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
Hardware Overview
Platform
Transmitter
IR RX
GPIO
RF TX
Digital
Compass
IR TX
Motor
Motor
(Left)
RF RX
Motor
(Right)
RS/232
GPIO
GPIO
Motor
Control
RS/232
Digital
Compass
Processor
Base of Vehicle
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
Vcc
Gnd
.1 uF
Ryan Hitchler
Headers
Ryan Hitchler
Memory
Ryan Hitchler
Memory Map
$FFF
F
$FFFF
EPROM
EPROM
$8400
$8000
$7FFF
$8000
$FFFF
PERFS
SRAM
SRAM
$0000
$0000
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
DW
CodeBase
; set up pointer address to start of
ORG
CodeBase
; start of code
; start of address
pointer
code
Start:
nop
nop
nop
jmp Start
Ryan Hitchler
EPROM Test Results
Ryan Hitchler
Parts Listing
Part
Quantity Price
.1 uF Cap
28 Donated
1 uF Cap
2 Donated
Through Hold Pins
26 Donated
Power Bus
2 Donated
Raltron 8MHz Clk Oscillator
1 Donated
Heat Sink
1 Donated
LM7805 5V Regulator
1 Donated
78M33 3.3V Regulator
1 Donated
Banana Plug (Female)
3 Donated
LED (Yellow)
1 Donated
Diode
1 Donated
Various Resistors
3 Donated
SPST Switch
1 Donated
Push Button Switch
1 Donated
XCS10 FPGA
1 Donated
18V256 EEPROM
1 Donated
10 Pin 4.7KOhm SIP
3 Donated
6 Pin JTAG Header
1 Donated
20 Pin Logic Analyzer Header
2 Donated
27C256 EPROM
1 Donated
62256 SRAM
1 Donated
28 Pin ZIF
1 Donated
MC68HC11 E0
1 Donated
74373 Transparent Latch
1 Donated
MAX233
2 Donated
DB9 Connector
2 Donated
Perf Board
1
$19.00
Stand Off
10
$10.00
Total Cost
$29.00
Ryan Hitchler
Software Algorithm Redux
Power On
Set up
Interrupts
Set up
Serial
Poll RF
Receiver
RF
Signal
?
No
Yes
Turn
Antenna
Poll IR
Receiver
No
No
RF
Signal
?
Yes
Move
Base
Poll IR
Receiver
Yes
Stop
Antenna
Yes
Stop
Antenna
IR
Signal
?
No
IR
Signal
?
Poll RF
Receiver
Read Ant.
Compass
Yes
Ant. =
Base
?
No
Read Ant.
Compass
Turn Ant.
-> Base
Stop
Turning
Yes
Base
=
Ant.?
No
Read Base
Compass
Turn Base
-> Ant
John Maitin
Code
; Capstone algorithm code
; for MC68HC11
; begin code section
ORG
CodeBase
Start:
lds
#Stack
bsr
enable_int
pollrf:
ldaa
PORTA
anda
#RFMASK
cmpa
#RFMASK
bne
pollrf
startantenna:
ldaa
PORTA
oraa
#MAONFMASK0
anda
#MAONFMASKF
staa
PORTA
pollir:
ldaa
PORTA
anda
#RFMASK
cmpa
#RFMASK
bne
stopantenna
found
ldaa
PORTA
anda
#IRMASK
cmpa
#IRMASK
bne
pollir
stopantenna:
ldaa
PORTA
oraa
#MAOFFMASK0
anda
#MAOFFMASKF
; start of code
; load stack pointer
; enable interrupts
;
;
;
;
get GPIO information
mask out RF information
compare to RF information
if no RF signal, continue polling
;
;
;
;
get GPIO information
mask in antenna motor control info
mask out unwanted info
write out GPIO stuff
;
;
;
;
get GPIO information
mask out RF information
compare to RF information
jump to stopantenna if no RF signal
;
;
;
;
get GPIO information again
mask out IR information
compare to IR mask
if no IR signal, continue polling
antennacompass:
oraa
staa
bsr
std
#CMPAMASK
PORTA
read_compass
compass
;
;
;
;
select antenna compass
write out GPIO information
read from the antenna compass into d
store antenna compass reading into compass
baseturn:
ldaa
anda
staa
bsr
subd
beq
cpd
bge
PORTA
#CMPBMASK
PORTA
read_compass
compass
movebase
$0167
turnright
;
;
;
;
;
;
;
;
get GPIO information
select base antenna
write out GPIO information
read from the base compass into d
subtract compass value
if equal, then move base
compare d to halfway value for compass
turn right if difference greater than halfway
turnleft:
ldaa
oraa
anda
staa
ldaa
oraa
anda
staa
bra
PORTA
#MLONRMASK0
#MLONRMASKF
PORTA
PORTA
#MRONFMASK0
#MRONFMASKF
PORTA
pollcomp1
;
;
;
;
;
;
;
;
;
get GPIO information
write in left motor information
write out unwanted information
write GPIO information
get GPIO information
write in right motor information
write out unwanted information
write GPIO information
jump to pollcomp1
; get GPIO information
; mask in antenna motor control info
; mask out unwanted info
John Maitin
Code (Pt. 2)
turnright:
ldaa
oraa
anda
staa
ldaa
oraa
anda
staa
pollcomp1:
PORTA
#MLONFMASK0
#MLONFMASKF
PORTA
PORTA
#MRONRMASK0
#MRONRMASKF
PORTA
;
;
;
;
;
;
;
;
get GPIO information
write in left motor information
write out unwanted information
write GPIO information
get GPIO information
write in right motor information
write out unwanted information
write GPIO information
movebase:
stop
; enable interrupt control
enable_int:
sei
ldaa
#$30
staa
BAUD
ldaa
#$00
staa
SCCR1
; disable interrupts
; 9600 baud, assuming 8 MHz clock
;
; 8 data bits
;
ldaa
staa
#$2c
SCCR2
; Receive interrupt, poll transmit, enable TX,RX
;
ldaa
ldaa
SCSR
SCDR
; clear RDRF, error flags
; clear receive buffer
clra
tap
cli
rts
; clear a
; transfer a to cc register (enable XIRQ and IRQ)
; enable interrupts
; SCI interrupt handler
rec:
psha
ldaa
SCSR
anda
#$40
cmpa
#$40
bne
quit
ldaa
SCDR
staa
compass
quit:
pula
rti
; change antenna direction (XIRQ interrupt handler)
changeant:
psha
pshb
ldaa
PORTA
ldab
antdir
comb
bmi
goreverse
goforward:
oraa
#MAONFMASK0
anda
#MAONFMASKF
bra
finishchange
goreverse:
oraa
#MAONRMASK0
anda
#MAONRMASKF
finishchange:
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 Sensor
Josh Bingaman
QUESTIONS?