ECE 477 Design Review ECE 477 Design Review Group 1 Group 1 Fall 2005 Fall 2005 Paste a photo of team members here, annotated with names of team members. Kwun Fung Yau Chad Carrie Zubin Rupawala Manoj Jacob
Dec 18, 2015
ECE 477 Design Review ECE 477 Design Review Group 1 Group 1 Fall 2005 Fall 2005
Paste a photo of team members here, annotated with names of team members.
Kwun Fung Yau
ChadCarrie
ZubinRupawala
ManojJacob
OutlineOutline• Project overview Project overview • Project-specific success criteriaProject-specific success criteria• Block diagramBlock diagram• Component selection rationaleComponent selection rationale• Packaging designPackaging design• Schematic and theory of operationSchematic and theory of operation• PCB layoutPCB layout• Software design/development statusSoftware design/development status• Project completion timelineProject completion timeline• Questions / discussionQuestions / discussion
Project OverviewProject Overview
• Remote Controlled vehicle with a water cannon Remote Controlled vehicle with a water cannon mounted on a pan/tilt turret along with a mounted on a pan/tilt turret along with a cameracamera
• Controller by a remote user at a PC via 802.11b Controller by a remote user at a PC via 802.11b Wireless and navigated by the video cameraWireless and navigated by the video camera
• Intuitive PC interface (designed to be Intuitive PC interface (designed to be controlled like an FPS game – Mouse + WASD)controlled like an FPS game – Mouse + WASD)
• Sensors mounted on vehicle for obstacle Sensors mounted on vehicle for obstacle avoidance and possible target detectionavoidance and possible target detection
Project-Specific Success CriteriaProject-Specific Success Criteria
1.1. Ability to steer and drive the vehicle remotelyAbility to steer and drive the vehicle remotely
2.2. Ability to use a TCP stream over Ethernet to control Ability to use a TCP stream over Ethernet to control the vehicle using a PC (keyboard & mouse)the vehicle using a PC (keyboard & mouse)
3.3. Ability to control the aiming of the water cannon on Ability to control the aiming of the water cannon on two axes of movement using a real-time video feedtwo axes of movement using a real-time video feed
4.4. Ability to shoot the water cannon using a Ability to shoot the water cannon using a diaphragm pumpdiaphragm pump
5.5. Ability to detect and avoid obstacles using onboard Ability to detect and avoid obstacles using onboard sensorssensors
Block DiagramBlock Diagram
Collision Sensors(4 Sensors)
Collision Sensors(4 Sensors)
Turret Servos(2 Servo)
Turret Servos(2 Servo)
Turret stepperController
Turret stepperController
Water CannonPump Control
Water CannonPump Control
Water Cannon PumpWater Cannon Pump
MicrocontrollerMicrocontroller
Personal Computer
Personal Computer
Ethernet + Wireless Bridge
Ethernet + Wireless Bridge
802.11 b
WIFI
Drive Train Controller
Drive Train Controller
Drive Train MotorDrive Train Motor
WebcamWebcam
8
1
4
6
Component Selection RationaleComponent Selection Rationale
• Microcontroller – Freescale MC9S12NE64CPVMicrocontroller – Freescale MC9S12NE64CPV– CodeWarrior – reliable IDECodeWarrior – reliable IDE– 80 pins80 pins– Built in Ethernet interfaceBuilt in Ethernet interface– ATD (for sensors)ATD (for sensors)– PWM (for motors)PWM (for motors)
Other choices – Rabbit RCM3000 ? No!Other choices – Rabbit RCM3000 ? No!
No ATD!No ATD!
• Webcam – Linksys WVC11BWebcam – Linksys WVC11B– Wireless-B Video Camera Wireless-B Video Camera
• (Built in WEB server)(Built in WEB server)
• Water pump – Hargraves Advanced Fluidic Water pump – Hargraves Advanced Fluidic Solutions LTC W311-11 diaphragm pumpSolutions LTC W311-11 diaphragm pump– 30 PSI (5 to 7 feet) (w/o nozzle)30 PSI (5 to 7 feet) (w/o nozzle)
• Pan / Tilt servo – Devantech SRF0XPan / Tilt servo – Devantech SRF0X
Component Selection RationaleComponent Selection Rationale
Component Selection RationaleComponent Selection Rationale
• SensorsSensors– Analog – Analog – Sharp GP2Y0A02YKSharp GP2Y0A02YK (20cm to (20cm to
150cm)150cm)– Digital – Digital – LynxMotion IRPD Ver 2.0LynxMotion IRPD Ver 2.0 (4” to (4” to
26”)26”)• directional output (L / R / C )directional output (L / R / C )
• BatteryBattery– 19.2V battery pack from Hummer H2 19.2V battery pack from Hummer H2
(Steering servo)(Steering servo)– Sanyo KR1400AC +12VDC BatterySanyo KR1400AC +12VDC Battery (All (All
components)components)
Component Selection RationaleComponent Selection Rationale
• Vehicle Platform - 1:6 R/C Full-Function Vehicle Platform - 1:6 R/C Full-Function "Tricked" Hummer"Tricked" Hummer – Nice Plastic ShellNice Plastic Shell– Include battery packInclude battery pack– Huge SizeHuge Size
Packaging DesignPackaging Design
Packaging DesignPackaging Design
Packaging DesignPackaging Design
Similar Commercial ProductSimilar Commercial Product
-- Adventure CamAdventure Cam
Schematic/Theory of OperationSchematic/Theory of Operation3.3vdc
0
0
0
19.2vdc
00
PL4/COLLED
EXTRALED1
MII_TXER/KWH6/PH61
MII_TXEN/KWH5/PH52
MII_TXCLK/KWH4/PH43
MII_TXD3/KWH3/PH34
MII_TXD2/KWH2/PH25
MII_TXD1/KWH1/PH16
MII_TXD0/KWH0/PH07
MII_MDC/KWJ0/PJ08
MII_MDIO/KWJ1/PJ19
VDDX110
VSSX111
MII_CRS/KWJ2/PJ212
MII_COL/KWJ3/PJ313
MII_RXD0/KWG0/PG014
MII_RXD1/KWG1/PG115
MII_RXD2/KWG2/PG216
MII_RXD3/KWG3/PG317
MII_RXCLK/KWG4/PG418
MII_RXDV/KWG5/PG519
MII_RXER/KWG6/PG620
SCI0_RXD/PS021
SCI0_TXD/PS122
SCI1_RXD/PS223
SCI1_TXD/PS324
SPI_MISO/PS425
SPI_MOSI/PS526
SPI_SCK/PS627
SPI_SS/PS728
ECLK/PE429
VSSX230
VDDX231
RESET32
VDDPLL33
XFC34
VSSPLL35
EXTAL36
XTAL37
TEST38
IRQ/PE139
XIRQ/PE040
BKGD/MODC41
PL4/COLLED42
PL3/DUPLED43
VSS244
VDD245
PHY_RBIAS46
PHY_VSSA47
PHY_VDDA48
PHY_VDDTX49
PHY_TXP50
PHY_TXN51
PHY_VSSTX52
PHY_RXP53
PHY_RXN54
PHY_VDDRX55
PHY_VSSRX56
PL2/SPDLED57
VDDR58
PL1/LNKLED59
PL0/ACTLED60
PAD0/AN061
PAD1/AN162
PAD2/AN263
PAD3/AN364
PAD4/AN465
PAD5/AN566
PAD6/AN667
PAD7/AN768
VDDA69
VRH70
VRL71
VSSA72
VSS173
VDD174
PT7/TIM_IOC775
PT6/TIM_IOC676
PT5/TIM_IOC577
PT4/TIM_IOC4/78
PJ7/KWJ7/IIC_SCL79
PJ6/KWJ6/IIC_SDA80
U2
MC9S12NE64
Y2CRYSTAL 25MHz
HEADLIGHT1
GNDS1
VCC2
DIR3
VCC4
OUT15
OUT16
GND7
PWM8
GND9
GNDS10
GNDS20
VCC19
STATUS218
VCC17
OUT216
OUT215
GND14
STATUS113
GND12
GNDS11
H2
TPIC0107B
HEADLIGHT2
1234567891011121314151617181920
J32
HEADER 20
C27
.22
1234567891011121314151617181920
J34
HEADER 20
TAILLIGHT1
123456789
1011121314151617181920
J35
HEADER 20
123456789
1011121314151617181920
J36
HEADER 20
BKGND DEBUG
3.3vdc
TAILLIGHT2
C30
.22
C31
.22
EXTRALED2
R2849.9
R2949.9
R31RBIAS
REG1SDREG2SD
D15DIODE
R3249.9
R3349.9
C33
.22
C34
.22
MOTORPWM
C40.22
C41
470pF
OPTION2
*RESET
PL0/ACTLEDPL1/LNKLED
PL2/SPDLED
PL3/DUPLED
OPTION1
THE MICROCONTROLLER CIRCUIT
Ethernet Crystal SchematicEthernet Crystal Schematic• Created Created
following the following the recommended recommended FreeScale FreeScale SchematicSchematic
0
Y2CRYSTAL 25MHz
R26 10M
C2815pF
C2915pF
0
ETHERNET CRYSTAL SETUP
C40.22
C41
470pF
C43
4700pF
R42
2.2k
*RESET
IR Sensors2 and ServosIR Sensors2 and Servos• IR Sensors2 IR Sensors2
(Front and Rear) (Front and Rear) have an analog have an analog output so they’re output so they’re connected to the connected to the ATDATD
• Servos are Servos are connected to the connected to the TIM channels TIM channels which can be which can be used as simple used as simple PWM’sPWM’s
• Servos are 3.3V Servos are 3.3V logic capablelogic capable
• 0.1uF capacitors 0.1uF capacitors were added as were added as bypass bypass capacitors to the capacitors to the IR Sensor2’sIR Sensor2’s
5gnd
5vdc
5gnd
5vdc2
5vdc2
BACK
FRONT5vdc2
123
J27
PANSERVO
123
J30
IR SENSOR2
123
J31
IR SENSOR2
Front and Back infrared sensors
5gnd
123
J38
STEERINGSERVO
pin 1: output pin 2: 5gnd pin3: 5vdc
123
J39
TILTSERVOC57
.1uF
5gnd
C58.1uF
IR Sensors (Digital)IR Sensors (Digital)• IR Sensors are IR Sensors are
Digital sensors Digital sensors that require 2 that require 2 control signals control signals and 1 status and 1 status signal to the signal to the microcontrollemicrocontrollerr
• 0.01uF 0.01uF capacitors capacitors were added as were added as bypass bypass capacitorscapacitors
C25.01uF
5gnd
C26.01uF
12
J28IR POWER
12
J29IR POWER
123
J33IR SENSOR
123
J37IR SENSOR
5vdc
IR Sensors (Sides)
Power Options and Optional LED’sPower Options and Optional LED’s
• ““Power Options” Power Options” were added to allow were added to allow for expandabilityfor expandability
• Each power option Each power option allows for a 5V 1A allows for a 5V 1A loadload
• The schematics for The schematics for the Power Options the Power Options were built using the were built using the Vishay Si1865DL Vishay Si1865DL application notesapplication notes
• Both require 1 pin to Both require 1 pin to turn on or off the turn on or off the switchswitch
5vdc2
C45
10uF
C461uF
R51
220
EXTRALED2
12
J50HEADER 2
12
J47
OUTPUT1C471uF
R21
D22
D23
R1,C16
ON/OFF5
S24
MOS3
Si1865DL
R4733k
R482k
POWER OPTION CONTROL #1
OPTION1
5gnd
3.3vdc
C48
10uF
C491uF
12
J48
OUTPUT2C501uF
R21
D22
D23
R1,C16
ON/OFF5
S24
MOS4
Si1865DL
R4933k
R502k
POWER OPTION CONTROL #2
OPTION2
5gnd
12
J40HEADER 2
5vdc2
12
J42HEADER 2
R35
220
R36
220
Optional LED's
HEADLIGHT2
HEADLIGHT1
TAILLIGHT2
TAILLIGHT1
EXTRALED1
R37
220
R38
220
R39
220
12
J43HEADER 2
12
J44HEADER 2
12
J46HEADER 2
Power SupplyPower Supply
• Our project has two 5V 3A(max) supply regulators and one 3.3V 3A(max)Our project has two 5V 3A(max) supply regulators and one 3.3V 3A(max)• Each of the two 5V regulators have a Shutdown control which is isolated internally from the outputEach of the two 5V regulators have a Shutdown control which is isolated internally from the output• The 3.3V regulator Shutdown control is tied to ground to keep the regulator on at all timesThe 3.3V regulator Shutdown control is tied to ground to keep the regulator on at all times• The Master Power Switch will disconnect both the 19.2V battery and the 12V batteryThe Master Power Switch will disconnect both the 19.2V battery and the 12V battery• The capacitors on the 5V regulators were given as an example in an application note for the regulatorsThe capacitors on the 5V regulators were given as an example in an application note for the regulators• Overkill on the input and output capacitors was decided to be better than underkillOverkill on the input and output capacitors was decided to be better than underkill
19.2gnd
C56330uF
12VDC
19.2gnd
19.2VDC
12vdc
5vdc2
246
135
J53DPDT SWITCH
VIN1
OUTPUT2
GND3
FB4
SD5
REG5
AP1501_5
D17DIODE SCHOTTKY
5gnd
12
J7
12VDC BATTERY
1 2
J819.2VDC BATTERY
12vdc to 5vdc power regulator
L530uH
19.2 VDC BATTERY (for Motor)
12gnd
19.2vdc
Rail #2
MASTER POWER SWITCH
C51
1000uF
C52330uF
5gnd 0
C53
1000uF
REG2SD
12vdc
C55 1000uf
5vdc
C54330uF
VIN1
OUTPUT2
GND3
FB4
SD5
REG3
AP1501_5
VIN1
OUTPUT2
GND3
FB4
SD5
REG4
AP1501_3
D9DIODE SCHOTTKY
12vdc12vdc to 5vdc power regulator
L330uH
REG1SD
5gnd
12vdc to 3.3vdc power regulator
C36330uF
Rail #1
C38 1000uf
D16DIODE SCHOTTKYL4
33uH
C42
1000uF3.3vdc
C44330uF
RJ45 CircuitRJ45 Circuit
• This This schematic schematic was was recommenderecommended in the d in the FreeScale FreeScale datasheetdatasheet
0
3.3vdc
0
PL4/COLLED
R2849.9
R2949.9
R3249.9
R33 49.9
C35.01uF
T+1
CT2
T-3
R+4
CT5
R-6
EART
HGND
8
RJ2
RJ-45 CONNECTOR
PL3/DUPLED
Water PumpWater Pump• The switch is a The switch is a
SUD50N02-06 SUD50N02-06 Vishay Power Vishay Power MOSFETMOSFET
• The gate of the The gate of the MOSFET is MOSFET is controlled by the controlled by the microcontroller microcontroller to turn it on and to turn it on and offoff
• The MOSFET The MOSFET also has a built also has a built in flyback diode in flyback diode rated at 30Arated at 30A
• The water pump The water pump is a 12V motoris a 12V motor
12vdc
12gnd
G1
D4
S3
MOS5
SUD50N02-0612
J41
WATERPUMP
WATERPUMP SWITCH
PCB LayoutPCB Layout
Layout – Top RightLayout – Top Right• Webcam (1A) Webcam (1A)
and Wireless and Wireless Bridge (1A) Bridge (1A)
• IR Sensor2 IR Sensor2 (Analog) (Analog) (0.2A)(0.2A)
• RJ-45 jackRJ-45 jack• MicrocontrollMicrocontroll
er and its er and its capacitorscapacitors
• Power Power MOSFET MOSFET (0.5A) for the (0.5A) for the Water PumpWater Pump
• Servos Servos (0.75A(0.75A))
Layout – Bottom RightLayout – Bottom Right
• Ethernet Ethernet LED’sLED’s
• Debug 3x2 Debug 3x2 HeaderHeader
• Light LED Light LED HeadersHeaders
• Ethernet Ethernet CrystalCrystal
Layout – Top LeftLayout – Top Left• Power Traces Power Traces
(215mils, 7A & (215mils, 7A & 180mils, 5A)180mils, 5A)
• 3.3V Regulator 3.3V Regulator (.5A)(.5A)
• Intelligent PWM Intelligent PWM H-Bridge (1A)H-Bridge (1A)
• IR Sensor IR Sensor (Digital) (0.2A)(Digital) (0.2A)
• Master Power Master Power Switch DPDTSwitch DPDT
• 33uH inductor for 33uH inductor for 3.3V Regulator3.3V Regulator
Layout – Bottom LeftLayout – Bottom Left• 5V Regulators 5V Regulators
(2.5A each)(2.5A each)• Power Option Power Option
Load Switches Load Switches (1A each)(1A each)
• 2x1000uF input 2x1000uF input capacitors on capacitors on each 5V each 5V RegulatorRegulator
Software Design/Development StatusSoftware Design/Development Status
• Two PartsTwo Parts– PC Interface (VS .NET 2003 C#)PC Interface (VS .NET 2003 C#)
• Kbd / MouseKbd / Mouse• TCP ClientTCP Client
– Microcontroller Subroutines (Codewarrior C)Microcontroller Subroutines (Codewarrior C)• Servo controller subroutinesServo controller subroutines• TCP interface (server) routinesTCP interface (server) routines
• Development StatusDevelopment Status– PC InterfacePC Interface
• Specs, TCP communication, input captureSpecs, TCP communication, input capture– MicrocontrollerMicrocontroller
• Rudimentery TCP server (OpenTCP Stack)Rudimentery TCP server (OpenTCP Stack)• Logic for servo controllers designedLogic for servo controllers designed
Project Completion TimelineProject Completion Timeline
10/10 10/17 10/21 10/31 11/7 11/14 11/21 11/28 12/5Week Of
Testing
Mounting and BuildingSoftware Designing
IntegrationPackaging
Questions / DiscussionQuestions / Discussion