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
Outline • Inspiration/Background • Objective/Goals • Hardware Overview • Related Work • Current Status • Future work 2 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 3 Intelligent Dependable Embedded Architectures Lab University of Kentucky
BIG BLUE 4 Intelligent Dependable Embedded Architectures Lab University of Kentucky
AUVSI Student UAV competition • 3 rd Annual PAX River Competition • 4 th Annual PAX River Competition 5 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 6 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 7 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 8 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 9 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 10 Intelligent Dependable Embedded Architectures Lab University of Kentucky
TIMCAN Schematic 11 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 12 Intelligent Dependable Embedded Architectures Lab University of Kentucky
ZigBee Background *Image from ZigBee Alliance Open house – San Jose Thursday June 15, 2006 13 Intelligent Dependable Embedded Architectures Lab University of Kentucky
ZigBee Background cont. * Images from Digi-key “ZigBee” Product Training Module 14 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 15 Intelligent Dependable Embedded Architectures Lab University of Kentucky
Wireless Alternative • Helicomm IP-Link *Images from Helicomm IP-Link module data sheet and website 16 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 17 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? 18 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 19 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 20 Intelligent Dependable Embedded Architectures Lab University of Kentucky
Related Work 21 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 22 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 23 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 24 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 25 Intelligent Dependable Embedded Architectures Lab University of Kentucky
Applications 26 Intelligent Dependable Embedded Architectures Lab University of Kentucky
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