Eric Tarun Craig Dave ECE 477 Design Review Team 9 Spring 2006 Galamback Chawla Noble Kristof.

Eric Tarun Craig DaveEric Tarun Craig Dave

ECE 477 Design Review ECE 477 Design Review Team 9 Team 9 Spring 2006 Spring 2006

Galamback Chawla Noble KristofGalamback Chawla Noble Kristof

OutlineOutline• Project overview Project overview • Project-specific success criteriaProject-specific success criteria• Block diagramBlock diagram• Component selection rationaleComponent selection rationale• Packaging designPackaging design• Schematic and theory of operationSchematic and theory of operation• PCB layoutPCB layout• Software design/development statusSoftware design/development status• Project completion timelineProject completion timeline• Questions / discussionQuestions / discussion

Project OverviewProject Overview

• Motion Tracking SystemMotion Tracking System• Low resolution camera takes images and Low resolution camera takes images and

detects differencesdetects differences• Servo motors aim laser pointer at moving Servo motors aim laser pointer at moving

targettarget• Stores timestamps of motion eventsStores timestamps of motion events• Events are viewable on an LCD screenEvents are viewable on an LCD screen• On startup, users have the option to calibrate On startup, users have the option to calibrate

the system and set the current timethe system and set the current time

Project-Specific Success CriteriaProject-Specific Success Criteria

• An ability to analyze successive stored images An ability to analyze successive stored images for changes/movement in field-of-view. for changes/movement in field-of-view.

• An ability to calibrate laser-aiming platform An ability to calibrate laser-aiming platform relative to camera field-of-view. relative to camera field-of-view.

• An ability to aim laser at a torso 10 feet away. An ability to aim laser at a torso 10 feet away.

• An ability to timestamp and log motion events.An ability to timestamp and log motion events.

• An ability to configure/control system An ability to configure/control system operation and view event logs via operation and view event logs via pushbuttons/LCD. pushbuttons/LCD.

Block DiagramBlock Diagram

Component Selection RationaleComponent Selection Rationale

• Camera Chip selectionCamera Chip selection– Needed a low resolution, small, Needed a low resolution, small,

inexpensive digital camerainexpensive digital camera– Investigated cameras from Kodak and Investigated cameras from Kodak and

OmnivisionOmnivision– Decided on the OV6620 color cameraDecided on the OV6620 color camera– Comes on a module for simplicity (C3088)Comes on a module for simplicity (C3088)


• About the OV6620/C3088About the OV6620/C3088– Low resolution, 16 bits of data per pixel Low resolution, 16 bits of data per pixel

(CIF=352x292 or QCIF=176x146)(CIF=352x292 or QCIF=176x146)– C3088 module includes 17.73 MHz oscillator (can C3088 module includes 17.73 MHz oscillator (can

be clocked down to 70 KHz)be clocked down to 70 KHz)– II22C interface to set registersC interface to set registers– Data is clocked by PClk signalData is clocked by PClk signal– 5V operation5V operation– Analog Video OutputAnalog Video Output– Only need to use Y data (8 bits)Only need to use Y data (8 bits)


• Speed IssuesSpeed IssuesQCIF ResolutionQCIF ResolutionClock (MHz)Clock (MHz) FPS (frames/sec)FPS (frames/sec).070.070 2.722.721 1 38.938.91010 389.16389.1617.73 17.73 689.99689.99

• Space Concerns (Image) [Difference Data]Space Concerns (Image) [Difference Data]CIF: 352x292 pixels (102,784 B) [644 B] CIF: 352x292 pixels (102,784 B) [644 B] QCIF: 176x146 (25,696 B) [322 B]QCIF: 176x146 (25,696 B) [322 B]1/3 from CIF: 118x98 (11,564 B) [216 B]1/3 from CIF: 118x98 (11,564 B) [216 B]1/2 from QCIF: 88x73 (6,424 B) [161 B]1/2 from QCIF: 88x73 (6,424 B) [161 B]


• Microcontroller Selection (MC9S12DP512)Microcontroller Selection (MC9S12DP512)– Fast enough to acquire images, pinpoint Fast enough to acquire images, pinpoint

center of motion and output PWM signals center of motion and output PWM signals to track motion in real time (25MHz)to track motion in real time (25MHz)

– Plenty of RAM to store one image and Plenty of RAM to store one image and difference data (14k)difference data (14k)

– II22C interfaceC interface– Plenty of I/O (91 pins on 112 pin LQFP Plenty of I/O (91 pins on 112 pin LQFP

package)package)– ATD, PWM, RTI systemsATD, PWM, RTI systems


• Servo motorsServo motors• Pushbuttons – setting time, event scrolling, Pushbuttons – setting time, event scrolling,

LCD backlightLCD backlight• Laser pointerLaser pointer• Potentiometers - camera calibration, LCD Potentiometers - camera calibration, LCD

contrast adjustcontrast adjust• LCD display - timestamp displayLCD display - timestamp display

Packaging DesignPackaging Design

• Designed to be as small for maximum Designed to be as small for maximum concealability.concealability.

• 4.3” x 3.2” Serpac Electronic Enclosure 4.3” x 3.2” Serpac Electronic Enclosure holds PCBholds PCB

• A dome on top of the enclosure contains the A dome on top of the enclosure contains the laser and a servo motor for tilt control.laser and a servo motor for tilt control.

• Designed to operate with either AC or DC Designed to operate with either AC or DC power for user flexibility.power for user flexibility.

Packaging DesignPackaging Design

Schematic/Theory of OperationSchematic/Theory of Operation


• Camera has a 24 pin connection to the Camera has a 24 pin connection to the microcontroller; two 8-bit data buses, Imicrocontroller; two 8-bit data buses, I22C C data and clock, and six control signalsdata and clock, and six control signals

• VTO pin usable for analog video outputVTO pin usable for analog video output• Only using Y (luminance) data, Only using Y (luminance) data,

one byte per pixelone byte per pixel• Scaled down PCLK allows for Scaled down PCLK allows for data data

manipulation as pixels are read in manipulation as pixels are read in to the microcontroller to the microcontroller

• PCLK connected to interrupt pin,PCLK connected to interrupt pin, pixel data read on rising edgepixel data read on rising edge


• LCD module has an 11 pin connection to the LCD module has an 11 pin connection to the microcontroller; one 8-bit data bus and 3 microcontroller; one 8-bit data bus and 3 control signalscontrol signals

• Contrast adjust potentiometer connected Contrast adjust potentiometer connected through power through power

• LED backlight pushbutton connected LED backlight pushbutton connected through powerthrough power


• Servo motors controlled by PWM signalsServo motors controlled by PWM signals• 16-bit signals will be used for increased 16-bit signals will be used for increased

accuracy, 8 channels availableaccuracy, 8 channels available• Each motor has its own calibrationEach motor has its own calibration

potentiometerpotentiometer• Calibration pots connected to ATD Calibration pots connected to ATD

channels on the microcontrollerchannels on the microcontroller


• Laser pointer will be sourced directly from the Laser pointer will be sourced directly from the microcontroller but also has an external switch to microcontroller but also has an external switch to disable itdisable it

• Up/Down push buttons wired to interrupt pins so Up/Down push buttons wired to interrupt pins so there is no polling requiredthere is no polling required

• Programming header connected to BKGD and Programming header connected to BKGD and RESET pinsRESET pins

• Extra PLD and headers available for easy expansionExtra PLD and headers available for easy expansion• Ceramic resonator has built in capacitors, 25MHz Ceramic resonator has built in capacitors, 25MHz

crystal crystal • PLL circuit designed for 25 MHzPLL circuit designed for 25 MHz

PCB LayoutPCB Layout

• Physical ConsiderationsPhysical Considerations– Hard ConstraintsHard Constraints

• Minimize overall areaMinimize overall area• 112 pin 22mm112 pin 22mm22 LQFP uC package LQFP uC package• Headers: 2x17, 2x8, 1x6, 2x3, 1x3’sHeaders: 2x17, 2x8, 1x6, 2x3, 1x3’s

– 0.1” pin spacing, near PCB edge0.1” pin spacing, near PCB edge• Voltage regulator: TO-220 packageVoltage regulator: TO-220 package

– Power circuit separate from restPower circuit separate from rest


• Physical ConsiderationsPhysical Considerations– Soft Constraints: Component locationsSoft Constraints: Component locations

• Camera header fixed to minimize clock Camera header fixed to minimize clock traces into interrupt port pinstraces into interrupt port pins

• LCD header near LCD location opposite LCD header near LCD location opposite of camera locationof camera location

• Remaining parts not as critical, placed Remaining parts not as critical, placed near convenient port pins near convenient port pins


• Electrical ConsiderationsElectrical Considerations– Hard ConstraintsHard Constraints

• Freescale recommended PCB layoutFreescale recommended PCB layout– Capacitor, oscillator, PLL circuitCapacitor, oscillator, PLL circuit– Copper pour under microcontrollerCopper pour under microcontroller

• Bypass capacitors at each power pairBypass capacitors at each power pair– Camera/LCD module already coveredCamera/LCD module already covered

• Isolation of oscillator/PLL circuitIsolation of oscillator/PLL circuit• PCB Manufacturer size limitationsPCB Manufacturer size limitations


• Electrical ConsiderationsElectrical Considerations– Soft ConstraintsSoft Constraints

• Sizes used: 60mil power, 12mil signalSizes used: 60mil power, 12mil signal• Short clock traces, far from othersShort clock traces, far from others• 45 degree trace turns, no loops45 degree trace turns, no loops• Power circuit far from digital circuitPower circuit far from digital circuit• Signals cross perpendicularSignals cross perpendicular• Connectors close to modulesConnectors close to modules


• Camera ModuleCamera Module– Two 8-bit parallel data busesTwo 8-bit parallel data buses– Three clock signals, IThree clock signals, I22C communicationC communication

• LCD ModuleLCD Module– 8-bit parallel data bus, (3) control signals8-bit parallel data bus, (3) control signals

• Servo MotorsServo Motors– Use PWM outputs to determine positionUse PWM outputs to determine position

• PotentiometersPotentiometers– Bottom mounted, traces into ADC pinsBottom mounted, traces into ADC pins

Software Design/Development StatusSoftware Design/Development Status

• Most interfacing will be interrupt drivenMost interfacing will be interrupt driven• Interrupts:Interrupts:

– PCLK – Highest PriorityPCLK – Highest Priority– Push ButtonsPush Buttons– RTI for updating the clockRTI for updating the clock

• ATD for potentiometersATD for potentiometers• PWM signals for servo motorsPWM signals for servo motors


• PCLK ISR (for reference frame): PCLK ISR (for reference frame): RefFrame[row][col] = Y[7:0] RefFrame[row][col] = Y[7:0] Col++ Col++ if (Col > NUMCOLS) if (Col > NUMCOLS) Col = 0 Col = 0 Row++ Row++ if (Row > NUMROWS) if (Row > NUMROWS)

Row = 0 Row = 0

Ref_Frame_Acquired = 1Ref_Frame_Acquired = 1


• PCLK ISR (normal frame): PCLK ISR (normal frame): if (abs(Y[7:0]-RefFrame[row][col]) > if (abs(Y[7:0]-RefFrame[row][col]) > Difference_Threshold) Difference_Threshold) ColDiffData[col]++ ColDiffData[col]++ RowDiffData[row]++ RowDiffData[row]++ Col++ Col++ if (Col > NUMCOLS) if (Col > NUMCOLS) Col = 0 Col = 0 Row++ Row++

if (Row > NUMROWS) if (Row > NUMROWS) Row = 0Row = 0 Find_Center() Find_Center()

Project Completion TimelineProject Completion Timeline

Questions / DiscussionQuestions / Discussion

Eric Tarun Craig Dave ECE 477 Design Review Team 9 Spring 2006 Galamback Chawla Noble Kristof.

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