Critical Design Review Laser Choreographer 2500FX

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Critical Design ReviewLaser Choreographer 2500FX

• Team ThunderForce
• February 26, 2004

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Table of Contents

• Introduction
• Features
• System Overview
• Software
• Hardware

• Expansions and Upgrades
• Risks and Contingency Plans
• Questions

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Laser Choreographer 2500FX Overview

• Designed to aid the in choreography of large
  groups of performers
• Projects laser dots to represent the location of
  each performer at any time in a show
• Includes software to write the choreography and
  control the projector

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Laser Choreographer 2500 FXSystem Overview
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Laser Choreography PC Software Goals

• To be able to input data from a standard drill or
  choreography sheet into the program in a natural,
  easy-to-understand way
• To be flexible and extensible to accommodate the
  extending of the scope of the hardware
• To generate a compiled and optimized set of point
  data to send to the projection system, supporting
  such features as animation

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Laser Choreography PC Software Goals
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Laser Choreography PC Software Backend Base
Classes

• Common Functions to the Base Classes
• Constructor
• Destructor
• Recursively deletes all of the members of its
  children when called
• addChild()
• Instantiates a new child class, adds a pointer to
  the child pointer array, and returns a pointer
  to the new child

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Laser Choreography PC Software Backend Base
Classes

• More Common Functions of the Base Classes
• removeChild()
• Deletes the child specified, which in turn causes
  everything under that child to also be destroyed,
  preventing memory leaks
• visitor()
• The heart of the compiler. Recursively steps
  through all entire tree, grabbing the appropriate
  information from each node. This information is
  then parsed, and printed out in the desired
  format.

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Laser Choreography PC Software Backend Base
Classes Hierarchy
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Laser Choreography PC Software Backend Code
Example

• cShowcShow()
• // The page is removed, so kill all of its
• // children mercilessly
• // NOTE If all goes well, calling the
• // destructors of the children pages
• // should propagate down to include all
• // dots and formations as well as the
• // member pages
• for(int i 0 i lt pageCount i)
• delete pagesi

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Laser Choreography PC Software Backend Code
Example

• int cPagevisitor()
• int returnCode
• // COMPILER Print out any page information
• // in this section
• printf("Page\n\n")
• // COMPILER END
• // Call the visitors of all the children
• returnCode visitForms()
• return returnCode

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Laser Choreography PC Software Backend Code
Example

• int cPagevisitForms()
• // Iterate through the children, calling their
  // visitors
• for(int i 0 i lt formCount i)
• formsi-gtvisitor()
• return 1

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Laser Choreography PC Software Backend Looking
Forward

• Children classes should only be created by their
  parent class, and can therefore retain a pointer
  to the class that they were spawned from. This
  helps in various front-end tasks, such as
  clicking on a dot, and determining which
  formation it belongs to
• The visitor allows for very quick and easy
  changes to the compiled file. Data can either be
  printed on the fly, or collected into a new data
  structure to be sorted to best suit the
  constraints of the hardware
• For the formations, all the drawing functions
  were made as general parametric curve drawing
  functions, and thus can be used for both the
  backend and the front-end GUI drawing routines,
  to ensure consistency

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Laser Choreography PC Software Schedule

• Right now, we have a fully functioning software
  package, able to choreograph shows, as well as
  create the compiled output files for the Laser
  Choreographer to read in and project on the field
• Next phase of the project GUI construction to
  make these data structures easy to manipulate for
  the end user

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Laser Choreography PC Software Schedule
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Laser Choreographer 2500FX Embedded Systems
Hardware

• Hardware Components
• MC68000 CPU
• MC68881 FPU
• AMD 27C512 EPROM x2
• KM681000ALP-7 SRAM (128K) x2
• Max 233 RS232 Transceiver
• National 16550 UART
• Spartan XCS10 FPGA
• Xilinx XC18V256 EEPROM

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Laser Choreographer 2500FX Embedded Systems
Hardware

• Parts List
• 2 Banana Plug Sockets
• 1 9-pin female serial connector
• 1 power bus strip
• 1 74HC14 Logic Inverter
• 1 push button switch
• 1 68 pin PGA socket
• 10 20-pin sockets (DIP)
• 2 28-pin sockets (DIP)
• 2 32-pin sockets (DIP)
• 1 40-pin socket (DIP)
• 1 12MHz clock generator
• 3 20-pin headers

• 6 10-pin SIPs (Isolated 4.7k)
• 10 .01 micro Farad Capacitors
• 1 220 micro Farad Capacitor
• 1 1Mohm resistor
• 1 Motorola 68000 Processor
• 1 Motorola 68881 or MC 68882 FPU
• 5 74LS245 Bus Transceiver
• 1 LM340 5V voltage regulator
• 2 AMD 27C512 EPROMs
• 2 KM681000ALP-7 SDRAM(2)
• 1 Wire Wrap Board
• 1 MAX233 RS232 Transceiver
• 1 16550 UART

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Laser Choreographer 2500FX Embedded Systems
Hardware
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Laser Choreographer 2500FX Embedded Systems
Firmware

• Boot Monitor
• Set up stack
• Test RAM
• Initialize laser device
• Initialize UART
• Start main process

• Main Process
• 3 states
• Idle
• Output Loop
• Datafile download to RAM
• Interrupts
• Input from serial device
• Reset

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Laser Choreographer 2500FX Embedded Systems

• Where are we now?
• Processor running code stored on EPROM
• nop, nop, jmp
• Working on connecting RAM and UART
• Developed plans for FPGA bus control
• Researching FPU
• Starting to develop more advanced code

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Laser Choreographer 2500FX Project Schedule
Embedded
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Laser Choreographer 2500FX FPGA Embedded Systems

• Bus Master Functionality
• We use a state in the state-machine to act as a
  bus controller
• Allows for easy chip select
• Prevents other devices from picking garbage off
  the bus

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Laser Choreographer 2500FX FPGA Embedded Systems

• CPU sends a 4 bit address to FPGA
• This address is decoded and using One-hot
  encoding one of the 16 peripheral chips will be
  enabled
• Short delay is inserted to stall clock to allow
  proper propagation time

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Laser Choreographer 2500FX FPGA Embedded Systems

• Boundary Scan circuit to enable reprogramming of
  Xilinx XC18V256
• Address Decoder Chip Selection

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Laser Choreographer 2500FX FPGA Embedded Systems

• Simulation of Address Decoder

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Laser Choreographer 2500FX Optical Systems
Overview
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Laser Choreographer 2500FX FPGA Optical Systems
Driver

• Scanner Interface
• Buffers angles and passes them to driver circuit
  when mirrors ready to be positioned
• Photogate Interface
• Opens or closes photogate based upon blanking
  information received from the processor
• Laser Interface
• No interface diode remains constantly on

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Laser Choreographer 2500FXOSD State Machine

• Four states
• Rest No motion of the mirrors, photogate closed.
  The projector is in this state whenever not
  actively projecting a page or animation.
• DrawNone Mirrors moving to the next dot
  location, photogate closed. The projector is in
  this state between projecting dots
• DrawDot No motion of the mirrors, photogate
  open. The projector is in this state only in the
  instant a dot is being placed on the field.
• DrawLine Mirrors moving to the next dot
  location, photogate open. The projector is in
  this state whenever a label is being drawn.

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Laser Choreographer 2500FXOSD State Machine
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Laser Choreographer 2500FX Project Schedule - FPGA
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Laser Choreographer 2500FX Optical Positioning
System

• GSI Lumonics G325DT Scanners in an XY
  configuration
• 25 degrees optical excursion
• 35 uA/degree Position detection sensitivity
• A660 Driver Board
• Ideally can find used components
• Have full schematics to build our own, if
  absolutely necessary

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Laser Choreographer 2500FX Projection Mathematics

• Determine exact location and orientation of
  projector relative to field
• Use vector subtraction to generate projection
  vectors
• Calculate direction cosines and send to scanner

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Laser Choreographer 2500FX Projection Mathematics
P
PB
qPAB
A
AB
B
C
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Laser Choreographer 2500FX Projection Mathematics
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Laser Choreographer 2500FX Project Schedule -
Optics
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Laser Choreographer 2500FX Power Systems

• All ICs are currently running off of a 9 Volt
  source
• Simplifies power requirements
• Individual ICs provided either 3.3V or 5V via
  voltage regulators
• Scanner driver board may require unusual
  voltages, such as /- 22VAC or /- 35VAC

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Laser Choreographer 2500FX Power System
Schematic
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Laser Choreographer 2500FX Power System Parts

• C1 - 14000uF or 10000uf 40 VDC Electrolytic
  Capacitor
• C2 - 100uF 50Vdc Electrolytic Capacitor
• C3 - 0.1uF Disc Capacitor
• C4 - 0.01uF Disc Capacitor
• R1 - 5K Pot
• R2 - 240 Ohm 1/4 W Resistor
• U1 - LM338K 1.2 to 30 Volt 5 Amp Regulator
• BR1 - 10 Amp 50 PIV Bridge Rectifier
• T1 - 24 V 5 Amp Transformer
• S1 - SPST Toggle Switch
• MISC - Wire, Line Cord, Case, Binding Posts

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Laser Choreographer 2500FX Backup Power System

• Goal is to maintain information stored in RAM
  when device is powered off
• Show data
• Calibration Information
• Ideally will use large capacity rechargeable
  battery for long duration

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Laser Choreographer 2500FX Project Schedule -
Power
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Laser Choreographer 2500FXRisks and Contingencies

• Optical Systems
• Risk Finding affordable, suitable scanner
• Contingency March 11th deadline to obtain
  scanner before falling back on stepper motors
• Risk Interfacing to the scanner with Team
  ThunderForce built driver board
• Contingency Try to locate used board through GSI
  Lumonics

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Laser Choreographer 2500FX Questions

• PC Software
• Nick
• Embedded Systems
• Jeremy
• FPGA
• Lars
• Optical Systems
• Matt and Lars

• Laser
• Quinton
• Power
• Quinton
• Projection Mathematics
• Matt