Chad Nickell Sean Martin Chris Rothe Daniel Shay AMPLINE Chad Nickell Sean Martin Chris Rothe Daniel Shay 12/3/2018 Nickell, Martin, Rothe, Shay

Presentation Overview System Overview Core Motor Assembly Receiver/Transmitter Hardware Software algorithms Administrivia Progress Schedule Tasks Division of labor 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Description The Ampline System will locate a hockey puck and control a tripod to follow it with a camera. 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay System Overview Camera Tripod Transmitter Motors Core Control Receiver 12/3/2018 Nickell, Martin, Rothe, Shay

Core System - Objectives Get data from receivers Process data Output camera movement data 12/3/2018 Nickell, Martin, Rothe, Shay

Core System - Implementation Motorola 68HC000 Processor Xilinx Spartan XCS10 FPGA 74LS244 Bus Drivers 74LS245 Bus Transceivers 27C512 EPROMs (2 x 64 kB) 2 x 128 kB SRAM ECS-22008 12 MHz Clock Power Circuitry LM7805 5V Regulator LM7833 3.3V Regulator 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay 12/3/2018 Nickell, Martin, Rothe, Shay

Core System - Processor Motorola 68HC000 Processor Xilinx Spartan XCS10 FPGA 74LS244 Bus Drivers 74LS245 Bus Transceivers 27C512 EPROMs (2 x 64 kB) 2 x 128 kB SRAM ECS-22008 12 MHz Clock Power Circuitry LM7805 5V Regulator LM7833 3.3V Regulator 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Core System - Memory Motorola 68HC000 Processor Xilinx Spartan XCS10 FPGA 74LS244 Bus Drivers 74LS245 Bus Transceivers 27C512 EPROMs (2 x 64 kB) 2 x 128 kB SRAM ECS-22008 12 MHz Clock Power Circuitry LM7805 5V Regulator LM7833 3.3V Regulator 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Memory Map 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Core System - FPGA Motorola 68HC000 Processor Xilinx Spartan XCS10 FPGA 74LS244 Bus Drivers 74LS245 Bus Transceivers 27C512 EPROMs (2 x 64 kB) 2 x 128 kB SRAM ECS-22008 12 MHz Clock Power Circuitry LM7805 5V Regulator LM7833 3.3V Regulator 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay FPGA Contents Boundary Scan Block to allow reprogramming Microprocessor Handshaking Logic Motor Control Logic 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Core System - Power Motorola 68HC000 Processor Xilinx Spartan XCS10 FPGA 74LS244 Bus Drivers 74LS245 Bus Transceivers 27C512 EPROMs (2 x 64 kB) 2 x 128 kB SRAM ECS-22008 12 MHz Clock Power Circuitry LM7805 5V Regulator LM7833 3.3V Regulator 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay 12/3/2018 Nickell, Martin, Rothe, Shay

Camera Tracking System Controlled my commands from μp Use stepper motors to control horizontal and vertical angle Mounted on an available tripod Gearing tailored to the angular response requirements 12/3/2018 Nickell, Martin, Rothe, Shay

Camera Tripod - Stepper Motors One Stepper motor with a threaded shaft to control vertical movement One Stepper motor mounted vertically to control horizontal motion 12/3/2018 Nickell, Martin, Rothe, Shay

Camera Tripod - Stepper Control H bridge chips UC3770 or UC3717 with protection diodes For Bipolar Motors we will use a total of two chips. Logic built into the FPGA Memory map control commands Timing offloaded to FPGA Reduce μP load 12/3/2018 Nickell, Martin, Rothe, Shay

Camera Tripod - Motor Driver 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Camera Tripod - Power Motors require voltages in the range of 12 VDC Current up to 2 amps Noise problems require that steppers isolated from the microprocessor DC-DC Converter or separate transformer 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay RF RX/TX No go - phased array, or wave guide arrays too expensive and difficult Transmitter would require too much RF power (1 mW) Alternatives: Ultrasound, IR, Vision Recognition 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Ultrasonic – RX/TX Many advantages Cheap transducers Slower Wave propagation Algorithm Easier to implement As few as 4 receivers required for operational system More Support Scare the rats away 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Locator Algorithm Ultrasonic Pulse arrives at each receiver at different times Use the speed of sound as a constant to determine distance 12/3/2018 Nickell, Martin, Rothe, Shay

Ultrasonic Timing Diagram Transmitter sends pulse Transmitter sends 2nd pulse First receiver gets pulse Last receiver gets pulse Time = 0 T1 T2 T3 T4 T5 Time = 50ms Processing and Camera Movement Done 12/3/2018 Nickell, Martin, Rothe, Shay

Ultrasonic Receiver Module Amplifier (High Gain Op Amp) Comparator Receiver Core Board 12/3/2018 Nickell, Martin, Rothe, Shay

Ultrasonic Transmitter Module Timer (50 ms) Amplifier Ultrasonic Transmitter 12/3/2018 Nickell, Martin, Rothe, Shay

Software Requirements Monitor Program for development and debugging Software Executive to interface the distance calculations and camera control Camera Control Drivers Distance Algorithm 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Monitor Program Load into SRAM and execute code Minimize the code space Use S records 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Software Executive Main Loop no OS Simple This is a task specific machine Subtasks Find position Determine position relative to current camera location Command the camera tracker to acquire the target 12/3/2018 Nickell, Martin, Rothe, Shay

Camera Control Drivers Memory Map the control of the camera pointing Maintain Memory of Current Location Variable speed actuation Multiple Directions 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Distance Algorithm -If R1 is at the origin, the length of (T,R2) segment, assuming speed of sound fixed, is d+cDt. -Using the law of cosines, (d+cDt) 2 = z2+d2-2zdcosa d2+2dcDt+(cDt) 2 = z2+d2-2zdcosa d(2cDt+2zcosa) = z 2 -(cDt) 2 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Progress Report μP board wired w/ exception of serial port and peripherals Board Runs Code From EPROM Memory Test Working Parts Ordered 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Problems Encountered BSCAN block was not included in Xilinx Schematics so FPGA could not be reprogrammed Bus Driver was not working Handshaking Logic was incorrectly specified IPLO, BERR, BGACK, VPA needed to be pulled up to VCC 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Schedule 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Current Tasks Spoke with Professor Kuester to finalize and help clear up RF design Decided on an Ultrasonic design Finished Testing EPROM and RAM to ensure correct functionality and interface with M68k Construct Serial Port on Board Begin testing and prototyping Ultrasonic design Begin testing and prototyping Motor Design 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Parts List/Costs Main Board Description Price Quantity Total Board $10 1 $10 Processor Motorola 68k $0 1 $0 EPROM Fairchild 27C512 $0 1 $0 EPROM AMD 27C512 $0 1 $0 RAM Samsung K6T1008 $0 2 $0 FPGA Spartan XCS10 $0 1 $0 Multi Function Peripheral MC68901 $0 1 $0 Standoffs $0.5 4 $2 Motor Control Stepper Motors SMT-63 $2.75 2 $5.50 Gears GR-5 $2.75 1 $2.75 Stepper Motor Driver UC3770BN $0 4 $0 Transmitter/Receiver Ultrasonic RX/TX Pair $5.00 5 $25.00 Total $45.25 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Division of Labor Chad Motor Control Feedback vs. Memory Motor Power Daniel Core microprocessor Serial / Peripherals Mechanical design of tripod PCB – Ultrasonic Receivers Prototype Verification Sean Lead software development Ultrasonic Coding Motor Drivers Transmitter/Receiver Integration and Test Chris Core microprocessor Design and Prototype 12/3/2018 Nickell, Martin, Rothe, Shay

Nickell, Martin, Rothe, Shay Questions 12/3/2018 Nickell, Martin, Rothe, Shay

“Thank You, Thank You, Thank You…” –Dave Kelly 12/3/2018 Nickell, Martin, Rothe, Shay