Radio Frequency Navigational Tracker

1. Radio Frequency Navigational Tracker

2. Main Objective • Create a vehicle that will track a high frequency RF/IR transmitter • The practical application is a golf caddy that will follow a golfer when requested. Matthew Sharp

3. Hardware Overview Platform Transmitter GPIO IR RX RF TX Digital Compass IR TX Motor Motor (Left) Motor (Right) RF RX RS/232 GPIO Motor Control GPIO Processor Digital Compass RS/232 Base of Vehicle

4. Transmitter Ben Says: “It Transmits!!” Matthew Sharp

5. RF Transmission Matthew Sharp

6. IR TX Matthew Sharp

7. Receivers Matthew Sharp

8. RF RX Matthew Sharp

9. IR RX Simple, yet sophisticated!! Matthew Sharp

10. Sensors Matthew Sharp

11. Timing is Everything Matthew Sharp

12. 8051 to the Rescue Matthew Sharp

13. Powering the Transmitter Fabien Nervais

14. Base Motors • Two 12V ServoDisk Motors • Power – 12V Car Battery • Optocoupler • Solid-State Relays • 4 Amp Fuses Fabien Nervais

15. Rotating Mount Configuration • 5V DC Servo Motor • Grooved Rubber Belt • Power • 12V to 5V linear voltage regulator • Solid-State Relay Fabien Nervais

16. Rotation Control • Wire Routing Resolved: • Approximately 350º Rotation • Serial Cable Connection • 2 Limit Switches Controlling the Rotational Behavior Fabien Nervais

17. Powering the Rotating Mount Platform Fabien Nervais

18. Processor Ryan Hitchler

19. System Clock Ryan Hitchler

20. Capacitors and Vcc/Gnd Bus Vcc Gnd .1 uF Ryan Hitchler

21. Headers Ryan Hitchler

22. Memory Ryan Hitchler

23. $FFFF $FFFF EPROM EPROM $8400 PERFS $8000 $8000 $7FFF $FFFF SRAM SRAM $0000 $0000 Current Memory Map Memory Map Future Memory Map Ryan Hitchler

24. Power Ryan Hitchler

25. Reset Ryan Hitchler

26. FPGA Ryan Hitchler

27. EPROM Test Program ; Capstone test code ; for MC68HC11 CodeBase EQU $8000 ; address of start of code ORG $FFFE ; start of address pointer DW CodeBase ; set up pointer address to start of code ORG CodeBase ; start of code Start: nop nop nop jmp Start Ryan Hitchler

28. EPROM Test Results Ryan Hitchler

29. Parts Listing Ryan Hitchler

30. RF Signal? Turn Antenna Poll IR Receiver Set up Serial Set up Interrupts Poll RF Receiver Power On Yes No IR Signal? No RF Signal? Yes Yes No Stop Antenna Yes IR Signal? No Poll IR Receiver Poll RF Receiver Move Base Stop Antenna Read Ant. Compass Yes Ant. = Base? Base = Ant.? Read Ant. Compass Turn Ant. -> Base Stop Turning Yes Read Base Compass Turn Base -> Ant No No Software Algorithm Redux John Maitin

31. Code ; Capstone algorithm code ; for MC68HC11 ; begin code section ORG CodeBase ; start of code Start: lds #Stack ; load stack pointer bsr enable_int ; enable interrupts pollrf: ldaa PORTA ; get GPIO information anda #RFMASK ; mask out RF information cmpa #RFMASK ; compare to RF information bne pollrf ; if no RF signal, continue polling startantenna: ldaa PORTA ; get GPIO information oraa #MAONFMASK0 ; mask in antenna motor control info anda #MAONFMASKF ; mask out unwanted info staa PORTA ; write out GPIO stuff pollir: ldaa PORTA ; get GPIO information anda #RFMASK ; mask out RF information cmpa #RFMASK ; compare to RF information bne stopantenna ; jump to stopantenna if no RF signal found ldaa PORTA ; get GPIO information again anda #IRMASK ; mask out IR information cmpa #IRMASK ; compare to IR mask bne pollir ; if no IR signal, continue polling stopantenna: ldaa PORTA ; get GPIO information oraa #MAOFFMASK0 ; mask in antenna motor control info anda #MAOFFMASKF ; mask out unwanted info antennacompass: oraa #CMPAMASK ; select antenna compass staa PORTA ; write out GPIO information bsr read_compass ; read from the antenna compass into d std compass ; store antenna compass reading into compass baseturn: ldaa PORTA ; get GPIO information anda #CMPBMASK ; select base antenna staa PORTA ; write out GPIO information bsr read_compass ; read from the base compass into d subd compass ; subtract compass value beq movebase ; if equal, then move base cpd $0167 ; compare d to halfway value for compass bge turnright ; turn right if difference greater than halfway turnleft: ldaa PORTA ; get GPIO information oraa #MLONRMASK0 ; write in left motor information anda #MLONRMASKF ; write out unwanted information staa PORTA ; write GPIO information ldaa PORTA ; get GPIO information oraa #MRONFMASK0 ; write in right motor information anda #MRONFMASKF ; write out unwanted information staa PORTA ; write GPIO information bra pollcomp1 ; jump to pollcomp1 John Maitin

32. Code (Pt. 2) turnright: ldaa PORTA ; get GPIO information oraa #MLONFMASK0 ; write in left motor information anda #MLONFMASKF ; write out unwanted information staa PORTA ; write GPIO information ldaa PORTA ; get GPIO information oraa #MRONRMASK0 ; write in right motor information anda #MRONRMASKF ; write out unwanted information staa PORTA ; write GPIO information pollcomp1: movebase: stop ; enable interrupt control enable_int: sei ; disable interrupts ldaa #$30 ; 9600 baud, assuming 8 MHz clock staa BAUD ; ldaa #$00 ; 8 data bits staa SCCR1 ; ldaa #$2c ; Receive interrupt, poll transmit, enable TX,RX staa SCCR2 ; ldaa SCSR ; clear RDRF, error flags ldaa SCDR ; clear receive buffer clra ; clear a tap ; transfer a to cc register (enable XIRQ and IRQ) cli ; enable interrupts rts ; SCI interrupt handler rec: psha ldaa SCSR anda #$40 cmpa #$40 bne quit ldaa SCDR staa compass quit: pula rti ; change antenna direction (XIRQ interrupt handler) changeant: psha pshb ldaa PORTA ldab antdir comb bmi goreverse goforward: oraa #MAONFMASK0 anda #MAONFMASKF bra finishchange goreverse: oraa #MAONRMASK0 anda #MAONRMASKF finishchange: staa PORTA pulb pula rti John Maitin

33. Simple Memory Map, Simple Decode • Memory map is divided in half, so only 1 pin needed to decode • If memory mapped I/O is used, we can adapt logic with and gates from needed address pins Josh Bingaman

34. Motor Control Decoding Josh Bingaman

35. RS232 Multiplexing Josh Bingaman

36. Sensor Communication • All GPIO • No Decode logic • 1 pin for IR Reception • 1 pin for RF Reception • Limit Switches on Antenna motor to XIRQ • 1 spare GPIO input for Proximity Sensor Josh Bingaman

38. QUESTIONS?