TIMA: Tiny Interface Module Adaptor for Embedded Autonomous - - PowerPoint PPT Presentation

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TIMA: Tiny Interface Module Adaptor for Embedded Autonomous - - PowerPoint PPT Presentation

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TIMA: Tiny Interface Module Adaptor for Embedded Autonomous Applications Progress Report Progress Report Tim Arrowsmith Tim Arrowsmith Department of Electrical and Computer Engineering Department of Electrical and Computer Engineering

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TIMA: Tiny Interface Module Adaptor for Embedded Autonomous Applications

Progress Report Progress Report

Tim Arrowsmith Tim Arrowsmith Department of Electrical and Computer Engineering Department of Electrical and Computer Engineering University of Kentucky University of Kentucky Lexington, KY Lexington, KY 9/7/06 9/7/06

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Outline

  • Inspiration/Background
  • Objective/Goals
  • Hardware Overview
  • Related Work
  • Current Status
  • Future work
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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Inspiration

  • Increased Implementation of Autonomous

Vehicles

  • Scientific to humanitarian applications
  • University of Kentucky involvement with

BIG BLUE and PAX River Competition

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

BIG BLUE

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

AUVSI Student UAV competition

  • 3rd Annual PAX

River Competition

  • 4th Annual PAX

River Competition

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Common Elements

  • Reliable hardware/software for

autonomous operation.

  • Smaller, lighter, better.
  • Stable/consistent platform to enhance new

student participation.

  • Silicon Labs 8051 development boards
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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Objective

  • To develop a reliable, lightweight, modular

system for use in Unmanned Aerial Vehicles (UAVs) and other autonomous applications.

  • The result will be two versions of a Tiny

Interface Module:

  • TIMCAN
  • TIMWireless
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Intelligent Dependable Embedded Architectures Lab University of Kentucky

TIMCAN

  • Tiny Interface Module implementing CAN

networking

  • Controller Area Network (CAN)
  • Designed to be tolerant of

electromagnetically noisy environments

  • Initially utilized in automotive

applications

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

CAN Background

  • Decision to use CAN at UK first addressed in the

PAX river competition

  • CAN Quick facts:

– Is a high-integrity serial data communications bus for real-time applications – Operates at data rates of up to 1 Megabits per second – Has excellent error detection and confinement capabilities – Was originally developed by Bosch for use in cars – Is now being used in many other industrial automation and control applications

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

TIMCAN Hardware

  • JTAG

– custom harness

  • UART0

– Custom harness with level shifter

  • UART1

– Custom harness with level shifter

  • SPI

– 4-wire compatible

  • Servo header ( x4)

– Standard Servo plug-in

  • GPIO (x4)
  • CAN (x2)

– Four pin header

  • LED (x3)

– Power – Status 0 – Status 1

  • Push Button (x2)

– Reset – Generic Push Button

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

TIMCAN Schematic

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

TIMWireless

  • Tiny Interface Module implementing

Wireless networking

  • Wirelessly connected using IEEE 802.15.4

standard.

Physical layer and MAC layer for ZigBee communications

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

ZigBee Background

*Image from ZigBee Alliance Open house – San Jose Thursday June 15, 2006

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

ZigBee Background cont.

* Images from Digi-key “ZigBee” Product Training Module

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Wireless Communications

Alternatives…

– Lantronix WiPort

– IEEE 802.11b/g – 1Mbps-54Mbps – Serial Interface – 1.335x1.28x.415 in – Internal Web Server

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Wireless Alternative

  • Helicomm IP-Link

*Images from Helicomm IP-Link module data sheet and website

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Current Status

– TIMCAN

  • IDEAnix integration and testing
  • TIMCAN v3.4 completed, ready for final inspection

– TIMWireless

  • Parts on order
  • Board layouts being modeled
  • Antenna Design

– Helicomm IP-Link

  • On order
  • Parallel development of software drivers
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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Future work….

  • TIMCAN final revision production
  • TIMWireless board population and testing
  • Helicomm IP-Link software development

Questions?

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

  • Revisions on table:

– Integrate level shifter to final TIM design – Migrate P2.0 to P3.0 Timer ->ADC

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

TIMA Software

  • Generic initialization files

– Allow easy student configuration – Reduce configuration errors

  • Wireless hardware level drivers
  • Easily integrated into IDEAnix
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Related Work

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Related Work

  • Crumb128-CAN

– Based on Atmels AT90CAN128 microcontroller – 40x30mm form factor – CAN2.0, USB 2.0

Picture from Chip45.com: http://www.chip45.com/Crumb128-CAN

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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Outline

  • Inspiration\Background
  • Objective/Goals
  • Hardware Overview
  • Related Work
  • TIMCAN design
  • TIMWireless design
  • Applications
  • Future work
  • Conclusions
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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Outline

  • Inspiration\Background
  • Objective/Goals
  • Hardware Overview
  • Related Work
  • TIMCAN design
  • TIMWireless design
  • Applications
  • Future work
  • Conclusions
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Intelligent Dependable Embedded Architectures Lab University of Kentucky

Outline

  • Inspiration\Background
  • Objective/Goals
  • Hardware Overview
  • Related Work
  • TIMCAN design
  • TIMWireless design
  • Applications
  • Future work
  • Conclusions
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Applications