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GPS Waypoint NavigationGPS Waypoint NavigationTeam M-2:Team M-2:

Charles Norman (M2-1)Charles Norman (M2-1)Julio Segundo (M2-2)Julio Segundo (M2-2)

Nan Li (M2-3)Nan Li (M2-3)Shanshan Ma (M2-4)Shanshan Ma (M2-4)

Design ManagerDesign Manager: Zack Menegakis : Zack Menegakis

Presentation 5: Top-Level IntegrationFebruary 20, 2006

Overall Project Objective:Design a chip that navigates an aircraft to pre-determined waypoints.

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StatusStatus Design ProposalDesign Proposal

Project chosenProject chosen Architecture ProposalArchitecture Proposal

MATLAB simulatedMATLAB simulated Behavioral Verilog written & simulatedBehavioral Verilog written & simulated

FloorplanFloorplan Structural Verilog written & simulated (except left side due Structural Verilog written & simulated (except left side due

to clock/buffer issues)to clock/buffer issues) Accurate transistor countAccurate transistor count

Schematic DesignSchematic Design Schematic done, not tested completelySchematic done, not tested completely

LayoutLayout SimulationsSimulations

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Design DecisionsDesign Decisions AccuracyAccuracy

– Latitude and longitude inputs in decimal format (6 decimal places)Latitude and longitude inputs in decimal format (6 decimal places)

– GPS ~105 feet to 1 footGPS ~105 feet to 1 foot PowerPower

– On/Off Power Control for Logic ModulesOn/Off Power Control for Logic Modules I/O pinsI/O pins

– Reduced from >200 to 74 pinsReduced from >200 to 74 pins Clock speed/buffersClock speed/buffers

– Reduced 6 different clock speeds to 4Reduced 6 different clock speeds to 4– All clock dividers depend on input clock to reduce delayAll clock dividers depend on input clock to reduce delay– Transistor count went from 6,000Transistor count went from 6,00012,00012,0009,0009,000– Demux Demux Serial-Parallel Shift Register Serial-Parallel Shift Register

Ripple carry adder   Ripple carry adder   – Consume 60,000 times less static power than dynamic power at Consume 60,000 times less static power than dynamic power at

1.8V1.8V– Added two invertors to comparators with carry outs to strengthen Added two invertors to comparators with carry outs to strengthen

signalsignal

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Clock SpeedClock Speed

Input    Input        –61.44 kHz for input        –61.44 kHz for input        –Serial to parallel => 61.44kHz/30 = 2048Hz    –Serial to parallel => 61.44kHz/30 = 2048Hz

HeadingHeading    –8Hz for registers before the heading calculation    –8Hz for registers before the heading calculation    –To observe changes in both longitude and latitude    –To observe changes in both longitude and latitude

50 knots = 50*105 feet/min = 5250 feet/480 cyc ~ 11 feet/cyc50 knots = 50*105 feet/min = 5250 feet/480 cyc ~ 11 feet/cyc

– –Gives accurate direction and speedGives accurate direction and speed Output to Black boxOutput to Black box

    –Parallel to serial => 8Hz *30 = 240hz     –Parallel to serial => 8Hz *30 = 240hz

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Clock SpeedClock Speed/* Clock converter from 61.44KHz to 2048Hz */module inputclk (output clk, input clock,rst); wire [4:0] sum,num;

reg5 r(num,sum,clock,rst,clk); add1_30 a1(sum,num); and (clk,num[4],num[3],num[2],num[1]);endmodule

/* Clock converter from 61.44KHz to 240Hz */module rclk (output clkr, input clock,rst); wire [7:0] sum,num; reg8 r(num,sum,clock,rst,clkr); add1_255 a(sum,num); and (clkr1,num[7],num[6],num[5]); and (clkr2,num[4],num[3],num[2]); and (clkr,clkr1,clkr2,num[1],num[0]);endmodule

/* Clock converter from 61.44KHz to 8Hz*/module outputclk (output clock8, input clock,rst); wire [12:0] sum,num; reg13 r(num,sum,clock,rst,clock8); add1_7680 a(sum,num); and (clock8,num[12],num[11],num[10],num[9]);endmodule

/* Counter for Blackbox */module counterr (output [29:0] ar, input clkr,clock,rst); wire [4:0] sum, numr;

reset rcl(reset,clock,rst); reg5 r(numr,sum,clkr,reset,rest); add1_30 a(sum,numr); andnum an(ar,numr); and (rest,numr[4],numr[3],numr[2],numr[0]);

endmodule

module reset (output sto, input clock,rst); wire [8:0] sum,num; reg_9 r(num,sum,clock,rst,sto); add1_511 a(sum,num); and (clkr1,num[7],num[6],num[5]); and (clkr2,num[4],num[3],num[2]); and (st,clkr1,clkr2,num[1],num[0]); xor (sto,st,num[8]);

endmodule

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Serial - Parallel Shift RegisterSerial - Parallel Shift Register

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Ripple Carry AdderRipple Carry Adder

88

Ripple Carry AdderRipple Carry Adder

99

Overflow CaseOverflow Case

Problem : Flying over the border +180 to -180

Solution : if either longitude is negative and it’s close to the border, add 360 to the negative value

1010

Block Level System DiagramBlock Level System Diagram

1111

Transistor EstimatesTransistor Estimates

ComponentComponent Last CountLast Count Recent CountRecent Count

FSMFSM 214214 272272

SRAMSRAM 25402540 30503050

Registers/BuffersRegisters/Buffers 61006100 94309430

Speed Comparator Speed Comparator

Angle ComparatorAngle Comparator

Altitude ComparatorAltitude Comparator

Waypoint ComparatorWaypoint Comparator

380380

470470

750750

29002900

184184

908908

472472

35263526

Heading CalculatorHeading Calculator 26002600 32323232

Distance CalculatorDistance Calculator 30203020 23322332

Speed CalculatorSpeed Calculator 10701070 11341134

TotalTotal 20,10020,100 24,54024,540

1212

SRAMSRAM

1313

ProblemsProblems Over flow cases = transistor counts BOOM!Over flow cases = transistor counts BOOM! Clock delay causes problems…Clock delay causes problems…

– Different reset timesDifferent reset times fsmfsm sramsram counter (Parallel-Serial to blackbox)counter (Parallel-Serial to blackbox)

– Transistor countTransistor count

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What’s Next…What’s Next…

Here’s what’s on our agenda for next Here’s what’s on our agenda for next week…week…

Finish testing SchematicsFinish testing Schematics Creating Module LayoutCreating Module Layout

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Questions?Questions?Comments?Comments?

Ideas?Ideas?