slot car equipment - hw

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Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are

the property of their respective owners. © Freescale Semiconductor, Inc. 2008.

Freescale Race Challenge 2010

Slot Car Equipment

November 27, 2009 – rev 1.1

Milan BrejlFreescale Semiconductor, Rožnov p.R., Czech Republic

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FRC2010 – Slot Car Equipment

►Equip the standard slot car by electronics and control algorithm to make it a self-driving slot car

►Take benefits of:• FRC2010 Participant Package

• Code Warrior Special Suit – free software development tools

• Quick Start on-line resources: trainings, software template, etc.

• Your creativity, skillfulness and enthusiasm!

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FRC2010 – Slot Car Features

►Reference design slot car features• 3-axis acceleration measurement

� using accelerometer MMA7361

• 4-quadrant DC motor control

� using monolithic H-bridge MC33931

• USB connection – miniUSB connector� slot car connected to the PC behaves as a mass storage device

� copy .S19 file in to program your application into Flash

� no debugger provided (although BDM port available on extension header)

• microSD card slot� runtime storage of data (microSD card not provided)

� easy transfer to PC for analysis and algorithm development

• 4 LEDs control using PWM� original Carrera Audi R8 head and bread LEDs

• changeover detection

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►Every registered FRC2010 participant obtains:• Slot car Carrera Audi R8

• Unpopulated PCB

• Devices� Microcontroller MCF51JM64

� Accelerometer MMA7361

� H-Bridge MC33931

� miniUSB connector

� microSD card slot

� 8.000MHz Crystal

� 1A Bridge Rectifier DB106S

� 3.3V Linear Voltage Regulator LP2951

FRC2010 Participant Package

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►PCB design files (Eagle 5.1.0): http://hw.cz/files/FRC2010SlotCarHW.zip

►Populate the provided PCB• resistors, capacitors and diodes are not provided

• use line filter from the original car PCB

Slot Car Electronic Equipment - PCB

line filter

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►Bill Of Materials

Slot Car Electronic Equipment - PCB

Self-Driven Slot Car v2.1 BOM

--------------------------------------------------------------------------------

Part Value Package Source

--------------------------------------------------------------------------------

IC4 MCF51JM64VLH LQFP64 Freescale http://www.freescale.com/files/32bit/doc/data_sheet/MCF51JM128.pdf

IC3 MMA7361LR1 LGA14 Freescale http://www.freescale.com/files/sensors/doc/data_sheet/MMA7361L.pdf

IC2 MC33931VW HSOP44 Freescale http://www.freescale.com/files/analog/doc/data_sheet/MC33931.pdf

IC1 LP2951CDM-3.3R2G MICRO8 ON Semi http://www.onsemi.com/pub/Collateral/LP2950-D.PDF

IC5 MICRO_SD microSD http://www.gme.cz/cz/index.php?product=823-036

CON8 MINI-USB-SCHIELD 32005-301 http://www.gme.cz/cz/index.php?product=832-177

B1 DB106S DBS http://www.gme.cz/cz/index.php?product=924-009

Q1 8MHz HC49UP http://www.gme.cz/cz/index.php?product=970-023

L1 SF0905 DB-1S line filter from the original Carrera Audi R8 PCB

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JP1 JUMPER JP2

D1,D2 MBRS130LT3G SMB

D3,D4 1N4148 MICROMELF-W

R1,R2 62k R0603

R3,R4 12k R0603

R5,R9,R12,R17 10k R0603

R6 270R R0603

R7 1M R0603

R8 0R R0603

R10,R11 220R R0603

R13,R14 33R R0603

R15,R16 27R R0603

R18 330k R0603

C1 100uF SMC_C

C2,C3 1uF SMC_A

C4,C5 (100nF)? C0603

C6 100nF C0603

C7 1uF SMC_A

C8 33nF C0603

C9,C10 5pF C0603

C11,C12,C13 100nF C0603

C14 4.7uF SMC_A

C15 0.47uF C0805

C16 100nF C1206

C17 100nF C0603

C18,C19,C20 3n3 C0603

provided

not provided

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1. Remove the traction magnets – they are not allowed

Slot Car Electronic Equipment - Installation

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2. Dismount the bodywork from the chassis


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3. Unplug all connectors

4. Remove the original PCB


Line Filter – to be used on the new PCB

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5. Use a knife to cut out two protrusions


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6. Install the populated PCB in, use the original screw


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9. Connect original LEDs, motor, power and external capacitor


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8. Connect external capacitor (prevents from MCU reset on changeovers)


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9. Make holes in the body for miniUSB connector and microSD card


Slot Car Electronic Equipment – Schematic

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►Datasheets• Microcontroller MCF51JM64

http://www.freescale.com/files/32bit/doc/ref_manual/MCF51JM128RM.pdf

• Accelerometer MMA7361http://www.freescale.com/files/sensors/doc/data_sheet/MMA7361L.pdf

• H-Bridge MC33931http://www.freescale.com/files/analog/doc/data_sheet/MC33931.pdf

• miniUSB connectorhttp://www.gme.cz/_dokumentace/dokumenty/832/832-177/dsh.832-177.1.pdf

• microSD card slothttp://www.soselectronic.com/a_info/resource/f/2900_serie.pdf

• 8.000MHz Crystalhttp://www.gme.cz/_dokumentace/dokumenty/970/970-023/dsh.970-023.1.pdf

• 1A Bridge Rectifier DB106Shttp://www.gme.cz/_dokumentace/dokumenty/924/924-009/dsh.924-009.1.pdf

• 3.3V Linear Voltage Regulator LP2950http://www.onsemi.com/pub_link/Collateral/LP2950-D.PDF

Slot Car Electronic Equipment - Datasheets

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►Development Tools• Compiler

� Freescale Code Warrior for Microcontrollers Special Suite (free)– http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=CW-MICROCONTROLLERS

– editor

– compiler & linker

– simulator

• Debugger� no hardware debugger provided, use

USB Bootloader to program your application into the MCU

►Trainings• Introduction to CodeWarrior

� http://www.freescale.com/webapp/sps/site/training_information.jsp?code=WBT_24571

• Learn Programming with C� http://www.freescale.com/webapp/sps/site/training_information.jsp?code=TP_C_PROGRAMMING

Control Algorithm Development

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► Enables to program MCU flash memory via USB• preflashed to every MCF51JM64

provided with the participant package

1. Connect car to PC via USB� Mass Storage Device and new disk

letter appears

� contains READY.TXT (0 bytes) file

2. Copy your application .S19 file in� The bootloader programs it to flash

3. Disconnect, put car on track

Control Algorithm Development – USB Bootloader

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► After reset, based on the power source, either

the Bootloader or the User Application is started:• USB power – Bootloader runs

• Track power – User Application runs

► Coexistance of Bootloader and User Application1. Use the provided Linker Command File (.lcf)

to keep the memory limits for the user application:

2. Redirect Interrupt Vectors into RAM, because Interrupt Vector Table in Flash is occupied by the Bootloader – use the provided routine:

3. Include interrupt handlers into a table in ramvector.c,include its prototype in ramvector.h

Slot Car Application – Working in Bootloader Framework

MEMORY {

bootcode (RX) : ORIGIN = 0x00000410, LENGTH = 0x000033F0

code (RX) : ORIGIN = 0x00003A00, LENGTH = 0x0000C600

vectorram (RWX) : ORIGIN = 0x00800000, LENGTH = 0x00000200

userram (RWX) : ORIGIN = 0x00800200, LENGTH = 0x00003E00

}

UserApplication

(51kB)

Bootloader(13kB)

FlashBootloader Interrupt Table

Applicationusage(15.5kB)

RAMApplication Interrupt Table

0x0000

0x39FF0x3A00

0xFFFF

0x0410

RedirectInterruptVectorsToRAM();

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►Slot car embedded application quick start template• Available for download at http://hw.cz/files/FRC2010-SlotCarApp.zip

• Created under USB Bootloader framework

• Includes� MCU and slot car hardware initialization

� Simple application: car runs, all analog values and measured and logged on SD card– X and Y accelerations are filtered by two different filter types (suitable or not?).

– Head lights indicate the detection of a right or a left curve, based on simple thresholding of X-acceleration.

– Break lights indicate detection of a curve beginning, based on a simple thresholding of Y-acceleration.

� 4 interrupts:– 0.5 ms TPM interrupt to update PWM duty cycle and start conversion of all analog inputs

– ADC interrupt to handle sequence of conversions

– 10 ms periodic RTC interrupt for data logging

– KBI interrupt can be used to check power outage on crossover track piece

� Macros– SET_LED_xy_ON/OFF – control LEDs

– GET_SWITCH_STATE – read switch position

– MOTOR_ENABLE/DISABLE, SET_MOTOR_VOLTAGE(x) – control the motor

– START_CONV(channel), READ_ADC_SAMPLE – use the ADC

– and more

� SD card driver supporting SD/SDHC, FAT/FAT32, using f_open, f_printf, f_close, etc.– port of ChaN’s FAT File System Module to ColdFire v1

Slot Car Application – Quick Start Template

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►Quick Start Application logs all

analog inputs into a CSV file,

which can be opened in Excel

►Files names are automatically

incremented numbers

►File dates are fixed

Slot Car Application – Analyzing logged data in Excel

f_printf(&file,"%d;%d;%d;%d;%d;%d\n",

timeCounter, accXFilt, accYFilt, accZ,

trackVoltage, motorCurrent);

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►Use Matlab CSV Import Wizard

Slot Car Application – Analyzing logged data in Matlab

1.

2.

3.

>> plot(timeCounter, [accXFilt accYFilt accZ]);

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►Modify connection piece so that the hand controller is not used• The track is continuously powered by the a power supply voltage

Training Track

slot car equipment - hw

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