Zach Allen

Chris Chan

Ben Wolpoff

Shane Zinner

Project Z: Stereo Range Finding Based Project Z: Stereo Range Finding Based on Motorola Dragonball Processoron Motorola Dragonball Processor

OverviewOverview

Introduction System Overview Hardware Software Features Implementation Potential Issues Schedule

Milestones Contingency Plans Parts List Cost/Expense

Estimates Marketability Investment Returns Conclusion

IntroductionIntroduction

Purpose Familiarize and learn about embedded computing based on a state

of the art processor. Learn about Board Layout and Issues. Learn about an embedded operating system and issues associated

with a real-time environment. High Level Functionality

Precision range finding based on a stereo range finding system. Run embedded software.

Goals Fabricate the board and run simple code. Interface with video encoding chip and code for range finding. Run embedded Linux.

System Overview System Overview

Hardware Hardware

Motorola MC68VZ328 Dragonball Processor

32MB Flash Memory Conexant BT835 Graphics

Processor Grayscale 640x512 LCD Grayscale ASCII Text LCD NTSC Standard Cameras Xilinx FPGA Laser Pointer

SoftwareSoftware

Range Finding Image Processing LCD Interaction Memory Management Embedded Linux (uCLinux)

FeaturesFeatures

LCDs Plain ASCII Text LCD 640x512 TFT Grayscale LCD

Embedded Operating System uCLinux

Range Finding Dual Camera Stereo Vision Laser Pointer Tracking

Large Internal Storage 32 MB Flash Memory

Board ImplementationBoard Implementation

Board Design Layout in P-Cad Fabrication and Population

Hardware ImplementationHardware Implementation

Stereo Range finding 2 NTSC Cameras Conexant BT835 Graphics Processor

Up to 4 Analog NTSC Inputs Outputs in YCrCb Which Is Easily Converted To An RGB Signal Hardware Scaling and Filtering Low Cost Solution

1 Common Physical Point Are Found From Both Cameras (Laser Pointer). Based on the positions of the Cameras and the pixel differences in the red laser dot, a distance can be calculated.

Motorola Dragonball MC68VZ328 Processor TQFP Product Specs Can Be Found At:

http://e-www.motorola.com/webapp/sps/site/prod_summary.jsp?code=MC68VZ328

Software ImplementationSoftware Implementation

LCD Interaction Drivers

Range Finding Trigonometric Algorithm Convert to RGB Scale Find Common Laser Points BT835 Drivers

Memory Management

OS ImplementationOS Implementation

uCLinux uClinux is a derivative of Linux 2.0 kernel intended for

microcontrollers without Memory Management Units (MMUs). Common Linux API uCkernel < 512 kb uCkernel + tools < 900 kb Successfully Run On the Motorola Dragonball EZ Processor and

Other 68k Derivatives

ScheduleSchedule

Project Timeline Overall Layout of Tasks Timeline for Completion

Milestones Milestone 1 Milestone 2 Expo

Potential Problems Contingency Plans

MilestonesMilestones

Milestone 1 Board designed around Dragonball VZ processor, laid out, fabricated

and populated. Boot monitor designed, tested and working. Design, test, and run RAM interface and be able to run simple

instructions (nop). Milestone 2

Boots internally. Rangefinder built, and code developed for video chip interface, range

finding, and LCD display.

MilestonesMilestones

Expo Get system to run embedded Linux. Linux interfaces with graphics chip. Modify code to run on Linux. Final Debugging. Magical Demonstration and working project. It will be “the one.”

Potential Issues/ProblemsPotential Issues/Problems

Interfacing Between the Conexant BT835 and Motorola Dragonball Processor.

FPGA Bus Speed Issues. Addressing Issues With Large Amount of Memory. May Need Some External RAM Storage for LCD. Various Real Time Issues. Embedded Linux (Drivers, Compilation, Running) All or Nothing Fabrication Process (Finances). Learning All The Software (P-Cad, uCLinux, CodeWarrior/Microtek)

Contingency PlansContingency Plans

Instead of Stereo Range Finding Switch To Ultrasonic Range Finding. Select Different FPGA In The Event of Bus Speed Issues. Reduce Memory Size or Redesign Addressing Space In the Event of Address Space

Issues. May Need To Use Part of Flash Memory For Peripherals or Integrate DRAM (needs to

be done before board fabrication) if LCD needs External Storage. Will Need To Keep Real Time Issues In Mind and Modify Coding Style. Embedded OS

Drivers – Interact Directly with the Device Do Not Run an Embedded OS.

Parts ListParts List

Cost/Expense EstimatesCost/Expense Estimates

MarketabilityMarketability

Military Survey Sites Golf Aerospace Applications People That Like to Think They’re James Bond

Investment ReturnsInvestment Returns

ConclusionConclusion

Stereo Range Finding Motorola Dragonball VZ

Processor Real Time Embedded

Software Modularity in Design Sufficient Market Demand