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Project Z: Stereo Range Finding Based on Motorola Dragonball Processor

Project Z: Stereo Range Finding Based on Motorola Dragonball Processor. Zach Allen Chris Chan Ben Wolpoff Shane Zinner. Introduction System Overview Hardware Software Features Implementation Potential Issues Schedule. Milestones Contingency Plans Parts List Cost/Expense Estimates

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Project Z: Stereo Range Finding Based on Motorola Dragonball Processor

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  1. Project Z: Stereo Range Finding Based on Motorola Dragonball Processor Zach Allen Chris Chan Ben Wolpoff Shane Zinner

  2. Introduction System Overview Hardware Software Features Implementation Potential Issues Schedule Milestones Contingency Plans Parts List Cost/Expense Estimates Marketability Investment Returns Conclusion Overview

  3. Introduction • Purpose • Familiarize and learn about embedded computing based on a state of the art processor. • Learn about Board Layout and Issues. • Learn about an embedded operating system and issues associated with a real-time environment. • High Level Functionality • Precision range finding based on a stereo range finding system. • Run embedded software. • Goals • Fabricate the board and run simple code. • Interface with video encoding chip and code for range finding. • Run embedded Linux.

  4. System Overview

  5. Hardware • Motorola MC68VZ328 Dragonball Processor • 32MB Flash Memory • Conexant BT835 Graphics Processor • Grayscale 640x512 LCD • Grayscale ASCII Text LCD • NTSC Standard Cameras • Xilinx FPGA • Laser Pointer

  6. Software • Range Finding • Image Processing • LCD Interaction • Memory Management • Embedded Linux (uCLinux)

  7. Features • LCDs • Plain ASCII Text LCD • 640x512 TFT Grayscale LCD • Embedded Operating System • uCLinux • Range Finding • Dual Camera Stereo Vision • Laser Pointer Tracking • Large Internal Storage • 32 MB Flash Memory

  8. Board Implementation • Board Design • Layout in P-Cad • Fabrication and Population

  9. Stereo Range finding 2 NTSC Cameras Conexant BT835 Graphics Processor Up to 4 Analog NTSC Inputs Outputs in YCrCb Which Is Easily Converted To An RGB Signal Hardware Scaling and Filtering Low Cost Solution 1 Common Physical Point Are Found From Both Cameras (Laser Pointer). Based on the positions of the Cameras and the pixel differences in the red laser dot, a distance can be calculated. Motorola Dragonball MC68VZ328 Processor TQFP Product Specs Can Be Found At: http://e-www.motorola.com/webapp/sps/site/prod_summary.jsp?code=MC68VZ328 Hardware Implementation

  10. Software Implementation • LCD Interaction • Drivers • Range Finding • Trigonometric Algorithm • Convert to RGB Scale • Find Common Laser Points • BT835 Drivers • Memory Management

  11. OS Implementation • uCLinux • uClinux is a derivative of Linux 2.0 kernel intended for microcontrollers without Memory Management Units (MMUs). • Common Linux API • uCkernel < 512 kb • uCkernel + tools < 900 kb • Successfully Run On the Motorola Dragonball EZ Processor and Other 68k Derivatives

  12. Schedule • Project Timeline • Overall Layout of Tasks • Timeline for Completion • Milestones • Milestone 1 • Milestone 2 • Expo • Potential Problems • Contingency Plans

  13. Milestone 1 Board designed around Dragonball VZ processor, laid out, fabricated and populated. Boot monitor designed, tested and working. Design, test, and run RAM interface and be able to run simple instructions (nop). Milestone 2 Boots internally. Rangefinder built, and code developed for video chip interface, range finding, and LCD display. Milestones

  14. Expo Get system to run embedded Linux. Linux interfaces with graphics chip. Modify code to run on Linux. Final Debugging. Magical Demonstration and working project. It will be “the one.” Milestones

  15. Interfacing Between the Conexant BT835 and Motorola Dragonball Processor. FPGA Bus Speed Issues. Addressing Issues With Large Amount of Memory. May Need Some External RAM Storage for LCD. Various Real Time Issues. Embedded Linux (Drivers, Compilation, Running) All or Nothing Fabrication Process (Finances). Learning All The Software (P-Cad, uCLinux, CodeWarrior/Microtek) Potential Issues/Problems

  16. Contingency Plans • Instead of Stereo Range Finding Switch To Ultrasonic Range Finding. • Select Different FPGA In The Event of Bus Speed Issues. • Reduce Memory Size or Redesign Addressing Space In the Event of Address Space Issues. • May Need To Use Part of Flash Memory For Peripherals or Integrate DRAM (needs to be done before board fabrication) if LCD needs External Storage. • Will Need To Keep Real Time Issues In Mind and Modify Coding Style. • Embedded OS • Drivers – Interact Directly with the Device • Do Not Run an Embedded OS.

  17. Parts List

  18. Cost/Expense Estimates

  19. Marketability • Military • Survey Sites • Golf • Aerospace Applications • People That Like to Think They’re James Bond

  20. Investment Returns

  21. Conclusion • Stereo Range Finding • Motorola Dragonball VZ Processor • Real Time Embedded Software • Modularity in Design • Sufficient Market Demand

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