SPIRIT-C Solar Powered Image Response Infrared Tracking CamcorderSPIRIT-C ApplicationsOverviewBlock DiagramCamera Mount AssemblyStepper MotorsMotor ControlMotor DriverIR SensorsPyroelectric IR SensorsConfigurationFresnel LensFresnel SpecsMotion DetectionPIR325 SpecsSolar Power Block DiagramSolar ModuleDC/DC ConverterControl TechniqueDeep Cycle BatteryXilinx Spartan-3 Starter KitStarter Kit FeaturesFPGA – Spartan-3 XC3S200FPGA implementationMICROBLAZE Embedded Soft CoreUser InterfaceController FunctionsCamcorder ControlConstraintsContingency PlanDivision of LaborBudgetProject ScheduleQuestions?SPIRIT-CSPIRIT-CSolar Powered Image Response Infrared Tracking CamcorderSolar Powered Image Response Infrared Tracking CamcorderJustin EilerJeff Morroni Adeel BaigAndy CrahanJim PattersonSPIRIT-C ApplicationsSPIRIT-C ApplicationsLive Action FilmingSecurity SurveillanceInfant MonitoringProximity DetectionOverviewOverviewPan/tilt tracking system for digital camcorderTwo stepper motors used for pan/tilt motionControlled by array of PIR(pyro-electric infrared) sensorsSolar array for supplying power to all componentsExternal battery and camcorder battery charged through arrayFPGA with embedded soft core for integration and controlManual, and possibly wireless, controllerBlock DiagramBlock DiagramSpartan 3withMicroblazeADC /MuxIR SensorsManualControlH-BridgeControllerStepperMotorsCameraConvertersSolar ArrayBatteryLEDClusterControlPowerDataCamera Mount AssemblyCamera Mount AssemblyThe camera will be mounted into a cradle using existing tripod mountThe cradle is suspended between side holes on yokeThe yoke will be used to facilitate tilting motionA Lazy Susan will be used for pan rotation and is connected to bottom hole of yokeStepper MotorsStepper MotorsTwo low power stepper motors will be used to power the rotation of the cameraThe motors will also be Bipolar (no center taps)Motor ControlMotor ControlA simple H-bridge circuit will be constructed to control the motorsThe H-bridge will allow us the following modesXY Mode00 D. Braking01 Forward10 Reverse11 D. BrakingMotor DriverMotor DriverThe Step input will be hooked up to the Spartan 3 Pulse Width ModulatorThe Direction input will be held high for clockwise or held low for counter clockwiseThe outputs then will be attached to the appropriate H bridge inputsStepDirectionYXYXWinding 1Winding 2Driver using TTL logicIR SensorsIR SensorsTo detect rapid human movement will require high quality IR sensorsSeveral types are available including:- Thermopiles- Bolometers- Pneumatic Detectors- Pyroelectric DetectorsPyroelectric IR SensorsPyroelectric IR SensorsOnly pyroelectric sensors have the rapid motion detection we require for high speed filmingThese operate like current sources with output proportional to the rate of change in temperatureExtremely fast responses set them apartThey are also insensitive to undesirable external DC effectsConfigurationConfigurationInternal FET detects surface charge changesBW limited 2 stage amplifier reduces HF noiseFresnel LensFresnel LensFresnel lenses are – lightweight–economical– heat dissipative–preciseFL65 Detects 8-14um radiationFresnel SpecsFresnel SpecsConcentrates PIR field to 10 degrees versus 95Important aspect for sensitive motion detectionProvides appropriate field with our 8 sensor cradle designMotion DetectionMotion DetectionMotion detected by sensors being triggered consecutivelyThis cancels signals due to vibration, temp. changes, and sunlightPIR325 SpecsPIR325 Specs2 sensing elements5-14um responseGeneral motion detector schematicSolar Power Block DiagramSolar Power Block DiagramSolar ModuleSolar ModuleMaximum Power = 40 W25.8 inches by 21.1 inchesProvides 17.3Vmax and 2.31AmaxManual/Automatic tilt for maximum sun intensityDC/DC ConverterDC/DC ConverterBuck Converter•Input Voltage, Vg, will be around 17.3 V (for one panel)•Battery charging voltage should be around 13-14 V•Buck Converter will decrease the voltage with low lossControl TechniqueControl Technique•Output Voltage will be set to constant charging voltage•Sense the output current•FPGA will increase duty cycle thus changing the operating point•If new operating point has greater output power, continue increasing duty cycle, otherwise decreaseDeep Cycle BatteryDeep Cycle Battery12V Deep cycle required for extended usageA shunt regulator will prevent over-chargingWhen battery draws less current (fully charged), the regulator will dissipate the excess currentXilinx Spartan-3 Starter KitXilinx Spartan-3 Starter KitStarter Kit FeaturesStarter Kit Features Spartan-3 XC3S200 FPGA2Mbit Xilinx XCF02S Platform Flash Prom1M-byte of Fast Asynchronous SRAM3-bit, 8-color VGA display port9-pin RS-232 Serial PortPS/2-style mouse/keyboard portFour-character, seven segment LED displayEight slide switchesEight individual LED outputsFour momentary-contact push buttons50 MHz crystal oscillator clock sourceJTAG portAC power adapter with unregulated +5V power supplyOn board 3.3V, 2.5 V, and 1.2V regulatorsFPGA – Spartan-3 XC3S200FPGA – Spartan-3 XC3S200220K system gates, 4320 equiv. logic cells480 total CLB (configurable logic block)30K distributed RAM bits216K block RAM bits12 dedicated multipliers4 DCM (digital clock multiplier)173 user I/O, 76 differential I/O pairsCONFIGURABLE LOGIC BLOCKMain logic resource for implementing synchronous and combinatorial circuitsComprised of four slicesTwo logic function generators, two storage elements, wide-function multiplexers, carry logic, and arithmetic gatesleft-hand pair also supports: storing data using Distributed RAM and shifting data with 16-bit registers.FPGA implementationFPGA implementationISE development system: synthesis, mapping, placement, routingI/O blocks and selectable paths create versatilityCLB’s are workhorse of FPGAFunction Generator: LUT function used to implement state machineStorage Element: Flip Flop used to synchronize data to clock signalCarry chain: helps with fast arithmeticPWM (pulse width modulator):clock dividerbinary up-down countercomparatorMICROBLAZE MICROBLAZE Embedded Soft CoreEmbedded Soft Core- Based on RISC 32-bit architecture- 32-bit instruction word with three operands and two addressing modes- 32-bit address bus, 32 32-bit