CriticalDesignReview.pptVIP

Critical Design Review System Overview Modular general-purpose drone controller Navigation, collision-detection, general motor interfaces, data collection Zero-impact on system performance Lightweight, independently powered What is the Blimpage Composed of six main modules: General-purpose microcontroller network Motor / servo controller Position and heading monitoring Collision-detection / alarm Data collection Off-module communication Functional Block Diagram The Micros Master Functions Arbitrates data transfers on i2c bus Prioritize Data Transfers Passes data among subsystems Handle user-input objectives Coordinate startups and shutdowns Bleating Master State Machine And Now Something COMPLETELY different. Master State Machine. Take 2 Init Initialize all slaves. Query Check who has data Prioritize data Idle Handle ‘master’ tasks. Xfer Carry out all bus transactions in priority order. Command Set Initialization: From Master: “Are you alive and what is your target type?” From Slave: “I am target type TARGET.”? Query Data: From Master: “Do you have data?” From slave: “I have data for TARGET, of priority DATA” Transfer Data: From Master: “Here is DATA from TARGET” From slave: “Her is DATA for TARGET” Objective Update: From Master: “New objective from TARGET is DATA” From slave: “New objective for TARGET is DATA” Global Abort: From Master: “halt immediatly” From Slave: “They sky has fallen! Tell everyone to halt” Modified i2c Protocol i2c Functionality Fully compatible with standard i2c devices Added START pin for micro-controllers 7-bit address size 8-bit data size 16-bit word size: for large block transfers Position and Heading Intro Detects position from digital compass- HMR3100 Detects heading from HMR3100 and two accelerometers-ADXL3100 Sends direction instruction to Motor Controller Module via I2C bus Receives collision direction information via I2C bus from Collision Detection Module Position/Heading Block Diagram Digital Compass HMR3100 5 degree Heading Ac