1. TEAM 9 - MRAV SOFTWARE DESIGN NARRATIVE Nick Gentry, Vinayak Gokhale, Vineet Ahuja & Oliver Staton March 23, 2011

2. Design Considerations  Peripherals: ADC, UArt, Timer, I2C  Constants stored in Information memory portion of Flash  All peripherals will be Flag driven. Why?  JTAG ports will be used for debugging

3. Main Design Consideration  ADC used to Sample Ultrasonic Sensors at 20 Hz  Gyroscope sampled at 250 – 300 Hz  Accelerometer sampled at 250 – 300 Hz  Magnetometer sampled at 10Hz  User inputs at 250 – 300 Hz

4. START INITIALIZE GLOBAL VARIABLES WRITE CONSTANTS TO NON-VOLATILE FLASH INITIALIZE: ADC TIMER_A, B UART / I2C VERIFY CONNECTION W/BASE STATION ENABLE PERIPHERALS W/O INTERRUPTS except UArt VERIFY SENSOR IDS CHECK ESC ARM CONDITION FLAG INITIALIZE ESCs, BEGIN IDLE CONDITION WHILE (1) SENSOR SAMPLE == 1 SAMPLE SENSORS by enabling interrupts PID COUNT == 50 CALCULATE MTR DUTY CYCLES IF HEARTBEAT == 100 SET NEW PWM VALUES TOGGLE HEARTBEAT LED YES NO YES NO YES NO YES NO YES NO

5. Timer_A Interrupt Enable interrupt, set flag & set counter to 0 Sensor counter == val Increment counter Exit YES NO

6. PID r.pN y.pN y.vN r.pE y.pE y.vE r.h y.h y.w r.yaw y.yaw y.yawRate PID ROTATE TO BODY PID PID w/ LPF MOTOR MIXER ROTATE TO BODY North tilt y.yaw East tilt y.yaw SUM (L+R+F+B) y.pitch y.pitchRate F-B L-R pitch y.rollRate y.roll roll yawRate L+R-F-B PID STABILITY LOOPS

7. LibraryWrittenTested UArtYesNo TimerYesPartially I2CYesIn process ADCYes PID controllerNoWorked with James Goppert and developed full simulation in Scicos Status

8. The END