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Group 6 You’ve Got SARS!!

Group 6 You’ve Got SARS!! . Brent Anderson Lauren Cutsinger Martin Gilpatric Michael Oberg Matthew Taylor Capstone Spring 2006. Presentation Outline. Milestones Logistics Enhancements to Core Design Bus Interconnectivity Program Flow Client GUI Motor Control Demonstrations.

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Group 6 You’ve Got SARS!!

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  1. Group 6You’ve Got SARS!! Brent Anderson Lauren Cutsinger Martin Gilpatric Michael Oberg Matthew Taylor Capstone Spring 2006

  2. Presentation Outline • Milestones • Logistics • Enhancements to Core Design • Bus Interconnectivity • Program Flow • Client GUI • Motor Control • Demonstrations

  3. Project Overview • Design an infrared tracking system that will control a motorized camera platform. • Track infrared image of person. • Display IR image. • Determine temperature of person for possible disease detection.

  4. System Overview PWM SPI Serial Motor Control 4431 SPI Major Components • IR Camera • PIC Processors • Camera Mount • Motors • PCB • Output (PC) USB 2.0 4550

  5. Milestones Milestone 1 • Complete Prototype • Basic Motor Control • Talk to IR Camera over SPI • Basic Tracking Abilities Milestone 2 • PCB with Surface Mount Components • Advanced Tracking • Fine Tuned Motor Control • Camera Mounted with Optics • Basic PC Interface Expo • Full Camera Integration • Complete PC Interface

  6. Tasks

  7. Costs (Overall - Vendor)

  8. Costs (Specific)

  9. Schematics • Voltage Regulator • Processor Board • Breakout Board • Motor Control Board

  10. Schematics – Voltage Regulator

  11. Schematics - Processor

  12. Schematics – Breakout Board

  13. Enhancements to Core Design • Smaller design – all surface mount parts • Faster communications with USB 2.0 • Off-board Programming header • New motor control PIC processor with better PWM precision

  14. Benefits of smaller design • Daughter board connection to camera • Small casing and camera mount • Minimal connections to camera • Mini USB • Power • Looks cool!

  15. Benefits of Breakout Board • Smaller main PCB • Great debugging tool • Off-board Programming header • Adds serial connector with very little space

  16. Benefits of USB 2.0 • Faster frame rate (up to 30 fps, limited by SPI and camera) • Goes around problem of multiuse pin (RX and SPI) • Allows us to bring RS232 out to breakout board • Very small connector to save even more space • If power constraints work, use USB to power entire board

  17. Benefits of the 4331 Motor Control PIC • Better motor control • RS232 not multiplexed with SPI, so more debug control (manual control) • Don't have to slow down processor, allowing more speed for processing frames • Better precision and more fine tuned control

  18. Camera Communications

  19. Component Interconnect Two bus types: 1)SPI -Connects the camera and the two processors -3 lines: MISO, MOSI, SCK. 2)RS 232 -Using single line: TX -Only transmitting from one processor to the PC

  20. SPI • 3 Line Serial Standard (with enable lines). • MISO: Master in, Slave out. • MOSI: Master out, Slave in. • SCK: SPI clock. • Individual enable lines for each slave. • SPI communication method: • Enable slave: Set appropriate enable line high. • Master: Write to SPI Register (SPI module will load SPI shift register from this buffer) • SPI module will clock data out and receive data sent by the slave. • Data is clocked into and out of the slave via the SPI clock.

  21. SPI

  22. SPI “Spying” • Reasoning: • Require same image data on both processors. • Using the SPI bus twice would waste time. • Method: • Second PIC is connected to the bus as if it were a master: SDI tied to MISO, SDO tied to MOSI. • Second PIC enables SPI as a slave: does not generate SCK, uses SS as SPI receive enable. • Enable is same line as the camera’s data SPI output enable • When Master requests data from camera it will clock data from the camera which will be output to the MOSI which is tied to the SDI of both processors. The master generating the clock will receive the data as it would without the second processor. The Second PIC will have data clocked in as if it were receiving it from a normal SPI Master.

  23. RS 232 • Normally a 2 line serial connection. • Using only TX, the transmit line. • Options: • 115200 baudrate • No parity bit • 8 bit data • 1 stop bit • Currently using Tera Term to interpret received data. • Potentially being replaced by USB 2.0 for greater speed.

  24. Pin Outs PIC 1 PIC 2

  25. Program Flow • PIC 1: Acting as Master of the SPI bus/ Relaying Image to PC • Initialisation: • Set appropriate control registers for both RS 232 and SPI • Interact with camera: • Reset Thermopile array. • Begin loop to access all values on the thermopile array. • through SPI, set MUX to appropriate output and read output from ADC. • Repeat loop until array has been completely relayed, the issue reset to thermopile and begin again. • Relay information to PC through RS 232. • PIC 2: “Spy” on SPI bus to acquire image data/ Process image for tracking • Initialisation: • Set appropriate control registers for SPI and PWM. • Spy on SPI bus: • Wait for reset to be sent to thermopile. Indicates beginning of picture. • Begin loop to generate running averages of both columns and rows. • Read in value from SPI and add it to the appropriate portions of column averages and row averages. • Leave loop when all 1024 values have been appropriately processed. • Process image via column and row averages to generate targeting information. • Change direction of camera as necessary. • Wait for reset signal, then begin loop again.

  26. Client Software Outline • Architecture • Block Diagrams • Current Implementation

  27. Client Architecture • Ubuntu Linux • Easy to install, configure, secure • Up to date packages • Client written in C • Good choice for interaction with Serial/USB, and GTK+ • GTK+ 2.8.6 Graphical User Interface Library • Cross-Platform (also supports Windows) • ~ 2800 functions, from high level convenience functions to low level routines for fine tuned control

  28. Client Block Diagram

  29. Client Block Diagram

  30. Client Screenshot

  31. Motor Control and Implementation Parts List: • PIC18F4431 (Specialized For Motor Control) • 14 Bits of accuracy on Duty and Period Registers • Large Prescalers and Postscalers • Comparable to PIC18F4550 • 2 Hitec-422 Servos • HC_HCPL-2730 Optocouplers • MAX4426 1.5A MOSFET Drivers

  32. Servo Schematic Main Power Optocoupler Servo Power Servo Headers MOSFET Driver

  33. HiTec HS-422 Servo Constraints Controlled With PWM signalling • 20ms Signal Refresh (50Hz) • .9ms to 2.1ms active high position definition range • Duty Cycle from 4.5% 10% • With PIC18F4550 achieved 5° of precision • Maximum Oscillation freq 500Khz • PIC18F4431 can achieve servo constraints at 40MHz • High Degree of accuracy over 1°

  34. PWM Control Signal 0° 4.5% Duty Cycle @50Hz 180° 10% Duty Cycle @50Hz

  35. Demonstrations, and Questions?

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