1. TCSP – Software Design

2. Design Considerations
Major consideration – Device Timing Requirements
GPS – outputs at baud almost continuously, needs interrupt to fill a buffer as well as set flags
Radio receiver – requires precise pulse measurement, thus input capture interrupt used
Camera – very slow (500 ms pulses) controlled via an event queue that is checked periodically
MicroSD – synchronous operation leads to loose time constraints and a polling based driver.
Digital I/O, ATD, and PWM can be handled in a polling fashion in the main loop
Other considerations
Minimizing code complexity to ensure everything fits into the flash memory on the micro

3. Software Hierarchy

4. Development Status Camera, MicroSD, Servo, Radio Timer, SCI GPS
Working on 9S12C32, ready to port
Timer, SCI
Working on 9S12A64
GPS
Ported to 9S12A64, but has some issues
Navigation
Algorithms need to be created

5. Questions?