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Coordinate Based Tracking System. Group: OX. Overview. Current Status of Project. CDR: Main Board Schematics Obtain Main board parts Motor board schematics Assemble microcontroller board Get processor running. Schematics. Microcontroller Power Circuit
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Coordinate Based Tracking System Group: OX
Current Status of Project • CDR: Main Board Schematics Obtain Main board parts Motor board schematics Assemble microcontroller board Get processor running
Schematics • Microcontroller Power Circuit • Reset Circuit • Microcontroller Circuit • Memory
Software Flow • Sources interrupting Microcontroller • On board serial port • Off board UART • Nintendo Controller The on board serial port will be interrupted by our monitor program, and will be used to execute programs The Nintendo Controller will be used for controlling the software flow.
External Instructions • These external instructions will be received and sent using an off-board UART using RS-232.
Preloaded Sequences • Sequences making the motors direct in various shapes such as squares, triangles, ellipses will be generated from the processor and sent to the motor controllers.
Polling the Motor Controllers • The motor control IC’s will have to be polled to determine if the motor has reached desired location • This will best be implemented by sending the motor X and Y coordinates and waiting for idle state. • This will take the major bandwidth of the system.
FPGA Progress • Memory Map Logic • NES Controller Logic
Memory Map • 32 Kbytes EPROM • 32 Kbytes RAM • 10 bytes Peripherals • LCD • Motor[X] • Motor[Y] • NES Controller • UART • ISR Pointer
Interrupt Service Routine (ISR) Pointer Problem: • Several Devices need external interrupt • Only one non-maskable external pin in HC11 Solution: • Implement ISR Pointer in FPGA • Pointer Register in Memory map • Read pointer as it was memory from the FPGA
Peripheral Timing • NES needs special signals to provide push button mechanism • Enable (E) on LCD needs to pulse after LCD address has been put on the Bus.
NES Controller • Needs special signals provided by FPGA logic • Will be memory mapped to address 0005H • Can be read as normal memory
NES Controller Logic Logic to Create Pulse and Latch Signals
NES Controller Logic Cont. Logic to read in data from NES Controller
The HCTL1000 • Why are we using it? • Made for the job • Varying control options • Closed Feedback loop • Easily Programmed
Using the HCTL • Setup Registers • Commutator (5 reg) • Control Mode (1 reg) • Send Commutator positions (1 reg) • Feedback makes sure its in position
The Commutator • Four phase output • Reduced to two phase output • Programmable for Half step • Run phases with different offset • Steps with PWM • Pulse time and width programmable for varying mode operation
Feedback and the Filter • Digital feedback for filter control • Accepts distance change, filters PWM • 3 Registers for filter parameters • Gain, Pole, and Zero • Used in position control mode
HEDM5605 #J06 • The Feedback for the HCTL1000 • 1024 Counts per rotation • Much higher than required specifications • Dual phase output • Set register on HCTL to read properly
How an H-Bridge works: Forward mode, switches A and D closed. Reverse mode, switches B and C closed. * H-Bridge is the mechanical equivalent of a DPDT Switch.
Objective Timeline • CDR: Main Board Schematics Obtain Main board parts Motor board schematics Assemble microcontroller board Get processor running • Milestone 1: Obtain Motor Board Assemble Motor board Finish and test microcontroller hardware Implement Game Pad interface
Objective Timeline (Cont) • Milestone 2: Monitor program running Implement interface with motors Real Time Embedded system PC104+ module • Expo: Run Demo modes for the laser Receive XY and control laser Calibrate stepper motors for tracking