The CanSat Kit User Manual
Contents
1. se Peo USB PEDO s PB e Wee e Using the analog inputs and the Analog to Digital converter Although we do not measure analog signal values in the lab you may want to use the analogRead pin function in Arduino as described in http arduino cc en Reference analogRead with the board later Then you v MINUS The CanSat Kit User Manual ENGINEERING should use the symbolic name for the pin Ao A11 as shown in the table above to refer to the input pin For example to read the analog value on pino the line below should be used sensorValue analogRead A8 22 v T uC board pin mapping The CanSat Kit User Manual QE c 09m E NGINEERING 9 qe1 88s Suod se paziuesio jou suid jeusiq ZLNI SINI AS szdd Zda ezda reda da Sega Zeda sng uy guy 2d Tred otuy TTuy red erad TI Sueeeeeeeeeeeeenr Analog JRE SRESEE SEEPS e eee ee III t i muc SO viloguo ae spa liy Spa Jau1o jo SJaquunu uid je3i8ip 101 81g 61 3235 9TdG uO 00 031 v MINUS The CanSat Kit User Manual ENGINEERING Arduino install summary Download and install Arduino from www arduino cc Replace the file Board txt with provided Located at arduino x x windows arduino x x hardware arduino Or open the existing board txt and add the next lines to the file Ww HH HuHhHuHnHuHuHnduuHdHdHHHHHHHHHuHHHuHuHuuHnuunusnuuuuuduiiHidddHidHiHHdHxuidadd TMinusa name zTMinusa2. TMinus1 upload protocol stk5oov2 TMinus1 upload maximum_size 258048 TMinus1 upload speed 57600 TMinus1 bootloader low_fuses oxFF TMinus1 bootloader high_fuses 0x98 TMinus1 bootloader extended_fuses oxFF TMinus1 bootloader path stk5o0ov2 TMinus1 bootloader file stk500boot_v2_mega2560 hex TMinusa bootloader unlock bitszox3F TMinus1 bootloader lock_bits oxoF TMinusa build mcuzatmega2560 TMinusa build f cpuz800oooooL TMinusa build corezardvuino TMinus1 build variant TMinus Ww Place provided pins arduino h in the folder arduino x x windows arduino x x hardware arduino variants T Minus 24 v MINUS The CanSat Kit User Manual ENGINEERING Appendix B Component datasheets The following component datasheets are added to this document e APC220 datasheet e APC220 manual e M35 datasheet e MPX41415 datasheet e Thermistor datasheet NTCLE203E3103GBo 25
3. c0 099 MINUS The CanSat Kit User Manual ENGINEERING At the bottom right of the screen a drop down menu allows the selection of the baud rate Setting this to the same as used in de program will show the data that is sent Try sending text and variables with and without new lines to get a feeling of operation 13 v MINUS ENGINEERING Sensor board The CanSat Kit User Manual The next step is connecting the sensors and getting the sensor data The sensors will be placed on the sensor board The board used for this is the same size as the micro controller board and has connectors on the same space to place it on the micro controller board The board is provided empty together with the connectors and components This provides flexibility to building more components on the PCB To start with the connectors need to be soldered on the PCB The PCB has a top and bottom side the top can be recognized by the markings on the PCB the connectors should be placed on the bottom of the board soldering on the side with the text The other components need to go on the top of the board providing room for the components Figure 9 Sensor board PCB with placed headers The board has many holes that are not connected while also several that are connected The connected holes allow easy use of the connection to the micro controller board All the pins described in appendix uC board pin mapping are also available on
4. and a USB communication programming interface wig CUTS C y tai AET T ED s Figure 2 The T Minus micro controller board The power supply provides two input options for powering the device either using a USB connection or an external power supply battery Thus the CanSat can be powered during the testing and programming using the USB connection and during launch by using the battery The main software environment used to programme the CanSat will be Arduino Arduino offers a simpler method of programming the device although it limits some of the micro controllers function For a more in depth control a second programming interface can be used the JTAG This interface allows the reach of all micro controller components and functions but will not be part of this document Arduino Arduino is an open source electronics prototyping platform based on flexible easy to use hardware and software Most of the information regarding programming using this environment can be found on the Arduino website www arduino cc and on dedicated forums p we ea z s 4 MINUS The CanSat Kit User Manual The sensor board The sensor board was designed to provide flexibility to the user The solder able holes are each at 2 54 mm apart the most used standard distance between the feet of electrical components The sensor board is placed on the uC board with 3 connectors of 20 pins These connectors have 1
5. micro controller this is referred to as Digital Pin 35 DP35 The AUX pin is connected to the 5V together with the VCC This means it is always in transmit mode The transmitter default settings use 9600 as baud rate for the UART connection Later on it will be 16 v MINUS The CanSat Kit User Manual ENGINEERING indicated how to change this Using the transmitter works the same way as the connection to the computer with one difference the UART port to be used Seriala begin 9600 Serial1 print Serial1 println The micro controller used has 4 serial UART ports The port used is defined by the function Serial for UARTO Serial for UARTa up to Serial3 for UART3 Receiving the signal To receive the transmitted signal the second APC220 needs to be connected to the computer with the USB TTL delivered in the APC220 kit When connecting the USB TTL it will need to install the drivers These can be found on the web at http www silabs com products mcu Pages USBtoUARTBridgeVCPDrivers aspx Or search for silabs cp210x usb driver in Google Figure 3 Picture of the APC as it fits in the USB port source wiki openpilot org With the driver installed an extra com port has been created similar to when the micro controller was connected only with a different number Using Arduino to read this with the serial monitor can be achieved by setting the com port to the one of the USB TTL Before making changes to the transm
6. the measurements required during the CanSat competition More information on the sensor can be found in the datasheet which is added as appendix Figure 6 The MPX4115A pressure sensor source nl farnell com Transmitter connection The transmitter will be connected through the sensor board optimising the volume occupied by the CanSat kit components inside the shell The transmitter has a 7 pin connector to control the device and is described in more detail in the next sub chapter Using the sensor board to place this connector provides flexibility on where to put the transmitter If no suitable place can be found wires could be used to make the connection Transmitter and receiver An APC220 communication module manufactured by Appcon technologies comprised out of a transmitter and receiver will be used The APC220 is a UHF transceiver By using two of these radios and a USB converter a simple radio link can be obtained between the CanSat and a computer The datasheet for the APC220 can be found in the appendix and consists out of two documents One document describes the transceiver module MINUS N The CanSat Kit User Manual V ENGINEERING _ and the other the manual of the complete set as it is delivered by DFRobot www DFRobot com The program RF magic is used to configure the radios and a terminal is used for receiving the data Figure 7 The APC220 communication module source DFRobot com Mechanical compone
7. the sensor board 14 v 05 MINUS ENGINEERING Temperature sensors The CanSat Kit User Manual There are two temperature sensors provided with the kit Both use different methods of connecting e GND 5V Vout R T E A2 LM35 R 10kQ A1 OV OV Figure 10 The temperature sensors and how to connect them The two sensors depicted above are analogue sensors so their output will be an analogue voltage To measure the voltage the sensor needs to be connected to 1 of the 12 analogue inputs of the micro controller These inputs can be found in appendix uC board pin mapping 10 shows the LM35 sensor connected to the analogue pin A1 of the micro controller Pressure sensor PIN NUMBERS sw Lj 1 Pin 1 is noted by the notch in the lead 2 Pins 4 5 and 6 are internal device connections Pin 1 is noted by the notch in the Lead Do not connect to external circuitry or ground 5V MPX4115A BU OV Figure 11 The pressure sensor and connection 15 gt MINUS The CanSat Kit User Manual ENGINEERING The output of the pressure sensor is also an analogue voltage the sensor needs to be to be connected to one of the analogue inputs of the micro controller It is recommended to test one by one the sensors before connecting the others This makes it easier to spot any potential problems Sensor readout With a sensor connected the readout can begin For reading an analogue
8. 6 data lines and 2 positive and 2 negative supply lines A lt lt ND ONE C Giif Figure 3 An empty CanSat kit sensor board Measuring the Temperature For the temperature measurement the kit provides two sensors The two sensors use different methods to read the temperature one is a thermistor and the other a an integrated circuit Sensor 1 The thermistor A thermistor is a resistor where the resistance is dependent on the temperature The CanSat kit uses a negative temperature coefficient thermistor or NTC thermistor the resistance of the thermistor decreases when the temperature rises manufactured by VISHAY BC Components model NTCLE203E3103GBo The datasheet attached as appendix shows the value of the resistor at several temperatures Figure 4 The thermistor source nl farnell com A MINUS The CanSat Kit User Manual ENGINEERING Sensor 2 the integrated circuit The second temperature sensor is an integrated circuit manufactured by Texas Instruments model LM35 The datasheet of the LM35 sensor is attached as appendix This sensor is simpler to use but give less insight in measurements Figure 5 The LM35 temperature sensor source nl farnell com Pressure sensor For the pressure measurement the kit contains a MPX4115 sensor produced by Freescale Semiconsductor This absolute pressure sensor has a pressure range of 15 to 115 kPA which is sufficient for
9. The CanSat Kit User Manual The T Minus CanSat Kit User Manual developed in cooperation with ESA s Education Office 2 T MINUS 5 N NES LE esa v MINUS The CanSat Kit User Manual ENGINEERING O T Minus engineering 2012 This version of the CanSat Kit User Manual accompanies the prototype CanSat Kit presented at the CanSat Workshop on the 7 and 8 of December 2012 at ESTEC Noordwijk The Netherlands v T MINUS The CanSat Kit User Manual ENGINEERING Contents Mou cM anaes 3 PP OGM CU o EAE NE T DO T D TENOR 4 The T Minusmain controller board uu onexesuct dk sucucensttsu deck ctau dum Puto eu rts Sons UesuSb dk sudo dent ue dun dkVudu dus eR US OR PEU UR TUE 5 Toe Senor DO aaa E mmm 6 Transmiter and CI OI re ect nE sy EE EE DE aE E E EEA A DAEN 7 Me chanicak COmponenta serris eens ae tr eee qp eia dte 8 The manton oller poari ETT TOO NOSTER 8 Connecting the main controller board and the first program ssssssssssee ens 8 Icom 9 Iani el cele gc VN TETTE eee 9 Step DY Step explanation OF the progi aMi coscia MUEVE FORM PUE BUBI DU PoPM NUN BURE DN DUM VE DENM DUM VEM NEA ER 11 Communication with the main controller board x itasssuxck acie C Spr a ERC n queo Uer aue as nta marea Nen P TR a E FI M MD MR C M RRE DUE 12 Bye eO a Meee gelagiel dis ie c soe i tea tte er er se iu uiua ee ee et
10. communication protocol is how the communication is going to take place For UART there is only 1 parameter used the baud rate or the modulation rate information is sent at a certain speed measured in pulses per second Because UART is Asynchronous this is very important or the data is read incorrectly at the receiver To setup the micro controller for sending communication to the computer the following function is used in the setup part of the program Serial begin 9600 Serial begin is the function setting up the communication and 9600 is the baud rate at which the communication will run The next step in sending information is telling the program what to send This can be done in the loop part of the program or in the setup part while not above the begin function There are two different functions for this Serial print Serial printlIn The difference between the two is that the In stands for indicating that the program will send the commands for new line at the end after the printing The data transmitted is between the brackets To send text set it between like text to be send To send a variable place the between the brackets like variable Serial print text to be send Serial print variable The last part is having the computer look at the com port Arduino has a serial monitor build in and if the programming works the same com port is used To open click on the serial monitor 12 gt
11. e board In order to do thistwo files are required to be installed These are board txt and pins arduino h The file board txt located in arduino x x windows arduino x x hardware arduino tells Arduino how to communicate with all the board Replace the file with the one provided The file pins arduino h tells Arduino what pin is connected to what This file is actually called the same for every Arduino variant This means that instead of replacing the file it needs to be placed in a different folder Required folder is variantsVT Minus Setting Arduino to use the T minus uC board can be done by selecting the TMinusa board under Tools Board The bottom right of the Arduino sketch window shows the board currently being used Initial program In order to determine if the device works and that you can program it you have to run a small program To do this the program shown below uses C The Arduino program is on the micro controller when it is delivered v LC MINUS Y The CanSat Kit User Manual ENGINEERING _ Y eS Blinkall TMinus Arduino 1 0 2 File Edit Sketch Tools Help Blin kall Thinus void setupi pinMode l6 OUTPUT pinMode 1l7 UTPUT pinMode l8 OUTPUT pinMode 19 OUTPUT pinMode 20 OUTPUT pinMode 21 OUTPUT pinMode 22 OUTPUT pinMode 23 OUTPUT void loop digitallrite 16 the LED off digitalWritetl if the LED off digitalWriterls5 aet the LED
12. itter try to experiment a bit with the software Changing the transmitter configuration To change the transmitter attributes like frequency and data rates the program RF magic is used This program can be found at several places on the internet One place is dfrobot com search for the apc220 and it will provide the RF magic program as a document 17 The CanSat Kit User Manual MINUS NS f ENGINEERING _ I RF Magic for APC22x V1 2A HF Parameters Net Parameters RF frequency 434 MHz NET ID 12345 RF TRxrate eeu ue NODE ID 123456788087 RF Power 3 MAH M AUTO ADD ernes Parameters Series rate 9600bps Series Patity Disable AUTO Write Mode PC Series coma Write Read R About COM Openec Figure 74 The RF Magic program The most important aspect of the transmitter to set is the frequency The reason for this is that all CanSat teams will get a frequency allocated to them In the program also the baud rate can be changed for both the communication through the air and the communication to the device it is connected with Make sure to set the baud rate for the air link is the same on both sides The Series rate does not need to be the same on both sides They do need to be the same as what they are connected with either the computer or the micro controller 18 The CanSat Kit User Manual MINUS ENGINEERING Figure 85 The CanSat with a
13. nd without cover Troubleshooting This part will be added and expended during the CanSat competition 19 v MINUS The CanSat Kit User Manual ENGINEERING Appendix A T Minus uC board Specification The board is based on an ATmega2560 micro controller With many internal functions to view these download the complete ATmega2560 manual from the atmel website www atmel com The power supply has two inputs a 5V USB supply This supply is limited to 500mA and requires the FTDI drivers to operate The FT2232 chip on the board controls the USB power this is required for proper USB operation The drawback is that a USB power plug will not turn the device on The second power input is the screw terminal allowing a battery or external supply to be connected This input has a minimum of 5 5V and a maximum of 15V The current consumption on this connector is dependent on the supplied voltage The on board DC DC converter turns the supply in to the 5V used by the components of the board Arduino pin to board conversion table Pin 32 to 35 can be used to generate external interrupts see part 2 The pin numbers should correspond to interrupts into to int3 For some unexplained reason bug the software assigns int3 to ints to the pins The table shows what to use and what it will be when the problem is solved Arduino pin on port connectedto function Port i timer Interrupt IN digital pin numbers kd o m Ug o PH fo 5 ni
14. nts The mechanical components in the kit can be used to mount the PCB to fit inside the soda can the shell In the CanSat kit you will find several of M3 threaded rods and an M5 eyebolt as well as nuts and rings The main controller board As mentioned before the main controller board are the brains of your CanSat In order to make use of this board first you need to access it via your computer Connecting the main controller board and the first program The main controller board of the CanSat kit is connected to the computer via a micro USB cable This connection is used for programming and testing of the CanSat The first time the CanSat is connected drivers will be installed on your computer The driver will create 2 USB devices of which one will act as a com port When the driver is successfully installed the device will be running constantly During the installing time it might reset from time to time The program on the micro controller will blink the LEDs for a time of 1 second on and 1 second off To start working with the board the Arduino program is required v MINUS The CanSat Kit User Manual ENGINEERING Installing The newest version of the Arduino program can be downloaded from www adruino cc To install unpack the zip file The Arduino program does not have the TMinus uC board installed as one of its variants Installing T Minus variant To use the T Minus uc board with Arduino the programm needs to recognize th
15. off digitalWrite 19 the LED off digitalWrite 20 if the LED off diqitalWrite 21 if the LED off digitallrite 22 the LED off diqitallrite 23 ff the LED off delay 1000 f wait for a second digitallrite l6 the LED on digitalWriteirl7 re the LED on digitalWrite l i the LED on digitallrite 19 the LED on digitalWrite zo t the LED on digitalWrite el set the LED on digitallrite 22 et the LED on digitalWriteiz3 set the LED on delay lOO0 Wait for a second TMinus1 on COMMA Figure 8 The Arduino program on the board when it is delivered 10 MINUS The CanSat Kit User Manual ENGINEERING Step by step explanation of the program The top of the screen indicates BlinkAll TMinus Arduino 1 0 2 These are the file name given to my program and the version of Arduino in my case Arduino version 1 0 2 The bottom right of the screen shows TMinus1 on COM4 This indicates that am using the TMinusa board and that it is connected to COM4 The com port used will be different on every computer The program is comprised of two parts The setup and the loop part The Setup part of the program is run only once This part is used to setup the controller and define initial values for variables In the case of the original program this is used to set the micro controller outputs of the LED allowing turning the LEDs on and off The lines pinMode xx OUTPUT is the call to function pinMode which i
16. program can be uploaded into in to the micro controller To finish this process press the Upload button indicated by the right pointing arrow The TMinus micro controller board has a jumper As shown in the appendix uC board pin mapping This jumper provides an easy way to program the board using Arduino This also means that the micro controller is reset when USB communication between the controller and computer is initialized For a CanSat this does not have any implications 11 v MINUS The CanSat Kit User Manual ENGINEERING Communication with the main controller board Communication is one of the most important parts of the software While the LED s provide basic feedback that the device is working and that your program is uploaded correctly they cannot be used as an indication for the readout of the sensors The Communication will be used to send extra information to the computer and in a later stage also to send data to the transmitter Basic UART communications The basic communication of Arduino is a UART connection to the computer The UART or Universal Asynchronous Receiver Transmitter is a serial communication system with separate transmit and receive lines On the computer this is connected to the com port The driver installed a virtual com port for this purpose For sending information from the controller to the computer both the controller and the computer need to be told what is the communication protocol A
17. s ge ssi Pa 3 Ra ooa deo FH 3 3 m ooa dgtaiorww PH s BOR 4 R amp Ds detalorFWM FH 4 Pts Digi demoreww FR 5 PH oig eignalvOrrwo FH 6 ocras Pp Demi deo FR 7 Hs Distal demo R o Pia Demi demo R 3 Rz pem demo R 3 Ra pi demo R 3 Fa pi demo PL a His p demo Pe 5 ms pem demo R 5 Fu po ee ajr mI mu LN LIEN LN a a LN EINEN ed LN LEN NENNEN fo NENNEN ps p 2 D l C NN LE NN I NENNEN _ LAN LE p LN NENNEN NENNEN D as SS La US INUS The CanSat Kit User Manual ENGINEERING 21 A 22 PA6 3 PA7 PB3 BUS MISO PB2 BUS MOSI VU Un1 N N T W W WwW WwW U2 U2 U2 J UW WwW UO NINI NIN N oo N OINI AIW MMIH Oo to0 0054 4 OINI ri Wl NI BJO W CO N Ov M1 PB1 BUS SCK To PB7 BUS OCRoA OCR1C LN n PBs PWM OCR1A PD1 SDA SCL S RXD1 S TXD2 BUS XCKa BUS RXD3 BUS TXD3 BUS XCK3 ADCo A8 U D D UJ UJ UJ UJ UJ UJ lili Ni WN NI WN U T Ke c mn O U e s R222 3 2 NIP O GFAlwlp C U mn Analog D v v v U U U UV v 7 U U U NINININI NINI N T 2 N Analog 4 PFa ADCa A9 PF 4 PF2 ADC2 A10 4 PF3 ADC3 A11 P 4 PKo ADC8 Ao 4 PK1 ADCo A1 4 PK2 ADCao A2 ADC 5 ADCaa A 49 PKs ADC23 A5 50 PK6 ADCa4 A6 Analog s e m ao FE 2 s s Analog RWMAN e 3 oa
18. s pre defined in Arduino The pinMode function is used to determine if a pin of the microcontroller is used as input or output The number is a reference to the digital pin number defined in the Arduino variant being used In the appendix the Arduino pin to board conversion table shows a list of the pins of the micro controller Pins 16 to 23 are connected to the LEDs The last part reads OUTPUT this tells the micro controller to control this pin as output allowing two states high and low default The loop part is run continuously by the micro controller from top to bottom There are two functions used in this loop The first is digitalWrite xx HIGH LOW used to determine if the assigned voltage for the a pin is 5V high or oV low The LEDs will turn on when the pin is set as digital output low The reason is a choice in board design The second function is delay xxxx this makes the micro controller wait for several milliseconds dependant on the number given Verify and programming your initial program The Arduino software has the ability to verify if you wrote the program in compliance with the programming rules This verification checks if the syntax or programming language has been followed The verification does not check if the program will do what you want This is a reason to program in small steps Verification is done by pressing the verify button in Arduino indicated by the checkmark When there are no problems the
19. te ee aU E bu DU QUE 12 e nee de c deca 14 Temperature SENSOSS M A 9m m SSwWwWw 15 misi re git cT 15 e Inti Wh RR E T m mme 16 Veng pe Trans CUECBE esae eee een ne eer nee ee eee ee ee EU 16 H Wg2 010 i NOO UN PNE RN RERO ere er ee ere E 19 PPCM A T M MNUSUC DOSFO e 20 Appendix B Component datasheets serorari iin Aa AAE aAa 25 The CanSat Kit User Manual MINUS ENGINEERING Introduction The CanSat Kit User Manual was developed in cooperation with ESA s Education Office to accompany the CanSat kit This document comprises the full description of the hardware components and the method of assembly cCISROOCT Ce Figure 1 Contents of the CanSat Kit The CanSat kit contains as shown in the picture from top to bottom e The sensor board and its components e The T Minus micro controller board e AoV battery e The radio transmission system e The mechanical components of the CanSat Not included in the kit parachute and the outer shell a 0 099 MINUS ENGINEERING The T Minus main controller board The CanSat Kit User Manual The T minus main controller board uC is the brain of the CanSat The board houses the ATmega2560 micro controller and the hardware required to operate the micro controller The extra hardware is comprised out of a power supply
20. value the analogread function is used This functions tells the controller to read the analogue input value on one of the analogue pins an stores the value in a variable Variable analogRead Ao Ao is the analogue input used and Variable is the variable used to store the data The variable needs to be defined There are several possible options to define a variable the most common type used is the integer this is a 16 bit digital value To define a variable as integer int is used int Variable definition of Variable as integer It is good practise to use self explanatory names for variables Simply calling them a b c etc means you will have a very hard time debugging your software Using the Transmitter The transmitter for CanSat works the same way as the UART communication via the USB cable The biggest difference is that the Transmitter needs to be connected to the micro controller Connect 1 of the APC220 with the micro controller Pins that need to be connected are RXD TXD AUX GND VCC The RX of the APC220 needs to be connected to the TXD of the micro controller and the other way around To put the APC in transmitting mode the AUX needs to be set to VCC this can be done by connecting it to VCC or by using an GIO pin of the micro controller to switch between transmit and receive mode OV OV 5V 5V Figure 2 Schematic connection of the transmitter In Figure the transmitter is connected to the RXDa pin of the
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