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Remotely Accessible Target System

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1. Intuitive and easy to use interface a s ROOM LOr expan ON ae led esas 8 Technical ADDEOGG 8 8 CONO a ree ener 10 COMMUNI GALO 12 Power he y diets 13 Picar Anal VSS a 15 5 17 Flasrand usupa 17 Texas Instruments Analog Design Contest 18 TS5A73159DGS Analog SWILCD 18 OPA4350 edv o treo ein o dates wn Po iQ 18 ROUTO 18 REGIS Linear Tegula 19 30522 ceat es loses ea u a i an Awana 19 TJ P9561040 DC DC BOOS Q sQ 19 BO205TE Charge MOnagerebib 19 Boost Swi
2. 18 Tape Cost UAI apup LEE 20 OSE SEU alle ME tod 20 Figure 15 Initial Gonbb 21 iure 16 Finale Gan Uy 22 Figure 17 An Example of Keystone Elfect 22 Figure 18 Remotely Accessible Target System 24 Figure 19 Remotely Accessible Target System 2 25 Remotely Accessible Target System 1 ABSTRACT The Remotely Accessible Target System RATS is a prototype that shows that a vision system along with many other systems can be merged to create a viable solution to nearly every problem encountered by a long distance target shooter It is known in the shooting community that collecting data from long distance targets is dangerous and time consuming RATS is portable has a maximum range of 500 yards includes a ballistic chronograph has a resolution of less than 0 05 inches holds at least 12 standard paper targets which can be automatically advanced responds in less than 2 seconds includes an easy to use PC interface and retains the ability to be further expanded data is collected by the powerful MSP430 microcontroller transferred via Bluetooth processed within th
3. 2 Page 46 Remotely Accessible Target System Communication Circuit BTVco 079 iun TS5A23158 BTVoc R19 10 ES 10997 e gt C42 gt C44 0 1uF 0 1uF mu b o 4 J S L GND B3 1000P Remotely Accessible Target System 47 MSP430f2272 Microcontroller Circuit x P1 5 amp P1 7 MSP430 TEST SBUTCK P1 7 TA2 TDO TOI P1 6 T amp 1 TDI J P4 4 SNCLK TCK J e 37782 ne 3 1 2 64 v RST NMI SBLITOIO 4 580 Dez RCLICZ PG B4 6 TACLK ADCLECLE AJ P2 4 TAINCLK SHCLH D2 4 TR2 R4 UREF 7 UeREF RIG lt 5 P2 2 TAB AZ p2 3 Thi h3 UnEF Uemgr 29 2 N ui 14 P2 6 UCESSTEZUCABCLKSAS Pp3 2 787 P3 UCBOSIHO UCBOSDA P2 6 A6 er ws P2 2 UICBASOMI UCB SCL S7UEe DXDZUCAGSGNI d 4 PZ 32 UCEACLK UCABSTE B3 4 UCABTXB UCAGSIND R uC GND P4 TITECLK P4 GTEICUTH A18 WIL V Step FI P4SITB2 A14 z an 9 PA AITETA13 a Slap T 5 MSP43 F 22x2 Control Box to Platform Connector Circuit GND X1 FI 3 14 gt E Bullet Det lt R Bullet Det 3V3 slo iii IR LED Servo FIRLED is F IR LED 5 Trat Lmt S 2 12 13 5V Remotely Accessible Target S
4. di ou su m 21 E e _ Loos LL s Ml rests for camera flash status bit ser IF is not set make flash Orherwise Flash for comm Test Then Finish Ack Set the Flash enable bit Fires Camera Flash for Comm Flash EN was t start s clear Sets Task Complete Return Tesr status Received Check Battery Command e emma ns aae emi e ame ADCI Starts sampling and conversion rests For end of conversian If Conversion not finished Moves the ADC Value to temp Swaps Bytes for transmission 2 NxtCmdl CALL SRCVACK NxtCmdl CMP B CmdNAK RcvCmd R13 JNZ NxtCmd2 CALL RCv NAK NxtCmd2 CMP B Cmdshot RcvCmd R13 JNZ MxtCmd3 CALL sRCv5hot HxtcCmdi CMP B RcvCmd R13i JNZ Nx tcmd CALL RcvTrat Nxtcmd4 B CmdSrvo RcvCmd R13 NxtCmd5 CALL gRcv5rvo NxtCmd5 CMP B amp cmdMode RcvCmd R13i JNZ Nxtcmdb CALL SRcCvMode Nxtcmd6 CMP B CmdTme Revcmd R13 JNZ NxtCmd7 CALL SRCvTme amp Hxtcmd7 CMP HB RevCmd R13 JNZ Hxtcmda CALL RcvBat NxtcCmd8 CMP B cmdcam RcvcCmd R13 JNZ NxtCmdF CALL Rev Cam NxtCmdF BIT B 0 01 Status Jc CALL KSndNAK 1 Cmdcmpz CALL 2 F x l Status RET Dmosht RIO R14 SUB W R11 RIZ SWPHB dt CLR W cmd MOV B CmdPrfx sndcmd r13
5. s amp CALBCl 8MHz BCSCTLL Set wo Clock to run at amp MAz ECALDCO MHZ amp DCOCTL Ser up DEO to run at EMAZ BIS B SDIVS 1 amp BCSCTLZ i SMCLKSDCO 2 4MHz MCLKSSMHz Default Run an MOV B 0 0 Status Sets status to demo vod Flash CLR W cm gt Clears the Command Array offset cmdPrfx RcvCmd R13 RcvCmd 0 CmdPrfx INC W cmd gt Increments Command Array offset MOV B ScmdMode RcvCmd R13 RCvCmd 1 INC W cmd Increments Command Array offset MOV W 0 0103 RcvCmd R13 2 3 Demo Moda Flash on CALL RcvMoOde Calls Mode Command sub routine 4 T O Pin LA WW ME MEC h se ome 21 0 31 MTcro Indicator LED out 21 2 33 14 PI 3 Captura Pin I in Laser INTERRUPT r 32 5 Capture Pin 0 in Remotely Accessible Target System 29 4 35 Target Advance Limit switch gt 21 5 36 Pl 6 77 Communications DTR Micro controller fs High pl 38 PI D ff 2 1 9 Camera Power Control High 185 P2 2 10 Front Light Curtain out P J 29 Rear Light Curtain out gt P2 4 30 Camera Flash Enable out P S gt 2 6 6 Crystal xin 7
6. cont If initial rotat test Imt switch If lmt switch 75 set Target finished Moves current P4 outputs into temp Clears out top nibb e of temp P4 Sets the current step bits in temp Moves the new valve of to P4out Loads the Timer B intia count 355 Calls Time Delay Sub routine rests for initia rotation complete If initial rotation cont If initial rotat comp test Imt swtch If lmt switch is set Target finished Moves current outputs into temp Clears nut rop nibble of temp P4 sets the current step bits temp Moves rhe new value of P4 ro Pott Loads the Timer B intia count 35ms Calls Time Delay sub routine rests for initia retation complete If initial rotation cont If initial rotat comp test lmt switch If imt switch 75 set Target finished rwr y steps complete dec counter If counter not zara start 8 steps agn If set ini rot comp stat bit Load longer time delay for Timer B niy Start 8 steps looking for Imt swtch De energizes motor 15 Disable DC DC Converter Limit Switch Loads Duter Delay2 loop 0 15 delay Calls Time Delay 2 routine Clears Capture 0 interrupt enable Clears Capture 1 interrupt enable 1 3 IFG Cleared Sets Task Complete Bit in Status Clears initia rotation complete Flag Return Received Change Mode Command mr naa eee ee eee CALL amp TDel ay BIT B 20x10 Status INC Steps BIT B
7. Battery Level A battery level indicator is a welcome addition to any device that is not plugged in With the MSP430 s built in Analog to Digital Converter Remotely Accessible Target System 10 monitoring the battery level of the RATS is as simple as voltage divider and 15 lines of assembly code The voltage divider was used to divide the battery voltage from a maximum of 8 4V down to a maximum of 3 3V This ensured the microcontroller could read the battery voltage as a 0 to 3 3V signal and that the higher battery voltage would not harm the microcontroller When the microcontroller received a command to check the RATS battery it would simply run the ADC routine and convert the scaled battery level to a digital value from 0 to 1023 This value was then returned to the PC were it was converted into a relative battery life percentage Chronograph The key to automating the Remotely Accessible Target System was engineering a system to reliably detect a bullet passing through the paper To make the system capable of determining bullet velocity two identical circuits were built The first circuit was placed in the front of the target platform the second in the back This hardware design provided capability for both bullet detection and bullet timing The method chosen to detect the bullet was a substantially improved version of David Collins Ballistic Chronograph as published in the J une 2009 edition of Nuts amp Volts
8. BIC H x01l amp PlOUT Clears Pl 0 gt LED OFF MOV W 0 000 D1y20L Loads Outer Delay loop for is delay CALL 2 Calls Time Delay routine BIS B SR All enabled Interr prs enabled Start BIC B 0 01 Status Clears Task Complete in status reg BIS H 0 01 amp PIlOUT Sets PI U LED MOV W 0 0005 ply2o0L toads Outer Delay loop CALL TDelay2 Calls Time Delay BIC H 0 01 amp PIOUT e Clears 1 0 LED OFF MOV W 0 0005 D1y20L Loads Outer Delay loop CALL TDelay 2 P Calls Time Delay IMP Start Nearly Infinite Loop ta LN PAJA P Ll lic liil SAO e rema rie mas P c g Pd m ka G P p m P fld s Me a Timer A Capture Sher SBEL trm CapSet MOV W 0 0260 amp TACTL S Fimer SMCLK 7 ZMHz Cont Mode MOW W 0 4900 amp TACCTLO Sets up capture Compare 0 contro Reg Status temp Moves Status reg to temp AND
9. ES Wii i t 4 ANAS E 2 gt Figure 9 Power Regulation Solutions A huge variety of voltage regulators available from Texas Instruments gave us almost unlimited options in addressing these issues The first design issue minimizing power consumption to maximize battery life was addressed in many different ways Low power Microcontroller Our choice of a low power microcontroller was an easy one with the selection of the TI MSP43012272 At our chosen operating frequency of 8 and voltage of 3 3V the 5 2272 consumes less than 3mA of current High efficiency Step up DC Convertors for Low duty Regulation Within the RATS platform there are two circuits that require much higher voltages than the rest of the circuitry and are used infrequently and for brief periods of time Using a 12V battery and regulating to 3 3V and 5V using linear regulators was deemed too inefficient The choice was made to use the lowest voltage battery possible to power all components that are used 1009 of the time The low duty higher voltage regulation would be stepped up only when needed The high voltage circuits mentioned are the camera flash circuit and the stepper motor driver both of which are shown in Figure 9 The flash circuit consists of two parallel circuits of six LEDs in series A 15 5V regulated supply is required to power these LEDs The regulator chosen to drive these LEDs was a Texas Instruments TPS
10. amp P35EL P3 Defaults to Genera 0 BIS B 0 06 amp P35EL e P3 l 120 Data P3 2 I2C Clock Out 815 8 0 30 amp P3SEL PJ 4 DART Tx P3 5 DART 0 08 amp PA4OUT Forces P4 Outputs and Res Pull Dir Low MOV H xFF amp PADIR P4 Defaults to Output MOV B 0x00 amp P4SEL Defaults to General 0 HIS H 0 06 amp P4SEL Selects P4 1 amp 2 for output z Serial BEL sm Saim a ak 6 BIS B FUCSSEL 2 amp UCAOCTLI Selects SMCLK for Serial Port MOV B 71 sers up Baud Gen to 57600 4MHz py MOV FD Sets up Baud Gen to 57800 W 4 fe MDV B UCBRS_ 4 8UCAGMCTL Modulation UCHRSX 4 B 34 amp UCA BR Sets up Baud Gen to 115200 8 4MHz 0 E amp UCA BRI Sets up Baud Gen 115200 MHZ W UCBRS 6 amp UCA MCTL Modulation UCBRSK 4 4 BIC B UCSWRST amp UCA CTLI Releases VART for operation BIS B amp IEZ Enables UART Rx interrupt Timer B 5U UKkHz Timer Setup meme s BIS W KTBSSEL 2 ID 3 amp TBCTL Timer B SMCLK S SODkWrz Stopped BIC W amp TBCTL Clears Timer B Interrupt enable Remotely Accessible Target System 10 Bit ADC Conversion Setup 30 MOV W FADCIOSHT_2
11. Ideal for Single 4 1 V or 4 2 V and Dual Cell 8 2 V or 8 4 V or Li Pol Packs Components 0 3 V Dropout Voltage for Minimizing Heat Dissipati Better Than 1 Voltage Regulation Accuracy With Preset Voltages AutoComp Dynamic Compensation of Battery Pack s Internal Impedance to Reduce Charge Time and During Charge Integrated Voltage and Current Regulation or Low Side Current Sensing integrated Cell Conditioning for Reviving Charge Status Output for Single or Dual Led or Host Processor Interface Automatic Low Power Sleep Mode When Is Removed Packaging 8 Pin SOIC 8 Pin TSSOP 8 Pin MSOP bq2057x5H or bq2057xTS SOIC SM or TSSOP TS PACKAGE TOP VIEW DESCRIPTION Lithium lon Li Ion and Lithium Polymer Li Pol linear combine high accuracy current and voltage regulation battery conditionmg temperature monitoring charge termination charge status indication and charge rate compensation in a single 8 MSOF TSSOP and SOIC package options are offered to fit wide range of end applications The 2057 contnuously measures batery temperature using an extemal thermistor For safety the 2057 inhibits charge until the battery temperature 5 within user defined thresholds The bq2057 then charges the battery in three phases conditioning calis eee If the battery voltage is below the low voltage thresho imin the ancidmiges ein Ker cineri k
12. Sets 2 2681 Both Light Curtains ON Call the Capture Setup routine Capture 0 interrupt enable Capture I intterupt enable Loads Outer Delay loop Calls Time Delay Capture 0 interrupt flag clear capture 1 intterupt flag clear Pl 3 IFG Cleared Jump teo return Both Light Currains off Laser gun input active Clears current mode Set Mode 3 Status 8715 selects active Pl Inputs Activates Pull PlOUT Resistor Selected pins inputs are pulled high 3 Select High Low transition Pl 3 IFG Cleared i Clears Capture 0 interrupt enabla Clears Capture 1 interrupt enable Pi 3 IFG Cleared Clears P2 283 Both Light Curtains OFF Sets P3 8 Laser Gun laser OFF P1 3 Interrupt enabled Increments offset rests first bit in 4th byte of cmd bit set enable camera flash not set disable camera Flash Jump ta Mode Change Done If bit set enable camera flash Sets Task Complete in Status Loads Outer Delay Calis Time Delay capture 0 interrupt flag clear capture 1 intterupt Flag clear Return from sub routine _ ocv M xo cm umo uc a Oro oun OA cm P Clears rhe Command Array offset Remotely Accessible Target System Send NAK command SndNAK INC W MOY B INC W MOV B W MOV H CALL RET CLR W INC W MOV B MOV B INC W gt Time Delay erar 5n
13. magazine 3 This design consists of three simple parts an infrared IR light source infrared photo diodes and a filtered amplifier circuit The RATS bullet detection IR light source consists of 8 infrared LED emitters spaced 1 25 apart at the bottom of each chronograph light curtain This IR light source creates a steady wall of IR light at both the front and back of the RATS These emitters were then forward biased with a Texas Instruments REG113 5 linear voltage regulator This regulator provided us with a small surface mount footprint at a reasonable price One of the key features in choosing this part was the enable input This feature allowed the regulator output to be turned off when the chronograph was not in use reducing power consumption by approximately 30 With the IR light source in place a detection circuit was needed For this eleven IR photo diodes were connected in parallel and spaced 1 apart across the top of the light curtain This parallel bank of photo diodes was then reverse biased with the same 5V supply Fully illuminated by the IR emitters this bank of reverse biased photo diodes produces a total current of 26pA This current was then dropped across 56kQ resistor producing an average DC voltage of approximately 1 5V As a projectile passes between the IR emitters and IR photo diodes the amount of infrared light detected by the photo diodes decreases due to a shadow effect from the bullet This d
14. published specifications These devices have irmied builtin ESD peniteccon Texas Instruments semiconductor praduats and disoleimers thereto appears at the end of this dats sheet Copyright 2009 Texas Instruments Incoporaied POST Box MEMA nar TEMAS 1 Remotely Accessible Target System 51 ESD110v2 Parani ESD100V2 110V2 User Guide Version 2 0 0 2009 11 19 Remotely Accessible Target System 52 C328R C328 7221 Mono Camera Module WI UART Interface General Description The 328 7221 is VGA camera module which is specially designed for communication and working under low light condition It performs a JPEG compressed still camera and can be attached to a wireless or host Users can send a snapshot command from the hast order to capture a GND TxD RxD Features 8 Small in size 20 2 User friendly commands for control Monochrome image sensor used UART interface of up to 115 2Kbps E bit 25 4evel grey level Auto detect baud rate and make Sensitive to IR good for night vision connection to the hast resolution down sample to Power saving mode 233V operation Vanous lens options Low power consumption 105mA4 Connector specification Amm pitch 4pin single row Reference part no Suyin 190600 Bottom View Mating connector Suyin 140000 La summar Detai
15. 0x10 amp PIIN Jc TarFin Steps MOV B amp PAOUT temp BIC H amp xF temp 815 8 0xB0 temp MOV B R15 amp P4OUT MOV W RG R14 CALL TDelay BIT B 0 10 Status JNC Stepb BIT B 0 10 amp PIIN Jc TarFin MOV B amp PAOUT temp BIC H temp BIS B 0x90 temp M V R15 amp P40uT MOW W R14 CALL amp TDelay 0 10 Status INC Step BIT B 0 10 amp PLIN Jc TarFin Step amp P40UT temp BIC H temp BIS H 0 10 temp MOV H R15 amp P40UT MOW W R6 R14 CALL amp TDelay BIT H 0 10 Status JNC Steps BIT 0 10 amp PIIN Jc TarFin StepB amp PA4QUT temp BIC H temp BIS H 0 50 temp R15 MOW W RG R14 CALL TDelay BIT 8 0 10 Status JNC step BIT B 0 10 amp PIIN JC TarFin Step9 DEC W TarRat JNZ Stepl BIS B 0 10 Status MOV W 0 700 R6 JMP Stepl TarFin BIC H 0xF0 amp P4OUT BIS B 0 08 amp P40UT MOV 0 01 DIy2OL CALL TDelay BIC W 0 10 STACCTLO BIC W 0 10 amp TACCTLI BIC H 0x08 amp PlIFG BIS B 0 01 Status BIC B 0 10 status RET RcvMode MOV W 0x02 cmd BIT B 0 01 RcvCmd R13i Jc Model BIT B 0 02 RcvCmd R13 Jc Mode CALL 5ndNAK JMP Flshset Model Norma Operation Mode 1 BIT B 0 02 RcvCmd R13 Jc Mode3 a mu du mw a F selects ara byte of Receive Cad Tests for Mode 1 or 3 If Mode 1 or 3 then jmp to Wod
16. 0x6 temp Masks bit other than Mode bits 2 temp Compares Mode I Normal Operation 12 Nocpl Mode 1 rear capture js not needed MOV W 0 4900 amp TACCTLI Sets Capture Compare_ contra Reg NoCpl RET Return from sub routine Flash For cC amara ni nri m Si nd En nl PSI ne deir Camwait BIT B8 0 08 Status Test Flash bit in status JNC NoFIsh If not set do mot turn on Flash BIS B 0 10 amp P20UT Sets 2 4 Turns Camera Flash ON NoF lsh 0 19 Oly20L Loads Outer Delay 2 05 CALL TDelay 2 calls prs cS BIC 6 0x10 amp P20UT Sets P2 4 Turns Camera Flash OFF RET Return Check Received Command mm ena tea A e ChkcCmd CLR W cmd P Clears the Cmd Array offset SCmdPrfx RcvCmd R13 Checks for CmdPrfx Jz Nxtcmd If yes OK CALL 5ndNAK Else send a NAK NxtCmd INC W cmd Increments the cad Array offset RcvCmd R13 gt Checks for CmdACK Remotely Accessible Target System ama ma Um um mu mu ma ru mu oma Sma a mu ma ma If not If e Checks If nat IF sa checks Ift 0 Checks IF nat If sa Checks If nat IF sa Checks not If Checks If not If 50 Checks IF not If so checks
17. 5 Crystal Xout P3 0 11 ADC AS battery voltage level detector P3 1 12 r2C Data fine 2 13 120 Serial Clock out P3 3 4 PJ 4 25 P3J 5 26 Rx Pj b 27 Servo Laser owe P3 7 28 Gun Laser out P4 0 17 4 1 18 Servo 1 output 4 2 19 Servo 2 output 4 3 20 DC DC converter stepper motor and IR Switch owt P4 4 21 Stepper Motor 1 out 24 5 22 Stepper Motor Bl Out P4 6 23 Stepper Motor 2 out 4 7 24 Stepper Motor 82 out MOV H 0 00 amp PlOUT Forces Pl Outputs and Res Pull ofr Low MOV B amp xFF amp P1DIR PI Defaults to Output MOV B 0 00 amp PISEL PI Defaults to General I O0 BIS B 0x06 amp PLSEL 1 1 Capture Pin PI 2 Capture Pin BIC B OxSE amp PIDIR Selects active PI Inputs BIS B K x5E amp PLREN Activates Pull PIOUT 5 815 8 0 18 amp PlIOUT Selected pins inputs are pulled high BIS B 0 08 amp PIIES Pl 3 Select High to Low transition BIC B 0x08 amp PIIFG gt PI 3 IFG Cleared B 0 02 amp P2OUT gt Forces PZ Outpurs and Res Pull Dir Law amp PZDIR P2 Defaults to Output MOV H 0 00 amp P2SEL 2 P2 Defaults General MOV B 0 00 amp P3iOUT gt Forces P3 Outputs and Res Pull Dir LOW BIS B amp PiOUT Sets Laser Outputs Lasers OFF B K xFE amp PiDIR PF Defaults to Output MOV B 0 00
18. A E E 46 Amplifier Voltage Divider Reference Circui 46 NISP15012272 Microcontroller u y E DU hu Po pese ruens 47 Control Box to Platform Connector Circuli 47 SLED Wer eisa eiat ep 48 Pront Bullet Detection PT n 49 Rear bullet Detector uu d 49 MEI MUI IM LU ED 50 Doll cT o0 MOPSO PA ERREUR 50 ns TAM 51 52 aaa 53 du ENEMIES 54 PO 55 MOO E t T UTOR 56 uyana 57 uuo c 58 MC 3900 3 eer nd estas didam 59 PZO 1p TL cU 60 61 62 Mc 63 T 64 LIST OF ILLUSTRATIONS Figure 1 RATS System Overvie W vr ND E P EV
19. BATTERY POWERED EQUIPMENT PERSONAL DIGITAL ASSISTANTS MODEMS amp BAR CODE SCANNERS amp BACKUP POWER SUPPLIES Please be aware Hai important notice trademarks are the property of their respective owners DESCRIPTION The BESS Esa Pili Gf low dropout linear eigen low ESR capacitors greater than THF Typical ground pin current is only at laur 400mA and drops to 10 when not enabled Unike regulators with aap age eles ag debe disse ca eia EADEM Goa SML making R ideal for use The REG113 is well protected imternal circuitry provides current limit which protects the bad from damage further more om a amaged by excesswe temperature The REGI12 is awal able in SOT23 5 and MSOP 8 packages NOTEE 1 Opdanal 7 Noise Reducton awallabilty stamdard warranty amd use in critical applications nf Texas Instruments semiconductor products and discialmers thereto appears at the and of this data sheet DATA m cured dd 1 Copyright 2001 2005 Temas reimes Producta E speci autora per ka m cf Tian INSTHUMENTS Page 54 Remotely Accessible Target System BQ2057t SLLIEDZSZF 2001 REVISED JULY HME ADVANCED LINEAR CHARGE MANAGEMENT IC FEATURES Grids convene LZ krama of _ __ dew of ad purum
20. Figure 8 Multiplexed Bluetooth Wireless Connection Schematic The schematic shown above shows how both the C328R camera Cam Tx amp Cam Rx and the MSP430 microcontroller uC Tx amp uC Rx are used in conjunction with the TS5A23159DGS to share one Bluetooth connection The direction of this analog switch is controlled directly from the PC through the Bluetooth radio The DTR output of the ESD110v2 is switched automatically by the PC from within the RATS application The direction of the switch then depends on whether the application needs to communicate with the camera or with the MSP430 The application defines a default position to one in which the communication link is switched to the microcontroller to allow the microcontroller to send commands back to the RATS application during normal operation Power Regulation There were many considerations taken into account when designing the power supply circuitry for the RATS First and foremost was the fact that we wanted this to be a completely wireless device with a long battery life The second most important consideration was to take into account the noise issues from the serial communication devices that we saw during early development Another issue we chose to address while considering the first two was to replace BJ T and MOSFET switches with localized switchable regulators These solutions can be seen in Figure 9 below Remotely Accessible Target System 14
21. G amp ADCLOCTLO 26x Sample and Wold time BIS B 0 20 gt Select P3 0 45 as BIS W amp INCH 5 amp ADCIO CTLI Selects AS a single channel conv Centers Laser SelVOS eo esee uoti ee mec cta te BIS W STBCLR amp TBCTL Clears prev timer b value amp settings BIC W TBIFG amp TBCTL gt Clears Interrupt Fla MOV W TBSSEL 2 ID 3 amp TBCTL 8 SMCLK BS SOOkHz Stopped Sets up PWM Output uP Down Count 0 2500 Toggle set 5 1975 2275 MOV Ww 0 09 4 amp TBCCRO Moves 2500 ta TBCCR For 100NZ wavefrm MOV W amp OUTMOD 6 amp TBCCTLI Selects TOGgle set Mode MOV W OUTMOD 6 amp TBCCTL2 Selects Toggle set Mode MOV W 2042 amp TBCCR1 Zero s Servo i moves duty to MOV W 42042 amp TBCCRZ 5 Servo 2 moves duty to TBCCKR2 BIS W 3 amp TBCTL Starts Timer B far W 0 05 Dly2oO0L Loads Outer Delay loop for 0 55 delay CALL amp TDelay 2 Calls Time Delay 2 routine BIC W 3 r Stops Timer B for F Em ee MEL mast M
22. Return from Taterrupt Clears the Command Array affset sndcmd U CmdPrfx 2 Increments command Array affset sndcmd 1 Cmdshat Increments command Array offset SsndCmdi 2 43 Shot Time dt calis Transmit Command sub rout7ne Calls the Camera Flash routine Pops oid Delay 2 Outer loop counter Clear the Capture Compare Int Flag Clear the Capture compare Int Flag enabled Interrupts enabled Returns fram interrupt Move Timer A Capt value 2 shot Pushes olg Delay 2 Outer loop counter Remotely Accessible Target System MoShot 2 y Interrupt Vectors END BIC B BIT B JNE BIC W MOV W SUB W SWPB CLR W B INC W INC W MOV W CALL CALL BIC W BIC W BIS B RETI COMMON ORG DRG DW ORG DW ORG DW ORG DW GIE 5R 0 40 amp P1IN NosShot2 CCIFG amp TACCTLI R11 dt R10 dt dt cmd cmdPrfx sndcCmd R13 cmd CmdShot 5ndcmd R13 cmd R12 SndcCmd R13 TxCmd Camwalt Dly2O0L NCCIFG amp TACCTLO CCIFG GTACCTLI GIE SR INTVEC PORTI_VECTOR LGunisR USCIAB RX VECTOR SerrsR TIMERAL_ VECTOR T_Captl VECTOR RESET VECTOR RESET Fa a Wa Mu a Huy a mi mi sm mi Page 38 Ali enabled Interrupts disabled Tests PI 6 for Bluetooth Connection If Low BT connected to Camera Clear the Capt
23. W Table would work Jg arcem was eliminated with a lot of repetitive code Support K x08 amp P4OUT 0x00C0 TarRat K xrOOO0 R6 0x10 Status amp P4OUT temp Z xF temp K x40 temp R15 R R14 TDelay 0 10 Step 0 10 amp PIIN TarFin amp P40UT 0xF0 temp 0x60 temp R15 amp P40uT R14 TDelay F xl Status 0 10 amp PLIIN TarFin EPAOUT T xF temp 0 20 temp R15 amp P4OUT R14 amp TDelay 0x10 Status Step4 0 10 amp PLIN TarFin amp P40UT temp temp xAD temp R15 amp P40UT R6 R14 Status temp temp Enables Enables debug No solution found 50 Ty Tp Ty Ta Way hu ius mh Wy Uh won Uh WV m Uh L Al mum m Page 33 TI would not provide DC DC Converter d Limir Switch DC DC Converter d Limit Switch Loads the Array offset Clears lower nibble of P2 sets bits for current step phase Loads the Timer B TntTal count 35m5 Calls Time Delay Sub routine Dpecrements phase loop counter If Phase not zero then go again If Fin then Dec Target Rotate Count If not zero turn more Loads the Array offset Clears lower nibb e of Sets bits for current step phase Loads the Timer B count 50 5 Calls Time Delay sub rautine Tests 4 Target Advance If
24. With one added feature that set these regulators apart from others that being the enable pin This input pin allows the output of the regulator to be switched with the regulator itself and no external parts This along with the small SOT23 5 package allowed for localized regulation which helped provide noise immunity for sensitive devices MSP430f2272 Microcontroller The selection of the MSP43012272 microcontroller was driven largely due to the wide variety of capability in such a small package Texas Instruments was generous in providing us with an evaluation kit for any one of the MSP430 varieties we chose While our original plan was to use PIC microcontroller after playing with the TT evaluation kit and learning the MSP430 we chose to use it instead It turns out this was an excellent choice The 5 430 2272 had more capability than we needed and was very easy to use The flexibility of the timer peripherals was key in our project due to the different timing features we needed to use The features of the MSP430f2274 used in the RATS include Analog to Digital Converter Timer A capture Timer B PWM outputs UART serial communication input interrupts and others TPS61040 DC DC Boost Converter The TPS61040 DC DC Boost Converter was used to power our camera flash The flash circuit consisted of 12 red LEDs Six of them in series and then in parallel with the other six in series The voltage needed to power this configuration was 15 5V w
25. allows for a faster analysis which we determined to be critical Each pixel s red green and blue value was averaged That corresponding value then replaced all of those RGB values This allowed for future analysis to only be concerned with a single pixel s monochrome value rather than each pixel s red green and blue values The result of this conversion can be seen in Figure 12 below Figure 12 Rotated Picture after Black and White Filter Following the conversion to black and white a proprietary filtering technique was applied to the photograph This Ruttencutter Simon RS image analysis filter analyzes a black and white photograph like the one shown above and creates a subsequent image This resultant image can be seen in Figure 13 below Figure 13 Picture after RS Filter As seen above the result of the RS Filter is a clearly defined image The only information remaining in this image is the background and the blobs created using the RS filter Remotely Accessible Target System Page 17 Following the creation of the blobs the remaining picture is put through a blob detection algorithm This algorithm is used under the Lesser General Public License and was provided by AForge net According to AForge NET AForge NET is C framework designed for developers and researchers in the fields of Computer Vision and Artificial Intelligence image processing neural networks genetic algorithms machine learning robotics et
26. as j define k RG r Defines Tertiary Counter as K define 1 R7 Defines Primary ISR Loop counter as m RB Defines Secondary ISR Loop Counter m define R9 Defines Generic Array Offset amp define shoti Defines intial shot capture val shoti amp define shot2 Ril Defines second shot capture val shot2 define dt R12 Defines Count between shots 142 Wdefine cmd R13 Defines Command Array Offset define IniDly R14 Defines Timer B value define temp R15 Defines Generic temp register Revcmd DB 0x0200 OxOd T i jab les Me h MR zt UE PSS Forces variables to start Ox200 Rev d command 0 should Prefix Remotely Accessible Target System 28 DB Rev d command l Request or DB 00 command 2 Data MSS DB 0x00 Rev d command 3 usually Data 158 CmdPrtx send command 0 always Prefix DB 00 Send command Request or DB x Send Data MSB or ACK d DB 00 Send 3 usualiy Data 158 Step DB 0 00 Stepper motor step seg Low Nibble P DB 50 Step 1 DB 10 Step 2 DE 0 90 Step 3 DB 0x
27. as shown in Figure 2 Second it holds 12 11 x 11 targets that have the ability to be changed advanced remotely by the user With our target platform we can also take speed measurements do shot placement analysis score keeping single and multiplayer games record keeping environmental data etc Remotely Accessible Target System 4 Bullet Position Shots 9 Score 65 Grouping 8 71 Figure 2 Remotely Accessible Target System Graphical User Interface Figure 2 shows the main features of the user interface In the upper left corner a table displays the distance from the center of the target and the XY coordinates for each shot The most recent shot is highlighted with white and its statistics appear at the top of the table In the upper right corner the number of shots taken score and group size are shown The bottom bar shows when events happen for instance the camera wake up was a success There is also a battery meter and the chronograph readout The Remotely Accessible Target System uses the Texas Instruments MSP430f2272 microcontroller as its heart This micro provides the control for all of the hardware associated with the system such as the target advance servo positioned laser bulls eye LED camera flash chronograph and others All communication is handled through a set of Bluetooth modules one embedded and the second a USB dongle This Bluetooth connection serves as a serial communicati
28. consistent lighting for the camera Finally the lasers servos were added to provide a game for the shooter Table 3 Final Cost Estimate Components Description Bluetooth Communication ESD110v2 UD10OO GO1 Ant C328R Structure i Faztek Extruded Aluminum Plastic Sheathing and Boxes Lasers Servo Sparkfun Battery Debco Special T Motor and Custom Rollers Steel Armor R Emitters Receivers Fairchild QED223 QSD2030f arget Advance Active Components IC s and Microcontroller Passive Components Resistors Inductors Capacitors Estimated R amp D 1400 Hours S28 hour 39 200 00 This final cost estimate in Table 3 also includes research and development In the 10 months that this project was in development over 1400 man hours were invested These hours Remotely Accessible Target System 21 included research hardware development software development integration and testing The monetary value assigned to each hour is an average hourly wage for an entry level engineer this total amounted to 39 200 There were also some costs that were not included in the budget as they were received free of charge Texas Instruments provided a debugger for the microcontroller that was used during the development of our project Also the University of Cincinnati and Microsoft s partnership provided Visual Studios These contributions saved the team nearly 1000 Timeline A timeline was created in the
29. first month This timeline broke down the main aspects of the project and assigned an amount of time to them Figure 15 shows how much time was initially assigned to each task Tech Expo Preparation Figure 15 Initial Gantt Chart In this original timeline there was little room for error The amount of work that needed to be done was immense and is shown in the amount of time allotted Initially the project progressed towards Demo Day This was scheduled for the end of the winter quarter in March and required a working prototype In Figure 16 the actual milestones of the project were inserted to show how closely the project followed the timeline Remotely Accessible Target System 22 k ER AP pm E 74 VERS k ka Research Innovation 7 S ml E ro UN c Figure 16 Final Gantt Chart This chart shows the large milestones and when they were achieved This also helps show the completion of each of the major components of the target platform and its respective user interface All expectations were either met or exceeded for both Demo Day and Tech Expo Problems Encountered Keystone Correction The position of the camera is set below the firing line in order to never be in jeopardy of being hit by a bullet This causes a phenomenon known in photography as the Keystone Effect Figure 17 shows how a building that is known to be a uniform width can appear to become thinner as it rises far
30. for solanoid or motor applications Piease be aware inst an Important notice conceming wallaby standard warranty and wee critical app Texas Instruments semiconductor products and discdalrmers hereto appears at the end of this data sheet 2 2004 Tams FOST OFFICE BOX TEZHS 1 Remotely Accessible Target System 61 TC74LCX125 TOSHIBA TC7ALCX125F FNI FT FK TOSHIBA CMOS Digital Integrated Circuit TC7ALCX125F TC7TALCX125FN TC7ALCX125FT TCTALCX125FK Low Voltage Quad Bus Buffer with 5 V Tolerant Inputs and Outputs Note is nat avaliable in The TCT4LCX125 is high perform bufere Designed tix use 155 it achieves high speed operation while maintaimng the CM OS low power dissipation The device is designed for low voltage 3 3 V Vico applications but it could be used to interface to 5 V supply environment for This device requires the 5 control input to be set XE SOP 2 520 1375 Features Low voltage operation Voc 1 65 to 3 6 V High speed operation 6 0 ns max Voc 3 0 to 3 6 V PES Ouput current 24 mA min 3 0 V LAU Latch up performance gt 500 mA Available in JEDEC JEITA and VSSOP US P 127 Power down protection is pr
31. in critical applications of Texas Instuments semiconductor products and disciaimers thereto appears at the end of this data sheet PRODUCTION DATA curant Product conform per drcum Tamam wit Tec muds bere om Copyright 2005 2005 Texas Instruments incnrpora eerd Remotely Accessible Target System 58 OPA4350 Rum Products gt 50 rom 6759 2350 ep elg 4350 High Speed Single Supply Rail to Rail OPERATIONAL AMPLIFIERS MicroAmplifier Series DESCRIPTION RAIL TO RAIL INPUT The OPA350 seres rai ral CMOS operations RAIL TO RAIL OUTPUT within 10 amplifiers optimized for low voltage single supply WIDE BANDWIDTH 38MHz operation Rail m rail inputioutput low noise HIGH SLEW RATE 22Vlus and high speed operation 22 15 make them LOW NOISE ideal for driving sampling AnalogtoDigtal A D oe vt RM S EE ende el i processing mre xg riae Rie oM ird SEE SINGLE DUAL AND QUAD The senes operates a single supply as low as CELL PHONE PA CONTROL LOOPS extends below ground and 300mV above the DRIVING A D CONVERTERS positive supply Output voltage swing is to within T
32. learn the software and its features Design Objectives The objectives and design criteria for the Remotely Accessible Target System are as follows Range of at least 300 yards As the RATS is intended for use primarily by rifleman the system had to have a relatively long wireless range Based on our own shooting preferences 300 yards was determined to bethe minimum range acceptable While 300 yards is the minimum we intended to try to maintain the option of operation up to 1000 yards Resolution of less than 0 1 of an inch One of the main goals for the system was to provide the user with a sense of his or her accuracy while shooting An inherently inaccurate system would not be an acceptable solution The maximum resolution determined to provide this level of accuracy was determined to be one hundred thousandths of an inch The key to providing this level of accuracy is a large enough picture resolution Portable Portability is the key to the usability for the RATS This system must be manageable by one person Target size of at least 10 inches square While the previous design criterion is portability we also wanted to ensure the target was large enough to provide a pleasurable shooting experience Based on our own shooting preferences this minimum size was determined to be 10 inches square Response time of less than 3 seconds Any system that the user deems unresponsive will eventually be cast aside To ensure the long term viab
33. of the RATS target platform 75 to provide long distance r shooter a target which detects shots and relays the information he she ff desires back a laptop computer located with the shooter include msp430x22x2 h 2 Includes MSP4370F22x2 specific info H Smp me p ma mp Goa s ap a Rowe ge sms coms sip sma siapo mme ge cam sma coms simm nape mge e sm mas m coms sma omme ms m mas sma sess ma sma Se sm sim sms mmp mam sh mms sm mm mm me sh mas sm sim L MU PES PES SES UC PES ES eS MES PED MES DEC A ESO NAME main Defines name for entry point PUBLIC main Makes the entry point visible e sau idi REP i Hp pn Fa Pi e RO Ft p Pt a od m a va Fia uas m LM e dud gu _ gIrlcJlJNE NE D I J L T LJ Bie Mie D DL Jo NL c gl gl
34. provide a clear and unobtrusive method of data interpretation and control The hardware is used to collect the required data as well as to provide a platform for I O and expansion In short this is accomplished with a few main components At the site of the target there is a small digital camera a microcontroller the target advance mechanism and a Bluetooth transceiver At site of the shooter there is a Bluetooth enabled laptop which is running our custom application Each component has a specifically designed purpose The combination of the microcontroller and PC command the entire operation all other components are called on to perform their specific task These features provide a complete system for the shooter More detailed system photographs are provided in Appendix B Remotely Accessible Target System Pagel3 Problem Shooting is potentially one of the most dangerous sports in America While firearms only account for around 0 596 of all accidental deaths per year this also means that about 615 Americans die yearly due to accidents with firearms 1 The most dangerous situation encountered while participating in an organized shooting event is walking down range to replace or review a target Often times this requires that the shooter walk between other idle shooters and the target itself This presents the opportunity for disaster Not only is walking downrange a safety hazard it is time consuming As most shooters change hi
35. 0 215 5 45 0 020 0 51 50 2 Notes 1 1Elornr for ail drawings ane in inches mm 2 Tolerance of D 010 0 25 an alil nan namimal dimensions oiae 63 apoipojoug ucolj s J0c0zaso 1 1 0 Remotely Accessible Target System QED223 QED221 QED222 QED223 Plastic Infrared Light Emitting Diode Description Tha QED221 QEDZZ7 and QED223 are 880nm AlzaAs LEDs encapsulated in a Gear purple tinted Package type 1 3 4 Smm lens diameter plastic 1 3 4 package m Matched photosensor QS5D122 05D123 05D124 m Medium wide ernissson angle 40 m High output power Package Dimensions w Schematic ANODE 0 100 2 54 NOM 0 020 0 51 50 2X Notes 1 Damensions of all drawings are in mehes 2 Tolerance is 20 0170 0 25 an non nominal dimensions BO Semiconducior C OEDZZ1 Rav 3 0 1 64 apog Burgum 1uBr1 222030 Zzzdaao 122030
36. 430F2252 16KB 256B Flash Memory Oscillator 512B RAM 32 kHz Crystal MSP430F2272 32KB 256B Flash Memory High Frequency Crystal up to 16 MHz 1KB BAM Resona MSP430F2234 WB 2568 Flash Memory External Digital Clock Source 512B BAM External Resistor MSP430F2254 16KB 2568 Flash Memory 512B RAM MSP430F2274 32KB 256B Flash Memory 1KB RAM Available in a 38 Pin Thin Shrink 40 Pin Package RHA See Available Auto Baudrate Detection LIN Options IrDA Encoder and Decoder For Module Descriptions See the Synchronous SPI d 30x2xx Family User s Guide Po pleni Humber SLAUT1434 10 Bit 200 ksps Analog to Digital A D Converter With Internal Reference Sample and Hold and Data Transfer Controller description The Texas Instruments MSP4230 family of ultralcw power micro different sets of peripherals targeted for various applications The architecture combined with five low power modes is optimized to achieve extende 1 a powerful 16 bit CPU 18 bi registers and constant generators that contribute to maximum code Thed etn alim con apinhar medir bcc deinen than 1 apropia precautions Failure to abeeree proper handing and installation procedures oan cause damage ESO damage oan range 5 beoemuse very smal parametria changes could pause the devine not to meet
37. 61040 This switching regulator has a built in enable feature that limits the quiescent current to less than when the regulator is not in use This enable feature also reduces the need for a separate transistor switch Due to size and cost constraints the stepper motor chosen requires 12V to drive the motor coils at approximately 600mA Another Texas Instruments step up switching regulator the MC33063A was chosen to provide this power The high current capability and ease of use drove this choice With a rating of 1 5A it was known there would be no adverse effects due to the motors high starting current requirements Quiescent Power In order to limit quiescent power consumption a 7 4V battery was used and the main circuits were regulated using Texas Instruments high efficiency REG104 family linear regulators These 3 3V and 5V regulators both have a current output of up to 1A and an ultra low drop out voltage of less than 0 25V Remotely Accessible Target System Page 15 Inhibiting the noise issues experienced during prototyping was also addressed using regulation techniques Some circuits that were known to either impart noise onto the power bus or to be susceptible to noise were selected to be powered with a separate and localized regulator These circuits are the Bluetooth transceiver camera and IR light curtains Not only was it desirable to have a small package size but an enable feature would again allow us to reduce parts
38. 80 Step 4 DB Ox 40 Step 5 DB 0x20 step 6 DB Ox 60 Step 7 DB 0x40 Step 8 Status DB Ox00 Register for Status bits it Task target Finished or Command finished B7tl Mode 1 If Mode 1 AND 2 then Mode 3 2 Mode 2 If Mode 1 AND Mode 2 then Mode 3 Bit3 high camera flash on S 4 IF high Stepper Past Default Counts Ay EVEN Forces next hex address to Even TarRot DW 0 00 0 Number af Stepping Sequences no switch DIy21L DW xBEOQ Inner Delay 100 5 song DlyZOL DW 0 00 Outer Delay 100 Dly20L Memory Address med mete mesi RSEG CSTACK Defines stack Jocation RSEG CODE Defines code location ficha n reine miM sens rd pee See Fa il ai a MSP430 setup B niv i d ih ede rne M m eod Aa re vu re d r P RESET MOV K amp SFE CSTACK SP gt set up stack NOP main NOP main program MOW FWDTPW WDTHOLD amp WDTCTL Stop watchdog timer BIS B 0 01 amp PLOUT Clears P1 0 gt LED BIS H 0 01 amp PIDIR 21 0 Defaults to Output 0 00 1 201 Loads Outer Delay loop s delay CALL TDelay2 calls Time Delay2 routine 2 Clock Setup mmm imc mas nm niii t md m ps
39. Byte RET Return From sub rautine m ES Esa Tip a bip o Dem un chen chm am dem Eden cde r s cis des Lam k Rd iei dee dam cien cm m ea cum dan s s idm D Interrupt Routines p Pa Ue B e ad gi Rh Ha Hs UG H serial Recelve Interrupt Rovine dem s dem meni regi s ie aa de ai SerISR PUSH W DIy2OL Pushes ald Delay 2 Outer loop counter BIC B GIE SR enabled Interrupts disabled BIT B 0 40 amp PIIN Tests PI 6 Bluetooth Connection Noway IF Low Not Connected to Micro Remotely Accessible Target System CLR W p NxtByt MOV W 0x7FFF RxFAgn BIT B K UCA RXIFG 1202 JC RdBuf DEC W 1 182 RxFAgn RdBuF MOV B amp UCA RXBUF RcvcCmd R13 INC W cmd _ 0 04 JNZ NxtByt CALL amp chkcmd POP W Dly20OL F BIC W CCIFG amp TACCTLO h BIC W CCIFG amp TACCTLI BIS B SR i RETI S TOUt CALL amp 5ndNAK
40. College of Engineering amp Applied Science ECET Senior Design Submitted to Professor Michael Haas Professor Carolyn Stoll Remotely Accessible larget System Final Report Chad Ruttencutter amp Peter Simon June 7 2010 670 State Route 756 Felicity 45120 June 7 2010 Professor Michael Haas University of Cincinnati College of Engineering amp Applied Science 2220 Victory Parkway Cincinnati 45206 Dear Professor Michael Hass Attached is our final report on the Remotely Accessible Target System which was requested by the ECET faculty This final report covers the details that led to the completion of our project In this report you will see the problem solution credibility and methodology These sections will be followed by project conception design objectives methodology design requirements procedure and testing budget timeline problems encountered analysis of problems solved and future recommendations The oollection of these sections will illustrate the process of how the device was conceived as an idea through its implementation Throughout the duration of this project we were advised not only by you but also Professor Elvin Stepp Professor Laura Wilson and Professor Carolyn Stoll These faculty members were instrumental in the design implementation and documentation of our project We appreciate your time and effort reviewing this report If any questions or comments arise f
41. E VP Vds Ve ots 2 Figure 2 Remotely Accessible Target System Graphical User Interface 4 Figure 3 Block Diagram Illustrating Major Components and Functionality 6 Table RATS Command Protocol ee a ID n EH EDEN 8 Figure 4 Servo Positioned Laser l nu E uu 9 Figure 5 Chronograph Circuit 5 O 11 Figure 6 Bode Plot from Amplifier Circuit Simulation 11 Figure 7 Oscilloscope and GUI Velocity Comparison 12 Figure 8 Multiplexed Bluetooth Wireless Connection Schemaktic 13 Remotely Accessible Target System Figure 9 Power Regulation Sol blOrlS e E u e EE pU i Ha eA MN 14 Figure 10 Initial Picture Taken from the Target Platform 15 Figure dT Initial Picture atter Rotat ON uu n eet Pao I PE 15 Figure 12 Rotated Picture after Black and White Filter 16 Figure Picture amer PH TOT iue e A tuos SE u u T STRUD 16 Figure 14 Initial Picture with Red LED Flash
42. INC W cmd MOV B amp Cmdshot sndcmd R13 INC W MOV W R12 SndcCmd R13 F xSD amp PiOLUT CALL amp TxCmd CALL BIS B 70x80 amp P3OUT RET Recetved ACK Command RCVACK 0 08 Status JNC 5 CALL 1 AckDun Mkrlsh BIS B 0 08 Status CALL Camwalt BIC H F Xx SBS Status AckDun BIS B 0x01 Status RET RcvBat BIS W ADCIOON amp ADCIOCTLO BIS W ENC ADCLOSC HADCIOCTLO ChkADC BIT W ZADCI IFG amp ADCIOCTLO JNC ChkADC MOV W amp ADCI MEM temp 5WPB temp BIC W ADCLOIFS amp ADCLIOCTLO RB cmdPrfx 5ndcmd R13 INC W cm Clears the end of cony Flag loop Clears rhe Command Array offset snacmd 0 CmidPrfx Increments Command Array offset Remotely Accessible Target System 32 MOV B amp CmdBat ndCmd Rl3 sSndcmd 1 INC W cmd Incraements Command Array offset MOV W R15 Sndcmd R13 gt Sndctmd 2 3 ADC Battery Level RIS CALL TxCmd Calis Transmit command sub raut ne BIS B 90 1 Status gt Sets Task Complete B7t Status RET Return ReceJved Camera Reset Command mm RcvCam BIC B amp 0x02 amp P2OUT Turns off power to camera MOW W 0x64 DlIy20L Loads Duter Delay2 loop for 105 delay CALL Calls Time Delay 2 routine 815 8 0 02 amp PJQUT After delay turns camera back BIS B 0 01 Status gt Sets Task Complete B3t St
43. IS H 0 80 amp PiOUT BIS B 0 08 Flshset camera Flash set up INC W 0 01 Revemd R13 Jc Flshon BIC B 0x0B Status JMP ModDun Flshon BIS 6 0 08 Status BIS 8 0 01 Status 0x0005 Dly20L CALL TDelay2 BIC W 0 01 STACCTL BIC W 0 01 amp TACCTLI RET Recejveg Command Containing Shot Time RcvTme BIS B 0x01 Status RET Send ACK Command SndACK CLR W cmd Sma Sh s ru h q 35 Clears current mode Else Set Mode I Status Bit Pl 3 Interrupt disabled Disable P1 3 Pull up Resistor Force PI 3 Output low PI 3 output selected 1 3 FFG Cleared Sets P2 2 Front Light Curtain ON 2 3 Rear LIQht Curtain OFF Call the Capture Setup routine capture D interrupt enable Clears Capture J intterupt enable Loads outer Delay loop Calls Time Delay capture D interrupt flag clear Capture 1 intterupt flag clear 1 3 IFG Cleared Jump to return Curtains pn front and rear g Ta ha atu ua mu a mu du mu iu mu Tg Uy hg a nuo 21 3 Interrupt disabled Disable Pl 3 Pull up Resistor Force PI 3 Output PI 3 output selected PI 3 Cleared rests for Mode 3 If Made 3 then jap te Made 3 Clears current mode Else Set Mode 2 status
44. If not IF so rest Status for Task Complete Task Complete A than cant inue then cal sub rautine for A then continue then call sub routine for cmdshat then continue then cai sub rautine for Cmdrrgt then continua then sub routine For Cmdsrva A then continue then sub routinege for CmdMode A then continue then sub ro trne for A then continue then call sub raoutine for CmdBat A then continue then call sub reutine for Camera Reset A then continue then call sub rautine 34 cmd Complete If no Cmd s confirmed or Task Not Comp Then send and If Task completed send ACK Clears the Task Complete Flag Return Shot m nena na remo a eme Moves shoti 8100 to 212 Far sub ua Tu a2 Tu Tu mu Subtracts shot2 11 from 51011 Swaps bytes of Shot Time for SndCmd Clears the Command Array offset 0 Increments Command Array offset 5ndcmd 1 cCmdshot Increments Command Array affset 5ndcmd 2 3 Clears PI 8 Shoat Time Laser laser ON Calls Transmit Command sub routine Calls the Camera Wait and Flash Rtne Sets P F Return Laser Gun laser OFF Ll A AU JD D d RA E M S
45. MBER 2004 Featuring Unitrode L293 and 2530 1283 N OR NE PACKAGE Products Now From Texas Instruments Wide Supply Voltage Range 4 5 V to 36 V Separate Input Logic Supply High Noise immunity Inputs Functionally Similar to SGS L293 and SGS 2930 Output Current 1 Par Channel 600 mA 2930 Peak Output Current 2 Per Channel 1 2 A for L283D Output Clamp Diodes for Inductiva Transient Suppression L293D bc eis half H drivers 1298 is designed to bidirectional drive currents of up to 1 amp at voltages from 4 5 V to 36 V Tha 12930 is designed to provide bidirectional drive currants of up to Hor tn ordnen ret 0 as relays solenoids dc and bipolar stepping motors as well as oiher high curentfih volage loads in positrve supply applications All inputs ara TTL compatibla Each output is a complete totem pole drive circuit with Darlington transistor sink and pseudo Darlington source Drivers are enabled in pairs with drivers 1 and 2 enabled by 1 2EN and drivers 3 and 4 enabled by 3 4EM When an enable input is high the associated divers are enabled and their outputs are activa and in phase with their inputs When the enabla input is low those drivers are disabled and their outputs are off and in tha high impedance state With the proper data inputs each pair of drivers forms a full H bridga reversible driva suitable
46. NoWay POP W Dly2OL BIC W CCIFG amp TACCTLO BIC W CCIFG amp TACCTLI BIS H KGIE SR Laser Gun Input Interrupt ROUtihnB8 LGunISR BIT B 0 40 amp PiOUT Ic ShtNG 2 MOW W DIy20L shot MP LGun MOV W 0x0000 shot2 JMP LGun LGun PUSH W OlyZoL GIE SR 4 CALL Dmosht BIC B 0x08 4 POP W DIyz2OL 4 BIS 6 GIE SR RETI Timer A Capture Routine T Capt MOV W amp TACCRO shoti PUSH W OlyZOL BIC B SR r BIT B 0x40 f 2 NoShotl BIC W KCCIFG amp TACCTLO B Status temp P AND B 0 6 temp a CMP B 80 2 temp H 12 Modela POP W Dly20L BIC W SCCIFG amp TACCTLO 2 BIC CCIFG amp 1 BIS B SR F RETI Modela CLR W cmd MOW B CmdPrfx SndcCmd R13 INC W F Cmdshot 5ndCmd R13 INC W cmd F MOV W 00 amp 5ndcCmdiR13i CALL sTxCmd F CALL h NoShotl POP W DIyZOL F BIC W CCIFG amp TACCTLO h BIC W CCIFG amp TACCTLI 815 8 SR L Timer A 1 Capture Routine lt T Captl MOV W amp TACCRI shot2 PUSH W Diy2OL 37 Clears Command Array offset sets Timeout loop counter amp x Interrupt Flag AND IFGZ Rx Receive Int Flag is set Read suffer Else Decrement loop counter If no timeout Check Rx Flag again If timeout jump to
47. Systems Excellent ON State Resist Matchi Low Total Harmonic Dest n THD Hard x L 65 V to 55 Single Supply Operation Latch UpF ce Exceeds 100 mA Per Wireless Terminals and Peripherals JESD 78 Class ESD Performance Tested Per JESD 22 2000 V Human Body Model A114 B Class 1000 V Charged Device Model C101 DESCRIPTION ORDERING INFORMATION The 1554231759 is dual single pale double throw SPDT analog switch that is designed to operate from 1 65 V to 5 5 V The device offers low ON state resistance and excellent ON state resistance matching with the break before make feature to prevent signal distortion during the transferming of a signal from one channel to another The device has an excellent total harmonic distortion THD performance and consumes very low power These features make this device suitable for portable audio applications ORDERING INFORMATION roc __________ Torte Manin menee 7850205 SOR Tape andrea eo 1j most current package and ordering information see the Package Option Addendum at the end of this document or see the TI web zie 3t www 2 Package drawings thermal data and symbolizalion are avallable at www tl com packaging Please be aware that an important notice conceming availability standard warranty and use
48. TBCTL Stops Timer B f r PWM INC W cmd Increments the cmd Array offset CLR W temp Clears the ward temp Reg RIS MOW RcvCmd R13 temp Maves the Rcv d duty factor to temp ADD WwW 81997 temp Adds 1997 offset to rhe rcv d value MOV W R15 amp TBCCRI Moves Servo 1 duty factor ta TBCCR1 INC W cmd Increments the Array offset CLR W temp Clears the temp Reg RIS RcvCmd R13 temp Moves Rev d duty Factor to temp ADD W 1997 temp Adds 1997 offset to the rev d value R15 2 Moves Servo 2 duty factor TBCCRZ BIS W 3 amp TBCTL Starts Timer B MoV Ww 0 05 Dly20L Loads outer Delay loop for 0 55 delay CALL TDelay2 Calls Time Delay 2 routine BIC W 3 Stops Timer H for PWM MOV w 0 01 Dly20L Loads Outer Delay for 0 15 delay CALL TDelay2 Calls Tine Delay 2 routine BIC W 0 10 clears capture O interrupt enable BIC W 0 10 amp TACCTLI Clears Capture 1 interrupt enable BIC B 0x08 amp PLIFG gt PI 3 Cleared MOV W 0 0000 dt Moves shoti RIO to R12 for sub BIS B SR enabled Interrupts enabled BIC B 80x40 amp P3OLT P Clrs Pj b Servo Laser ON MOW W 0x0014 DIyZ2OL Loads Outer Delay loop for 25 delay MOV W DIy20L shoti Moves delay value to shotl CALL 2 Calis Time Delay 2 routine BIS B 0x40 amp PiOLUT Pi Serva L
49. TL Waits for Timer B Overflow JNC TWalt If no overflow jump to TWait BIS W KTBCLR amp TBCTL Clears prev timer b value amp settings BIC W KTBIFG amp TBCTL Clears Interrupt Flag BIC W EMC 2 amp TBCTL Stops Timer B for cont mode RET Return 4 d es Delay 2 No Timers approx 10 5 per outer oop eie TDelay2 Twall2 DlyZ2IL Timer 2 inner loop creates 100ms dly TWaiti DEC W Dly2IL Decrements Inner loop by one TWait4 CMP W FOxOD DlIyZ2IL Compares Inner loop to zero JNZ Twait3 If not zero again DEC W Dly2oL If then decrement Outer loop CMP W 0x00 Dnly20L Compares Outer loop to zero JNZ TWait2 If not zero do both loops again RET IF zero delay is Finished Return F Transm Command Wt4DTR 0 40 G amp P1IN Fests 1 6 for Bluetooth Connection JNC WtADTR IF Low Not Connected Wait CLR W cmd gt Clears the Command Array offset TxFAgn SUCA TXIFG amp IFG2 Checks the interrupt Flag in Tx Status JNC TxFAgn If Tx not finished jump to Ten MOV 8 o sndcmd R13 amp UCA TXBUF Send current Byte to TxBuf IMC W increment Command Array offset CMP WW 80 04 cmd Compare RIJ to 4 JNZ TxFAgn 2 fF not equal then Transmit Next
50. UmV of VIDEO PROCESSING the supply rails with 1062 Dual and quad designs DATA ACQUISITION feature completely independent circusry for lowest amp PROCESS CONTROL crosstalk and freedom from interaction AUDIO PROCESSING The single OPA35D and dual OPA2350 come in the COMMUNICATIONS miniature MSOP 8 surface mount 50 8 surface mount FILTERS and D4P 8 packages The quad 0 4350 packages TEST EQUIPMENT the space saving SSOP 16 surface mount and 50 14 surface mount All are specified from AFC to 4 85 C and operate from 55 C to 15020 SPICE model available at waw Please aware that an important notice concerning availability standard warranty and use In crffcal applications of Texas instruments Semiconductor products and disctalmers there n appears at the end of this data sheet PROGCUCTEN DATA curried l dmi ae Copyrigrt 2200 Texas instruments incorporated comi a fe te 1pm alien e Um tarama ol per des ia iind d TEXAS Remotely Accessible Target System 59 MC33063A SILLSE3EL 2014 REVSED DECEMBER 1 5 PEAK BOOST BUCK INVERTING SWITCHING REGULATORS FEATURES Wide Input Voltage Range 3 V to 40 V Precision Internal Reference 2 High Output Switch Current Up to 1 5 A Sho
51. and log the distances the shooter was shooting This would allow a competitive shooter to prove with the pictures in the future database along with a range finder their accuracy at a given distance There were many suggested methods the most prominent was a dual Global Positioning System GPS system This system would integrate a GPS module into the control box near the target platform and a GPS module into a box near the user s laptop These two GPS modules would relay data to the computer which would calculate the absolute distance and log it This feature would not only be useful to verify the distance at which rounds were shot but can be used in conjunction with the chronograph This would show the speed of the bullet at a certain distance which could be used with the database to determine a projectile s deceleration CONCLUSION The final outcome of this project is the working prototype shown in Figures 17 and 18 This prototype was thoroughly tested on many occasions We feel that all of the goals set by us and for us were exceeded We realize that there are areas that have room for added potential and this will be addressed in the following months The potential to market this model is real With a large majority of the research behind us the real development can begin Many of the future recommendations are already in process and more have been added to our personal checklists This project may be finished with respect to the Unive
52. apshot Crear Buffer 1604428 Preview Log 320x240 640480 Platform s Main Structure and Target Infrared Emitters Turned On Image Testing with Flash Printed Circuit Board without Components Remotely Accessible Target System 41 Shots 14 Score 94 Grouping 11 23 Finished Main Control Box E About Remotely Accessible Target System LENS Shots 1 Score 10 Grouping co Ballistics Concepts Micro v2 6 Interface v7 2 ballisticconcepts email gmail com Chronograph Mode Flash Screenshot from Actual Bullet 17hmr RATS About form with Logo Remotely Accessible Target System Tech Expo 2010 Remotely Accessible Target System Remotely Accessible Target System Page 43 Chad Ruttencutter Tech Expo Awards Best EET Best IEEE Harris Communications Award and Most Innovative Concept Left to Right Peter Simon Professor Michael Haas Chad Ruttencutter Remotely Accessible Target System 44 APPENDIX C Schematics Battery and Charging Circuit Charger PMEG3020ER Charge Batt 1 S L NW I C20 CHARGER Sane BATT LED3 XT GND Output Buffer Circuit GND rgt Lmt Pwr 11 43V Enable TV 45 44 10E C25 125 Remotely Accessible Target System 45 Power Regulation Circuits Your E Flash 622
53. as carefully chosen While modeling things in this physical realm could have been done with a wide variety of Op amps the Texas Instruments OPA4350 was selected This choice was made considering several key characteristics This part s single supply and rail to rail performance were Remotely Accessible Target System 12 the primary reasons for its selection In addition with slew rate of 22V us the fast performance of this part provided a nice square output from the comparator stage ensuring an accurate measurement of bullet velocity The output of both the front and rear comparator stages can be seen in the oscilloscope screenshot in Figure 7 Pos LILILIm Bit 8 Type Bit Tb nba Figure 7 Oscilloscope and GUI Velocity Comparison The oscilloscope screenshot in Figure 7 was taken while testing the light curtain and chronograph s performance This image was taken while shooting a pellet gun through the chronograph light curtains With two of these circuits finding a bullet s velocity is a relatively easy chore The MSP430 microcontroller has two timers A amp B that are independent of the main process An input from each of the chronograph circuits was used to trigger the timer A capture capabilities Upon the first bullet detection the internal timer A value was recorded When the second circuit detected a bullet this timer value was then recorded again After the second t
54. aser GFF BIC B GIE SR All enabled Interrupts disabled BIS B 0 01 status Sets Task Complete Sif Status RET gt Return Rec lved Advance Target Command Lookup Table would only work debug solution found so lookup table Remotely Accessible Target System Was Pliminated with fot of repetitive cede Support RCVTEgt Z BIC B 0 20 amp P20UT J BIC B 0408 Turn NOV W 0x08 n A Steps8 BIC B F xF amp PZSOUT if BIS B Step R9J oe NOV 0 tatoly ie CALL fe DEC W n ff JNZ2 steps z W Fi JNZ rurn ZNOLtDun MOF W F UXOB Ssteps82 BIC B 0 0 amp P4OUT ae HIS B step iR9J PJOUFT ff MOV W 0xcODU Infoly CALL TDe lay ff BIT B F xI0 amp PIIN z JC TarF n DEC W PI JAZ Steps 2 JAP NOTDUN MOV W NKFOxOUCO Tartott Fj BIC B 0xF0 amp P4OUT HIS BH 20 BIS H 0 01 Status J Z Lookup RcvTr gt Stepz Stepi BIC B MOV W MOW W BIC B MOV B BIC B 5 MOW W CALL BIT B JNC JC BIC B MOV W CALL BIT B JNC BIT B Jc MOV BIC B BIS B MOV B CALL BIT B INC BIT B ic MOV B BIC B BIS B MOV B MOV
55. atus RET Return Received ew ew ee ee eee RCvNAK CALL amp TxCmd Re transmits the last sent command RET A amp eturmn gt Received Shot RcvShot BIS B RET gt Serve Command RCVvSryo BIS W BIC W MOV W Sets up Output Detected Command 0 01 Status TBCLR amp TBCTL TBIFG amp TBCTL TBSSEL_2 ID_ 3 amp TBCTL UP Down Count 0 2500 s mp ou uou Eu me cms umo se ms mas ms m mqm ms m m ceps ms ms O Sets Task Complete Bit Status Return LI CECI s s ms dl ms ar asa r a E llc ma ma m m m ms Ela E Clears prev timer b value amp settings Clears Interrupt Flag rimer H SMCLK B sDOkHz stopped Toggle Set 5 1975 2275 MOV W 0x09c4 amp TBCCRO Moves 2500 to TBCCR for I00Hz wavefrm MOV W amp OUTMOD 6 1 Selects Toggle Set Mode MOV W FOUTMOD 5 amp TBCCTLZ selects TOggle 5set Made reros servo Position before moving to increase stabtT lity MOV W 2042 amp TBCCRI 5 Servo lI moves duty TBCCRI MOV W 2042 amp TBCCRZ 5 Servo 2 moves duty to THBCCR2 BIS5 W WMC_ 3 gt Starts Timer B for MOV W 0 05 DlIy20L Loads Outer Delay loop for 0 55 delay CALL amp TDelayZ r Calis Time Delay 2 routine BIC W 8 amp MC 3 amp
56. c 4 This library of functions was instrumental in the final analysis of our filtered picture Fach blob found has many useful properties associated with it area center of gravity fullness X Y position height and width Within the filter a maximum and minimum height and width is set This filters out blobs that are too small and too large For example in Figure 13 the blobs on the left and right side are caused from the edges of the paper target and the keystone effect This is ignored since its size is much greater than that of a bullet The center of gravity property of each blob is how we determined the blob s bullet hole s location When the blob detection method 15 called it returns the center of gravity number of pixels contained within the blob and the location of the blob in the image Each center of gravity is then sent to our keystone correction algorithm Keystone Correction The most challenging consideration that had to be made in terms of software was the keystone correction Keystoning occurs when a picture is taken from an extreme angle Our camera is positioned below the line of fire so it will never be hit by a bullet This creates the kind of angle that causes the keystone effect to occur correct the keystone effect an initial in depth analysis had to be done by hand on the images It was observed that the relationship between a point on the bottom left and a point on the top right was linear This knowled
57. count by turning load devices off and on with the regulator and not a separate switch The regulators selected which meet these requirements and offer a high efficiency are the Texas Instruments REG113 5 and REG113 3 3 Picture Analysis The only function of the camera is to take a picture of the target paper and relay it back to the computer Once the picture is received it is analyzed pixel by pixel This allows for the most accurate results in finding each bullet hole A combination of analysis techniques were used to retrieve the bullet s location Figure 10 shows the picture as it is received by the computer Figure 10 Initial Picture Taken from the Target Platform In Figure 10 bullet holes are clearly visible to the eye but they are oriented incorrectly The first step was to reverse the image The picture taken is from a point of view that is behind the paper target If this point of view issue was not corrected any shot that lands on the right side of the target would be mistakenly shown on the left Figure 11 shows the same image after it is mirrored across the y axis Figure 11 Initial Picture after Rotation Remotely Accessible Target System 16 The mirror image in Figure 11 now shows the picture as if from the point of view of the shooter After the picture has been mirrored across the y axis it is turned into a black and white picture using a black and white averaging filter This black and white image
58. cuitry provides protecbon keeps the chip from being damaged by excessive temperature is available in DDPAK 5 and the SOT223 5 NOTE 11 OpBonal Please be aware Hai important notice concemi ng avalabillty standard warranty and use in critical applicaiions of Texas Inetrumernfts germiconducts products and disciaimers thereto appears at tne end of this data sheet All trademarks are the property of their respective owners Copyright 2001 2005 Tews iregirumesnitz inconmoraited PEODLCCODH ATA Ebr purd camon YA mam c INSTHUMENTS 53 Remotely Accessible Target System REG113 Burr Brown Products from Texas insirumenu REG113 SEV GOGO MARCH 201 REVISED SEPTEMBER 2005 DMOS 400mA Low Dropout Regulator FEATURES CAP FREE DMOS TOPOLOGY Ultra Low Dropout Voltage 250mV typ at 400mA Output Capacitor Required for Stability UP 500mA PEAK TYPICAL FAST TRANSIENT RESPONSE VERY LOW NOISE 28Vrms e HIGH ACCURACY 51 5 max HIGH EFFICIENCY loan 5 at 4O0mA Mot Enabled MLA 25V 285V 30V 33V AND 50V OUTPUT VERSIONS OTHER OUTPUT VOLTAGES AVAILABLE UPON REQUEST e FOLDBACK CURRENT LIMIT e THERMAL PROTECTION SMALL SURFACE MOUNT PACKAGES SO0T23 5 and MSOP 8 APPLICATIONS amp PORTABLE COMMUNICATION DEVICES 8
59. dcmd R13i cm cmdack sndcmd el3 Revemd R13 temp cm R15 Sndcmd R13 RevCmd R13 temp cmd 3 R15 Sndcmd R13 TxCmd 5 13 RcvCmd Ri3 j cm CmdNAK SndCmd R13 RcvCmd R13 cmd e 5Sndcmd R13 cm sndcmd R13 TxCmd a OD ee 36 sndcmd 0 Increments Command Array offset Sngcmalll CmoACK Temp Jast Rev d Increments Command Array offset snacmg 2 Last Rev d Moves ftmdf2 to Scmad 3 Increments Command Array offset Moves xD ro 4th byte of sndcmd calis Transmit Command sub routine Return from sub routine a ma hy bu ma or mu Clears the Command Array offset 5 CmdPrfx J last Rev d Prin Increments Command Array offset SndCmd l1 CmdWAK fast Rev d Cad Increments Command Array offset Sndcmd 2 Last Rev d Prfx Increments Command Array offset Sndcmd i Last Rev d Cmd Calis Transmit Command sub routine Return from sub routine TDelay BIS W amp TBCLR amp TBCTL Clears prev timer b value amp settings BIC W KTBIFG amp TBCTL Clears Interrupt Flag MOV ATBSSEL_2 ID_3 amp TBCTL B 5 8 5 0kHz Stopped MOV WW R14 amp TBR Loads Timer B IniDly 814 BIS W 2 amp TBCTL Starts Timer B for cont mode TWait BIT W KTBIFG amp TBC
60. e 1 rests for Mode 2 or 3 If Made 2 3 then jap to Mode 2 Else send Jump to return Light curtain in front rear rests far Mode 3 If Mode 3 then jmp to Mode 3 Remotely Accessible Target System BIC B 0 06 Status BIS B 2 Status 0 08 BIC B 0 08 amp PlREN 0x08 amp PLOUT BIS B 0 08 amp PIDIR 0 08 amp PLIFG BIS B 0 04 amp PZOLUT BIC B 20x08 amp P2OUT CALL Capset BIS W 0 10 amp TACCTLO BIC W 0 10 amp TACCTLI MOV W 0 0005 DI1y20L CALL TDelay2 BIC W 0 01 amp TACCTLO BIC W 0x01 STACCTLI 0x08 amp PlIFG 1 rishset Modez A iui 3 Mode 2 Both Light 0 08 BIC H 0 08 amp PIREN BIC B 0x08 amp PlOUT BIS H amp Ox 8 amp PIDIR BIC B 0 08 amp PlIFG BIT B 0 01 RcvCmd R13 Jc Mode3 BIC H 0 06 Status BIS B 0 04 Status BIS H amp Ox C amp PZ2DLT CALL CapSet BIS W 90 10 amp TACCTLO BIS W 0 10 amp 1 MOV W X 40x0005 Dly20L CALL TDelaye BIC W 0x01 amp TACCTLO BIC W 80 01 amp TACCTLI BIC B 40x08 amp PlriFG 1 Flshset Modei Demo Mode 3 BIC H 0 06 Status BIS H 0 06 Status BIC B 0 08 amp PIDIR BIS H 0x08 amp PIREN BIS H 8 amp PlOUT BIS B 0 08 amp PlIES BIC B 0 08 amp PLIFG BIC W 0x10 amp TACCTLO BIC W 0 10 amp TACCTLI BIC B 0 08 amp PIIFG BIC B amp PZOUT B
61. e software package and then displayed to the user with a graphical user interface GUI All problems that were encountered were overcome These included but were not limited to keystone correction camera sleep mode and electrical noise Finally many additions are being considered for the future These improvements are as follows a database to record all data received and processed resizing of the form and a range finder to verify the physical distance between the shooter and the target platform Remotely Accessible Target System 2 INTRODUCTION The following report outlines the ten month process involved in conceiving conceptualizing designing prototyping and completing the Remotely Accessible Target System The Remotely Accessible Target System RATS as seen in Figure 1 is a total package that allows marksmen to enjoy a safer more leisurely shooting experience The main objective of the system is to virtually eliminate the dangerous act of walking down range to change and or view atarget This system also saves time by eliminating the need to manually change paper targets as well as by performing analysis and calculations in milliseconds that would take the average shooter several minutes Curtain Cincinnati Target Advance Figure 1 RATS System Overview The system in Figure 1 is comprised of both hardware and software elements connected via a wireless link The main objective of the software is to
62. ecrease in IR light causes a decrease in the current being supplied by the photo diodes This leads to a decrease in the voltage across the 56kQ resistor Early testing indicated this decrease in voltage could be as small as 10mV The need was then to amplify 10mV drop in voltage with duration as short as 505 into a usable digital signal Along with this performance criterion was the need to filter out any noise applied to the circuit which was outside of what was to be normally expected mainly noise at or below 60Hz The final results given these design criteria can be seen in Figures 5 and 6 Remotely Accessible Target System 11 E Bullet Det J Y x e ET E eb 7 cr e AN M x Vi C 1 055V P TH a ona L ee n rre d i Ha IHR un ux LE ka a ____ G __ os bE eee Figure 6 Bode Plot from Amplifier Circuit Simulation As shown in Figure 5 the basic circuit for accurately detecting the voltage drop caused by a bullet is a 2 stage inverting amplifier with a built in high pass filter followed by a voltage comparator The simulation seen in Figure 6 shows the corner frequency of this filter at about 75Hz which attenuates all noise at or below 90 2 The operational amplifier used in the circuit shown above w
63. eel free to contact either one of us Sincerely A 22 e Chad A Ruttencutter 513 678 9361 c a ruttencutter gmail com Peter 1 Simon Peter G Simon 513 460 7700 petergsimon gmail com Department of Electrical and Computer Engineering Technology Remotely Accessible Target System Chad Ruttencutter and Peter Simon June 7 2010 Submitted in partial fulfillment of the degree of Bachelor of Science in Electrical Engineering Technology 27 c Ae a Student Signature Le 22 Student Signature eter 6 Simon Advisor Signature Remotely Accessible Target System ACKNOWLEDGMENTS We would like to thank many people for the help and support they provided during the completion of our Senior Design Project Professor Michael Haas for getting us started on the right path Professor Elvin Stepp for all the wisdom offered with hardware design Professors Max Rabiee J ames Everly Kathy Ossman Xuefu Zhou David Tashjian Brian Resnick Laura Wilson and Carolyn Stoll for the education that made it all possible Nicole Ruttencutter for putting up with us for the last nine months Our families and friends for all the support and ideas Dave Hedrick for the bullet proof armor Irene Prof Haas Aunt for the awesome RATS logo Texas Instruments for high quality parts at zero cost Intelligrated for the use of their plotter Conard Carroll for his sound advice in
64. ge allowed a linear correlation algorithm to be developed First the change in spatial density in the y direction was calculated This was important because the distance between objects appears to decrease as the height increases The solution to this problem was finding the change in pixel density in the direction For each center of gravity that was reported by the blob detector the value would be scaled according to the determined change in density This would produce the final y location of the shot To find the x position of the bullet hole similar steps were taken but in the x direction It can be said that points appear closer together in the x direction the higher in the picture they are located In order to correct this the change in density in the direction also had to be calculated In the same manner as before the blob s center of gravity along with the scaling factor would produce the final location of the shot Flash and Sun Shade While the above stated method of image analysis worked it was not as reliable as needed due to the dynamic lighting conditions seen outside The camera was later accompanied by a red LED flash Figure 14 shows how the addition of the flash greatly enhances the clarity of each bullet hole Remotely Accessible Target System 18 Figure 14 Initial Picture with Red LED Flash As seen in Figure 14 this flash provided a consistent colo
65. high Target Advance 75 Complete Decrements phase loop counter If Phase not zero then go again Target Advance Limit 75 not made cont When Finished restore Rotate Count De energizes motor coils Disables DC DC Conv amp Limit Switch Sets Task Complete Status Wa Te w a i a oa ea LIN S m rable would not provide Enables DC DC Converter amp Limit switch Loads Default Rotation Count Loads DxrFDOUD Tato register for delay Clears Task complete bit in status Moves current autputs into temp Clears out top nibble of temp Sets the current step bits temp Moves the new value of to P4out Loads the Timer intial count 35ms calis Time Dalay 5ub routine Tests for initial rotation complete If initia rotation cont If initia rotat comp test swrtch If fmt switch 75 set Target finished Moves current P4 outputs into temp Clears out top nibble of temp Sets the current step bits Tn temp Moves the new value of P4 to P4out Loads the Timer H intial count 35ms Calis Time Delay Sub rout ne Tests for initial rotation complete If initia rotation N comp cont IF initial rotat comp test imt swrch If imt switch is set Target finished Moves current P4 outputs into temp Clears out top niTbble of temp P4 Sets the current step bits temp Moves the new value of P4 P4out toads the Timer B fatial count 3585 Calls Time Delay Sub routine Te
66. ility of the RATS we had to ensure the system had a response time of less than three seconds This would ensure all data would be available to the user within a three second window of each shot Remotely Accessible Target System 8 Must hold at least 10 targets One of the key features of the RATS is the ability to hold numerous targets The absolute minimum number of targets to be held on the platform is 10 Intuitive and easy to use interface What good is any piece of electronic hardware if its interface is frustrating and hard to use Forthis reason an easy to use interface is a key feature that had to be designed into the RATS Room for expansion To provide room for later innovation the physical design must provide the room and capability to be expanded Technical Approach The technical approach taken during the design analysis and testing of the Remotely Accessible Target System was in depth and multi faceted The custom solutions engineered into the RATS are discussed in detail below All system schematics are available in Appendix C and component specific details may be found in the datasheets located in Appendix D Microcontroller As mentioned earlier every piece of hardware with the exception of the camera relies on the Texas Instruments 5 430 2272 microcontroller for the control necessary to make this project a success This microcontroller exceeded all of our requirements for speed capabilities and
67. imer value was captured the first was subtracted giving us the number of timer counts from the first bullet detect to the second bullet detect Dividing this value by the clock rate and again by the distance in feet gives us feet per second This process can partially be seen in Figure 7 This oscilloscope screenshot in indicates a difference in time of 3 86ms from the bullet passing through the first light curtain until it passed through the second Some quick math 0 003865 26 5 12 indicates this is equivalent to 572fps When compared to the 580fps output by the RATS application these values indicate a percent error of 1 496 at this velocity Communication Wireless communication was a mandatory part of the RATS Due to widely available out of the box solutions a Bluetooth wireless link was chosen to be the most practical way to establish a communications link between the target platform and the PC One problem that had to be overcome was the need for a wireless communication link from the PC to both the MSP430 microcontroller and the C328R serial camera Remotely Accessible Target System Page 13 The solution to this problem was the Texas Instruments TS5A23159DGS analog switch This integrated circuit IC is a double pole double throw analog switch which was used in combination with the ESD110v2 Bluetooth module s Data Transmit Ready DTR output to effectively multiplex the Bluetooth serial connection as seen in Figure 8 below
68. ith a desired current of 75mA This power was only needed for a duration of one second and at a relatively low frequency It was for this reason and the ability to quickly start the boost converter with the enable pin that the 561040 was selected Another feature that put it above others was the high switching frequency It was estimated that any light variations at any frequency between 1kHz and 125kHz may be detected by the bullet detect circuitry as a shot To ensure this problem would not be created with the camera flash we chose to use a step up regulator with as high of a switching frequency as possible With a switching frequency of up to IMHz the TPS61040 was a perfect match BQ2057T Charge Management The RATS uses a 5400mAh 7 4V lithium ion battery for its power source To simplify use it was determined an on board battery charging circuit was needed While looking for an optimal solution to charge the battery there seemed to be a wide variety of commonly used battery charging circuits available Some of these solutions were more complex than was needed The BQ2057T from Texas Instruments was found to be the perfect compromise between performance safety and complexity With features such as temperature monitoring current and voltage control and battery conditioning the BQ2057t provides all the desired performance with only six external components MC3063A Boost Switching Regulator The desire to keep idle power consumption to a
69. l Command control please refer to the user s manual Please note the command set is same as 328 7640 only some parameters are different Remotely Accessible Target System REG104 Buarr Brewn Products from Tazas Inara nests REG104 SRV SEPTEMBER 201 REVESED SEPTEMBER 2HE DMOS 1A Low Dropout Regulator FEATURES e NEW DMOS TOPOLOGY Ultra Low Dropout Voltage 230mV typ at and 3 3V Output Output Capacitor NOT Required for Stability FAST TRANSIENT RESPONSE e VERY LOW NOISE 331 pma HIGH ACCURACY 22 max HIGH EFFICIENCY lono 7mA at la 1A Not Enabled 0 5 25V 2 TV 307 3 3V 5 0V AND ADJUSTABLE OUTPUT VERSIONS e SMALL SURFACE MOUNT PACKAGES 580T223 5 DDPAK 5 APPLICATIONS e PORTABLE COMMUNICATION DEVICES e BATTERY POWERED EQUIPMENT e MODEMS e BACKUP POWER SUPPLIES DESCRIPTION The REG104 5 a family of low noise low dropout inea regulators with gound current new DOMOS topol provides significant improwement over previous desagns inciuding low dropout voltage only 230mV typ at full load reque Papera kiwi geal Han Typical ground current is only 1 7mA at and drops to mn net enabled mode Unlike regulators with The REG104 has very low output noise typically Tor Ver 3 3 with making it ideal for use The REGI is well protected intemal cir
70. l Jii ll c JE r nF angin panin UC Cu SUC as mkn uu ug cu COS Um S us ou SS magn om ue nto uo uox om C MS cmd xpo mtm ss uo mme mcn Lc ana I Cmdack EQU 0 50 Acknowledge CmdNAK EQU 0 51 NO Acknowledge Cmdshot EQU 0x52 Shot Detected CmdTrgt EQU 0x53 Target to be advanced CmdSrvo EQU 0x54 gt Serve command contains posl amd 52 CmdPrfx EQU 55 Command array prefix CmdMode EQU 0x56 Change Mode CmdTme EQU 0x57 Time value from timer a capture CmdBat EQU 58 Check Battery Level EQU 0x59 Camera Power Control Wrigh 75 OW Defined Register Variable Names nu d ia nee mi P eimi CPU Registers are used to reduce execution time where needed primary loop counter RS secondary counter RG tertiary loop counter SRI primary interrupt loop counter 88 secondary interrupt loop counter R Generic Array Offset initial timer shot detect capture valve RII secondary timer a shot detect capture value RIS timerla capture difference RII RIO 813 Command Array Offset RI4 Timer B Delay starting value RIS Temp define T Defines Primary Loop Counter as 1 define i R5 Defines Secondary Loop Counter
71. minimum required the need for a battery which was as close to the standard operating voltage as possible The battery selected was 7 4V The need then came about to boost the voltage to 12V to drive the stepper motor when advancing the target Initial testing indicated that the torque required to consistently advance the target without missing any steps was marginal at 12V It was this reason the choice was made to drive the motor using a 13V supply instead of the rated 12 volts This put us at 2096 over maximum rated power However due to the low duty cycle of the motor this was determined to not be an issue The current draw by the motor at this voltage was calculated to be 0 38A Therefore we desired a step up regulator that could provide this current at the required 13V These performance criteria Remotely Accessible Target System 20 along with efficiency and simplicity are what drove the choice of the MC3063A switching regulator This regulator circuit was then enabled with an external PNP transistor and coupled with a TI L293D H Bridge to provide a complete interface between the stepper motor and the MSP430 microcontroller Budget The initial budget for this project included all of the necessary components to build a working model In Table 2 which was created in the first month of the project all parts that we thought would be needed to create our project were included A miscellaneous row was added to absorb all small com
72. nd experiences The key concept in this project was an article published in the J une 2009 edition of Nut and Volts magazine This article Ballistic Chronograph by David Collins 3 described the process he used to build a ballistic chronograph After reading the article the realization was made that this bullet detecting technique could be used for much more than just measuring a bullet s velocity Originally the use of infrared light as discussed in the article was planned to be used to detect the bullet s position as well as its velocity This however quickly proved to be a difficult and complex endeavor It was then determined to leverage both Chad s previous experience with vision inspection and Peter s expertise with software development to create a custom software package to analyze an image sent to the computer via a digital camera With the creation of the RATS platform there were many opportunities to add on to the basic design The first is an automated target advance This quickly led to the idea of shooting at a moving target This idea was deemed to be too difficult to do with the target advance system This then led to a servo positioned laser pointer where the laser became a moving bull s eye shone on the target These features then led to the need for an easy to use software package This custom application was intentionally modeled after a classic Window s application This was done to ensure the average PC user could quickly
73. ng in high school Visual Basic From there he was introduced to other languages such as Visual Basic for Applications Intel Assembly PCSpim C C MATLAB and Allen Bradley sRSLogix500 Not only does he have an extensive software background but he has also completed all of the required courses to obtain a bachelor s degree in Electrical Engineering Technology This includes courses on AC DC circuits digital circuits signal processing and much more Though his primary purpose throughout this project was to design the software that is used by the consumer he was also an excellent resource in the completion of the hardware design and testing Goals and Methodology This project consists of two very distinct parts software and hardware The two primary objectives for the system are to convey to the user shot placement as well as to provide the user a platform to change paper targets automatically The first objective is met by employing a custom made vision system This vision system consists of a small digital camera that records images of a specially illuminated paper target to highlight the holes in the target This camera then relays the image to the PC via a multiplexed long range Bluetooth connection Once received by the PC the image is analyzed with a custom image analysis algorithm and the location of the bullet holes can be determined The second objective is met by allowing the user to provide an input to the soft
74. o Wes battery The condiboning charge rate 15 approximately 1096 of the regulation current The conditioning current also minimizes heat dissipation in the extemal pass element during the initial stage of the charge After conditioning the bg2057 applies a constant current to the battery An extemal sense resistor sets the current The sense resistor can be on either the high ar low side of the battery without additional components The consiani current phase continues untl the battery Please be aware that an Important notice conceming avallability standard warranty and use in critical applications of AutoComp 15 a trademark of Texas instruments er eid 1 B Tona Www ELeom 1 55 Remotely Accessible Target System TPS61040 W tous s reser ware toon 2IDZ RENVIBED 2007 13 LOW POWER DC DC BOOST CONVERTER IN SOT 23 AND SON PACKAGES FEATURES DESCRIPTION a 1 4 to 6 Input Voltage Range The TPSB81D4U 41 5 high frequency boost Adjustable Output Voltage Range up to 28 V converter dedicated for small medium LCD bias supply and white LED backlight supplies The device a E i eet seg cabane s ia silica so beni on up to 28 V f 3 saa dual cell MIMH MiCd or a single cell Li bon battery Up to 1 MHz Switching Frequency The part can also be used to generate standard 28 Typical Ho Load Quiescen
75. on This optical switch looks for a black rectangle printed on the edge of the paper targets When this black rectangle is in the proper position the input is provided and the target advance sub routine is completed gt Servo Positioned Laser The idea was thrown around early on about how cool it would be to somehow have a moving target to practice with The most efficient way we could think to achieve this was to have not a moving target but a moving bulls eye on a target This was achieved by connecting two radio control RC style servos together in a manner where they could then move a laser pointer in two axes This configuration can be seen in Figure 4 Laser bulls eye X axis Servo Y axis Servo Figure 4 Servo Positioned Laser Bulls eye Figure 4 shows the three components to the moving bulls eye system The control needed to correctly position the RC servos is a OV to 5V Pulse Width Modulation PWM waveform These particular servos needed to see PWM wavetorm with a high pulse ranging from 0 9ms to 2 1ms with 1 5ms being the center position This PWM control was easy to achieve using the MSP430 s Timer B PWM outputs This timer control allows two output pins to be set up to oscillate at a set frequency and duty factor When the timer is started the timer controls the PWM output without any further need to control these outputs in code This frees up the microcontroller to multitask while the servos are being positioned
76. on port between alaptop computer and the microcontroller Using a computer the user can control the entire target platform from up to 500 yards away This includes but is not limited to manually taking pictures advancing targets and performing a hard reset on the camera A large majority of the features have also been implemented in a way that is fully automated requiring the shooter to simply shoot The collective knowledge between Chad Ruttencutter and Peter Simon spans 15 years of personal and professional experiences Chad s primary focus was the hardware design Chad has been tinkering in electronic and mechanical design since childhood His interest in electronic design really started to take off after his entrance into Ford Motor Company s Electrician Apprenticeship program This interest is what led Chad to return to college to pursue his bachelor s degree in EET where Chad became interested in mixed signal and analog design While Remotely Accessible Target System 5 at the university Chad completed all of his experience at Mitsubishi Electric where he gained experience in vision system implementation These experiences along with a life long interest in shooting provided the perfect combination of experience and desire to complete this project Peter Simon Peter is responsible for the creation of the user interface Before he started at the University of Cincinnati he had already started to learn programmi
77. ovided on all inputs and outputs Pin and function compatible with the 73 series T4AC VHC HO F ALE LS ete 125 TESI gt 054 2 652 TCTALCX125FK cuam 44 1 52 Weight SOP14 P 300 1 27A 0 18 g SOL 14 P 150 1 27 0 12 TSSOP14 P DO44 D 85A 0 08 g typ VSSOP14 P 0030 0 50 002g typ from January 2000 onward 1 2010 01 31 Remotely Accessible Target System Page 62 FZT790A inco ER Tl PE A im ep TOR 064174 FZT790A PNP Low Saturation Transistor These devices are designed with high current gain and low saturation woltege with collector currents un to continuous Haad jure reri Sagre C 2 Tumm bern Tha souls za cc resting ax bow duty cycim Electrical Characteristics T 25 c uniess atherwtse noted a F CT I E mus Veg 2 DV lg Vag 2 DV lc 500mA Veg 2 DV le 1 D Veg 2 DV lp Saseeniieronvotge Memik Geert ee Pisa Remotely Accessible Target System QSD2030F QSD2030F Plastic Silicon Photodiode High sensitivity Fesk sensiivity 2 B amp 0nm E Radiant area Imm x 1mm 0 186 4 95 0 060 1 26 CATHODE TL 2 54 NOM 0 240 6 10
78. peripherals All the required programming was done in assembly language due to the need for low overhead and performance this code is completely listed in Appendix A The following sub sections detail the major portions of the microcontroller s functionality Communication Communication is the primary role of the microcontroller This role required the micro to receive a command from the PC using the built in Universal Serial Communication Interface in UART mode then decipher this command to perform the function requested In order to achieve this goal we created a four byte command protocol which could contain all the data needed to be passed back and forth over the serial port This command protocol is described in Table 1 below Table 1 RATS Command Protocol Ox9L PreviousCmd Previous Data fl Oxo2 Shot I byteofspeed 2 byteof speed O TargetAdv 0 54 Move Servos Random X pos Random Y pos ___ 055 CmdPrefix __ O 0x56 Change Mode Selected Mode Flash ON OFF 057 1 I byteoftime 2 byteoftime 0x58 Battery Level 1 byte of Batt Level 2 byte of Batt Level O59 Reset Camera 0 0 The command protocol above was used by reading bytes from the serial buffer in an interrupt sub routine After the four bytes were read the command was deciphered and the proper routines were executed gt Bullet Velocity The timers of the MSP430 can r
79. ponents and extra costs All of the parts had been thoroughly researched and specifically chosen for their tasks This preliminary cost estimate was 440 39 Table 2 Initial Cost Estimate Description Manufacturer Part Number Oty Cost Cost Total MicroController Basic Micro Emb Bluetooth Parani Parani ESD1000 Bluetooth Dongle Bluetooth Ant 5dBi DAT5 GO1R WGA camera SuperBright Red LED Kingbright 6 7 4V 3 64h Li lon Battery Photo Diodes Fairchild Semiconductor 12 Differential Amplifier Modular Extruded Alum 3 5160 Spring Steel Printed circuit Board Misc Hardware 7 e The final budget seen in Table 3 was created in the final month of the project This budget shows the final costs of the parts that are used in our working model The final cost was nearly double the original estimate The greatest contributors to this difference are structural aluminum and plastic sheathing The original budget allowed for 16 feet of 1 inch modular extruded aluminum The final model required 8 feet of 1 inch 2 inch and 3 inch modular extruded aluminum This larger more rigid extruded aluminum created a substantially more robust platform that would not have been possible using the previously budgeted 1 inch aluminum framing No expense was spared in order for the platform to be soundly made The plastic sheathing was a very late addition but was also found necessary in order to provide
80. r for the camera which made the size of the transferred picture smaller With this flooding of light many of the unnecessary details of the target paper are washed out making it easier to analyze Plastic sheathing was also added to provide shading from angled sun light This was not initially included in our plan but after field testing it became very apparent that any shadows that were cast on the paper target greatly affected the quality of the picture and became a detriment to finding shot placement Texas Instruments Analog Design Contest Entering the Texas Instruments TI Analog Design Contest had a very positive impact in the completion of this project TI was able to provide an integrated circuit for nearly every solution we desired This along with the support of the TI community greatly improved the development cyde of the Remotely Accessible Target System The reasons for component selection along with their impact on our project are discussed below All system schematics are available in Appendix C and any component specific details may be found in the datasheets located in Appendix D TS5A23159DGS Analog Switch The TS5A23159DGS Analog Switch was the cornerstone of solving the problem of multiplexing three devices over one serial communications channel This analog switch was used as a double pole double throw switch to control which device the PC was communicating with the serial camera or the MSP430 The break before make feat
81. rom previous sessions Input boxes would be provided on the user interface so the round gun and sight positions can be recorded Off Switch Signal Throughout testing it was found that if the user interface was connected to the control box via Bluetooth and then the control box s power was turned off then an unavoidable serial error would occur This error would crash the interface causing unneeded wait time to the user It was determined that it would be possible to connect a capacitor backup to the power switch of the control box This switch would then be monitored as an interrupt input to the microcontroller When this interrupt occurred a command would be sent to the PC interface to disconnect the serial connection After the switch had been powered off the capacitor would power the system for a brief period of time This would allow for a safe power off of the control box Automatic Resize Currently the user interface must be at a fixed resolution of 1280x800 This requirement was instated due to the fact that the image of the target must remain square at all times After the size had been locked all the shot placements were made as an absolute distance based on the size of the interface s form If the target could be made to remain a square all other placements could be set to recalculate based on the current size of the form Remotely Accessible Target System 24 Range Finder A range finder was suggested to prove
82. rsity of Cincinnati but it is not over for us ogee es 2 24 Pen anm c w r 29 e Se a Figure 18 Remotely Accessible Target System Remotely Accessible Target System 25 Figure 19 Remotely Accessible Target System Remotely Accessible Target System 26 REFERENCES 1 Institute for Legislative Action National Rifle Association Firearm Safety Summary September 23 2008 http www nraila org Issues factsheets read aspx 1D 242 2 COMedia LTD Staff C328 7640 User Manual COMedia LTD August 8 2004 http www comedia com hk FP09 Spec C328 7640 UM pdf 3 D Collins Ballistic Chronograph Nuts and Volts pp 36 40 J une 2009 4 AForge NET Computer Vision Artificial Intelligence Robotics J anuary 30 2010 http www aforgenet com Remotely Accessible Target System Page 27 APPENDIX A Microcontroller Code of verre BALLISTIC CONCEPTS Uess Remotely Accessible Target 5ystem RATS gt v2 oy Author Chad Ruttencurter AJ Contributor Peter Simon ff wt 8 4 4 22 2 Date Started Jantary Z 2010 Af Date Finished May 4 2010 Purpose The following code was written for the RATS project 71715 project 74 Was conceived as a Senior Design Project for the college af Engineering ry Applied Science s EET Bachelor s Degrees Requirement 77 The purpose
83. rt Circuit Current Limiting Adjustable Output Voltage Low Standby Current Oscillator Frequency Up to 100 kHz T The exposed thermal pad eiectricalty bonded Intemaly ta pin 4 GMD DESCRIPTION ORDERING INFORMATION The MC330634 and 40 are easy to use containing all the primary circuitry needed for building simple dc dc converters These devices primarily consist of an intemal temperature compensated reference comparator an oscillator PWM controller with active current limiting a driver and high current output switch Thus the devices require minimal extemal components to build converters in the boost buck and inverting topologies The is characterized for operation from 40 C to 8570 while the MC340034 charactenzed for operation from UC to 70 Please be aware that an Important notice conceming avallatilly standard warranty and use In critical applications of Texas Instruments semiconductor products and discialimers thereto appears at the end of this data sheet DATA ommi cof piion i wi species fw Term e 2002 2005 Texas instruments incorporated kaaman _ doom rcm Pp erg cH cor Remotely Accessible Target System 1293 L293 12930 QUADRUPLE HALF H DRIVERS Sl SEPTEMBER 1986 REVISED MOVE
84. s her target every twenty shots or so it is common that they may be spending as much time tending to the target as they are shooting Time is a precious commodity and any device that allows people to use their time more efficiently is a welcome improvement Aside from safety and time savings another common problem with long range target shooting is the ability to clearly see shot placement on the target Even using today s most common solution a high power spotting scope identifying the placement of a bullet that is smaller than the diameter of a pencil on a paper target a couple hundred yards away is extremely difficult Not only is it hard to see one hole in a paper target after more than about ten shots have been fired it often becomes hard to recognize which shot is the most recent This is such a problem in long range shooting that the military often uses a spotter This spotter is a person that sits in a pit under the target and radios or signals the shot placement to the shooter The dangerous job of spotting could be eliminated with a system such as the Remotely Accessible Target System Solution We have come up with a solution that addresses these problems along with other common annoyances associated with target shooting The main functionality of the Remotely Accessible Target System is two fold The first is to relay shot placement back to a personal computer located with the shooter via wireless communication the final user interface
85. serial Timeout Moves RxBuFf fate RcvCmd mi3 j Increments Array offset Subtracts Array offset from 4 If not zera gt not finished Next Byte If zero then Check the Pops olg Delay 2 Outer counter Clear the Capture Compare Int Flag Clear the Capture compare Int Flag All enabled Interrupts enabled Return from Tnterr pt Serial Receive Timeout Send Pops old Delay 2 Outer loop counter Clear the Capture Compare Int Flag Clear rhe Capture Compare Int Flag All enabled Interrupts enabled Return from interrupt rest for servo laser state If servo laser OFF rhen shot roo late Else move shot timer value to shatz Then jump to Lun If shot NG move zero to shot timer Then jump to Loun Pushes olg Delay 2 Outer loop counter enabled Interrupts disabled Calls Demoshot routine P1 3 Interrupt Flag Cleared Pops old Delay 2 Outer loop counter 411 enabled Interrupts enabled Return from interrupt EER ERTE EEN ee ERREN E Timer Capt val 1 te shotl Pushes old Delay 2 Outer loop counter Al enabled Interrupts disabled Tests P1 6 for Bluetooth Connection If Low BT connected to Camera Clear the Capture Compare Int Flag Moves 5Srarus fo temp Masks keep mode bits Checks for mode i Na throno Jump to Mode la Pops eld Delay 2 Outer loop counter Clear the Int Flag Clear the Capture compare Int Flag enabled Interrupts enabled
86. sts for initial rotation complete initial rotation cont If initia rotat comp test Imt swtch If imt switch 75 set Target finished Moves current P4 outputs tate temp Clears out top nibble of temp P4 sets the current step bits in temp Moves the new value of to P4dout Loads the Timer B fatital count 35ms Remotely Accessible Target System Te a Una y t uam an mu oon 0 24 0r 84 ru mu or 34 Calis Time Delay Sub routine Tests For initia rotation complete If initia rotation N cowp cont initial rotat comp test Imt swtch If fmt switch 75 set Target finished Moves current P4 outputs inte temp Clears out top nibble of temp P4 Sets the current step bits temp Moves new value of to Pdovt Loads the Timer B fattal count 35ms Calls Time Delay Sub routine Tests for initial retation complete If Ynitial rotation Necomp cont If rotat test IME swtch If fmt swirch 75 set Target finished Moves current P4 outputs into temp Clears aut top nibble of temp P4 Sets the current step bits temp Moves the new value of P4 to Power Loads the Timer B intia count CSMS Calls Time Delay sub routine fests for initial rotation complete If initial rotation
87. t Current 3 3 5 ta 12 V power conversions 1A Typical Shutdown Current The TPSB81040 41 with switching Internal Soft Start Available in 8OT23 5 and 2 x 2 x 0 8 mm SON Packages APPLICATIONS LCD Bias Supply White LED Supply for LCD Backlights Digital Sill PDAs Orga and Handheld PCs Cellular Phones Internet Audio Player Standard 3 3 5 to 12 V Conversion TYPICAL APPLICATION Li 10 ul Vm r HI tbe CIN 1 47 pF lg cup Cm hA Please be aware fiat an important notice conceming avallabil ty standard waranty and use in critical appiications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet PROGUCTION DATA curent um of puskcalion data Copyright 20X2 2007 Texas Instruments incorporated 56 Remotely Accessible Target System 57 554 23159 Texas TS5A23159 INSTRUMENTS wars t oom EXIDEGDIE JALIGLEST REVESED JULY 21403 1 0 DUAL SPDT ANALOG SWITCH V 3 3 V 2 CHANNEL 2 1 MULTIPLEXER DEMULTIPLEXER FEATURES APPLICATIONS Isolation in Power Down Mode V 0 Cell Phones Specified Break Before Make Switching PDAs Low ON State Resistance 1 0 Portable Instrumentation Control Inputs Are 5 5 V Tolerant VEI Sor s Low Ci TUN Leone Pata rca
88. tching Regulator 19 DI 8 E NT 20 iiU m 21 Problems ue tip 22 Keystone COPPeCLIOD u uy P 22 Camera Sleep NIY needs tan modiis tue 23 INOISC T 23 F t re Recommendations bestens bieten 23 PD AAS ss 23 Remotely Accessible Target System Automate BOSIZe UR Cod D a PC 23 Rango 24 IN II PI 24 REEBEREBNCBSui id uu usd e RUM s M ue te MU ME e REA 26 Xd sibl T 27 disi reo n 27 APPENDIX D r 39 39 APPENDIX C stas fps 44 Oo mas 44 Batheryaned Charono uu uuu u u A e 44 ua cites whee 44 Power Regulation CICUS D Di sang 45 C OPEREDIUIEHCCIBIODE A E
89. the world of C Lemos International for quality products and excellent customer service AForge net for image analysis libraries Microsoft Cadsoft and Realterm for free development tools Google for more reasons than we could ever explain Remotely Accessible Target System TABLE OF CONTENTS ABSTRACT rausn PO 1 INTRODUC HON datei tease 2 l OR 3 PHP 3 credibil er MI Mr 4 Ch uqhu E 4 lli O T Tc 5 Gods and Methodology oe t aTe hasa A ud EEE OEN ONENE 5 T NS 6 DISCUSSION 7 FEO ON CIO uuu a 7 Design OD S ERR at 7 Range orar Iedst 300 yard u u __ _______ alent 7 Resolution of less than 0 1 of an inch 7 18 l E 7 Target size of at least 10 inches square 7 Response time of less than seconds 7 M st holdat least 10 targ
90. ther to the sky Figure 17 An Example of the Keystone Effect The picture of the building shows how the appearance is distorted by the extreme angle at which the picture is taken This same phenomenon occurs with the target platform In order to correct this both the x axis and y axis needed to be scaled based on the distance from the bottom of the picture This effectively warps the coordinate system we use while finding the bullet hole s location providing us with accurate results Remotely Accessible Target System 23 Camera Sleep Mode One of the most persistent problems during this project was a power saving feature built in to the CoMedia C328R serial camera This feature forced the camera into a sleep mode after approximately 10 seconds of idle time After the camera enters this sleep mode it must be synchronized and initialized again before an image can be taken This adds approximately 2 to 3 seconds to the picture taking process and was deemed unacceptable While this is inconvenient the largest problem was the fact that this feature was undocumented in the camera s datasheets and manuals This issue was only realized after the camera was deemed unsuitable and a replacement could not be found A true solution to this problem was never found The only thing we could do to keep the response time of the camera as short as possible was to force it to stay awake by sending it a synchronize command every seven seconds to pre
91. un at up to the same speed as the main clock It was this capability along with the fact that the timer values were captured without the need to execute code that led to the selection of this microcontroller These features ensured the timer values were accurate Remotely Accessible Target System 9 The method used to measure the time the bullet took to travel from the first light curtain to the second was relatively simple If the chronograph mode was selected Timer A was allowed to run free Counting from 0 to 65535 then starting over again when a shot was detected by the front light curtain the timer value at that moment was captured and saved in memory When the same shot was detected by the rear light curtain the new Timer A value was stored in memory These two different timer values were then subtracted and the difference is the number of timer clock cycles it took the bullet to travel a fixed known distance This value is then sent back to the PC within the last two bytes of the shot command In the PC is where the final math is done to convert the clock cycle count into a meaningful velocity Target Advance This is essentially a standard stepper motor control routine with one difference Instead of counting the steps the motor turns and then stopping the motor only slows when this fixed count is reached After the motor slows down an optical limit switch is used to place the target precisely in the desired positi
92. ure of this IC was imperative for its use as a communications switch this ensured no unwanted bits would be transferred to the wrong device during switching Another important feature was the fast switching time of less than 13ns This speed allowed the switching between communication devices to occur without incorporating any delays in the programming OPA4350 Operational Amplifier A high quality Operational Amplifier OP AMP was one of the most important part selections of this project The 4350 exceeds our needs on every aspect Performance and simplicity of design were the key criteria when picking this part High performance and speed were needed as this part was not only to be used for amplification of the analog input from the light curtain but the timing of that input also In order to keep the design simple we needed this performance out of a small package which provided single supply rail to rail operation The OPA4350 met these criteria REG104 Linear Regulator Both the 5V and 3 3V REG104 linear regulators were used in the RATS These regulators were selected due to the need for low noise low dropout and small package size The Remotely Accessible Target System 19 REG104 family exceeds all of these requirements while providing fast transient regulation and high efficiency REG113 Linear Regulator Both the 3 3V and 5V varieties of these parts were selected for the same reasons as were the REG104 regulators
93. ure Compare Int Flag Moves shoti R10 to Riz for sub Subtracts shot RII from shatl Swaps bytes of shot Time For 5 Clears the Command Array offset snucmd 0 Increments Command Array offset amp ndCmd 1 Cmdshot Increments Command Array offset 2 3 shot Time dt Calls Command sub routine calls the Camera and Flash routine Pops old Delay 2 Outer loop counter Clear the Int Flag Clear the Int Flag Al enabled Interrupts enabled Return from taterrupt Interrupt Vectors Port 1 input interrupt vector address Sets Laser Gun interrupt vetor LGUnrsR DART RX vector address Sets VART Rx vector to SerrsR label 1 interrupt vector address Sets Timer Capture 1 vector to Ttaptl 0 interrupt vector address Sets Timer Capture 0 vector to T Capt ASP43 RESET Vector Sets reset vector ta RESET labe That s all Folks Remotely Accessible Target System Page 39 APPENDIX B b y f 4 AO 4 7 OB aros c gy DO gt uma ss C328R Serial Camera Target Advance System Camera and Flash Permanently Mounted Platform 5 Main Structure Remotely Accessible Target System 40 4 Got JPG 15920 bytes Showing JPG Success 320X240 9 5595468 seconds JPEG Resolution 5 80x64 onc s Sas Sn
94. vent it from entering this power saving mode Noise The serial communication circuitry which is used both in the control box and at the platform has been found to inject noise into surrounding components and circuitry The most detrimental part of this noise is induced onto the bullet detection circuitry from within the cable that connects the control box to the platform This noise is only active when the PC is communicating with the camera or when the PWM outputs to the laser positioning servos are active Fortunately in both cases this can be ignored because a shot should not be detected at the same time the camera is relaying an image of a previous shot or when the microcontroller is positioning the servo Future Recommendations Database A database could very easily be added on to this project Nearly all of the information that would be requested of a target shooter is already gathered or calculated A database would be automatically filled with information after each shot This could include but is not limited to a picture of each shot grouping shot placement etc There is also available hardware space that could incorporate weather monitoring devices These devices would report humidity temperature wind speed and wind direction These are crucial environmental factors that can greatly affect each shot With this information collected a shooter can prepare for a new shooting session based on the information that was collected f
95. ware interface to manually control some of the platform s features These commands are then sent to the microcontroller via the same Bluetooth connection The microcontroller then supplies the I O necessary to control features such as the target advance and the servo positioned laser This functionality the major components and their relationship to each other can be seen in Figure 3 Remotely Accessible Target System Pagel6 Optional Weather Sensors Wind h Speed amp Direction Tama H rnirkty and Pressure Stops Timer Displays Bullet Chronograph Optional Environmental and Weather Performs Pixel by Information Pixel Analysis of Image fram Camera Determining Location of Bullet Holes Figure 3 Block Diagram Illustrating Major Components and Functionality The block diagram in Figure 3 depicts the different functions of the hardware software and communications between them These features will be discussed in detail in the subsequent sections Overview The remainder of this final report outlines in detail how the project was completed This report includes the following sections design objectives technical approach budget timeline problems encountered and future recommendations Remotely Accessible Target System 7 DISCUSSION Project Concept The RATS project was conceptualized from a variety of previous projects a
96. ystem 48 Stepper Motor Circuit 145819 55 0uH 4 SWE DRC FWG DR SVE PK TCAP VEG BHO 26 m 2 Our Sur dye ND R42 e voci A a kup 3 Tf ay SHO DAMES Remotely Accessible Target System 49 Front Bullet Detection Circuit gt 22SF2D30 he tee tae Ce 255 9 90 Iv Saat LE HND y SIRS ANE Remotely Accessible Target System Page 50 APPENDIX D Datasheets MSP430f2272 MS MIXED SIGNAL MICROCONTROLLER JULY S006 HEVIEED 2008 Low Supply Voltage Range 1 8 V to 36 V Two Configurable Operational Amplifiers Ultralow Power Consumption MSP4A30x22x3 Only Active Mode 270 pA at 1 MHz 2 2 V Brownout Detector Standby Mode 0 7 pA Serial Onboard Programming OH Mode Retention pA No External Programming Voltage Needed Ultrafast Wake Up From Standby Mode in Programmable Code Protection by Than 1 uz Security Fuse 15 HISC Architecture 62 5 ns Bootetap Loader Instruction Cycle Time Chip Emulation Module Basic Clock Module Configurations Family Members Include Internal Frequencies up to 16 MHz With MSP430F2232 8KB 2568 Flash Memory Four Calibrated Frequencies to 1 5128 RAM c Q ue MSP

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