Critical Design Review - “Dayrider”

Critical Design Review - “Dayrider”

Critical Design Review - “Dayrider”

Team DayriderGeorge Jenny, Amjad Sawaged,

Tim Ikenouye, Kieran Tie

Team DayriderGeorge Jenny, Amjad Sawaged,

Tim Ikenouye, Kieran Tie

04/19/23 CDR - Team Dayrider 2

ObjectivesObjectives

Minimum: A solar-powered, router-controlled RC vehicle

Target: A self-controlled software-sensor interface with regenerative techniques for energy recapture measurements

Optimal: A vehicle that combines efficient design, functional power management, and a dynamic user interface in an aesthetically pleasing package

Minimum: A solar-powered, router-controlled RC vehicle

Target: A self-controlled software-sensor interface with regenerative techniques for energy recapture measurements

Optimal: A vehicle that combines efficient design, functional power management, and a dynamic user interface in an aesthetically pleasing package


StatusStatus

Components selected and shipping Preliminary wire-wrapping of modular

pieces (ADCs) Control software of the MSP430 I.P. Schematics: main board, subsystems

sketched out and transferring to Altium Router hardware/software modifications

completed

Components selected and shipping Preliminary wire-wrapping of modular

pieces (ADCs) Control software of the MSP430 I.P. Schematics: main board, subsystems

sketched out and transferring to Altium Router hardware/software modifications

completed


Block DiagramBlock Diagram


Motor - Traxxas “Stinger 540”Motor - Traxxas “Stinger 540”

20-turn DC brushed motor ~1.5A at 3V no load ~33mA at 500 mV reverse Already standard on the current chassis

20-turn DC brushed motor ~1.5A at 3V no load ~33mA at 500 mV reverse Already standard on the current chassis


Battery – STAABBattery – STAAB

6V output 3.4 Amp-hour capacity 7-7.5 rated charging V ~0.692 kg 134mm/34mm/60mm

6V output 3.4 Amp-hour capacity 7-7.5 rated charging V ~0.692 kg 134mm/34mm/60mm


Solar PanelsSolar Panels

7.2 V @ 200 mA Thickness 0.6mm (24 mil) Total Size 253mm x 150mm Weight-25.9g

7.2 V @ 200 mA Thickness 0.6mm (24 mil) Total Size 253mm x 150mm Weight-25.9g


Microcontroller - TI MSP430F1611Microcontroller - TI MSP430F1611

16 bit RISC CPU 8 MHz operational frequency 48 KB Flash, 10 KB Ram 48 GPIO pins Analog Comparator, DMA Hardware Interface:

2 UART or SPI for hardware Interface: (USART 0, USART1)

I2C mode for peripheral interface

16 bit RISC CPU 8 MHz operational frequency 48 KB Flash, 10 KB Ram 48 GPIO pins Analog Comparator, DMA Hardware Interface:

2 UART or SPI for hardware Interface: (USART 0, USART1)

I2C mode for peripheral interface


Microcontroller - TI MSP430F1611Microcontroller - TI MSP430F1611


Modular PeripheralsModular Peripherals

Hardware addressed on each peripheral board

Plug and Play onto main board

Modularized design allows for easier assembly and debugging

I2C Bus: supports 7 and 10 bit addressing modes (p308 user guide)

Hardware addressed on each peripheral board

Plug and Play onto main board

Modularized design allows for easier assembly and debugging

I2C Bus: supports 7 and 10 bit addressing modes (p308 user guide)


I2C BusI2C Bus

Basic implementation of I2C Bus

Must be implemented in USART0

Basic implementation of I2C Bus

Must be implemented in USART0


USART0 Control RegisterUSART0 Control RegisterRXDMAEN - Transmit data from I2C via DMA upon receiving data

SYNC – (1) for [SPI or I2C] mode, (0) for UART mode

I2C – (1)selects I2C mode when SYNC = 1

I2CEN – enables(0) or disables(1) operation of I2C mode

MST – selects master (1) or slave (0) mode


I2C Timing DiagramsI2C Timing DiagramsOne clock pulse is generated by the master device for each data bittransferred. The I2C module operates with byte data. Data is transferred mostsignificant bit first as shown in Figure 15.3

START Condition: SDA High to Low while SCL is High

STOP Condition: SDA Low to High while SCL is High

Change of Data only allowed while SCL is Low, otherwise START and STOP conditions are generated


I2C Addressing SchemeI2C Addressing Scheme

Start Condition

Acknowledge bit sent by receiver after each byte

Stop Condition

Direction of data flow on SDA can be changed by master by issuing a repeated start condition: RESTART is issued, slave address issued with new value for R/W bit


Motor Controller - LMD18200TMotor Controller - LMD18200T

Controlled using PWM by additional MSP430F2003TN connected to I2C bus

Steering mechanism: 5 V supply servo motor, dead straight D = 50%, f = 392 Hz @ 1 V, modulating D from 40% – 60% steers left to right.

Controlled using PWM by additional MSP430F2003TN connected to I2C bus

Steering mechanism: 5 V supply servo motor, dead straight D = 50%, f = 392 Hz @ 1 V, modulating D from 40% – 60% steers left to right.

Functional diagram


Motor Controller SchematicMotor Controller Schematic

3 inputs to motor controller supplied by smaller MSP430F2003


Analog to Digital Converter - PCF8591Analog to Digital Converter - PCF8591

Operating supply voltage 2.5 – 6 V

Serial throughput of data via I2C

4 Analog input programmable with multiplexer

Addressing via 3 hardware addressing pins

Sampling rate given by I2C bus speed

Operating supply voltage 2.5 – 6 V

Serial throughput of data via I2C

4 Analog input programmable with multiplexer

Addressing via 3 hardware addressing pins

Sampling rate given by I2C bus speed

Programmable hardware bits


ADC schematicADC schematic

4 input ports

I2C interface

3 programmable hardware bits


Light-to-Voltage Converters - TSL14SLight-to-Voltage Converters - TSL14S Converts light intensity to output voltage Single supply operation 2.7-5.5V Connect to PCF8951 ADC Mount along perimeter of car

Converts light intensity to output voltage Single supply operation 2.7-5.5V Connect to PCF8951 ADC Mount along perimeter of car

Output pulse delay rising edge

Output pulse rise time

Output pulse falling edge

Output pulse fall time


TSL14S LVC schematicTSL14S LVC schematic

•4 LVC’s connected directly into ADC

•We will have 2 of these modules for a total of 8 LVC’s


Range Sensors - MaxSonar EZ1Range Sensors - MaxSonar EZ1

Analog 10mV/inch output Detection from 0 – 255 inches (~20 ft.) Single 5V power supply Very low power; draws only 2mA < ½ the size of other sensors in its class Connect to PCF8951 ADC

Analog 10mV/inch output Detection from 0 – 255 inches (~20 ft.) Single 5V power supply Very low power; draws only 2mA < ½ the size of other sensors in its class Connect to PCF8951 ADC


Range Sensor SchematicRange Sensor Schematic

•All 3 sensors multiplexed in 1 ADC

•Same ADC used throughout all peripheral modules


Parts ListParts List Assembled chassis with motor STAAB deep cycle battery (2) Traxxas Stinger 540 motor Solar Panels Linux router MAX233a level converters HAC-UM96 wireless

transceivers

Assembled chassis with motor STAAB deep cycle battery (2) Traxxas Stinger 540 motor Solar Panels Linux router MAX233a level converters HAC-UM96 wireless

transceivers

MSP430F1611 microcontroller MSP430F2003 microcontroller LMD18200T motor controller PCF8591 ADC’s TSL14S light to voltage

converters MaxSonar EZ1 range sensors Sparkfun F1611 Dev board

MSP430F1611 microcontroller MSP430F2003 microcontroller LMD18200T motor controller PCF8591 ADC’s TSL14S light to voltage

converters MaxSonar EZ1 range sensors Sparkfun F1611 Dev board


Serial Communication - MAX233eSerial Communication - MAX233e

Converts TTL/CMOS levels coming from router/microcontroller to RS232 levels for computer/HAC-UM96

2 needed - one for router, and one for microcontroller/UART

Converts TTL/CMOS levels coming from router/microcontroller to RS232 levels for computer/HAC-UM96

2 needed - one for router, and one for microcontroller/UART


Serial Communication - HAC-UM96Serial Communication - HAC-UM96

96kbps wireless transceivers

Transmission power 10mW

433MHz frequency Range 300-500m Takes TTL or RS232

inputs - will use RS232 for ease of debugging

96kbps wireless transceivers

Transmission power 10mW

433MHz frequency Range 300-500m Takes TTL or RS232

inputs - will use RS232 for ease of debugging


Software - MSP430Software - MSP430

Written in C / Assembly Developed using IAR

Embedded Workbench Tested on prototyping board

from Olimex Final version transferred to

main circuit

Written in C / Assembly Developed using IAR

Embedded Workbench Tested on prototyping board

from Olimex Final version transferred to

main circuit

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.

No software yet, but… No software yet, but…


Software - MSP430Software - MSP430 Use Cases - Outline

software algorithms for the operation of the vehicle UC1 - Avoid Obstacle UC2 - Drive to Sunlight UC3 - Drive Vehicle

Test cases for all possible paths of use cases

Domain model under construction…

Use Cases - Outline software algorithms for the operation of the vehicle UC1 - Avoid Obstacle UC2 - Drive to Sunlight UC3 - Drive Vehicle

Test cases for all possible paths of use cases

Domain model under construction…


Software - Linksys WRT54GSoftware - Linksys WRT54G Linux - OpenWRT lighttpd - web

server Ajax - live updating

of site PHP - system

commands

Serial data processor

Linux - OpenWRT lighttpd - web

server Ajax - live updating

of site PHP - system

commands

Serial data processor

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.


Web Interface - ConceptWeb Interface - Concept


Web Interface - DemoWeb Interface - Demo


Division of LaborDivision of Labor

Software Kieran & Amjad User’s Interface (webpage) Autonomous Control Peripherals

Hardware Tim & George Wire-wrap board Peripherals Regenerative Braking

Software Kieran & Amjad User’s Interface (webpage) Autonomous Control Peripherals

Hardware Tim & George Wire-wrap board Peripherals Regenerative Braking


Milestone 1: November 2Milestone 1: November 2

Preliminary MSP430 code Serial communication between vehicle and

router Moving Vehicle

Preliminary MSP430 code Serial communication between vehicle and

router Moving Vehicle


Milestone 2: November 30Milestone 2: November 30

Completely Solar/Battery Powered User control of Vehicle Range Sensors

Completely Solar/Battery Powered User control of Vehicle Range Sensors


Expo: December 14Expo: December 14

Energy Regeneration Peak Power Tracking

Energy Regeneration Peak Power Tracking


ScheduleSchedule


Questions?Questions?

Documents

Critical Design Review - “Dayrider”