1. Critical Design Review
Blimpage
Critical Design Review
Blimpage Team:
Daniel McCabe
Nguyen Trinh
Joseph Brannan
David Wolpoff
Philip Grippi
Order names in presentation order

2. System Overview Modular general-purpose drone controller
Navigation, collision-detection, general motor interfaces, data collection
Zero-impact on system performance
Lightweight, independently powered

3. 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

4. Functional Block Diagram

5. The Micros Key Features: MSP 430 F1232 Micro Controllers
Ultra Low Power:
300 μA (Active) 0.7 μA (Standby)
C-Programming Interface
Pinout necessary?

6. Master Functions Arbitrates data transfers on i2c bus
Prioritize Data Transfers
Passes data among subsystems
Handle user-input objectives
Coordinate startups and shutdowns
Bleating

7. Master State Machine
And Now Something COMPLETELY different.

8. 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.

9. 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.”

10. Modified i2c Protocol
START:
STOP:
ADDRESS CYCLE:

11. 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

12. Position and Heading Intro
Detects position from digital compass- HMR3100
Detects heading from HMR3100 and two accelerometers-ADXL3100
Sends direction instruction to Motor Controller Module via I2C bus
Receives collision direction information via I2C bus from Collision Detection Module

13. Position/Heading Block Diagram
HMR3100
Pos/Heading uC
Master uC -
ADXL311 - - || ||
I2C BUS ||
Motor uC
Collision uC

14. 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

15. HMR3100 Time Diagram
Continuous Mode: 2 Hz heading queries at 9600 baud rate
Calibration Mode:

16. 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

17. ADXL3100 and Logic Block Diagram
MAX7490
TLV2370
Pos/Heading uC
ADXL311
---
------
-----
ADC10
LP Filter

18. ADXL311 and HMR3100 Schematic

19. 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

20. Motor Control Block Diagram | |
x2 H-Bridge Motor
Drivers
Motor uC
x4 optical
isolators | | | |
-----
---- |
-----
<---
-----
-----
----- |
optical
isolator ^ | |
Micro Servo | |
PWM
signal
3 V Battery 
----- | |
<--- | |

21. Motor Control Schematic

22. Motor Control State Machine

23. 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

24. 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

25. Collision Detection Schematic

26. Collision Detection State Machine
Module State Machine

27. 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.

28. 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

29. Parts List Motor Control Collision Detection Positioning and Heading
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 LT 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

30. Parts List 2 Master Communal Assorted PCB’s Blimp
6 MSP430F1232 Microcontrollers
1 Clock in a Box
1 TPS61100 Switching boost converter
Communal
Various Resistors
Various Capacitors
Various Inductors
Assorted PCB’s
Blimp

31. 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: $
Sanity: Priceless (but absent)

32. ROI Projected Development Cost: $1200.00
Projected Production Cost at Volume: $500.00
Projected Cost to consumer: $ (including support)
Projected Sales: 10,000 units.
ROI: $45,000,000

33. Updated Schedule

34. Division of Labor Master / Slave system (i2c) Communication Module
Dave, Dan
Communication Module
Dave, Phil
Motor Control, Collision Detection
Joe
Position / Heading
Nguyen
Data Collection Module
Phil, Dan

35. Division of Labor Group Tasks Documentation PCB Population
Systems Integration
Review and Testing

36. Milestone 1 Airborne Blimp Final Testing Basic functionality Collision
Motor
Basic functionality
Pos/Head
Comms
Data Acq.

37. Milestone 2 Significant Blimp Maneuverability Basic testing on R/C Car
All modules completed and in testing
Basic user interface (for destination data)

38. Expo All systems fully implemented and tested Documentation Complete
User’s Manual
Technical Manual
Happy Jack