or radio remote

Components ON BOARD PartsVoltageFrequency Max Current Qua ntit y Total Current MC9S12XD 144-pin LQFP 3.3V 80 MHz 1.5 A* A CY7C1049 RAM 44-pin TSOP async 512k x 8 3.3V 100 MHz max 90 mA 1 OV6620 CMOS CIF Camera 48-pin LCC 5V ~17.73 MHz 16 mA 1 GAL26CV12B 28-pin DIP 5V MHz (max) 133 mA 1 ADG pin TSSOP 3.3V, 5V 100 MHz (max) <1 mA 2 2 mA MAX pin TSSOP 5V 5 MHz (max) 152 mA 1 Total Current Draw 5 V Rail ~300 mA Total Current Draw 3.3 V Rail ~1.5 A Total Current Draw from Wall ~1.8 A * 60 pins used for I/O * 25 mA/pin = 1.5 A

Components OFF BOARD PartsVoltageFrequency Max Curre nt Quanti ty Total Current Stepper Motor 6-lead (Holding Torque: 55 N cm) 3.3Vn/a 1.5 A 2 Stepper Motor 8-lead (Holding Torque: 6.2 N m) 3.9Vn/a 6.36 A 1 IR Sensors 5V 56.9kHz (carrier) 2.0 mA mA Total Current Draw 5 V Rail 6.37 A Total Current Draw 3.3 V Rail 1.5 A Total Current Draw from Wall 7.87 A

Motor Control Logic kept on PCB Logic kept on PCB Into PLD:Into PLD: Direction Direction Enable Enable Clock Clock Out:Out: 1 st /2 nd /3 rd /4 th coil for some motor turned on 1 st /2 nd /3 rd /4 th coil for some motor turned on Driver circuitry off- board Driver circuitry off- board SafetySafety ModularityModularity Current demandsCurrent demands

H-Bridge Circuitry (OFF BOARD)

Friendly Detector and Motion Sensors Fire Control Fire Control Turn AirSoft motor on/offTurn AirSoft motor on/off IR Input IR Input Multiple off-board sensors summedMultiple off-board sensors summed Range concernsRange concerns Switch to radio? Switch to radio? MS_xxxx MS_xxxx Currently motion sensorsCurrently motion sensors Care about direction of signalCare about direction of signal Switch to laser tripwires?Switch to laser tripwires?

PCB Layout Main Considerations Main Considerations MC9S12XD documentation suggestions:MC9S12XD documentation suggestions: Decoupling capacitors on supply pairs Decoupling capacitors on supply pairs Star and spoke configuration of copper pour Star and spoke configuration of copper pour Headers for Microcontroller for easy routing and for future debuggingHeaders for Microcontroller for easy routing and for future debugging Organization of PCB layout based on voltage (3.3V and 5 V)Organization of PCB layout based on voltage (3.3V and 5 V) Separating analog and digital groundSeparating analog and digital ground Estimated Size: 5 in. X 5 in. Estimated Size: 5 in. X 5 in.

PCB Documentation

Component Placement 3.3 VPOWER 5 V

Software Design/Development Status Control Code for the Stepper Motors Control Code for the Stepper Motors Assembly-based test codeAssembly-based test code Develop Lookup TableDevelop Lookup Table Calibration Calibration “Learning curve” speed control for smoothness“Learning curve” speed control for smoothness Video Processing/Targeting Code Video Processing/Targeting Code Have basic algorithmsHave basic algorithms Looking for C-based versionLooking for C-based version User Interface Code User Interface Code Should be fairly straightforwardShould be fairly straightforward

Flow Chart: Visual Detect Startup Capture backgrounds Wait Motion? Capture Area and Subtract Target Found? Coordinates To Motor Control Yes No

Flow Chart: Control Software Lookup corresponding position Startup Move to “0,0” position Wait Got Coords? Yes No Move main assembly Fire Wait

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

Timeline

Questions / Discussion