Project WEAVER Project WEAVER Wi-Fi Enabled Enabled Wi-Fi Active - - PowerPoint PPT Presentation

Project WEAVER Project WEAVER Wi-Fi Wi-Fi Enabled Enabled Active Video Active Video Experimental Rover Experimental Rover

Senior Project by: Senior Project by: Amber Blake Amber Blake Janos Opra Janos Opra Tyler Lloyd Tyler Lloyd

Project Tasks Project Tasks

Hardware Hardware

– Obstacle Detection and Obstacle Detection and Avoidance Avoidance – Wireless Interface Wireless Interface – Power Regulation Power Regulation – Video Interface Video Interface – DSP Processor DSP Processor – Motors and Interfaces Motors and Interfaces

H-Bridge Motor Driver H-Bridge Motor Driver

– PCB Design and PCB Design and Verification Verification – Assembly Assembly

Software Software

– Obstacle Avoidance Obstacle Avoidance – PC Wireless PC Wireless Implementation Implementation – PC Video Stream Viewer PC Video Stream Viewer – DSP Video Pre-Processing DSP Video Pre-Processing – PC Movement Control PC Movement Control – Rover Wireless Rover Wireless Implementation Implementation – DSP Movement Control DSP Movement Control – GUI Wrapper GUI Wrapper

Schedule Schedule

– Hardware Hardware – Software Software

Block Diagram Block Diagram

Vehicle PC

Vehicle Control PC Wireless Card

Sensors IR LEDS Camera

DSP

Left/Right Motor Forward/ Reverse Motor High/Low Motor Vehicle Wireless Card Power Regulator MPEG Encoder Wireless Link

AP Video

Interface

Obstacle Detection and Obstacle Detection and Avoidance Avoidance

Two Components – Hardware and Two Components – Hardware and Software Software Hardware on Car Hardware on Car

– IR LEDs, receivers, and resistors IR LEDs, receivers, and resistors IR receivers create a signal when the IR receivers create a signal when the reflected IR signal is detected reflected IR signal is detected – Input from HPWM on DSP Input from HPWM on DSP Duty cycle controls power level to LEDs Duty cycle controls power level to LEDs which changes the sensitivity which changes the sensitivity – Output to a general purpose I/O pin Output to a general purpose I/O pin Receiver signal sent back to DSP Receiver signal sent back to DSP

A A

Wireless Communication Link Wireless Communication Link

On the Car On the Car

– Hardware Hardware The Plan: PC card, connectors, and bus to The Plan: PC card, connectors, and bus to the DSP. the DSP. Back-up: Wireless Flash or chip set Back-up: Wireless Flash or chip set Reference Design Reference Design – Software on the DSP Software on the DSP

A A

Power Regulation Power Regulation

Sources Sources

– 9.6V Ni-Cad rechargeable (Motors) 9.6V Ni-Cad rechargeable (Motors) – 9V alkaline 6 AA cells in series (Digital) 9V alkaline 6 AA cells in series (Digital)

Power sequencing Power sequencing

– Digital power is available first Digital power is available first – Motor driver power after H-Bridge is initialized Motor driver power after H-Bridge is initialized

Single switch disables all voltage sources Single switch disables all voltage sources Digital voltage regulation Digital voltage regulation

– DSP DSP – Camera Camera – Wireless card Wireless card – Obstacle avoidance Obstacle avoidance

J J

Video Interface Video Interface

CCD Camera CCD Camera

– Toshiba TW10794V Digital Camera Toshiba TW10794V Digital Camera – Ribbon Cable Input/Output and Power Ribbon Cable Input/Output and Power

MPEG Codec MPEG Codec

– NEC µPD61051 MPEG2 Hardware Encoder NEC µPD61051 MPEG2 Hardware Encoder

208 pin TQFP (Thin Quad Flat Pack) package 208 pin TQFP (Thin Quad Flat Pack) package 2.5 and 3.3 V requirements 2.5 and 3.3 V requirements Samples en route Samples en route

– Native Streaming Video Output Native Streaming Video Output

Mounting Hardware Mounting Hardware

– Nuts and Bolts. Nuts and Bolts.

J J

Embedded Processor Embedded Processor

Digital Signal Processor (DSP) Digital Signal Processor (DSP)

– Motorola DSP56F807 Motorola DSP56F807 – On chip interfaces On chip interfaces

SPI SPI UART UART CAN CAN SCI SCI JTAG JTAG External Memory interface port External Memory interface port

– 16bit data 16 bit address 16bit data 16 bit address

– We have a development kit for the 801 version We have a development kit for the 801 version – We have samples of the 805 and 807 versions We have samples of the 805 and 807 versions

T T

Motors and Interfaces Motors and Interfaces

One motor for forward and reverse One motor for forward and reverse One motor for left and right One motor for left and right One motor for High and Low gear One motor for High and Low gear Hardware Pulse Width Modulator (HPWM) Hardware Pulse Width Modulator (HPWM) to apply the signals to move to apply the signals to move HPWM duty cycle will determine speed. HPWM duty cycle will determine speed.

– Duty Cycle range 0% - 100% Duty Cycle range 0% - 100% – Provides maximum motor speed Provides maximum motor speed

Rotation is proportional to the current Rotation is proportional to the current passing through it passing through it

T T

H-Bridge Motor Driver H-Bridge Motor Driver

Allows bidirectional operation with minimal control Allows bidirectional operation with minimal control signals signals Provide a “break” to stop the rotation of the motor Provide a “break” to stop the rotation of the motor requires one HPWM and either 2 or 4 IO pins requires one HPWM and either 2 or 4 IO pins

PCB Design and Verification PCB Design and Verification

Protel 99se schematic and layout Protel 99se schematic and layout environment environment

– Output Gerber files Output Gerber files

Verification, Review Verification, Review

– Schematic prior to PCB production Schematic prior to PCB production – Analyze current requirements to size traces Analyze current requirements to size traces – Component footprints Component footprints – PCB trace paths PCB trace paths

Circuit Graphics PCB fabrication PCB fabrication

T T

Assembly Assembly

Populate the PCB in phases to check Populate the PCB in phases to check power regulation and control power regulation and control Complete PCB Complete PCB Mount modules to the Rover Mount modules to the Rover

– PCB PCB – Camera Camera – Wireless Card Wireless Card

Power all systems and verify power Power all systems and verify power capacity capacity

T T

Obstacle Detection and Obstacle Detection and Avoidance Avoidance

Software on DSP Software on DSP

– Sensor Control Sensor Control

Input – Approximate speed from Motor Control Input – Approximate speed from Motor Control Software (duty-cycle of the HPWM) Software (duty-cycle of the HPWM) Output – Duty cycle of the HPWM input to IR LEDs Output – Duty cycle of the HPWM input to IR LEDs

– Evasive Action Evasive Action

Input – Output of the IR sensors Input – Output of the IR sensors Output – Communication to Motor Control Software to Output – Communication to Motor Control Software to avoid the object avoid the object Obstacles avoided by either turning the car, applying Obstacles avoided by either turning the car, applying the motor breaks, or both the motor breaks, or both

– Allow this feature to be disabled from the PC Allow this feature to be disabled from the PC

A A

PC Wireless Implementation PC Wireless Implementation

802.11g wireless network (54 Mbps) 802.11g wireless network (54 Mbps) Hardware – PC card Hardware – PC card Software – Write to and read from as a socket Software – Write to and read from as a socket – Wireless input - Video sent from the Rover Wireless input - Video sent from the Rover – Socket output – Relay Video to the PC Socket output – Relay Video to the PC – Socket Input – Command Codes sent from the Socket Input – Command Codes sent from the PC PC – Wireless output – Relay Commands to the Wireless output – Relay Commands to the Rover Rover – UDP transfer protocol UDP transfer protocol There will also be a wireless access point that will There will also be a wireless access point that will act as a network switch act as a network switch

A A

PC Video Stream Viewer PC Video Stream Viewer

Video stream viewer Video stream viewer

– Input – MPEG video stream from the car Input – MPEG video stream from the car received through Wireless Communication received through Wireless Communication Software Software – Output – Streaming video display on the Output – Streaming video display on the monitor monitor – Decode using Windows Media Player or similar Decode using Windows Media Player or similar

Create a viewer in a reserved section of Create a viewer in a reserved section of the GUI the GUI

A A

DSP Video Interface DSP Video Interface

Initialize CCD Camera Initialize CCD Camera

– Send configuration op-codes Send configuration op-codes

Frame-rate, Resolution, Etc. Frame-rate, Resolution, Etc.

Initialize MPEG encoder Initialize MPEG encoder

– Define input characteristics (Digital) Define input characteristics (Digital) – Set compression type (MPEG2) Set compression type (MPEG2) – Set output to real-time stream Set output to real-time stream

Receive stream into DSP from encoder Receive stream into DSP from encoder Make stream available for wireless Make stream available for wireless transmission transmission

J J

PC Motion Control PC Motion Control

Input Input

– Keyboard Keyboard – Explore joystick option Explore joystick option – Variable speeds Variable speeds

Forward/Reverse Forward/Reverse Left/Right Left/Right

Decode into hardware commands Decode into hardware commands Send to wireless link Send to wireless link Design a GUI for motion control Design a GUI for motion control

J J

Rover Wireless Implementation Rover Wireless Implementation

Hardware – PC card in a connector mounted to Hardware – PC card in a connector mounted to the PCB the PCB Software level1 Software level1

– Interface Interface

IDE IDE Card Bus Card Bus

Software Level2 Software Level2

– Write to and read from as a socket Write to and read from as a socket Wireless input - Command Codes sent from the PC Wireless input - Command Codes sent from the PC Socket output – Relay Commands to the Rover Socket output – Relay Commands to the Rover Socket Input – Video sent from the Rover Socket Input – Video sent from the Rover Wireless output – Relay Video to the PC Wireless output – Relay Video to the PC

– UDP transfer protocol UDP transfer protocol

T T

DSP Movement Control DSP Movement Control

Receive Command message from the Receive Command message from the PC PC Decode message Decode message Respond to the message Respond to the message

– Change the duty cycle of one or more Change the duty cycle of one or more HPWMs HPWMs – Apply the break Apply the break – Change direction Forward/Reverse Change direction Forward/Reverse

Stop if wireless connection is lost Stop if wireless connection is lost

T T

Hardware Schedule Hardware Schedule

All Basic assembly All Part acquisition PCB build All P CB design Tyler Motor driver Amber Collision avoidance circuitry Janos Camera interface circuitry mber ireless transmission circuitry Tyler DSP circuitry Janos Power regulation 27 20 13 6 30 23 16 9 2 25 1 8 1 1 28 21 1 4 point- person Tasks

August July June May

Software Schedule Software Schedule

Documentation All PC laptop GUI wrapper Amber C laptop Video interface software Janos PC laptop Motor control Amber PC laptop Wireless communication SP MPEG encoding Amber DSP Sensor processing and collision avoidance Janos DSP Video interface Tyler SP Motor control Tyler DSP Wireless communication 3 2 6 1 9 1 2 5 2 9 22 15 8 1 2 4 1 7 1 point-person asks

ec November October eptember