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Critical Design Review

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Title: Critical Design Review Author: mccabed Last modified by: wolpoffd Created Date: 9/24/2004 7:11:26 PM Document presentation format: On-screen Show – PowerPoint PPT presentation

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Title: Critical Design Review

1
Critical Design Review
Blimpage
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 two
accelerometers-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
Pos/Heading uC
Master uC
HMR3100
-?
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
positions 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 blimps 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

-----?
----

-----?
lt---
-----?
-----?
-----?

optical isolator

Micro Servo

PWM signal
3 V Battery
--------?
-----?

lt---

----------------------
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 uCs 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
gt----

---Vcc
-lt
-
6x Voltage Regulators

lt-------
-lt

lt--------
power

Channel select
--------------------

gt----?
--?
Collision uC Slave
LP Filter
25
Collision Detection Schematic
26
Collision Detection State Machine
Module State Machine
27
Communications