Download to read offline
Uploaded byMatthew Sharp
RFNT_CDR
This document describes the design of a radio frequency navigational tracker intended to function as a golf caddy that follows a golfer. The system includes a transmitter worn by the golfer that sends RF and IR signals. A vehicle platform receives these signals using an RF receiver and IR receiver. A microcontroller on the vehicle uses the signal information along with a digital compass and motor controls to rotate an antenna and move the base to track the transmitter. The design documents include block diagrams, hardware components, software algorithms, and memory mapping approaches.
RFNT_CDR
- 1. Radio Frequency NavigationalTracker
- 2. Main Objective Createa vehicle that will track a high frequency RF/IR transmitter The practical application is a golf caddy that will follow a golfer when requested. Matthew Sharp
- 3. Platform Processor Motor Digital Compass Motor (Right) GPIO RS/232 Base of Vehicle Transmitter IRTX RF TX GPIO Digital Compass Motor (Left) Motor ControlGPIO RS/232 RF RX Hardware Overview IR RX
- 4. Transmitter Ben Says: “ItTransmits!!” Matthew Sharp
- 5.
- 6.
- 7.
- 8.
- 9. IR RX Simple, yetsophisticated!! Matthew Sharp
- 10.
- 11.
- 12. 8051 to theRescue Matthew Sharp
- 13.
- 14. Base Motors Two12V ServoDisk Motors Power – 12V Car Battery Optocoupler Solid-State Relays 4 Amp Fuses Fabien Nervais
- 15. Rotating Mount Configuration 5V DC Servo Motor Grooved Rubber Belt Power 12V to 5V linear voltage regulator Solid-State Relay Fabien Nervais
- 16. Rotation Control WireRouting Resolved: Approximately 350º Rotation Serial Cable Connection 2 Limit Switches Controlling the Rotational Behavior Fabien Nervais
- 17. Powering the Rotating MountPlatform Fabien Nervais
- 18.
- 19.
- 20. Capacitors and Vcc/GndBus .1 uF Vcc Gnd Ryan Hitchler
- 21.
- 22.
- 23.
- 24.
- 25.
- 26.
- 27. EPROM Test Program ;Capstone test code ; for MC68HC11 CodeBase EQU $8000 ; address of start of code ORG $FFFE ; start of address pointer DW CodeBase ; set up pointer address to start of code ORG CodeBase ; start of code Start: nop nop nop jmp Start Ryan Hitchler
- 28. EPROM Test Results RyanHitchler
- 29. Parts Listing Part QuantityPrice .1 uF Cap 28 Donated 1 uF Cap 2 Donated Through Hold Pins 26 Donated Power Bus 2 Donated Raltron 8MHz Clk Oscillator 1 Donated Heat Sink 1 Donated LM7805 5V Regulator 1 Donated 78M33 3.3V Regulator 1 Donated Banana Plug (Female) 3 Donated LED (Yellow) 1 Donated Diode 1 Donated Various Resistors 3 Donated SPST Switch 1 Donated Push Button Switch 1 Donated XCS10 FPGA 1 Donated 18V256 EEPROM 1 Donated 10 Pin 4.7KOhm SIP 3 Donated 6 Pin JTAG Header 1 Donated 20 Pin Logic Analyzer Header 2 Donated 27C256 EPROM 1 Donated 62256 SRAM 1 Donated 28 Pin ZIF 1 Donated MC68HC11 E0 1 Donated 74373 Transparent Latch 1 Donated MAX233 2 Donated DB9 Connector 2 Donated Perf Board 1 $19.00 Stand Off 10 $10.00 Total Cost $29.00 Ryan Hitchler
- 30. Power On RF Signal ? Setup Interrupts Set up Serial Poll RF Receiver No Turn Antenna Poll IR Receiver IR Signal ? No Yes Yes Stop Antenna Read Ant. Compass Turn Base -> Ant Base = Ant.? Read Base Compass No Stop Turning YesTurn Ant. -> Base Read Ant. Compass Ant. = Base ? No Stop Antenna Move Base Yes IR Signal ? Poll IR Receiver No Yes Poll RF Receiver RF Signal ? Yes No John Maitin Software Algorithm Redux
- 31. Code ; Capstone algorithmcode ; for MC68HC11 ; begin code section ORG CodeBase ; start of code Start: lds #Stack ; load stack pointer bsr enable_int ; enable interrupts pollrf: ldaa PORTA ; get GPIO information anda #RFMASK ; mask out RF information cmpa #RFMASK ; compare to RF information bne pollrf ; if no RF signal, continue polling startantenna: ldaa PORTA ; get GPIO information oraa #MAONFMASK0 ; mask in antenna motor control info anda #MAONFMASKF ; mask out unwanted info staa PORTA ; write out GPIO stuff pollir: ldaa PORTA ; get GPIO information anda #RFMASK ; mask out RF information cmpa #RFMASK ; compare to RF information bne stopantenna ; jump to stopantenna if no RF signal found ldaa PORTA ; get GPIO information again anda #IRMASK ; mask out IR information cmpa #IRMASK ; compare to IR mask bne pollir ; if no IR signal, continue polling stopantenna: ldaa PORTA ; get GPIO information oraa #MAOFFMASK0 ; mask in antenna motor control info anda #MAOFFMASKF ; mask out unwanted info antennacompass: oraa #CMPAMASK ; select antenna compass staa PORTA ; write out GPIO information bsr read_compass ; read from the antenna compass into d std compass ; store antenna compass reading into compass baseturn: ldaa PORTA ; get GPIO information anda #CMPBMASK ; select base antenna staa PORTA ; write out GPIO information bsr read_compass ; read from the base compass into d subd compass ; subtract compass value beq movebase ; if equal, then move base cpd $0167 ; compare d to halfway value for compass bge turnright ; turn right if difference greater than halfway turnleft: ldaa PORTA ; get GPIO information oraa #MLONRMASK0 ; write in left motor information anda #MLONRMASKF ; write out unwanted information staa PORTA ; write GPIO information ldaa PORTA ; get GPIO information oraa #MRONFMASK0 ; write in right motor information anda #MRONFMASKF ; write out unwanted information staa PORTA ; write GPIO information bra pollcomp1 ; jump to pollcomp1 John Maitin
- 32. Code (Pt. 2) turnright: ldaaPORTA; get GPIO information oraa #MLONFMASK0 ; write in left motor information anda #MLONFMASKF ; write out unwanted information staaPORTA ; write GPIO information ldaaPORTA ; get GPIO information oraa #MRONRMASK0 ; write in right motor information anda #MRONRMASKF ; write out unwanted information staaPORTA ; write GPIO information pollcomp1: movebase: stop ; enable interrupt control enable_int: sei ; disable interrupts ldaa#$30 ; 9600 baud, assuming 8 MHz clock staaBAUD ; ldaa#$00 ; 8 data bits staaSCCR1 ; ldaa#$2c ; Receive interrupt, poll transmit, enable TX,RX staaSCCR2 ; ldaaSCSR ; clear RDRF, error flags ldaaSCDR ; clear receive buffer clra ; clear a tap ; transfer a to cc register (enable XIRQ and IRQ) cli ; enable interrupts rts ; SCI interrupt handler rec: psha ldaa SCSR anda #$40 cmpa #$40 bne quit ldaa SCDR staa compass quit: pula rti ; change antenna direction (XIRQ interrupt handler) changeant: psha pshb ldaa PORTA ldab antdir comb bmi goreverse goforward: oraa #MAONFMASK0 anda #MAONFMASKF bra finishchange goreverse: oraa #MAONRMASK0 anda #MAONRMASKF finishchange: staa PORTA pulb pula rti John Maitin
- 33. Simple Memory Map,Simple Decode Memory map is divided in half, so only 1 pin needed to decode If memory mapped I/O is used, we can adapt logic with and gates from needed address pins Josh Bingaman
- 34. Motor Control Decoding JoshBingaman
- 35.
- 36. Sensor Communication AllGPIO No Decode logic 1 pin for IR Reception 1 pin for RF Reception Limit Switches on Antenna motor to XIRQ 1 spare GPIO input for Proximity Sensor Josh Bingaman
- 38.