Critical

Design

Review

Blimpage Team:

Daniel McCabe

Nguyen Trinh

Joseph Brannan

David Wolpoff

Philip Grippi

Blimpage

• Modular general-purpose drone controller

• Navigation, collision-detection, general motor interfaces, data collection

• Zero-impact on system performance– Lightweight, independently powered

System Overview

• Composed of six main modules:– General-purpose microcontroller network– Motor / servo controller– Position and heading monitoring– Collision-detection / alarm– Data collection– Off-module communication

What is the Blimpage

Functional Block Diagram

The MicrosMSP 430 F1232 Micro Controllers

Key Features:

Ultra Low Power:

300 μA (Active)0.7 μA (Standby)

C-Programming Interface

Master Functions

• Arbitrates data transfers on i2c bus

• Prioritize Data Transfers

• Passes data among subsystems

• Handle user-input objectives

• Coordinate startups and shutdowns

• Bleating

Master State Machine

• And Now Something COMPLETELY different.

0

10

20

30

40

50

60

70

80

90

1stQtr

2ndQtr

3rdQtr

4thQtr

EastWestNorth

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.

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.”

Modified i2c ProtocolSDA

SCK

STT

START: STOP:

ADDRESS CYCLE:

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

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

Position/Heading Block Diagram

-

-

Pos/Heading uC

I2C BUS||

||

||

Motor uC

Master uC

--------------------------------------------------------------------------------------------------

HMR3100

ADXL311 -

||

Collision uC

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 position’s degree• With output data of ADXL311,

sends direction instruction to motor controllers module via I2C bus

HMR3100 Time DiagramContinuous Mode: 2 Hz heading queries at 9600 baud rate

Calibration Mode:

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 blimp’s 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

ADXL3100 and Logic Block Diagram

ADXL311

--- ------ -----

MAX7490 TLV2370

LP Filter

Pos/Heading uC

ADC10

ADXL311 and HMR3100 Schematic

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

Motor Control Block Diagram

Motor uC x2 H-Bridge Motor Drivers

Micro Servo

-------- -----

----------

x4 optical isolators

optical isolator

|

|

|PWM signal

-----

----------

----|||

-------------------------

||

||

<---

3 V Battery

<---

|̂|

|

----------------------

|||

Motor Control Schematic(A High - B Low) Reverse (A Low - B High) Forward (Both Low or Both High) Stop

Servo header

uC MTR header P3.4-7

MO

TO

R_

GN

D

R_MTR_CNTRL_B

12

J29

HEADER 2

Title

Size Document Number Rev

Date: Sheet of

1 2

Motor Control Board

A

9 10Wednesday, September 29, 2004

12

43

U10PC357N

1SERVO CNTRL P2.4

J27HEADER 1

R281035 1/20W

R211500 1/20W

U14

R MOTOR

12

43

U12PC357N

1uC GND

J28HEADER 1

R291500 1/20W

R221500 1/20W

R271035 1/20W

Q3MOSFET_I_EP_DGS

R261500 1/20W

R19???

12

43

U11PC357N

Q4MOSFET_I_EP_DGS

Q6MOSFET_EN_DGS

Q5MOSFET_EN_DGS

R251500 1/20W

C20

10uF

R20

1035 1/20WR24

1035 1/20W

12

43

U9PC357N

Q8MOSFET_EN_DGS

R18???

Q1MOSFET_I_EP_DGS

C19

10uF

12

43

U8PC357N

U13

L MOTOR

Q7MOSFET_EN_DGS

R231035 1/20W

Q2MOSFET_I_EP_DGS

L MTR CNTRL B P3.71

L MTR CNTRL A P3.62

R MTR CNTRL B P3.53

R MTR CNTRL A P3.44

J26HEADER 4

123

J30

HEADER 3

uC GND header

MOTOR_SRVO_CNTRL

SE

RV

O_

DIO

DE

1

Servo CNTRL header P2.4

uC_GND

uC

_S

ER

VO

_C

NT

RL

L_

MT

R_

DIO

DE

1

L_

MT

R_

B_

BR

IDG

E

L_

MT

R_

A_

BR

IDG

E

L_

MT

R_

A_

OP

TO

R_

MT

R_

DIO

DE

1

R_

MT

R_

A_

BR

IDG

E

R_

MT

R_

A_

OP

TO

R_

MT

R_

DIO

DE

2

R_

MT

R_

B_

OP

TO

R_

MT

R_

B_

BR

IDG

E

R_

MT

R_

CN

TR

L_

A

L_

MT

R_

DIO

DE

2

L_

MT

R_

B_

OP

TO

L_

MT

R_

CN

TR

L_

A

R_MTRL_MTR

MOTOR_VCC

L_

MT

R_

CN

TR

L_

B

MTR BATT header

Motor Control State Machine

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 uC’s 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

Collision Detection Block Diagram

Collision uC Slave

6x Collision Sensors

>----

----------

<-------

------>----

----------------

|

|

|

|

---Vcc||

^ || |

|

^^

|

|

--------------------

||

-<

--

LP Filter

Mux/Demux

-<

<--------

-

output

power

Channel select

6x Voltage Regulators

Collision Detection Schematic

OPTO_INVA

OPTO_DA

OPTO

_S6B

OPTO_BPAOPTO_HPA

2nd Order LPF Filter 2

+ C32CAP POL

+ C33CAP POL

IN8

NC66NC

2NC7

7OUT1

SHDN5GND

3

NC44

U18

LT1121-3.3

+ C34CAP POL

+ C35CAP POL

+ C36CAP POL

uC A0

+ C37CAP POL

1234

J36

HEADER 4

OPTO_V5R34

10k

IN8

NC66NC

2NC7

7OUT1

SHDN5GND

3

NC44

U19

LT1121-3.3R35

10k

IN8

NC66NC

2NC7

7OUT1

SHDN5GND

3

NC44

U20

LT1121-3.3R36

10k

Opto Sensor header

R3710k

IN8

NC66NC

2NC7

7OUT1

SHDN5GND

3

NC44

U21

LT1121-3.3

R3810k

IN8

NC66NC

2NC7

7OUT1

SHDN5GND

3

NC44

U22

LT1121-3.3

Opto uC header

R3910k

IN8

NC66NC

2NC7

7OUT1

SHDN5GND

3

NC44

U23

LT1121-3.3

12

J37

HEADER 2

MUX/DEMUX

OPTO_VCC1OPTO_VCC2

OPTO_RX1

OPTO_VCC3OPTO_VCC4

1

J38

HEADER 1

OPTO_VCC5OPTO_VCC6

OPTO_RX2

OPTO_GND

2468

101214

135791113

J32

HEADER 7X2

C26CAP NP

OPTO_RX3

C27CAP NP

C28CAP NP

OPTO_RX4

C29CAP NP

uC A1 C30CAP NPuC A2

C31CAP NP

OPTO

_S4B

OPTO_RX5

Title

Size Document Number Rev

Date: Sheet of

<Doc>

Rev #1Opto-Sensor Board

Custom

10 10Thursday, September 30, 2004

OPTO_RX6

LPA1

BPA2

NA/HPA3

INVA4

SA5

SHDN6

GND7

VDD8

LPB16

BPB15

NB/HPB14

INVB13

SB12

COM11

EXTCLK10

CLK9

U17

MAX7490_QSOP

C240.1uF

C220.1uF

R3010K C23

0.1uF

C210.1uF

D1

3.3V Zener

R3210K

R3110K

VDD1

DB2

RS3

S8B4

S7B5

S6B6

S5B7

S4B8

S3B9

S2B10

S1B11

GND12

WR13

NC14

DA28

VSS27

S8A26

S7A25

S6A24

S5A23

S4A22

S3A21

S2A20

S1A19

EN18

A017

A116

A215

U15

ADG527AKR_28L_SOIC

OPTO_S1BOPTO_S2B

OPTO_S3B

OPTO_15K_CLK

R3310k

OPTO

_S5B

OPTO_LPA

SENSE

Collision Detection State Machine

Module State Machine

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.

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

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

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 PCB’s

• Blimp

Costs (The Big Stuff)

• Microcontrollers: $40.00 x 3 revisions = $120.00• Compass: $100.00• Infrared Rangefinders: $60.00• PCB’s $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)

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

Updated Schedule

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

Division of Labor• Group Tasks

– Documentation

– PCB Population

– Systems Integration

– Review and Testing

Milestone 1

• Airborne Blimp• Final Testing

– Collision– Motor

• Basic functionality– Pos/Head– Comms– Data Acq.

Milestone 2

• Significant Blimp Maneuverability

• Basic testing on R/C Car

• All modules completed and in testing

• Basic user interface (for destination data)

Expo

• All systems fully implemented and tested

• Documentation Complete

– User’s Manual

– Technical Manual

• Happy Jack