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(Final Report)

1. DAB OBJECT_EXIST load the value to s if you are currently in an object off the side of the image BEQ CHECK_ROW_OBJECT_HEIGHT if zero no object not in object do nothing move on to aiming motors else check stuff below ROW_LAST_OBJECT_END LDAB END_OF_OBJECT load the end beginning of object CMPB MAX_OBJECT_WIDTH check to see if object width is the widest width is just start since the end jis 0 BLS CHECK_ROW_OBJECT_HEIGHT not widest object move on to aiming motors ROW_NEW_WIDEST_OBJECT2 STAB MAX_OBJECT_WIDTH save the new max object width LSRB divide object width by 2 STAB ROW_OBJECT_CENTER store center value which is width 2 since start is 0 now have center and width for the max point CHECK_ROW_OBJECT_HEIGHT LDAA MAX_OBJECT_WIDTH load max object width CMPA MINROWHEIGHT check to see if it s above the min for motion BHS AIM_TILT_MOTOR above cutoff aim motor MOVB 00 MOTION_DETECTED no motion object not wide enough go to end BRA END_FIND_OBJECTS exit find center no motion AIM_TILT_MOTOR BSET PTH 04 turn on laser pointer LDAB 48 image data stored backwards flip row value when aiming SUBB ROW_OBJECT_CENTER load the center value row index LDAA 00 LDY ROW_SLOPE_AVG load the slope multiplier for row aiming EMUL multiply stored in D LSRD divide by 16 10 to cancel out the slope multiplier LSRD used to reduce rounding errors with
2. aim CAL_AIM_ROW_POT3 EC 3 load value off pan pot multiply pot value by 2 since it s only 10 bit add the min offset compare to max value okay aim not okay set to the max atd noise cancelling offset 2 pot value in pan motor th stor LDD ATDODROH load value off tilt pot SLD multiply pot value by 2 since it s only 10 bit ADDD PWM_MINV add the min offset CPD PWM_MAXV compare to max BLT CAL_ROW_POT_OKAY3 value okay aim LDD PWM_MAXV value not okay set to the max CAL_ROW_POT_OKAY3 STD TEMP_PRODUCT SUBD TC5 CPD 0007 atd noise cancelling BLS CAL PB DOLL P CPD SFFF8 BHS CAL PB_POLL_5 MOVW TEMP_PRODUCT TC5 store the offset 2 pot value in tilt motor aim CAL_PB_POLL_5 LDAA PTH ANDA 02 BEQ CAL STORE_OBJ3_VALUES check value on the okay pin okay PB pressed move on LDAA PTH check th cancel button ANDA 01 LBEQ CAL_AIM_OBJ2 BRA CAL_AIM_COL_POT3 CAL_STORE_OBJ3_VALUES MOVW TC3 COL_PWM3 MOVW TC5 ROW_PWM3 CAL_CALCULATIONS BCLR PTH 04 MOVW COL_PWM2 TC3 MOVW COL_PWM2 TC5 FIND_COL_SLOPE1 LDAB COL_0BJ3 find cancel button pressed go back one step reset the aim values r saving col pwm value for obj3 saving row pwm value for obj3 turn off laser
3. Part Number Description Part Failure Rate Ap MTTF MC9S12DP512 Microcontroller 16 bit 112 5 376 Failures 186011 9048 Hours pin SMT 10 Hours 21 234 years LTC1174 5 Step Down DC DC Converter 5 868 Failures 170415 8146 Hours 8 pin DIP 10 Hours 19 454 years OV6620 CMOS Image Sensor 16 bit 4 671 Failures 214086 9193 Hours 48 pin SMT 10 Hours 24 439 years PC 1202 A 24 Character LCD Display 2 92 Failures 342465 7534 Hours Controller 8 bit 80 pin SMT 10 Hours 39 094 years Table 5 1 Selected Reliability Analysis Components 10 ECE 477 Final Report Spring 2006 Each of the parts listed in Table 5 1 fall under the Microcircuits category section 5 0 of the military handbook The following sections in the document outline the values and associated assumptions used to compute the failure rate for the given device using the following formula Ap Ci ay Cr FT FT Failures 10 Hours where p is the part failure rate C isthe die complexity failure rate mr is the temperature factor C2 isthe package failure rate te isthe environmental factor To isthe quality factor and m isthe learning factor Mean time to failure MTTF is then calculated as the inverse of the failure rate or 10 An Calculation specifics including parameters and justifications for each component analyzed are included in Appendix G The microcontroller 10 is an obvious weak point of the
4. CMPA MINCOLWIDTH BHS AIM_PAN_MOTOR LDAA MAX_OBJECT_WIDTH load max object width check to see if it s above the min for motion above cutoff aim motor AIM_PAN_MOTOR MOVB 00 MOTION_DETECTED no motion object not wide enough go to end BRA END _FIND_OBJECTS exit find center no motion image stored upside down flip col value when aiming LDAB B0 SUBB COL_OBJECT_CE LDAA 4500 DY COL_SLOPE_AVG EMUL multiply stored in D INTER load the center value col index load the slope multiplier for col aiming LSRD divide by 16 10 to cancel out the slope multiplier LSRD used to reduce rounding errors with remainders LSRD LSRD STD TEMP_PRODUCT store the multiply since you can t sub two 16 bit registers DD COL_AIM_OFFSET load the offset then sub the product for aiming cols pwm period goes right to left sub not add SUBD TEMP_PRODUCT subs the product from the offset now you have y mx b b mx really and you re ready to aim STD TC3 store the 2 byte value for the pwm duty cycle to aim the pan motor then move onto rows LDX COL_DATA_ADDR_END load the address of the end of column data COL_ZERO_DATA MOVB 00 1 X move 0 into the col data addr then post dec x CPX COL_DATA_ADDR_START compare current addr t
5. F 39 ECE 477 Final Report BEQ CFO_ROW_OBJ1_CALCS area 1 calcs CMPA ROWS23 check to see if you are in the middle BEQ CFO_ROW_OBJ2_CALCS area 2 calcs MOVB ROW_OBJECT_CENTER ROW_OBJ3 value for object3 stored MOVB 00 CAL_REF_IMG set calrefobj to 0 indicating to the cal loop that the image is done RTS obj 3 is last one done with checks no timestamp in cal return from sub CFO_ROW_OBJ1_CALCS MOVB ROW_OBJECT_CENTER ROW_OBJ1 value for objectl stored LBRA CFO_ROW_BEGIN done with objl move on to check ob32 CFO_ROW_OBJ2_CALCS MOVB ROW_OBJECT_CENTER ROW_OBJ2 value for object2 stored LBRA CFO_ROW_BEGIN done with obj2 move on to check ob33 ROW_FIND_OBJECTS DEC ROW_INDEX decrement row index to show correct row BEQ ROW_END_FIND_OBJECTS if row index is 0 all rows have been checked branch past find objects LDAA MAXROWV load the cutoff threshhold into the A register CMPA 1 X check to see if it is an object above threshhold BHI ROW_BELOW_THRESHHOLD if maxrow gt current value no object ROW_OBJECT_FOUND LDAB OBJECT_EXIST load the value to s if you are currently in an object BNE ROW_FIND_OBJECTS if non zero object already existed do nothing ROW_NEW_OBJECT MOVB 01 OBJECT_EXIST object just started set object_exi
6. PTH Load Port H 01 Check button 1 run_cal If it was pressed yes calibrate PTH Load Port H 02 Check button 2 no_cal If it was pressed no calibrate bra calloop run_cal sr sr sr sr Pals Toral no_cal ldaa jsr ldaa Jjsr movb movb normal operation bset bset eli mainloop ldaa cmpa beq ldaa cmpa beq lcd_polldelay atd_init calibrate Run calibration routine atd_turnoff S2F lcd_topmsg display ready 0D lcd_bottommsg 01 REFIMG tell camera to take ref image 19 THLD change threshold back down for PIFJ 02 clear interrupt flags PIFH 43 PTH Load Port H 01 Check button 1 tsscrollup If it was pressed scroll the LCD up PTH Load Port H 02 Check button 2 tsscrolldown If it was pressed scroll the LCD down bra mainloop tsscrollup S SE bra tsscrolldown Jjsr Jjsr bra lcd _polldelay2 timestamp_display_up mainloop lcd_polldelay2 timestamp_display_down mainloop F 7 ECE 477 Final Report EE RSA RO ASE SIR R ROR E KEE E I TRI EM RIE RIM RO Re REI RAR DARKER IN Rp Ree ER RNA ARG RR A A Clears memory III III rrr ere clrimagemem ldx S0b54 loopt movb SFO 0 x inx cpx 3d00 blt loopt ldx 0800 loopt2 movb 00 0 x inx cpx 900 blt loopt2 rts Clear referenc fram clear difference data E EE ee System Initialization e
7. F 44 ECE 477 Final Report pshb pshx psha ldab SOC lcd_settingmode ldaa 02 jsr lcd_write Go to the home position on the LCD pula ldx 4000 lcd_ltt_mvptr LCD lookup table top move pointer cmpa 00 beq lcd_ptr_ready_top abx deca bra lcd_ltt_mvptr lcd_ptr_ready_top decb lcd_writemode ldaa 1 x jsr lcd_write cmpb 00 bne lcd_ptr_ready_top pulx pulb rts This one outputs to the bottom line lcd_bottommsg pshb pshx psha ldab 0C lcd_settingmode ldaa SA8 jsr lcd_write Go to the home position on the LCD pula ldx 4000 lcd_ltb_mvptr LCD lookup table move pointer cmpa 00 beq lcd_ptr_ready_bot abx deca bra 1cd_1tb_mvptr lcd_ptr_ready_bot decb lcd_writemode ldaa 1 x jsr lcd_write cmpb 00 bne lcd_ptr_ready_bot pulx pulb rts F 45 ECE 477 Final Report This function returns the LCD cursor to the home position lcd_cursorhome psha ldaa Jjsr pula res lcd_clrscreen lcd_output2digits psha ldaa JSE pula rts pshx psha pshb clra instructions ldx idiv tir addb tfr Jjsr clra pulb ldx idiv addb tfr Jjsr pula pulx rts 4502 lcd_settingmode lcd_write lcd_writemode 01 lcd_settingmode lcd_write lcd_writemode 000A x d 30 b a lcd_write SOOOA 30 b a lcd_wri
8. 21 ECE 477 Final Report Spring 2006 8 6 Laser Pointer and Laser On Off Switch Two of the pins coming out of the Button Laser header will go towards the laser pointer One is a ground signal and one is the output from the microcontroller that will turn on when movement is detected and it is attempting to point at a target There will be a SPST switch between the header and the laser pointer that will allow a user to manually disable the laser pointer if desired 8 7 Up Down Push Buttons The two push buttons used for scrolling through the event cycle and for setting the clock will each be attached to a two pin header which is attached to ground and the microcontroller The pins on the microcontroller that it attaches to will be ones that are able to be used as active low interrupt pins so that the microcontroller does not need to constantly poll the pushbuttons it will just be sent an interrupt when they are pressed Pressing a button will pass the ground signal to the microcontroller input which will be viewed as a short and when depressed they will leave the microcontroller input as an open circuit 8 8 Calibration Potentiometers There will be two 10k potentiometers 30 directly on the bottom of the PCB They will be accessible although not easily so that they can be changed to calibrate the motor alignment but not accidentally moved around to mess it up They will each be attached to power and ground as well as a microcontroller
9. 50000 t_inpollwait2 loop is designed so button polling isn t free running lldelay Have the data to write on register A and write it to the LCD Waits for the appropriate 1 inwait cd_write pshd pshx staa bset nop nop belr pshy idivs dey cpy bne puly pulx puld PORTA P7 rS Pq TS ldy 600 loop2 00000001 600000001 50000 inwaitloop2 amount of Pulse time Set data to send on PORTA Eclk F 43 outputting the character ECE 477 Final Report rts med_lcd_write pshd pshx staa PORTA Set data to send on PORTA bset PTS 00000001 Pulse Eclk outputting the character nop nop bclr PTS S00000001 pshy ldy SFFFF inwaitloop7 idivs dey cpy 50000 bne inwaitloop7 puly pulx puld rts long_lcd_write pshd pshx staa PORTA Set data to send on PORTA bset PTS 00000001 Pulse Eclk outputting the character nop nop bclr PTS 00000001 pshy ldy SFFFF long_inwaitloop2 idivs idivs idivs dey cpy 0000 bne long_inwaitloop2 puly pulx puld rts This function sets the LCD control signals to read in from the LCD lcd_readmode movb S 60 PTS Set R W to 1 and RS to 1 rts This function outputs one of the predefined messages in flash T The message number to use is stored in the A register on passing This one outputs to the top line lcd_topmsg
10. Data comes o E comes out RS comes out RW comes out So se se se ledinit r j ldaa ut on PORTA on PTS 0 on PTS 6 on PTS 5 movb 00 rte hours movb 00 rte minutes movb 00 rtc_seconds LCD setting mode lcd_settingmode settimenow lcd_bottommsg Outp SE ut F 9 set time now KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK KK ldaa 30 jsr long_lcd_write Initialize the LCD 1 jsr long_lcd_write Initialize the LCD 2 JSE long_lcd_write Initialize the LCD 3 ldaa 38 Set 8 bit mode 2 line LCD character font Jar lcd_write ldaa 01 sr lcd_writ Clear the display ldaa S06 Set the cursor move direction sr lcd_write Increments cursor after a write to the LCD ldaa SOF Enables the cursor sr lcd_write lcd_writemode Set the LCD to write characters out to lcd bottom ECE 477 Final Report jsr lcd_cursorhome lcd_writemode ldaa 30 Writes 00 00 jsr med_lcd_write jsr med_lcd_write ldaa 3A jsr med_lcd_write ldaa 30 JSE med_lcd_write jsr med_lcd_write lcd_settingmode Takes us back to setting mode ldaa 502 jsr med_lcd_write Returns the cursor to the home position lcd_writemode jsr timeset_infloop rts timeset_infloop ldaa PTH Load Port H cmpa 01 Check button 1 beq
11. CAL_PB POLL 4 SFFF8 BHS CAL DD DOLL A MOVW TEMP_PRODUCT TC5 store the offset 2 pot value in tilt motor CAL_PB_POLL_4 CAL_STOR DAA PTH check value on the okay pin A 02 EQ CAL_STORE_OBJ2_VALUES okay PB pressed move on Pe DAA PTH check the cancel button A 01 EQ CAL_AIM_OBJ1 cancel button pressed go back one step BRA CAL AIM COL _POT2 reset the aim values OBJ2_VALUES CAL_AIM_OBJ3 LDAA S1A load index of lcd message OBJ MOVW TC3 COL_PWM2 saving col pwm value for obj2 MOVW TC5 ROW_PWM2 saving row pwm value for obj2 lcd_topmsg display message to user AIM LASER AT BOTRIGHT OBJ LDAA 1D load index of lcd message lcd_bottommsg display message to user AIM LASER AT BOTRIGHT lcd_polldelay lcd_polldelay lcd_polldelay lcd_polldelay lcd_polldelay DEBOUNCING DELAY lcd_polldelay lcd_polldelay lcd_polldelay lcd_polldelay ANNNNNNNNN Al Al A AT A A A A A A lcd_polldelay F 24 ECE 477 Final Report CAL_AIM_COL_POTS3 LDD ATD1DROH SLD ADDD CPD BLT PWM_MINV PWM_MAXV CAL_COL_POT_OKAY3 LDD PWM_MAXV value CAL_COL_POT_OKAY3 STD TEMP_PRODUCT SUBD TC3 CPD 50007 BLS CAL_AIM_ROW_POT3 CPD SFFF8 BHS CAL_AIM_ROW_POT3 MOVW TEMP_PRODUCT
12. ECE 477 Final Report condition White Pixel movb 12 IBDR selects register 12 on the camera jsr waitloop movb SA4 IBDR writes A4 to register 12 on the camera jsr waitloop bclr IBCR mIBCR_MS_SL ends transfer of data generates STOP jsr waitloop Ratio condition condition Dark Pixel condition condition bset IBCR mIBCR_MS_SL begins transfer of data generates START jsr waitloop ovb C0 IBDR select slave address jsr waitloop 3 movb 24 IBDR selects register 24 on the camera jsr waitloop ovb 69 IBDR writes 64 to register 24 on the camera jsr waitloop 3 bclr IBCR mIBCR_MS_SL ends transfer of data generates STOP jsr waitloop Ratio bset IBCR mIBCR_MS_SL begins transfer of data generates START jsr waitloop ovb C0 IBDR select slave address jsr waitloop 3 movb 25 IBDR selects register 25 on the camera jsr waitloop ovb 79 IBDR writes 79 to register 25 on the camera jsr waitloop 3 bclr IBCR mIBCR_MS_SL ends transfer of data generates STOP jsr waitloop F 17 ECE 477 Final Report 3E 2 clock divider condition condition bset IBCR mIBCR_MS_SL begins transfer of data generates START 3 ovb C0 IBDR select slave address jsr waitloop movb 3E IBDR selects register 3E on the camera jsr waitloop movb S 80 IBDR writes 80 to register
13. Kazuhiro Fukui Hiroaki Nakai Display monitoring system for detecting and tracking an intruder in a monitor area U S Patent 5 243 418 November 27 1991 Available HTTP http patft uspto gov netacgi nph Parser patentnumber 5243418 United States Patent and Trademark Office Website cited 2006 May 1 Available HTTP http www uspto gov web offices pac mpep documents 2100_2186 htm sect2186 Reliability Prediction of Electronic Equipment MIL HDBK 217F 1991 Dec 2 Available HTTP http shay ecn purdue edu dsml ece477 Homework Spr2006 Mil Hdbk 217F pdf MC9S12DP512CPV Device Guide Freescale Semiconductor July 2005 Available HTTP http www freescale com files microcontrollers doc data_sheet 9512DP512DGV1 pdf 33 ECE 477 Final Report Spring 2006 11 12 13 14 15 16 17 18 19 20 21 22 LTC1174 5 DC DC Converter Data Sheet Linear Technologies 1994 Available HTTP http www linear com pc downloadDocument do navId H0 C1 C1003 C1042 C1032 OV6620 CIF Color Digital Camera Data Sheet OmniVision Ver 1 4 2000 May 13 Available HTTP http www roboter teile de datasheets OV6620 pdf S6A0069X Product Page Samsung Semiconductors cited 2006 Apr 13 Available HTTP http www samsung com Products Semiconductor DisplayDriverIC MobileDDI BWSTN G Novacek Designing for Reliability Maintainability and Safety Circuit Cellar issue
14. The last pin is for analog video output and will mainly be used for testing however a wire will be run to the outside of the box so that it is accessible to watch the video feed Of the 25 pins going to the microcontroller 16 are reserved for data one for reset one for power down mode two for UC one for odd field flag one for horizontal reference output one for vertical sync output one for pixel clock output and one for optional 20 ECE 477 Final Report Spring 2006 external clock input This project will not make use of the odd field flag or the external clock input The 16 pins for data allow the transfer of two bytes at a time even though each pixel takes four bytes to represent The Y luminance byte will be the only one used in this project so eight of the 16 data pins will not be used unless the camera is operating in black and white mode The VSYNC HREF and PCLK signals are extremely important for telling the microcontroller when images rows and individual pixels are being sent which is why they have all been mapped to interrupt pins The camera module itself already contains its own internal pull up resistors oscillator for the clock signal and bypass capacitors 8 4 LCD Display Module The LCD module the PC 1202 A 27 will connect to the PCB through a 16 pin header two rows of 8 pins Eleven of these pins will be wired directly to the microcontroller two of them will be ground and one of them will be power T
15. There is a bracket for the tilt motor that is connected to the pan motor The tilt motor is attached to the bracket and the laser is attached to the tilt motor Moving the pan motor moves the bracket the tilt motor and the laser By moving the two motors the laser can point at the movement The laser was placed directly above the camera so that it will be easier to aim the laser at the target The socket for the AC power adapter is recessed into the box on the bottom left There is a power switch on the bottom right of the box Along the side there are three recessed potentiometers They are used for calibration and for the LCD contrast They are turned with a small straight blade screwdriver only The whole box is held up at an angle by a spacer attached to the bottom of the box This allows the camera to see directly in front of the box 7 3 PCB Footprint Layout The microcontroller is a MC9S12DP512 which comes in a 112 pin LQFP package The CMOS image sensor comes in a 48 pin LCC package There is a module available for the image sensor 18 ECE 477 Final Report Spring 2006 that outputs to a 32 pin header placed on the PCB The project uses the module because of the ability to rapidly prototype with the camera The PCB is 2 5 wide and 3 3 long 8 0 Schematic Design Considerations 8 1 Microcontroller The microcontroller that will be used in this project is the MC9S12DP512 4 It is in a 112 pin LQFP package 112 pins may be
16. and low A high criticality is defined as any failure in which physical injury is a possible result This includes but is not limited to the possibility of fire explosions or excessive heating A low criticality is defined as any failure that does not have the potential to cause physical harm but one which would render at least part of the system unusable and cause customer dissatisfaction In a final system design failure probabilities would be set to lt 10 for a high criticality level and lt 10 for a low criticality level standard accepted industry values It is important to note that the motion tracking camera system can be potentially more harmful if it is specified for use in a security setting Although this use is not recommended under the current design the criticality level is defined as low high for these cases The completed FEMCA table is found in Appendix G 14 6 0 Ethical and Environmental Impact Analysis 6 1 Ethical Impact Analysis When considering the ethical impact of this project there are many things that need to be taken into consideration involving the application of the system Depending upon the application there could be potential for harm to users or to non users who happen to be nearby If this project is used in a toy robot the concern of the laser pointer comes into play How dangerous is it to have a laser pointer shine into someone s eye The risk of damage from a laser pointer has t
17. ldaa ldab aba staa ldaa ldab aba staa ldaa ldab aba staa csl nsl rtc_decisecs 504 rtc_decisecs rtc_seconds 528 41 decimal rtc_seconds rtc_minutes S2B 43 decimal rtc_minutes ldaa rtc_decisecs cmpa SOA blt ts_skipincsecsl inc rtc_seconds suba SOA staa rtc_seconds ldaa rtc_seconds cmpa S3C blt ts_skipincminsl inc rtc_ minutes suba 3 staa rtc_seconds ldaa rtc_minutes cmpa S53C F 47 ECE 477 Final Report blt inc suba staa ts_skipinchrsl ldaa cmpa blt movb ts_skiphrresetl ts_skipinchrsl rtc_hours 3C rtc_ minutes rtc_hours 518 24 hex ts_skiphrresetl 00 xrtc_hours bset PAFLG 00000010 cli rti IAEA E AL RR RIERA ARR I RIE INGA AR RRA RCO ROR BRAS RRL A RR RK RRR ROKK ok r Interrupt Vectors 2 O AN O O AS E O A EE E E org FFDC CO Edb Edb CO ORG SFFFE isr_paboverflow ORG FFCC isr_href isr_pclkvsync Sept H Port J Entry Reset F 48 ECE 477 Final Report Spring 2006 Appendix G FMECA Worksheet Failure Failure Mode Possible Causes Failure Effects Method of Criticality Remarks No Detection Al Output OV Failure of any None of the circuit Observation High Voltage Regulator set to component within components will function trip at current over 600MA functional block A or an system will be off external short A2 Output gt 5V Failure of U3 o
18. load pixel data from bus subtract from stored pixel branch if positive ECE 477 Final Report nega L_POS_SUB staa 1 y location cpy TROW_END beq L_ROW_DONE _loopl brset PTJ 01 L_loopl _loop2 brclr PTJ 01 L_loop2 bra L_loop3 L_ROW_DONE stx IMGADDR jsr threshhold rti L_norow bset DIER 40 cli Eat _ RER IMG _loop7 brclr PTJ 01 L_loop7 _loop8 ldaa PTP staa 1 x space iny cpy TROW_END beq _ REFROW_DONE _loop4 brset PTJ 01 L_loop4 _loop5 brclr PTJ 01 L_loop5 bra L_loop8 _ REFROW_DONE stx IMGADDR ldx IROW inx Cpx max_row_addr beq REF_DONE stx TROW movw TROW_START TEMPROW cli rti L_REF_DONE movb 03 PIEH next frame clr REFIMG cli rti take absolute value differenc stor in temp check if end of row branch away if row complete wait until pclk goes low wait until pclk goes high branch back to get data save next pixel address run threshholder code exit isr Clear href interrupt flag enable interrupts exit isr wait until pclk goes high get pixel data from bus store pixel in next ref image incrememnt spot in current row check if row finished branch if row complete wait until pclk goes low wait until pclk goes back
19. ts_skiphrreset staa rtc_temphr puld pulx ENDM ROMStart EQU 4000 absolute address to place code constant data A IR BR DETER DOK KR E E BARE RIN PER RR BRIERE BBR EQU definitions BRR IKK BOK RE ER RRR IRR I ARRON MRR RRR ERIN IE IER RRR BRR RR ROR ERNE RRR RRR BRAKE se Image capture variables IMGADDR_START equ 6 0B54 reference image data location IMGADDR equ 6 09C4 variable for current pixel address REF IMG equ 09C6 reference image flag THLD equ 09CD threshhold value for pixel compare IROW equ 09C7 variable for current row address TROW_START equ SOA8C first address of temp row data TEMPROW equ 09C9 variable for current temp location address max_col_addr equ 08B0 last address in column data array max_row_addr equ SO8F8 last address in row data array min_col_addr equ 0800 first address in column data array min_row_addr equ 08B0 first address in row data array WANTFRAME equ 09CB flag set if we don t want frame WANTROW equ 09CC flag set if we want row TROW_END equ SOB3C last address of temp row data Find center and aiming variables COL_DATA_ADDR_END EQU SO8AF address of last col value uses same variable space as pclk and vsync ROW_DATA_ADDR_END EQU SO8F7 address of last row value uses same variable space as pclk and vsync F 2 ECE 477 Final Report COL_DATA_ADDR_START EQU 0800 address of f
20. 0987 0962 variable to tell timestamp routine if you are in current time hours current time minutes current time seconds current time tenths of a second temporary hours temporary minutes temporary seconds temporary deciseconds upper byte for tempPA lower byte for tempPA current timestamp to display One word pointer start of timestamp buffer 10 entires 30 bytes end of timestamp buffer number of timestamps currently recorded Where to currently write to in the timestamp One word pointer Literal current position not a pointer value Constant to tell if we have scrolled down below 1 kup table beginning D equ TE ntri Message tab Cal ts2 ts3 ts4 ts5 Cap ts7 ts8 ts9 ts10 settimenow nodata todisplay equ equ equ equ equ equ equ equ equ equ equ equ equ 4000 Ei 01 02 03 04 05 S06 07 08 09 SOA SOB SOC SOD variable data section ORG RAMStart Insert here your data definition For demonstration temp_byte is used ORG ROMStart beginning of the lookup table F 4 ECE 477 Final Report RDI TER EE DETREI EE RIRN O OS E PEI AIK De RRR DRS BD LCD Lookup Table P REIER AOA FOE SIA IA ROR AO A YR IRON AYE SY RAR OR AYR RNY A ROARK RR READ Every message must be 12 characters K z org lcd_msglookup Start of lcd lookup table in flash DON T ADD TO THE FRONT OF THE LOOKUP TABLE PLEASE It w
21. 3E on the camera 18 jsr waitloop bclr IBCR mIBCR_MS_SL ends transfer of data generates STOP jsr waitloop Address 0x11 Clock frequency Divider 0x3F condition condition This sets reference signal polarities and clock prescaler This will set our PCLK to 70KHz bset IBCR mIBCR_MS_SL begins transfer of data generates START jsr waitloop ovb C0 IBDR select slave address jsr waitloop 3 movb 11 IBDR selects register 11 on the camera jsr waitloop ovb S 0a IBDR writes 0a to register 11 on the camera jsr waitloop 3 bclr IBCR mIBCR_MS_SL ends transfer of data generates STOP Address 0x14 Common Control C 0x20 Sets QCIF Resolution condition condition bset IBCR mIBCR_MS_SL begins transfer of data generates START jsr waitloop movb C0 IBDR select slave address jsr waitloop movb 14 IBDR selects register 14 on the camera jsr waitloop movb 20 IBDR writes 20 to register 14 on the camera jsr waitloop bclr IBCR mIBCR_MS_SL ends transfer of data generates STOP F 18 ECE 477 Final Report bset IBCR mIBCR_MS_SL begins transfer of data generates START condition jsr waitloop movb C0 IBDR select slave address jsr waitloop movb 39 IBDR selects register 0x39 on the camera jsr waitloop movb 40 IBDR writes 40 to register 0x39 on the camera jsr waitl
22. CO Cu 09 C9 COPE ist sf d To Hf WO OH LO Scroll Up Button GIS Sisi 2 Se ojojo else SW gejs 395 EN al 3 Button Laser Header KE jojojo jo lO ei 4 4 GROUND B1PINB1GIN 4 e 2 b2PiNp2cin L GROUND 6 GROUND Pa See LSRRISRGIN L amp CROUND 40pnF gt 40 J4 Rp 20 Scroll Down Button 44nF 47DpF R10 10KS L e EI Oe RZ oj ls D bg SEET sws Laser Pointer OSCILLATOR CIRCUIT ug o AWSCR 25 Laser On Off Switch us LASER POINTER CIRCUIT Figure C 2 Microcontroller Block Schematic C 2 ECE 477 Final Report Spring 2006 GROUND YO AGND2 POLK YA DATA Y1 PCLK PCLK LCD HEADER Y2 EXCLK LCD CONTRAST POTENTIOMETER Ya DATA EROS GROUND LCD BACKLIGHT PUSHBUTTON TS VEC Tn T LCD Contrast Pot 10K GROUND Y5 DATA YG uwo Y7 Ui ere CAM RST PYYDNUYW2 i as MOTOR HEADERS RESEUVS SDA UYV4 TE POWER DB2 DATA FODDUVS TT Ge DB2 DBS DAT FODD UVS DBS DATA HREF UV ae GROUND DB4 BBA DATA DBS DATA AGNDEND Ee DBS aa AGNOBND Gi DEB DATA Kate LCD ENAB met DB7 DATA DBO DATA a DBBLP WR Camera Header POWER _ D I GND GROUND LCD Interface Header Tilt Motor Header POWER Lee swe LCD Backlight Push Button CAMERA HEADER AND VIDEO OUT Figure C 3 Camera Block Schematic Figure CA Motor Block Schematic Figure C 5 LCD Block Schematic POWER CIRCUIT BAS70 05 Power On Off Switch IPGM SHON LBOUT YOUT a zZ LBIN o Siy LTC11745 q GROUND Figure C 6 Power Block
23. ECE 477 Final Report Spring 2006 23 24 25 26 27 28 29 30 31 32 33 34 Battery Disposal Guide for Households Environmental Health and Safety Online cited 2006 May 1 Available HTTP http www ehso com ehshome batteries php Creative WebCam Live Motion Website Creative Technology Ltd cited 2006 May 1 Available HTTP http www creative com products product asp category 2 18 amp subcategory 219 amp product 13979 x10 MultiView XCam2 Wireless Cameras x10 cited 2006 May 1 Available HTTP http www x10 com minisites security_camera Wireless Camera Motion Activated Rem ote Control VCR Recording html C3088 4 Color Camera Module Data Sheet Available HTTP http www electronics123 net amazon datasheet c3088 pdf Powertip PC 1202 A Character LCD Data Sheet Powertip Available HTTP http www powertip com tw product PC 20SERIES PC 201202A PDF GWS NARO STD Servo Motor Specs Servo Hut cited 2006 May 1 Available HTTP http servohut com HTML piconaro htm 25MHz AWSCR Ceramic Resonator Abracon Corporation January 2003 Available HTTP http www abracon com Resonators awscr pdf Vishay Sfernice SMD Potentiometer Vishay 2004 January 19 Available HTTP http www vishay com docs 51041 ts3y pdf Shottky Diode Chip General Semiconductor April 1998 Available HTTP http www ortodoxism ro datasheets GeneralSemiconductor mXuxxvx
24. IMGADDR movw TROW_START TEMPROW ETE WANTROW movb 40 PIEH bset PIFJ 02 cli rti L_NOFRAME movb 00 PIEH bset PIFJ 02 eli ES store wantframe variable branch if don t want frame reset the row address reset the image address reset the temp row address turn on first row turn back on hclk interrupts Clear interrupt flags turn on interrupts exit isr turn off href interrupts turn on interrupts exit isr BG I IIS I EIS IC ROO R KEE Ee RR E VII RAI GRR RR RIM ROR A AERA RK RR RK RE READ Push Button ISR SR GEESE E DAN SI Dong eee ie SILI inte Ree Dr NSN on QTE ROARS A inde E EE EE isr_pshbtns brset PIFH 40 isr_href This bset DIER 03 rti branch if only href interrupt ISR exists to wake up the main loop and check the buttons Ee Href ISR EE RID Ge Baa a RD EE AN age PP A RT Ne ee Sa A De O OO PS nme isr_href ldaa WANTROW coma staa WANTROW beq L_norow bset PIFH 40 ldx IMGADDR ldy TEMP ROW ldab REF IMG bne REF_IMG _loop6 brclr PTJ 01 L_loop6 _loop3 Idaa PTP suba 1 x bec L_POS_SUB F 31 check if we want this row want every other row store wantrow variable branch if we don t want the row clear href interrupt flag load next pixel address load next temp address Check if we want referenc imag branch if reference imag loop while pclk is low
25. Observation High Microcontroller could Always On high consumption laser remains on detect stuck port pin and turn off system G 2
26. PRR RA ERRA ER KE RACK Code Entry Point EA ESA Entry sei lds Start ovb ovb ovb OVW OVW OVW OVW ovb end 33333333 se 33 Jjsr enables jsr jst ldaa Jjsr ldaa jsxr Jar jsr jsr JSL using stale data ldy startupdelay iny jsxr cpy bne Calibrate 2D No or Yes 2E Ready M ZE KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKKKK S3FFF Set the stack pointer to the top of RAM ing variable values 00 WANTFRAME 00 REFIMG 00 CAL_REF_IMG 0029 COL_SLOPE_AVG 002D ROW_SLOPE_AVG 0741 COL_AIM_OFFSET SO7FC ROW_AIM_OFFSET SBO THLD ovw 500 TC3 ovw 500 TC5 systeminit Intialize the overall system I O and interrupt ledinit Initialize the LCD and set the current time timestamp_init Initialize the timestamp buffer S2A Output Initialize messages to the LCD lcd_topmsg 2B lcd_bottommsg iscinit Initialize the I 2C module camerainit Initialize the camera ectinit Initialize the pwm signals clrimagemem clear out the image memory to ensure we are not 0 lcd_polldelay 100 startupdelay F 6 ECE 477 Final Report ldaa Jjsr ldaa Jjsr calloop ldaa cmpa beq ldaa cmpa beq 2 lcd_topmsg S2E lcd_bottommsg J ask if user wants to calibrate
27. PWDN 5 eee CeStszee sang E XADDR17P K3 z Or Suse g i a aa 0 CAMRST 6 224 gt 06 SEtR TORO a EE XADDR16P K2 oa GO E FODD 7 teore aako S XADDR15PK1 Kkt e EXET OO VSYN 3 E aw e gt es rt KX XADDR14P KO oo o ER 9 SETZE PEEEEE xE 10 OCOPTO SE ZOZO or Ion GEF KERGER POWER aa EVxgErE a Da IOC2PT2 oo Next RH PMO 42 oe efeses POWER 7 13 OC3PT3 Kaz 2 VDDA PANCAL GROUND 14 VDD goose PAD15 AN15 E TRIG1 TILTEAL GE 45 SS1 w 08 P ADO7 ANO7E TRIGO pu qe OC4PT4 Re oe PAD14 AN14 17 9C5PT5 Gan P ADOB ANOB 18 OC6P T6 z PAD13 AN13 19 OC7PT ae P ADOS ANOS 29 XADDR19PK5 PAD12 AN12 HREF 21 KC o MC9S12DP512 112LOPD eNOS CD ENAB PCLK 22 RAN Gs 53 KWJOP JO P ADOS ANOS REGSEL ovo 24 MODC BKGD PAD1D AN10 a 25 ADDRODATAOP BO PADOZ ANOZ ave Ze ADDR1DATAIPB1 P ADOO ANOS UV3 27 ADDR2DATAZPB2 PADO1 AND Uva 28 ADDR3DATASPBS P ADOS ANOS ADDR4DATA4PB4 P ADOO ANOO ROUND ooo ae ae ow on oe E DETDATA T LEAL TTU e PATIADDRISDATA15 DEZ DATA 220nF Ver 22088 LaS DBS DATA KEES 14359 PAS ADDR14 DATA14 DBS DATA eeeeSrrcww ESTIO PAS ADDRAS DATA13 DB4 DATA Annee Sec eon PEE XL 2 PAWADDRIZIDATA12 ea LE ZL ee SS 0 DBS DATA LECLERC Seen PASADDRI1DATA11 DBZ DATA CENSO a aero PAZIADDRIODATAIO rrr DO ON Cato gg OOOO sore earsa PAMADDRODATAS retest Bq0aHnsSCZo00oOMmoOwWOoOLH xr rw nvo p D DBO DATA LLIHHEEXEEwWSSeSX gt ut DOSEN PAWADDRSDATAS alol lalo all olro ole cul col all orlo ol o col all ol EXTERNAL PUSH BUTTONS CO CO CO CO
28. STD TC3 store the offset BSET PTH 04 turn on laser pointer CAL_AIM_OBJ1 disp display the message on the lcd disp display the message on the lcd load row center of 3rd val compare to 2 3 height to see if its in the right section done checking objects disp display the message on the lcd disp im compare to 2 3 width to see if its in the right section check row val not in correct section Lue lay error to user Move Obj 3 R lay error to user Move Obj 3 R sends it back to take new ref frame and start over ue move on lay error to user Move Obj 3 D lay error to user Move Obj 3 D sends it back to take new ref frame and start over lcd to avoid both motors ly 10 bit set to the max 2 pot value in pan motor aim LDAA S1A load index of lcd message JSR lcd_topmsg display message to user AIM LASER AT TOP LEFT OBJ LDAA 1B load index of lcd message JSR lcd_bottommsg display message to user AIM LASER AT TOP LEFT OBJ CAL ATM CO DOT LDD ATD1DROH load value off pan pot LSLD multiply pot value by 2 since it s only 10 bit ADDD PWM_MINV add the min offset CPD PWM_MAXV compare to max BLT CAL_COL_POT_OKAY1 value okay aim LDD PWM_MAXV value not okay set to the max CAL_COL_POT_OKAY1 STD TEMP_PRODUCT checking
29. The project group feels that there is not any infringement because by not moving the image sensor the processing is much simpler There is no correction for the different image that will be received after moving the image sensor in the project This simplicity represents a substantial change in the implementation Also by not moving the camera the functionality of the project is different from the patented devices The project can not view a moving object for as long as the patented devices because of its fixed field of view There is still some potential for infringement because the differences between the project and the patented products could be argued obvious to someone trained in the art The project group recommends only moving the laser to avoid infringing on existing patents If the camera were to move with the laser there would be much more of a chance for literal infringement 5 0 Reliability and Safety Analysis To better understand the overall reliability of the entire design without an exhaustive analysis of each individual component a focused approach is used to examine a few of the critical components which are most likely to fail Chosen based on complexity and operating temperature four devices are selected for this analysis and their failure rates will be quantified by procedures developed by the United States Department of Defense and detailed in the MIL HDBK 217F 9 The selected components are summarized in Table 5 1 below
30. a voltage regulator in a large package which requires the board length to be stretched to accommodate the entire circuit This works out well for isolating the power system from the remaining components and the created board space allows for the placement of a 20 pin expansion DIP socket and headers The set of trimmer potentiometers are mounted on the underside of the board such that they will be accessible from the bottom of the package Although this is seemingly an inconvenient location it is actually desired for this system since the potentiometers are used rarely and only for calibration The servo headers are located near their PWM control signal ports while the pushbutton header is placed near the most accessible of the remaining I O outputs With each component location optimized for short signal routing and with the proper port pin selection for natural flow a very compact and straightforward PCB is created 10 0 Software Design Considerations 10 1 Software Design The most significant consideration in the project s software design is that the image acquisition and processing must take priority over all other functions This is accomplished by setting the VSYNC interrupt as the highest priority interrupt and the HREF interrupt as the second highest priority interrupt When images are processing no interruptions are allowed until processing has completed By examining the flowcharts in Appendix A it can be seen that the only task of
31. are determined in this fashion which allows a majority of data traces to be routed on the top side of the board Pin assignments requiring specific functions PWM ADC HCH determine the location of the associated header requiring these connections but these are still conveniently routed despite the additional constraint The exception to this unfortunately is the two UC signals which must be routed relatively far from the microcontroller These signals end up crossing the camera data bus at non perpendicular angles but since the PC communication is mainly used for initialization of camera registers at startup this activity is mutually exclusive with pixel data and is therefore not a large concern After careful planning and a bit of luck the oscillator and PLL circuits fall comfortably on the remaining side of the microcontroller not yet claimed by headers or I O traces This allows the manufacture s suggested layout to be followed closely and eliminates the need for any routing under this section helping to keep the noise issues down The final microcontroller consideration was providing access to the background debug pin as well as the remaining programming pins which all are routed out to a programming header The next largest and arguably most critical component is the OV6620 camera module 26 As mentioned above the PCLK HREF and VSYNC critical timing signals are routed between ground traces to the microcontroller and are kept as sho
32. at the video output The camera only has PAL video timing signals so it did not look right but at least I knew the camera was not broken After that I prepared hardware for Tarun to test software on He would tell me what section he was writing code for and I could come up with a way to test it I found right angle headers for the camera to mount to the PCB and the box that the project is housed in I was also the author of homework nine on patents When the PCB came in I built and tested the power supply circuit Next I practiced soldering microcontrollers under the microscope and soldered the microcontroller onto our PCB Next I worked on the resonator It did not oscillate when I built it so I investigated the polarity of the resonator and found out they are not polarized I soldered a wire to a pin on the microcontroller so we could signal the presence of an external oscillator I had to jump the LCD control signals from a different port ECE 477 Final Report Spring 2006 and add a potentiometer for the LCD contrast I rewired the camera pins so that the VSYNC signal came to an interrupt pin This was possible because we no longer needed the HREF signal Later it was discovered that we now needed the HREF signal from the camera To solve the problem I soldered a wire from the camera header to a pin on the microcontroller I designed and built all of the packaging I edited the PSSC videos every time we re filmed them Over the whole project I woul
33. for noise on atd SUBD TC3 dont change motors unless the atd value CPD S0007 has changed by more than 7 out of 10 bit max value BLS CAL_ATM_ROW_POT1 CPD SFFF8 BHS CAL ATM RO DOT F 22 ECE 477 Final Report MOVW TEMP PRODUCT aim CAL_AIM_ROW_POT1 LDD ATDO SLD multiply pot val ADDD PWM_MINV CPD PWM_MAXV BLT CAL_ROW_POT_OKAY1 LDD PWM_MAXV CAL_ROW_POT_OKAY1 STD TEMP_PRODUCT SUBD TC5 CPD 50007 BLS CAL_PB_POLL_3 CPD SFFF8 BHS CAL DD DOLL 3 MOVW TEMP_PRODUCT TC5 aim CAL_PB_POLL_3 LDAA PTH ANDA 02 BEQ CAL_STORE_OBJ1_VALUES TES DROH load val value not okay store the offset 2 pot value in pan motor r lue off tilt pot lue by 2 since it s only 10 bit add the min offset compare to max value okay aim set to the max r atd noise cancelling r store the offset 2 pot value in tilt motor r check value on the okay pin okay PB pressed move on r LDAA PTH check th cancel button r ANDA 01 LBEQ BEGIN_CALIBRATION BRA CAL_AIM_COL_POT1 Ey E CAL_STORE_OBJ1_VALUES MOVW TC3 COL_PWM1 MOVW TC5 ROW_PWM1 jsr lcd_polldelay r d CAL_AIM_OBJ2 A r saving col pwm val saving row pwm val canc
34. input to an ATD converter The value put out by the potentiometer will be used in the motor aiming algorithms to calibrate align and correctly aim the laser pointer at the target 8 9 Power Circuit The power circuit connects the battery power and power from a wall wart through two Shottky Diodes 31 to ensure current flowing in the right direction The battery power will come from a pack of 4 AA batteries Immediately after the diodes there will be a SPST switch that controls whether or not power will actually be connected to the board or not Following the switch will be a MIC29150 power regulator 32 to ensure that no more than five volts reaches 22 ECE 477 Final Report Spring 2006 the circuit components A bypass capacitor connects the real five volt power coming out of the regulator to ground In order for the MIC29150 to output five volts the input voltage must be at least six volts from the data sheet formula of Vouw lt Vin 1 Therefore rechargeable AA batteries can not be used unless five batteries are used instead of four due to the lower voltage of 1 2V Regular alkaline 1 5V AA batteries will be used Much of the component selection was based on a five volt power requirement in order to greatly simplify the power circuit and power constraints by only needing one voltage source level 8 10 Programming Header The 9S12 series chips have a simple way of connecting to a background debug module 33 using only the BK
35. means no motion and this function should never be called ts_updateclk ldx ts_pointer find where we are in the buffer movb rtc_temphr 0 x write in the current hours inx movb rtc_tempmin 0 x write in the current minutes inx movb rtc_tempsec 0 x write in the current seconds inx stx ts_pointer store the new value of ts_pointer Cpx ts_endbuffer compare it to the upper bound of the buffer bne tsr_skipreset if it is equal to the end of the buffer movw ts_buffer ts_pointer reset it ldx ts_pointer tsr_skipreset otherwise ldaa ts_numstamps load the current number of timestamps cmpa SO0A if there s 10 don t increment beq ts_skipincnum inca otherwise increment staa ts_numstamps and store ts_skipincnum no timestamp needed if sent here RTS done E EE RAN IS E AOL DS A GA IE Th BSR MAIN EE LCD Library REE KR ARR RER RAR RRR RE RIOR RR DER ROR RB RRB RRL RA RARER RI LR ROR IRR DR A RRA BRED Data comes out on PORTA F 42 ECE 477 Final Report se r T B h r This lcd_pol comes out on PTS 0 RS comes out on PTS RW comes out on PT 6 5 PS PS pshd pshx pshy ldy t_inpollwait idivs dey CDN bne puly pulx puld rts SFFFF 50000 t_inpollwait lcd_polldelay2 pshd pshx pshy ldy t_inpollwait2 idivs idivs idivs dey cpy bne puly pulx puld rts SFFFF
36. more than necessary but a large amount of pins are needed to connect to all of the peripherals and off chip components The camera module 26 that will be used in the project requires a 32 pin header 25 of which will go to the microcontroller Most of these will require generic I O ports but most notably two of them are reserved for I C data and clock signals The pixel clock vertical sync and horizontal reference signals will be wired to interrupt pins so that the chip will know exactly when to read in each pixel as it is sent Pixel data and configuration settings can be sent to the microcontroller from any I O pin The LCD module 27 chosen for this project has a 16 pin header 12 of which go to the microcontroller All 12 of these pins can be generic I O but for simplicity the 8 data pins will be routed to an eight bit data register that is mapped directly to eight data pins The two motors 28 that pan and tilt the laser pointer platform both require a PWM input from the microcontroller Unfortunately the servo motors require a 50 Hz pulse wave and the PWM channels can not go that slow when the chip is clocked at 25 MHz A custom PWM wave has to be created using the ECT TIM channels ECT channel 7 controls the frequency of the pulses on the other channels Channel 3 and 5 are used for the two pulses going to the two servo motors and each channel controls the duration of the pulse These channels are controlled by a 16 bit value representing pu
37. pdf MIC29150 Voltage Regulator Micrel August 2005 Available HTTP http www micrel com _PDF mic29150 pdf HC9S12 Background Debug Module Freescale Semiconductor October 2004 Available HTTP http www freescale com files microcontrollers doc ref_manual S12BDMV4 pdf Freescale MC9S12DP512CPV Package Discription May 2005 Available HTTP http www freescale com files shared doc package_info 98ASS23330W pdf 35 ECE 477 Final Report Spring 2006 35 4PCB Standard Manufacturing Capabilities cited 2006 May 1 Available HTTP http www 4pcb com pcb_milling low quantity _capabilities htm convenience 36 System Design and Layout Techniques for Noise Reduction in MCU Based Systems Available HTTP http shay ecn purdue edu dsml ece477 Homework Spr2006 AN1259 pdf 36 ECE 477 Final Report Spring 2006 Appendix A Individual Contributions A 1 Contributions of David Kristof My focus in this project was spread over many different areas throughout the semester In the beginning I worked on part selection for some of the peripheral components including the servo motors the LCD module and the laser I also made numerous drawings to support the physical descriptions of the project we had discussed I created the website and made it easy for the other group members to add remove things when they wanted I also worked on software planning for how we were going to read in images and use the raw
38. pixel data to find motion and aim a laser pointer at it I was also in charge of writing the schematic and theory of operation paper so I was involved in the design of all the circuits and sections of our project The circuits that required the most design were the PLL Resonator circuit and the power circuit Craig and I worked together on the schematic and PCB a lot in order to make parts easier to route and place on the PCB when we imported the data from the schematic Once we received our circuit board Eric and I worked on populating it There were a lot of changes made throughout the semester that required us to solder or desolder wires pins headers or sometimes whole sections of the board in order to implement I did a lot of testing on the servo motors to figure out the range of motion the range of pulse periods to control it how much current it would draw and if they were strong enough to turn a platform with the laser pointer on it Once the board was populated and most of the components has been connected and tested Eric pretty much took over the packaging and I switched over to a software role in the project I worked with Craig briefly discussing how we were going to take the stored difference data from his algorithms and find motion from it I wrote all the code in assembly for the routines that find motion check thresholds to make sure it s trackable motion find the center of motion and convert the center values into pulse period
39. pointer recenter motors to aim laser at middle of image both col and row this colslope 1 pwmcol 2 pwmcol 3 colobj 3 SUBB COL_OBJ2 colob3 2 F 25 ECE 477 Final Report LDAA 00 D A B 00 colobj 3 colobj 2 colobj 3 colobj 2 TFR D X put colob3 3 colobj 2 in X LDD COL_PWM2 SUBD COL_PWM3 pwmcol 2 pwmcol 3 in D SLD SLD multiply slope value by 16 10 before dividing to reduce rounding errors SLD when multiplying slope for aiming in find center routine it divides by 16 10 SLD IDIV D X gt X STX COL_SLOPE1 r FIND_COL_SLOP E2 SEI save the slope DAD COL_OBJ2 find this colslope 2 pwmcol 1 pwmcol 2 colobj 2 colob3 1 SUBB COL_OBJ1 LDAA 00 D A B 00 colobj 2 colob3 1 colobj 2 colob3 1 TFR D X put colob3 2 colobj 1 in X LDD COL_PWM1 SUBD COL_PWM2 pwmcol 1 pwmcol 2 in D SLD SLD multiply slope value by 16 10 before dividing to reduce rounding errors SLD when multiplying slope for aiming in find center routine it divides by 16 10 SLD IDIV D X gt X STX COL_SLOPE2 r save the slope FIND_COL_SLOPE3 DAB COL_OBJ3 find this colslope 3 pwmcol 1 pwmcol
40. potential to draw two amps of current when they were turning We would not have been able to source enough current and the project would not function with those motors I was the author of homework four on packaging While Dave and Craig were working on the PCB layout I worked on making a custom footprint for the resonator This was necessary because we could not find a resonator or an oscillator with a known footprint Also during this time I would research parts of the microcontroller Dave and Craig had not researched For example I would look to see if groups of pins needed external pull up or pull down resistors While researching I discovered that the MC9S12XDP512 does not have as much ram as advertised on the webpage and the ram it does have has to be accessed a page at a time The lack of RAM made the microcontroller much less desirable and we ultimatley used a different microcontroller For the midterm design review I made slides for the PSSCs and for the packaging I also made the handouts for the midterm design review Tarun and I worked on camera interfacing during spring break We needed to see the different timing signals from the camera because the data sheet we were using was very unreliable I could not plug the camera into the development board because the headers on the development board did not have power and ground for the camera To solve this I built a test header for the camera I added a composite video cable to the header and looked
41. remainders LSRD LSRD ADDD ROW_AIM_OFFSET adds the offset to the slope center now you have y mx b and you re ready to aim row jsr lcd_polldelay jsr lcd_polldelay STD TC5 store the 2 byte value for the pwm duty cycle to aim the tilt motor END_FIND_OBJECTS LDAA MOTION_DETECTED check for motion BNE MOVEMENT DETECTED branch if yes motion stay if not BCLR PTH 04 no motion turn off laser pointer MOVB S00 REF_FRAME_COUNTER2 reset motion ref frame counter INC REF_FRAME_COUNTER1 inc no motion ref frame counter LDAA REF_FRAME_COUNTER1 check no motion ref frame counter CMPA 10 if no motion detected 10 frames in a row BLS END_FC get new reference imag MOVB S01 REFIMG this tells uC to save new ref image F 41 ECE 477 Final Report MOVB S00 REF_FRAME_COUNTER1 reset ref counter new ref saved END_FC RTS DH find center no motion no timestamp end MOVEMENT_DETECTED LDAA MOTION_DETECTED motion detected check how long CMPA 60 if motion detected for 60 frames get new ref frame BLO timestamp_record less than 60 just take a timestamp MOVB 01 REFIMG tell uC to get new ref img MOVB 00 MOTION_DETECTED reset motion detected timestamp_record cmpa S01 motion detected already in the A register compare to 1 lbhi ts_skipincnum higher than 1 timestamp already taken 1 take new timestamp O
42. seven I helped Craig and David make design decisions that affected the schematic and PCB I did a lot of data sheet reading for the microcontroller camera and LCD to help identify what pins needed to be input output from the microcontroller and which pins could be used as general purpose I O and which pins could have interrupts triggered I was not the only one doing this research it was a group effort I also helped research smaller parts resistors and capacitors I helped to create the custom footprint for the chosen resonator During week eight I prepared my portion of the midterm design review Since I had written the design constraint paper I wrote the component selection rationale I also created the slides for the project overview and for the preliminary software design as I was going to be doing the software narrative report During week ten and eleven I wrote sample code to run on an NE64 evaluation board in order to start prototyping the design Eric and I worked on checking out signals coming out of the camera to determine how to write the software for image acquisition He and I both wrote the code to communicate to the camera using the IIC module in order to change camera registers I also wrote sample code to test the scan mode of the ATD converter on the evaluation board I A 3 ECE 477 Final Report Spring 2006 also wrote sample code to generate 50Hz signals using the timer channels though they used interrupts later on Craig
43. the main loop is to poll the push buttons PWM generation requires no interrupts or updating until the duty cycle needs to change which is handled by the image processing interrupts The real time clock is updated by counting pulses that occur on timer channel 7 27 ECE 477 Final Report Spring 2006 which occur every 20 ms and calculating the current time relative to that value An interrupt is triggered approximately every 43 minutes due to the pulse accumulator overflowing which updates the real time clock in memory The image acquisition is handled by the VSYNC and HREF interrupts Once a full image is acquired all subsequent images are ignored until the image is finished processing and the motors have moved The application code is stored in flash Static messages such as calibration prompts are also be stored in flash Fourteen kilobytes of SRAM are available for use starting at address 0800 and going to 3FFF The reference frame data starts at address 0B54 and runs to address 3D6F 12 5kB The difference data starts at address 0800 and ends at 095F 249 bytes Single byte values such as calibration settings flags and counters are stored starting at 0960 and ends at 0B3B This should leave plenty of room for the stack which begins at 3FFE and grows down and in the worst case should not grow past 3F9E There is no dynamic memory allocation so no heap is required The integrated peripherals required are the analog to di
44. the microcontroller it is also assumed non hermetic and a worst case approximation is made with the junction temperature The results show that the linear regulator is slightly less reliable than the microcontroller but enough so that it is the most likely component to fail A typical failure would likely cause the device to have to be replaced however the DIP package makes it easier to diagnose and repair if possible A significant subsystem involved in the motion tracking project is the camera module 12 Instead of analyzing the entire module just the image sensor chip is considered The sensor is assumed to be similar to a 16 bit microcontroller with a conservative assumption of junction temperature matching the specifications for the microcontroller itself This analysis is closely related to the microcontroller with the exception of the number of pins so the reliability issues are similar Different from the microcontroller however is that a failure of the image sensor can be fixed by simply replacing the camera module PCB This result of having a modular design is an attractive feature of the system in the case of device failure The LCD panel and associate driver circuit 13 is not necessarily a mission critical subsystem but is deserving of reliability analysis due to the similarity to other devices considered The segment driver a Samsung S6A0069X is essentially an 8 bit microcontroller and the junction temperature assumption i
45. 012345678910 X8 CD of Project Website 012345678910 X1 TOTAL Comments ECE 477 Final Report TABLE OF CONTENTS Abstract 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 10 0 11 0 12 0 13 0 Project Overview and Block Diagram Team Success Criteria and Fulfillment Constraint Analysis and Component Selection Patent Liability Analysis Reliability and Safety Analysis Ethical and Environmental Impact Analysis Packaging Design Considerations Schematic Design Considerations PCB Layout Design Considerations Software Design Considerations Version 2 Changes Summary and Conclusions References Appendix A Individual Contributions Appendix B Packaging Appendix C Schematic Appendix D PCB Layout Top and Bottom Copper Appendix E Parts List Spreadsheet Appendix F Software Listing Appendix G FMECA Worksheet Spring 2006 ECE 477 Final Report Spring 2006 Abstract The project is a motion tracking system It uses a CMOS image sensor to take images a Freescale microcontroller to process the images and servo motors to aim a laser pointer at the center of the widest moving object in view The project also includes a real time clock which is used to timestamp motion events Users interact with the system through push buttons potentiometers and an LCD screen 1 0 Project Overview and Block Diagram The Motion Tracking Camera Platform design project provides a system for capturing image data from a CMOS image sensor and pe
46. 125 129 Jan 2001 Available HTTP http shay ecn purdue edu dsml ece477 Notes PDF 4 Mod13_ref pdf Pollution Prevention for Printed Circuit Board Manufacturing California Environmental Protection Agency 2005 July 12 Available HTTP http www calgold ca gov P2 3672 htm Effects of Lead on Human Health HCSC February 2004 Available HTTP http www hc sc gc ca 1yh vsv environ lead plomb_e html Health Effects of Mercury CCOHS 1998 December 21 Available HTTP http www ccohs ca oshanswers chemicals chem_profiles mercury health_mercury html Duracell Battery Disposal Duracell cited 2006 May 1 Available HTTP http www duracell com care_disposal disposal asp Engineering Education Reform A Trilogy Frank G Splitt January 2003 Available HTTP http shay ecn purdue edu dsml ece477 Homework Spr2006 enviro_refs pdf Tips on Electrical Safety Hudson Gas amp Electric Co cited 2006 May 1 Available HTTP http www2 centralhudson com safety_environ electrical_safety html Fact Sheet Printed Circuit Board Manufacturers Virginia Waste Minimization Program Vol 1 Issue 9 1995 October 24 Available HTTP http es epa gov techinfo facts vdwm va fs6 html Printed Circuit Board Recycling Joint Service Pollution Prevention Opportunity Handbook May 2003 Available HTTP http p2library nfesc navy mil P2 Opportunity _Handbook 2 II 8 html 34
47. 3 ECE 477 Final Report CFO_COL_BEGIN MOVB 00 OBJECT_EXIST object doesn t exist to begin with MOVB S00 MAX_OBJECT_WIDTH reset widest object to 0 CFO_COL_LOOP INC COL_INDEX inc col index variable to keep track starts at 0 DAA COL_INDEX load col index MPA COLS13 check to see if you are on left EQ CFO_COL_END_FIND_OBJECTS end area 1 MPA COLS23 check to see if you are in the middle EQ CFO_COL_END_FIND_OBJECTS end area 2 MPA NUM_OF_COLS check to see if you are on right EQ CFO_COL_END_FIND_OBJECTS end area 3 D OD Om OP D DAA CAL_THOLD load the cutoff threshhold into the A register CMPA 1 X check to see if it is an object above threshhold post inc x BHI CFO_COL_BELOW_THRESHHOLD if maxcol gt current value no object CFO_COL_OBJECT_FOUND LDAB OBJECT_EXIST load the value to s if you are currently in an object BNE CFO_COL_LOOP if non zero object already existed do nothing CFO_COL_NEW_OBJECT MOVB 01 OBJECT_EXIST object just started set object_exists 1 MOVB COL_INDEX END_OF_OBJECT store col_index as the end beginning of a new object BRA CFO_COL_LOOP back to find objects loop CFO_COL_BELOW_THRESHHOLD LDAB OBJECT_EXIST load the value to s if you are currently in an object BEQ CFO_COL_LOOP if zero no object not in
48. 3 colobj 3 colob3 1 SUBB COL_OBJ1 LDAA 00 D A B 00 colobj 3 colob3 1 colobj 3 colobj 1 TFR D X put colob3 3 colobj 1 in X LDD COL_PWM1 SUBD COL_PWM3 pwmcol 1 pwmcol 3 in D SLD SLD multiply slope value by 16 10 before dividing to reduce rounding errors SLD when multiplying slope for aiming in find center routine it divides by 16 10 SLD IDIV D X gt X STX COL_SLOPE3 save the slope FIND_COL_SLOPE_AVG DD COL_SLOPE1 load the slopes ADDD COL_SLOPE2 find the sum ADDD COL_SLOPE3 LDX 0003 load 3 in x IDIV D X gt X F 26 ECE 477 Final Report TFR X D actually storing 16 slope 10 slope have to divide by 16 when using it STD COL_SLOPE_AVG avg slope in x store in colslopeavg FIND_ROW_SLOPE1 LDAB ROW_OBJ3 find this rowslope 1 pwmrow 3 pwmrow 2 rowob3 3 rowob3 2 SUBB ROW_OBJ2 LDAA 00 D A B 00 rowobj 3 rowob3 2 rowobj 3 rowobj 2 TFR D X put rowob3 3 rowobj 2 in X LDD ROW_PWM3 SUBD ROW_PWM2 pwmrow 3 pwmrow 2 in D SLD SLD multiply slope value by 16 10 before dividing to reduce rounding errors SLD when multiplying slope for aiming in find center routine it divides by 16 10 SLD IDIV D X gt X STX ROW_SLOPE1 FIND_ROW_SLOPE2 Save the slope L
49. A standard red laser diode is used to project the laser beam on the moving object The two servo motors are used to tilt and pan the laser pointer 3 5 Component Selection Rationale The design has two major component choices The first choice was to determine which camera to use Multiple cameras were examined and researched and the decision was narrowed down to either the Omnivision OV6120 1 or the Kodak KAC 9630 2 Both cameras use the TC bus for setup The Kodak camera has a resolution of 128 x 101 pixels and the OV6120 has a resolution of 352 x 292 Both cameras are monochrome Both cameras also had a downside The Kodak KAC 9630 is meant for more high speed applications able to capture 580 frames a second making it a very expensive 270 plus 100 for a matching lens The problem with the OV6120 is that there are no American vendors for the part Instead we decided to go with the OV6620 which differs from the OV6120 in only one aspect the 6120 is monochrome and the 6620 is color in fact they are so similar they share a data sheet The OV6620 is sold for 43 65 along with a lens The second choice was microcontroller selection The microcontroller needed to have all of the required peripherals as well as plenty of memory and be fast enough to meet the real time constraints The newer 16 bit 9S12 and 9S12x series microcontrollers from Freescale have most of the on chip peripherals needed the older microcontrollers did not have onbo
50. BG E KD NASP HG MOSIKAHS P HS CAMERA HEADER AND VIDEO OUT Scroll Up Bullen LoD Contas Pol 10k eis GROUND BullorvLarer Header PIN BIGI SCH DEZ DATA PIN Foi r es DB2 BEE LORP IESRGIN DBS DBs DBS DES E DEI DEORLEWE DBI GND 2 LOD Interface Healer A DES DATA TES DATA GROUND Rese Bullon TEET PROGRAMMING HEADER Lazer ONO DM eh POWER SES em LASER POINTER CIRCUIT DES GER EU POWER CIRCUIT EXPANSION HEADERS BASTOOS Power Omg Sat 2 c10 n 12 1000F Cut Cut om SHOW v2 q 6 Vide Ballenes LeouT E vouT SEN tm 3 ow Group 9 Schematic le Document Number Ddkm Redew Schematic Cie ginssis Lee ir 10 Pin Healer GROUND Figure C 1 Full Schematic C 1 ECE 477 Final Report Spring 2006 jue im B20nF He D a s Ja DT7 DTS le Graes DT4 2 DT3 DT2 DTI DTO EXPANSION HEADER o MICROCONTROLLER ajaja S veirel el co eu als alae ZS w clo ajajaja S dlLAS ZE gjeje o HE O N OO Ol OHO ti OH CH lc 0 O O O O O OO OCH CH 00 DO wD sl co Cu CN 00 P dO tO Ea Gas kan a bas has TT oe ee ee ON Ou 00 00 Cd co CG Y DATA 1 SS1PWMIKWP3PP3 AVAANhxxGoQo09009007000 LEE Y2 DATA 2 OpUXiXxanzzZ200pI22u0Xpg DOZZ grx OOnF YIDATA 3 SCKIPWM2KWP 2PP20 5002001100501 I0NOO XX LL p gt MOSH PWM1HKWP1PPE 38 I gt gt OO CW EEO YO DATA 4 Ere XXEZEGK Xe ue EE MISO1 PVVMOMWVP OF P GF vi o ESIATEL oo tts
51. Calibration calibration being used in a potentially harmful way G 1 ECE 477 Final Report Spring 2006 FEMCA Worksheet continued Failure Failure Mode Possible Causes Failure Effects Method of Criticality Remarks No Detection E2 Jerky or R1 R2 U1 Software Difficulty calibrating Observation Low High Criticality high if system is Inconsistent Servo Motors possible loss of calibration being used in a potentially Calibration method harmful way Movements F1 Laser Does Not Port pin stuck high or Loss of method of Observation Low High Criticality high if system is Move low Software Servo targeting being used in a potentially Motors Image Sensor harmful way F2 Laser Does Not Software Servo Loss of method of Observation Low High Criticality high if system is Follow Target Motors Image Sensor targeting being used in a potentially Properly harmful way F3 Servo extends Software Servo Excessive power Observation Low High Microcontroller should not to rotation limit Motors U1 Power consumption temporary allow PWM cycle to supply failure loss of targeting exceed bounds G1 Button SW1 SW2 SW5 R4 Loss of user interface Observation Low Criticality low because Irresponsive R5 R6 U1 Software calibration system never gets out of startup mode G2 Laser Pointer SW5 port pin stuck Loss of laser pointer use Observation Low Never On low R6 G3 Laser Pointer SW5 port pin stuck Additional power
52. DAB ROW_OBJ2 find this rowslope 2 pwmrow 2 pwmrow 1 rowob3 2 rowob3 1 SUBB ROW_OBJ1 LDAA 00 D A B 00 rowobj 2 rowob3 1 rowobj 2 rowobj 1 TFR D X put rowob3 2 rowobj 1 in X LDD ROW_PWM2 SUBD ROW_PWM1 pwmrow 2 pwmrow 1 in D SLD SLD multiply slope value by 16 10 before dividing to reduce rounding errors SLD when multiplying slope for aiming in find center routine it divides by 16 10 SLD IDIV D X gt X STX ROW_SLOPE2 FIND_ROV LDAA SLOPE3 LDAB ROW_OBJ3 pwmrow 1 rowobj 3 UBB ROW_OBJ1 00 D RD X put D ROW_PWM3 BD ROW_PWM1 iD DU UR iD reduce rou r save the slope find this rowslope 3 pwmrow 3 rowob3 1 A B 00 rowobj 3 rowobj 1 rowobj 3 rowobj 3 rowob3 1 in X pwmrow 3 pwmrow 1 in D r nding errors multiply slope value by 16 10 before dividing to when multiplying slope for aiming in find center 10 SLD routine it divides by 16 SLD IDIV D X gt X STX ROW_SLOPE3 S ave the slope F 27 ECE 477 Final Report FIND_ROW_SLOPE_AVG LDD ROW_SLOPE1 load the slopes ADDD ROW_SLOPE2 find the sum ADDD ROW_SLOPE3 LDX 0003 load 3 in x IDIV D X gt X TFR X D actually storing 16 slope 10 slope have to divide by 16 when using it STD ROW_SLOPE_A
53. ECE 477 Final Report Spring 2006 ECE 477 Final Report Spring 2006 Team Code Name _Motion Tracking System Team ID 9 Team Members 1 is Team Leader 1 David Kristof Signature Date 2 Craig Noble Signature Date 3 Eric Galamback Signature Date Date 4 Tarun Chawla Signature J ECE 477 Final Report Spring 2006 REPORT EVALUATION Component Criterion Score Multiplier Points Abstract 012345678910 X1 Project Overview and Block Diagram 012345678910 X2 Team Success Criteria Fulfillment 0123456789 10 X2 Constraint Analysis Component Selection 0 12345678910 X2 Patent Liability Analysis 012345678910 X2 Reliability and Safety Analysis 012345678910 X2 Ethical Environmental Impact Analysis 012345678910 X2 Packaging Design Considerations 012345678910 X2 Schematic Design Considerations 012345678910 X2 PCB Layout Design Considerations 012345678910 X2 Software Design Considerations 012345678910 X2 Version 2 Changes 012345678910 X1 Summary and Conclusions 012345678910 X1 References 012345678910 X2 Appendix A Individual Contributions 012345678910 X4 Appendix B Packaging 012345678910 X2 Appendix C Schematic 012345678910 X2 Appendix D Top amp Bottom Copper 012345678910 X2 Appendix E Parts List Spreadsheet 012345678910 X2 Appendix F Software Listing 012345678910 X2 Appendix G FMECA Worksheet 012345678910 X2 Technical Writing Style
54. ER BED Team 9 Motion Tracking System Spring 2006 This is the full source code listing designated for 7 an MC9S12DP512 microcontroller Each section has its own heading BOR ED RE EE EE EE RA BR RRR te AG ie Bute Reh E ie iy teak AeA EE export symbols XDEF Entry export Entry symbol ABSENTRY Entry for absolute assembly mark this as application entry point include derivative specific macros INCLUDE mc9s12dp512 inc Macro Definitions lcd_writemode MACRO movb 40 PTS Set R W to 0 and RS to 1 zj Z J IS lcd_settingmode MACRO movb S00 PTS Set R W and RS both to 0 ts_updateclk MACRO pshx pshd ldx 0019 divide PACN3 by 25 ldd PACN3 idiv CEF x d ldx 003C divide remaning by 60 to get seconds idiv stab rtc_tempsec tfr x d stab rtc_tempmin have all the values needed now need to add them together ldaa rtc_seconds adda rtc_tempsec staa rtc_tempsec ldaa rtc_minutes adda rtc_tempmin staa rtc_tempmin movb rtc_hours rtc_temphr now correct the values to get the current time F 1 ECE 477 Final Report ldaa rtc_tempsec cmpa SoG bit ts_skipincmins inc rtc_tempmin suba 3C staa rtc_tempsec ts_skipincmins ldaa rtc_tempmin cmpa 3 blt ts_skipinchrs inc rtc_temphr suba 3C staa rtc_tempmin ts_skipinchrs ldaa rtc_temphr cmpa 518 24 hex blt ts_skiphrreset clra
55. GD and RESET pins from the microcontroller and power and ground signals Both the BKGD and RESET pins need to be connected to power through a 10k ohm resistor 8 11 Expansion Headers and Expansion PLD Incase it is needed in the future an expansion PLD port will be placed on the board in a 20 pin DIP package with each side attached to a ten pin header for easy access It will not be connected to anything else on the board and must be manually wired when if it is needed 9 0 PCB Layout Design Considerations When viewing the PCB layout as a top down design process many general considerations are presented including standard good design practices and project specific issues These general points can be broken into physical considerations and electrical considerations and further into hard constraints which must be followed and soft constraints which are preferred but not required The major physical hard constraints for this design are component sizes The microcontroller is a 112 pin 22 mm LQFP package 34 which allow a 12 mil trace width to the pins Headers for all external connections have pins spaced at 1 and are arranged as 2x17 for the camera module 2x8 for the LCD 1x3 for all potentiometers and servo connections 1x6 total for the pushbuttons and laser enable and several 1x2 headers for the various remaining connections In total these headers make up a large percentage of the component area on the ee ECE 477 Final Repo
56. JSR 1cd_bottommsg display the message on the lcd Done BRA CAL PB POLL 2 sends it back to take r CAL_ROW_OBJ1 LDAA ROW_OBJ1 CMPA ROWS13 r r BLO CAL_COL_OBJ2_GT LDAA 13 r not load row center of 1st val compare to 1 3 height to see if its in the right section check next object ye t Ze in correct section displ F 20 new ref frame and start over ue lay error to user ECE 477 Final Report JSR lcd_topmsg Done LDAA 11 is JSR lcd_bottommsg Done not in correct section display the message on the lcd Move Obj 1 U display error to user display the message on the lcd Move Obj 1 U BRA CAL_PB_POLL_ 2 sends it back to take new ref frame and start over CAL_COL_OBJ2_GT DAA COL_OBJ2 COLS13 r r load col center of 2nd val ue compare to 1 3 width to see if its in the right section CMPA BHI CAL_COL_OBJ2_LT if gt 1 3 L Done i Done DAA 14 DAA 11 r JSR lcd_topmsg r JSR lcd_bottommsg not in correct section not in correct section move on to make sure its lt 2 3 display error to user display the message on the lcd disp display the message on the lcd Move Obj 2 R lay error to user Move Obj 2 R BRA CAL DR DOLL 2 r sends it back to take new ref frame and start over CAL_C
57. KBE E e ROR ROR DORI D IR AR RAE RGR AOR AS RA RR IR RON Starting from pin 1 going counter clockwise according to schematic systeminit Set Port P DDR movb 00 DDRP Set Port K DDR movb 11111100 DDRK 3 CmrPWD Pins 4 7 unused bclr PORTK 300001100 or powered down Set Port T DDR movb 00101000 DDRT Porte J movb 00000000 DDRJ not pins BOE B movb 00000000 DDRB Port H movb 00000100 DDRH 1 0 push buttons Port E movb 00000000 DDRE Port A movb 11111111 DDRA r Camera Y data Pin O HRI 73 and 5 used for PWM outputs Pins 6 7 all inputs Pin EF Pin 1 FODD Pin 2 CmrRst Ensure the camera is not in permanent reset rest unused I 2C Pins 0 1l pclk vsync 2 5 Camera U V Data Port H Pins 7 3 unused pin 2 laser pin Unused pins LCD Data F 8 output pins ECE 477 Final Report r m edge Y Port M ovb 00000000 DDRM Port ovb S 01100001 DDRS ovb 03 PPSJ ovb 40 PPSH Interrupt Enables ovb 02 PIEJ E ovb SCE HPRIO ts Unused pins 17 4 1 unused 6 LCDrs 5 LCDrw 0 LCDeclk Change interrupts to trigger on rising Enable VSYNC interrupts Sets PCLK VSYNC to be highest interrupt e KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKKKK CD Initiali KI zation
58. LDAA COL_INDEX subtract the width from the current index to get the center SBA STAA COL_OBJECT_CENTER store center value which is width 2 since start is 0 now have center and width for the max point CFO_COL_CALCS LDAA MAX_OBJECT_WIDTH load max object width CMPA MINCOLWIDTH check to see if it s above the min for motion BHS CFO_COL_CALCS2 above cutoff aim motor LDAA 27 load index of lcd message JSR lcd_topmsg REALIGN CAL IMG LDAA 28 load index of lcd message JSR 1lcd_bottommsg REALIGN CAL IMG LDX COL_DATA_ADDR_END load the address of the end of column data COL_ZERO_DATA2 MOVB 00 1 X move 0 into the col data addr then post dec x CPX COL_DATA_ADDR_START compare current addr to start BHS COL_ZERO_DATA2 if gt go to next col value else continue to rows RTS exit find center no motion CFO_COL_CALCS2 LDAA COL_INDEX load col index to check value CMPA COLS13 check for area 1 BEQ CFO_COL_OBJ1_CALCS area 1 calcs CMPA COLS23 check to see if you are in the middle BEQ CFO_COL_OBJ2_CALCS area 2 calcs MOVB COL_OBJECT_CENTER COL_OBJ3 value for object3 stored LBRA COL_ZERO_DATA obj 3 is last one done with checks move to rows CFO_COL_OBJ1_CALCS MOVB COL_OBJECT_CENTER COL_OBJ1 value for objectl stored LBRA CFO_COL_BEGIN done with objl move on to check obj2 CFO_COL_OBJ2_CALCS MOVB CO
59. L_OBJECT_CENTER COL_OBJ2 value for object2 stored LBRA CFO_COL_BEGIN done with obj2 move on to check obj3 COL_FIND_OBJECTS DEC COL_INDEX decrement column index to show correct column BEQ COL_END_FIND_ OBJECTS if col index is 0 all columns have been checked branch past find objects LDAA MAXCOLV load the cutoff threshhold into the A register CMPA 1 X check to see if it is an object above threshhold BHI COL_BELOW_THRESHHOLD if maxcol gt current value no object F 35 ECE 477 Final Report COL_OBJECT_FOUND LDAB OBJECT_EXIST load the value to s if you are currently in an object BNE COL_FIND_OBJECTS if non zero object already existed do nothing COL_NEW_OBJECT MOVB 01 OBJECT_EXIST object just started set object_exists 1 MOVB COL_INDEX END_OF_OBJECT store col_index as the end beginning of a new object BRA COL_FIND_OBJECTS back to find objects loop COL_BELOW_THRESHHOLD LDAB OBJECT_EXIST load the value to s if you are currently in an object BEQ COL_FIND_OBJECTS if zero no object not in object do nothing return to find objects for next col COL_OBJECT_END MOVB 00 OBJECT_EXIST no longer in an object LDAB END_OF_OBJECT load the end beginning of object SUBB COL_INDEX find width of object begin cur
60. OL_O BJ2_ E DAA COL_OBJ2 COLS23 r r load col center of 2nd val Lue compare to 2 3 width to see if its in the right section Jo Done Li Done CMPA BLO CAL_ROW_OBJ2_GT DAA 15 DAA 11 r JSR lcd_topmsg r JSR lcd_bottommsg LE lt 2 3 not in correct section not in correct section move on to disp display the message on the lcd disp display the message on the lcd rows lay error to user Move Obj 2 L lay error to user Move Obj 2 L BRA CAL PB POLL 2 CAL_ROW_OBJ2_GT r sends it back to take new ref frame and start over DAA ROW_OBJ2 ROWS13 CMPA B LDAA 16 H JSR lcd_topmsg Done LDAA 11 JSR lcd_bottommsg Done CAL_ROW_OBJ2_1 LDAA ROW_OBJ2 LT ROWS23 CMPA B r HI CAL_ROW_OBJ2_LT not in correct section not in correct section LBRA CAL_PB_POLL_2 r O CAL_COL_OBJ3 load row center of 2nd value compare to 1 3 height to see if its in the right section if gt 1 3 move on to make sure its lt 2 3 display error to user display the message on the lcd Move Obj 2 D display error to user display the message on the lcd Move Obj 2 D sends it back to take new ref frame and start over load row center of 2nd value compare to 2 3 height to see if its in the right section if lt 2 3 mo
61. Report Spring 2006 signals are connected to port J PCLK and VSYNC and port H HREF which supports interrupt triggering The camera luminance data is received on port P Push buttons come into general purpose I O pins 10 2 Software Design Narrative For this project the code is broken into the following modules real time clock calibration I C communication camera initialization push button detection LCD functions and image capture and processing The camera module used in the project accepts registers settings through DC commands The camera initialization is performed by sending the camera s slave address out on the serial bus 0xC0 followed by pairs of 8 bit values The first of the pair represents the register value on the camera to set and the second of the pair represents the value to write to the register Upon startup five camera settings must be adjusted adjusting the speed of the camera to a 850KHz pixel clock rate setting the resolution to QCIF 176x146 pixels and adjusting the pixel clock so that it only runs while image data is being sent instead of being free running and changing the percentage of lightness and darkness in each picture to ensure each frame taken has enough light PWM signals are generated by the timer module PWM generation requires no interrupts PWM signals are generated by connecting output compare circuitry to timer pins Timer counters run up to a certain value toggle the port pin at that value
62. SHHOLD LDAA MAXCOLV load maxcolv CMPA MAXCOLV_THRESHHOLD check to see if maxcolv is high enough for motion BHS COL_BEGIN_FIND_OBJECTS above threshold motion detected MOVB S00 MOTION_DETECTED no motion store 0 LBRA END FIND OBJECTS no motion finish sub COL_BEGIN_FIND_OBJECTS INC MOTION_DETECTED variable for motion detected motion is detected LDX COL_DATA_ADDR_END load the address of the end of column data r maxcolv stil l in A register this threshhold is used fo LSRA divide max column value by 2 S finding important columns STAA MAXCOLV store this new value in maxcolv since we dont care about maxcolv anymore MOVB 00 OBJECT_EXIST initialize object exist to 0 means not currently in object MOVB NUM_OF_COLS END_OF_OBJECT initialize end of object as the last col MOVB NUM_OF_COLS COL_INDEX keeps track of current column index INC COL_INDEX inc once because it decs at beginning of find object MOVB 00 MAX_OBJECT_WIDTH widest object is 0 by default CHECK_COL_CAL_REF_IMG LDAA CAL_REF_IMG check to see if its a cal ref img or real image BEQ COL_FIND_OBJECTS if 0 normal image else special image LDX COL_DATA_ADDR_START load in addr of first col data MOVB S00 COL_INDEX start at col 0 MOVB 00 MOTION_DETECTED no timestamping in calibration ref check F 3
63. Schematic C 3 ECE 477 Final Report EXPANSION HEADERS J5 WOE ICLK 4 10 Pin Header Figure C 7 Expansion Block Schematic J3 3 BKGDGND GROUND Reset Button 5 NCRESET NC2 VDD 10K GRounol PROGRAMMING HEADER Figure C 8 Programming Header Schematic CA Spring 2006 CALIBRATION POTS AND HEADERS Pan Callbr tion Pot 10K Figure C 9 Calibration Block Schematic ECE 477 Final Report Appendix D PCB Layout Top and Bottom Copper Oo GROUP 9 SPRING 2004 MOTION TRACKING CAMERA PLATFORM E Figure D 1 PCB Top Layer FUTURE Spring 2006 Spring 2006 ECE 477 Final Report 6666666658 Kb Ab Ah AAA vk AA EEEEEE EEEEEEEEE i Figure D 2 PCB Bottom Layer D 2 ECE 477 Final Report Appendix E Parts List Spreadsheet Freescale Freescale MC9S12DP512 Spring 2006 16 bit microcontroller 19 90 1 Electronics123 Omnivision C3088 OV6620 camera module 43 65 1 43 65 Powertip Powertip PC1202 A LCD 7 95 1 7 95 Servo Hut GWS NARO STD STD Servo motor 11 00 2 22 00 Amazon Sutter s Mill DA 1900 Laser pointer 16 50 1 16 50 Digikey Serpac Serpac 153 Hobby Box 10 08 1 10 08 Linear Linear LTC 1174CN8 5 Power Regulator 4 35 1 4 35 TOTAL 124 43 E 1 ECE 477 Final Report Appendix F Software Listing SRR RRA ARE IRAE RAR RR RIERA RARE RARE RRR RAR RR RR ORE RR IER ARERR ER A
64. VG avg slope in x store in rowslopeavg FIND CO ATM OFFSET DAD COL_OBJ1 load center value of object 1 LDAA 00 put D in A because EMUL uses D Y care about D CAL DR POLL 6 LDAA PTH check value on the okay pin ANDA S 02 LBEQ BEGIN_CALIBRATION okay PB pressed start over and try BRA CAL PB POLL 6 reset the aim values COL_AIM_ OKAY ADDD COL_PWM1 adds the pwm value to aim at obj 1 STD COL_AIM_OFFSET this is the offset for aiming the motor way at the left side of the image CPD PWM_MAXV max offset BLT CHECK_COL_OFFSET no error continue LDAA 20 load number for error message JSR lcd_topmsg display message COL OFFSET TOO HIGH LDAA 21 load number for error message JSR lcd_bottommsg display message COL OFFSET TOO HIGH CAL PB POLL_7 LDAA PTH check value on the okay pin ANDA S 02 LBEQ BEGIN_CALIBRATION okay PB pressed start over and try BRA CAL PB POLL 7 reset the aim values CHECK_COL_OFFSET CPD PWM_MINV min offset BGT FIND_ROW_AIM_OFFSET no error continue LDAA 20 load number for error message JSR lcd_topmsg display message COL OFFSET TOO LOW LDAA 22 load number for error message JSR lcd_bottommsg display message COL OFFSET TOO LOW FIND_ROW_AIM_OFFSET LDAB ROW_OBJ1 load center va
65. act information regarding recycling The batteries used in this project could also pose an environmental hazard depending upon what kind of batteries the user decides to use Most alkaline batteries are safe to be disposed of normally but you should refer to the battery manufacturer to be sure before disposing of them Battery manufacturers such as Duracell 18 have made an extra effort to make their batteries environmentally safe Most rechargeable batteries are not considered to be environmentally safe and you should contact the battery manufacturer for details on how to correctly dispose of such batteries Alkaline batteries are recommended for this product so the disposal of batteries should not be a problematic issue 16 ECE 477 Final Report Spring 2006 7 0 Packaging Design Considerations 7 1 Commercial Product Packaging The two products selected for analysis are the Creative WebCam Live Motion and the x10 MultiView These two products share features in common with the project without directly implementing it Creative WebCam Live Motion First the Creative WebCam Live Motion 24 is a webcam that has the ability to pan tilt and zoom in order to automatically follow a moving body If there are multiple moving bodies it will zoom out to try and keep both bodies in the video feed The camera is capable of moving 200 degrees horizontal and 105 degrees vertical It has a USB 2 0 interface to a PC that allows it to capture 30 fr
66. ames per second of 640x480 resolution video The camera also has a shutter button on the top that will trigger it to take a picture The camera has a stand with a fold out leg that can either sit on any flat surface such as a CRT monitor or the leg can be folded down to straddle a LCD monitor A very nice feature of the camera is its very wide viewing range is accomplished with a very small motor mount at the base of the camera A major downside to the packaging is the inclusion of a USB interface The length of the cable determines what can be captured by the camera whereas if the camera were wireless then much more could be captured There is not much the project is able to copy or adapt from this product The project s camera is going to be stationary and only the laser pointer is going to move Comparing the two designs is difficult because the designs were created with different goals x10 MultiView The x10 MultiView 25 is a system of PC peripherals and software that allow up to four video cameras to interface to a computer A picture of the total system from the x10 webpage is listed as Figure 2 The computer program can simultaneously monitor live video feeds from all four cameras The system also features a mode very similar to the project where the camera will go into a sleep like state until it detects motion Once the camera is alerted it begins saving pictures to the PC and recording a timestamps on each picture The cameras the system in
67. ard TC controllers and run fast 25 MHz Two microcontrollers were investigated the MC9S12DP512 3 and the MC9S12XDP512 4 Table 3 1 shows a comparison between the two devices Je ECE 477 Final Report Spring 2006 Microcontroller MC9S12XDP512 MC9S12DP512 Internal RAM 32 768 Bytes 12 288 Bytes Flash Memory 524 288 Bytes 512 000 Bytes Serial Interfaces CAN IIC SCI SPI CAN IIC J1850 SCI SPI Timers 8 8 PWM Channels 8 8 PWM Bits 8 8 LO Pins 91 91 Additional Peripherals Periodic Interrupt Timer Addressable External Memory Table 3 1 Comparison between two Freescale microcontrollers The MC9S12DP512 was chosen because the one reference image could fit in its memory with enough room to spare for difference data and other variables Also it would cost a lot more to be able to program the MC9S12XDP512 as the cheapest programming suite available cost 600 Therefore the group chose to work with the MC9S12DP512 4 0 Patent Liability Analysis 4 1 Results of Patent and Product Search After searching the USPTO webpage 5 several patents were discovered that need to be analyzed The patents were found by searching issued patents on the USPTO webpage for the phrase motion tracking The search returned 525 patents however most of them were not relevant to the project Most of the patents were rejected from analysis because they did not use a camera to detect motion Therefore the project ca
68. asy for other group members to use the LCD I also wrote code to test the LCD on the PCB During week fifteen I wrote the timestamping functions I also wrote the function to update the real time clock I wrote routines to account for pushbuttons bouncing At the end of week fifteen and start of sixteen Craig I and Eric worked on writing code to get a sample image off the camera It took two full days but we were finally able to get a recognizable image out During the last week I helped with misc things such as helping to debug Craig and David s code film PSSC videos and put the finishing touches on the project A 4 Contributions of Eric Galamback In the beginning of the project I initially researched cameras to use I was looking for a black and white camera but was unable to find one I also researched different microcontrollers we could use We were concerned about image size and were looking into different ways to interface to an external memory I found a system that would interface a camera a A 4 ECE 477 Final Report Spring 2006 microcontroller and an external ram chip It used a pld or fpga to generate addresses for the external ram so the microcontroller did not need to do any of the overhead associated with storing an image I made the first iteration of the team webpage To do so I modified a style sheet that I found on a css tutorial site While we were researching motors I discovered the motors we were going to buy had the
69. at point the laser at the moving object 3 2 Interface Requirements The microcontroller interfaces to the camera the LCD two push buttons the on off switch the laser pointer and the two motors The camera requires 20 pins of I O in total 16 for image data and 4 for control signals The LCD interface requires 11 pins of I O 3 for control signals 8 for data values The two push buttons each need one pin of I O The laser pointer needs one pin and each PWM output also needs one output pin In total the microcontroller will need 36 I O pins 3 3 On Chip Peripheral Requirements There are a few on chip peripheral requirements for the design An DC bus interface is needed to set register values on the camera The TIM system is needed to keep a real time clock running which is used to keep timestamps of motion events Two timer channels are required to generate the necessary PWM signals at 50 Hz each 6 ECE 477 Final Report Spring 2006 3 4 Off Chip Peripheral Requirements The off chip peripherals required are an LCD interface push buttons for scrolling through the LCD interface enabling disabling the LCD backlight an on off switch a laser pointer and two servo motors The LCD interface is used to display the timestamp data Three push buttons are used two push buttons for scrolling through the LCD interface and one push button for enabling the LCD backlight A simple two position switch is used to turn the device on or off
70. ation to acquire and process images from the image sensor The final version of the code allowed us to process images using a pixel clock of around 850MHz enabling the project to update the positioning in real time During the ECE 477 Final Report Spring 2006 debugging phase I contributed to getting the image transfer and timer block correctly working and aided other team members with general debugging issues As for homework submissions I was solely responsible for the printed circuit board layout design and the reliability and safety analysis I also did a share of each of the team assignments mostly the sections related to my contributions as well as the CAD drawing for the packaging design I was also responsible for the components page on the website to help us keep track of data sheets and vendor sites A 3 Contributions of Tarun Chawla Initially most of the work done was on a group basis During the first four weeks I helped research camera choices motors and general information about the group project and other potential projects During week five I wrote the design constraint homework identifying and analyzing the constraints on our project I did calculations to determine image sizes image acquisition and processing speeds and RAM usage During week six I began to learn about Code Warrior I installed Code Warrior for HC12 on the lab machine and looked at sample embedded C and assembly code Also throughout weeks six and
71. ce frame and comparing it to a new frame is the only aspect that is literally the same as some of the existing patents However this is not significant since so many patents were issued that have the same frame comparison method of detecting motion Also the method is never mentioned as a claim in any patent by itself This comparison is also obvious to anyone skilled in the art so it should not be patentable The patents differed literally from the project because when there was movement involved in the patent the image sensor was being moved There is a greater chance for the design to infringe on patents under the doctrine of equivalents The USPTO describes the Doctrine of Equivalents as a way of answering the question Does the accused product or process contain elements identical or equivalent to each claimed element of the patented invention 8 Since moving the image sensor and moving a laser are very similar they could be argued to be equivalent The movement is only specified as sending a control signal to a motor The motor could be connected to anything and be controlled the same way The project moves the laser by modifying the duty cycle of a PWM output The PWM output is connected to a servo motor that controls either the pan or tilt of the laser Lastly tracking motion could be argued to be the most significant part of a device that moves the camera to follow motion 9 ECE 477 Final Report Spring 2006 4 3 Action Recommended
72. ctronic devices there is always the possibility of fire or electric shock to the user if the device is handled incorrectly or if a malfunction occurs especially with devices containing batteries as batteries can explode when exposed to fire Warning labels should be placed on the package informing the user of such possible harm and the user manual should also warn of these dangers Extra sealant is used on the PCB to make sure there are no exposed connections The packaging completely encloses the system so there should be no access to the PCB or any components therefore making it very difficult to touch anything carrying current and reducing the risk of shock The battery pack will need to be accessible so the battery casing contains the highest risk of shock within the system unless it is used incorrectly or disassembled The power on off switch is included to allow the user to shut off power at any time Another ethical consideration is to make sure you are not selling a product that is expected to fail or malfunction Extremely thorough testing must be conducted before approving this project for manufacture sale or use Especially with the potential harmful effects to the user and nearby people if a malfunction occurs there needs to be virtually no possibility of malfunction before releasing this product If it is used in a toy robot a malfunction could cause extended exposure to a laser pointer causing damage to the eyes or possibly even blindnes
73. d help debug code with whoever needed help ECE 477 Final Report Spring 2006 Appendix B Packaging Figure B 1 Original Proposed Packaging Figure B 2 Final Packaging Design ECE 477 Final Report Spring 2006 Appendix C Schematic 8 Pin Header yl E Ki aNSION HEADER epp MOTOR HEADERS A 3 EREECEEE MICROCONTROLLER CALIBRATION POTS AND HEADERS POWER MIEG LEE GROUND Pancal Pol Heater Y3 DATA POWER Ch SOVPYMN EAP 3 A AA Lake RSC NPP 1 HE PY EVVPO P PO XADDRIT PKS XADDRIGPK XADDRISPKI XADDRIJPKO wcorTO weuPTi vos PMOVRXCANO PONPxD3 LE EH POWPXDI VSSA VRL GROUND ale delenlehaltal Freie PYG SoS PPT KVWPT PYWATIOS K2 ECQROMCTUPKT Ugda PIAVPACAM PACA MOM ESO PIATTXCAMRTXCAMS PP HEAP HPM AMIDO PPXP SPAMSMOSE DIE EST D PIT ITXC AN WOC UTXC ANO PIN KYU PIC AN WIDA RXCANO nozPT2 nexPTs ah y voni GROUND vos Si RI DC PT DCSPTS DrCepte DCTIPTT XADORISPES MADORIQPKS 2 2 HAW WPJ I MOSSIZDPSIDAIZLAP D EAJOPJO WO DC 6 FGD ADORODATA ADORUDATA ADORDDATA ADORIDATA ADOREDATANPES PHST AN2ITXC A MOSTAC AN ODS KO Dues Po taen ray oi PATIADORISIDATA1S PABIADDRIWDATA I PASIADORINDATA1Z PAKADDRIXDATAI2 PANADDRIN PADADDR ICDA Hr PAUADDRSYDATAS LL LCD HEADER ADIADDRADATAS LCD CONTRAST POTENT IOMETER EXTERNAL PUSH BUTTONS LCD BACKLIGHT PUSHBUTTON aaa ADDRSDATASNP BS ADDRGDATASIP
74. d in the index for the set cal img message JSR lcd_bottommsg display the message on the lcd Set Cal Img Done CAL _PB_POLL_2 LDAA PTH check value on the okay pin ANDA S02 BEQ CAL GEI BER IM okay PB pressed move on to getting the reference image LDAA PTH check the cancel button ANDA S01 BEQ BEGIN_CALIBRATION cancel button pressed go back one step BRA CAL_PB POLL 2 keep checking until button is pressed CAL_GET_REF_IMG MOVB 01 CAL_REF_IMG store 1 in calrefimg to tell it you are in calibration CLI enable interrupts for pclk vync so you can get an image MOVB S 02 PIEJ enable interrupts from port j vsync WAIT VOR SPECIAL FIND_OBJECTS LDAA CAL_REF_IMG load in the var 1 in cal 0 done not in cal BNE WAIT_FOR_SPECIAL _FIND_OBJECTS if its still al wait for it to r so now we have our data Lay error to user Move Obj 1 L lay error to user Move Obj 1 L finish SEI it sets calrefimg to 0 when it s done CHECK_REF_IMG_FOR_ERRORS CAL _COL_OBJL LDAA COL_OBJ1 load col center of lst value CMPA COLS13 compare to 1 3 width to see if its in the right section BLO CAL_ROW_OBJ1 if it is check row value LDAA 12 not in correct section displ JSR lcd_topmsg display the message on the lcd Done LDAA 11 not in correct section displ
75. ddress of the end of row data maxrowv already in A register LSRA divide max row value by 2 this threshhold is used for finding important rows STAA MAXROWV store this new value in maxrowv since we dont care about maxrowv anymore MOVB 00 OBJECT_EXIST initialize object exist to 0 means not currently in object MOVB NUM_OF_ROWS END_OF_OBJECT initialize end of object as the last row MOVB NUM_OF_ROWS ROW_INDEX keeps track of current row index INC ROW_INDEX inc once because it decs at beginning of find object MOVB 00 MAX_OBJECT_WIDTH widest object is 0 by default CHECK_ROW_CAL_REF_IMG LDAA CAL_REF_IMG check to see if its a cal ref img or real image BEQ ROW_FIND_OBJECTS if 0 normal image else special image LDX ROW_DATA_ADDR_START load in addr of first col data MOVB 00 ROW_INDEX start at col 0 MOVB S00 MOTION_DETECTED no timestamps in cal ref check CFO_ROW_BEGIN MOVB S00 OBJECT_EXIST object doesn t exist to begin with MOVB 00 MAX_OBJECT_WIDTH reset widest object to 0 CFO_ROW_LOOP INC ROW_INDEX inc row index variable to keep track starts at 0 LDAA ROW_INDEX load row index CMPA ROWS13 check to see if you are on left BEQ CFO_ROW_END_FIND_OBJECTS end area 1 CMPA ROWS23 check to see if you are in the middle BEQ CFO_ROW_END_FIND_OBJECTS end area 2 CMPA NUM_OF_ROWS check to see if you are on right BEQ CFO_ROW_END_FIND_OBJECTS end area 3 LDAA CAL_THOLD load the cut
76. design due to its complexity and importance to the circuit As one of the components that is setting the upper bound on the lifecycle of the system it is being considered for the reliability analysis Most of the parameters are clearly defined by the given information about the chip including junction temperature pin count package type and production phase The only assumption made with the MC9S12DP512 is that it falls into the non hermetic packaging category which produces a higher approximation for failure than the other options It is also worth noting that the maximum junction temperature Tj is used in the analysis to provide the worst case failure rate which is the case for all components considered As seen in the resulting failure rate values the microcontroller poses a moderately significant threat to the reliability of the system even more so considering that a failure with the microcontroller will result in complete loss of system functionality In the event of such a failure the entire device would likely have to be replaced The linear regulator 11 is arguably the most critical component on the board as it provides power to all components and has the highest failure rate of any device in the design A critical 11 ECE 477 Final Report Spring 2006 assumption was made with the LTC1174 5 that it contains 1 to 100 transistors an approximation made based on the function block diagram provided in the datasheet Similar to
77. e images saved from each motion event These upgrades would create a much more useful system for any of the potential applications 12 0 Summary and Conclusions The Motion Tracking Camera Platform project successfully completed and demonstrated all required project specific success criteria as well as the provided project outcomes Along with working through the entire design process a working prototype was made and many professional aspects were analyzed Among these reports were a social and environmental impact analysis a safety and reliability analysis and a patent liability analysis Providing insight into real world design realistic project constraints were placed on the project and provided experience into actual engineering design Schematic and PCB techniques were exercised throughout the semester as were the many technical issues associated with both hardware and software implementations Assembly coding skills were utilized and improved upon allowing for an efficient final design Background knowledge was strengthened and expanded upon as design issues were discovered in practice and communications skills both written and oral were emphasized and improved As the semester progressed it became more apparent that things rarely go according to plan and it is important to have a timeline and schedule for unexpected delays The importance of teamwork and maintaining a friendly atmosphere became apparent during the final weeks and s
78. e power supplies to the microcontroller When the microcontroller reads in pixel data from the camera it runs it through an algorithm to find difference data between the current frame and a reference frame After a full frame has been captured it runs that frame through a special routine to find objects within the difference data which essentially represent motion in the field of view of the camera It will then calculate values to output to the ECT registers that control where the servo motors aim based on where the motion was detected within the image 8 2 Clock Oscillator Resonator The 25MHz ceramic resonator 29 chosen for this microcontroller is called the AWSCR from Abracon It comes as a three pin device with a crystal connected to two internal capacitors that lead to one pin labeled ground The other two pins are for input and output to the crystal output being the 25MHz clock signal being used by the microcontroller The manufacturer recommends tying the input and output together through a 1M ohm resistor and 25MHz is the manufacturer s maximum recommended clocking speed for this specific microcontroller 8 3 Camera Module The camera module the C3088 26 which utilizes an Omni Vision 6620 color camera chip will be connected to a 32 pin header on the PCB that is setup as 16 pins by 2 pins 25 of these 32 pins will be connected to the microcontroller of the other seven four will be connected to ground and two to five volt power
79. el button pressed go back one step reset the aim values Lue for objl Lue for objl LDAA 1A load index of lcd message JSR lcd_topmsg display message to user AIM LASER AT MIDDLE OBJ LDAA 1C load index of lcd message JSR 1lcd_bottommsg display message to user AIM LASER AT MIDDLE OBJ JSR 1lcd_polldelay JSR 1lcd_polldelay JSR lcd_polldelay JSR 1lcd_polldelay debouncing delay JSR 1lcd_polldelay JSR 1lcd_polldelay JSR 1lcd_polldelay JSR 1lcd_polldelay JSR 1lcd_polldelay JSR 1lcd_polldelay CAL_AIM_COL_POT2 LDD ATD1DROH load value off pan pot LSLD multiply pot value by 2 since it s only 10 bit ADDD PWM_MINV add the min offset CPD PWM_MAXV compare to max BLT CAL_COL_POT_OKAY2 value okay aim F 23 ECE 477 Final Report CAL_COL_PO aim LI o PWM_MAXV value not okay set to the max _OKAY2 TEMP_PRODUCT TC3 0007 atd noise cancelling CAL_AIM_ROW_POT2 SFFF8 BHS CAL_AIM_ROW_POT2 MOVW TEMP_PRODUCT TC3 store the offset 2 pot value in pan motor CAL_AIM_ROW_POT2 CAL_ROW_PO aim LDD ATDODROH load value off tilt pot SLD multiply pot value by 2 since it s only 10 bit ADDD PWM_MINV add the min offset PWM_MAXV compare to max BLT CAL_ROW_POT_OKAY2 value okay aim PWM_MAXV value not okay set to the max _OKAY2 STD TEMP_PRODUCT TES 0007 atd noise cancelling
80. en puld restore a and b pulx restore x rts tdd_nodata ldaa nodata jsr lcd_topmsg ldaa ts_current_lit jsr lcd_bottommsg puld pulx rts res ET DRDO RR E IE RGR IG BORER IER ROBT I BT I 2C Initialization Ee iscinit IIC Address Register IBAD Value 11000000 11000001 for reading movb D0 IBAD IIC Frequency Divide Register f F 15 ECE 477 Final Report Value 0x23 For setting the clock to 100kHz and keeping the SDA hold time low movb 23 IBFD IIC Control Register Value 10010000 movb 90 IBCR rts isc_read bset IBCR mIBCR_MS_SL begins transfer of data generates START condition jsr waitloop movb C1 IBDR select slave address jsr waitloop movb 11 IBDR selects register 11 on the camera bset IBCR 00010000 jsr waitloop 7 Lbclr IBCR mIBCR_MS_SL ends transfer of data generates STOP condition jsr waitloop res ip RRR BRIBE E DE LER BORER TS BRI BORER I TARR EIDE PE BIRR De RBI TR RIB DE BRABOIS TG Camera Initialization Prerequisite I2C Module must be initialized a Pe Rats BYR AS Bigs ty Ae Baty MO pnt ye ee BO E Gen GES OR O AS sn OO SD E camerainit rr BEGIN I2C COMMUNICATION jsr waitloop Setting camera registers Resets the camera bset IBCR mIBCR_MS_SL begins transfer of data generates START condition jsr waitloop movb C0 IBDR select slave address JSE waitloop F 16
81. f view An ability to calibrate laser aiming platform relative to camera field of view An ability to configure control system operation and view event logs via All five project specific success criteria were successfully demonstrated The difference algorithm is able to determine whether movement occurred The calibration routine successfully determines values to calculate where to aim The find center algorithm successfully determines the proper PWM duty cycle to point at a torso ten feet away The real time clock runs ECE 477 Final Report Spring 2006 successfully and events are properly time stamped Users are able to successfully interact with the device using the pushbuttons potentiometers and LCD 3 0 Constraint Analysis and Component Selection 3 1 Computation Requirements The processor must be able to determine the location of a moving object and focus the laser pointer on its center in real time To do this the processor first acquires a reference image to use from the camera and stores it in the microcontroller s memory From then on images are captured at a fixed interval and sent to the microcontroller which runs a simple difference filter on the new image and the reference frame If a difference is seen meaning an object has come into view that is not in the reference frame the center of the detected object is determined and the microcontroller outputs PWM signals to two servo motors used to control tilt and pan th
82. found a way to eliminate all of the interrupts During week twelve I began to write the software paper I created the flowcharts for the software paper and the slides software design TCSP During week thirteen I wrote code to prototype the LCD module I also began to create a skeleton file for the final code so that each team member could drop his contribution in easily By this time Eric had populated the board with the power circuit the microcontroller and the resonator circuit I wrote a heartbeat program to test the microcontroller for when the resonator began to resonate I also write the time initialization function which prompts the user to set the time when the project is powered on During week fourteen I helped debug some hardware problems including power and ground being tied together After hardware problems were fixed I tried to flash the microcontroller but Code Warrior was giving an error I spent a few hours on the internet researching the error and found a fix and was successfully able to load a heartbeat program on the microcontroller I wrote a small test program for the ATD converter to ensure that the ATD pins were soldered on properly some of them looked questionable They were fine I wrote the overall initializations for the chip turning on and off peripherals setting input output pins enabling interrupts I helped Eric create flywires for certain pins when he needed a second pair of hands I wrote an LCD library to make it e
83. gital converter timer module and IIC module Two ATD converters are enabled register ATDCTL2 and turned to scan mode ATDCTLS in order to calibrate They are also set to 10 bit resolution register ATDCTLA4 Once the calibration is complete the ATD converters are shut off The IIC bus needs to be configured to communicate with the camera The IIC protocol is an enhanced version of the DC protocol but is still backwards compatible with DC The frequency divide register IBFD is used to drop the clock speed to 100KHz The control register IBCR is used to turn on the IIC peripheral From then on data is placed in the data register IBDR and the IBCR is used to initiate start and stop conditions The status register IBSR is checked to see if a successful transmission occurred The timer module uses the TIOS register to set channel 7 5 and 3 as output compare channels The output compare circuitry is connected to the pin by asserting the respective bits in the OC7M register OC7D is used to set up the counter resets The timer module is enabled and a pre scalar is set by using register TSCR2 During operation TC3 TC5 and TC7 are set in order to toggle the port pin at the correct time producing a 50Hz signal at a variable duty cycle on pins OCM3 and OCMS The microcontroller communicates with a few off chip peripherals The LCD is connected to port A The potentiometers are each connected to an ATD pin Camera clock 28 ECE 477 Final
84. he columns determines where to aim laser ROW_OBJECT_CENTER EQU 0A59 stores the center value of the rows determines where to aim the laser TEMP_PRODUCT EQU 0A5A temp 16 bit variable for storing mul data USES SAME ADDR AS OBJECT_EXIST END_OF_OBJECT COLS13 EQU 3A 1 3 col value COLS23 EQU 76 2 3 col value ROWS13 EQU 18 1 3 row value ROWS23 EQU 30 2 3 row value COL_OBJ1 EQU 0A28 col center value of the first object COL_OBJ2 EQU 0A29 col center value of the second object COL_OBJ3 EQU 0A2A col center value of the third object ROW_OBJ1 EQU 0A2B row center value of the first object ROW_OBJ2 EQU 0A2C row center value of the second object ROW_OBJ3 EQU 0A2D row center value of the third object COL_PWM1 EQU 0A2E 2 byte pwm value needed to aim pan at the first object COL_PWM2 EQU 0A30 2 byte pwm value needed to aim pan at the second object COL_PWM3 EQU 0A32 2 byte pwm value needed to aim pan at the third object ROW_PWM1 EQU 0A34 2 byte pwm value needed to aim tilt at the first object ROW_PWM2 EQU 0A36 2 byte pwm value needed to aim tilt at the second object ROW_PWM3 EQU 0A38 2 byte pwm value needed to aim tilt at the third object COL_SLOPE1 EQU 0A3A 2 byte pwm per pixel col slope 1 COL_SLOPE2 EQU 0A3C 2 byte pwm per pixel col slope 2 COL_SLOPE3 EQU 0A3E 2 byte pwm per pixel col slope 3 ROW_SLOPE1 EQU 0A40 2 byte pwm per pixel row slope 1 ROW_SLOPE2 EQU 0A42 2 byte pwm pe
85. he last two pins will be connected to other components One will go to a potentiometer output that will control the LCD contrast adjust pin and the other pin will be connected to a push button that will connect to power when pressed and connect to ground when depressed This signal will control the LCD backlighting so that it will be easier to see if necessary but not use up power when unnecessary Of the eleven pins connected to the microcontroller eight of these pins are for data so that one byte can be sent at a time One pin will be for selecting read or write one pin for enabling the device and one pin for register select when reading data from the LCD This project will not be reading from the LCD module so the register select will not be used and the read write pin will always be set to write The LCD is used mainly for communicating with the user in setup and calibration but can also be used to view timestamps of motion events any time during normal operation 8 5 Motors The motors GWS NARO STDs 28 will each have a small three pin header connected to the PCB One of the pins will be for ground one for five volt power and one for the PWM output from the microcontroller This PWM output will be the control signal that determines the position of the motor based on the duty cycle The motors will be physically attached to platforms that move the laser pointer although the motors will have no electrical connection to the laser pointer
86. he microcontroller pushbutton and power circuits including choosing the linear regulator and associated power components After the initial component selection and circuit design the bulk of my time was spent working on the PCB layout I spent a large portion of time working on making the PCB an intelligent compact design which would not have to be changed later on including selecting proper component locations and minimizing both trace length and number of vias The success of this key component lead to minimal fly wiring and allowed us to have a relatively small final product In the second phase of the project the process of debugging the hardware and writing the code I began to switch to more of a software role Although I worked to get the servo motors working properly by researching and testing the expected pulse signals I mainly focused on the timer module code and the image acquisition and processing code I was able to set up our pulse width modulation signals for the servo motors using the timer module since the PWM block would not generate slow enough pulses Both servo pulses and the real time clock using the pulse accumulator were managed by the timer module with only one interrupt in total called when the pulse accumulator overflows approximately once every 45 minutes I also sketched up the image processing algorithm and tested it using Matlab and images from a digital camera as well as wrote the assembly code for the final implement
87. hi inx CDS bne ldy stab CDN beq sty movw rts th_done L_PASS incb inc CDS bne bra L_IMG_DONE movb E Jjsr rts TROW_START min_col_addr 00 1 y THLD L_PASS max_col_addr th_loop TROW Lr yT max_row_addr L_IMG_DONE TROW TROW_START TEMPROW 1 x max_col_addr th_loop th_done 503 PIEH find_target allow to be interrupted load starting temp address load starting column address load 0 into p load next pixel value from temp compare to threshhold if greater branch away increment x check if done if not done continue loop load current row address store row data check if image done if done branch away store next row address reset temprow address for next row exit sub increment b row data increment col data and post inc x check if done if not done continue loop if done branch to th_done turn off href interrupts jump to find Center routine exit sub A E E E E E RD RRP I RDG BORER ERROR RD IS TI EE e EE E EE E E EE E EE Ee E e E Ee 7Vsync ISR ER RR TOK RE ERR KERR KEER RRO MRR RGR OR ERR DON RARER K A RARER BR KB isr_pclkvsync ldaa WANTFRAME F 30 check if we want frame ECE 477 Final Report adda 40 coma staa WANTFRAME bne L_NOFRAME MOVW min_row_addr IROW movw IMGADDR_START
88. high loop back to get next pixel store next pixel location load row index increment row index check if that was the last row branch if image complete store row index reload temporary row start address enable interrupts exit isr turn off href interrupts until clear reference image flag enable interrupts exit isr F 32 ECE 477 Final Report i A IIR RIAA ERRER RAER R KPEE RITE OR MR YAR ROR ERER ARNG RR IR RM Ee Motion detectio n Subroutine BK DRI Gee NI EE me Rite REIN ER E A EE E find_target MOVB 00 ROW_DATA_ADDR_START first row value always messed up due to r edges MOVB 00 08AF last col value always messed up due to edges COL_BEGIN_FIND_CENTER LDX COL_DATA_ADDR_END load the address of the end of column data MOVB COL_DATA_ADDR_END MAXCOLV store first last column value as maxcolvalue COL_FIND_MAX check to see if you are at the beginning of CPX COL_DATA_ADDR_START the column data BLS CHECK_MAXCOLV_THRESHHOLD if still gt keep checking values else go to find object LDAA MAXCOLV load the max column value into the A register SUBA 1 X do the subtraction and post dec X BHI COL_FIND_MAX if not a new max branch back to the check loop MOVB 1 X MAXCOLV move the new max into maxcolv BRA COL_FIND_MAX next column CHECK_MAXCOLV_THRE
89. ill mess up my timestamp code To use load the string number in register A And jsr to lcd_topmsg or lcd_bottommsg To clear the LCD use lcd_clrscreen fcb Dummy String String 00 fcb Timestamp 1 String 01 fcb Timestamp 2 String 02 fcb Timestamp 3 String 03 fcb Timestamp 4 String 04 fcb Timestamp 5 String 05 fcb Timestamp 6 String 06 fcb Timestamp 7 String 07 fcb Timestamp 8 String 08 fcb Timestamp 9 String 09 fcb Timestamp 10 String OA fcb Set Time Now String OB fcb No Data NW String OC fob d String OD fcb Calibration 0E fob Exit anytime 0F fcb Set Cal Img 10 feb Done Me ed fcb Move Obj 1 L 12 fcb Move Obj 1 U 13 fcb Move Obj 2 R 14 fcb Move Obj 2 L 15 fcb Move Obj 2 D 16 fcb Move Obj 2 U 17 fcb Move Obj 3 R 18 fcb Move Obj 3 D 19 fcb AIM LASER AT IA feb TOP LEFT OBJ 1B fcb MIDDLE OBJ 1C fcb BOTRIGHT OBJ 1D fcb COL AIM DOES 1E fcb NOT WORK Ir eh feb COL OFFSET 20 feb TOO HIGH m Sek fab TOO LOW m 22 fcb ROW AIM DOES 23 fcb ROW OFFSET 24 fcb CALIBRATION 25 fcb COMPLETE 326 fcb RE ALIGN WE eet fcb CAL IMG M528 fcb CAL IMG 729 fcb INITIALIZING 2A fcb Please wait 2B fcb Done We ZAG F 5 ECE 477 Final Report fcb fop fop
90. irst col value uses same variable space as pclk and vsync ROW_DATA_ADDR_START EQU SO8BO address of first row value uses same variable space as pclk and vsync NUM_OF_COLS EQU SBO number of cols qcif 1 2cif NUM_OF_ROWS EQU 48 number of rows 1 2qcif 1 4cif MAXCOLV EQU 0A51 highest value of the columns MAXROWV EQU 0A52 highest value of the rows MAXCOLV_THRESHHOLD EQU 15 maxcolv must be higher than this for motion R H MAXROWV_THRESHHOLD EQU 10 maxrowv must be higher than this for motion MINCOLWIDTH EQU 07 min width of an object for motion MINROWHEIGHT EQU 07 min height of an object for motion OBJECT_EXIST EQU 0A53 1 means you re in an object 0 means you re not END_OF_OBJECT EQU 0A54 index of the end beginning of the object you are currently in T COL_INDEX EQU 0A55 stores current column index ROW_INDEX EQU 0A56 stores current row index MAX_OBJECT_WIDTH EQU 0A57 stores the width of the largest object so far COL_OBJECT_CENTER EQU 0A58 stores the center value of t
91. isplay_up pshx pshd lcd_settingmode ldaa 01 jsr lcd_write ldx ts_current point to inx secs inx inx inc ts_current_lit stx ts_current Cpx ts_endbuffer of the buffer bne tdu_skip_reset movw ts_buffer ts_current front of the buffer movb 01 ts_current_lit ldx ts_current tdu_skip_reset ldaa ts_current_lit cmpa ts_numstamps bgt tdu_nodata F 13 output the hours to the screen output a output the minutes to the screen output a output the seconds to the screen load the current timestamp to point output the corresponding message on restore a and b restore x h one timestamp up from the current save x register save a and b registers load the current timestamp to advance 3 times hrs mins advance the literal position store the new current pointer Check to see if we are at the end if not skip the next line set the current position to the ECE 477 Final Report lcd_writemode ldab 0 x jsr lcd_output2digits output the hours to the screen ldaa S3A jsr lcd write output a inx ldab 0 x jsr lcd_output2digits output the minutes to the screen ldaa S3A jsr lcd write output a inx ldab 0 x jsr lcd_output2digits output the seconds to the screen dex dex ldaa ts_current_lit load the current timestamp to point at jsr lcd_bottommsg output the corresponding message o
92. ive Some RoHS compliant headers are available although in some cases headers were used only for convenience and may not even be necessary in a finished product Another possible health concern during normal use is possible exposure to mercury Almost all products in the United States have made their best effort to rid themselves of mercury due to the dangerous side effects of exposure but some parts may still contain trace amounts Harmful effects of mercury exposure can include damage to the nervous digestive and respiratory systems 17 Many batteries used to contain mercury but most companies like Duracell have removed all traces of mercury from their batteries and manufacturing processes 18 Disposal and Recycling Disposal of many electronic products is considered dangerous or harmful to the environment and this product is no exception It contains many hazardous substances and should not be disposed of in the normal ways Although it is not extremely beneficial or profitable to recycle printed circuit boards the extracted materials and boards can be reused and save some money as well as protect the environment The user documentation should include information notifying the user that the product should not be disposed of in a normal way but it is difficult to convince people not to do so PCB manufacturing companies need to provide easy ways to recycle for users and the product documentation should include methods of recycling or cont
93. leep was the reward for a successful early completion All assignments were completed on 21 ECE 477 Final Report Spring 2006 time and the final product met and exceeded the expectations of each member The success of the Motion Tracking Camera Platform will provide an excellent foundation for handling future tasks 39 ECE 477 Final Report Spring 2006 13 0 References 1 2 3 4 5 6 7 8 9 10 OV6620 Color Camera Data Sheet OmniVision 1999 June 2 Available HTTP http ovt com pdfs pb_6120_6620 pdf Kodak KAC 9630 Product Page Kodak September 2004 Available HTTP http www kodak com global en digital ccd products cmos KAC 9630 indexKAC 9630 html id 0 1 10 4 138zlc en Freescale Microcontroller MC9S12XDP512 Page Freescale Semiconductor Available HTTP http www freescale com webapp sps site prod_summary jsp code MC9S 12XDP512 amp no deld 0162468636K100 Freescale Microcontroller MC9S12DP512 Page Freescale Semiconductor Available HTTP http www freescale com webapp sps site prod_summary jsp code MC9S12DP512 amp node Id 0162468636K 100 United States Patent and Trademark Office Website cited 2006 May 1 Available HTTP http www uspto gov Toshio Kamei Method and system for tracking a fast moving object U S Patent 6 819 778 March 29 2001 Available HTTP http patft uspto gov netacgi nph Parser patentnumber 68 19778 Yoshinori Kuno
94. lse duration The laser pointer will also require a signal from one of the microcontroller s output pins to tell it when to turn on off Two potentiometers will be used for calibration of the motors and will each use an ATD converter Two buttons will be used for scrolling between the events list and also used at start up to set the clock and each require an input pin A spare eight pin header will be connected to one of the registers that are mapped to pins for easy data output in case the project requires an expansion of microcontroller outputs or inputs The programming header will need connections to the BKGD pin and the RESET pin The microcontroller will also need a PLL filter and a clock signal from a resonator These require specific pin assignments that occupy nearly half of the lower side of the microcontroller 19 ECE 477 Final Report Spring 2006 For the microcontroller itself the model was chosen due to meeting all of the above necessities as well as having a large amount of RAM The I C capabilities PWM channels and ability to map pins to the interrupt vector were the largest constraints as well as being able to run fast enough to read in pixel data from the camera and manipulate it accordingly with time to spare The PLL circuit was documented in the data sheet and recommended three capacitors of values 4 7nF 470pF and 100nF as well as a 100k ohm resistor Bypass capacitor values were suggested between 100 and 220 nF for th
95. lue of object 1 LDAA 00 put O in A so you can use D F 28 DY COL_SLOPE_AVG load slope to multiply by the center of objl EMUL D Y gt Y D is the mx part of mx y b Y reg should be 0 only LDX 10 dividing by 10 to cancel out the slope modifier EDIV TFR Y D BRA COL_AIM_OKAY if 0 okay move on again all the again LDY ROW_SLOPE_AVG load slope to multiply by the center of objl ECE 477 Final Report EMUL D Y gt Y D is the mx part of y mx b Y reg should be 0 only Care about D LDX 10 EDIV TFR Y D dividing by 10 to cancel out the slope modifier BRA ROW_AIM_OKAY if 0 okay move on ROW_AIM_OKAY STD ROW_AIM_OFFSET temp store in the offset so you can 16bit sub LDD ROW_PWM1 loads the pwm value to aim at obj 1 SUBD ROW_AIM_OFFSET does the y mx calc b is now in the D register STD ROW_AIM_OFFSET this is the offset for aiming the motor all the way at the top side of the image CPD PWM_MAXV max offset BLT CHECK_ROW_OFFSET no error continue LDAA 24 load number for error message JSR lcd_topmsg display message ROW OFFSET TOO HIGH LDAA 21 load number for error message JSR lcd_bottommsg display message ROW OFFSET TOO HIGH CAL_PB_POLL_10 ANDA 02 LDAA PTH check value on the okay pin LBEQ BEGIN_CALIBRATION okay PB pressed start over a
96. mage If the absolute value of the difference between the two pixels crosses a certain threshold 0x19 the algorithm records the difference data by incrementing two values by one one associated to all of the pixels in its row and one associated with all of the pixels in its column After all the differences have been counted the image processing algorithm runs through all the difference data find the row and column with the largest difference values Finally the image processing algorithm sets the PWM signals to point the laser at that target 30 ECE 477 Final Report Spring 2006 11 0 Version 2 Changes A second version of the Motion Tracking Camera Platform would include both changes in the current design and additional features Changes to the circuit would include a more powerful microcontroller capable of running at high clock speeds than 25MHz to obtain a high frame rate and one in which could at least store one image at QCIF resolution With these hardware improvements more advanced image processing algorithms could be employed to provide more intelligent object detection and motion prediction to allow for more fluid servo movements Additional features would include an easier more accurate method of calibration and a remote management system A wired or wireless connection to a computer terminal would allow easy access to system settings and would allow for remote monitoring including access to timestamp information and even entir
97. n the bottom LCD screen puld restore a and b pulx restore x rts tdu_nodata ldaa nodata jsr lcd_topmsg ldaa ts_current_lit JSE lcd_bottommsg puld pulx rts This function will update the display with one timestamp down from the current one timestamp_display_down pshx save x register pshd save a and b registers lcd_settingmode ldaa 01 jsr lcd_write ldx ts_current load the current timestamp to point to dex advance 3 times hrs mins secs dex dex dec ts_current_lit advance the literal position stx ts_current store the new current pointer Cpx ts_bufferml check to see if we are at the end of the buffer bne tdd_skip_reset if not skip the next line 1dx ts_endbuffer set the current position to the front of the buffer dex F 14 ECE 477 Final Report dex dex movb S0A ts_current_lit stx ts_current tdd_skip_reset ldaa ts_current_lit cmpa ts_numstamps bgt tdd_nodata lcd_writemode ldab 0 x jsr lcd_output2digits output the hours to the screen ldaa 3A jsr lcd write output a inx ldab 0 x jsr lcd_output2digits output the minutes to the screen ldaa 3A jsr Led write output a inx ldab 0 x jsr 1cd_output2digits output the seconds to the screen dex dex ldaa ts_current_lit load the current timestamp to point at jsr lcd_bottommsg output the corresponding message on the bottom LCD scre
98. n perform the same functionality but do so in a substantially different way than the issued patent There are five patents that need to be analyzed because they are similar to the project and the patents are still in effect United States Patent 6 819 778 6 This patent is for a Method and system for tracking a fast moving object This patent is for a system that will move a camera to follow a moving object It does this by storing two ECE 477 Final Report Spring 2006 video frames into two memories and comparing the two frames If motion is detected the camera zooms in on the object and tracks it until it is no longer visible More advanced calculations are preformed to determine how far the camera needs to pan to still track the object The patented device does not look for known shapes in the video frame it only detects motion United States Patent 5 243 418 7 This is a patent for Display monitoring system for detecting and tracking an intruder in a monitor area The patented product stores a background image in memory as a reference Differences are found between new images and the background image They binarize the differences by checking the difference to a stored threshold value This is done to make the patented product resistant to environmental variations 4 2 Analysis of Patent Liability The project has limited potential to literally infringe on the above patents The process of storing a referen
99. nd try again BRA CAL PB_POLL_10 reset the aim values CHECK_ROW_OFFSET CPD PWM_MINV min offset BGT FINISH_CALIBRATION no error continue LDAA 24 1 LDAA 22 1 load number for error message JSR lcd_topmsg display message ROW OFFSET TOO LOW load number for error message JSR lcd_bottommsg display message ROW OFFSET TOO LOW CAL_PB_POLL_11 ANDA 02 DAA PTH check value on the okay pin LBEQ BEGIN_CALIBRATION okay PB pressed start over and try again BRA CAL PB POLL 11 reset the aim values FINISH CALIBRATION LDAA 25 1 load number for lcd display JSR lcd_topmsg display message CALIBRATION COMPLETE LDAA 26 load number for lcd display JSR lcd_bottommsg display message CALIBRATION COMPLETE JSR 1lcd_polldelay JSR 1lcd_polldelay JSR lcd_polldelay delay to display calibration complete message JSR 1lcd_polldelay and allow user to move away from camera before it takes a ref img JSR 1lcd_polldelay JSR 1lcd_polldelay JSR 1lcd_polldelay JSR 1lcd_polldelay JSR 1lcd_polldelay JSR 1lcd_polldelay F 29 ECE 477 Final Report RES 7 return from sub routine calibration complete EE Threshhold Subroutine Ee threshhold cri ldy ldx ldab ldaa th_loop address cmpa b
100. o be reduced by placing a piece of filtered glass in front of it This reduces the power of the laser pointer significantly and makes it safe for everyday use as long as the eye is not exposed to it over extended periods of time A warning label placed on the product would be beneficial to inform the user of the possible hazards of extended exposure to lasers Another concern involved with this project is the inability to differentiate targets Since the camera is black and white and fairly low resolution it would be nearly impossible to create an algorithm for target differentiation unless the only difference was the color being black or white If this project is used as a sentry turret type of system there is nothing stopping it from shooting j8 ECE 477 Final Report Spring 2006 or aiming at friendly targets since it has no way of telling the difference between hostile and enemy targets This could potentially cause harm to the user or nearby people who are unaware of the system This must be very well explained in the user documentation as well as include a warning label near the power on button to inform the user of the potential hazards Also to allow for the safe passage of friendly targets through the area covered by the system a laser off switch has been implemented This allows the user to disable the laser pointer at the flip of a switch to allow motion to pass by without any harmful results to the moving object As with any ele
101. o control the LCD The LCD uses a standard parallel interface and is controlled by a three control signals and 8 data bits The LCD module contains functions that can initialize the LCD screen clear the LCD screen or display characters and output messages to the LCD screen Image acquisition relies on two interrupts At startup the code listens for a low to high transition on the VSYNC signal sent from the camera This triggers an interrupt and allows the camera to acquire data and store the initial frame known as the reference frame The microcontroller waits for an HREF interrupt Once an HREF interrupt is received the microcontroller decides if it wants the current row or not If so each time a new pixel is ready the PCLK signal sent from the camera transitions from low to high When pixel data is valid it is stored Once the reference frame is acquired a flag is set in memory to signify that a reference frame is no longer needed From then on each time a VSYNC interrupt triggers the microcontroller decides if it wants to use the current frame or not It rejects the frame if it is still processing the previous frame and disable the HREF interrupts until a new VSYNC interrupt triggers and it reevaluates whether it is ready for a new image or not When the microcontroller decides it is ready for a new frame it begins to acquire the frame pixel by pixel and compare each pixel with the pixel in the reference frame at the same coordinates in the i
102. o start BHS COL_ZERO_DATA if gt go to next col value else continue to rows ROW_BEGIN_FIND_CENTER LDX ROW_DATA_ADDR_END load the address of the end of row data MOVB ROW_DATA_ADDR_END MAXROWV store first last row value as maxrowvalue CHECK motion ROW_FIND_MAX CPX ROW_DATA_ADDR_START check to see if you are at the beginning of the row data BLS CHECK_MAXROWV_ to find object LDAA MAXROWV loa SUBA 1 X do the BHI ROW_FIND_MAX M B RA ROW_FIND_MAX M LDAA MAXROWV loa C THRESHHOLD if still gt keep checking values else go d the max row value into the A register subtraction and post dec X if not a new max branch back to the check loop move the new max into maxrowv next row AXROWV_THRESHHOLD d maxcolv MPA MAXROWV_THRE BHI ROW_BEGIN_FIND SHHOLD check to see if maxcolv is high enough for OBJECTS above threshold motion detected MOVB 00 MOTION_ DETECTED no motion store 0 F 37 ECE 477 Final Report BRA END_FIND_OBJECTS no motion finish sub ROW_BEGIN_FIND_OBJECTS LDX ROW_DATA_ADDR_END load the a
103. object do nothing return to find objects for next CFO_COL_OBJECT_END MOVB 00 OBJECT_EXIST no longer in an object DAD COL_INDEX load the end beginning of object SUBB END_OF_OBJECT find width of object begin current value CMPB MAX _OBJECT_WIDTH check to see if object width is the widest BLS CFO_COL_LOOP not widest object go back to find objects CFO_COL_NEW_WIDEST_OBJECT STAB MAX_OBJECT_WIDTH save the new max object width LSRB divide object width by 2 LDAA COL_INDEX col index half width center point SBA STAA COL_OBJECT_CENTER store center value now we have center and width for the max point BRA CFO_COL_LOOP back to beginning of find objects to continue loop CFO_COL_END_FIND_OBJECTS LDAB OBJECT_EXIST load the value to s if you are currently in an object off the side of the pic F 34 ECE 477 Final Report BEQ CFO_COL_CALCS if zero no object not in object do nothing aim motor and move on to rows CFO_COL_LAST_OBJECT_END LDAB COL_INDEX SUBB END_OF_OBJECT load the end beginning of object CMPB MAX _OBJECT_WIDTH check to see if object width is the widest width is just start since the end is 0 BLS CFO_COL_CALCS not widest object aim motor and move on to rows CFO_COL_NEW_WIDEST_OBJECT2 STAB MAX_OBJECT_WIDTH save the new max object width LSRB divide object width by 2
104. off threshhold into the A register CMPA 1 X check to see if it is an object above threshhold post inc x BHI CFO_ROW_BELOW_THRESHHOLD if maxcol gt current value no object CFO_ROW_OBJECT_FOUND LDAB OBJECT_EXIST load the value to s if you are currently in an object BNE CFO_ROW_LOOP if non zero object already existed do nothing CFO_ROW_NEW_OBJECT MOVB 01 OBJECT_EXIST object just started set object_exists 1 MOVB ROW_INDEX END_OF_OBJECT store col_index as the end beginning of a new object BRA CFO_ROW_LOOP back to find objects loop CFO_ROW_BELOW_THRESHHOLD LDAB OBJECT_EXIST load the value to s if you are currently in an object F 38 ECE 477 Final Report BEQ CFO_ROW_LOOP if zero no object not in object do nothing return to find objects for next col CFO_ROW_OBJECT_END MOVB 00 OBJECT_EXIST LDAB ROW_INDEX load the end beginning of object SUBB END_OF_OBJECT find width of object begin current value CMPB MAX_OBJECT_WIDTH check to see if object width is the widest BLS CFO_ROW_LOOP not widest object go back to find objects CFO_ROW_NEW_WIDEST_OBJECT STAB MAX_OBJECT_WIDTH save the new max object width LSRB divide object width by 2 LDAA ROW_INDEX col index half width center point SBA STAA ROW_OBJECT_CENTER store center value now we have center and width for the max point BRA CFO_ROW_LOOP back to beginning of find objects to con
105. onnectors are placed to minimize distance to their respective microcontroller pin connections With intelligent selection of these connections this leaves a large area open for the sensitive oscillator circuit and bypass capacitors The final component layout shows the successful implementation of the above considerations with a final board size of 2 5 wide by 3 3 long The general electrical considerations are made up of manufacture circuit requirements considered hard constraints and noise reduction practices considered soft constraints Freescale provides a suggested PCB layout for all power ground oscillator and PLL connections to the microcontroller 10 A list of considerations provided in the datasheet specify that ceramic decoupling capacitors be placed physically close to each supply pair low ohmic low inductance connections be used between VSS1 VSS2 and VSSR VSSPLL be direction connected to VSSR traces in the oscillator circuit be as short as possible and that no signals be routed beneath the oscillator circuit These specifications were covered by the suggested PCB layout in the document which is closely followed including the copper pour under the microcontroller 24 ECE 477 Final Report Spring 2006 This solid layout for powering the microcontroller will go a long way toward ensuring proper operation free of avoidable noise sources The final set of hard general electrical constraints come from the PCB manufacture
106. oop bclr IBCR mIBCR_MS_SL ends transfer of data generates STOP condition rts waitloop simple delay loop ldy SFFFF inwaitloop idivs idivs idivs dey cpy 50000 bne inwaitloop rts E RARE D E ROAT ERRE RIRE E RAR LR RR IN RRM RR E IS TG De ECT PWM Initial K ization REIS RMR REN IR Ree ARE TRA eR IAP NI he A ARRE EA RRR A NN ER ROK ectinit ovb ovb ovb OVW OVW OVW ovb OVW ovb 333333333 3 ovb interrupt bset res PAFLG 02 80 TSCR1 4880 TCTL1 SOB TSCR2 42 PACTL A8 TIOS Set channels 7 5 and 3 to output compare 28 OC7M Set channels 5 and 3 to change on 7 compare 28 0C7D Set channels to output 1 on 7 compare 0753 TC3 Set pan motor to center point 0753 TC5 Set tilt motor to center point 7A12 TC7 Set pwm period to 20ms Enable timer Clear channels 5 and 3 on compare Auto reset on 7 compare and prescale clock by Enable pulse accumulator A and turn on Clears the PA overflow interrupt flag F 19 ECE 477 Final Report BA RK RON FASE SIR AGRO GOR ER EE ATI A FRA EE Calibration e ROBE RD Rah A A A RRR E RR RIM AAA RGM NORA AA LARK AOR RR RRA calibrate BEGIN_CALIBRATION BEGIN_SET_CAL_ IMG LDAA 10 load in the index for the set cal img message JSR lcd_topmsg display the message on the lcd Set Cal Img Done LDAA 11 loa
107. r ts_numstamps e ts_pointer e buffer KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Ek kk kk KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK unctions KEKE KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK kk kk es qu 0984 K number of timestamps currently recorded 30 bytes qu 0985 Where to currently write to in the timestamp equ 0986 One word pointer qu 0987 Literal current position not a pointer value ts_current_lit e This function ini sets the LCD outp timestamp_init movw movb movw movb RE ldaa Jjsr ldaa Jjsr rts This function wil timestamp_display pshx pshd tializes the timestamp variables and ut ts_buffer ts_current 00 ts_numstamps ts_buffer ts_pointer 01 ts_current_lit lcd_clrscreen nodata lcd_topmsg todisplay lcd_bottommsg l reoutput the current timestamp save x register Save a and b registers lcd_settingmode ldaa jst ldx point to lcd_wr 01 lcd_ write ts_current load the current timestamp to itemode F 12 ECE 477 Final Report ldab 0 x jsr lcd_output2digits ldaa S 3A jsr lcd write inx ldab 0 x jsr 1cd_output2digits ldaa 3A jsr lcd write inx ldab 0 x jsr lcd_output2digits dex dex ldaa ts_current_lit at Jjsr 1lcd_bottommsg the bottom LCD screen puld pulx rts This function will update the display wit one timestamp_d
108. r 35 and define minimum trace spacing and via sizes The board thickness must fall between 020 and 125 traces greater than 0049 spacing greater than 0045 and finished hole size greater than 010 With these restrictions in mind signal traces are routed with at least 012 width and finished holes are no less than 015 wide to be at least the signal trace width with an additional tolerance to remain well above the manufacturer s minimum The remaining electrical considerations are simply good design practices and regarded as soft yet very important constraints to suppress and reduce the reception of noise The Motorolla Application Note AN1259 36 is used as the main source of considerations of which the following were applied Connectors to external peripherals are placed physically close to their location Clock signal traces are as short as possible and have nothing under them 45 degree angles are used for all turns and no acute angles exist The power circuit is physically far from the remaining circuit Power and ground loops are avoided and wider traces are used 40 mil Crossing signals are routed perpendicular to each other Pixel clock signals are routed keeping distance from other signal lines Ceramic capacitors are located next to each supply pair for each IC A power grid consisting of 60mil traces around the outer perimeter of the circuit is incorporated and 40mil traces are used to b
109. r V1 Potential damage to Observation High Voltage Regulator set to microcontroller camera trip at current over 6 00mA LCD or related components unpredictable behavior A3 Output out of C10 C11 C12 C13 High ripple or out of spec Observation High Ripple could potentially Tolerance C14 D1 L1 U3 operating voltage destroy components unpredictable effects resulting in injury B1 Output Stuck Failure of any Depending on pin 12C Observation Low High Criticality high if system is High Low component within failure camera being used in a potentially function block B communication failure harmful way LCD communication failure servo failure C1 Faulty Image Camera Module Failure to detect follow Observation Low High Criticality high if system is Transmitted Software 12C failure motion seemingly random being used in a potentially servo movements harmful way C2 Image Sensor Camera Module Failure to acquire any Observation Low Microcontroller could Fails to Software 12C failure image data detect but not correct Respond this failure D1 Blank LCD R3 C9 Software port Loss of method to display Observation Low Failure to pin stuck high or low information to user Initialize D2 Random or C9 Software port pin Loss of method to display Observation Low Incorrect LCD stuck high or low information to user Output E1 Potentiometers R1 R2 U1 Software Loss of method of Observation Low High Criticality high if system is Have No Effect During
110. r pixel row slope 2 ROW_SLOPE3 EQU 0A44 2 byte pwm per pixel row slope 3 COL_SLOPE_AVG EQU 0A46 2 byte average col slope pwm pixel IMPORTAN VARIABLE DO NOT USE THIS ADDR ROW_SLOPE_AVG EQU 0A48 2 byte average row slope pwm pixel IMPORTAN VARIABLE DO NOT USE THIS ADDR COL_AIM_OFFSET EQU SOA4A 2 byte offset for aiming pan motor IMPORTANT VARIABLE DO NOT USE THIS ADDR ROW_AIM_OFFSET EQU 0A4C 2 byte offset for aiming tilt motor IMPORTANT VARIABLE DO NOT USE THIS ADDR CAL_REF_IMG EQU SOA4E variable to tell find center you are in calibration run special find objects F 3 ECE 477 Final Report EF_FRAM EF_FRAM T p Pp R R C rtc_hours rtc_minutes rtc_seconds rtc_decisecs rtc_temphr rtc_tempmin rtc_tempsec rtc_tempdeci rtc_temppa rtc_temppa2 Timestamp variables ts_current ts_current2 ts_buffer ts_endbuffer ts_numstamps ts_pointer buffer r ts_current_l ts_bufferm1 Message loo lcd_msglooku equ equ equ equ equ equ equ equ equ equ equ equ equ equ equ equ equ it equ equ MOTION_DETECTED EQU SOA4F motion or not EMP_VAR7 EQU 0450 WM_MINV EQU 0500 WM_MAXV EQU 0B00 E COUNTER1 EQU SOA5C E_COUNTER2 EQU SOA5D AL THOLD EQU 10 Real time clock variables 0960 0961 0962 0988 0909 090A 090B 090C 090D S090E 0963 0964 0965 0983 0984 0985 0986
111. rent value CMPB MAX_OBJECT_WIDTH check to see if object width is the widest BLS COL_FIND_OBJECTS not widest object go back to find objects COL_NEW_WIDEST_OBJECT STAB MAX_OBJECT_WIDTH save the new max object width LSRB divide object width by 2 ADDB COL_INDEX col index half width center point S TAB COL_OBJECT_CENTER store center value now we have center and width for the max point BRA COL_FIND_OBJECTS back to beginning of find objects to continue loop COL_END_FIND_OBJECTS LDAB OBJECT_EXIST load the value to s if you are currently in an object off the side of the image BEQ CHECK_COL_OBJECT_WIDTH if zero no object not in object do nothing aim motor and move on to rows else check stuff below COL_LAST_OBJECT_END LDAB END_OF_OBJECT load the end beginning of object CMPB MAX_OBJECT_WIDTH check to see if object width is the widest width is just start since the end is 0 BLS CHECK_COL_OBJECT_WIDTH not widest object aim motor and move on to rows COL_NEW_WIDEST_OBJECT2 STAB MAX_OBJECT_WIDTH save the new max object width LSRB divide object width by 2 STAB COL_OBJECT_CENTER store center value which is width 2 since start is 0 now have center and width for the max point F 36 ECE 477 Final Report CHECK COL_OBJECT_WIDTH
112. reset and begin to run up again By adjusting the counter limits and the timer pre scalar PWM signal frequencies and duty cycles change The timer is configured to generate a 50Hz signal and the duty cycle can be changed by adjusting register values The calibration module uses two ATD converters to read in potentiometer values and calibrate the motors The potentiometer values are used to adjust the tilt and pan motors in order to align them with the camera field of view During the calibration a static image with three black squares and a plain white background is held up for the camera to see The user points to each of the three squares and hit a button to register the coordinates of each square After calibration the microcontroller finds a linear relationship between the three squares and uses it to associate image coordinates with PWM values The pushbutton polling module simply reads the value of the pushbutton lines on the input ports If a pushbutton is detected high a flag is set corresponding to that pushbutton for a 29 ECE 477 Final Report Spring 2006 small amount of time Push buttons are only scanned every once in a while to eliminate bounced values being read and to not waste CPU cycles The pushbutton module routines are used in both the main loop to scroll through LCD information the calibration module to set an adjustment and in the real time clock module to set the initial time at startup The LCD module has functions t
113. rforming a simple and therefore relatively time efficient image processing algorithm to detect and track motion real time within the field of view The module automatically translates the motion location into a target point within the object bounds and provides servo control signals that cause properly calibrated motors to aim a pan tilt platform toward that target point For the purpose of proof of concept a laser pointer is activated atop the platform to verify correct target locations but the system provides a backbone for many applications such as security devices basic sight emulation robotics or automatic video recording devices In addition to the autonomous operation of the motion tracking system a user interface is provided in the form of pushbuttons and an LCD module to display useful information such as the timestamps of significant events Figure 1 1 Completed Project Photograph 4 ECE 477 Final Report Up Down Buttons Camera Module 2 24 Micro 11 Controler 2 Calibration Pots Servo Laser Motor Tae E Spring 2006 LCD Contrast Pot LED Display LCD BL Button Serre Motor 2 Figure 1 2 Project Block Diagram 2 0 Team Success Criteria and Fulfillment Project Specific Success Criteria An ability to aim laser at a torso 10 feet away An ability to timestamp and log motion events pushbuttons LCD An ability to analyze successive stored images for changes movement in field o
114. ring power signals toward the center of the board Since the bottom of the PCB is lightly populated a ground plane is created by the use of a copper pour covering much of the circuit area This plane is connected to the copper pour beneath the microcontroller by a via near the center and care is taken to prevent any loops on the power and ground lines These major noise reduction considerations are the applicable soft constraint suggestions and all are successfully implemented Beyond the general layout issues are specific considerations for each major component of the system and are considered from a bottom up design process These points define the link between the PCB design and the schematic design and as such they closely parallel the information presented in the schematic considerations Beginning with the microcontroller the 25 ECE 477 Final Report Spring 2006 most important requirement next to the suggested circuit provided by the manufacturer mentioned above is simply making logical pin assignments With the microcontroller orientation already determined data is able to be routed to convenient pins while keeping the Y7 Y0 and U7 U0 pixel data busses and the DB7 DB0 LCD data bus routed in order to nearby full register ports This scheme allows data to be easily manipulated on these bus lines by addressing their respective registers and also provides close non overlapping traces directly to the headers Port pin assignments
115. rt Spring 2006 PCB and must be arranged for efficient use of space and ease of routing The camera header is a unique hard constraint in that it must be close to the appropriate edge of the board to avoid the use of long ribbon connector which would be hazardous to critical clock data The final physical dimension worth noting is the power circuit since the voltage regulator is a TO 220 package 32 which is relatively large compared to the type 1206 surface mount components used elsewhere Physical soft constraints include the location of components on the board with the exception of the camera header which is now considered fixed In an effort to reduce interference the voltage regulation circuit should be kept separate from the digital sections and close to the power input and battery location in the back of the package The LCD header should be placed near the location of the LCD panel which is the next component inward from the power circuit With this arrangement it makes logical sense to position the microcontroller between the camera and LCD headers near the center of the board Orientation of the microcontroller is determined by the most critical traces on the PCB the camera s PCLK and HREF clocking signals Wanting these signals to be input to interrupts and considering the I O requirements detailed below for each peripheral the optimal microcontroller orientation is easily determined With these major components placed all other c
116. rt as possible Bypass capacitors used for the camera IC are already included on the module so no additional power considerations are required in the layout With regards to pixel information although only the Y data is used both Y and UV data busses are routed to the microcontroller going to ports PT and PB in order to provide easier data manipulation in code UV data is ignored but is accessible if eventually needed As mentioned above the DC lines must be routed to the appropriate port pins located on a different side of the microcontroller but can be freely routed on the nearly vacant underside All other control signals are routed to general I O port pins based on minimizing the distance of each trace 26 ECE 477 Final Report Spring 2006 The third significant component requiring numerous signal lines is the LCD module and associated electronics 27 Placed on the opposite side of the microcontroller as the camera module the LCD header is near plenty of port pins for both the parallel data bus and the various control signals Once again the bypass capacitors are included on the LCD module and therefore are not considered The contrast potentiometer and backlight pushbutton header used with the display are mounted close to the header keeping the entire LCD circuit to a confined and convenient area The remaining components and connectors are placed to keep traces short with a few additional considerations The power circuit includes
117. s If it is used in a sentry turret system it could inadvertently injure friendly targets or fail to correctly aim at hostile targets thus allowing them to pass through the detected area without any negative effects If it is used in a security system it could fail to track a target and could lead to hostile targets breaking into a secure compound 14 ECE 477 Final Report Spring 2006 6 2 Environmental Impact Analysis Manufacture This project contains multiple parts that project possible environmental hazards during manufacture The PCB is one of the main concerns as there are many environmentally harmful processes used in PCB fabrication Cleaning and surface preparation of the PCB uses multiple types of acids halogens and alkaline solutions and produces a number of harmful byproducts During the metal plating process byproducts such as acids stannic oxide palladium and chelating agents are created During the pattern printing and masking process chlorinated hydrocarbons and alkali are some of the byproducts and during etching ammonia chromium and acids are among the harmful byproducts 15 There are various leftover metals as well that are too small to be reused or recycled so they are generally thrown out There are multiple steps that could be taken to reduce the harmful waste created from fabricated PCBs but realistically there is no way to eliminate it Some of these steps include making a more compact PCB design which would ul
118. s made similar to the camera module Since this controller is relatively simple compared to the rest of the components analyzed it has the lowest failure rate with an MTTF just short of 40 years As with the image sensor the modular design allows an LCD failure to be corrected by replacing the inexpensive LCD module A simple analysis of the four major components provides good insight into the reliability of the entire system Under assumptions that over exaggerate actual operating conditions the results summarized in Table 5 1 indicate an approximate failure rate for the entire system The most critical component in terms of shortest failure rate is the linear regulator which is unfortunate due to the difficulty of repair but expected nonetheless Close behind is the microcontroller which is also a difficult component to service The gaps between failure rates continuously increase with the image sensor being next followed by the LCD controller These values are acceptable due to the general ease of replacement and in reality are even lower when actual junction temperatures and loading conditions are taken into account 12 ECE 477 Final Report Spring 2006 In order to facilitate the failure mode effects and criticality analysis FMECA the schematic is divided into several blocks by function This breakdown is summarized in Table G 1 included in Appendix G Two criticality levels are appropriate for the design referred to as high
119. s to control the servo motors and aim them at the location of motion I designed and coded in assembly the entire calibration routine as well Surprisingly the find center and motion tracking code did not require much debugging it worked almost as expected on the second try The calibration routine took a large amount of debugging in order to get it working though which is what I spent the majority of my time on during the second to last week I was also in charge of writing the ethical and environmental concerns paper The last week I spent mostly on testing and troubleshooting the project hanging A 1 ECE 477 Final Report Spring 2006 wait times between reference frames tweaking calibration and creating legs for the project box to lift the front of the box and aim the lens upward since it was mounted in the box at a downward angle After that it was just filming PSSC videos 362 bonus presentation and writing lots of papers A 2 Contributions of Craig Noble As one of the two electrical engineers on the team my main focus was with the hardware and image processing theory associated with the project I had originally proposed the project as an idea that would include a signal processing twist an area that I am personally interested in I wanted to make sure we used an image sensor instead of a full webcam type product since we wanted to process raw data quickly and frame grabber software was expensive and slow I also worked on t
120. setmins If it was pressed move to setting minutes ldaa PTH Load Port H cmpa 02 Check button 2 bne timeset_infloop If it wasn t pushed poll the buttons again jsr uphr If it was pressed up the hour counter and update LCD bra timeset_infloop Then poll again setmins lcd_settingmode Lets us adjust cursor display ldaa 83 jsr long_lcd_write Moves cursor to the minutes position lcd_writemode Puts us back into character write mode setmins2 ldaa PTH Load Port H cmpa S01 bne minsnotdone Check to see if button 1 was pressed rts Done minsnotdone ldaa PTH Load Port H K cmpa 02 Check to see if button 2 was pressed bne setmins2 If not poll buttons again JSE upmin If so update the minutes bra setmins2 Poll buttons again E Uphr function increments hours by one BAR DE eh F 10 ECE 477 Final Report uphr clra instructions ldab incb cmpb bne clrb hrokay stab ldx idiv tfr addb tfr sE clra ldab ldx idiv addb EES Jjsr ldaa jsr position rts op PEE RAR Upmin function A Rae eae upmin clra ldab incb cmpb bne clrb minkay stab ldx idiv addb idiv addb rtc_hours 518 hrokay rtc_hours SOOOA x d 30 b a med_lcd_write rtc_hours SOOOA 30 b a med_lcd_write lcd_settingmode 902 med_lcd_write lcd_writemode Clear the A register for later IDIV Load the current number of ho
121. sts 1 MOVB ROW_INDEX END_OF_OBJECT store row_index as the end beginning of a new object BRA ROW_FIND_OBJECTS back to find objects loop ROW_BELOW_THRESHHOLD LDAB OBJECT_EXIST load the value to s if you are currently in an object BEQ ROW_FIND_OBJECTS if zero no object not in object do nothing return to find objects for next COW ROW_OBJECT_END MOVB 00 OBJECT_EXIST LDAB END_OF_OBJECT load the end beginning of object SUBB ROW_INDEX find width of object begin current value CMPB MAX_OBJECT_WIDTH check to see if object width is the widest BLS ROW_FIND_OBJECTS not widest object go back to find objects ROW_NEW_WIDEST_OBJECT STAB MAX _OBJECT_WIDTH save the new max object width LSRB divide object width by 2 ADDB ROW_INDEX row index half width center point STAB ROW_OBJECT_CENTER store center value now we have center and width for the max point BRA ROW_FIND_OBJECTS ROW_ END_FIND_OBJECTS back to beginning of find objects to continue loop F 40 ECE 477 Final Report L
122. te Clear the A register for later IDIV Get the upper digit Move the value in port B to port A Write the character to the LCD Write the lower digit to the LCD CEO ATD BRR ARR ARR TOR ARROCES RIE BERR ERROR R BRIER RRR ARAB RRR EK AER RRR RR atd_init REGISTER DCTL2 movb REGISTER DCTLA4 movb Val C0 A VAL 00 A OxXE O s 2 DICT 0x00 L2 D1CT L4 URNS ON Al NS ETS 10 BIT RESOLUTION F 46 ECE 477 Final Report REGISTER AT DCTL5 VAL OxA7 SELECTS INPUT CHANNEL SCAN MODE movb SA7 ATDICTL5S T USE REGIST R AT REGISTER A REGISTER AT DCT DDROH TO READ IN RESULT DCTL2 Val 0xC0 TURNS ON ATD movb C0 ATDOCTL2 14 VAL 0x00 SETS 10 BIT RESOLUTION REGISTER A movb 00 ATDOCTL4 DCT 55 VAL OxA7 SELECTS INPUT CHANNEL SCAN MODE movb SA7 ATDOCTL5 USE REGIST T RR AT rts atd_turnoff movb movb rts DDROH TO READ IN RESULT 00 ATDOCTL2 Turns off ATDO 00 ATDICTL2 Turns off ATD1 EE A EREE A ER E KERE KERER EREE A AN Real time c ock interrupt EEN isr_paboverf ts_skipincse ts_skipincmi low
123. terfaces to are either wireless XCam2 or WideEye cameras Both cameras are wireless video cameras with a j7 ECE 477 Final Report Spring 2006 1 3 CMOS image sensor They can be powered from an AC adapter or by batteries The only difference between the cameras is the WideEye has a much larger viewable range A good part of the system s packaging is the use of four cameras This greatly increases the area that can be protected by the system A major downside to the system requires the use of a computer to store the images This is not a standalone security solution Also the cameras need to be purchased separately from the MultiView package This is confusing on their web page which degrades the system s ease of use This system also is a pure surveillance system there is no way to stop an actual intruder 7 2 Project Packaging Specifications The PCB is housed in a Serpac 153 hobby box and there are several holes on the top and front of the box The box s dimensions are 5 630 x3 250 x2 510 This gives enough room to comfortably hold the PCB camera and LCD screen There is a hole cut out the front of the box for the camera The pan motor is mounted to the top of the box and there is a hole cut out of the top for the LCD screen The text is displayed so you can read it when facing the rear of the device There are two buttons to scroll through the saved timestamps An additional button on the top will turn on the backlight for the LCD
124. timately reduce the overall size and weight of the PCB therefore having less waste created Another way would be to use possibly more expensive but more environmentally friendly methods of PCB manufacturing that do not contain such harmful chemicals Normal Use During normal use of this product there are very few environmental concerns associated with it One of the main concerns is the fact that it contains lead Lead solder is used to connect parts to the PCB many of the headers contain lead the PCB itself contains lead and the microcontroller used in this project contains lead Lead is considered to be fairly dangerous to be exposed to and many countries and companies are putting forth a large effort to reduce or eliminate the existence of lead in available products Even short term exposure to lead can lead to vomiting diarrhea convulsions coma or even death Anemia constipation and kidney problems are also concerns involved with extended exposure to lead Pregnant women and young children are especially susceptible to the harmful effects of lead which can cause stillbirths or miscarriages 16 If this product were to be widely manufactured more advanced precautionary steps would need to be taken to ensure as little lead as possible is used to create it Lead free solder is available and could be used as well as an RoHS compliant version of the 15 ECE 477 Final Report Spring 2006 microcontroller although it is more expens
125. tinue loop CFO_ROW_END_FIND_OBJECTS LDAB OBJECT_EXIST load the value to s if you are currently in an object off the side of the image BEQ CFO_ROW_CALCS if zero no object not in object do nothing aim motor and move on to rows else check stuff below CFO_ROW_LAST_OBJECT_END LDAB ROW_INDEX SUBB END_OF_OBJECT load the end beginning of object CMPB MAX_OBJECT_WIDTH check to see if object width is the widest width is just start since the end jis 0 BLS CFO_ROW_CALCS not widest object aim motor and move on to rows CFO_ROW_NEW_WIDEST_OBJECT2 STAB MAX_OBJECT_WIDTH save the new max object width LSRB divide object width by 2 LDAA ROW_INDEX find the new center SBA STAA ROW_OBJECT_CENTER is 0 now have center and store center value which is width 2 since start width for the max point CFO_ROW_CALCS LDAA MAX _OBJECT_WIDTH load max object width CMPA MINROWHEIGHT check to see if it s above the min for motion BHS CFO_ROW_CALCS2 above cutoff aim motor LDAA 27 load index of lcd message JSR lcd_topmsg REALIGN CAL IMG LDAA 28 load index of lcd message JSR 1lcd_bottommsg REALIGN CAL IMG RTS exit find center no motion CFO_ROW_CALCS2 LDAA ROW_INDEX load col index to check value CMPA ROWS13 check for area 1
126. urs Incremement it If it is equal to 24 or 0x18 reset it Update the value in memory Get the upper digit Move the value in port B to port A Write the character to the LCD Get the lower digit Write the lower digit to the LCD Settings mode for LCD Retrun cursor home Sends the cursor to the home Sets the LCD back to character write mode increments minutes by one rtc_ minutes S3C minkay rtc_ minutes SOOOA x d 30 b a med_lcd_write rtc_minutes SOOOA 30 Load the current minutes value Increment it Check to see if it has hit 60 If so clear it Update minutes in memory Get the upper digit Output the upper digit to the LCD Get the lower digit ECE 477 Final Report tfr Jjsr b a med_lcd_write Output the lower digit to the LCD lcd_settingmode Change to setting mode ldaa Jjsr starting position lcd_wr rts EK RTI TIA TR RR ROR ER End LCD Initializ 583 med_lcd_write Move the cursor back to the minutes itemode Change back to character write mode KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK ations K EE EE EE EE EE Real time clock f ORK TAR TL AER AIR EE Timestamp variabl ts_current equ 0963 current timestamp to display ts_current2 equ 0964 One word pointer ts_buffer equ 0965 start of timestamp buffer 10 entires ts_endbuffer equ 0983 end of timestamp buffe
127. ve on to object 3 DAA DI Done S17 3 DAA 11 L Done CAL_COL_ OBJ3 LDAA COL_OBJ3 not in correct section JSR lcd_topmsg not in correct section JSR lcd_bottommsg display error to user display the message on the lcd Move Obj 2 U display error to user display the message on the lcd Move Obj 2 U LBRA CAL_PB_POLL_2 r sends it back to take new ref frame and start over load col center of 3rd value F 21 ECE 477 Final Report CMPA COLS23 BHI CAL_ROW_OBJ3 if it r LDAA 18 JSR lcd_topmsg Done LDAA JSR STE lcd_bottommsg Done LBRA CAL _PB POLL 2 CAL _ROW_OBJ3 DAA ROW_OBJ3 MPA ROWS23 r r E D LDAA 19 S JSR lcd_topmsg Done LDAA 11 JSR lcd_bottommsg Done LBRA CAL_PB_POLL_2 r INITIAL_AIM_COL_MOTOR HI INITIAL_AIM_COL_MOTOR Sy not in correct section po Sef fides US not in correct section not in correct section display the message on the lcd LDD ATD1DROH do once before displaying on drawing current at same time SLD multiply pot value by 2 since it s onl ADDD PWM_MINV add the min offset CPD PWM_MAXV compare to max BLT CAL_COL_POT_OKAYO value okay a LDD PWM_MAXV value not okay CAL_COL_POT_OKAYO

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