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					           Blimpage

Critical     Blimpage Team:
              Daniel McCabe

Design          Nguyen Trinh
              Joseph Brannan
                David Wolpoff
Review           Philip Grippi
               System Overview
• Modular general-purpose drone controller
• Navigation, collision-detection, general
  motor interfaces, data collection
• Zero-impact on system performance
  – Lightweight, independently powered
          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
    Functional
Block Diagram
                              The Micros
MSP 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   90
  COMPLETELY          80
                      70
  different.          60
                      50
                                             East
                      40                     West
                      30                     North
                      20
                      10
                       0
                           1st 2nd 3rd 4th
                           Qtr Qtr Qtr Qtr
         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    •   Global Abort:
           your target type?”                           – From Master: “halt immediatly”
      – From Slave: “I am target type TARGET.”          – From Slave: “They sky has fallen! Tell
•   Query Data:                                              everyone to halt”
      – From Master: “Do you have data?”           •   Local Abort:
      – From slave: “I have data for TARGET, of         – From Slave: “I'm dead, go on without me”
           priority DATA”                          •   Block Transfer:
•   Transfer Data:                                      – From Master: “I have DATA words from
      – From Master: “Here is DATA from                      TARGET”
           TARGET”                                      – From slave: “I have DATA words for
      – From slave: “Her is DATA for TARGET”                 TARGET”
•   Objective Update:                                   – Master then reads DATA words from slave
                                                             and writes them to TARGET.
      – From Master: “New objective from
           TARGET is DATA”                         •   Debug Code:
      – From slave: “New objective for TARGET is        – From slave: “Process debug info DATA”
           DATA”                                   •   Global Reset:
•   Global Abort:                                       – From Master: “Reset yourself, and restart
      – From Master: “halt immediatly”                       operations.”
      – From Slave: “They sky has fallen! Tell
           everyone to halt”
               Modified   i2c    Protocol
START:   SDA          STOP:   SDA

         SCK                  SCK

         STT                    STT


  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

    HMR3100       Pos/Heading uC                 Master uC
                -

ADXL311                       -
                -
                       ||                              ||
          -------------------------------------------------
                              I2C BUS
          -------------------------------------------------
                       ||                           ||



                             Motor uC       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 Diagram
Continuous 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



             MAX7490         TLV2370             Pos/Heading uC
ADXL311

      ---               ------        -----
                                       ADC10
             LP Filter
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
                                -------------------------
                               | x2 H-Bridge Motor |
Motor uC         x4 optical |                           |
                                    Drivers
                 isolators                              |
                               |
           -----          ----                         |
           -----
           -----           -----                  <---
           -----

   |            optical                             ^|
   |            isolator           Micro Servo       |
   |
     PWM                                          3 V Battery
    --------
     signal                 -----
                                                      |
                                                      |
                           <---|
                               ----------------------|
                                                                                                   Motor Control Schematic
                                                                                                       (A High - B Low)                                                                    Reverse                                    (A Low - B High) Forward                                                                                   (Both Low or Both High) Stop
                                                      uC MTR header P3.4-7

                                                         1
                                                         2     L MTR CNT RL B P3.7
                                                         3     L MTR CNT RL A P3.6
                                                         4        T
                                                               R M R CNT RL B P3.5
                                                                  T
                                                               R M R CNT RL A P3.4
                                                        J26                                                                                                                                                                                                                 R_ MTR_CNTRL _B
                                                          HE ADER 4




                                                                                                                                                                                               R_MTR_CNTRL_A
   L_MTR_CNTRL_A




                                                      Servo CNTRL header P2.4
                                             1           J27
                                     SE RV O CNT RL P2.4 HE ADER 1




                                                                                                                                                                                                                                                                                                                                                   uC_SERVO_CNTRL
                                                                                                                                                     L_MTR_CNTRL_B
                                  uC_GND                1                        J28
                                                       uC GND                    HE ADER 1

                                                       uC GND header

                                                                                                                                                                                                                                                                                                                                                                                                                           J29
                                                                                                                                                                                                                                                                                                                                                                                                   MOTOR_VCC        1
                                                                                                                                                                                                                                                                                                                                                                                                                    2




                                                                                                                                                                                                                                                                                                                                                                                                     MOTOR_GND
                                                                                                Q1                                                                                                                                                                                Q2                                                                                                                             MTR BATT header
                                                                                 MOSFE T_I_EP _DGS                                                                                                                                                                 MOSFE T_I_EP _DGS                                                                                                                                 HE ADER 2
                 Q3                                                                                                                                                                                         Q4
  MOSFE T_I_EP _DGS                                                                                                                                                                          MOSFE T_I_EP _DGS                                                                                                                                                                                                         J30
                                                                                                                                                                                                                                                                                                                                                                                                                 1
                                                                                                                                                                                                                                                                                                                                                                                                                 2
                                                                                                                                                                                                                                                                                                                                                                                                 MOTOR_SRVO_CNTRL3
                                                                                                                                                                                                                                                                                                                                                                                                              Servo header
                                                                                                        L_MTR_B_BRIDGE




                                                                                         C1 9




                                                                                                                                                                                                                                                  R_MTR_A_BRIDGE




                                                                                                                                                                                                                                                                                            R_MTR_B_BRIDGE
                                                                L_MTR_A_BRIDGE
    1



                                     4




                                                                                                                                  4



                                                                                                                                                      1




                                                                                                                                                                                                1



                                                                                                                                                                                                                              4




                                                                                                                                                                                                                                                                                                             4



                                                                                                                                                                                                                                                                                                                                 1



                                                                                                                                                                                                                                                                                                                                                    1



                                                                                                                                                                                                                                                                                                                                                                                        4
                                                                                                                                                                                                                                                                              C2 0
                                                      U8                                                                     U9                                                                                                              U1 0                                                      U1 1                                                                                 U1 2
                                                      PC357N                             10uF                            PC357N                                                                                                              PC357N                           10uF                 PC357N                                                                                   PC357N                      HE ADER 3
                                                                                 U1 3                                                                                                                                                                              U1 4
    2



                                     3




                                                                                                                                  3



                                                                                                                                                      2




                                                                                                                                                                                                2



                                                                                                                                                                                                                              3




                                                                                                                                                                                                                                                                                                             3



                                                                                                                                                                                                                                                                                                                                 2



                                                                                                                                                                                                                                                                                                                                                    2



                                                                                                                                                                                                                                                                                                                                                                                        3
                                                                                        L_MTR   R1 8                                                                                                                                                                      R_ MTR     R1 9
                   L_MTR_DIODE1




                                                                                                                                                                     L_MTR_DIODE2




                                                                                                                                                                                                               R_MTR_DIODE1



                                                                                                                                                                                                                              R_MTR_A_OPTO




                                                                                                                                                                                                                                                                                                              R_MTR_B_OPTO



                                                                                                                                                                                                                                                                                                                                  R_MTR_DIODE2



                                                                                                                                                                                                                                                                                                                                                                    SERVO_DIODE1
                                                                                                ???                                                                                                                                                                                  ???
                                       L_MTR_A_OPTO




                                                                                 L MOT OR                                                                                                                                                                          RMOTOR
                                                                                                                                  L_MTR_B_OPTO




                                                                                 Q5                                                                                                                                                                                Q6
                                                                                 MOSFE T_E N_DGS                                                                                                                                                                   MOSFE T_E N_DGS


  R2 0          R2 1                                                                                                                             R22      R2 3                                               R2 5                                                                                                            R26                                                   R28
         1500 1/20W                                                                             Q7                                                 1035 /20 W
                                                                                                                                                 15 00 11/20W                                         1500 1/20W                                                                  Q8                                           1035 /20 W
                                                                                                                                                                                                                                                                                                                             15 00 11/20W                                                    R29
                                                                                                                                                                                                                                                                                                                                                                                   10 35 1 /20 W
1035 1/20W                                                                         MOSFE T_E N_DGS                                                                                           1035 1/20W                                                              MOSFE T_E N_DGS                                             R2 7                                                        15 00 1 /20 W
                                                                                                                                                                                               R2 4




Ti tle
                                   o
                                  M tor Control B oard

Si ze                             Do cume nt Number                                                                                                                                 Re v
   A                              1                                                                                                                                                   2

Da te:                               Wednes day, September 29, 2 004                              Sh eet                   9      of                 10
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
                               | ----------
6x Collision Sensors      output
                                           ---------------------- |
                          >----             Mux/Demux             |
                   6x Voltage Regulators --<             ---Vcc |
                                                         <-------|
                                          -<
                                         |
       power   <--------                 |
                                         |     ^^^Channel select
                                               |||
                    --------------------
                   |
                   |                >----
                    --

                                           Collision uC Slave
                         LP Filter
                     Collision Detection Schematic
                                                                                           U19                                                     U20                                                    U18

                                                                                          1                 8       C26                       1                     8          C28                       1                  8
                                                                             +       C32 2 OUT         IN   7       CAP NP      +        C34 2 OUT            IN    7          CAP NP          +     C36 2 OUT         IN   7
                           Opto uC header
                                 J37                                                 CAP POL NC
                                                                                          3          NC7    6                            CAP POL NC
                                                                                                                                              3             NC7     6                                      NC
                                                                                                                                                                                                     CAP3POL         NC7    6
                     J36                                                                  4 GND      NC6    5                                 4 GND         NC6     5                                    4 GND       NC6    5
                                                                                             NC4    SHDN                                         NC4       SHDN                                            NC4      SHDN
       uC A0     1                            1     OPTO_V5                                  LT 1121-3.3                                             LT 1121-3.3                                              LT 1121-3.3
       uC A1     2                            2     OPTO_GND                                 R34                                                     R35                                                      R36                C30
       uC A2     3                                                                                10k                                                     10k                                                      10k           CAP NP
         SENSE   4
                                                                                                                                                   U22                                                    U23
                 HEADER 4            J38
                                   HEADER 2                                                U21                                                                                                                                  C31
                                                                                                                                                 1                  8          C29                       1                  8   CAP NP
                                                                                 +    C33 1                 8       C27              +       C35 2 OUT        IN    7          CAP NP          +     C37 2 OUT         IN   7
                                              1    OPTO_15K_CLK                             OUT
                                                                                      CAP2POL          IN   7       CAP NP                         NC
                                                                                                                                             CAP3POL        NC7     6                                      NC
                                                                                                                                                                                                     CAP3POL         NC7    6
                                                                                          3 NC       NC7    6                                    4 GND      NC6     5                                    4 GND       NC6    5
                                                                                          4 GND      NC6    5                                      NC4     SHDN                                            NC4      SHDN
                                                                                            NC4     SHDN                                      LT 1121-3.3                                                     LT 1121-3.3
                                 D1 HEADER 1                                                 LT 1121-3.3                        Opto Sensor header
 R33                                                                                                                                                                                                          R39
 10k                                                                                                                                                 R38                                                      10k
                                                                                                                                                            10k
                                                                                           R37                                                                                                 J32
                                 3.3V Zener                                                        10k

                                                                                                                                                                              OPTO_VCC1    2             1      OPTO_RX1
                                                                                                                                                                              OPTO_VCC2    4             3      OPTO_RX2
                                                                                                                                                                              OPTO_VCC3    6             5      OPTO_RX3
                                                                                                                                                                              OPTO_VCC4    8             7      OPTO_RX4
                                                                                                                                                                              OPTO_VCC5   10             9      OPTO_RX5
                 2nd Order LPF Filter 2                                                                                                                                       OPTO_VCC6   12             11     OPTO_RX6
                                                                                                                                                                                          14             13
                           U17

OPTO_LPA         1                            16
  OPTO_BPA       2   LPA        LPB           15                                                                                                                                               HEADER 7X2
  OPTO_HPA       3   BPA       BPB            14                                                                                                            U15
                 4   NA/HPA NB/HPB            13                                                                    MUX/DEMUX
                     INVA     INVB




                                                                                                                                    O PTO _S6B
                 5                            12                                                                                                     1                   28
                     SA          SB                                                                                                                  2 VDD          DA



                                                                                                                                  O PTO _S5B
                 6                            11                                                                                                                         27
                     SHDN      COM                                                                                                                   3 DB          VSS



                                                                                                                                O PTO _S4B
                 7                            10                                                                                                                         26
  C22            8   GND    EXTCLK            9                                                                                                      4 RS          S8A   25
  0.1uF              VDD       CLK                                                                                                                   5 S8B         S7A   24
                                                                                                                                                     6 S7B         S6A   23
                      MAX7490_QSOP                                                                                              C21                  7 S6B         S5A   22
                                                                                                                                0.1uF                8 S5B         S4A   21
 R30                                                                                                                                                 9 S4B
                                                                                                                                                 OPTO_S3B          S3A   20
 10K                                                       C23      C24                                         OPTO_S2B                            10 S3B         S2A   19
                                                           0.1uF    0.1uF    OPTO_S1B                                                               11 S2B         S1A   18
                                                                                                                                                    12 S1B          EN   17
                                                                                                                                                    13 GND          A0   16
 R31   OPTO_INVA                 R32                                                                                                                14 WR           A1   15
 10K                             10K                                                                                                                    NC          A2

                                                                                                                                                     ADG527AKR_28L_SOIC

                                                                   OPTO_DA
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

				
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