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

• 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 PCBs
• Blimp

31
Costs (The Big Stuff)

• Microcontrollers 40.00 x 3 revisions 120.00
• Compass 100.00
• Infrared Rangefinders 60.00
• PCBs 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
• Users Manual
• Technical Manual
• Happy Jack