Charles Chen
Katie Corner
Danny Costinett
Bob Pomeroy
Jeries Shihadeh
 Project
Review
 Implementation
• Hardware
• Software
 Division
of Labor
 Budget
 Schedule
 Progress
and Concerns
 Questions
Bob
 NadeCam
• Thrown camera unit
• Receiver station to
capture images
• Present images in
interactive 3D view
• 640x480 JPEG
• 1 FPS Minimum
Bob
LDO 1
Digital Camera
1
Digital Camera
2
Energy
Storage
LDO 2
Power Management
Data Transmission
Data
Processing/Storage
Energy
Storage
Sensor
FPGA
Counters
Additional Components
Data Bus
SRAM
Control Bus
Accelerometer
µProcessor
Gyroscope
Magnetometer
RF
Transceiver
Matching
Network
RF
Transceiver
RS-232
Transceiver
PC Base
Station
Jeries
Choice and Use
Charles
 Currently
Have:
• COMedia Ltd C328-7640
 Low Cost Camera Unit w/
JPEG compression
• Videology 20K14XDIG
 1/4” Color CCD Board
Camera
Charles



Multiple Color formats
and resolutions + RS232
communication
Connected to STK500
board and tested w/
Logic Analyzer initially,
then MatLab
Found to be very
unreliable (Auto-Baud
rate detection is
questionable)
Charles
 Instruction
Sequence:
Reset (AA 08 00 00 00 00)
Sync (AA 0D 00 00 00 00)
Ack (AA 0E 0D xx 00 00)
Sync (AA 0D 0D xx 00 00)
Ack (AA 0E 0D xx 00 00)
Initial Preview, VGA resolution (AA 01 00 06 07 xx)
Ack (AA 0E 01 xx 00 00)
Snapshot Picture Type Uncompressed
Ack (AA 0E 05 xx 00 00)
Get Picture
Ack (AA 0E 04 xx 00 00)
Picture Info (AA 0A 01 ~~ ~~ ~~)
Picture Data Stream
Ack (AA 0E 0A xx 00 00)
Charles
Charles



Digital output, w/
automatic gain control,
backlight compensation,
and white balance
Shutter Speed 1/60 s to
1/100,000 s
I2C control
communication
Charles
Accelerometer, Magnetometer and Gyroscope
Accelerometer
µProcessor
Gyroscope
Magnetometer
Katie
 Detect
down (but useless in freefall)
 For prototyping and comparison:
• Freescale MMA7455L: ±2g/±4g/±8g Three Axis
Low-g Digital Output
• STMicro LIS3LV02DL: 3-axis - ±2g/±6g
 Final
Choice (±16g, availability):
• Analog Devices ADXL345: Three-Axis,
±2/4/8/16g Digital Accelerometer
 Cost: $7.08 each (on DigiKey)
Katie
 Detects
angular velocity
 Capable of correcting errors in
magnetometer data
 Much higher sampling frequency than
magnetometer
 Chosen parts, if needed:
• STMicro LPR510AL, pitch & roll / yaw
• 100-400 o/sec maximum detection
Katie
 Can
detect relative location, but not
helpful near strong magnetic fields
 Chosen part:
• Honeywell HMC5843: 3-Axis Digital Compas IC
 I2C Interface
 2.5V – 3.3V Operating Range
 Cost: $19.20 each (on DigiKey)
Katie
FPGA and SRAM
Digital Camera
1
FPGA
Counters
SRAM
Charles
 Takes
data from
camera
 Compress
image data
coming out of camera
 Writes
SRAM
image data into
 Used
Cyclone II in
Digital Logic
Charles
 Use
3rd party models
for:
• Testing – SRAM
Simulations
• Compression
 Cast JPEG-E Baseline
JPEG Encoder
Megafunction
 Available to Sample
 “Can encode over 30
frames/sec for 4:3 HDTV,
1440x1152“
Charles
 Address
bus tied to three 8-bit Binary
Up/Down counters
 FPGA
-> Data In Bus -> SRAM
 SRAM -> Data Out Bus -> uProcessor
 FPGA
can only write to SRAM
 uProcessor can only read from SRAM
Bob
Bob
Microprocessor
Danny
Bob
 Texas
Instruments MSP-430
 Controls Camera via I2C
 Samples the Orientation Sensors and
stores a position vector
 After image capture complete, sends
data to the transceiver
Danny
 uProcessor
triggered by FPGA to sample
sensors on picture
 FPGA alerts uProcessor that it’s using the
memory, writes the image+position data
to SRAM
 FPGA increments the counters connected
to the SRAM address bus
 FPGA alerts uProcessor that data write is
complete
Danny
Danny
Bob
 One-time
use device
 Sleep power consumption low for long
inactive lifespan
 Use standard batteries
Bob
Bob
uProcessor and Transceivers
RF
Transceiver
RF
Transceiver
Matching
Network
RS-232
Transceiver
PC Base
Station
Danny
 uProcessor
raises read line, waits for
FPGA to finish write to SRAM
 Reads the image + orientation data out of
memory
 Decrement address counters after each
 Send data to transceiver
Danny
2
Mbps on-air data rate
 32 byte shockburst mode
 Often used in low-power applications
Danny
 Using
Chip and
Trace antennas
 Able to transmit
through multiple
walls/floor
Danny
Software
Jeries
 Completed
• User Interface Layout
• User Interface Interaction

•
•
•
Localized Mouse Clicking
Drop Down Menu
Rotating display
Steeping through trajectory path
 Work
to be Accomplished:
• Display each time instant with correct orientation
Jeries
Jeries
Jeries
Image Processing Flow at Base Station
Data
via
RS-232
MATLAB
Store and Parse
Data Packets
Resave
as
.bmp
Crop Image
to square
Compute
Initial Position
(Accelerometer)
Resize Image:
Dimensions
multiple of 2
Compute
Orientation
(Magnetometer)
Store Images
in folder
Store results
plus timestamp
in text file
OpenGL
Graphical User Interface
Katie
 Possible
Additional Features:
• Animate NadeCam trajectory path
• Image Processing
 Lowlight detection
 Face recognition
Katie
Jeries
 Bob
and Charles
• Camera Control
• Pre-Processing
• Data Storage
 Danny
• PCB Design
• Microcontroller
• Power System
 Katie
and Jeries
• Post Processing
• UI Design
• Orientation Sensing
Jeries
Jeries
Item Name
Camera
MSP 430 Microcontroller
Cyclone II FPGA
Accelerometer
Gyroscope
Magnetometer
RF transceiver
Packaging Frame
PCB Layout
SRAM
Assorted Components
Total Cost
Unit Price Quantity
$5
$40
$10
$20
$20
$10
$60
$35
$120
Sub-Total
2
1
1
1
1
2
1
3
TBD
Donated
$10
$40
$20
$20
$20
$20
$60
$105
Sampled
$120
$415
Jeries
Bob
 Milestone
1:
• New camera operational
• MCU able to transmit sensor data via RS-232
• Images oriented based on sensor data
 Milestone
2:
• Camera and sensor data synched
• Multiple pictures stored and transmitted via RF
 Expo:
• Meet frames per second goal
• Packaged Device, extras.
Bob
 Progress
• Basic camera images captured
• Graphics ‘Sky-Box’ complete
• RF Link demonstrated
• FPGA with SRAM use setup
• All parts chosen, test PCB ordered
 Concerns
• Use of orientation sensors (magnetometer noise)
• New camera, new challenges
• Time!
Bob