Download Tesla - Nick Giannaris

Nick Giannaris
Ball & Beam Project Overview
A Fuzzy Logic Trainer
Mechanical Carriage
Overall System
Inclinometer Sensor
Inside Look
Top Right View
System Architecture - Major Parts
Fuzzy Logic
Controller
Power Cable
Ball & Beam
Software
USB Clean
Software
USB Cable
Ball & Beam
Major Parts
CarriageController Cable
Mechanical
Carriage
Ball
Beam
System Architecture
• Hardware
–
–
–
–
Major Hardware Pieces
Sensors & Placement
USB Enumeration
Power requirements
• Firmware
– ADC Enable
– Motion Enable
– Sample & Continuous Acquisition
• Software
–
–
–
–
–
Real-Time Data Acquisition (10 ms)
Limits Window
Manual Carriage Control
“Go At” Inclination Command – 2 Rules
Graph Representations and
Explanations
Hardware Architecture
Inclinometer
Temperature
Sensors
Current
ADC
GPIO
LCD
Display
Low Pass Filter
CMOS Switch
Sensor
Op-Amps
Filter
Decoding
Unit
Optical
Encoder
ADC
UIS
mC
OSC
OSC
USB
Keypad
Motor Control
CPLD
Power Supply
USB
mC
GPIO
H Bridge
Motor
Optical
Encoder
Decoder
Unit
Software Architecture
Motor
Sensors
Ball &
Beam
Software
Inclinometer
Temperature
Current
Left
Right
Brake
Coast
Main
Menu
OUT
Tokens
Device
Ack.
Attach
Exit
Limits
Inclino
meter
Sample
Temperature
IN
Tokens
Graphs
Current
Help
Motor
Control
Panel
About
Go At
UIS - Firmware Architecture
Reset
Int.
Power
On
I/O Port
Setup
Reset
Vector
Sensors
Keypad
Panel
ADC
Setup
ADC
Sample
Interrupt
Error
Msgs
Help
Msgs
Info.
Msgs
LCD
Msgs
Command
Decoder
Pin
Change
Vector
LCD
Display
Motor
Cmd.
Delay
Routines
Port B
Change
Interrupt
Motor
Driver
CPLD
USB – Firmware Architecture
I/O
Port
Setup
Enumeration
Sensors
IN
ADC
Setup
IN_TOK
Buffer
ADC
Sample
Service
USB Int.
TOK_
DNE
USB_
RST
SET
UP
Service
USB Int.
STALL
Initialize
USB
Reset
Int.
Put EP1
OUT_
TOK
Buffer
Flag
Get
EP1
Flag
OUT
Config.
USB
Motor
Control
UIDLE
Configuration
Descriptor
Max. Current
Reset
Vector
Power
On
UERR
ACTIVITY
Device
Descriptor
Prod ID:
0x4D8
Vendor ID: 5
Motor
Driver
CPLD
Endpoint 1
Descriptor
EP1: IN
Interface
Descriptor
Endpoints: 2
HID
Descriptor
Endpoint 2
Descriptor
EP1: OUT
Ball & Beam Software Pictures
Ball & Beam Software Pictures
Motor Controller Pictures
What is inside the black box?
Global System for Mobil Communications
General Packet Radio Services
Public Land Mobile Network
GSM Subsystems
• MS (Mobile Station)
• SIM (Subscriber Identity Module)
• BTS (Base Transceiver Station)
• MSC (Mobile Switching Center)
•
•
•
•
•
•
TRAU (Trans-coding Rate & Adaptation Unit)
HLR (Home Location Register)
VLR (Visitor Location Register)
EIR (Equipment Identity Register)
GMSC (Gateway Mobile Switching Center)
OSS (Operation Subsystem; Maintenance)
BTS (Base Transceiver Station)
• Star cell Configuration
• Umbrella cell configuration
• Sectorized cell configuration
BSC (Base Station Controller)
• Terminal Module
• Terminal Controller
• Switch Matrix
• Operation & Maintenance
TRAU (Transcoding Rate & Adaptation Unit)
• Compresses/Decompresses Speech
• Regular Pulse Excitation – Long Term
Prediction, Discontinuous Transmission
• Not used for connection signaling
NSS (Network Switching Subsystem)
• MSC: Mobile switching Center
• Channel assignment
• Inter-MSC handover
• Gateways to other networks
• EIR: Equipment identity Register
• White, black, gray lists
• IMEI: International mobile equip. id
•HLR: Home location register
• Provides authentication & security
• Fixed reference point of the current
mobile user location
•VLR: Visitor location register
• Dynamic user information &
parameters (Channel, Slot, TRX, BTS)
Handoffs
Mobile controlled handoff
• MS monitors signals around
BS and issues a handoff
Network controlled handoff
• BSs measure the MS signal
and issue a handoff request
Mobile assisted handoff
• Network asks MS to measure
the BS signals then the
network performs handoff
Inter-Base Station handoff
• MS will issue handoff request
by using a free channel
Inter-System Handoff
• New & old BS are connected
to two different MSCs
• New MSC will select BS and
verify RF link quality
• MS moves back in short time
ZigBee
Personal Area Network (PAN)
A computer network used for communication among
devices in a close proximity.
Wireless Personal Area Network (WPAN)
A wireless personal area network
Some of these Standards are:
Wireless Systems for Automation (SP100.11)
Wireless Highway Addressable Remote Transducer (WirelessHART)
6LoWPAN, IPv6 over low power personal area network
ZigBee, by the ZigBee Alliance
Some of these Applications:
Building & Home Automation (ex. door, garage, security & lighting control, etc.)
Industrial and Process Automation (ex. pressure, temperature, flow, level sensing, etc.)
Energy and Utility Automation (ex. power monitoring, remote metering, etc.)
RFID and Logistics (ex. product monitoring & tracking, etc.)
Medical Monitoring (ex. heart, pressure monitoring, etc.)
IEEE 802.15 is the 15th working group of the IEEE 802 and specializes in Wireless PAN
(Personal Area Network) standards.
It includes seven task groups (numbered from 1 to 7)
Task Group 1: Bluetooth
Task Group 2: Coexistence (of wireless personal networks with other wireless devices)
Task Group 3: High Rate WPAN (WLAN)
Task Group 4: Low Rate WPAN
Task Group 5: Mesh Networking
Task Group 6: Body Area Network (BAN)
Task Group 7: PHY and MAC for Visible Light Communications (VLC)
CSMA/CA Overview
A station that wants to transmit a frame, it first
listens for other transmitted signals over the
medium.
If there is no traffic, it continues to wait for a time
interval called the short inter-frame space.
If there is still no traffic on the medium, the
device will start transmitting, otherwise it has to
wait until the medium is clear to repeat the
waiting interval.
Coordinators
Responsible for the overall network management
Routers
Expand network coverage and discover the best route
to the destination over which to transfer a message.
End-Devices
Located in the furthest outreach of the ZigBee
network
Sourcing or sinking information to the rest of the
network.
Integrated to a host of different types of sensors
and at the edge points.
ZigBee Trust Center
Provides security management and services to the
network.
ZigBee Gateway device is used
when we want to connect a ZigBee
network to another type of network
(protocol conversion)
Physical Layer
•Performs modulation on outgoing
signals and, demodulation on incoming
signals.
•It transmits information and receives
information from a source.
•Three frequency bands with different
number of channels are supported.
MAC Layer
Responsible for accessing the network
using CSMA/CA for:
• Beacon frames for synchronization
•Provides reliable transmission method
Network Layer
Responsible for the following functions:
• Neighbor discovery
• Route discovery
• Starting a network
• Managing end-devices (nodes) joining
or leaving the network
Application Support Sub-Layer
(APS)
• Provides services necessary for
application objects (endpoints)
• Provides services to the ZigBee Device
Object (ZDO) for data and management
services
• Provides communication for different
applications by defining a unified
communication structure (profile,
cluster or endpoint)
ZigBee Device Object (ZDO)





Determines the type of device in a
network (coordinator, router, enddevice)
Initializes the following layers:
 Application Support Sub-layer
(APS)
 Network layer
 Security service provider
Performs device and service
discovery
Initializes coordinator in order to
establish the network
Management of:
 Security
 Network
 Binding
End Device (Node)



Each end node can have multiple
endpoints
Each endpoint contains an
application profile and can be used
to control multiple devices or a
single device
Each endpoint defines the
communication functions within a
device
Addressing Modes



Direct: Two devices communicate
directly. Full addressing is required.
Group: Application assigns a group
membership to one or more
devices
Broadcast: Used to send a packet to
all devices simultaneously
The SmartRF05 evaluation board is the
motherboard in several development kits for
Low Power RF devices from Texas
instruments. The board has a wide range of
user interfaces, such as:
The evaluation board is the platform for the
evaluation modules and can be connected to
the PC via USB to control the RF module.
3x16 character serial LCD display
Full speed USB 2.0 interface
UART
LEDs
Serial Flash
Potentiometer
Joystick
Buttons
Breakout pins