1. 1 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 5: Top-Level Integration February 27, 2006 Overall Project Objective: Design a low-power chip that navigates an aircraft to pre- determined waypoints.

2. 2 Status Design Proposal Design Proposal Project Chosen Project Chosen Architecture Proposal Architecture Proposal MATLAB simulated MATLAB simulated Behavioral Verilog written & simulated Behavioral Verilog written & simulated Size Estimates / Floorplan Size Estimates / Floorplan Structural Verilog written & simulated Structural Verilog written & simulated Floorplan Floorplan  Schematic Design Top-level wiring Top-level wiring Cell Analysis Cell Analysis  Top-level simulated  Layout  Simulations

3. 3 Design Decisions  Add done logic  Reduce clock speed for Altitude Comparator  No control (on/off) logic = less power  Combine heading & waypoint comparator logic

4. 4 Block Level System Diagram

5. 5 System I/O Black Box I/O

6. 6 Top-Level Schematic

7. 7 Verification / Testing  Individual Module Testing  Top-level Testing –Before Black Box  Pre-computed flight plan with overflow cases  Verify outputs to the altitude & black box input registers –After Black Box  Vary outputs from black box & SRAM  Verify outputs to the angle & speed correction registers

8. 8 Structural Verification Waypoint Position Distance to Waypoint Change in Position Current Position Previous Position A² + B² Altitude Correction WP Altitude Cur Altitude WP Speed Cur Speed Input Output

9. 9 SRAM Verification Latitude coordinateLongitude coordinateAltitude Speed

10. 10 Cell Analysis Functional Component Last Count Recent Count Area (µm²) Prop. Delay Power FSM2722722,000584ps1.02nW SRAM3,0503,98817,000 Row – 1.3ns Col – 107ps 5mW131uW Registers/Buffers Clock / Counter Logic Done Logic 9,43076501,91254832,92010,5003,50094ps-- (1-bit) 47.96nW* -- Speed Comparator Altitude Comparator Waypoint Comparator 1844723,5262564123,6969001,90016,000529ps673ps**902pW1.42nW** Heading Calculator Distance Calculator Speed Calculator Angle Calculator 3,2322,3321,1349083,4563,4281,6261,24615,50015,5007,0006,500**3.02ns2.10ns1.87ns**11.12nW251.9µW5.8mW Total24,54028,490129,220-- * 1-bit register simulated @ 2048 Hz ** Not calculated due to future changes

11. 11 Distance Calculator

12. 12 What’s Next… Here’s what’s on our agenda for next week…  Finish combining Heading & Waypoint Comparators by Wednesday  Revise Floorplan  Finish schematic top-level verification by Wednesday  Component Layout

13. 13 Questions???