PowerPoint PresentationObjectivesBlock DiagramStatusRover ChassisMotor SelectionPower SourcePower Distribution SystemPMU ComponentsPMU (Power Management Unit)Slide 11Slide 12LightingCameraUser Interface - ConceptUser Interface – DemoInterface ProtocolMicrocontrollerFunction: pwminit()PIC 18F8722 SchematicHPC-Explorer BoardHPC Explorer Board SchematicFPGA OverviewLCD4x4 KeypadFPGA etc SchematicFeedback SystemParts ListDivision of TasksMilestone 1 DeliverablesMilestone 2 DeliverablesExpo DeliverablesSlide 33Questions?Amr Aldaiel - Andrew KravitzKatie Noble - Zack Taylor - Alan YimObjectives•Wireless real-time video with illumination capabilities•Remote manual operation via computer-based user interface•Temperature sensor•Control via keypad and LCD displayWireless network controlAutomatic patrol modeSmoke detector, CO detectorPreliminaryGoalsAuxiliaryGoalsBlock DiagramStatus•Basic chassis assembly complete•Preliminary power system schematics complete•Basic user interface implemented•PWM output from PIC•Preliminary FPGA and peripherals schematicsRover Chassis•Made of 1/8” 5052 Aluminum Alloy–High strength-to-weight ratio–Excellent corrosion resistance–Good forming characteristicsMotor Selection•ReliaPro DC Reversible Gearhead Motor–Operating Range: 4.5V-12V–Speed at 12V: 35 RPM–100:1 Gear Ratio–2370 g-cm torquePower Source•Werker Non-spillable Battery–12V–7.5 Amp HoursPower Distribution SystemTasks:•Design and build a Power Management Unit (PMU)•Build switching power converters as needed for different parts of the eyeBot•Ensure power is adequately distributed and efficiently managedPMU Components•1st Stage Step-Down Conversion•2nd Stage Voltage Regulation (5V and 3.3V)•Optocoupling of Incoming PWM Signals•H-bridge Inverters for Motor DrivingPMU (Power Management Unit)Step-Up/Step-Down DC-to-DC ConverterU2LMD18200BS1OT1Di rBr kPWMVs GNDCSTFOT2BS2C110nFC210nFFrontMOTORMV112 V GNDC3470uF-POLU1HCPL2530An1Ca1Ca2An2 GNDVo2Vo1VccVCC5VU3LMD18200BS1OT1Di rBr kPWMVs GNDCSTFOT2BS2C410nFC510nFRearMOTORMV212 V C6470uF-POLPWM1U2LMD18200BS1OT1Di rBr kPWMVs GNDCSTFOT2BS2C110nFC210nFFrontMOTORMV112 V GNDC3470uF-POLU1HCPL2530An1Ca1Ca2An2 GNDVo2Vo1VccVCC5VU3LMD18200BS1OT1Di rBr kPWMVs GNDCSTFOT2BS2C410nFC510nFRearMOTORMV212 V C6470uF-POLPWM2U1LM7805CTLI NE VREGCOMMONVOLTAGEU3IRU1015-33GNDVoVgVccVccoC100.22uF-POLBattery12 V U4LTC3780PgSSSns+Sns-I t hVosSgndRunFCBPLfPLi nSt by Bst 2Tg2Sw2Bg2PgndBg1I nt VExt VVi nSw1Tg1Bst 1R11.0kC1100nFD11N4730AC21.0uFQ12SK3233Q22SK3233D21N4730AC3100uF-POLR275kR310kQ32SK3233Q42SK3233D31N4730AC44.7uF-POLC522uF-POLC6100nFC72.2nFR420kC8100nFL12.0uHD41N4730AR51.0C91.0uFR65.1kR8100kR775kC11100uF-POLC12100uF-POL7VLighting•High intensity LEDs for area illumination, mounted on camera•OPTEK Inc. OVLEW1CB9 (White)•PIC will control a switch to turn LEDs on and offCamera•Linksys WVC54GC–Capture Resolution•320 x 240–Interface Type•IEEE 802.11b/g•Ethernet 10Base- T/100Base-TX•Approximately ½ second delay at 20 FPSUser Interface - Concept•Programmed using Visual Basic•Will run independently on a PC•Send and receive information and commands through RS-232User Interface – DemoInterface ProtocolFPGA & Computer to PICPIC to FPGA & ComputerBits 7:5 Bits 4:0 Purpose L Bits 7:5 Bits 4:0 Purpose000 No OP L 000 No OP001 Left Driver Motor L 001 n/a010 Right Driver Motor L 010 n/a00000 Full Speed Backward L 011 n/a00001 - 01011 Variable Speed Backward L 100 Thermometer Low01100 Stop L 00000 - 01111 Low order bits of temperature01101 - 11000 Variable Speed Forward L 101 Thermometer High11001 Full Speed Forward L 00000 - 01111 High order bits of temperature011 Camera Servo L Temperatures will be attained by concatenating Therm LowFull Tilt Up L and High and performing a 2's compliment operation toVariable Tilt Up L obtain the temperature.Horizontal L 110 Motor FeedbackVariable Tilt Down L ??? Haven't decided yet. MotorFull Tilt Down L feedback will be an addition100 n/a L 111 n/a101 n/a L110 n/a L111 Other Peripherals L00000 Turn LEDs Off L00001 Turn LEDs On LMicrocontroller•PIC18F8722 Microcontroller (80 Pin)–ECCP1/2 – Left/Right Motor PWM–ECCP3 – Camera Servo Control–Programmed Using MPLAB IDE & Microchip ICD2•Allows stepping/breakpoints for code running on 18F8722–Communications•RS-232 through MAX3232CDR RS-232 Driver–Serial Communication•FPGA through 10 Bit Parallel Bus•General I/O Pins for Thermometer, and LED Array Control–Operation at 10 MHzFunction: pwminit()void pwminit(void){PR2=0x18; // Sets the Period Register for Timer 2 (100 KHz)TRISC=0; // Sets Port C to OutputTRISG=0; // Sets Port G to OutputTMR2=1; // Timer 2 Prescaler set to 1 for 100KHz operationT2CON=0b00000100; // Timer 2 Control Reg,Turns Timer 2 OnCCP1CON=0b00101101; // Initialize CCP1 (Turn on PWM +2%)CCP2CON=0b00101101; // Initialize CCP2CCP3CON=0b00101101; // Initialize CCP3CCPR1L=26/4; //Sets CCP 1 to 26% Duty CycleCCPR2L=50/4; //Sets CCP 2 to 50% Duty CycleCCPR3L=74/4; //Sets CCP 3 to 74% Duty Cycle// ALL CCP duty cycles can be controlled to duty%= 4*CCPRxL+2%// Allows for 25 Speeds for the motors (12 Forward, 12 Back)// Servo can be controlled to 25 positions}PIC 18F8722 SchematicHPC-Explorer Board•Cheap Effective PCB–Built in wire-wrap/solder points for all general I/O Pins•Can Easily Build Ribbon Cable Interface for FPGA Bus–Built In Voltage Regulator for VDD and Ground of 18F8722 through 9-15V input–ICD 2 Jumper and RS-232 Com port on board.–Built in Temperature Sensor–8 LED’s through Port D, for data checking–Easily Add on additional componentsHPC Explorer Board SchematicFPGA Overview•Xilinx XCS10 with XC18V256 EPROM•Interfaces between PIC, Keypad, LCD display, and any future peripherals•Handles chip selection based on three address bits•Communicates with PIC through 10 bit parallel busLCD•Will display:– temperature–direction–eyeBOT status•20x4 character display•Considering:–HD44780 parallel interface–HD44780U driver4x4 Keypad•Used for on-board eyeBOT control•Row/Column matrix will be encoded into 4 data bits by MM74C922•MM74C922 also offers an interrupt signal and a keypad available signalFPGA etc SchematicI/O (44)3I/O (47)4I/O (56)5I/O (59)6I/O (68)7I/O (71)8I/O (80)9I/O, SGCK1 (83)10I/O, PGCK1 (86)13I/O (89)14I/O, TDI (98)15I/O, TCK (101)16I/O, TMS (110)17I/O (113)18I/O (122)19I/O (125)20I/O (128)23I/O