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ECE 477 Design Review Team 1  Spring 2008

ECE 477 Design Review Team 1  Spring 2008. Alan Bernstein. Ian Alsman. Ilya Veygman. Darshan Shah. Outline. Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation PCB layout

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ECE 477 Design Review Team 1  Spring 2008

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  1. ECE 477 Design Review Team 1  Spring 2008 Alan Bernstein Ian Alsman Ilya Veygman Darshan Shah

  2. Outline • Project overview • Project-specific success criteria • Block diagram • Component selection rationale • Packaging design • Schematic and theory of operation • PCB layout • Software design/development status • Project completion timeline • Questions / discussion

  3. Project Overview • Design of a turret with an armature structure that holds an airsoft gun • Detect and fire at enemies through both motion and threshold detection • Gun will pan/tilt based off coordinates translated by the microcontroller from the video feed • Friendlies can disarm the weapon with a remote

  4. Project-Specific Success Criteria 1. An ability to electronically fire an airsoft pistol (either autonomously or manually). 2. An ability to detect off-camera motion via ancillary sensors. 3. An ability to remotely disable device to prevent “friendly fire.” 4. An ability to automatically detect a (hostile) target within the camera’s field of vision. 5. An ability to pan and tilt the firearm assembly (a minimum of) 45° in the longitudinal direction and 30° in the latitudinal direction.

  5. BLOCKDIAGRAM

  6. Component Selection Rationale • Microcontroller vs. DSP • MC9S12XD (144-pin LQFP) • 80 MHz • 119 GPIO • Peripherals: 2 I2C, 6 SCI, 3 SPI • External Memory Bus Expansion (XEBI) • Easy to Program (JTAG/BDM) • Takes only 3.3V supply  much easier • DSP56371 (80-pin LQFP) and HC9S12 (32-pin DIP) • DSP: 150 MHz, Micro: 8MHz (control code) • GPIO: 39 pins • No External Memory Bus Expansion • DSP instruction set (i.e. filtering) • No means of programming • Needs 5V, 3.3V and 1.25V supplies  complicated!

  7. Packaging Design Main Considerations • Stability and Mobility • Modifiable • Housing for PCB, power supply, and other peripherals • Motors and Gearing • Gun Mount • Bearings

  8. Schematic/Theory of Operation • Overview: • ON BOARD • μC • Camera • Level translators • External RAM • Power regulators • Motor control logic • Fire Control • OFF BOARD • Motor Driver circuitry (H bridge circuits) • Ancillary sensors • Motion Detection (motion sensors vs. laser trip wires) • Friendly detectors • IR or radio remote

  9. Components ON BOARD * 60 pins used for I/O * 25 mA/pin = 1.5 A

  10. Components OFF BOARD

  11. Motor Control • Logic kept on PCB • Into PLD: • Direction • Enable • Clock • Out: • 1st/2nd/3rd/4th coil for some motor turned on • Driver circuitry off-board • Safety • Modularity • Current demands

  12. H-Bridge Circuitry (OFF BOARD)

  13. Friendly Detector and Motion Sensors • Fire Control • Turn AirSoft motor on/off • IR Input • Multiple off-board sensors summed • Range concerns • Switch to radio? • MS_xxxx • Currently motion sensors • Care about direction of signal • Switch to laser tripwires?

  14. PCB Layout • Main Considerations • MC9S12XD documentation suggestions: • Decoupling capacitors on supply pairs • Star and spoke configuration of copper pour • Headers for Microcontroller for easy routing and for future debugging • Organization of PCB layout based on voltage (3.3V and 5 V) • Separating analog and digital ground • Estimated Size: 5 in. X 5 in.

  15. PCB Documentation

  16. Component Placement 5 V 3.3 V POWER

  17. Software Design/Development Status • Control Code for the Stepper Motors • Assembly-based test code • Develop Lookup Table • Calibration • “Learning curve” speed control for smoothness • Video Processing/Targeting Code • Have basic algorithms • Looking for C-based version • User Interface Code • Should be fairly straightforward

  18. Flow Chart: Visual Detect Startup Capture backgrounds Wait Motion? No Yes Capture Area and Subtract Target Found? Coordinates To Motor Control Yes No

  19. Flow Chart: Control Software Startup Move to “0,0” position Wait Got Coords? No Wait Yes Lookup corresponding position Move main assembly Fire

  20. Project Completion Timeline • 1st week March – Finish tweaking PCB and schematic, make (hopefully) final parts order • 7 March – Proof of Parts/Final Schematic/Final Layout • Spring Break – Build assembly, begin developing software • 3-4th week March – Test software on board as part of development • 1st week April – Finish software, begin debugging • 15-20 April – Finish debugging/write user manual • 23 April – Present PSSCs!!

  21. Timeline

  22. Questions / Discussion

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