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1. AT CMSS AT CMSS 1 storage location Storage 1 Delete Message from Pelei pennek AT CMGD 5 AT CMGD 1 in storage Storage location 1 32 RS 232Serial Standard RS 232 is a standard for the serial communication transmission of data 15 The standard defines the characteristics of the signals being sent between data terminal equipment and data circuit terminating equipment examples are a computer terminal and modem respectively such as their timing electrical characteristics and their meaning RS 232 serial ports used to be included as a part of personal computers which were used to connect a variety of devices like modems printers and power supplies Some of the detriments of RS 232 such as the large connectors were factors that led to the creation of the Universal Serial Bus USB which has taken over from RS 232 in many of 14 its applications However because RS232 provides high noise margin it is still being used in some applications where the distance between two devices is over ten feet RS 232 data is sent serially over a single transmission line The data format consists of a start bit a number of data bits a parity bit and finally a stop bit The parity bit can be used to check the correctness of the received data and is optional The RS 232 signal for sending AT is depicted in Figure 3 1 A in hexadecimal is 0x41 while T is 0x54 The data is sent asynchronously with the least signi2. The GPS receiver used for this project output the GPS data in a proprietary format not NMEA The format of the message is shown in Figure 3 1 17 Only one message was needed for this project which had the fields depicted in Table 3 4 a m Message Checksum Checksum cl HexB5 Hex 62 1 Byte Actual Message 2 Byte Checksum Message Information ID 1 Byte Length of the Message Upcoming Message Class 2 Bytes Figure 3 2 UBX Message Structure Table 3 4 Message Characteristics Required for Latitude and Longitude Sync Char 1 Sync Char2 Class ID 0xB5 0x62 0x01 0x02 The class field 0x01 indicates a message that contains navigation data and an ID of 0x02 means that the message has geodetic position data latitude longitude altitude The message holds 28 bytes worth of data with latitude and longitude each being 4 bytes long 16 IV SOFTWARE This section will discuss the C code that was written to support the project It will cover the structure and flow of the code Figure 4 1 presents a flowchart of how the program works The program reads the GPS receiver each time through the program and checks to see if an error has occurred If it has the error is cleared Otherwise the program checks to see if message being read is the correct one It goes through a state machine for each step of the message before finally calculating the latitude and longitude
3. B R Prudhvi R Bagani Silicon Eyes GPS GSM based Navigation Assistant for Visually Impaired using Capacitive Touch Braille Keypad and Smart SMS Facility in World Congress on Computer and Information Technology 2013 p 1 3 A Mhapeskar P Kulkarni U Nagarsekar D Kalbande Voice Enabled Android Application for Vehicular Complaint System Using GPS and GSM SMS Technology in World Congress on Information and Communication Technologies 2012 p 520 524 S T S Thong T H Chua T A Rahman Intelligent Fleet Management System with Concurrent GPS and GSM Real Time Positioning Technology in 7th International Conference on ITS Telecommunications 2007 p 1 6 I Almomani N Alkhalil E Ahmad R Jodeh Ubiquitous GPS Vehicle Tracking and Management System in IEEE Jordan Conference on Applied Electrical Engineering and Computing Technologies 2011 p 1 6 R Anderson A Poon C Lustig W Brunette G Borriello B Kolko Building a Transportation Information System Using Only GPS and Basic SMS Infrastructure in International Conference on Information and Communication Technologies and Development 2009 p 233 242 R Moloo V Digumber Low Cost Mobile GPS Tracking Solution in International Conference on Business Computing and Global Informatization 2011 p 516 519 M Shirali Shahreza Emergency SMS in SICE ICASE International Joint Conference 2006 p 1139 1142 DEO Na
4. GPIO 025 GPIO 027 GPIO 029 GPIO 031 GPIO 033 JP1 JP2 GPIO 0 INO A GPIO 00 GPIO 1 INO FUE GPIO 0 IN1 eps GPIO 01 GPIO 1 IN1 nes GPIO 02 2 alb GPIO 03 GPIO 12 2n m GPIO 04 A XU B GPIO 05 GPIO 14 ae 8 GPIO 06 E gt n GPIO 07 GPIO 16 M r VCC SYS O SPI 08 bd crio og SO bd o e e GPIO 010 15815 GPIO 011 GPIO 110 Ead GPIO 012 MI 18 GPIO 013 GPIO 112 OMS GPIO 014 EMO GPIO 015 GPIO 114 Odo GPIO 016 M 22 GPIO 017 GPIO 116 M GPIO 018 EE GPIO 019 GPIO 118 o 24 GPIO 020 EMG GPIO 021 GPIO 120 MOM GPIO 022 EM 28 GPIO 023 GPIO 122 o UN 30 30 vcc3P30 ee VCC3P30 ee 32 OM EM EM e a C o EM oo kom e o CH e o Lm oo 0E 1 1 Figure 2 3 Pin Arrangement of the 40 pin Expansion Headers GPIO 0 Pin 1 LA E Y o B B 9 a 9 GPIO 1 Pin 1 Figure 2 4 Pin 1 Locations of the GPIO Expansion Headers One of the pushbuttons on the DEO Nano board was used to initiate the sending of the SMS text message with the GPS coordinates These push buttons are de bounced and connected to the FPGA They are active low meaning that a high logic level is present when they are not being pressed The DEO Nano board has a 50 MHz oscillator which is connected directly to the clock input pin of the FPGA The oscillator is used as a clock source for the system 2 1 2 GPS Receiver The GPS receiver used for this project was the NEO 6M module from u blox 10 It is a 50 channel r
5. Check for an error If there clear it IOWR UART_0_BASE 2 0x00000000 printf b 41x reset n b 28 j 0 j else If there wasn t an error check to see if you can read write if read amp 1 Is there something waiting to be read a IORD UART 0 BASE 0 read value in rxdata printf read Yoc n a response respind char a respind switch ok Have you gotten an OK or gt back from the phone case 1 if a 0x4F O ok 2 else if a 0x3E gt ok 1 state state 1 gt received send next AT command printf s new state d n response state respind 0 clear character string memset amp response 0 0 sizeof response else ok 1 break case 2 if a Ox4B K ok 1 state state 1 OK received send next AT command printf s new state d n response state respind 0 clear character string memset amp response 0 0 sizeof response 29 else ok 1 break if write amp 1 amp amp go 1 IOWR LIGHTS_BASE 0 state LEDs indicate what state you re in switch state case 1 AT command if i lt sizeof setup Send command character by character IOWR UART 0 BASE I setup i write to txdata i i l else entire command sent printf wrote s n setup go 0 1 0 Send break case 2 AT CMGF command if i lt sizeof format IOWR UART 0 BASE
6. the program returns to the main function where Latitude and Longitude are calculated until another button press MMT include altera_avalon_pio_regs h include alt_types h include sys alt_irq h include system h include lt unistd h gt include lt stdio h gt include lt string h gt 26 include lt io h gt volatile int edge_capture int button_value 1 Function handle BUTTON PIO IRO Interrupt Service Routine Interrupt Source BUTTON_PIO Parameters Passed Interrupt Controller Identifier Parameters Returned None Usage Called whenever push button is pressed Used to tell program to send SMS text message with current GPS coordinates void handle BUTTON PIO IRO void context alt_u32 id volatile int edge capture ptr volatile int context edge capture ptr IORD ALTERA AVALON PIO EDGE CAP BUTTON PIO BASE IOWR ALTERA AVALON PIO EDGE CAP BUTTON PIO BASE 0 IOWR ALTERA AVALON PIO IRQ MASK BUTTON PIO BASE 0x1 button value 0 Used in main program to indicate button press and send the SMS text message IOWR LIGHTS_BASE 0 0xFF Turn on LEDs to indicate system reads button press Function INIT BUTTON PIO Initialization Function Parameters Passed None Parameters Returned None Usage Called at beginning of main to initialize and register push button interrupt void INIT BUTTON PIO void edge_capture_ptr void a
7. Check Phone UART Status Register andAssign Necessary Status Bits START t Y Enough time elapsed to Yes send next message Initialize Interrupt No i Pause No Main Program Pause Yes Loop i Yes Error present in A e Y Cell Phone UART ClearError A No No Y Check GPS UART Status Register andAssign Previous Command Received Necessary Status Bits by Phone If first command Y not yet sent retum yes Yes Error present in _ GPS UART 1 No Move to Nex Command Em Ready to Send Read UART Register Command No Pause No and Correct Y Status Bit gt ClearE rror 5 No NAV Yes M Message Send AT Command Yes All Necessary Commands Sent Latitude and Longitude Determined No Figure 4 1 Program Flowchart 17 When the button is pressed it generates an interrupt In the interrupt service routine a value is set to 0 The main program checks that value and if it is set to 0 it converts the latitudes and longitudes to character strings This conversion is hard coded and is customized for locations greater than 100 west longitude and in the northern hemisphere Since decimals aren t included in the position coordinates the conversion places a decimal after the first three digits and places a negative in front for the number Once the latitude and longitude have been converted into a character string they are sent to a function that interfaces with the cell p
8. button was pressed The latitude and longitude were constantly being read from the GPS receiver and displayed This provided a check that the GPS receiver was functioning correctly ati Problems E Tasks E Console E Properties P Nios I Console 25 amp Ex la ice on localhost USB 0 device ID 1 instance ID 0 name jtaguart 0 Longitude 1181601689 Latitude 345856727 Longitude 1181601684 Latitude 345856724 Longitude 1181601679 Latitude 345856725 Longitude 1181601670 Latitude 345856731 Longitude 1181601664 Latitude 345856737 Longitude 1181601657 Latitude 345856742 Longitude 1181601649 Latitude 345856747 Longitude 1181601644 Latitude 345856751 Longitude 1181601639 Latitude 345856753 Longitude 1181601633 Latitude 345856758 Longitude 1181601633 Latitude 345856756 Longitude 1181601632 Latitude 345856753 Longitude 1181601628 Latitude 345856753 Longitude 1181601623 Latitude 345856755 Longitude 1181601619 Latitude 345856761 Longitude 1181601615 Latitude 345856763 Longitude 1181601604 Latitude 345856774 Figure 5 1 JTAG UART Output GPS Coordinates Figure 5 2 shows the output after the button has been pressed and the coordinates are in the middle of being sent After each AT command was transmitted a message was printed to the screen The response from the phone was also printed ensuring that the phone was responding correct
9. lon1b i lon 1 3 33 printf Lat s Lon s n Jat2 lon2 printf Waiting to send again n b IORD GPS UART BASE 2 Check status register of GPS printf x b txready b gt gt 6 read b gt gt 7 ROE b gt gt 3 EOP b gt gt 12 BRK b gt gt 2 ERR b gt gt 8 if ERR amp 1 If error is there clear it IOWR GPS_UART_BASE 2 0x00000000 printf b 4x reset n b else If there wasn t an error check to see if you can read write if read amp 1 Is something waiting to be read a IORD GPS_UART_BASE 0 Read value in rxdata switch state case 1 if a 0xB5 Check for correct NAV message state 2 1 0 else state 1 break case 2 if a 0x62 else state 1 break state 3 case 3 if a 0x01 state 4 34 case 4 case 5 case 6 case 7 case 8 case 9 else state 1 break if a 0x02 msg_type 1 state 5 else state 1 break Nength1 Get length of parameter msg_length a state 6 break Nength2 msg_length msg_length a lt lt 8 state 7 break payload data i a i i l ifi msg length state 8 break checksum1 ck_a a state 9 break checksum2 ck b a state 1 Calculate Longitude and Latitude if longitude gt 0x80000000 longitude data 4 data 5 lt lt 8
10. of the system The DEO Nano is a small 3x2 inch board that contains a Cyclone IV EP4C22 FPGA It also contains 32 MB of SDRAM 2 kb EEPROM and a 52 Mb serial configuration memory device 9 The 32 MB of SDRAM contained the C code that was written to perform the necessary functions to send the SMS text message The Serial flash memory EPCS64 on the board was used to hold the code to program the FPGA while the board was powered off A USB port is used to program the board and can also provide power if the board is not powered by the power header pins Input and output sources on the board include expansion headers two pushbuttons eight LEDs and four dip switches The board is shown below in Figure 2 1 and a block diagram of the board is shown in Figure 2 2 e X1 X y ES 50 MHz Figure 2 2 Block Diagram of DE0 Nano Board The expansion headers on the device were used to power the GPS receiver discussed in Section 2 1 2 and to communicate with both the GPS receiver and the GSM modem discussed in Section 2 1 3 The DEO Nano board has two 40 pin headers which provide 72 input output pins 5 V power pins two 3 3 V power pins and four ground pins Each header is connected directly to the FPGA The expansion header pin arrangement and location on the board is shown in Figures 2 3 and 2 4 respectively 3 GPIO 0 GPIO 1 GPIO_ 124 GPIO 126 GPIO 128 GPIO 130 GPIO 132 GPIO 024 GPIO 026 GPIO 028 GPIO 030 GPIO 032
11. the pin selections for each component The GPS TX signal was not necessary for this system since nothing needed to be sent to the GPS receiver 11 cellphone_qsys button_pio_external_connection PIN_J15 3 button pio external connection export Figure 2 10 System Diagram and Pin Placement The system was then compiled and the sof programming file generated Quartus Programmer tool was used to download the system file to the FPGA completing the process 12 IIl PROTOCOLS AND STANDARDS This section will explain the different standards and protocols used to create the system The protocols and standards that were used to construct the system were the Hayes Command Set the RS 232 Serial Standard and GPS 3 1 Hayes Command Set The Hayes command set is a command language that was developed in 1981 for the Hayes Smartmodem 300 baud modem It consisted of short character strings that when sent to the modem caused it to perform some of the standard operations such as dialing hanging up etc This command set was eventually implemented in some degree in many dial up modems Hayes commands were started by sending AT or attention As a result these commands came to be known as AT commands Eventually a set of technical specifications was created for controlling a GSM Global System for Mobile Communications which is a standard to describe protocols for 2G cellular networks phone or modem One specificati
12. thought of before Some of the proposed and completed projects include navigation systems for the blind 1 2 generating traffic reports based on the current GPS location 3 vehicle tracking and management 4 6 and personnel tracking 7 Sending an SMS message to alert medical facilities and personnel has also been proposed 8 In addition to system implementation this report describes the system s development and testing Section 2 discusses the system architecture and hardware used in creating the system Section 3 provides background information on the protocols and standards that were employed Section 4 examines the software code that was written in support of the project including its structure and flow Section 5 summarizes the project test results as well as enumerating the complications encountered and how they were overcome Section 6 provides the conclusions and gives suggestions for system improvements II SYSTEM ARCHITECTURE This section will explain in detail how the different hardware components are used and connected to create the system This section is divided into three subsections hardware components component interface and system design and FPGA configuration 2 1 Hardware Components Three different hardware components were used for this project the DEO Nano board a GPS receiver and a cellular phone 2 1 1 DEO Nano Board The Altera DEO Nano Development and Education board was the main hardware component
13. 1 format i i i l else printf wrote s n format go 0 1 0 break case 3 AT CMGW command if i lt sizeof message IOWR UART 0 BASE l1 message i i i l 30 case 4 case 5 case 6 else printf wrote s n message go 0 1 0 break Text in the SMS message if i lt sizeof text IOWR UART_O_BASE 1 text i i itl else printf wrote s n text go 0 i 0 break AT CMSS command if i lt sizeof send IOWR UART_0_BASE 1 send i i i 1 else printf wrote s n send go 0 i 0 break AT CMGD command if i lt sizeof del IOWR UART 0 BASE I del i i i 1 else printf wrote s n del 31 go 0 i 0 break case 7 All AT commands sent SMS text message sent sending 0 go 0 i 0 break Function main 1 1 1 Starting and Main Function of Program Parameters Passed None Parameters Returned None Usage Main program initializes variables and interrupt then loops indefinitely Calculates Latitude and Longitude coordinates and checks to see if the Interrupt Service Routine has changed the button_value variable to 0 signifying a button press If a button is pressed Latitude and Longitude are converted to character strings and sendphonemsg is called int main void Main program volatile int sw_pt
14. CALIFORNIA STATE UNIVERSITY NORTHRIDGE FPGA BASED DISTRESS SIGNAL GENERATION WITH GPS TRACKING AND SMS TEXT MESSAGES A project submitted in partial fulfillment of the requirements For the degree of Master of Science in Electrical Engineering By Alexander Anthony Hale May 2014 The project of Alexander Anthony Hale is approved Dr Kourosh Sedghisigarchi Date Dr Sharlene Katz Date Dr George K Law Chair Date California State University Northridge TABLE OF CONTENTS SIGNATURE PAGE kuus miim CR pote SAD ii LIST OF FIGURES is iv EIS TOE TABS ienne a e ect ge ans iv ABSIRAC Ti cs V I INTRODUCTION atico 1 II SYSTEM ARCHITECTURE etit tilda 2 Zar Hardware C Ompone DIS uoo ledere kn ut ec co ee edo te RD UE 2 21 SROs Nano Board ri ii 2 E E N s oe E E t deae E 5 Bek Cel Phone ASE 6 225 Hardware Schematic a e ic 7 2 3 Quartus Implementation and Programming the FPGA sess 8 2 3 1 QSYS System Development ladies ee 8 2 3 2 System Creation Pin Placement and Downloading to FPGA 11 MI PROTOCOLS AND STANDAR DS 00 A 13 S Hayes Command Derrida 13 32 A A eee ute eue e la 14 RI ECL e aal haere I rte 15 IV OE VY AR GS ciclo ota oM ass E eda ete a Mata 17 We lt RESULIS edid uM ditata tud Me M M n ME 20 NI CONCLUSION estie etica IR D UR ORE bana RANDE RU A RM US 23 REFERENCES E M EN 24 APPENDIX C Program COE socks aieo qois pato odere d ey ta
15. ation Cyclone IV Device EPCS64 FPGA SDRAM 32 MB Pushbutton Expansion Header Motorola C168i 3 32 Plu GPS Receiver Cellular Phone Figure 2 6 System Schematic DEO Nano External Battery Motorola C168i Cell Pu GPS Receiver MI Figure Ime Ersten 2 3 Quartus Implementation and Programming the FPGA The system was created and downloaded to the FPGA by using Altera s Quartus II software A new project was created using the Cyclone IV EPCACE22F17C6 FPGA that is on the DEO Nano board QSYS was then used to create the QSYS system by adding the NIOS CPU 32K on chip memory two UART interfaces pushbutton input JTAG UART and serial flash controller Quartus was then used to create the project system assign pins and compile The sof programming file was then used to program the FPGA 2 3 1 QSYS System Development The QSYS diagram with all of the required components is shown in Figure 2 8 The 50 MHz oscillator on the DEO Nano board was used for the system clock A NIOS II s processor was created with a 4 Kbyte instruction cache The reset vector was pointed to the serial flash memory On chip memory of type RAM 32 wide with a total memory size of 32 768 bytes was added next The JTAG UART was used to debug the system while it was connected to a PC via the USB port It was also used to program the device before the final version was uploaded to the EPCS flash memory Two separate UARTs
16. data 6 lt lt 16 data 7 lt lt 24 OXFFFFFFFF 0x01 else 35 longitude OXFFFFFFFF data 4 data 5 lt lt 8 data 6 lt lt 16 data 7 lt lt 24 0x01 printf Longitude d longitude latitude data 8 data 9 lt lt 8 data 10 lt lt 16 data 11 lt lt 24 printf Latitude lu latitude break return 0 36
17. e ave tied esteso teer que Res 26 LIST OF FIGURES Figure 2 1 DEO Nano Board 5 eiie rere tea 3 Figure 2 2 Block Diagram of DEO Nano Board eee 3 Figure 2 3 Pin Arrangement of the 40 pin Expansion Headers esses 4 Figure 2 4 Pin 1 Locations of the GPIO Expansion Headers eese 4 Figure 2 5 Motorola C1681 Cell Phone Serial Plug see 7 Figure 2 0 System ScHemalic A eco iu AA A eeu deus 7 Figure 2 7 Preture Ob System resi etie te taa rd tali ad osi nai a 8 Pisure 2 8 QSYS Diagram OLS ys eHs aeos e n E E oon dessus staat 10 Fig re 2 9 PIO TES a pa E tide 11 Figure 2 10 System Diagram and Pin Placement eee 12 Figure 3 1 Sample RS 232 Signal Waveform 2 onte em 15 Figure 3 2 UBX Message Structures iei eoi eee decuit Lotte ree deen 16 Figure 41 Prosram EIoWebatrt uso cost Io euet iie ti tatari 17 Figure 42 UART Register Map oisi RO T rema en aeta dende on EET ER socenattassedecesssedes 19 Figure 5 1 JTAG UART Output GPS Coordinates esee 20 Figure 5 2 JTAG UART Output AT Commandis esee 21 Figure 5 3 Screen Capture of Sent SMS Text Message 2l LIST OF TABLES Table 3 1 AT Commands Used During Project eese eee enean tana 14 Table 3 2 RS 232 Voltage and Logic Levels ooa secte tede esu tud antama 15 Table 3 3 Decoded Sample NMEA GPGLL Messa
18. e internet found a C command snprintf that accomplished the task A third obstacle was ensuring that the button press to send the message was read by the board Initially the button was polled each time through the program which seemed to work satisfactorily However when the program was loaded into the flash memory of the DEO Nano board the button press was never confirmed To correct this problem an interrupt was instituted The interrupt was able to correctly ascertain when a button press occurred The final source of contention also occurred when the program was loaded into the flash memory The message sent while the program was running from flash memory did not send the negative sign in front of the longitude variable The code which was written to place the decimal in the longitude coordinate therefore placed the decimal in the wrong spot Instead of sending a longitude value of 118 1602 for example a value of 1181 602 was sent The code was re written to account for this 22 VI CONCLUSION This project demonstrated the design and construction of a system that could send a distress signal via SMS text message with a user s current latitude and longitude coordinates An FPGA board GSM cell phone and GPS receiver were utilized to create and send the signal The system was able to successfully send an SMS text message with the coordinates to another cell phone each time the button on the DEO Nano board was pressed It was determ
19. e with GPS Coordinates Created by Alexander Hale March 15 2014 Hardware NIOS II s Processor Reset Vector Memory EPCS Flash Controller Exception Vector Memory On chip memory 50 MHz Clock 32 Kb On chip Memory RAM 32 wide JTAG UART 64 byte read and write buffer depth System ID Peripheral UART 0 Used for Cell Phone Communication Connected to Motorola C1681 cell phone No parity 8 data bits 1 stop bit 4800 bps GPS UART Used for GPS Receiver Communication Connected to u blox NEO 6M GPS receiver No parity 8 data bits 1 stop bit 38400 bps EPCS Serial Flash Controller LIGHTS Used for awareness on sending SMS text message 8 wide Output PIO BUTTON_PIO Used to Send SMS Text message 1 wide Input PIO Algorithm Program will take information from GPS_UART and parse it to determine current Latitude and Longitude This process is repeated until a button press occurs An interrupt request is generated upon a button press which sets a variable to 0 The main function checks this variable and upon seeing a 0 will convert the Latitude and Longitude which are unsigned long numbers to strings and insert a decimal in the proper places The character strings of Latitude and Longitude are sent to the sendphonemsg function which uses UART 0 to send an SMS text message using AT commands After the SMS Text message is sent
20. eceiver which can lock on to a GPS signal within 27 seconds after the receiver is powered on The horizontal position accuracy is stated to be 2 5 meters which for the purposes of this project is more than satisfactory To deliver the coordinate information the NEO 6M can utilize three different protocols NMEA the GPS standard discussed in Section 3 UBX which is the u blox proprietary format also discussed in Section 3 and RTCM The UBX system was used for this project since it was the simplest to implement The device has been configured to output sentences in the UBX format and would require UBX commands to switch to either the NMEA or RTCM standards The NEO 6M supports four different serial interfaces UART Universal Asynchronous Receiver Transmitter USB Universal Serial Bus SPI Serial Peripheral Interface and an I2C compatible DDC Display Data Channel interface In this project the QSYS UART interface was used to communicate with the NEO 6M The baud rate of the UART connection was 38400 bps with no parity bits eight data bits and one stop bit These selections were pre programmed for the NEO 6M receiver The GPS receiver was powered by two of the DEO Nano board s expansion header pins one for 3 3V and the other for the ground Another expansion header pin is used to read the data from the UART 2 1 3 Cell Phone In this project a cell phone is used to send the SMS text message containing the GPS coordinates T
21. emory RAM or ROM Clock Input Avalon Memory Mapped Slave Reset Input JTAG UART Clock Input Reset Input Avalon Memory Mapped Slave System ID Peripheral Clock Input Reset Input Avalon Memory Mapped Slave UART RS 232 Serial Port Clock Input Reset Input Avalon Memory Mapped Slave Conduit Endpoint UART RS 232 Serial Port Clock Input Reset Input Avalon Memory Mapped Slave Conduit Endpoint EPCS Serial Flash Controller Clock Input Reset Input Avalon Memory Mapped Slave Conduit Endpoint PIO Parallel VO Clock Input Reset Input Avalon Memory Mapped Slave Conduit Endpoint PIO Parallel VO Avalon Memory Mapped Slave Conduit Endpoint Export clk reset uart_0_external_connection laps uart external connection jepcs flash controller 0 lights external connection button pio external connection Figure 2 8 QSYS Diagram of System 0x0001 1800 0x0000 8000 0x0001 2068 0x0001 2060 0x0001 2020 0x0001 2000 0x0001 1000 0x0001 2040 0x0001 2050 IRQ 0 End 0x0001 1fff 0x0000 ffff 0x0001 206f 0x0001 2067 0x0001 203f 0x0001 201f 0x0001 17ff 0x0001 204f 0x0001 205f TIRO 31 Ra The pushbutton that is needed to initiate the sending of the SMS text message was added via the PIO peripheral Only one button was needed so an input with a width of one was implemented The PIO was set up to generate an interrupt when a rising ed
22. ficant bit being sent first The voltage levels as defined in the RS 232 standard range are as shown in Table 3 2 Figure 3 1 Sample RS 232 Signal Waveform Table 3 2 RS 232 Voltage and Logic Levels Voltage Level Logical State 3 to 15 0 3 to 15 1 The RS232 UART core for a NIOS II processor was utilized to transfer data between the FPGA and cell phone as well as between the FPGA and GPS receiver for this project 33 GPS The Global Positioning System GPS is a navigation system that relies on a series of space based satellites to provide location and time information 16 It was developed in 1973 by the United States Department of Defense which also still maintains it Twenty four satellites minimum are in orbit around Earth at any given time Anyone military or civilian with a GPS receiver can access the system 15 GPS data is received in sentences In the NMEA format the sentences all begin with GPXXX with the final three letters indicating what kind of data is included in the sentence For example GPGLL contains the geographic position latitude and longitude of the receiver A decoded example of a GPGLL sentence is shown in Table 3 3 Table 3 3 Decoded Sample NMEA GPGLL Message GPGLL 3441 45 N 11809 12 W 132655 A 3441 45 N Latitude 34 41 45 min North 11809 12 W Longitude 118 9 12 min West 132655 Data taken at 13 26 55 UTC A Data valid
23. ge eene 16 Table 3 4 Message Characteristics Required for Latitude and Longitude 16 ABSTRACT FPGA BASED DISTRESS SIGNAL GENERATION WITH GPS TRACKING AND SMS TEXT MESSAGES By Alexander Anthony Hale Master of Science in Electrical Engineering In this report the generation of a FPGA based distress signal will be explained and implemented The signal is sent via SMS text message and will contain the user s current GPS coordinates Both simulation and experimentation yielded positive results and confirm that such a signal is possible to generate with only a few simple components Several constraints and limitation inherent to this design are identified and addressed Modifications that could be made to the system to increase performance are proposed I INTRODUCTION This report describes a project to develop and implement a system that can send an SMS text message with a user s current GPS coordinates as a distress signal A simple button press will generate and send the message to a pre determined phone number The system will be created using a Motorola C1681 cellular phone a NEO 6M GPS receiver and a DEO Nano development and education board with a Cyclone IV FPGA The primary purpose of this system will be to act as an emergency signal similar to the Life Alert system but without requiring any voice input The idea of combining GPS and SMS messages to accomplish various tasks has been
24. ge of the signal was detected These settings are shown in the PIO set up screen in Figure 2 9 Finally the flash controller was added to the system which enabled the NIOS II system to access the EPCS serial configuration device which is connected to the FPGA 10 Block Diagram E Show signals button pio altera avalon pio Basic Settings Width 1 32 bits 1 Direction Bidir 9 Input InQut eem Output Port Reset Value 0x0000000000000000 Output Register Enable individual bit setting clearing Edge capture register V Synchronously capture Edge Type RISING v 7 Enable bit clearing for edge capture register Interrupt V Generate IRA IRQ Type EDGE v Level Interrupt CPU when any unmasked VO pin is logic true Edge Interrupt CPU when any unmasked bit in the edge capture register is logic true Available when synchronous capture is enabled ha Test bench wiring 7 Hardwire PIO inputs in test bench Drive inputs to 0x0000000000000000 Figure 2 9 PIO Interrupt Setup 2 3 2 System Creation Pin Placement and Downloading to FPGA A bdf file system diagram was created from the QSYS system and the required input and output ports were connected to the ports The ports were then connected to the necessary input and output pins on the DEO Nano board Figure 2 10 shows the diagram of the system as well as
25. he cell phone used for this project is the Motorola C1681 It is a GSM phone that operates on the AT amp T network with an installed SIM card A specialized set of AT commands discussed in Section 3 can be sent to the phone to perform certain tasks like sending an SMS text message The headset jack on the C168i can function as a TTL serial port 11 A 3 32 stereo plug was used to connect the cell phone to the DEO Nano board which used a UART Universal Asynchronous Receiver Transmitter to communicate back and forth A diagram of the plug as well as the TX RX and GND connections it needs for the UART are shown in Figure 2 5 Wires were soldered to points 1 2 and 3 for the RX TX and GND connections respectively The other ends of the wires were then connected to the pins on the expansion header of the DEO Nano board The serial messages were sent and received between the FPGA and cell phone using a UART The C168i UART port was configured with a baud rate of 4800 bps no parity bit eight data bits and one stop bit Figure 2 5 Motorola C168i Cell Phone Serial Plug 22 Hardware Schematic The cell phone and GPS receiver were both connected to the expansion header GPIO pins on the DEO Nano board A schematic of these three hardware components along with the rest of the necessary components on the DEO Nano board is shown in Figure 2 6 Additionally a picture of the complete setup is provided in Figure 2 7 Serial Configur
26. hone to send the SMS text with the location information A state machine is used to send each AT command while checking to see if an error has occurred After all the AT commands and thus the SMS text messages have been sent the function ends and the main program continues which waits for another button press to send another SMS text message The GPS receiver is read by checking the UART registers that it is connected to The cell phone works the same way The UART Core Register map is provided in Figure 4 2 18 The status register is read first and if the 8 bit error bit is a 1 an error has occurred The 8 bit checks is a logical OR of the other error bits toe transmit overrun error roe receive overrun error brk break detect fe framing error and pe parity error If an error has occurred it is cleared by simply writing to the status register 18 A2 A0 Register R W Description Register Bits TxData wo 0 ata sas aw Tee ee Te ra v s oe roo o e T8 conr RW ieop ns idcts wok ie irdy itr y itmt toe iroe ibrk ite ipe Rw BaudRateDivisor optiona Baud Rate Divisor optional Figure 4 2 UART Register Map For the GPS if an error has not occurred the rxdata register is read and an operation is performed based on the state machine s current state Eventually the latitude and longitude are read These coordina
27. ined at the conclusion of testing that there were areas where the reliability and performance of the system could be improved For example an actual GSM modem could be used instead of a GSM cell phone This would potentially be easier to communicate with than the cell phone used in this project since the modem could have a serial output readily available instead of having to go through the headphone jack as was done here A second area of improvement would be miniaturization There are many parts of the DEO Nano board that weren t used in this project and simply took up space The same is true of the other components as well Miniaturization would enable the system to be easily carried so that it could be accessed quickly if needed An additional enhancement would be adding a 406 MHz distress radio beacon which would send a distress signal to orbiting satellites as well In conclusion the system was able to fulfill its objective of sending a distress signal via SMS text message with GPS coordinates While there is potential of optimization the system as is performs satisfactorily 23 1 2 3 4 5 6 7 8 9 10 11 REFERENCES H Makino I Ishii M Nakashizuka Development of Navigation System for the Blind Using GPS and Mobile Phone Combination in Proceedings of the 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society Volume 2 1996 p 506 507
28. ly 20 2 Problems 4 Tasks EI Console E Properties PAA Nios I Console 3 E B cellTest final Nios II Hardware configuration cable USB Blaster on localhost USB 0 device ID 1 instance ID 0 name jtaguart 0 wrote AT AT OK new state 2 wrote AT CMGF 1 AT CMGF 1 OK new state 3 wrote AT CMGW 16619749209 n AT CMGW 16619749209 Figure 5 2 JTAG UART Output AT Commands A screenshot of the SMS text message is given in Figure 5 3 The message is sent with the current GPS coordinates of the user along with a message to send help The number to which the SMS text message is sent could be changed by simply editing the C code to include the new number 0 E Project Phone 5 661 MINI Send help ASAP am at Lat Lon 3 4 4 17pm Figure 5 3 Screen Capture of SMS Text Message Received 21 While testing the design a couple of anomalies did occur and had to be resolved First it did not seem that the phone was receiving the AT commands that were sent to it It was eventually determined that the phone was not being given enough time to execute the command before another one was sent By adding a pause after a command was sent and checking the receive register for the appropriate response this issue was solved Another complication involved concatenating several character strings together which was needed to send the actual distress message A thorough search of th
29. mp edge_capture IOWR ALTERA AVALON PIO IRO MASK BUTTON PIO BASE 0x1 IOWR ALTERA AVALON PIO EDGE CAP BUTTON PIO BASE 0x0 alt irg register BUTTON PIO IRO edge capture ptr handle BUTTON PIO IRO Function sendphonemsg Send SMS Text Message Function Parameters Passed Latitude and Longitude character strings Parameters Returned None Usage Called once a button is pressed this function uses AT commands to send a SMS text message via the UART 0 UART and the cell phone connected to it 27 void sendphonemsg char lat char lon Function is used to send the SMS text message unsigned long b 0 a 0 unsigned long read write int i 0 j 0 int go 1 int state 1 int ok 1 char setup AT r n char format AT CMGF 1 r n char message AT CMGW 16619749209 r n char str1 Send help ASAP I am at Lat char str2 Lon char str3 2 x 1a char text 144 snprintf text sizeof text s s s s s str1 lat str2 lon str3 char send AT CMSS 1 r n char del AT CMGD l r n char response 144 int respind 0 int sending 1 unsigned long ERR b IORD UART 0 BASE 0 while sending 1 b IORD UART 0 BASE 2 Check Status Register printf b 1x n b read b gt gt 7 write b gt gt 6 ERR b gt gt 8 j 3 1 if 2500000 Pause to ensure enough time has elapsed before sending next message if ERR amp 1
30. needed to be created one for the cell phone and one for the GPS receiver The cell phone UART was created with no parity bit 8 data bits 1 stop bit and a baud rate of 4800 bps The GPS UART was created with no parity bit 8 data bits 1 stop bit and a baud rate of 38400 bps The UARTs were manipulated by reading the status register and determining if there were any errors present or if there was data to be read in the receive register If data needed to be sent over the UART the transmit data register was used More details about the manipulation of the UARTs and their registers will be explained in Section 4 Is a SI Isi Isi Isi lt Connections E nios2 qsys 0 clk reset_n data_master instruction_master jtag debug module reset jtag debug module custom instruction master E onchip memory2 0 cki s1 reset1 El jtag uart 0 clk reset avalon jtag slave sysid qsys 0 clk reset control slave E uart 0 external connection El gps UART external connection epcs flash controller 0 clk reset epcs_control_port external El lights clk reset si external_connection E button pio external connection Description Clock Source Clock Input Reset Input Clock Output Reset Output Nios Il Processor Clock Input Reset Input Avalon Memory Mapped Master Avalon Memory Mapped Master Reset Output Avalon Memory Mapped Slave Custom Instruction Master On Chip M
31. no User Manual Terasic Technologies 2012 NEO 6 u blox 6 GPS Modules Data Sheet u blox AG Thalwil Switzerland 2011 2013 M s Projects Online Available http sheffiel blogspot com 201 1 02 remote car starter controlling motorola html 24 12 13 14 15 16 3rd Generation Partnership Project Technical Specification Group Core Network and Terminals AT command set for User Equipment UE Release 12 3GPP TS 27 007 2012 2013 3rd Generation Partnership Project Technical Specification Group Core Network and Terminals Use of Data Terminal Equipment Data Circuit terminating Equipment DTE DCE interface for Short Message Service SMS and Cell Broadcast Service CBS Release 11 3GPP TS 27 005 2011 2012 2013 Short Message Service SMS Tutorial Online Available http www developershome com sms Interface Between Data Terminal Equipment and Data Circuit Terminating Equipment Employing Serial Binary Data Interchange EIA TIA 232 F 1997 2013 Navigation Programs Global Positioning System Online Available http www faa gov about office_org headquarters_offices ato service_units techo ps navservices gnss gps 17 u blox 6 Receiver Description Including Protocol Specification u blox AG 18 Thalwil Switzerland 2013 NIOS UART Embedded Peripherals IP User Guide Altera San Jose CA 2003 25 APPENDIX C Program Code Sending SMS Text Messag
32. on dealt with the AT commands to control a GSM phone or modem that must be incorporated into the unit 12 and another dealt with the AT commands to handle the SMS features of GSM 13 The syntax of AT commands is very straightforward Each command begins with AT and ends with a carriage return which signifies to the device that the command is over and to execute it Multiple commands can be sent in the same line but only the first one should have AT as a prefix A semicolon is used to separate commands in the same line To input a string the text is enclosed with double quotes 14 Finally after the command has been successfully executed the device will respond with an OK which is preceded and followed by both a carriage return and line feed 13 Five separate AT commands were utilized for this project They along with a brief description and example are shown below in Table 3 1 The AT commands were used to wake up the phone send the text message and then delete the message from the phone s memory Table 3 1 AT Commands Used in Project Command Function Example Command Esplanauon of Command AT Tests Connection AT Retuns at connection works Sets the operating AT CMGE Select Message Format AT CMGF 1 mode to SMS text mode Starts a message AT CMG Write Message to AT CMGW 15554445 that will be sent W Memory 3351 to the phone number indicated Send Message from Send message in
33. r int BUTTON PIO BASE int button value INIT_BUTTON_PIOQ char lat 15 char lon 15 unsigned long longitude unsigned long latitude unsigned int a int b 1 0 3 int state 1 unsigned int read unsigned int ROE unsigned int EOP unsigned int BRK unsigned int ERR unsigned int data 50 unsigned int msg_length 0 unsigned int msg type 32 unsigned int ck_a ck_b unsigned long altitude IOWR GPS UART BASE 2 0x00000000 Clear status register just in case there was something there previously char latla 5 char lon1 15 char dec x2e char neg x2d char lat1b 13 char lon1b 13 char lat2 16 char lon2 16 while 1 Once inside this loop program continues indefinitely button_value sw_ptr IOWR LIGHTS BASE 0 button value if button_value 0 Button has been pressed prepare to send SMS text message button_value 1 Reset button press int n sprintf lat lu latitude convert the latitude and Nongitude to character strings int m sprintf lon d longitude for 120 i sizeof lat 2 1 4 lat1b 1 lat 1 2 Add decimal to Latitude snprintf lat2 sizeof lat2 c c s s lat 0 lat 1 dec lat1b for 1 0 i lt sizeof lon 3 1 Add negative and decimal to Longitude snprintf lon2 sizeof lon2 s c c c s s neg lon 0 lon 1 lon 2 dec lon1b sendphonemsg lat2 lon2 Function call send the SMS text message
34. tes however are in two s complement a function of the UBX format and must be converted so that they can be shown in the expected coordinate format Degrees Minutes Seconds The cell phone operation involves both the rxdata and txdata registers The program checks to see if there is anything in the rrdy receive char ready bit after checking the status register for an error If there is the rxdata register is read and compared to what should be received The final bytes received for the messages should read OK which signifies that the command sent to the phone has been received and executed The only exception is after sending the AT CMGW command which returns a gt character After checking the rrdy bit the trdy transmit ready bit is tested If it is a 1 then a new character is ready to be transmitted A state machine is used to transmit each character of a given command After the entire command has been sent a pause occurs so that the cell phone has enough time to execute it without being disturbed 19 V RESULTS Screenshots of the JTAG UART output are shown in Figures 13 and 14 These were captured when the final code had been written but the program had not yet been loaded into the flash memory of the DEO Nano board The board which was powered via a USB cable was able to print to the monitor of the computer which it was attached to Figure 5 1 shows what the program was outputting when no
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