Critical Design ReviewSystem OverviewWhat is the BlimpageFunctional Block DiagramThe MicrosMaster FunctionsMaster State MachineMaster State Machine. Take 2Command SetModified i2c Protocoli2c FunctionalityPosition and Heading IntroPosition/Heading Block DiagramDigital Compass HMR3100HMR3100 Time DiagramAccelerometer ADXL311ADXL3100 and Logic Block DiagramADXL311 and HMR3100 SchematicMotor Control IntroMotor Control Block DiagramMotor Control SchematicMotor Control State MachineCollision Detection IntroCollision Detection Block DiagramCollision Detection SchematicCollision Detection State MachineCommunicationsData AcquisitionParts ListParts List 2Costs (The Big Stuff)ROIUpdated ScheduleDivision of LaborSlide 35Milestone 1Milestone 2ExpoCritical Design ReviewBlimpage Team:Daniel McCabe Nguyen TrinhJoseph Brannan David Wolpoff Philip GrippiBlimpage•Modular general-purpose drone controller•Navigation, collision-detection, general motor interfaces, data collection•Zero-impact on system performance–Lightweight, independently poweredSystem Overview•Composed of six main modules:–General-purpose microcontroller network–Motor / servo controller–Position and heading monitoring–Collision-detection / alarm–Data collection–Off-module communicationWhat is the BlimpageFunctional Block DiagramThe MicrosMSP 430 F1232 Micro ControllersKey Features:Ultra Low Power:300 μA (Active)0.7 μA (Standby)C-Programming InterfaceMaster Functions•Arbitrates data transfers on i2c bus•Prioritize Data Transfers•Passes data among subsystems•Handle user-input objectives•Coordinate startups and shutdowns•BleatingMaster State Machine•And Now Something COMPLETELY different.01020304050607080901stQtr2ndQtr3rdQtr4thQtrEastWestNorthMaster 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 ProtocolSDASCKSTTSTART: 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 transfersPosition 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 ModulePosition/Heading Block Diagram--Pos/Heading uCI2C BUS||||||Motor uCMaster uC--------------------------------------------------------------------------------------------------HMR3100ADXL311-||Collision uCDigital 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 busHMR3100 Time DiagramContinuous Mode: 2 Hz heading queries at 9600 baud rateCalibration 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 uCADXL3100 and Logic Block DiagramADXL311--------- -----MAX7490 TLV2370LP FilterPos/Heading uCADC10ADXL311 and HMR3100 SchematicMotor 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 servoMotor Control Block DiagramMotor uCx2 H-Bridge Motor DriversMicro Servo-------- ---------------x4 optical isolatorsoptical isolator|||PWM signal-------------------|||-------------------------||||<---3 V Battery<---^|||----------------------|||Motor Control Schematic(A High - B Low) Reverse (A Low - B High) Forward (Both Low or Both High) StopServo headeruC MTR header P3.4-7M O TO R _ G N DR_MTR_CNTRL_B12J29HEADE R 2TitleSize Document Number RevDate: Sheet of1 2Motor Control BoardA9 10Wednesday, September 29, 20041243U10PC357N1SERV O CNTRL P2.4J27HE ADE R 1R281035 1/20WR211500 1/20WU14R MOTOR1243U12PC357N1uC GNDJ28HEA DER 1R29150 0 1/20WR221500 1/20WR271035 1/20WQ3MOSFET_I_EP _DGSR261500 1/20WR19???1243U11PC357NQ4MOSFET_I_EP_DGSQ6MOSFET_EN_DGSQ5MOSFET_EN_DGSR251500 1/20WC2010uFR201035 1/20WR241035 1/20W1243U9PC357NQ8MOSFET_EN_DGSR18???Q1MOSFET_I_EP_DGSC1910uF1243U8PC357NU13L MOTORQ7MOSFET_EN_DGSR231035 1/20WQ2MOSFET_I_E P _DGSL MTR CNTRL B P3.71L MTR CNTRL A P3.62R MTR CNTRL B P3.53R MTR CNTRL A P3.44J26HEADE R 4123J30HEA DER 3uC GND headerMOTOR_SRV O_CNTRLS E RV O