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Critical Design Review

Blimpage. Critical Design Review. Blimpage Team: Daniel McCabe Nguyen Trinh Joseph Brannan David Wolpoff Philip Grippi. System Overview. Modular general-purpose drone controller Navigation, collision-detection, general motor interfaces, data collection

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Critical Design Review

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  1. Blimpage Critical Design Review Blimpage Team: Daniel McCabe Nguyen Trinh Joseph Brannan David Wolpoff Philip Grippi

  2. System Overview • Modular general-purpose drone controller • Navigation, collision-detection, general motor interfaces, data collection • Zero-impact on system performance • Lightweight, independently powered

  3. What is the Blimpage • Composed of six main modules: • General-purpose microcontroller network • Motor / servo controller • Position and heading monitoring • Collision-detection / alarm • Data collection • Off-module communication

  4. Functional Block Diagram

  5. The Micros MSP 430 F1232 Micro Controllers Key Features: Ultra Low Power: 300 μA (Active)0.7 μA (Standby) C-Programming Interface

  6. Master Functions • Arbitrates data transfers on i2c bus • Prioritize Data Transfers • Passes data among subsystems • Handle user-input objectives • Coordinate startups and shutdowns • Bleating

  7. Master State Machine • And Now Something COMPLETELY different.

  8. Master State Machine. Take 2 • Init • Initialize all slaves. • Query • Check who has data • Prioritize data • Idle • Handle ‘master’ tasks. • Xfer • Carry out all bus transactions in priority order.

  9. Command Set • Initialization: • From Master: “Are you alive and what is your target type?” • From Slave: “I am target type TARGET.”  • Query Data: • From Master: “Do you have data?” • From slave: “I have data for TARGET, of priority DATA” • Transfer Data: • From Master: “Here is DATA from TARGET” • From slave: “Her is DATA for TARGET” • Objective Update: • From Master: “New objective from TARGET is DATA” • From slave: “New objective for TARGET is DATA” • Global Abort: • From Master: “halt immediatly” • From Slave: “They sky has fallen! Tell everyone to halt” • Global Abort: • From Master: “halt immediatly” • From Slave: “They sky has fallen! Tell everyone to halt” • Local Abort: • From Slave: “I'm dead, go on without me” •  Block Transfer: • From Master: “I have DATA words from TARGET” • From slave: “I have DATA words for TARGET” • Master then reads DATA words from slave and writes them to TARGET.  • Debug Code: • From slave: “Process debug info DATA” • Global Reset: • From Master: “Reset yourself, and restart operations.”

  10. Modified i2c Protocol START: STOP: ADDRESS CYCLE:

  11. i2c Functionality • Fully compatible with standard i2c devices • Added START pin for micro-controllers • 7-bit address size • 8-bit data size • 16-bit word size: for large block transfers

  12. Position and Heading Intro • Detects position from digital compass- HMR3100 • Detects heading from HMR3100 and twoaccelerometers-ADXL3100 • Sends direction instruction to Motor Controller Module via I2C bus • Receives collision direction information via I2C bus from Collision Detection Module

  13. Position/Heading Block Diagram HMR3100 Pos/Heading uC Master uC - ADXL311 - - || || || -------------------------------------------------------------------------------------------------- I2C BUS || Motor uC Collision uC

  14. Digital Compass HMR3100 • 5 degree Heading Accuracy, 0.5 degree Resolution • 2-axis Capability • Uses 3.3 V DC Single Supply Operation • Uses 9600 N.8.1 communication for outputting binary data • Delivers output binary data to UART of Positon/Heading uC • UART binary data converts into decimal data for position’s degree • With output data of ADXL311, sends direction instruction to motor controllers module via I2C bus

  15. HMR3100 Time Diagram Continuous Mode: 2 Hz heading queries at 9600 baud rate Calibration Mode:

  16. Accelerometer ADXL311 • Dual-axis accelerometer • Uses 5-V single-supply operation with 0.4 mA typical consumption • Uses Internal Low Pass Filter with bandwidth of 10 Hz • Based on blimp’s average acceleration of 5 (cm/s)/s, 50 mV (VPP) variation of output voltage from ADXL311 • Put the variation of output voltage through an external LPF (MAX7490) of 2 Hz • Then scale the variation of output voltage 7 times bigger from TLV2370 Op-amp • Then put the amplified variation output voltage into the ADC10 in Pos/Heading uC

  17. ADXL3100 and Logic Block Diagram MAX7490 TLV2370 Pos/Heading uC ADXL311 --- ------ ----- ADC10 LP Filter

  18. ADXL311 and HMR3100 Schematic

  19. Motor Control Intro • Motor module uC receives direction instruction over I2C bus from Position and Heading Module • 4 uC logic level outputs are optically isolated from H-Bridges – control 2 motors’ behavior • uC logic level PWM signal is optically isolated from Servo • Two fans operate in forward or reverse • Servo controls position of fans (up or straight) • 3 V battery powers motors and servo

  20. Motor Control Block Diagram ------------------------- | | x2 H-Bridge Motor Drivers Motor uC x4 optical isolators | | | | ----- ---- | ----- <--- ----- ----- ----- | optical isolator ^ | | Micro Servo | | PWM signal 3 V Battery -------- ----- | | <--- | | ----------------------

  21. Motor Control Schematic

  22. Motor Control State Machine

  23. Collision Detection Intro • Collision module uC cycles through 6 channels on Mux/Demux using binary addressing • Vcc enable signal multiplexed to 6 Voltage Regulators which power 6 distance sensors (limits power consumption) • Distance sensor outputs de-multiplexed into LPF • LPF output sampled by uC’s ADC10 • Collision status register and priority flag updated • Collision direction information passed over I2C bus to positioning and heading module • 5 V regulated voltage powers module components

  24. | Collision Detection Block Diagram ---------- ---------------- ------ 6x Collision Sensors | | output Mux/Demux >---- | | - -< ---Vcc 6x Voltage Regulators | <------- -< | <-------- | power | ^ ^ ^ | | | Channel select -------------------- | | >---- -- Collision uC Slave LP Filter

  25. Collision Detection Schematic

  26. Collision Detection State Machine Module State Machine

  27. Communications • Enables communication with “outside” world. • RS232 protocol, via MAX3233. • Reads data from Master and outputs it to host PC for interpretation. • Reads data from host and outputs it to Master. • Enables debugging, etc.

  28. Data Acquisition • Servo Motorized ‘message’ deployment • Delivers messages discreetly and accurately. • Camera scrapped for blimp due to weight constraints. • (Time Permitting) JamCam camera will be deployed on R/C Car • RS232 communication • Documented protocol • (Time Permitting) Audio/Temperature/Humidity Sensors

  29. Parts List • Motor Control • 4 Zetex 20V N-Channel MOSFETs • 4 Zetex 20V P-Channel MOSFETs • 5 NEC High Isolation Voltage SOP Photocouplers • 2 small DC fan motors • 1 4.7 g Cirrus Micro Servo • Collision Detection • 1 ADG527A Analog Devices Multiplexer • 1 MAX7490 Maxim Dual Universal Switched Capacitor Filter • 6 LT1121-3.3 Linear Technology Micropower Low Dropout Regulators with Shutdown • 6 GP2D12 Sharpe General Purpose Type Distance Measuring Sensors • 1 Diodes Incorporated Surface Mount 3.3V Zener Diode • Positioning and Heading • 1 HMR3100 Honeywell Digital Compass Solution • 1 ADXL311 Analog Devices Low Cost, Ultra-compact +-2g Dual Axis Accelerometer • 1 MAX7490 Maxim Dual Universal Switched Capacitor Filter

  30. Parts List 2 • Master • 6 MSP430F1232 Microcontrollers • 1 Clock in a Box • 1 TPS61100 Switching boost converter • Communal • Various Resistors • Various Capacitors • Various Inductors • Assorted PCB’s • Blimp

  31. Costs (The Big Stuff) • Microcontrollers: $40.00 x 3 revisions = $120.00 • Compass: $100.00 • Infrared Rangefinders: $60.00 • PCB’s $80 x 3 revisions = $240.00 • Blimp $100.00 • Programming tool: $200.00 • Assorted DigiKey purchases: $300.00 • Total Costs: $1120.00 • Sanity: Priceless (but absent)

  32. ROI • Projected Development Cost: $1200.00 • Projected Production Cost at Volume: $500.00 • Projected Cost to consumer: $5000.00 (including support) • Projected Sales: 10,000 units. • ROI: $45,000,000

  33. Updated Schedule

  34. Division of Labor • Master / Slave system (i2c) • Dave, Dan • Communication Module • Dave, Phil • Motor Control, Collision Detection • Joe • Position / Heading • Nguyen • Data Collection Module • Phil, Dan

  35. Division of Labor • Group Tasks • Documentation • PCB Population • Systems Integration • Review and Testing

  36. Milestone 1 • Airborne Blimp • Final Testing • Collision • Motor • Basic functionality • Pos/Head • Comms • Data Acq.

  37. Milestone 2 • Significant Blimp Maneuverability • Basic testing on R/C Car • All modules completed and in testing • Basic user interface (for destination data)

  38. Expo • All systems fully implemented and tested • Documentation Complete • User’s Manual • Technical Manual • Happy Jack

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