Radio Frequency Navigational Tracker

Main Objective Create a vehicle that will track a

high frequency RF/IR transmitter

The practical application is a golf caddy that will follow a golfer when requested.

Matthew Sharp

Platform

Processor

Motor

DigitalCompass

Motor (Right)

GPIO

RS/232 Base of Vehicle

Transmitter

IR TX

RF TX

GPIO

Digital Compass

Motor (Left)

MotorControlGPIO

RS/232

RF RX

Hardware Overview

IR RX

Transmitter

Ben Says: “It Transmits!!”

Matthew Sharp

RF Transmission

Matthew Sharp

IR TX

Matthew Sharp

Receivers

Matthew Sharp

RF RX

Matthew Sharp

IR RX

Simple, yet sophisticated!!

Matthew Sharp

Sensors

Matthew Sharp

Timing is Everything

Matthew Sharp

8051 to the Rescue

Matthew Sharp

Powering the Transmitter

Fabien Nervais

Base Motors

Two 12V ServoDisk Motors

Power – 12V Car Battery Optocoupler Solid-State Relays 4 Amp Fuses

Fabien Nervais

Rotating Mount Configuration

5V DC Servo Motor

Grooved Rubber Belt

Power 12V to 5V linear

voltage regulator Solid-State Relay

Fabien Nervais

Rotation Control

Wire Routing Resolved: Approximately 350º Rotation Serial Cable Connection

2 Limit Switches Controlling the Rotational Behavior

Fabien Nervais

Powering the Rotating Mount Platform

Fabien Nervais

Processor

Ryan Hitchler

System Clock

Ryan Hitchler

Capacitors and Vcc/Gnd Bus

.1 uF

Vcc Gnd

Ryan Hitchler

Headers

Ryan Hitchler

Memory

Ryan Hitchler

Memory Map

$0000

$FFFF$8000

$8400

$FFFF

EPROM

SRAM

PERFS

$FFFF

$0000

$7FFF

$8000

EPROM

SRAM

Current Memory Map

Future Memory Map

Ryan Hitchler

Power

Ryan Hitchler

Reset

Ryan Hitchler

FPGA

Ryan Hitchler

EPROM Test Program

; Capstone test code

; for MC68HC11

CodeBase EQU $8000 ; address of start of code

ORG $FFFE ; start of address pointer

DW CodeBase ; set up pointer address to start of code

ORG CodeBase ; start of code

Start:

nop

nop

nop

jmp Start

Ryan Hitchler

EPROM Test Results

Ryan Hitchler

Parts ListingPart Quantity Price.1 uF Cap 28 Donated1 uF Cap 2 DonatedThrough Hold Pins 26 DonatedPower Bus 2 DonatedRaltron 8MHz Clk Oscillator 1 DonatedHeat Sink 1 DonatedLM7805 5V Regulator 1 Donated78M33 3.3V Regulator 1 DonatedBanana Plug (Female) 3 DonatedLED (Yellow) 1 DonatedDiode 1 DonatedVarious Resistors 3 DonatedSPST Switch 1 DonatedPush Button Switch 1 DonatedXCS10 FPGA 1 Donated18V256 EEPROM 1 Donated10 Pin 4.7KOhm SIP 3 Donated6 Pin JTAG Header 1 Donated20 Pin Logic Analyzer Header 2 Donated27C256 EPROM 1 Donated62256 SRAM 1 Donated28 Pin ZIF 1 DonatedMC68HC11 E0 1 Donated74373 Transparent Latch 1 DonatedMAX233 2 DonatedDB9 Connector 2 DonatedPerf Board 1 $19.00Stand Off 10 $10.00Total Cost $29.00 Ryan Hitchler

Power On RF Signal

?

Set up Interrupts

Set up Serial

Poll RF Receiver

No

Turn Antenna

Poll IR Receiver

IR Signal

?

No

Yes

Yes

Stop Antenna

Read Ant. Compass

Turn Base -> Ant

Base =

Ant.?

Read Base Compass

No

Stop Turning

YesTurn Ant. -> Base

Read Ant. Compass

Ant. = Base

?No

Stop Antenna

Move Base

Yes

IR Signal

?

Poll IR Receiver

No

Yes

Poll RF Receiver

RF Signal

?

YesNo

John Maitin

Software Algorithm Redux

Code

; Capstone algorithm code; for MC68HC11

; begin code sectionORG CodeBase ; start of code

Start:lds #Stack ; load stack pointerbsr enable_int ; enable interrupts

pollrf:ldaa PORTA ; get GPIO informationanda #RFMASK ; mask out RF informationcmpa #RFMASK ; compare to RF informationbne pollrf ; if no RF signal, continue polling

startantenna:ldaa PORTA ; get GPIO informationoraa #MAONFMASK0 ; mask in antenna motor control infoanda #MAONFMASKF ; mask out unwanted infostaa PORTA ; write out GPIO stuff

pollir:ldaa PORTA ; get GPIO informationanda #RFMASK ; mask out RF informationcmpa #RFMASK ; compare to RF informationbne stopantenna ; jump to stopantenna if no RF signal foundldaa PORTA ; get GPIO information againanda #IRMASK ; mask out IR informationcmpa #IRMASK ; compare to IR maskbne pollir ; if no IR signal, continue polling

stopantenna:ldaa PORTA ; get GPIO informationoraa #MAOFFMASK0 ; mask in antenna motor control infoanda #MAOFFMASKF ; mask out unwanted info

antennacompass: oraa #CMPAMASK ; select antenna compass staa PORTA ; write out GPIO information bsr read_compass ; read from the antenna compass into d std compass ; store antenna compass reading into compass

baseturn: ldaa PORTA ; get GPIO information anda #CMPBMASK ; select base antenna staa PORTA ; write out GPIO information bsr read_compass ; read from the base compass into d subd compass ; subtract compass value beq movebase ; if equal, then move base cpd $0167 ; compare d to halfway value for compass bge turnright ; turn right if difference greater than halfway

turnleft: ldaa PORTA ; get GPIO information oraa #MLONRMASK0 ; write in left motor information anda #MLONRMASKF ; write out unwanted information staa PORTA ; write GPIO information ldaa PORTA ; get GPIO information oraa #MRONFMASK0 ; write in right motor information anda #MRONFMASKF ; write out unwanted information staa PORTA ; write GPIO information bra pollcomp1 ; jump to pollcomp1

John Maitin

Code (Pt. 2)

turnright: ldaa PORTA ; get GPIO information oraa #MLONFMASK0 ; write in left motor

information anda #MLONFMASKF ; write out unwanted

information staa PORTA ; write GPIO information ldaa PORTA ; get GPIO information oraa #MRONRMASK0 ; write in right motor

information anda #MRONRMASKF ; write out unwanted

information staa PORTA ; write GPIO informationpollcomp1:

movebase: stop

; enable interrupt controlenable_int: sei ; disable interrupts ldaa #$30 ; 9600 baud, assuming 8 MHz clock staa BAUD ; ldaa #$00 ; 8 data bits staa SCCR1 ;

ldaa #$2c ; Receive interrupt, poll transmit, enable TX,RX

staa SCCR2 ;

ldaa SCSR ; clear RDRF, error flags ldaa SCDR ; clear receive buffer

clra ; clear a tap ; transfer a to cc register (enable XIRQ and IRQ) cli ; enable interrupts rts

; SCI interrupt handlerrec: psha ldaa SCSR anda #$40 cmpa #$40 bne quit ldaa SCDR staa compassquit: pula rti

; change antenna direction (XIRQ interrupt handler)changeant: psha pshb ldaa PORTA ldab antdir comb bmi goreversegoforward: oraa #MAONFMASK0 anda #MAONFMASKF bra finishchangegoreverse: oraa #MAONRMASK0 anda #MAONRMASKFfinishchange: staa PORTA pulb pula rti

John Maitin

Simple Memory Map, Simple Decode

Memory map is divided in half, so only 1 pin needed to decode

If memory mapped I/O is used, we can adapt logic with and gates from needed address pins

Josh Bingaman

Motor Control Decoding

Josh Bingaman

RS232 Multiplexing

Josh Bingaman

Sensor Communication All GPIO No Decode logic 1 pin for IR Reception 1 pin for RF Reception Limit Switches on Antenna motor to

XIRQ 1 spare GPIO input for Proximity

SensorJosh Bingaman

QUESTIONS?