Presented by Freddy Rodriguez

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ICoRS
Intelligent Collision Response System
Week 5 System Integration Protocol

• Presented by Freddy Rodriguez
• 02-26-07
• Group 2

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Overview

• Physics CPU Inputs
• LIDAR
• Speedometer
• Hall Effect Sensor
• Tilt Sensor
• CPU Communication
• Logical CPU

• Logical CPU Outputs
• Steering
• Acceleration
• Braking
• Functions
• Physics CPU
• Logical CPU

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Physics CPU Inputs
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LIDAR

• Sensor L0 Outputs Current
• Current to Voltage Converter (Red Box)
• 12-bit A-D Converter

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LIDAR

• 2 inputs (ignoring power)
• 1 output
• Module Enable
• Holds Last Value in Register
• Clk
• Shifts Out 12-bit word via Serial Out

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LIDAR

• All Sensors On Constantly
• CPU Chooses One
• Control Lines from CPU
• Data to CPU

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LIDAR Read Process (Port 0)

• LIDAR Taking Constant Readings
• CPU
• Ready To Receive
• Sets Module Enable (P0.5)
• Chooses First Sensor (P0.1-4)
• Pulses Clock (P0.6)
• Read Data (P0.0)
• After 12-bits, Next Sensor

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Speedometer (Port 2)

• 4-bit Binary Coded Decimal
• ie 3F 01010111 0101 0111 57
• Direct Line from Speedometer
• Read Only During Threat

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Hall Effect Sensor (Port 0)

• Serial Out
• Read Only When Needed
• Same MUX as LIDAR
• P0.1

Hall Effect Sensor
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Tilt Sensor (INT 0)

• Boolean (true or false)
• True
• Kill System
• Start Timer
• Restart System after Timer Expires
• Gravity Stabilizes Vehicle

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CPU Communication

• Physics CPU Processes Data
• Sends Data to Logical CPU

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CPU Communication

• Physics CPU Processes Data
• Sends Data to Logical CPU
• Pins
• Transmit (Pin 4)
• Receive (Pin 3)
• UART Request (Pin 1)
• Interrupt 1 (Pin 13)

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Logical CPU Outputs
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Warning (Port 0)

• Warning Initiate (P0.2)
• Timer
• Re-Check Faulted Sensor
• Repeat

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/- Acceleration (Port 0)

• Brake PWM (P0.0)
• Gas PWM (P0.1)
• Sets Servo Position

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PWM Generation

• 8051 Timer0 in Mode 2
• Advantages
• No Overhead
• Precise PWM Signal
• Only 1 Servo at a Time
• Does Not Interfere With Instructions

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Steering Control System

• CPU Generates Position
• 9-bit Binary Number
• 0-360 (000h-168h)
• Converted to Voltage
• Input to Control System

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CPU Functions
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Physics CPUmain()

• scan()
• Prepare Memory
• Choose Sensor
• Initiate Sensor
• Shift Data In
• Activate Next Sensor
• assessThreat()
• After 3 scans
• Determine Time to Impact
• Check Against Parameters

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Physics CPUThreat(int lvl)

• lvl 0 (low)
• warning()
• lvl 1 (moderate)
• maxSpeedChange()
• getSpeedChange()
• upgradeClass()
• SEND DATA TO LOGICAL CPU

• lvl 2 (high)
• getCollisionPoint()
• maxTurnAngle()
• getTurnAngle()
• maxSpeedChange()
• getSpeedChange()

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Logical CPUevade()

• brake() accel()
• Turn on Servo
• Create PWM Signal
• Refresh Data on Faulted Sensor(s)
• End When Safe
• steer()
• Turn on Motor
• Output Steering Position
• Wait for Physics CPU Signal
• Reverse Macro For Straight Travel
• CHECK FRONT SENSORS IMMIDIATLY

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Next Week

• Fix Steering Control System
• Fine Tune Equations
• Begin MATLAB Simulations
• Several Weeks

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ICoRS
Intelligent Collision Response System
when seconds matter as much as your passengers.