1. Eric Tarun Craig Dave ECE 477 Design Review Team 9  Spring 2006 Galamback Chawla Noble Kristof

2. Outline Project overviewProject overview Project-specific success criteriaProject-specific success criteria Block diagramBlock diagram Component selection rationaleComponent selection rationale Packaging designPackaging design Schematic and theory of operationSchematic and theory of operation PCB layoutPCB layout Software design/development statusSoftware design/development status Project completion timelineProject completion timeline Questions / discussionQuestions / discussion

3. Project Overview Motion Tracking SystemMotion Tracking System Low resolution camera takes images and detects differencesLow resolution camera takes images and detects differences Servo motors aim laser pointer at moving targetServo motors aim laser pointer at moving target Stores timestamps of motion eventsStores timestamps of motion events Events are viewable on an LCD screenEvents are viewable on an LCD screen On startup, users have the option to calibrate the system and set the current timeOn startup, users have the option to calibrate the system and set the current time

4. Project-Specific Success Criteria An ability to analyze successive stored images for changes/movement in field-of-view.An ability to analyze successive stored images for changes/movement in field-of-view. An ability to calibrate laser-aiming platform relative to camera field-of-view.An ability to calibrate laser-aiming platform relative to camera field-of-view. An ability to aim laser at a torso 10 feet away.An ability to aim laser at a torso 10 feet away. An ability to timestamp and log motion events.An ability to timestamp and log motion events. An ability to configure/control system operation and view event logs via pushbuttons/LCD.An ability to configure/control system operation and view event logs via pushbuttons/LCD.

5. Block Diagram

6. Component Selection Rationale Camera Chip selectionCamera Chip selection –Needed a low resolution, small, inexpensive digital camera –Investigated cameras from Kodak and Omnivision –Decided on the OV6620 color camera –Comes on a module for simplicity (C3088)

7. Component Selection Rationale About the OV6620/C3088About the OV6620/C3088 –Low resolution, 16 bits of data per pixel (CIF=352x292 or QCIF=176x146) –C3088 module includes 17.73 MHz oscillator (can be clocked down to 70 KHz) –I 2 C interface to set registers –Data is clocked by PClk signal –5V operation –Analog Video Output –Only need to use Y data (8 bits)

8. Component Selection Rationale Speed IssuesSpeed Issues QCIF Resolution Clock (MHz)FPS (frames/sec).0702.72 1 38.9 10389.16 17.73 689.99 Space Concerns (Image) [Difference Data]Space Concerns (Image) [Difference Data] CIF: 352x292 pixels (102,784 B) [644 B] QCIF: 176x146 (25,696 B) [322 B] 1/3 from CIF: 118x98 (11,564 B) [216 B] 1/2 from QCIF: 88x73 (6,424 B) [161 B]

9. Component Selection Rationale Microcontroller Selection (MC9S12DP512)Microcontroller Selection (MC9S12DP512) –Fast enough to acquire images, pinpoint center of motion and output PWM signals to track motion in real time (25MHz) –Plenty of RAM to store one image and difference data (14k) –I 2 C interface –Plenty of I/O (91 pins on 112 pin LQFP package) –ATD, PWM, RTI systems

10. Component Selection Rationale Servo motorsServo motors Pushbuttons – setting time, event scrolling, LCD backlightPushbuttons – setting time, event scrolling, LCD backlight Laser pointerLaser pointer Potentiometers - camera calibration, LCD contrast adjustPotentiometers - camera calibration, LCD contrast adjust LCD display - timestamp displayLCD display - timestamp display

11. Packaging Design Designed to be as small for maximum concealability.Designed to be as small for maximum concealability. 4.3” x 3.2” Serpac Electronic Enclosure holds PCB4.3” x 3.2” Serpac Electronic Enclosure holds PCB A dome on top of the enclosure contains the laser and a servo motor for tilt control.A dome on top of the enclosure contains the laser and a servo motor for tilt control. Designed to operate with either AC or DC power for user flexibility.Designed to operate with either AC or DC power for user flexibility.

12. Packaging Design

13. Schematic/Theory of Operation

14. Camera has a 24 pin connection to the microcontroller; two 8-bit data buses, I 2 C data and clock, and six control signalsCamera has a 24 pin connection to the microcontroller; two 8-bit data buses, I 2 C data and clock, and six control signals VTO pin usable for analog video outputVTO pin usable for analog video output Only using Y (luminance) data, one byte per pixelOnly using Y (luminance) data, one byte per pixel Scaled down PCLK allows for data manipulation as pixels are read in to the microcontrollerScaled down PCLK allows for data manipulation as pixels are read in to the microcontroller PCLK connected to interrupt pin, pixel data read on rising edgePCLK connected to interrupt pin, pixel data read on rising edge

15. Schematic/Theory of Operation LCD module has an 11 pin connection to the microcontroller; one 8-bit data bus and 3 control signalsLCD module has an 11 pin connection to the microcontroller; one 8-bit data bus and 3 control signals Contrast adjust potentiometer connected through powerContrast adjust potentiometer connected through power LED backlight pushbutton connected through powerLED backlight pushbutton connected through power

16. Schematic/Theory of Operation Servo motors controlled by PWM signalsServo motors controlled by PWM signals 16-bit signals will be used for increased accuracy, 8 channels available16-bit signals will be used for increased accuracy, 8 channels available Each motor has its own calibration potentiometerEach motor has its own calibration potentiometer Calibration pots connected to ATD channels on the microcontrollerCalibration pots connected to ATD channels on the microcontroller

17. Schematic/Theory of Operation Laser pointer will be sourced directly from the microcontroller but also has an external switch to disable itLaser pointer will be sourced directly from the microcontroller but also has an external switch to disable it Up/Down push buttons wired to interrupt pins so there is no polling requiredUp/Down push buttons wired to interrupt pins so there is no polling required Programming header connected to BKGD and RESET pinsProgramming header connected to BKGD and RESET pins Extra PLD and headers available for easy expansionExtra PLD and headers available for easy expansion Ceramic resonator has built in capacitors, 25MHz crystalCeramic resonator has built in capacitors, 25MHz crystal PLL circuit designed for 25 MHzPLL circuit designed for 25 MHz

18. PCB Layout Physical ConsiderationsPhysical Considerations –Hard Constraints Minimize overall areaMinimize overall area 112 pin 22mm 2 LQFP uC package112 pin 22mm 2 LQFP uC package Headers: 2x17, 2x8, 1x6, 2x3, 1x3’sHeaders: 2x17, 2x8, 1x6, 2x3, 1x3’s – 0.1” pin spacing, near PCB edge Voltage regulator: TO-220 packageVoltage regulator: TO-220 package – Power circuit separate from rest

19. PCB Layout Physical ConsiderationsPhysical Considerations –Soft Constraints: Component locations Camera header fixed to minimize clock traces into interrupt port pinsCamera header fixed to minimize clock traces into interrupt port pins LCD header near LCD location opposite of camera locationLCD header near LCD location opposite of camera location Remaining parts not as critical, placed near convenient port pinsRemaining parts not as critical, placed near convenient port pins

20. PCB Layout Electrical ConsiderationsElectrical Considerations –Hard Constraints Freescale recommended PCB layoutFreescale recommended PCB layout – Capacitor, oscillator, PLL circuit – Copper pour under microcontroller Bypass capacitors at each power pairBypass capacitors at each power pair – Camera/LCD module already covered Isolation of oscillator/PLL circuitIsolation of oscillator/PLL circuit PCB Manufacturer size limitationsPCB Manufacturer size limitations

21. PCB Layout Electrical ConsiderationsElectrical Considerations –Soft Constraints Sizes used: 60mil power, 12mil signalSizes used: 60mil power, 12mil signal Short clock traces, far from othersShort clock traces, far from others 45 degree trace turns, no loops45 degree trace turns, no loops Power circuit far from digital circuitPower circuit far from digital circuit Signals cross perpendicularSignals cross perpendicular Connectors close to modulesConnectors close to modules

22. PCB Layout Camera ModuleCamera Module – Two 8-bit parallel data buses – Three clock signals, I 2 C communication LCD ModuleLCD Module – 8-bit parallel data bus, (3) control signals Servo MotorsServo Motors – Use PWM outputs to determine position PotentiometersPotentiometers – Bottom mounted, traces into ADC pins

23. PCB Layout

25. Software Design/Development Status Most interfacing will be interrupt drivenMost interfacing will be interrupt driven Interrupts:Interrupts: –PCLK – Highest Priority –Push Buttons –RTI for updating the clock ATD for potentiometersATD for potentiometers PWM signals for servo motorsPWM signals for servo motors

26. Software Design/Development Status PCLK ISR (for reference frame): RefFrame[row][col] = Y[7:0] Col++ if (Col > NUMCOLS) Col = 0 Row++ if (Row > NUMROWS)PCLK ISR (for reference frame): RefFrame[row][col] = Y[7:0] Col++ if (Col > NUMCOLS) Col = 0 Row++ if (Row > NUMROWS) Row = 0 Row = 0 Ref_Frame_Acquired = 1 Ref_Frame_Acquired = 1

27. Software Design/Development Status PCLK ISR (normal frame): if (abs(Y[7:0]-RefFrame[row][col]) > Difference_Threshold) ColDiffData[col]++ RowDiffData[row]++ Col++ if (Col > NUMCOLS) Col = 0 Row++ if (Row > NUMROWS)PCLK ISR (normal frame): if (abs(Y[7:0]-RefFrame[row][col]) > Difference_Threshold) ColDiffData[col]++ RowDiffData[row]++ Col++ if (Col > NUMCOLS) Col = 0 Row++ if (Row > NUMROWS) Row = 0 Row = 0 Find_Center() Find_Center()

28. Project Completion Timeline

29. Questions / Discussion