Overboard Expansion Board for actuation on Wireless Sensor ...

OverboardExpansion Board for actuation on Wireless Sensor

Networks

Sergio Miguel Rodrigues Teixeira

Dissertation submitted to obtain the Master Degree in

Electronics Engineering

Jury

Chairman: Professor Doutor Carlos Alberto Ferreira FernandesSupervisor: Professor Doutor Rui Manuel Rodrigues RochaCo-Supervisor: Professor Doutor Moises Simoes PiedadeMember: Professor Doutor Francisco Andre Correa Alegria

June of 2012

Abstract

Wireless Sensor Networks(WSN) are widely employed nowadays in a variety of areas, like environ-

ment, agriculture, buildings monitoring, among others. These are constituted by several nodes, being

the amount of nodes dependent on the application. Each node is usually composed by a processing

unit, sensors, a communication device and a power source. These networks, however, are limited to

sensing tasks. In order to overcome this obstacle it is necessary to equip the nodes that constitute the

network with actuation abilities. This inclusion permits these networks to accomplish distributed sens-

ing and actuation tasks, Wireless Sensor and Actuator Networks (WSAN), using the sensors to gather

information from the physical world and using it to instruct the actuators in making specific tasks. The

use of actuators cannot be seen as a minor modification to the WSN. From the communication protocol

viewpoint, the inclusion of actuator’s demands bidirectional communication and it is usually necessary

to address several nodes simultaneously to allow more complex actions. The requirements of both net-

works can also vary, in WSN the main concerns usually are power consumption, latency and network

lifetime, while in WSAN, since these have the ability to interact with the physical world, other concerns

have to be taken into consideration usually, real-time actions and communication reliability.

The purpose of this work is the integration of actuation functionalities in WSN. In order to achieve

this goal, the nodes, which constitute the basic element of WSN, will be equipped with a daughter board

capable of actuation operations, named Overboard. The Overboard is compatible with the MoteIST,

MicaZ and Iris motes. The actuation functionalities available are the result of an analysis on the most

common types of actuators used in WSAN, being these electric motors, solenoids and relays. The

Overboard is also capable of interacting through automation protocols, with the purpose of control the

devices connected through them, the protocols compatible are the X10, KNX and CAN Bus protocols.

The Overboard is supplied by the node attached to it. In order to test the Overboard functionalities, a

test mode is available, which allows the control of the board through a console.

Keywords: Wireless Sensor Networks, Wireless Sensor and Actuator Networks, Actuator’s control,

Automation Protocol’s control, Overboard, MoteIST.

i

Resumo

A utilizacao de redes de sensores sem fios (RSSF) em aplicacoes de monitorizacao e actualmente

uma area em crescimento. Estas sao utilizadas na monitorizacao ambiental, na agricultura, nas cidades,

nas fabricas, entre outras areas. As RSSF sao constituıdas por nos, sendo o numero de nos utilizado

determinado pela aplicacao. Cada no e normalmente constituıdo por uma unidade de processamento,

um ou varios sensores, um transceptor para comunicar e uma bateria.

Apesar da popularidade, as RSSF estao limitadas a actividades de monitorizacao. Contudo, atraves da

integracao de mecanismos de actuacao, e possıvel realizar operacoes de monitorizacao e actuacao,

este tipo de redes sao intituladas de Redes de Sensores e Actuadores Sem Fios(RSASF), utilizando

os sensores para obter informacoes e, atraves destas, utilizar os actuadores para realizar tarefas pre

determinadas. A inclusao de actuadores exige alteracoes na comunicacao entre nos, pois para controlar

os actuadores e recolher informacao dos sensores e necessario comunicacao bilateral, caracterıstica

que nao e comum nas RSSF, e, para operacoes mais complexas e necessario tambem a comunicacao

com varios nos simultaneamente, com o intuito de coordenar a actuacao entre os nos. Devido as

diferencas entre os dois tipos de redes, estas tem normalmente requisitos diferentes. Enquanto que as

RSSF tem como principais prioridades o consumo de energia a latencia e a autonomia, as RSASF tem

como prioridades a capacidade para actuar em tempo real e a fiabilidade das comunicacoes.

O objectivo deste trabalho e a integracao de funcionalidades de actuacao em RSSF. Para realizar

este objectivo, os nos da rede em questao serao equipados com uma PCB, denominada Overboard,

capaz de realizar operacoes de actuacao. A Overboard e compatıvel com os motes, MicaZ, MoteIST

e Iris. Atraves de varios estudos relacionados com as RSASF foram identificados os actuadores mais

uteis, e o controlo destes integrado na Overboard, estes sao os motores electricos, solenoides e reles.

A Overboard tambem e capaz de interagir com protocolos de automacao, permitingo o controlo dos

aparelhos ligados a estes, nomeadamente os protocolos X10, KNX e CAN Bus. A energia utilizada pela

Overboard e retirada do no em que esta esta fixada. Com o objectivo de testar todas as funcionalidades

desta, um modo de teste foi implementado, permitindo o controlo desta atraves de uma consola.

Palavras-chave: Redes de Sensores, Redes de sensores e actuadores, Controlo de actuadores,

Protocolos de automacao, Overboard, MoteIST.

iii

Contents

Abstract i

Resumo iii

List of Tables vii

List of Figures x

Acronyms xii

1 Introduction 1

1.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 Document Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 State of the Art 3

2.1 Characterization of the Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2.2 Drivers and Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.2.1 Electric Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.2.2 Power Line Actuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.3 Indirect Actuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.3.1 X10 Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.3.2 CAN Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.3.3 KNX Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3 System Requirements and Architecture 21

3.1 Actuator’s Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3.2 Automation Protocols Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.3 RF Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3.4 Main Hirose connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.5 RF connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.6 MCU Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4 Overboard Design 35

4.1 Hardware Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4.1.1 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4.1.2 CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4.1.3 Direct Actuation Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4.1.4 Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

v

4.1.5 Overboard Functional Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.1.6 Power Board Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4.2 Software Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.2.1 Development Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.2.2 Proprietary Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

4.2.3 Overboard’s Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4.2.4 MoteIST-Overboard Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.2.5 CANBus Board Test Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

5 Prototypes and Results 55

5.1 Development Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.2 Prototypes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

6 Conclusions 63

7 Annexes 65

7.1 Bill of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Appendix 66

A Overboard’s Bill of Materials 67

B Overboard’s Schematics 71

C PICKIT 3 Pinout 75

D Servomotors Interface 77

E Physical External Interface types 79

F Overboard User Manual 81

Bibliography 147

vi

List of Tables

2.1 Actuator’s characterization table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.2 Common drive modes for brushless motors . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.1 AC power line, main switching devices features . . . . . . . . . . . . . . . . . . . . . . . . 23

3.2 KNX devices available in bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.3 CC1101 main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3.4 Characteristics for different antenna solutions . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.5 Communication protocols available in the hirose connector . . . . . . . . . . . . . . . . . 30

3.6 RF Board connector, pin functionalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.1 Market analysis of Controller area network (CAN) transceivers . . . . . . . . . . . . . . . 36

4.2 Market analysis of Bipolar Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4.3 H-bridge logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

4.4 H-bridge logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

4.5 MCU families analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

4.6 MCU families analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

4.7 Overboard, communication characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.8 Common Appliances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4.9 Solid-State Relay (SSR) analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.10 Optotriac analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.11 Triac analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.12 Action command constitution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

4.13 Designated module constitution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

4.14 Protocol’s information requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5.1 Overboard electromechanical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 59

5.2 Tests Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.3 Overboard power consumption tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.4 H-bridges, drive capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

A.1 Overboard’s Bill of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

E.1 PEI types and encoding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

vii

List of Figures

2.1 H-bridges Control Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.2 Bipolar and Unipolar Drivers, respectively . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 Stepper motors- (a) to be driven by a bipolar, (b) to be driven by a unipolar . . . . . . . . 8

2.4 Microstepping timming diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.5 Servo motor rotation angle control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.6 Triac characteristic curve and symbol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.7 Triac, control diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.8 Triac, phase control method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.9 Triac, integral control method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2.10 Electromechanical Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2.11 Solid-State Relay using a relay to control triac . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.12 Solid-State Relay using a LED to control a photo triac . . . . . . . . . . . . . . . . . . . . 13

2.13 Inductive loads, protecting measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.14 Inductive loads, protecting measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.15 X10 signal transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.16 X10 protocol, RF protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.17 CAN Bus network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.18 CAN Bus protocol, Data rate vs bus length . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.19 KNX Bus and main networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.1 Overboard, block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.2 CM11, X10 device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.3 RS-232 communication, block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.4 TM13 RF transceiver from Marmitek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.5 Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.6 KNX sample network with several devices . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.7 CAN Bus Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.8 51 pin, Hirose connector diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.9 RF Board connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.1 Overboard, functional diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.2 Power Board, functional diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4.3 MSP430 Programming Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

4.4 Overboard protocol message constitution . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

4.5 Overboard’s application, block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4.6 System Initialization function, code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4.7 Main Clock configuration, code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

ix

4.8 I2C protocol configuration, code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

4.9 RS-232 protocol configuration, code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.10 Overboard test mode, Main Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.11 Required hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.12 MoteIST’s application, block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.13 RS-232 configuration, code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.14 I2C configuration, code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.15 CAN Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.16 CAN bus application, block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

5.1 Integrated Circuits test boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.2 Overboard PCB prototype . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.3 Overboard operation modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

5.4 Overboard test mode, Main Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.5 Overboard prototype, size measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.6 Modules of the Overboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

5.7 Overboard’s test connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.8 Current Consumption in the Overboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.9 H-bridges, drive capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

C.1 PIC24H Programming Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

D.1 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

D.2 Servo motors wire connectors, color code . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

x

Acronyms

AC alternating current

ADC Analogue to Digital Converter

ASK Amplitude Shift Keying

BCU Bus Coupling Unit

CA Collision Avoidance

CAN Controller area network

CSMA Carrier Sense Multiple Access

DC Direct Current

DSP Digital Signal Processor

EIB European Installation Bus

EIS European Installation Bus Interworking Standard

EMF Electromotive Force

EMI Electro-Magnetic Interference

EMR Electro-Mechanical Relays

ESD ElectroStatic Discharge

FSK Frequency Shift Keying

GPIO General Purpose Input Output

GPS Global Positioning System

GTO Gate Turn Off thyristor

IC Integrated Circuit

ICSP In-Circuit Serial Programming

ICT Information and Communication Technologies

ID Identity Document

IDE Integrated Development Environment

IGBT Insulated Gate Bipolar Transistor

xi

JTAG Joint Test Action Group

KNX Konnex

LC Line Coupler

LED Light-Emitting Diode

MCU Microcontroller

MIPS Milions of Instructions Per Second

OCP Over Current Protection

OVP Over Voltage Protection

PCB Printed Circuit Board

PDIP Plastic Dual In-line Package

PEI Physical External Interface

PWM Pulse Width Modulation

RF Radio Frequency

RFI Radio Frequency Interference

SCR Silicon Controlled Rectifier

SOIC Small-Outline Integrated Circuit

SOT Small Outline Transistor

SPI Serial Peripheral Interface

SSR Solid-State Relay

TSD Temperature Shut Down

UART Universal Asynchronous Receiver Transmitter

USB Universal Serial Bus

UVLO Under Voltage Lockout

WDT Watchdog Timer

WSAN Wireless Sensor and Actuator Networks

WSN Wireless Sensor Networks

xii

Chapter 1– Introduction

Wireless Sensor Networks (WSN) are widely used nowadays in monitoring and tracking applications[1].

These can be employed in areas like environmental, agriculture, buildings monitoring, among others.

WSN are constituted by several nodes, also known as motes, being the amount of nodes dependent

on the application. Each node is usually composed by a processing unit, sensors, a communication

device and a power source. In it simplest form it can be defined as a network of intelligent devices

called nodes, that are able to sense a desired set of physical values and communicate the information

gathered, through wireless links, via multiple or single hops, to a sink node, also called controller or

monitor, that is able to use the information locally or is connected to other networks. The nodes can be

stationary or mobile and can be aware of their location or not. The nodes that constitute the network are

not required to be homogeneous [2].

Although their huge popularity, WSN are designed only for sensing applications. For applications

that required actuation operations, another type of networks is required, these networks are called

Wireless Sensor and Actuator Networks (WSAN).

The WSAN have been among the most addressed research fields in the area of Information and

Communication Technologies (ICT). According to the Institute of Electrical and Electronics Engineers(IEEE)

there has been a continuously grow in the research of these networks[2]. In these networks nodes col-

laborate to accomplish distributed sensing and actuation tasks, enabling the interaction between people

or computers and the surrounding environment. Sensors gather information from the physical world

and this information, after being treated or not, is used to instruct actuators in making all sorts of tasks.

Actuators may be simple static devices programmed to take immediate, one-shot, action in response to

a sensory input, or sophisticated entities such as mobile robots that can make complex decisions and

take appropriate actions all by themselves[3].

The integration of actuators in WSN increases the range of applications available for the imple-

mentation of this type of network, permitting the autonomous control of acting and sensing operations.

These can be employed in areas such as health care, mode-based services, entertainment, logistics,

transportation, environmental protection, among others. This inclusion cannot be seen only as a minor

change to the WSN. From the communication protocol viewpoint, the inclusion of actuators demands

bidirectional communication and it is usually necessary to address several nodes simultaneously to allow

more complex actions [2]. The requirements of both networks can also vary, in WSN the main concerns

usually are power consumption, latency and network lifetime. However in WSAN, since they have the

ability to interact with the physical world, other concerns have to be taken into consideration, usually,

real-time actions and communication reliability [3].

1

1.1 Goals

The goal of this thesis is to expand the functionalities of WSN providing them with actuation capa-

bilities. Since WSN are not equipped with the necessary hardware to perform any type of actuation, a

daughter board with the necessary hardware will be integrated in the network nodes that require the use

of actuation functionalities. This daughter board is called the Overboard. The Overboard should be able

to perform the widest actuation operations possible, in order to maximize its area of employment.

In order to further expand the actuation capabilities, the Overboard will be able to communicate

through automation protocols, permitting the control of the devices connected to them. This method

allows the control of a greater number, and if desired, with higher energy requirements, of actuators,

since these are not supplied, neither attached to the Overboard, being only required their connection to

the automation protocol bus.

The Overboard is to be integrated in the Tagus-SensorNet motes1, developed by the Groups of

Embedded networked Systems and Heterogeneous Networks(GEM), which is a part of Instituto das

Telecomunicacoes(IT).

1.2 Document Organization

This document is presented with the following structure:

• Chapter 1: The context in which the thesis is developed is described, along with the motivation

and goals.

• Chapter 2: The state of art of current automation protocols and actuators is discussed, and their

characteristics are compared.

• Chapter 3: The Overboard’s requirements and architecture are discussed and defined.

• Chapter 4: The design of the Overboard hardware and software is described and the Overboard

components discussed.

• Chapter 5: The developed prototypes are described and shown along with the results of the test

applied to them.

• Chapter 6: The thesis conclusions are shown along with the proposed future work.

• Chapter 7: Annexes of the thesis.

1http://leme.tagus.ist.utl.pt/gems/PmWiki/index.php/Projects/Tagus-SensorNet.

2

Chapter 2– State of the Art

The study of WSAN has the objective of comprehending the most desired actuation capabilities on

all sorts of areas. These actuation operations, after being identified, can be integrated, if possible, in the

Overboard maximizing its usefulness.

Much research is being made in WSAN related to the implementation of these in all sorts of envi-

ronments. There are already some commercial applications, but most of the research is for academic

purposes and is not commercially viable [3]. In the following paragraphs, several applications of WSAN

are described, being organized by area of employment.

The implementation of WSAN in agriculture allows the reduction of wasted water, early detection of

plagues and automation of the irrigation systems [4], [5]. This is done through the automatic identification

of the temperature, soil humidity, pests, droughts and luminosity in the crops, triggering when desired,

automatic responses [6]. The actuation responses usually are delivered in the form of sprinklers, foggers

and/or valve controlled irrigation systems [6], [7], [8], [4], [5], [9]. In the case of greenhouse agriculture,

the actuation is made mostly through fans, pumps and/or heaters [10].

Another area where the WSAN are also employed, is in cattle production. In this area, WSAN

usually have the objective of controlling the cattle’s position. This is done by monitoring the cattle’s

actual position and providing automatic responses when it is outside the pre-established boundaries,

these boundaries can be physical or virtual [11], [12], [13]. The monitorization of the position of the

cattle is usually done through Global Positioning System (GPS) and/or cameras [12] located in each

animal, while the control mechanisms normally used to contain or make the animals retrieve to the

inside of the desired boundaries are zappers, speaker systems and/or electric fences [12].

The automation of homes is also an area where WSAN are implemented. Usually these are used

to automate and solve everyday life problems in areas such as home entertainment allowing and/or

health care. These provide, among other features, the automation of lights, windows, doors, room

temperature and the switching of electrical devices in general. These networks usually monitor the

temperature, noise, luminosity, motion, may also make use of video-cameras. In the heath care case,

the monitorization of the glucose, blood pressure and heartbeat levels may also be employed [14]. In

the health care case, a normally used response is a telephone call to the family or the hospital or other

entities depending on the problem detected [14]. In the other cases of home automation, usually the

actuation responses are in the form of dimmers, switches and electric motors [14]. It is possible to find

already in the market some commercial solutions, the Home Control Assistant,[15] and the Savant, [16]

are two examples of these products.

In the field of medicine the implementation of WSAN can be used in the prevention of injuries [17]

or diseases [18], recovery of limb movement [18] among other implementations. For the prevention

of injuries and limb movement recovery, a possible solution is to use an accelerometer to identify the

type of movements the patient is doing, and use the data collected to predict if the movements are

3

dangerous to the patient, in the injuries prevention case [17] , or if the patient is trying to move a limb,

in the limb movement recovery case [18]. For the prevention of diseases normally sensors are used

to perform continuous measurements of specific indicators of diseases [18]. The actuation response in

the prevention of diseases case usually is the notification of the doctor responsible for the respective

patient [18]. In the injury prevention case, it is normally used a signal that alerts the patient to stop the

movement it is performing [17]. For the notification a possible solution that is currently being studied is

the sudden vibration of the area in question, this vibration can be originated through a electric motor

[17]. Finally, in order to return limb movement, electrodes can be used to stimulate the nerves causing

muscle movement [18].

Last but not least, WSAN can also be employed in urban environments. The use of WSAN in

sewers overflow control, in the traffic control systems, in the water delivery system, the parking system

are just a few examples of implementations in this area. For the control of the flow of sewer system,

the monitorization and flow control, allows the prevention of overflows in the sewer system. A possible

implementation is the monitorization of the sewer flow through pressure sensors in the pipes and control

it through valves or pneumatic bladders [19]. In the traffic control case, the implementation of WSAN

can optimize the flow of vehicle and pedestrian flows. The monitorization of both vehicle and pedestrian

traffic can be made through video cameras relying also on other sensors to characterize the weather,

existence of precipitation, ice among other risk factors, optimizing this way the safety of both. The control

of the traffic is made through the traffic lights [20].

The analysis of the WSAN presented previously, helped to summarized the most used actuators

and possible applications. However, a fully detailed characterisation of the actuator’s requirements is

necessary in order to determine if their use is possible. This study is shown in section 2.1.

2.1 Characterization of the Actuators

The most popular actuators in the preciously discussed WSAN were electric motors, solenoids,

switches, lights and speakers. In this section, the characterization of these actuators is shown. The

analysis focus on the most important characteristics from a WSAN point of view, namely their impact in

the node’s autonomy, mobility and processing capability. Attending to this, the power requirements of

the actuators and their control method were primarily focused. The results of the analysis are shown in

the table 2.1. The analysis sources are the Farnell™1, Mouser®2 and Digi-Key Co. USA3.

1farnell.com2mouser.com3www.digikey.com

4

Table 2.1: Actuator’s characterization.

Actuators ConditioningCircuit

Controller PowerRange [W]

Characteristics

Supply Voltage [V] Current [A]

DirectCurrent

(DC) Motor(Brushed)

Controller forspeed control

0.9-35 0.3-2 1.4-160 Low cost; Simplespeed control;

DC Motor(Brushless)

Requires aController

0.9-60 0.3-10 12-80 High efficiency;High initial cost;

StepperMotor


4.5-50 1-1.5 1.92-9.6 High holdingtorque; High initialcost;

ServoMotor


4.5-36 0.11-1 1.2-194 Precision position-ing;High efficiency;High initial cost

Relay - - - 0.55-50 High efficiencySolenoid - - - 1.43-70 -

Loudspeaker - - - 0.01-100 -Led - - - 0.02-18.8 Energy efficient;

Shock resistance;Light Bulb - - - 1.8-200 Low initial cost;

Low efficiency;

Since most of the actuators require a controller and/or a driver circuit in order to operate correctly,

these were also analysed in order to understand their operation, power requirements and characteristics.

2.2 Drivers and Controllers

Both the driver and the controller circuit are meant to be the bridge between the actuators and

the control unit, which is usually the Microcontroller (MCU). Depending on the application, it may be

only necessary to use one of them or both. The driver circuit’s purpose is to supply the actuator with

the required current to energize it, and the controller’s purpose is to manipulate the signal received,

into a signal compatible with the actuator. Understanding the limitations and advantages of the various

controllers and/or drivers is important in order to choose the most appropriate for the desired operation.

The drivers and/or controllers play an important part in the reliability, safety and operability of the actuator

in question [21].

5

2.2.1 Electric Motors

The control of electric motors analysed in table 2.1, with the exception of the DC brushed motor, is

made through the use of a controller to function correctly. The controller is determined by the type of

electric motor and the task it is required to perform. The DC brushed motor, although it does not need a

controller to function, may use a controller to control the speed of the shaft rotation. In this type of motor,

the speed is directly proportional to the supply voltage. There are two methods to vary the amplitude of

the output voltage. The first is called linear output control and the second, which is predominant in small

and medium size motors, is called Pulse Width Modulation (PWM) [22]. In the first method the amplitude

of the voltage applied at the motor’s terminals is controlled through the use of a chopper circuit. This

method requires a controlled rectifier, thus having higher costs than the second method. In the second

method the amplitude of the voltage applied at the motor’s terminals is constant, allowing the use of

cheaper uncontrolled rectifiers to provide this voltage. The principle of the PWM method is shown in

Figure 2.1.

0

1

2

3

4

5

6

7

8

9

10

11

12

Ap

plie

d V

olt

age

H-bridge Control Methods

PWM Control

PWM Equivalent Output

Linear Control

Figure 2.1: H-bridges Control Methods.

The control is made varying the on and off times, called duty cycle, within each period of the signal.

The voltage applied at the motor’s terminals is the result of the mean of the voltage in each period [23],

and can be described by the equation (2.1). The frequency of the signal in this method is kept constant,

and its value is normally limited by the controller characteristics.

Vequivalent =(V +×

(Pulsewidth)) +

(V −×

(Period− Pulsewidth)) (2.1)

The direction of the rotation in the DC brushed motor is dependent only by the current direction,

therefore the control of the direction is simply a matter of reversing the current direction [22]. This is

usually made through the driver circuit.

The most common drivers are the unipolar, so called because it produces unidirectional currents,

and bipolar, so called because it produces bidirectional currents, also called H-bridge. These can be ap-

plied not only in electric motors but in a variety of applications [24]. Both drivers are shown in Figure 2.2.

Their use allows a simple control over the power and direction of the current applied to the load. The

unipolar circuit is suitable for permanent magnet devices and hybrid steppers. This solution is simpler

and cheaper, but when dealing with electric motors, it only works with unipolar and bifilar motors. The

bipolar circuit is more versatile, it is able to reverse the flow of the current applied to the load, this ability

6

allows the control of bipolar stepper motors, DC motors, brushed and brushless, push-pull solenoids

and many other similar actuators.

VSUPPLY

SW 1

SW 2

SW3

SW 4

VSUPPLY

SW 2

(A) (B)

SW 1

LOAD LOAD

Figure 2.2: Bipolar and Unipolar Drivers.

In both cases, the control of the circuit is made by opening or closing the switches. In the unipolar case,

the control of the switches dictates which phase is energized. In the bipolar case the control is more

complex, and some precautions have to be taken. With four switches the bipolar controller offers sixteen

possible operation modes, but seven will damage the circuit by short-circuiting the power supply, leaving

nine operation modes.

The implementation of this type of drivers in electric motors means that invariably the load is in-

ductive, being a winding of the electric motor. Due this fact the implementation of this circuits requires

additional circuitry in order to prevent the appearance of dangerously high voltages each time the induc-

tive load is switched off. The origin of this phenomenon lies in the fact that the voltage in an inductor is

proportional to the rate of change of the current, as it is shown in the equation 2.2 [22].

V = Ldi

dt(2.2)

Through equation 2.2 it is possible to conclude that switching off inductors in order to force the

current to zero quickly, produces a very large self-induced voltage. These voltages can be high enough

to damage the electronic components connected to it. In order to prevented this phenomenon, diodes

need to be used, sometimes called ’freewheel diodes’ as shown in Figure 2.2. The purpose of the diodes

is to offer a one-way valve for the current to flow until the energy stored in the inductor is depleted. The

existence of the diodes also limits the voltage present at the switch terminals, preventing the appearance

of high voltages when these are switched off [22].

In order to operate with a DC brushless motor or stepper motor, unlike the DC brushed motor, it

is required a controller. The task of the controller, for both motors, is to make sure that the current is

applied to the correct winding in the correct direction and at the correct time [23]. This process is called

commutation. Usually PWM methods are employed. Since it is necessary to provide, for both motors,

positive and negative currents pulses in the windings, in order to correctly function, it is normally used

the bipolar driver [23]. However, in the case of the stepper motor, unipolar drivers can be used in the

7

permanent magnet stepper and in the hybrid stepper, due to their winding arrangements [21]. In the

Figure 2.3 it is shown two bipolar stepper motors one to be used with a bipolar driver (a) and the other

to be used with the unipolar driver (b).

Ph

ase

B

A1

A2

B1

B2

A’

B´

A’

B´

A1

A2

B1 B2

N

S

A1

A2

B1

B2

A1

A2

B1 B2

N

S

AM

AM

BM

BMBM

AM

1

5

37

2

46

81

5

37

2

46

8

Win

din

g 2

Winding 1

Winding 3

Win

din

g 4

Ph

ase

A

Win

din

g 2

Winding 1

Winding 3

Win

din

g 4

Ph

ase

BP

has

e A

Ph

ase

AP

has

e B

Figure 2.3: Stepper motors- (a) to be driven by a bipolar, (b) to be driven by a unipolar.

The most common drive modes are the wave drive, full step drive, half step drive and microstepping

[23]. In wave drive, only one winding is energized at any given time. The disadvantage of this mode is

that, only 25%, through the use of unipolar drivers, and 50%, throught the use of bipolar drivers, of the

total motor winding is being used at any given type, meaning that the maximum motor torque is never

being applied. In the full step drive, two windings are energized at any given time, resulting in the use

of the total motor winding, through the use of bipolar drivers, and 50% of the motor winding, through

the use of unipolar drivers. The angular movement in full step drive and in wave drive mode is equal,

however the mechanical positions are different. The half step drive is a combination of the wave drive

and the full step drive, resulting in the energization of one and two phases alternately. This results in

the double of the steps during each cycle. In the microstepping drive, the currents in each winding are

constantly varying in order to break one full step in smaller discrete steps. This is achieve by the use of

PWM on the voltage across the windings. With this mode it is possible to subdivide each motor step into

several microsteps, as it is shown in Figure 2.4.

max

max

Phase A

Phase B

Figure 2.4: Microstepping timming diagram.

8

The characteristics of the discussed drive modes are summarized in table 2.2, with the exception of

the microstep.

Table 2.2: Common drive modes for brushless motors.

Drive Mode Phase Position Nº of positionsA B A B• 1

• 3Wave Mode

• 5 4

• 7• • 2

• • 4Full Step

• • 6 4

• • 8• 1• • 2

• 3• • 4

Half Step• 5 8

• • 6• 7

• • 8

The servo motor’s control is quite different from the previous discussed electric motors. The main

reason is that servo motors are used in closed-loop position control, meaning that the position of the

shaft is measured in order to increase precision. The control of the position is usually achieved through

the use of a potentiometer or through a toothed belt [22]. These components provide the feedback

necessary for the controller to rotate the shaft into the desired position with high precision. In regards to

the driver circuit, it must provide high gains in order to minimize position errors caused by static friction

[22]. Due to the complexity of the controller and driver circuit, and also due to the fact that most of the

servo motors available in the market already have both circuits integrated in the motor and their interface

is standardized [25]. The study of the servo motor control is composed by the analysis of the standard

interface.

The servo’s interface is usually constituted by a three wire interface, being two of them used for the

power supply and the remaining wire used for control the servo motor shaft position[25]. The control

signal specifies the desired angle. It is constituted by a PWM signal, being the angle rotated by the shaft

directly controlled by the width of the active high pulse. The width of the pulse varies from 1 ms to 2 ms,

and the relation with the rotation angle is shown in Figure 2.5.

9

3

The servo is controlled by a Pulse Width Modulation [PWM]. The width of the pulse dictates the

amount of degrees the engine will spin. In figure 2, it’s shown the relationship between both.

The values shown in the figure 2 were retrieved from the futaba website, and the correct

functioning of the servo using these values is not guaranteed.

The control of a servo motor is made through a three wire connection, containing the power

supply, ground and the control signal. In order to control a servo motor with the Overboard an

external power source is required. The characteristics of that power source are described in the

table 7. The output connectors and respective pinout are shown in figure 6. The connections in

the servo motors connectors can change from brand to brand. The connection should be

carefully supervised.

Triac Control

The triac is an electronic device, whose electrical characteristics are very convenient for

controlling the Alternating Current (AC) from the power grid. It is used to switch and/or dim low

power devices connected to the power grid. Because the triacs are very sensitive to high values

of dv/dt, special care needs to be taken when dealing with inductive loads.

The control of the triggering in the triac is made through a zero voltage crossing circuit, whose

purpose is to detect the zero current points. When a zero point is detected, the user can

choose to fire, or not, the triac. It can only be fired in the beginning of each phase, due to the

method (zero voltage crossing circuit) used to control it.

The triac and its driver circuit are located in an accessory board, called Power Board (figure 3),

due to the elevated power that are present in their terminals, capable of destroying the

Overboard. The Power Board has an opto-isolation between the Overboard connection and the

electrical grid. The output connectors are shown in figure 6.

1 ms

1.5 ms

2 ms

Minimum Pulse

Neutral Position

Maximum Pulse

0º

90º

180º

Figure 2 - Angle vs Pulse width Figure 2.5: Servo motor rotation angle control.

2.2.2 Power Line Actuation

The control of devices connected to the alternating current (AC) power line is usually done with

relays or triacs[26]. The control is normally made through the regulation of the power applied to the

devices. These being mainly electric motors, transformers, resistance heating, lamps among others

[26]. Normally the regulation of the power applied to the devices is made through switching, which

enables primarily on and off operations, and through dimming, limiting the power delivered to the device.

The triac is a two-directional switch that can conduct current in both directions. It can be turned on

by a positive or negative voltage and it is turned off when the current flowing through it drops below a

threshold value [27]. Its symbol and characteristics curve are shown in Figure 2.6. Triacs don’t have

any mechanical components and their use permits the control of very large currents through small gate

currents [28]. The triac’s disadvantage is that it does not have any electric isolation between the load

and the control circuits[27].

T2

T1

Gate

+

-

Current

(a)

Current +

-

Voltage Voltage+-

Breakover Current

Breakover Current

Breakover Voltage

Breakover Voltage

Minimum Holding Current

(IH)

Minimum Holding Current

(IH)

ON State

ON State

OFF State

OFF State

TRIAC Ampere Voltage Characteristic Curve

(b)

Figure 2.6: Triac symbol(a), and characteristic curve(b).

The use of a triac in an AC power line in order to control electric devices, normally requires auxiliary

10

hardware to operate correctly. The reason for this, is because the AC power line signal is composed

by a sinusoidal waveform with no DC component, causing the triac to enter the off state each time the

current, flowing through it, becomes inferior to the holding current. In order to overcome this problem,

a zero crossing detector can be used to detect the point where there is no current and re-trigger the

device, causing a continuous on state, when required. Due to the non-symmetrical nature of the triac,

the triggering of the positive and negative cycles is not at the same voltage level. In order to provide a

symmetrical triggering, a trigger device is used, normally a diac[29].

Load

AC Zero Crossing Detector

Triac Trigger

Time

CurrentOn the Load

Figure 2.7: Triac, control diagram.

The triac can also operate as a dimmer device. This can be done by two methods, the phase control

method and the integral cycle control method. In the first method the triggering of the triac is delayed,

reducing the amount of power delivered to the load, as it is shown in Figure 2.8.

Time

CurrentOn the Load

Figure 2.8: Triac, phase control method.

In the second method the number of cycles that the triac is triggered is controlled, allowing the

redution of the overall power applied in the triac, as it is shown in Figure 2.9.

11

Time

Currenton the Load

Figure 2.9: Integral cycle control method.

The integral cycle control method has the advantage of triggering the triac near the zero crossing

point, in this point there is no large increase or decrease of current, thus minimizing unwanted effects like

Radio Frequency Interference (RFI), which is generated through rapid changes in current [29]. However

it can not be employed in all electric devices, for example, the dimming of lamps, because it would make

them flicker noticeably [29].

The relay is a device that provides an electrical connection between two or more points in response

to the application of a control signal. These come in many shapes, sizes and power ratings, being the

relays with the higher power ratings called contactors [30]. The most common type of relay is the Electro-

Mechanical Relays (EMR). The EMR converts, through the application of a control signal, magnetic

energy into mechanical force which operates the mechanical contacts within the relay. Depending on

the type of EMR, the control signal can be AC or DC. In Figure 2.10 it is shown a representation of this

type of relay.

Figure 2.10: Electromechanical Relay.

The EMR main advantages are, their electrically isolation between the control circuit and the load

circuit and the ability to switch a large amount of power with a small power control signal [26]. However,

due to the fact that it contains moving parts the relay is susceptible to a variety of unwanted effects, like

contact arcing, high contact resistance due to wear out contacts, Electromotive Force (EMF) and low

operation speed, limited by the moving parts [28].

12

Another type of relay that is found in many applications related to the control of loads supplied by

the AC power line is the SSR. This type of relays, employ the use of solid-state devices instead of me-

chanical contacts to connect the load to the line. In the case of AC power applications the relay employs

the use of a triac [31]. The control of the triac in the SSR can be performed by different methods, being

the most commons, through a small relay or through optical isolation. In the first method, the triac’s

control is made trough the energization of the relay, as illustrated in Figure 2.11.

Relay

Figure 2.11: Solid-State Relay using a relay to control triac.

In the second method the control is made through optical isolation. A Light-Emitting Diode (LED) is

used to energize a photo triac, when desired, as shown in Figure 2.12.

Figure 2.12: Solid-State Relay using a LED to control a photo triac.

SSR have several advantages, when compared with EMR. These have no moving parts, with the

exception of the SSR that uses a relay, are more resistant to shock and vibration, in general have a

better performance, are normally smaller and have higher switching speeds [32] [31]. However SSR

use low power components with rather limited capability, which introduces reliability issues in harsh

environments [33].

The control of highly inductive loads, such as electric motors, either by triacs or relays, requires

the integration of freewheel diodes along with a snubber circuit in order to suppress voltage spikes and,

in case of the relay, contact arcing and EMF voltage in the switching OFF operations. The snubber

circuit is usually constituted by a resistor and a capacitor in parallel with the ’switch’. These permit a

safely conduction path at the instant the switch is open, suppressing the creation of any voltage spike,

as shown in Figure 2.13.

13

AC ControlCircuit

Load

Snu

bb

er C

ircu

it

Switch

Figure 2.13: Inductive loads, protecting measures.

In the relay case, the operation of switching OFF also generates the unwanted effect of the EMF, due

to the magnetic flux collapse within the coil. This phenomenon can be prevented with the introduction

of a ’freewheel diode’ across the relay coil, conducting and dissipating the EMF preventing, this way,

any damage to the components connected to the relay coil. These protective measure is shown in

Figure 2.14;

AC Load

Relay

VCC

ControlCircuit

Freewheel Diode

Figure 2.14: Inductive loads, protecting measures.

2.3 Indirect Actuation

The employment of building automation protocols has experience a growing interest, mostly due to

the progress of information and communication technologies [34]. These protocols allow the integration

of electrical devices with each other in the same building, enabling the control of all of them from a single

or multiple control unit. This integration results in an increase in comfort, energy efficiency and safety

benefits. The communications between the devices can be made through a wired or wireless medium.

Usually, a wired communication is faster and more reliable, while a wireless communication is easier

to install, and there is no cabling hassles. Normally, each protocol has a unique encoding between the

transmitting and receiving modules. Some technologies require the existence of built-in receivers in the

devices being controlled while others use interfaces between the device and the power source. However

all protocols are limited by the medium used to transmit and/or receive messages. These technologies

are also limited to the amount of power used by each device, since the interface internal circuitry has its

own power limitations.

The analysis of automation protocols focused in three of the most popular protocols. These are, the

X10, the CAN bus and the Konnex (KNX).

14

2.3.1 X10 Protocol

The X10 protocol is a low bandwidth protocol, for signal communication and control of devices over the

power lines. Each device controlled by the X10 protocol is identified by two criteria, the house code and

the unit code, being available sixteen house and unit codes, permitting a total of 256 different codes.

The transmission is made through broadcast, being the device(s) with the matching identification the

only one(s) that process the message. Each communication is constituted by a house code, a unit code

and a command code. In the existence of separate power lines, it’s possible to use plug-in transceiver

devices that communicate through other means of transmission, such as, serial communication, Radio

Frequency (RF) or infra-red signals.

The X10 protocol uses a highly redundant binary system to transmit data.Very low power, bursts

are transmitted synchronously with the power line signal at the inflection points, as it is shown in the

Figure 2.15 [35]. Since the system of true and complement redundancy is used, only one bit is transmit-

ted per cycle. This means that in the first crossing point of each cycle an information bit is sent and the

second crossing point contains the opposite signal. The only sequence that doesn’t conform to the true

and complement rule is the start sequence.

y=-sinx, x∊[0,2π]

O π/2 π 2π3π/2

Voltage

Time

Figure 2.15: X10 signal transmission.

The X10 RF protocol, available through the integration of RF transceiver module uses a frequency

of 310 MHz in the United States and 433 MHz in Europe. It’s signal modulation is constituted by a two

symbol amplitude shift keying as shown in the Figure 2.16, and it is an unidirectional protocol. In the

beginning of each message a preamble or wake signal is sent in order to alert the receiver of a new

message.

Preamble One ‘1’ Zero ‘0’

8 ms 4 ms.4 ms

1.8 ms

.4 ms

.7 ms

Figure 2.16: X10 protocol, RF protocol.

The major advantages in using this protocol are related to it’s easy installation in already existent

infrastructures, since it requires little to none modifications in the wiring of the infrastructure. The X10 is

15

a plug-and-play technology, which means that the implementation of a system is done just by plugging

the modules in the power lines. Since this technology implementation doesn’t requires modifications

in the infrastructures, it is relatively inexpensive and require little expertise to implement it. Another

advantage his the wide variety of products available in the market that use this technology, providing a

plurality of solutions for most needs.

However this protocol has also some limitations. It is a fairly slow protocol, 50 bit/s, which can be

unsuitable for some applications. Another problem is the signal degradation. The use of power lines as

medium of transmission, makes the signal capable of being subverted to a phenomenon called Electro-

Magnetic Interference (EMI) filtration. The inductance combined with the capacitance present in the

power line due to the electrical devices connected to it, are the origin of this phenomenon. In extreme

cases the X10 signal can be eliminated. The implementation of this protocols in electrical systems that

contain more than one phase is also a problem, since each phase is isolated from the others, the X10

signal can not reach devices that are on other phases.In order to solve this problem between each phase

an X10 coupler needs to be installed, this device allows the X10 signal to pass between phases.

2.3.2 CAN Bus

The CAN bus is a serial asynchronous multi-master robust serial communications protocol devel-

oped by Bosch [36]. It was originally designed to the automotive industry, with the goal of increasing the

vehicles reliability, safety and fuel efficiency by decreasing the required amount of wires, thus diminishing

the vehicle’s weight. However, due to its characteristics, other areas began to implement this protocol

as well. Theoretically the CAN protocol guarantees unlimited number of devices, since the address is

not fixed and multiple devices are able to co-exist with the same address (example: all devices can

have the same address). However the number of nodes is limited to the drive capacity of the transmitter

device. The transmission of messages is made through the broadcast method, being the decision to

process each message, done by each device. All the devices are able to operate as transmitter and/or

receiver, allowing each device to send messages when required. The bus line has to be terminated with

a resistance of 120 Ohms in both ends.

Node 1 Node 2

Node 3 Node 4

CAN BUSNode 5 Node 6

Figure 2.17: CAN Bus network.

16

The CAN protocol provides non-destructive bit-wise arbitration by ensuring that the highest priority

message is always transmitted, when multiple nodes transmit simultaneously. It is possible a total of

2032 priorities 1 and a maximum eight data bytes per message. The only exception is when the trans-

mitting nodes have the same priority, in this case both nodes suspend the transmission and try again

after a break off period.

This protocol also provides fault tolerance mechanisms by including a two bit acknowledge field.

The transmitting node waits for the acknowledgement of the receiving node, ensuring that the message

is being received. The CAN bus accepts has a dominant bit the differential voltage of 0.9 V or higher.

This method ensures some noise tolerance, since there is no ground reference, it also makes the com-

munication immune to electromagnetic interferences since, in the case of electromagnetic fields, both

lines are affected preserving the same differential voltage between them.

The communication data rates are dependent on the physical distance between nodes, as it is

shown in Figure 2.18.1000 0

1000 30

800 50

500 100

250 250

125 500

62,5 1000

20 2500

10 5000

0

100

200

300

400

500

600

700

800

900

1000

0 30 50 100 250 500 1000 2500 5000

Data Ra

te (K

Bit/s)

Data Rate vs Bus Length

Bus Length (m)

Figure 2.18: CAN Bus protocol, Data rate vs bus length.

2.3.3 KNX Protocol

The KNX protocol is the only worldwide open standard for building and home control. It was created

by the KNX association. This protocol provides serial data transmission between devices connected

to the bus, and it is designed as a management system in the field of electrical installation for load

switching, environmental control and security of infrastructures, as it is shown in Figure 2.19.

The bus system is designed to be implemented as a decentralized system, but nevertheless it still

allows, when desired, centralized application implementations. The aim of this protocol is the interwork-

ing between sensors and actuators, not being used in “communication only“ applications.

The KNX protocol is supported by several types of media: twisted pair, power line, radio frequency

and ethernet. Also, being an infra-red protocol under development.

1Using standard frames.

17

Introduction to the System

EIBA Handbook Series Page 1/2-5 Version 1.1

1. EIB: User's View

1.1 Introduction to the EIB Technology

1.1.1 General Purpose of EIB

The European Installation Bus (hereafter referred to as "the Installation Bus" or in short as"the Bus") is designed as a management system in the field of electrical installation for loadswitching, environmental control and security, for different types of buildings. The InstallationBus can be installed in large buildings such as business premises, schools, hospitals, factoriesand administration premises as well as in domestic residences. Its purpose is to ensure themonitoring and control of functions and processes such as lighting, window blinds, heating,ventilation, air-conditioning, load management, signaling, monitoring and alarms.

The EIB system allows the bus devices to draw their power supply from the communicationmedium, like Twisted Pair or Powerline (230 V mains). Other devices may, additionally,require power supply from the mains or other sources, as in the Radio Frequency and Infra-redmedia. Fig. 1/2-1 draws some usage examples.

1 2 3 4

Power SupplyNetwork

5

9

8

9

7

9

6

9

Fig. 1/2-1: Bus and mains networks

brightness sensor threshold detection sensor

monitoring lighting motor control

window blinds heating 230V switching

Figure 2.19: KNX Bus and main networks.

• Twisted Pair This medium allows a total of 64000 devices to be connected simultaneously, being

the total cable length restricted to 1000 meters. The distance between devices cannot exceed the

700 meters and the distance between a device and a power source can’t exceed the 350 meters.

In this medium the KNX protocol provides bit-level collision detection, through the use of Carrier

Sense Multiple Access (CSMA)/Collision Avoidance (CA) ensuring that in case of collision, one of

the transmissions succeeds. It is used an asynchronous communication able to provide data rates

up to 9600 bit/s.

• Power Line The KNX power line protocol uses a spread frequency shift keying modulation tech-

nique, with a corresponding numerical matched filter. The medium access is controlled by a pream-

ble sequence, with a randomize re-transmission of slots. The maximum distance between two

devices , without the use of repeaters, is 600 meters. Just as in the X10 protocol, it is influenced

by EMI filtration. The power line protocol provides data rates up to 1200 bit/s.

• Radio Frequency The KNX RF protocol uses different carrier frequencies in order to separate dif-

ferent lines. The maximum transmission distance is 300 meters, however, through re-transmission

it is possible to overcome this limitation.

Each KNX device owns a unique address. However in the KNX protocol it is possible to create

group address that include several devices, these group address are useful when it is necessary to send

data to several devices. It is also possible to a device to be part of several group addresses, receiving

this way, data that is sent to each one of those group addresses.

Due to the fact that KNX devices are fabricated by several companies, a low level protocol had to be

developed in order to ensure the compatibility between all the devices. The protocol is named European

18

Installation Bus Interworking Standard (EIS), and defines all available functions used by the devices

[37].

Although its various benefits, that were discussed previously, the use of the KNX protocol also has

its disadvantages, such as, the high costs associated with the acquisition of KNX devices and the need

for specialized personal for the installation of this type of networks.

19

Chapter 3– System Requirements and Architecture

The objective of this chapter is to discuss the requirements of the Overboard and define its architec-

ture. The Overboard’s requirements are the result of the actuation functionalities analysed in Chapter 2

and the requirements established inside GEM. The requirements established are the following:

1. Compatibility with MoteIST, MicaZ and Iris.

2. Ability to control the actuators discussed in Section 2.1.

3. Ability to communicate with X10 protocol, CAN Bus protocol and KNX protocol.

4. Existence of a Test mode, in order to allow the testing of the Overboard for errors.

5. Existence of a MCU, for the automation of the actuation functionalities.

Through the analysis of these requirements it became possible to design a block diagram of the

Overboard, shown in Figure 3.1.

Actuator’sControl

Co

nn

ector

Co

nn

ector

RS-232 Line Converter

RS-232 Line Converter

Bipolar Driver

Signal Driver

Bipolar Driver

Gen

eral Actu

ators

Co

nn

ector

CAN bus transceiver

CA

NC

on

necto

r

Servo M

oto

r C

on

necto

rP

ow

er Bo

ard

Co

nn

ectorHIROSE

CONNECTOR 20 PINS

MCU program connector

HIROSE CONNECTOR 51 PINS

Overboard

PWM control signal

PWM control signal

PWMsignal

ICSP signals

KNX Communication

X10 Communication

I2C signal

Co

nn

ecto

r

TRIAC driver

Isolation

TRIA

C

Neutral

AC supply +

Load terminal +

Load terminal -

HIROSE CONNECTOR

20 PINS

RF Transceiver

MMCXConnector

RF Board

Power Board

UART

UART

Servo motor control signal

Power Supply (3 V)

SPI

Microcontroller

GPIO signals

UART

Altern

ative Po

wer

Co

nn

ector

Actuator’s Power Supply

Co

nso

le C

on

necto

r



Power Supply(3 V)RS-232 Line

Converter

RS-232 Communication

UART

Figure 3.1: Overboard, block diagram.

21

In Figure 3.1 it is shown the Overboard and two auxiliary boards, named Power board and RF board.

The Power board’s purpose is to control AC power devices while the RF board ’s purpose is to take

advantage of the X10 and KNX radio frequency protocols to communicate through them when desired.

The creation of these auxiliary boards has the disadvantages of increasing the building costs, the cost of

the Printed Circuit Board (PCB) and the cost of the extra components, and requiring more space for their

use, the space belonging to the Overboard and the space of each auxiliary board, however, these have

the advantage of being easily replaced, if damaged, not requiring the construction of another Overboard.

The reason for the creation of the Power board, is due to safety reasons since it will be subjected to

currents and voltages that could permanently damage the Overboard if a short-circuit occurred. In the

case of the RF board, the purpose of detaching it from the Overboard, is to permit the use of different

RF boards by the same main board.

The normal control of the Overboard is made through a mote, which can be a MoteIST, Iris or

MicaZ. In order for the Overboard to be interact with all the specified motes, it uses the 51 pins hirose

connector present in all of them. This connector provides communication, power supply and physical

support. The communication with the Overboard is made through a proprietary protocol, described in

detail in Appendix F. Through it, it is possible to interact with the board independently of the serial bus

used.

In order to allow the testing of the Overboard functionalities, a test mode was included. The activa-

tion of this mode allows the control of the board through a console, using a host PC. Through the console

it is possible to activate and deactivate the board’s modules, configure the actuation functionalities, re-

quest the transmission of data and test the sleep mode functionality. The communication protocol used

is the RS-232. The use of this standard is justified due to its simplicity and wide availability. Regarding

the control of actuators, due to the fact that their power requirements, shown in Table 2.1, can be higher

than the power available by the Overboard, an additional connector was integrated in the Overboard in

order to allow the use of another power supply.

3.1 Actuator’s Control

The ability to correctly operate different types of actuators is greatly associated with the amount of energy

available. In the Overboard’s case, the energy available is provided by the node connected to it. Since

the nodes compatible with the Overboard have a power supply composed only by two AA batteries (3 V),

the Overboard’s control over actuators is restricted to small power actuators only. In order to overcome

this limitation, the Overboard permits the integration of an external power supply, with the purpose of

expanding it’s control to more power demanding actuators, like electric motors, solenoids and similar

actuators.

With the purpose of controlling electric motors and solenoids, the Overboard is equipped with two

bipolar drivers (H-bridges), with the liberty to operate independently or together. These drivers were

chosen over the unipolar drivers, because these allows the control of more types of actuators as de-

scribed in section 2.2. The purpose of the existence of two bipolar drivers is to allow the Overboard to

22

control stepper motors.

The control of servomotors, as described in sub-section 2.2.1, requires the integration of a dedicated

connection output, because it is a digital control. After an analysis on the most common servomotors,

the Futaba1, and Hitec2 servomotors, the following specifications were retrieve.

• Typical operating voltages are comprehended between 4.8 V and 6 V.

• Control signal voltage ranges between 3 V and 5 V.

• Wait period of 20 ms between commands.

Due to the fact that most servomotors have a similar interface, described in Appendix E, the Over-

board’s interface is compatible with a wide range of servomotors. The interface is constituted by three

wires, two are related to the power supply and the other is the control signal. The control signal is es-

sentially a variable PWM signal, so in order for the Overboard to control servomotors, it must be able to

generate PWM signals.

Since the typical operating voltages of the servomotors range between 4.8 V and 6 V, these require

the existence of an external power supply in order to function properly.

Regarding the control of devices connected to the AC power line, the Overboard allows the control

of them through the switching of the power line. According to Subsection 2.2.2, the control of these

devices is usually made though relays or triacs. Their main features are described in table 3.1.

Table 3.1: AC power line, main switching devices features.

Device ElectricIsolation

Existenceof movingparts

Unwanted Effects

Triac No NoSwitches off, every time current is below holding cur-rent. Different triggering times in the positive andnegative cycle. Radio frequency interference.

EMR Yes Yes Contact arcing, Electromotive Force, low operatingspeed.

SSR (with smallrelay) Yes Yes Reliability issues due to the use of low power com-

ponents with limited capability.SSR (with opti-cal isolation) Yes No

Through the analysis of table 3.1, it is possible to conclude that the more appropriate switching

device for the Overboard is the SSR with optical isolation, although there may exist reliability issues, it

is the only that doesn’t have moving parts, while providing electrical isolation, allowing higher operating

speeds and protecting the Overboard from any accidental short-circuit with the power line.

The SSR are available as Integrated Circuit (IC) or can be constructed with discrete components,

namely a triac with an optoisolator with a triac output.

1http://www.futaba-rc.com/2http://www.hitecrcd.com/

23

3.2 Automation Protocols Interface

The use of automation protocols, permits the control of vast number of devices expanding the Over-

board’s control abilities greatly, however, in order for the Overboard to be able to operate the devices

connected to each protocol, it is required the integration of an interface for each protocol. These inter-

faces are normally constituted by a controller and a transceiver.

In order to control the devices integrated in a X10 network it is necessary an transceiver. The

communication with the X10 transceivers is made through the X10 serial protocol. Depending on the

chosen transceiver, this protocol can be implemented over the RS-232 standard or the Universal Serial

Bus (USB) standard. Unlike the radio frequency and infrared approaches, this approach uses bidirec-

tional communication in order to check if the messages are being correctly received. The transceiver

used to test the control of the Overboard over the X10 devices is the CM11 from Marmitek, shown in Fig-

ure 3.2, that already exists in-house. When transmitting over the RS-232 standard the communication

uses a data rate of 4800 bit/s, 8 data bits, 1 stop bit and has no parity (8-N-1).

Figure 3.2: CM11, X10 device.

In order for the Overboard to be compatible with the X10’s CM11 transceiver, it is necessary to

be able to communicate through the RS-232 standard. For this, it require the existence of a RS-232

transceiver and a Universal Asynchronous Receiver Transmitter (UART) controller. Since most of the

MCUs available in the market already integrate UART controllers, this becomes a requirement for the

MCU, being only required the integration of a RS-232 transceiver into the Overboard, as shown in

Figure 3.3.

RS-232 Transceiver

(IC)

X10 Transceiver

(CM11)

Microcontroller

UART ControllerCPU

Data Bus UART RS-232

X10 Network

Figure 3.3: RS-232 communication, block diagram.

The control of X10 devices through radio frequency requires the integration of a RF transceiver in

the X10 network. The communication, as described in the Subsection 2.3.1 is unidirectional, uses 433

24

MHz in Europe, and uses two symbol amplitude shift keying (On-Off Keying) as signal modulation. The

transceiver used to test the control of the Overboard over X10 devices based on RF is the TM13 from

Marmitek, shown in Figure 3.4, already existent in-house. It is responsible for receiving the RF signals

and send them through the power line.

Figure 3.4: TM13 RF transceiver from Marmitek.

In order to communicate with the TM13 transceiver it is necessary the integration in the Overboard

of a RF transmitter. The transmitter has to be able to generate the signal described above, and shown

in Figure 2.16.

To access the KNX bus externally, the European Installation Bus (EIB) developed a standard called

Physical External Interface (PEI) that allows the transmission and reception of messages over any KNX

device, however in order to do so a PEI interface is required. It consists of a mechanical/electrical part,

being optional the integration of additional software in the application module. There are 21 types of PEI

interfaces that can be grouped in 3 different categories.

• Parallel I/O communication.

• Serial I/O communication.

• Special purpose.

There PEI interface is composed by 10 pins, as shown in Figure 3.5.

25

PEIBUS Access

Unit

1, 10 : 0 V

6: Type

5: VCC

2, 3, 4, 7, 9: Digital I/O

8: VDD20 V/ 2 mA

(limited)

VCC

100 pF 1 K

1 K

1 K

229 uHRi = 20

47.5 K

100 pF

100 pF

Figure 3.5: PEI Wiring Diagram.

The type of PEI interface is chosen through the insertion of a resistor between the pin 6 and the pin

5. The value of that resistor determines the PEI type. The relation between the value of the resistor and

the type of PEI is shown in Appendix F.

The testing of the control of the Overboard over devices connected to a KNX network is made

through a sample network shown in Figure 3.6.

63

4. TESTES E RESULTADOS

4.1. Rede de Dispositivos EIB/KNX

Para estudo da tecnologia EIB/KNX e posterior desenvolvimento e teste da solução

apresentada nesta tese, foi utilizado um protótipo constituído por vários dispositivos EIB/KNX.

Este protótipo, demonstrado na figura seguinte foi montado por um grupo de alunos da cadeira

de Edifícios Inteligentes e Domótica.

Figura 29 – Protótipo de Dispositivos EIB/KNX

Este protótipo é constituído pelos seguintes dispositivos do fabricante hager:

1. Interruptor quádruplo acoplado ao modulo de 4 entradas TX304

2. Controlador de ambiente TX450

3. Interruptor horário electrónico de 2 canais TX022

4. Módulo de 4 estores TX223

5. Módulo de iluminação de intensidade variável TX210

Figure 3.6: KNX network with several KNX devices.

It is constituted by the KNX devices described in Table 3.2, all of them belonging to the Hager brand.

26

Table 3.2: KNX devices available in bus.

Device number Device name Description1 TX304 4 flush mounted inputs2 TX450 Environment controller3 TX022 Electronic schedule with 2 channels4 TX223 4 shutters or blinders controller

5 and 6 TX210 Universal dimmer7 TX350 RF transceiver8 TH002 Media coupler for bus system9 - disconnector

10 TX111 Power supply module

There are two transceivers available to communicate with the network the ’TH002’ and the ’TX350’.

The ’TH002’ communicates with the control unit through the RS-232 standard, and it uses the PEI

type 16 protocol to communicate with the control unit. This protocol provides a serial asynchronous

communication, with a data rate of 9600 bit/s, 8 data bits, 1 stop bit and with no parity. It makes use of

five signal wires of the RS-232 standard, namely the transmit, the receive, the request to send, the clear

to send and the ground wires.

The ’TX350’ is RF transceiver, it uses Frequency Shift Keying (FSK) modulation with a frequency of

868 MHz. In order to use this transceiver to send messages through the KNX bus, the Overboard must

have a RF transceiver.

The use of the CAN Bus protocol, requires the existence of a CAN controller and a CAN transceiver.

Since there are various MCUs with CAN controllers integrated, this becomes a requirements for the

choice of the MCU. As for the transceiver, it’s integration in the Overboard is essential, since it provides

the ’bridge’ between the CAN Bus and the controller, as it is shown in Figure 3.7.

Control Unit

CAN Bus Controller

CAN Transceiver

CAN High

CAN Low

Receive Data

Transmit Data

CAN Bus

Figure 3.7: CAN Bus Interface.

27

3.3 RF Communication

The RF communication main purpose is to control devices through the X10 and KNX RF protocols. In

order to choose an appropriate transceiver to provide communication with both protocols, it is necessary

to analysis their characteristics first.

The X10 RF protocol characteristics are:

• Amplitude Shift Keying (ASK) modulation.

• 310 MHz, for the United States of America ,and 433 MHz, for Europe, carrier frequency.

• data rate of 15.43 bit/s.

While the KNX RF protocol characteristics are the following [38]:

• FSK modulation.

• 868 MHz of centre frequency.

• 50 kHz of FSK deviation.

• Duty cycle of 1%.

• Manchester coding.

• Chip rate of 32.768 chip/s.

An analysis, through the Farnell™, Mouser®and Digi-Key Co. USA websites using the above char-

acteristics has requirements provided a compatible transceiver, the CC1101 RF transceiver from Texas

Instruments. This transceiver allows both modulations, is designed for very low power applications, and

permits RF communications below 1 GHz. Its main features are described in table 3.3.

Table 3.3: CC1101 main features.

Voltage Frequency Data Rate Current Consumption FrequencySupply (V) Range (MHz) (kBaud) (Voltage Supply=3 V) (MHz)

300-348 0.2 ua - 165 ua, Powerdown0.6-500 (2-FSK) 15 mA - 17.1 mA, Receive

1.8 - 3.6 387-464 13.1 mA - 29.2 mA, Transmit 433

0.6-250 (ASK) 14.6 mA - 16.9 mA, Receive

779-928 16.4 mA - 34.2 mA, Transmit868

Another essential component in RF communication is the antenna, it is used in order to improve the

signal’s reach distance. The antenna’s purpose is to transform electrical energy into RF electromagnetic

energy and vice-versa. The maximum power transference, reach the maximum distance possible, is

achieved when the source resistance is equal to the load resistance, according to Moritz Von Jacobi’s

maximum power theory, thus matching the networks. In order to achieve this it is possible to use the

complex reflection coefficient equation 3.1.

28

Γ =Za − Z0

Za + Z0(3.1)

This equation is equal to zero when the antenna is perfectly matched with the transmission line,

thus delivering all the applied power to the antenna. Other equations are also used in the matching of

antennas, such as the return loss and the voltage standing wave ratio. The antenna performance is also

affected by other factors, such as, the antenna placement, the ground planes, undesired magnetic field

of the PCB, obstacles in the line of sight, antenna gain characteristics, antenna bandwidth and antenna

radiation efficiency [39].

The design of the antenna is normally conditioned by the size, cost and performance. In table 3.4,

it is shown the most common types of antennas, along with their advantages and disadvantages.

Table 3.4: Characteristics for different antenna solutions.

Antenna types Advantages DisadvantagesPCB Antenna Very Low Cost. Potentially large sizes at lower frequencies.

Small sizes at high frequencies. Difficult to design small and efficientantennas for frequencies lower than 433 MHz.

Good performance for frequencieshigher than 868 MHz.

Standard design antennaswidely available

Chip Antenna Small size. Medium Performance.

Medium Cost.Whip Antenna Good Performance. High Cost.

Difficult to fit in many applications.Wire Antenna Very cheap. Mechanical manufacturing of antenna.

The antennas can be further divided into single ended and differential antennas. Single ended

antennas receive a signal which is referenced to ground and the characteristic input impedance is usually

50 Ω. These type of antennas normally requires a network that transforms the signal from balanced to

unbalanced, a balun, since most of the RF IC’s have differential, balanced, RF ports. The differential

antennas don’t require the use of a balun circuit resulting a lower number of components. In both

antennas it is still required to match the impedance of the RF port of the radio with the antenna, and if

desired, the integration of filters [39].

3.4 Main Hirose connector

The MoteIST, MicaZ and Iris, all share a common connector, the 51 pin hirose, with equal pinout.

This connector provides twelve lines of serial communication, with the ability of communication through

UART, Inter-Integrated Circuit(I2C) and Serial Peripheral Interface (SPI). It also has eight Analogue to

Digital Converter (ADC) inputs, four interrupt lines, eight power control lines, three PWM outputs, three

pins reserved for sensor boards communications, four power supply lines and nine General Purpose

29

Input Output (GPIO) pins. These connector’s pins are shown in Figure 3.8. By using this connector to

communicate with the mote, the compatibility with all these motes is ensured.

Hir

ose

Co

nn

ecto

r1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

5126

Pin number Description Pin number Description1 Ground 27 UART 0 Receive

2 Sensor Supply 28 UART 0 Transmit

3 GPIO 29 Power Control 0




7 Battery Voltage monitor Enable 33 Power Control 4

8 LED3 34 Power Control 5

9 LED2 35 Power Control 6

1 LED1 36 ADC Input 7/Battery monitor/JTAG TDI

11 GPIO 37 ADC Input 6/JTAG TODO

12 GPIO 38 ADC Input 5/JTAG TMS

13 GPIO 39 ADC Input 4/JTAG TCK

14 Power Control 7 40 ADC Input 3

15 USART 1 Clock 41 ADC Input 2

16 Serial Program MOSI 42 ADC Input 1

17 Serial Program MISO 43 ADC Input 0/ RSSI monitor

18 SPI, Serial Clock 44 Temperature Sensor Enable

19 USART 1 Receive Data 45 THRU Connector 1

20 USART1 Transmit Power 46 THRU Connector 2

21 I2C Bus Clock 47 THRU Connector 3

22 I2C Bus Data 48 Reset

23 GPIO\PWM0 49 GPIO/PWM1B

24 GPIO/PWM1A 50 Digital Supply

25 GPIO/AC+ 51 Ground

26 GPIO/AC‐

Figure 3.8: 51 pin, Hirose connector diagram.

Due to it’s characteristics, the hirose connector also provides physical support to the Overboard.

However the size of the board should be as smaller as possible in order to not compromise the con-

nector’s physical support. Since there are several communication protocols available through the hirose

connector, an analysis was made in order to find out the most appropriate to be used for the communi-

cation between boards. The analysis is shown in Table 3.5.

Table 3.5: Communication protocols available in the hirose connector.

CommunicationProtocol

Maximum Bitrate (KBit/s) Existent lines

I2C 1000 Serial Data Line (SDA), Serial Clock Line (SCL).

SPI 20000 Serial Clock (SCLK), MOSI (Master Output Slave Input), MISO(Master Input Slave Output), SS (Slave Select).

UART 115,200UART Transmit (UTX), UART Receive (URX), UART Clock(BCLK) and the optional Clear to Send (UCTS) and Request toSend (URTS).

After an analysis on the available protocols, shown in Table 3.5, it was concluded that the most

appropriate is the I2C protocol, due to the fact that it requires only two signal wires, simplifying the design

of the board, and the fact that it allows multiple devices to start communications has masters, permitting

both boards to transmit messages between each other. In order for the Overboard to communicate

30

through this protocol it requires the existence of a I2C controller.

The Overboard is also powered through the hirose connector, since it is the only connection between

the both boards. All the three analysed motes, MoteIST [40], Iris [41] and MicaZ [42], provide a voltage

of 3 V. However the maximum current available for the Overboard is limited due to the hirose connector

electrical characteristics to 500 mA.

The design of modular systems is a preventive measure. By dividing the board’s system in modules,

and attributing some degree of autonomy to each, it is possible to design a more robust system. If a

module fails, it will not disrupt the correct operation of the other modules. It also provides an easier

system repair or upgrade, requiring only the replacement of the malfunctioning or outdated module.

3.5 RF connector

Taking advantage and, in order to maintain compatibility with the already built RF boards in-house, the

Overboard’s RF transceivers are built in individual modules connected to the board through a 20 pins

hirose connector. This strategy, provides compatibility with the RF boards existent for the MoteIST, while

maintain the modularity of the RF system. In order to maintain compatibility its necessary to integrate

in the Overboard the same connector and pin functionalities. The connector is shown in Figure 3.9, and

it’s pins are described in Table 3.6.

Table 3.6: RF Board connector, pin functionalities.

Pin number Pin Functionality1 GPIO2 GPIO3 GPIO4 GPIO5 GPIO6 GPIO7 GPIO8 GPIO9 GPIO10 GPIO11 UART, Transmit12 GPIO13 UART, Receive14 GPIO15 Voltage Supply16 SPI, SS17 Ground18 SPI, MOSI19 SPI, SCLK20 SPI, MISO

31

Figure 3.9: RF Board connector.

In order to integrate this connector and provide the same functionalities it is necessary for the

Overboard to have SPI and UART communication. Despite being the main objective of this connector

the interface with RF boards, it can be used for other purposes, the only restriction is the pre-defined pin

functionalities of the connector.

3.6 MCU Interface

The MCU is a fundamental component in the Overboard. It is responsible for the automation of the

board’s functionalities. In order to obtain a MCU able to control all the Overboard operations and com-

munications, several characteristics are required.

• Existence of an I2C controller, in order to correctly communicate with the mote.

• Ability to be supplied through the 50 pin hirose connector.

• Capability of generating a PWM signal in order to control the servo motors and take fully advantage

of the bipolar drivers.

• Existence of a UART controller, in order to communicate with 10 transceiver, CM11, the KNX

transceiver, TH002 and the 20 pin hirose connector.

• Existence of a SPI controller, in order to provide SPI communication through the 20 pin hirose

connector.

• Existence of a CAN controller, for CAN communication.

• Ability to enter low power modes, in order to lower the Overboard’s consumption.

After analysing the current available MCUs in the market, through the Farnell™, Mouser®and Digi-

Key Co. USA websites, the choice was narrowed to the following MCU families, which were considered

the most appropriate given the requirements previously mentioned.

• STM8S208xx family from STMicroelectronics - These 8-bit MCU have the ability to provide CAN

bus, UART, SPI and I2C communications interface. They have two 16 bit timers with PWM signal

generation capability. The maximum core frequency is 24 MHz providing a maximum of 20 Milions

of Instructions Per Second (MIPS). They have a flash memory up to 128 Kbytes, can be supplied

with a voltage from 2.95 to 5.5 V and consume a maximum current of 60 mA in active mode and

a minimum current of 9 uA in powerdown mode. They are able to generate an internal clock up to

32

16 MHz. These MCU are available in LQFP packages with a maximum size of 14 x 14 mm and a

minimum size of 7 x 7 mm.

• PIC24HJ family from Microchip - These are 16-bit MCU with the ability to process up to 40 MIPS

at 80 MHz. They’re voltage supply can vary from 3 to 3.6 V and consume a maximum of 90 mA

and a minimum of 13 uA in powerdown mode. They are able to communicate through SPI, I2C,

UART and CAN bus. These possess up to eight, 16-bit timers with PWM signal generation ability.

These MCU can have a maximum flash memory of 256 Kbytes. They’re internal clock is capable of

generating a frequency up to 80 MHz. TheseMCU are available in QFN, TQFP, SPDIP and SOIC,

with a maximum size of 14 x 14 mm and a minimum of 6 x 6 mm.

• CY8C38 family from Cypress Semiconductor - These are 8-bit MCU with the ability to operate

at a maximum frequency of 67 MHz and to process up to 33 MIPS. They are able to communicate

through CAN Bus, USB, SPI, I2C and UART protocols. It contains up to four timers able to generate

PWM signals. The flash memory can have up to 64 Kbytes. It supports a voltage supply between

1.71 V and 5.5 V and consumes a maximum of 15.8 mA and a minimum of 200 nA in hibernate

mode. These MCU can generate, from their internal clock, a frequency up to 62 MHz. The

packages available are the SSOP, TQFP and QFN with a maximum size of 14 x 14 mm and a

minimum of 7 x 7 mm.

33

Chapter 4– Overboard Design

In this chapter, the Overboard design specifications are discussed. In the first section, the com-

ponents integrated in the Overboard are analysed, their parameters, qualities and requirements. In the

second section, the software developed and implemented is explained in detail, along with the auxiliary

applications created for the control of the Overboard, through a mote or through the test mode.

4.1 Hardware Design

The components used in the Overboard are described and analysed in this section. The analysis

is divided by the main systems, RS-232 interface, CAN interface, Direct actuation interface and the

Microcontroller. During the analysis of the components available nowadays the main concerns were

its cost, consumption and size. The consumption is a very important aspect because the Overboard

is powered by batteries, the lower the consumption the longer the autonomy will be. The size of the

components is important because the Overboard is physically supported by a 51 pin hirose connector

and it’s size should be keep as small as possible in order to not compromise the support integrity.

4.1.1 RS-232 Interface

The Overboard’s RS-232 interface is constituted by a controller, integrated in the MCU and a transceiver.

The transceivers requirements are, the capability to support data rates used by the automation protocols,

in the KNX case, 9600 bit/s, and in the X10, 4800 bit/s. Due to its characteristics the MAX3222 from

Maxim Integrated Products was chosen.

It features:

• Operating voltage supply between 3 and 5.5 V.

• Normal current consumption, with no load of 1 mA.

• Features a shutdown mode that lowers current consumption to 1 uA.

• Provides data rates up to 120kbit/s.

35

4.1.2 CAN Interface

The CAN interface, in resemblance with the RS-232 interface, is composed by a controller, integrated

in the MCU, and a transceiver. In order to choose the most appropriate transceiver for the Overboard,

a market analysis was made, through the Farnell™, Mouser®and Digi-Key Co. USA websites. This

analysis is shown in Table 4.1.

Table 4.1: Market analysis of CAN transceivers.

Component Brand Voltage Available Existence Price (e)name Required (V) Packages of a sleep mode

SN65HVD1050 Texas Instruments 4.5 - 5.5 8 pin SOIC Yes 1.25SN65HVD232 Texas Instruments 3 - 3.6 8 pin SOIC Yes 2.35

MAX3058 Maxim IC 5 8 pin SOIC Yes 1.34MAX3051 Maxim IC 3.3 8 pin SOIC Yes 1.99

8 pin SOT 1.96MCP2551 Microchip 4.5 - 5.5 8 pin PDIP Yes 0.931

8 pin SOIC 0.931

From the analysis of the Table 4.1, the cheapest component is the MCP2551, however it requires a

voltage supply that is not available in the Overboard, meaning that to use this component, a boost regula-

tor would be necessary. The chosen transceiver was the MAX3051, due to the fact that it is the cheapest

component available that operates with the voltage available in the Overboard. This component is avail-

able in two distinct packages, being used the smallest, which is the Small Outline Transistor (SOT)

package.

The MAX3051 features:

• Data rates up to 1 Mbit/s.

• Capable of being connect to 112 nodes in simultaneously.

• Provides protection against short-circuit conditions, high voltage transients and high temperatures.

• Current consumption in normal operation mode is 35 mA, when it is dominant, and 2 mA, when it

is recessive.

• Current consumption in shutdown mode is 1 uA.

36

4.1.3 Direct Actuation Interface

The direct actuation interface is constituted by two bipolar drivers and a servomotor interface . The

bipolar drivers implementation could be done using a discrete component solution or an IC solution.

The IC solution was chosen, due to the fact that the discrete solution would require more space to

be implemented. A analysis on the current available bipolar drivers was made, through the Farnell™,

Mouser®and Digi-Key Co. USA websites in order to choose the most appropriate. This analysis is

shown in Table 4.2.

Table 4.2: Market analysis of Bipolar Drivers.

Voltage (V) Low Nº of Max. DC RDS1 Price

Component Brand Logic Load power Output Current (Ω) (e)Input Supply Mode Drivers (A)

MPC17510 Freescale 4-5.5 2-15 No 1 1.2 0.45 2.87Semiconductor

A3906 Allegro 2-5.5 2.5-9 Yes 2 1 0.52 1.90A3950 Microsystems 2-7 8-36 Yes 1 2.8(peak) 0.35 3.16A4952 2-6 8-40 No 1 2(peak) 0.8 3.44

BD6385 ROHM 2-5.5 10-28 Yes 2 1.2 1 3.18Semiconductor

LV8549 ON 1.8-5.5 4-16 Yes 2 1 1 1.49LV8011 Semiconductor 4.5-5.5 2-6.5 Yes 1 1 0.37 3.57LV8548 1.8-5.5 4-16 No 2 1 1 1.57

DRV8830 Texas - 2.75-6.8 No 1 1 0.45 3.05UC3770 Instruments 4.75-5.3 10-45 No 1 2(peak) - 3.23

DRV8833 2-5.75 2.7-10.8 Yes 2 1.5 0.36 2.38DRV8821 2-5.75 8-32 Yes 4 1.5 0.55 3.87

L298 ST 4.5-7 2.5-46 Yes 2 2 - 3.51Microelectronics

1 Output ON Resistance.

From the analysis of the table 4.2 it is possible to conclude that, it is cheaper to use a IC with more

that one bipolar driver than to implement several IC’s with only one bipolar driver. Given this conclusion,

only the IC with more than one bipolar driver were further analysed. Furthermore, the L298 IC from

ST Microelectronics, was found inappropriate because of the required logic voltage, that would require

the integration of a boost regulator, because the Overboard is powered with 3 V. From the resulting

candidates, it was concluded that the DRV8833 from Texas Instruments is the most appropriate, due to

the fact that it provides the highest output currents, has the lowest output on resistance, and it has the

best price for the characteristics it provides.

37

The DRV833 features:

• Capability of driving both bipolar drivers independently or simultaneously.

• Ability to obtain 2 A of peak current in each bipolar driver.

• Current regulation and limitation in each bipolar driver.

• Internal shutdown in the presence of over and under voltage, over current and over temperature.

• Features ElectroStatic Discharge (ESD) protection and shoot-through protection.

• Package size with only 4X4 mm2.

• In normal operation mode, current consumption is 3 mA.

• In sleep mode, the current consumption lowers to 2.5 uA.

As described in Subsection 3.1, the direct actuation hardware is supplied by an independent power

source. In order to take full advantage of the DRV8833 IC, the Overboard should allow the use of power

sources with voltage values up to 10.8 V, which is the maximum voltage accepted by the DRV8833

bipolar drivers. Another aspect, is the heat dissipation, if not properly deal with, it could become a

serious problem. Although the DRV8833 use of a PowerPAD TM package, which mean it uses an

exposed pad to increase heat dissipation, the heat dissipation pad must be connected to copper in the

in order to proper dissipate the generated heat.

The control of the bipolar drivers in the DRV8833 is made though two signals for each driver. It is

also possible to make use of the fast and decay methods discussed in Subsection 2.2.1.The signal logic

is described in table 4.3.

Table 4.3: H-bridge logic.

Input 1 Input 2 Output 1 Output 2 Function0 0 High impedance High impedance Fast decay0 1 Low High Reverse1 0 High Low Forward1 1 Low Low Brake/slow decay

If desired, PWM signals can be used to control the bipolar drivers output. In table 4.4 it is described

the output logic.

Table 4.4: H-bridge logic.

Input 1 Input 2 FunctionPWM 0 Foward PWM, fast decay

1 PWM Foward PWM, slow decay0 PWM Reverse PWM, fast decay

PWM 1 Reverse PWM, slow decay

38

4.1.4 Microcontroller

The MCU is the most important component in the Overboard, it is responsible for performing the

tasks communicated by the mote, and reporting their success or failure. In Subsection 3.6, several MCU

families were found appropriate, these are STM8S208 family from STMicroelectronics, PIC24HJ family

from Microchip and CY8C38 family from Cypress Semiconductor. In order to choose the most

appropriate MCU, the most relevant characteristics of the MCU, regarding the Overboard purposes,

were analysed. These are, the power consumption, processing capabilities, available memory, existing

functionalities, package size and price. These characteristics are shown in Table 4.5 and were re-

trieved from the website of each respective MCU family, as for the prices, these are from the Farnell™,

Mouser®and Digi-Key Co. USA websites.

Table 4.5: MCU families analysis.

Device family STM8S208 PIC24HJ CY8C38Architecture 8-bit 16-bit 8-bit

Digital Interfaces 2xUART;1xSPI; 2xSPI;2xI2C; 1xCAN;1xI2C;1xI2C;1xCAN 2xUART;2xCAN UART;SPI1;

Operating Voltage (V) 2.95-5.5 3-3.6 1.71-5.5Max. Nº of MIPS 20 40 33

Memory (KBytes) Flash 128 256 64RAM 6 16 8

Current Normal 60 90 15.8Operation (mA)

Consumption Lowest Power 9 13 0.2Mode (uA)

Packages Available LQFP TQFP, SSOP, TQFP,QFN QFN

Min. Price e 4.28 4.35 22.341 It has no dedicated digital communication. However, it can provide those functions, through

the use of Universal Digital Blocks.

Table 4.6: MCU families analysis.

Device family STM8S208 PIC24HJ CY8C38Architecture 8-bit 16-bit 8-bit

Digital Interfaces 2xUART;1xSPI; 2xSPI;2xI2C; 1xCAN;1xI2C;1xI2C;1xCAN 2xUART;2xCAN UART;SPI1;

Analysing the prices of each MCU family, shown in Table 4.5, it’s possible to conclude that the

CY8C38 family from Cypress Semiconductor is the least appropriate MCU, in comparison with the others

MCU shown in the Table due to its price. Although it processes similar characteristics in comparison

with the other MCU, it’s price is much higher.

Regarding the STM8S208 family from STMicroelectronics and the PIC24HJ family from Microchip,

it is possible to conclude, through the analysis of the Table 4.5 that, although the STM8S208 is cheaper

and has a lower power consumption, the PIC24HJ has more digital interfaces, more processing capa-

bilities, more memory and is available in a smaller package, for these reasons the PIC24HJ family from

Microchip was chosen.

39

From the analysis of the table 4.5, it is possible to conclude that, although the PIC24HJ family

presents the highest current consumptions, it provides more digital interfaces, is capable of operating at

higher frequencies, and offers the best price for the characteristics is has, in comparison with the others.

The differences between the MCUs within the PIC24HJ family are related to the Flash memory, it

can be 64 KB, 128 KB or 256 KB, RAM, can be 8 KB or 16 KB, number of ADCs, can be 18 or 32,

number of I2C modules, one or two, number of CAN modules,zero to two, available packages, QFN or

TQFP, and number of pins, 100 or 64.

40

4.1.5 Overboard Functional Diagram

From the conclusions reached in the previous Subsections, it was possible to build the Overboard dia-

gram shown in figure 4.1.

Power Board Connector

Se

rvo M

oto

r C

on

ne

ctor

DRV8833

MAX3051

MAX3222

MAX3222

PIC24HJ

I2C

Signal

ICSP

Signals

PWM Signal

Control Signal

CAN Signal

UART Signals

UART Signals

RF Board Signals

Power Supply (3V)

External P

ow

er Sup

ply

32

*PWM Signals

32

32

CAN Bus Connector

ICSP Programing Pins

21 Pin Hirose Connector 51 Pin Hirose Connector

Rs-2

32

Co

nn

ecto

rR

s-23

2 C

on

ne

ctor

Dual H-Bridge Connector

External Supply Source

Reset Button

Test Mode Jumper

Figure 4.1: Overboard, functional diagram.

The control of the Overboard, in normal operation mode, is made through the 51 pin hirose, as

discussed in Subsection 3.4. However, in test mode, the Overboard is controlled by a host PC. The

communication protocol used is the RS-232 standard, due to its simplicity and wide availability in PCs.

The Overboard, as shown in figure 4.1 has two connectors with this protocol. The use of one of these

connector for the test of the Overboard, limits the ability to communicate through KNX or X10 protocols,

since both require a RS-232 communication. The result is the ability of using only one protocol at any

given time, when operating in the test mode. In order to enter the test mode it is necessary to short-circuit

the jumper in the Overboard. The characterization of both types of operation is described in table 4.7.

Table 4.7: Overboard, communication characteristics.

Communication Communication Data rate Communicationoperators protocol (Kbit/s) Parameters

mote - Overboard (I2C) 100 Overboard Address: 0x20Computer - Overboard RS-232 115.200 No Parity; 8 data bits;

1 stop bit; No flow control;

41

The Overboard has also a reset button for abnormal situations. The reset button permits the reboot

of the Overboard MCU, provoking the termination of any operation in course.

4.1.6 Power Board Design

In Subsection 3.1 it was concluded through the analysis of several solutions, that, the best method for

the control of AC powered devices by the Overboard is through the use of a SSR with optical isolation.

The functional diagram is show in figure 4.2.

Po

we

r B

oa

rd

Co

nn

ect

or

Zero

C

ross

ing

Det

ecto

r

AC Phase

Load Terminal

Load Terminal

Neutral

OptoTriac

Tria

c

Figure 4.2: Power Board, functional diagram.

In order to choose the most appropriate components for the Power board, a study of the most com-

mon AC power devices and their power characteristics was made. The results are shown in Table 4.8.

Table 4.8: Common Appliances.

Appliance Power Rating(W) Current(A)Compact Fluorescent Lamp CFL 8-35 0.03-0.15

Bulb 25-100 0.11-0.43Fluorescent Lamp 20-40 0.01-0.2

Fan 25-80 0.1-0.4TV 80-400 0.4-2

Fridge 200-300 1-1.4Vacuum Cleaner 150-400 0.7-2Washing Machine 800-1000 4-4.5

Microwave 600-1500 2.6-6.5Desktop Computer 80-150 1-1.3

Laser Printer 1000-1500 4.3-6.5Ink Jet Printer 25-50 0.11-0.22Electric Iron 450-1000 2-3Hair Dryer 1200-1500 5.2-6.5

Music System 20-40 0.09-0.17

42

The components available nowadays were also analysed, through the Farnell™, Mouser®and Digi-

Key Co. USA websites, being their analysis focused on the SSRs available has ICs and on the discrete

components available, phototriac and a triac, for the design of the SSR through them. The main require-

ments used to choose the components for the Power board were the following:

• Ability to be controlled with 3 V.

• Capable of controlling the voltage present in the AC power lines at 50 Hz, 230 V.

• Existence of a Zero Crossing detector.

• Optical Isolation.

The results of the SSRs in ICs are shown in table4.9.

Table 4.9: SSR analysis.

Device Brand Control Max. Load Price (e)Voltage (V) Current (mA) Voltage (V) Current (mA)

SSRC-240 Tyco Electronics 3-15 15 280 5 23.60

The results of the SSR discrete components are shown in table 4.10, optotriacs, and in table 4.11,

triacs.

Table 4.10: Optotriac analysis.

PhotoDiode PhotoTriacDevice Brand Forward Current Peak Blocking Peak Price (e)

Voltage (V) (mA) Voltage (V) Current(A)IS62 ISOCOM 1.2 20 600 1 0.39-0.40

MOC308 ISOCOM 1.2 20 800 1.2 0.49-2.01MOC306 ISOCOM 1.2 20 600 1 0.63-1.70MOC304 ISOCOM 1.2 20 400 1 0.93-1.95MOC308 ISOCOM 1.2 20 800 1.2 0.49-2.01VO3062/3 VISHAY 1.2 30 600 1 1.21-1.27VO3062/3 VISHAY 1.2 30 600 1 1.21-1.27PC4SD21 SHARP 1.2 20 800 1.2 1.31

MOC304 M Fairchild 1.25 30 400 1 0.93-1.95Semiconductor

PC3SD21 SHARP 1.2 20 600 1.2 1.01TLP3783 TOSHIBA 1.2 10 800 1.7 1.33TLP3083 TOSHIBA 1.15 10 800 1.2 1.45IL410/08 VISHAY 1.16 10 460 3 2.87-4.01

MOC306 -M Fairchild 1.3 30 600 1 0.63-2.94MOC316 -M Semiconductor

IL4116-600IL411 VISHAY 1.3 20 IL4117-700 3 4.20-4.98

IL4118-800

43

Table 4.11: Triac analysis.

Peak Blocking ON-State Max. Trigger PriceDevice Brand Voltage (V) Current (A) Current (mA) (e)

RMS Peak1 Q1 Q2 Q3 Q4L0109 ERP N-800 10 10 10 10L0107 ERP Littelfuse M-600 10 5 5 5 7 0.206-0.45L0103 ERP D-400 3 3 3 5

Z0103Z0107 M-600 1 8 5 5 5 7

Z0109 N-800 10 10 10 10 0.12-0.928

Z0110 NXP 25 25 25 25BT131-600 12.5 3 3 3 7 0.122

BT134W-600 10 0.236

BT134/6-600 600 25 35 35 35 70 0.244-0.349Z0405 4 20 10 15 10 10 0.42

T405- 00 STMicro- 6-600 5 5 5T410- 00 electronics 7-700 30 10 10 10 - 0.30-1.12T435- 00 8-800 35 35 35

1 Using a 50 Hz signal.

Through the analysis of the Tables 4.9, 4.10 and 4.11, it’s possible to conclude it is more advanta-

geous the use of a SSR built from discrete components, since it is cheaper and has a higher range of

available products, allowing higher flexibility when defining the Power board characteristics.

Analysing the ON-State Current shown in Table 4.11 and comparing it with the current used by the

appliances shown in Table 4.8, concluded that the triacs with higher ON-State Current are the most

appropriate, since these are compatible with more appliances. From the triacs with higher ON-State

Current, the T410 series was found the most appropriate, because, in comparison with the other triacs

shown in Table 4.11, it has the highest blocking peak current and is cheaper than the other T4 series.

Regarding the choice of the optotriac, since all the optotriacs shown in Table 4.10 are compatible with

the chosen triac, the cheapest was chosen, which is the IS622 from the IS62 series.

4.2 Software Design

In this section it is described the developed applications for the Overboard. These include the Overboard

application, the CAN Bus board application and the MoteIST application for the control of the Overboard.

The development tools used in the development of the applications is also discussed.

4.2.1 Development Tools

The software tool used to develop the applications for the Overboard MCU is the MPLAB Integrated De-

velopment Environment (IDE) program. It is a free, integrated toolset for the development of applications

for the Microchip MCUs, made available by Microchip, further information is available at [43].

The programming or debugging of the MCU requires a programming interface, in order to provide

the communication between the MCU and the host PC. The programming interface used is the MPLAB

PICkit 3 from Microchip, available in LEME. It provides, protection against overvoltage and overcurrent,

44

and it is also able to provide power to the MCU, delivering a voltage between 2 V and 6 V and up to

30 mA, further information is available at [44]. The method used to program is the In-Circuit Serial

Programming (ICSP). This method requires five signals in order to successfully program the MCU. The

interface between the MCU and the Pickit 3 is shown in appendix C.

The programming and debugging of the MoteIST MCU is done with a different software tool since

the MPLAB IDE program used for the Overboard MCU is incompatible with the MoteIST MCU, which is a

MSP430 MCU from Texas Instruments. The software tool used is the Code Composer Studio developed

by Texas Instruments. It is an integrated development environment for the development of applications

for the Texas Instruments MCUs, further information can be found at [45]. The programming of the MCU

is done with a programming interface named MSP-FET430UIF, shown in Figure 4.3 also from Texas

Instruments, it is described in detail at [46]. Both tools are already existent in LEME. The protocol used

to program the MoteIST is the Spy-By-Wire, which is a serialized version of the JTAG protocol developed

by Texas Instruments. This protocols reduces the amount of signal wires required for the programming

to two, not including the power supply, instead of the standard four required by the Joint Test Action

Group (JTAG) protocol. Further information about the MoteIST interface can be found at [40].

Figure 4.3: MSP430 Programming Interface.

All the software applications were developed using C language, due to its simplicity, existence of

compilers for the MCUs used and because its ’low level’ nature allows direct hardware control, which is

important for the control of the actuators by the Overboard.

4.2.2 Proprietary Protocol

As discussed in Chapter 3, the communications between the Overboard and the mote or PC, are per-

formed using a proprietary protocol developed exclusively for the Overboard. The constitution of the

messages is show in figure 4.4.

Action(8 bit)

Module(8 bit)

*AditionalInformation

*Required in specific operations

Figure 4.4: Message composition in detail.

45

The actions available and existent modules in the Overboard have an hexadecimal number as-

signed. The numbers attributed to each action are shown in table 4.12, and to each module are shown

in table 4.13.

Table 4.12: Action command constitution.

Actions Code in HexadecimalEnable Module 1Disable Module 2

Configure Module 3Send Data 4

Reboot Overboard ff

Table 4.13: Designated module constitution.

Module name Code in HexadecimalCAN bus 1

X10 Wired 2KNX Wired 3

X10 RF 4KNX RF 5

H Bridge 1 6H Bridge 2 60

Power Board interface 7servomotor interface 8

TimeConfigure Time 9

Request Overboard Time e

With the exception of the enable, disable, reboot and request MCU current time actions, all the

existent operations require extra information in order to perform correctly. In the table 4.14 it is shown

the information required by each action.

Table 4.14: Protocol’s information requirements.

Operation Required Information DescriptionConfigure H-bridge Speed; Direction Configures current

direction and speed.Configure Triac On-Off Turns on or off.

Configure Servomotor Pulse Width Configures the pulsesent to servo.

Configure Time Seconds, Minutes, Hours, Configures the MCU’sConfigure Time Days, Day o the week Real Time Clock.

Automation protocols Address and Data Sends message to the assignedaddress with the desired data

The Overboard does not guarantee the accomplishment of the commands received. So, for every

command received, it returns a message communicating the accomplishment or failure in executing the

command. A fully detailed User Manual for the Overboard can be found in the Appendix D.

46

4.2.3 Overboard’s Application

The Overboard application is responsible for the complete control of the Overboard, the control of any

actuator connected to it, directly or through an automation protocol, the control of the RF board and the

Power board, and is also responsible for reporting back to the mote, normal operation mode, or the host

PC, test mode, the result of any operation ordered. In Figure 4.5 it is shown a flowchart describing it’s

operation.

Initialize RS-232 Communication

with Host-PC

Test Mode?

Yes

Initialize I2C Communication

with MotherBoard

No

Transmission of Initial Menu

System Initialization

RTC Update?

Update Real Time Clock

and HeartBeat

Yes

Sleep Mode Requested?

No

CAN Bus Module Active?

No

Message from Host Received?

Enter Sleep Mode

Transmit Message

Content to Host

Message Interrupt

Store Received

Data

Message Complete?

Activate Message Reception

Yes

Sleep Mode Active?

No

System Shutdown, except

Overboard - Host Communication

Yes

Variables Initialization and

clear buffersYes

Activate timeout timer

Execute Request

Operation

Yes

Timeout expired?

Already Retried?

Yes

No

No

Send Report Status

Yes

No

Transmission of Current Menu

Test Mode?

No

Clear Operation Buffers

Yes

No

CAN Message Received?

Yes

Yes

No

Program Start

Interruption

Figure 4.5: Overboard’s application, block diagram.

47

The Overboard application starts when the board is powered. Immediately after it begins the sys-

tem initialization. The system initialization is a function, shown in Figure 4.6, that disables the MCU

Watchdog, configures the main clock and the real time clock, configures the pins of the MCU, initializes

the global variables correctly, initializes the communication with the desired host, I2C in the normal op-

eration mode and RS-232 in the test mode, and disables all the MCU interruptions, with the exception

of the ones used in the communication with the host.

void system_initialization()

RCONbits.SWDTEN=0; //Disable Watch Dog Timer

Oscillator_Config(); //Primary oscillator initialization

RCONbits.VREGS=0; // Voltage Regulator is in standby mode during sleep

init_pins(); //Initialize all pins used

clearIntr(); //Disable all interrupts

clearIntrflags(); //Clear Interrupt flags

setup_variables(); //Initializes the variables correctly

Timer_32bit(); //Real Time Clock Initialization

all_peripherical_disable(); //Disable all peripherical modules

if(resident_on) //Test Mode

resident_init(); //RS-232 Communication Initialization

initial_screen(); //Transmission of the Main Menu through RS-232 to host

else

init_I2C1(I2C_Baud_Rate, (I2C_Overboard_address)); //I2C Communication Initialization

overboard_idle(); //Put the Overboard into an Idle State

/**************************Clear all global variables**********************/

void setup_variables()

//Variables

//I2c Buffer

i2c_txcounter=0;

clear_buffer(i2c_buffer, i2c_buffer_size);

//Time structure

RTC.seconds=0;

RTC.minutes=0;

RTC.hours=0;

RTC.year_day=0;

Figure 4.6: System Initialization function on the Overboard, code.

The main clock of the Overboard application is the PIC24HJ internal RC clock which provides a

nominal frequency of 7.37 MHz. Through the use of a PLL and a postscaler the nominal frequency is

increased to the value of approximately 80 MHz. In Figure 4.7, it is shown the function that configures

the main clock frequency.

#include "p24HJ128GP506a.h"#include "../h/Clock_lib.h"#include "../h/Pin_lib.h"#include "../h/Interrupt_lib.h"#include "../h/I2C_lib.h"/****************************Clock Configuration****************************

Configure Oscillator to operate the device at 40MhzFosc= Fin*M/(N1*N2), Fcy=Fosc/2Fosc= 7.37M*43/(2*2)=79.2275Mhz for 7.37M input clock

***************************************************************************/void Oscillator_Config()PLLFBD=41; // M=43(PLL divisor)CLKDIVbits.PLLPOST=0; // N1=2(PLL postscaler)CLKDIVbits.PLLPRE=0; // N2=2 (PLL prescaler)

// Initiate Clock Switch to Internal FRC with PLL (NOSC = 0b001)__builtin_write_OSCCONH(0x01);__builtin_write_OSCCONL(0x01);

while (OSCCONbits.COSC!= 0b001); // Wait for Clock switch to occur

while(OSCCONbits.LOCK!=1); // Wait for PLL to lock

OSCCONbits.LPOSCEN=0; //Disable Secondary Oscillator/**************************************************************************/

/*************************Timer 1 ******************************************Configure RTC clockFclock = FCY/(Prescaler*Period Value)FCY = 40 MHzPrescaler = 8Period Value = 49516

1

Figure 4.7: Main Clock configuration on the Overboard, code.

The I2C protocol communication, used between the Overboard and the mote, in the normal op-

eration mode, is configured to communicate as a master, which means that it can initiate message

48

transactions, in a multi-master environment. This results in a more flexible communication, since it pro-

vides the liberty for both devices to transmit messages when required. The configuration of the I2C

protocol is shown in Figure 4.8.

#include "p24HJ128GP506a.h"#include "../h/I2C_lib.h"#include "../h/System_lib.h"#include "../h/Interrupt_lib.h"#include "../h/Error_lib.h"#include "../h/Clock_lib.h"#include "../h/Menu_lib.h"

// I2C related functions:/***************************************************************************This function initializes the I2C 1 Module as Master in a Multi-Master Environment requiring Master and Slave interrupts***************************************************************************/void init_I2C1(unsigned short baud_rate, unsigned char address)I2C1BRG=baud_rate; //Configuration of the baud rate to 100 KHzI2C1CON = 0x1280; //Initialization of Release clock control & Disable slew rate control & Disable I2C moduleI2C1RCV = 0x0000; //Reset of the Receive bufferI2C1TRN = 0x0000; //Reset of the transmit bufferI2C1ADD = address; //Overboard I2C Address=0x20EN_I2C1masterInterrupt(); //Enable I2C1 Master interruptsEN_I2C1slaveInterrupt(); //Enable I2C1 Slave InterruptsI2C1_enable; // Enable I2C/**************************************************************************/

/***************************************************************************Disable I2C1 module function***************************************************************************/void disable_I2C1()dis_I2C1_slave_interrupt;dis_I2C1_master_interrupt;I2C1_disable;

1

Figure 4.8: I2C protocol configuration on the Overboard, code.

Since the main purpose of the I2C communication is to receive commands from the mote and report

back the success or failure of them. It is important to attribute higher priority to the messages sent to the

Overboard, because these contain instructions for the operation of the Overboard, while the messages

transmitted by the Overboard only contain the report of the operation instructed to perform. This is done

by attributing an I2C address to the Overboard with a higher number than the one attributed to the mote,

because in the I2C protocol the devices with the lowest address have the highest priority.

After the system’s initialization, the Overboard application is continuously checking for received

messages from the host and, if the CAN bus module is active, for CAN messages. From the available

automation protocols, only the CAN messages are checked because the CAN protocol is the only that

is able to exchange messages.

After the reception of a message, the message is processed and the requested commands ex-

ecuted. During this process the Overboard is unavailable for processing new data and discards any

message received. During this period the Overboard execute the command received, and in case of

failure, re-tries a second time to successfully execute the command, reporting back to the host the suc-

cess or failure of the operation. The failure of a command can be the result an attempt to use a disabled

module without previously activating or when time-out period for the desired operation is expired. The

time-out period is essential when using the automation protocols allowing the Overboard to resume its

operations when it doesn’t received acknowledgement from the devices it is trying to control. After the

transmission of the report, the Overboard becomes available for processing new messages. Due to its

design, the Overboard application can only be implemented in systems that are programmed to only

send commands after the reception of the acknowledgement message, sent by the Overboard.

Regarding the use of the sleep functionality, after it is activated, the Overboard application stops,

leaving only the interruptions active. In order to leave the sleep mode and re-start the application, an

interruption needs to be triggered, in the normal mode through the transmission of a command by the

mote and in the test mode, through the transmission of a command by the host PC.

49

In the test mode, the Overboard uses RS-232 communication protocol to communicate with the

host PC, in order to communicate it is required the configuration of the UART communication in the

Overboard, shown in Figure 4.9 and the activation of a line converter. In order for a host PC to interact

with the Overboard it is require the use of software capable of transmitting and receiving data through a

RS-232 communication, such as Hyperterminal from Microsoft or the open source Putty. In this mode

the Overboard transmits indications to the host PC, providing a simple tutorial.

#include "p24HJ128GP506a.h"#include "../h/Uart_lib.h"#include "../h/Clock_lib.h"#include "../h/Interrupt_lib.h"#include "../h/Pin_lib.h"

/***************************Uart1 Configuration****************************The baud rates used are:Communication in test mode: 115200Communication with the CM11, X10 interface: 4800Communication with the TH002, KNX interface: 9600**************************************************************************/void uart1_config(unsigned short parameter)unsigned short baud_rate=((FCY/parameter)/16)-1;

PMD1bits.U1MD=0; //Enable UART1 ModuleU1MODEbits.STSEL = 0; // 1-stop bitU1MODEbits.PDSEL = 0; // No Parity, 8-data bitsU1BRG = baud_rate; // BAUD Rate Setting/**************************************************************************//***************************Uart2 Configuration****************************/void uart2_config(unsigned long parameter)unsigned long baud_rate=((FCY/parameter)/16)-1;

PMD1bits.U2MD=0;U2MODEbits.STSEL = 0; // 1-stop bitU2MODEbits.PDSEL = 0; // No Parity, 8-data bitsU2MODE=0x00; //Interrupt flag is set when character is receivedU2BRG = baud_rate; // BAUD Rate Setting/**************************************************************************//********************************uart1_enable******************************/void uart1_enable()

1

Figure 4.9: RS-232 protocol configuration on the Overboard, code.

The activation of the test mode is made through the insertion of a jumper in the test mode header.

In order to change between the test mode and the normal operation mode it is also required the reset of

the board. When the test mode is active, the Overboard immediately transmits the main menu, shown

in Figure 4.10 through RS-232 to the host PC.

Figure 4.10:

50

4.2.4 MoteIST-Overboard Application

This application has the objective of demonstrating the Overboard functionalities through the MoteIST.

It is similar to the Overboard test mode, with the difference of using the MoteIST has an interface to

transmit the commands from a host PC to the Overboard. In order to use this application, the MoteIST

has to be connected to a host PC through RS-232 communication and the Overboard must be connected

to the MoteIST through the hirose connector. In order for the MoteIST to be connected to a host PC it is

required additional hardware, shown in Figure 4.11. This hardware converts the UART signals sent from

the MoteIST through the MDA100CB into RS-232 signals(Figure 4.11(a)), through the UART-to-RS-232

board(Figure 4.11(b)).

MTS/MDA Sensor Board User’s Manual

Table 6-3. Connection Table for MDA100. Use the photo (top view) below the table to locate the pins.

A B C D E F 1 GND GND GND VCC VCC VCC

2 OPEN OPEN USART1_CK INT3 ADC2 PW0

3 OPEN OPEN UART0_RX INT2 ADC1 PW1

4 OPEN OPEN UART0_TX INT1 ADC0 PW2

5 OPEN OPEN SPI_SCK INT0 THERM_PWR PW3

6 OPEN OPEN USART1_RX BAT_MON THRU1 PW4

7 OPEN OPEN USART1_TX LED3 THRU2 PW5

8 OPEN OPEN I2C_CLK LED2 THRU3 PW6

9 OPEN OPEN I2C_DATA LED1 RSTN ADC7

10 OPEN OPEN PWM0 RD PWM1B ADC6

11 OPEN OPEN PWM1A WR OPEN ADC5

12 OPEN OPEN AC+ ALE OPEN ADC4

13 OPEN OPEN AC- PW7 OPEN ADC3

14 GND GND GND VCC VCC VCC

15 OPEN OPEN OPEN OPEN OPEN OPEN



Shared functionality

WARNING: Never connect signals that are greater than VCC (3V typical) or less than 0 V to any of the holes that connect to the Mote Processor Radio board. It is okay to connect different voltages to the non-connected holes. However, be careful. If a voltage out of the range of 0 to Vcc should reach the Mote Processor Radio Board damage will occur.

Page 24 Doc. # 7430-0020-04 Rev. B

(a) MDA100CB board (b) UART-to-RS-232 board

(c) MoteIST connected with the Overboard and theMDA100CB

(d) Required hardware all connected

Figure 4.11: MoteIST-Overboard application, required hardware.

51

The application’s flowchart is shown in Figure 4.12.

Transmission of initial menu to host PC

Variables initialization and Buffers reset

Carriage Return button

pressed?No

Yes

Message received from

host PC?No

Request operation or menu

manipulation?

Yes

Transmission of new menu to host

PC

MenuManipulation

Transmission of the command to the Overboard

Status Report Received?

Initialization of the Timeout timer

Transmission of timer expiration message to host

PCTimeout Expired?

No No

Yes

Transmission of the status report to the

host PC

Yes

Transmission of current menu to

host PC

Program Start

Request Operation

Figure 4.12: MoteIST’s application, block diagram.

This applications starts when the MoteIST board is powered. Immediately after, it configures the

global variables, resets the buffers, configures the communication with the host PC and the communi-

cation with the Overboard. These functions are shown in Figures 4.13 4.14.

/**************************************************************************//* Library Includes *//**************************************************************************/#include "..\h\Uart_lib.h"#include "msp430f2619.h"#include "..\h\Menu_lib.h"

/**************************************************************************//* Uart Initialization *//* Baud rate = 115200 bps *//* Asynchronous mode, No Parity, One Stop bit, 8-bit of data *//**************************************************************************/void init_uart()P3SEL = 0x30; // Configure Pins P3.4 and P3.5 = USCI_A0 TXD/RXDUCA0CTL1 |= UCSSEL_2; // Choose Sub system master clock (SMCLK)UCA0BR0 = 8; // Clock Prescaler - register 0UCA0BR1 = 0; // Clock Prescaler - register 1 UCA0MCTL = UCBRS2 + UCBRS0; // Modulation UCBRSx = 5UCA0CTL1 &= ~UCSWRST; // **Initialize USCI state machine**IE2 |= UCA0RXIE; // Enable USCI_A0 RX interruptIE2 |= UCA0TXIE; // Enable USCI_A0 TX interruptrx_bufferUART[0]=0; //Reset receive buffer countertx_bufferUART[0]=0; //Reset transmit buffer counterIFG2&=~UCA0TXIFG; //Clear Transmit flag/**************************************************************************/

void clear_UARTbuffer(char *buffer)unsigned char counter;

for(counter=0; counter<Uart_BufferSize; counter++)buffer[counter]=0;

1

Figure 4.13: S-232 configuration on the MoteIST, code.

52

/**************************************************************************//* Library Includes *//**************************************************************************/#include "..\h\I2C_lib.h"#include "..\h\Menu_lib.h"#include "msp430f2619.h"

/**************************************************************************//* I2C Communication Initialization in Master Mode *//* Configured to operate in a Multi-Master Environment *//**************************************************************************/

void init_I2C_master() P5SEL |= 0x06; // Assign P6.1 and P5.2 as I2C pins UCB1CTL1 |= UCSWRST; // I2C held in reset state UCB1CTL0 = UCMM + UCMST + UCMODE_3 + UCSYNC; // UCMM=Multi-Master Environment

//UCMST=Master Mode//UCMODE_3=I2C mode//UCSYNC=Synchronous mode

UCB1CTL1 = UCSSEL_2 + UCSWRST; // Use SMCLK =~ 1 MHz UCB1BR0 = 10; // fSCL = SMCLK/12 =~ 100kHz UCB1BR1 = 0; // Clock division factor UCB1I2CSA=overboard_address; //Overboard address UCB1I2COA = mote_address; //MoteIST address UCB1CTL1 &= ~UCSWRST; // Resume operation state UC1IE = UCB1TXIE + UCB1RXIE; // Enable TX and RX interrupt UCB1I2CIE = UCNACKIE + UCSTPIE; // Enable NACK and STOP interrupt/**************************************************************************/

/**************************************************************************/void restore_I2c_master()

1

Figure 4.14: I2C configuration on the MoteIST, code.

After the system initialization, the applications remains in a waiting state until the carriage button

is pressed. The pressing of the carriage button, results in the transmission of the application’s main

menu, which is the similar to the menu shown in Figure 4.10. Through the menu, the user is able to

control the Overboard. Each command issued by the user results in the transmission of a message to

the Overboard. During each transmission, the MoteIST enters a waiting period until the Overboard’s

report status is received. The report is then transmitted to the host PC along with the last menu used by

the user.

The main advantages of this application, are the test of the Overboard during its normal operation

mode, which is impossible in the Overboard application and the testing of I2C communication which is

the main communication protocol for the reception of commands by the Overboard.

4.2.5 CANBus Board Test Application

This application was developed for the CAN board shown in Figure 4.15.

Figure 4.15: CAN Board.

The purpose of this board is to test the CAN communication in the Overboard. In order to do so, the

board was programmed to respond to simple messages, producing visible responses. The application’s

flowchart is shown in Figure 4.16.

This application starts when the board is powered. Immediately after, the CAN controller is con-

figured and a fixed CAN address is attributed to board, 0x7FF. After, the board enter a waiting period

53

Variable Initialization and buffer reset

Existence of data in the

CAN bus?No

YesTurn ON LED?

Turn OFF LED?

No

Transmit LED Status?

No No

Turn ON requested

LED

Yes

Turn OFF requested

LED

Yes

Transmit message to the Overboard

Yes

Program Start

Figure 4.16: CAN bus application, block diagram.

continuously checking for messages in the CAN bus. When a message with the same address has the

CAN board is received, it immediately checks its content. This applications responds to five specific

messages. If it receives a remote transmission request message, which means that the device that

transmitted this message is requesting data, the status of the leds in the board is transmitted. Otherwise

if it receives a data message, the board respond in the following way:

Message content:

• 1 - Turns on the red led.

• 2 - Turns on the green led.

• 3 - Turns off the red led.

• 4 - Turns off the green led.

54

Chapter 5– Prototypes and Results

In order to validate the hardware and software, proposed in chapter 4, for the Overboard, several

prototypes were built, and the developed software implemented into the prototypes for testing purposes.

In this chapter, these prototypes are presented, evaluated and their results compared with the simula-

tions made.

5.1 Development Tools

In order to design the prototypes PCB, the Altium Designer was used. This software tool allows the

design of circuit schematics and PCB layouts for fabrication, also providing simulation of both and their

comparison for unwanted differences, among other features. Further information can be found at their

website 1. This software was chosen due to its existence in-house and also because of the extensive

experience in its use.

For the PCB creation, a photographic method was used, available in the Printed Circuit Boards

Laboratory of IST-TagusPark. This method is able to create PCBs with a maximum of two layers. In

this method, a copper board is covered with a thin layer of photo-resist. Afterwards, it is exposed to

intense light through a photo-mask detailing the tracks required. The result is a chemical change in the

exposed areas of the photo-resist. Then the board is immersed in a solution primarily constituted by

caustic soda, in order to remove the light exposed photo-resist. After, it is immersed in another solution

mainly composed by ferric chloride, where the areas that are not covered with the photo-resist layer are

removed, leaving only the image of the photo-mask used previously. After this process, the board is

ready to be used, however further processes can be applied for protection and durability purposes.

5.2 Prototypes

In order to test each functionality of the Overboard, previously to the creation of the PCB, each IC

proposed in Chapter 4 was tested individually. Whenever possible the testing was made recurring to

breadboards, however, when it has impossible, PCBs had to be built, as shown in figure 5.2, in order to

access the IC pins. The testing of the developed software applications was made through the connection

of each individual IC with the MCU by intermediate of breadboards.

1http://www.altium.com

55

(a) MAX3222 from Maxim IC, breadboard circuit (b) MAX3051 from Maxim IC,PCB circuit

(c) PIC24H from Microchp, PCB circuit

Figure 5.1: Integrated Circuits test boards.

After the successful testing of each individual IC, a PCB prototype was designed and built. The

schematics are shown in Appendix B.

The Overboard prototype is shown in Figure 5.2. In these figures, the ICs and the connectors are

identified.

(a) Overboard top layer

Mote Connector

MAX3222

MAX3222

PIC24HJ

MAX3051

DRV8833

Bipolar Transistor

(b) Overboard bottom layer

Figure 5.2: Overboard PCB prototype.

56

In the prototype a jumper is used to switch between the normal operation state and the test mode

state. It was also included a reset button, in order to reboot the Overboard’s application when desired.

In most of the cases, as it is possible to observe, the connectors chosen were the standard one row

headers. This choice was made due to the size restrictions of the board. However, two RJ25 connectors

are used for the communication with the X10 and KNX automation protocols. The reason for the use of

these connectors is to provide a more intuitive approach for the regular user, who is more familiarized

with these type of connectors, existent in a wide range of products. Due to the size restrictions, the

communication with a host PC in the test mode is also accomplished through one of these connectors,

in this mode it is impossible to communicate with X10 and KNX devices simultaneously. Only one of

these protocols can be active at any given time due to the fact that both automation protocols share the

same connector.

In Figure 5.2(b) it is also possible to observe that the servomotor’s control signal uses a bipolar

transistor. The transistor is used as a switch, and the goal is to amplify the signal’s voltage sent by the

MCU into values recognizable by the servomotor’s digital logic.

In the direct control of actuators, it is required the use of an external power supply with the single

purpose of supplying them. This power supply is connected to the ’External Power Connector’, identified

in Figure 5.2(b).

It is shown in Figure 5.3, the two possible operation modes. In the normal operation mode, the

Overboard is connected to a mote, in Figure 5.3(a) the MoteIST is used, being powered by it. In the test

mode, the Overboard is connected to a host PC, being supplied by an external power source.

(a) Overboard connected to MoteIST, normal opera-tion mode

(b) Overboard in test mode

Figure 5.3: Overboard operation modes.

In the normal operation mode, the Overboard communicates only with the mote, receiving com-

mands and replying the success or failure of their operation. In order to test the Overboard’s operation

during the normal operation mode, an application was developed for the MoteIST with the purpose of

interfacing with a host PC, receiving commands and re-transmitting them to the Overboard, very similar

to the Overboard’s test mode.

In the test mode, the Overboard is accessed through a terminal, using RS-232 communication. The

Overboard, after initialization, transmits a simple interface in order to simplify the testing of the Overboard

functionalities. In Figure 5.4 it is shown the main menu, which is the first menu to be displayed.

57

Figure 5.4: Overboard test mode, Main Menu.

5.3 Results

The Overboard’s prototype electromechanical characteristics are shown in Table 5.1 and in Fig-

ure 5.5.

Figure 5.5: Overboard prototype, size measurement.

58

Table 5.1: Overboard electromechanical Characteristics.

-

Characteristics Value RemarksPower Supply 3 [V] Typical

External Power 10.8 [V] Max.

Dual H-bridge 2 - 50 000 [Hz] Operating Frequencies99% Frequency Precision

Servomotor control signal 0.1 - 2.1 [ms] Pulse Width Range99% Control Signal Precision

User Interface Test Mode Jumper, LEDS,Reset Button.

Size 32.5x58 [mm]51 and 20 pins Hiroses,

Dual H-bridge, External Source, CAN BusConnectors Power Board, Servomotor, ICSP

2x GPIO, 2x RS-232.

The prototype made available the measurement of the power consumption. The Overboard can

be decomposed into several modules, as shown in Figure 5.6, each capable of being switched when

desired, in order to limit the board’s power consumption. It is also possible to put the MCU into sleep,

when desired, allowing even further power savings.

X10 Module

KNX Module

MCU Module

CAN Module

Dual H-bridge Module

Figure 5.6: Modules of the Overboard.

For the measurement of the Overboard power consumption, the test mode was used. Through it,

it is possible to control all of the Overboard functionalities, without the need of any other board. The

use of the test mode, however, has some disadvantages, it requires the use of a RS-232 connector for

the communication with a host PC, leaving just one RS-232 connector available for the X10 and KNX

protocols.

In order to measure the power consumption of the Overboard, an external power generator with a

fixed voltage of 3 V was used to supply it, through the ICSP supply pins connector, and the current mea-

sured between the power generator and the Overboard. For the direct control of actuators, an external

power is used with a fixed voltage of 5 V, connected to the ’External Power Supply’.

59

Figure 5.7: Overboard’s test connections.

The ’Main Power Supply’ is responsible for powering the Overboard’s ICs and the ’External Power

Supply’ purpose is to power the actuators controlled by the Overboard’s through the direct interface

or the servo interface. Only the power consumption of the ’Main Power Supply’ is calculated since it

corresponds to the power delivered by the mote to the Overboard. The power delivered through the

’External Power Supply’ doesn’t affect the mote and it is dependent on the actuator controlled.

In order to measure the power consumption of each functionality, the tests shown in Table 5.2, were

created.

Table 5.2: Tests Description.

Test Description1 Microcontroller in sleep mode with the system clock disabled. All the ICs of the Overboard

disabled1

2 Microcontroller running the software application2. All the ICs of the Overboard disabled1

3 Microcontroller running the software application2. CAN Module is enable but there is nocommunication in course1.

4 Microcontroller running the software application2. CAN Module is enable and transmitting1.5 Microcontroller running the software application2. KNX Module is enable but there is no

communication in course1.6 Microcontroller running the software application2. KNX Module is enable and transmitting1.7 Microcontroller running the software application2. X10 Module is enable but there is no

communication in course1.8 Microcontroller running the software application2. X10 Module is enable and transmitting1.9 Microcontroller running the software application 2. Dual Bipolar Drivers Module is enable but

no control is being made1.10 Microcontroller running the software application 2. Dual Bipolar Drivers Module is enable

and both drivers are operating13.11 Microcontroller running the software application2. Servomotor interface is controlling a

servomotor413.1 The module that communicates with the host PC is enable.2 The system clock uses the internal oscillator with a frequency of 80 MHz.3 The width of the PWM used is irrelevant.4 Th3 servomotor used is the Futaba 3003.

60

The results of these tests is shown in Table 5.3 and in Figure 5.8.

Table 5.3: Overboard power consumption tests.

Test Power Consumption(mW)1 0.1862 184.143 193.054 225.155 201.66 223.687 200.288 222.69 185.9110 186.16811 193.8

184,14 193,05 200,28 201,6185,91

0,186

184,14

32,1 22,32 22,08

0,258 9,66

0

20

40

60

80

100

120

140

160

180

200

220

MCU CAN Module (1) X10 Module (1) KNX Module (1) Dual H‐bridgeModule (1)(2)

Sleep Mode Servomotorinterface (1)

Power (mW)

Modules Active

Overboard Consumption

Operating

Transmitting

Idle

(1) The MCU is active.(2) Both H‐bridges are operating.

Figure 5.8: Current Consumption in the Overboard.

In the sleep mode all the Overboard modules are off, with the exception of the MCU which is in

sleep mode and the communication module, which in normal operation mode is the (I2C) module and in

test mode is a RS-232 module. the MCU in sleep mode, shuts down its the internal clock source, the

fail-safe clock monitor and the Watchdog Timer (WDT), only the controller of the active communication

is left enabled.

In the active mode, the MCU has a fixed working frequency of 80 MHz. The Overboard modules are

initially disabled and are subsequently activated or deactivated when desired by the software application.

61

In order to evaluate the H-bridges drive capacity, the voltage on the H-bridge output pins was mea-

sured while varying the load’s resistance. The results are shown in figure 5.9 as well as in table 5.4. The

H-bridges are supplied with 5 V by an external supply source.

Table 5.4: H-bridges, drive capacity.

Output Voltage [V] Load [Ω]5 ≥100

4.98 100≤804.97 80≤604.87 204.7 104.2 53.3 2.52.7 1.671.6 1.2

Figure 5.9: H-bridges, drive capacity.

Through the analysis of Figure 5.9 and Table 5.4 it is possible to conclude that, for loads equal

or superior to 100 [Ω], the H-bridges are able to output the supplied voltage. However, for loads with

less that 100 [Ω], the output voltage begins to diminish, this phenomenon results from the fact that the

H-bridges can only supply a limited amount of current, and when that limit is reached the output voltage

starts to drop.

62

Chapter 6– Conclusions

The objective of this thesis was the expansion of WSN’s functionalities through the integration of

actuation capabilities in them. In order to reach this objective a daughter board, named Overboard,

capable of actuation functionalities was designed and built, with the purpose of being integrated in WSN

nodes. The actuation functionalities implemented were,the direct control of electric motors, solenoids

and devices connected to the AC powerline and the indirect control of devices connected to the X10,

KNX and CAN Bus automation protocols. The Overboard is controlled by the node it is attached.

Recalling the requirements defined in chapter 3.

1. Compatibility with MoteIST, MicaZ and Iris.

2. Ability to control the actuators discussed in Section 2.1.

3. Ability to communicate with X10 protocol, CAN Bus protocol and KNX protocol.

4. Existence of a Test mode, allowing the Overboard to be tested for errors.

5. Existence of a MCU, for the automation of the actuation functionalities.

In order to achieve compatibility with the specified motes, the 51 pins hirose connector present in

all of them, with equal pinout, is used for communication, power supply and physical support purposes.

Through this connector several communication protocols are available, UART, SPI and I2C, being the

last one chosen for the communications between boards. The reasons for choosing the I2C protocol

were, the flexibility provided by the protocol in allowing both boards to initiate communications and the

fact that it requires less signal wires than the rest, simplifying the board’s routing.

As for the second requirement, the disassociation of the RF and power modules, provide modularity

to the Overboard. The 20 pin hirose connector used for the integration of the RF board is also compatible

with the RF boards existent for the MoteIST. Furthermore, the existence of general-purpose pins allows

the future integration of more functionalities without the need to modify the Overboard.

Regarding the control of the maximum types of actuators, two independent bipolar drivers, an in-

terface for the servomotors and a daughter board for the control of AC power devices were integrated

in the Overboard. The bipolar drivers were chosen due to their versatility. Through them, it is possible

to control electric motors, solenoids and similar actuators. The servomotor interface was included in the

Overboard due to the huge popularity and utility of servomotors. Last but not least, the daughter board,

named Power Board, equips the Overboard with the functionality of control AC power devices and also

isolates the high voltages from the Overboard.

63

The communication through automation protocols, more specifically the, X10, KNX and CAN Bus

protocols was achieved. This ability is of great advantage, since it allows the control of elevated amounts

of actuators, without the restriction of their power needs. These protocols are very useful in the integra-

tion of the Overboard in infrastructures that use them.

The creation of a test mode, specified in the fifth requirement, made available the testing of each

module of the Overboard and further allows the testing of the communication protocols through the

transmission and reception of messages. In order to access the test mode, it is required the existence

of a host PC with a terminal able to communicate through RS-232 communication.

Regarding the last requirement, the integration of a MCU allowed the automation of the tasks avail-

able on the Overboard, these being requested by the motherboard, in normal operation mode, or by a

host PC, through the test mode. Furthermore, the Overboard’s capability of shutting down specific mod-

ules when these are not required, allows the batteries to increase their autonomy. This characteristic is

essential, since that power consumption in WSN is critical.

Last but not least, in order to verify the board’s functionalities and evaluate it’s performance, several

tests were made, these being shown in Chapter 5. The board’s direct actuation functionalities were

tested using electric motors and their characterization was made using variable loads. Regarding the

indirect actuation functionalities, these were tested with testbeds.

Having achieved the goals laid down for this work, there is still room for the improvement of the

software application, the board’s design and the further integration of actuation functionalities in the

board. The Power board can also be further improved into being able to dim the power delivered to

devices connected to it and not only switch, which is, its present functionality. The creation of RF boards,

in order to interact with the automation protocols through RF is also another functionality that should be

developed in the future.

64

Chapter 7– Annexes

In this chapter the annexes of the thesis are presented. Those include, the bill of materials, pre-

sented in Appendix A, the board’s schematics, presented in Appendix B, the pinout of the programmer

used to program the Overboard, presented in Appendix C, an explanation of servomotors interface, pre-

sented in Appendix D, the different types of KNX physical external interfaces, presented in Appendix E

and the User Manual of the Overboard, presented in Appendix F.

7.1 Bill of Materials

The Bill of Materials shown in Table A.1, contains the components used in the Overboard, stating their

name, Manufacturer, Manufacturer Part Number, Designator, Value, Package, Case Type and prices.

The designation each term is as follows.

• Name: The type of component is described.

• Manufacturer: The Manufacturer of the component.

• Manufacturer Part Number: The Manufacturer reference number.

• Designator: The name of the component in the schematics.

• Package: standard reference of the component’s capsule or it’s physical dimensions.

• Case Type: The component’s termination style.

• S1: Price for one unit applied by Farnell in euros.

• S2: Price for one unit applied by Digi-Key Co. USA in euros.

• S3: Price for one unit applied by Mouser in euros.

65

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RB10 23

RB11 24

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PIMote0Connector021

PIMote0Connector022

PIMote0Connector023

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PIMote0Connector025

PIMote0Connector026

PIMote0Connector027

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PIMote0Connector030

PIMote0Connector031

PIMote0Connector032

PIMote0Connector033

PIMote0Connector034

PIMote0Connector035

PIMote0Connector036

PIMote0Connector037

PIMote0Connector038

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PIMote0Connector011

PIMote0Connector012

PIMote0Connector013

PIMote0Connector014

PIMote0Connector015

PIMote0Connector016

PIMote0Connector017

PIMote0Connector018

PIMote0Connector019

PIMote0Connector020

PIMote0Connector023

PIMote0Connector024

PIMote0Connector025

PIMote0Connector026

PIMote0Connector027

PIMote0Connector028

PIMote0Connector029

PIMote0Connector030

PIMote0Connector031

PIMote0Connector032

PIMote0Connector033

PIMote0Connector034

PIMote0Connector035

PIMote0Connector036

PIMote0Connector037

PIMote0Connector038

PIMote0Connector040

PIMote0Connector041

PIMote0Connector042

PIMote0Connector043

PIMote0Connector044

PIMote0Connector045

PIMote0Connector046

PIMote0Connector047

PIMote0Connector048

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Con

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ors

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emat

ics

73

Appendix C– PICKIT 3 Pinout

Pickit 3USB Communication

PIC24HOverboard

Power Supply

ICSPDAT

ICSPCLCK

VPP

VDD

VPP/MCLR

PGD

VSS

PGC

VSS

4.7 – 10 (kΩ)

Figure C.1: PIC24H Programming Interface.

• ICSPCLCK - This is the clock line of the serial data interface, it is always driven by the debugger,

being the data transferred on the falling edge.

• ICSPDAT - This is the serial data line. It is bi-directional, being the direction of the data depended

of the operation desired.

• VPP - This signal is responsible for putting the MCU into programming mode. It is must be con-

nected to a special pin of the MCU called MCLR.

• Power Supply - Voltage Supply. Their value is depended on the MCU, and it isn’t required if the

MCU already being powered.

• VSS - Ground Signal.

75

Appendix D– Servomotors Interface

This appendix contains general information about the servomotors.

Figure D.1:

The interface with the servomotors is made through a three wire interface, two wires are related to

the power supply and the other is related to the control signal. Each wire is identified by it’s colour, being

the colours different from brand to brand. A shown in Figure

Figure D.2:

The incorrect connection of the servomotor’s connector won’t damage the servomotor, it simply

won’t work until it is plugged-in correctly.

The servomotors usually operate with voltages from 4.8 to 6 V. The use of higher voltages is very

dangerous and can result in the destruction of the servomotors. The current required by the servomotors

to operate is usually not specified.

The control of the servomotors is made trough pulses through the control wire. The position of the

servomotor’s shaft is controlled by the pulse width. In general the pulse width can range from 0.9 ms to

2.1 ms, the Hitec servomotors pulse width of 1.5 ms correspond to the center position and the pulse can

range from 0.9 ms to 2.1 ms, the Futaba servomotors the center pulse width of 1.52 ms correspond to

the center position and the pulse width can range from 0.4 ms to 1.9 ms. After the transmission of each

pulse, the servomotor holds the shaft in the ordered position for a limited time. In order to continuous

keep the servomotor’s shaft in the same position it is necessary to re-transmit the same pulse width

every 20 ms. The control signal voltage is comprehended between 3 V and 5 V.

77

Appendix E– Physical External Interface types

The Physical External Interface is the standardized interface situated in a KNX device between the

Bus Access Unit and the Application Module. It consists of a mechanical/electrical and a software part,

being the software part optional. The mechanical/electrical part exists in two versions: a 10 pin hardware

interface and a 12 pin hardware interface. The resistor connected between pin 5 and 6 of both hardware

interface versions is responsible for the encoding of the different PEI types, as shown in Table E.1.

Table E.1: PEI types and encoding.

Nº Description Resistor Value (kΩ) + tolerance0 No adapter no Resistor1 ’Ilegal Adapter’ 910 5 %2 4 inputs/1 output 430 5%3 Reserved 255 1%4 2 inputs/3 outputs 187 1%5 Reserved 140 1%6 3 inputs/2 outputs 107 1%7 Reserved 84.5 1%8 Reserved 66.5 1%9 Reserved 54.9 1%10 Default: FT 1.2 protocol 45.3 1%11 Reserved 37.4 1%12 Serial synchronous interface, message protocol 30.1 1%13 Reserved 24.3 1%14 Serial synchronous interface. data block protocol 19.1 1%15 Reserved 14.7 1%16 Serial asynchronous interface, message protocol 11.0 1%17 Programable I/O 7.5 1%18 Reserved 4.53 1%19 5 outputs 2 1%20 Download 0

79

Appendix F– Overboard User Manual

81

[Version 1.8]

Sérgio Miguel Rodrigues Teixeira

[Overboard User Manual] The purpose of this document is to provide information about the Overboard’s functionalities

and operation modes, in order to permit its correct use.

User Manual Page i

User Manual Page ii

Revision History

Version Date Revision Description

1.0 25/11/2011 Template Creation.

1.1 23/04/2012 Full Document Revision.

1.2 29/04/2012 Orthography Revision.

1.3 2/05/2012 Modification of several Figures.

1.4 5/05/2012 Orthography Revision.

1.5 9/05/2012 Inclusion of the application code in the Appendix.

1.6 11/05/2012 Inclusion of the Overboard’s schematics in the Appendix.

1.7 13/05/2012 Inclusion of the Overboard’s pinout Figure.

1.8 20/05/2012 Separation of the User Guide into three files, User Guide,

Schematics and Software.

Overboard User Manual April 25, 2012

User Manual Page 1

Table of Contents

Revision History .................................................................................................................................... ii

Table of Contents .......................................................................................................................... 1

List of Figures ................................................................................................................................ 4

List of Tables ................................................................................................................................. 6

Acronyms ...................................................................................................................................... 8

1. Introduction ......................................................................................................................... 10

Purpose ................................................................................................................................... 10

Related Documents ................................................................................................................. 11

2. Overview ............................................................................................................................. 12

Functional Description ............................................................................................................. 14

Main Hirose Connector ....................................................................................................................... 16

RF Connector ...................................................................................................................................... 17

Control of actuators directly ................................................................................................................ 18

Power Board ....................................................................................................................................... 22

Automation protocols .......................................................................................................................... 24

Overboard Programming .................................................................................................................... 27

Operation Mode Interface ................................................................................................................... 28

Electromechanical Characteristics ...................................................................................................... 29

3. Software Applications .......................................................................................................... 31

Proprietary Protocol ................................................................................................................ 32

Enable/ Disable Module ...................................................................................................................... 33

Configure Module ................................................................................................................................ 34


User Manual Page 2

Send Data ........................................................................................................................................... 48

Reboot Overboard .............................................................................................................................. 50

Sleep ................................................................................................................................................... 50

Normal Mode ........................................................................................................................... 51

Test Mode ............................................................................................................................... 52

4. Glossary ............................................................................................................................. 58

5. Index ................................................................................................................................... 60


User Manual Page 3


User Manual Page 4

List of Figures

Figure 1 - Overboard connected to MoteIST ....................................................... 12

Figure 2 - Overboard modules ............................................................................ 13

Figure 3 - Overboard, Connectors Identification ................................................. 14

Figure 4 - 51P Hirose Connector, pinout ............................................................. 16

Figure 5 - 20P Hirose Connector ........................................................................ 17

Figure 6 - Actuator's Power Supply, pinout. ........................................................ 18

Figure 7 - Overboard, H-bridges identification .................................................... 19

Figure 8 - Control over electric motors, connections .......................................... 19

Figure 9 - Control over stepper motor, connections ............................................ 20

Figure 10 - Servomotor's angle control ............................................................... 21

Figure 11 - Servomotor Connector, pinout .......................................................... 21

Figure 12 – Servomotor, from Futaba, connected to Overboard ......................... 22

Figure 13 - Power Board, Block Diagram ............................................................ 22

Figure 14 - Power Board Connector, Pinout ....................................................... 23

Figure 15 - Power Board, pinout ......................................................................... 23

Figure 16 - Automation protocols connectors, identification ................................ 24

Figure 17 – X10 connector, plug and jack ........................................................... 25

Figure 18 – X10 connector, plug and jack ........................................................... 26

Figure 19 - CAN Bus Connector, pinout .............................................................. 27

Figure 20 - ICSP Connector, pinout .................................................................... 27

Figure 21 - Overboard LEDs identification .......................................................... 29

Figure 22 - Enable/ Disable Module, message ................................................... 33

Figure 23 - Standard H-bridge, configure message ............................................ 36

Figure 24 - Standard Stepper Motor, configure message ................................... 37

Figure 25 - Typical Power Board control, message ............................................ 37

Figure 26 - Servomotor, PWM control ................................................................. 38

Figure 27 - Test KNX connection ........................................................................ 39


User Manual Page 5

Figure 28 - Switch KNX light ............................................................................... 40

Figure 29 - Dimming/brightening of a KNX light .................................................. 41

Figure 30 - Set brightness level, KNX light ......................................................... 41

Figure 31 - Turn off/on all units/lights, X10 message .......................................... 43

Figure 32 - Switching device message, X10 protocol ......................................... 44

Figure 33 - Dim/Bright message, X10 protocol ................................................... 45

Figure 34 - Configure Time/Date message ......................................................... 46

Figure 35 - Request clock and date information .................................................. 47

Figure 36 - Time and data information message ................................................. 47

Figure 37 - Transmission of CAN message, standard ID .................................... 48

Figure 38 - Extended Address, CAN Message ................................................... 50

Figure 39 - Test Mode, Main Menu ..................................................................... 52

Figure 40 - Overboard application, manual ......................................................... 53

Figure 41 - Overboard application, Enable Menu ................................................ 54

Figure 42 - Overboard application, Configure Menu ........................................... 55

Figure 43 - Overboard application, Send Data Menu .......................................... 55

Figure 44 - Overboard application, sleep mode .................................................. 56

Figure 45 - Overboard application, success message ........................................ 56

Figure 46 - Overboard application, failure message ........................................... 56


User Manual Page 6

List of Tables

Table 1 - Connectors characteristics ................................................................... 15

Table 2 - X10 connector, pinout identification ..................................................... 25

Table 3 - X10 connector, pinout identification ..................................................... 26

Table 4 - Overboard, LEDs identification ............................................................ 30

Table 5 - Proprietary protocol, actions ................................................................ 32

Table 6 - Enable/Disable actions, modules available .......................................... 33

Table 7 - Configure Module, available options .................................................... 34

Table 8 - H-bridge, available modes ................................................................... 35

Table 9 - Available commands for the KNX module ............................................ 38

Table 10 - Available commands for the X10 module ........................................... 42

Table 11 - House code, codification .................................................................... 43

Table 12 - Unit code, codification ........................................................................ 44

Table 13 - Day of the Week, codification ............................................................ 46

Table 14 – Message configuration, description ................................................... 49

Table 15 - Reports codification ........................................................................... 51


User Manual Page 7


User Manual Page 8

Acronyms

AC: Alternating Current

CAN: Controller Area Network

DC: Direct Current

IC: Integrated Circuit

KNX: Konnex

PWM: Pulse Width Modulation

RF: Radio Frequency

WSN: Wireless Sensor Networks


User Manual Page 9


User Manual Page 10

1. Introduction

The Overboard is a daughter board designed with the purpose of expanding

the functionalities of Wireless Sensor Networks (WSN) by providing them with

actuation capabilities. Its integration in WSN is done by physically connecting it to

a node (mote) in the network. This board is compatible with the MicaZ, Iris and

MoteIST motes. The Overboard is an autonomous system fully equipped with the

necessary hardware for the operation of several actuation functionalities. It is

also capable of interacting with automation protocols, allowing the control of the

actuators connected to these protocols.

Purpose

The goal of this document is to provide information about the Overboard

functionalities, limitations, operating modes and correct handling procedures, in

order to prevent its incorrect handling, which can result in permanent damages

for the Overboard, for the actuators and mote connected to it.


User Manual Page 11

Related Documents

The complete information about the Overboard design, construction and results

can be found in the ‘Overboard - Expansion Board for actuation on Wireless

Sensor Networks’ thesis document written by Sérgio Miguel Rodrigues Teixeira.


User Manual Page 12

2. Overview

The Overboard is a daughter board capable of interacting with the MicaZ, Iris

and MoteIST motes through the 51 pins Hirose connector present in all of these

boards, as shown in Figure 1.

Figure 1 - Overboard connected to MoteIST

It allows the control of electric motors, solenoids and Alternating Current (AC)

powered devices, and the interaction with automation protocols with the purpose

of controlling the devices connected to them. The automation protocols capable

of being controlled are the KNX, X10 and CAN bus protocols. The control of

electric motors is done using two bipolar drivers that can operate independently

or together. These allow the control of stepper motors, Direct Current (DC)

brushed motors and solenoids. The Overboard is also capable of controlling

servomotors through a digital interface.

The control of the AC powered devices requires the use of another board, called

the Power Board. This accessory board is connected to the Overboard, and its

single purpose is the control of the AC powered devices. The reason for this

board existence is to completely isolate the Overboard from the AC power,

because the currents and voltages that can exist at the Power Board terminals


User Manual Page 13

could permanently damage the Overboard. The Overboard makes use of the

power available at the Hirose connector pins to operate. In order to diminish its

power consumption, the Overboard is divided into modules, shown in Figure 2,

each capable of being shut-down when desired. The whole board can be shut-

down, if desired, limiting even further its power consumption.

Figure 2 - Overboard modules

In order to control actuators directly, through the bipolar drivers or

servomotor interface, an independent power supply is required for the purpose of

powering and controlling them.


User Manual Page 14

Functional Description

All the Overboard connectors along with the Reset button and the Test

mode Jumper are identified in Figure 3. The connector’s characteristics are

described briefly in Table 1, and thoroughly described in the rest of this chapter.

Hirose Connector

Figure 3 - Overboard, Connectors Identification


User Manual Page 15

Table 1 - Connectors characteristics

Name I/O Maximum

Voltage (V)

Description

Servomotor

Connector

Output 45 Used for the control of

Servomotors.

2x Bipolar

Controller

Connector

Output 10.8 Used for the control of DC

electric motors.

PB Connector Output 3 Controls the Power Board.

Actuator’s Power

Supply

Input 45 Power supply for the

actuators connected to the

Overboard.

RF Connector Input/Output 3 Used for the control of RF

boards.

X10 Connector Input/Output 25 Used for the interaction

with X10 transceivers.

KNX Connector Input/Output 25 Used for the interaction

with KNX transceivers.

ICSP Connector Input/Output 3 For the programming

and/or power supply.

CAN Bus

Connector

Input/Output 12 Used for interacting with

the CAN bus.

Hirose Connector Input/Output 3 Used for the

communication with motes

and/or power supply.


User Manual Page 16

Main Hirose Connector

The Overboard uses the 51 pins Hirose connector to communicate with the

motherboard (motes), through I2C, and to be powered. Through this connector, it

is possible to obtain a maximum current of 0.5 A. The power supplied by the

Hirose connector permits the operation of all the Overboard’s functionalities with

the exception the direct actuator’s control. The connector’s pinout is shown in

Figure 4.

12

5051

2122

GroundVCC

VCCGround

SDASCL

Hirose 51 Pins

Figure 4 - 51P Hirose Connector, pinout


User Manual Page 17

RF Connector

The Overboard contains a 20 pin Hirose connector, identified in Figure 3

has ‘RF Connector’. The purpose of this connector is to allow the communication

through radio frequency (RF), more specifically with the KNX and X10 RF

protocols. This connector was chosen in order to be compatible with the RF

boards available for the MoteIST. The connector’s pinout is shown in Figure 5.

Hirose 20 PinsG

rou

nd

VC

C

UA

RT

RX

UA

RT

TX

SPI

Clo

ckSP

I O

ut

SPI

In SPI

Sele

ct

GP

IO

GP

IO

GP

IO

GP

IO

GP

IO

GP

IO

24681012161820

19 17 15 13 11

Figure 5 - 20P Hirose Connector


User Manual Page 18

Control of actuators directly

In order to control the actuators directly connected to the Overboard, it is

necessary the existence of a power supply, identified in Figure 3 by ‘Actuator’s

Power Supply’. Its pinout is shown in Figure 6.

VCCGround

Figure 6 - Actuator's Power Supply, pinout.

The purpose of this integration is to allow the control of actuators with higher

power requirements. The direct control of actuators is done through the

DRV8833 IC and through the servomotor’s interface. The DRV8833 is a dual

bipolar driver that allows the control of two DC motors, one stepper motor,

solenoids and other inductive loads. It permits a maximum voltage of 10.8 V, and

each bipolar driver is capable of handling a current up to 1 A. The connectors of

the bipolar drivers are identified in Figure 4 as ‘2x Bipolar Controller Connector’

and the identification of each individual bipolar driver (H-bridge) is shown in

Figure 7.


User Manual Page 19

H-bridge 2

H-bridge 1

Figure 7 - Overboard, H-bridges identification

Bipolar Drivers

Each bipolar driver is capable of controlling a DC brushed motor. The

connection diagram is shown in Figure 8. The H-bridge connectors shown in the

diagram are the same shown in Figure 7.

Ove

rbo

ard

H-bridge1

H-bridge2

Figure 8 - Control over electric motors, connections


User Manual Page 20

Stepper Motors

The control of stepper motors requires the use of an H-bridge for each phase.

Since the Overboard has two H-bridges, it is able to control one, two phase

bipolar stepper motor. The connection diagram is shown in Figure 9.

Ove

rbo

ard

H-bridge1

H-bridge2

Ph

ase

1P

has

e2

Figure 9 - Control over stepper motor, connections

Servo Driver

The servomotor’s interface allows the control of servomotors. It uses a digital

interface in order to control the servomotors. The control is made by PWM. Each

pulse width corresponds to a specific angle of the servomotor’s shaft. Although

the relation between the pulse width and the angle may slightly vary between

servomotor’s brands, it is usually very similar ranging between 1 ms to 2 ms, as

shown in Figure 9.


User Manual Page 21

Figure 10 - Servomotor's angle control

The servomotor connector is identified in Figure 3 has ‘Servomotor

Connector’. It is constituted by three pins, two responsible for powering the

servomotor and the other, for controlling it. The pinout of the connector is shown

in Figure 11.

Figure 11 - Servomotor Connector, pinout

The control signal is generated by the MCU and amplified, in order to be

recognized by the servomotor, through a bipolar transistor. This interface permits

a maximum voltage of 45 V. The connections between the Servomotor connector

and a servomotor, from Futaba, are shown in Figure 12. The color of the wires

can change between brands.


User Manual Page 22

Ground(-)

Vcc(+)ControlSignal

Overboard

Figure 12 – Servomotor, from Futaba, connected to Overboard

Power Board

The Power board is an accessory board for the Overboard that allows the

control of AC powered devices. Its block diagram is shown in Figure 13.

AC neutral

AC phase

Input Load -

Input Load +

Optoisolator

Control Signal

Ground

Figure 13 - Power Board, Block Diagram

When powering the ‘Actuator’s Power Supply’, identified in Figure 3, with

voltages superior to 10.8 V, make sure the DRV8833 IC (Dual bipolar

driver) is shutdown, otherwise this IC can suffers permanent damages.


User Manual Page 23

The Power Board is connected to the ‘PB Connector’ shown in Figure 3. The

pinout is shown in Figure 14.

Figure 14 - Power Board Connector, Pinout

The Power Board only allows the switching of devices and not the

dimming. Its pinout are shown in Figure 15.

GND

ControlSignal LOAD

ACSignal

Figure 15 - Power Board, pinout


User Manual Page 24

Automation protocols

The Overboard allows the interaction with the X10, KNX and CAN bus

protocols, in order to control the actuators connected to these protocols. In Figure

16, the connectors used for the interaction with the automation protocols are

shown.

X10 Connector

KNX Connector

CAN Bus Connector

Figure 16 - Automation protocols connectors, identification


User Manual Page 25

Regarding the X10 protocol, although the Overboard cannot transmit X10

messages through the power line, it is able to communicate with X10

transceivers that can transmit messages through it, overcoming that obstacle.

The Overboard is compatible with transceivers that have a serial interface. The

serial communication used, RS-232, has a baud rate of 4800 bit/s, no parity, 8

data bits and 1 stop bit. A RJ25 connector is used for the communication with the

transceiver. In Figure 17 and in Table 2, the pinout of both the plug and jack used

for the communication with the X10 serial transceivers are shown and described.

123456 1 2 3 4 5 6

Figure 17 – X10 connector, plug and jack

Table 2 - X10 connector, pinout identification

Pin Nº 1 2 3 4 5 6

Designation N/C Overboard

Receive

N/C Overboard

Transmit

N/C Ground


User Manual Page 26

The communication with the KNX protocol is also made through a transceiver,

because the Overboard cannot transmit messages through the KNX bus. The

Overboard uses RS-232, serial standard, to interact with the KNX transceivers.

The serial communication characteristics are a baud rate of 9600 bit/s, no parity,

8 data bits, 1 stop bit and the use of RTS/CTS handshaking (hardware flow

control). A RJ25 connector is used for the communication with the transceiver. In

Figure 18 and in Table 3, the pinout of both the plug and jack used for the

communication with the KNX serial transceivers are shown and described.

123456 1 2 3 4 5 6

Figure 18 – KNX connector, plug and jack

Table 3 - KNX connector, pinout identification

Pin Nº 1 2 3 4 5 6

Designation CTS Overboard

Receive

N/C Overboard

Transmit

RTS Ground


User Manual Page 27

Regarding the CAN bus protocol, the Overboard is able to transmit

messages directly into the bus. This is only possible due to the existence of a

CAN transceiver. The pinout of the CAN connector is shown in Figure 19.

Figure 19 - CAN Bus Connector, pinout

Overboard Programming

The Overboard’s MCU is a PIC24HJ from Microchip™. The programming

is made through In-Circuit Serial Programming, using the ICSP Connector,

shown in Figure 3. The pinout of this connector is shown in Figure 20.

Figure 20 - ICSP Connector, pinout


User Manual Page 28

Operation Mode Interface

The Overboard has two operating modes, the normal mode and the test

mode. These modes are chosen through the Test mode jumper shown in Figure

3. The test mode is selected with the insertion of the jumper, otherwise the

normal mode is selected. If the operation mode is changed, and the board is

powered, a system reset is required otherwise the Overboard won’t function

correctly. The reset is made through the Reset Button shown in Figure 3.

In the normal mode, the Overboard makes use of the 51 pins Hirose

connector to communicate with the motherboard, while in the test mode, the

Overboard relies in the RJ 25 connector normal associated with the KNX protocol

for communicating with a host PC. In this mode, the KNX and X10 protocols use

the same RJ 25 connector, making impossible the use of both simultaneously.

The communication protocol between the Overboard and the host PC is RS-232

and has a baud rate of 115200 bit/s, no parity, 8 data bits and 1 stop bit. The

connector used has the same pinout as the one shown in Figure 17.

The Overboard can be powered through two connectors, the 51 pins

Hirose connector and the ICSP connector.

Only one connector should be powering the Overboard at any given

moment, otherwise the board can suffer permanent damages.


User Manual Page 29

Electromechanical Characteristics

The Overboard is a 58x32.5 (mm) board. It requires a minimum voltage of

3 V and a maximum of 3.6 V in order to function properly. Higher voltages will

cause damages in the board’s components, and lower voltages will result in

abnormal behavior in the component’s operation.

There are ten LEDs in the Overboard, each with a specific purpose. These

LEDs are shown in Figure 21, and their designation is shown in Table 4.

Figure 21 - Overboard LEDs identification


User Manual Page 30

Table 4 - Overboard, LEDs identification

LED Nº Designation Description

1 Power Light’s up when the board is powered.

2 Heartbeat Blinks (period of one second) after the

application’s start.

3 Error Light’s up if an error occurs.

4 Busy Light’s up while a task is being

performed.

5 CAN Protocol Light’s up if the CAN Protocol is active.

6 X10 Protocol Light’s up if the X10 protocol is active.

7 KNX Protocol Light’s up if the KNX Protocol is active.

8 Test mode Light’s up if the Test mode is active.

9 H-bridge Fault Light’s up if a fault occurs in the

DRV8833 IC.

10 Actuator’s Power Light’s up in the existence of an

external power1.

1 – External power connected to the Actuator’s Power Supply shown in Figure 3.


User Manual Page 31

3. Software Applications

The Overboard’s software application starts immediately after applying

power to the board. At each initialization, the Test mode jumper, shown in

Figure 3, is checked in order to determine which mode is select.

Independently of the mode selected, the protocol used by the Overboard to

communicate is the same. This protocol was developed specifically for the

Overboard.

The Overboard is always checking for received messages. After a

message reception, the state of the Overboard is checked, if it is busy

completing a task, the message is discarded, otherwise, it tries to successfully

complete the task at hands, reporting back the success or failure, of the task

received. If a task is not successful, the Overboard tries to successfully

complete it a second time, only reporting back the failure, if it fails to complete

it both times.


User Manual Page 32

Proprietary Protocol

In the protocol used by the Overboard, each message sent to the

Overboard contains all the information required to perform a given task. Each

message is composed by an unsigned char (8 bit) vector with variable length. It

can be decomposed into three parts. The first part contains the desired action,

the second specifies the module and the information in the third depends on the

desired action, in some cases not being necessary. The first and the second

module have a size of eight bit each and the third has a variable size.

The actions and modules available in the Overboard are shown in Table 5

and 6, respectively.

Table 5 - Proprietary protocol, actions

Actions Available Hexadecimal Code

Enable Module 1

Disable Module 2

Configure Module 3

Send Data 4

Sleep 5

Reboot Overboard FF


User Manual Page 33

Enable/ Disable Module

The Enable Module and Disable Module actions have the purpose of

activating/de-activating modules. The modules available for activating/de-

activating are shown in Table 6.

Table 6 - Enable/Disable actions, modules available

Modules Available Hexadecimal Code

CAN bus 1

X10 Wired 2

KNX Wired 3

Dual H-bridge 6

In order to active or de-activate a module, it is only required the

transmission of the desired action and module, as shown in Figure 22.

Enable/Disable Module

(1h - Enable)(2h - Disable)

Module(1h to 4h)

0 1

Figure 22 - Enable/ Disable Module, message


User Manual Page 34

Configure Module

The Configure Module command allows the configuration and the

operation of the Overboard modules, with the exception of the CAN bus protocol.

After activating the desired module, its configuration is made through this option.

The available options for this action are shown in Table 7.

Table 7 - Configure Module, available options

Modules Available Hexadecimal Code

H-bridge 1 4

H-bridge 2 5

Stepper motor (both H-bridges are

used)

A

Power Board, Control signal 7

Servomotor, Control signal 8

KNX Wired, Control 3

X10 Wired, Control 2

Real Time Clock, Configure 9

Request Overboard Clock and Date E

The H-bridge 1 and 2 options allow the configuration of each H-bridge

individually. In order to use these options, it is required the previous activation of

the Dual H-bridge Module. In order to configure an H-bridge correctly it is also

necessary the transmission of the desired H-bridge mode and PWM. The

available H-bridge modes are shown in Table 8. The PWM argument is sent in

percentage and determines the speed of the motor’s rotation. The minimum

PWM value is 1%, minimum speed, and the maximum 100%, which corresponds

to the maximum speed. When selecting the standby and brake modes, the PWM

is not transmitted.


User Manual Page 35

Table 8 - H-bridge, available modes

Available

H-bridge modes

Hexadecimal

Code

Description

Standby 0 No power is applied into rotation. Motor

is left rotating until it stops completely.

Brake 5 Power is applied with the purpose of

stopping the rotation.

Forward, Fast

Decay

2 Motor rotates forward, current decays

quickly.

Forward, Slow

Decay

1 Motor rotates forward, current decays

slowly.

Reverse, Fast

Decay

4 Motor rotates backwards, current

decays quickly.

Reverse, Slow

Decay

3 Motor rotates backwards, current

decays slowly.


User Manual Page 36

A typical message to configure and start an H-bridge operation is shown in

Figure 23.

Configure Module(3h)

H-bridge x(H-bridge 1 – 4h)(H-bridge 2 – 5h)

H-bridge Mode(from 1h to 5h)

PWM(from 1% to

100%)

0 1 2 3

Figure 23 - Standard H-bridge, configure message

The stepper motor option uses both H-bridges simultaneously in order to

control two-phase bipolar stepper motors. The full step drive method is used to

control the stepper motors. In order to use this option, it is required the previous

activation of the Dual H-bridge Module. The configuration of this option requires

the transmission of the desired rotation direction, the number of desired steps

(continuous rotation is also available) and the frequency of each step, this last

argument determines the speed of the motor’s rotation. With the exception of the

continuous rotation, the maximum number of steps that the Overboard is able to

process per message is 255, setting this argument to zero will select continuous

rotation. Regarding the frequency, the Overboard accepts frequencies from

2 Hz to 50 kHz, however, since each position of the array only has 8 bit, two

positions are used for the frequency transmission, the first has the eight more

significant bit, and the second has the eight less significant bit, as shown in

Figure 24.


User Manual Page 37


Stepper Motor(Ah)

Direction(1h -Clockwise)(0h – Counter

Clockwise)

Nº of steps(1 to 255)

(0 – continuous rotation)

Frequency(8 MSB)

Frequency(8 LSB)

0 1 2 3

4 5

Figure 24 - Standard Stepper Motor, configure message

The Power Board, Control signal option is responsible for the control of the

Power Board. Since the Power Board can only switch AC loads, the configuration

of this option has only one argument that switches the load (ON=1 and OFF=0).

This option doesn’t require any previous module activation. A typical message to

configure the AC load is shown in Figure 25.


Power Board, Control signal

(7h)

Switch Load(1h - ON)(0h - OFF)

0 1 2

Figure 25 - Typical Power Board control, message

The Servomotor, Control signal option is used to control and operate

servomotors. The control is made by configuring the width of the pulse

transmitted to the servomotor. This option also doesn’t require any previous

module activation, it become active when it is addressed. The Overboard


User Manual Page 38

application accepts pulse width ranging from 0.1 ms to 2.1 ms. The control of the

servomotor can be easily disabled by transmitting a pulse width of 0. With the

purpose of simplifying the transmission of the pulse width, the pulse width

argument is the desired width in ms multiplied by ten, ex: 0.1 ms= 1. A typical

message to configure the servomotor angle is shown in Figure 26.


Servomotor, Control signal

(8h)

Pulse Width(0h - disable)(1h – 0.1 ms)

(21h – 2.1 ms)

0 1 2

Figure 26 - Servomotor, PWM control

The KNX Wired, Control option allows the configuration of devices

connected to the same KNX bus has the Overboard. The previous activation of

the KNX module is required before using this option. The available commands for

this option are described in Table 9.

Table 9 - Available commands for the KNX module

Available

KNX commands

Hexadecimal

Code

Description

Test KNX

connection

1 Tests the connection between the

Overboard and the KNX bus.

Switch light ON 2 Turn a specific light on.

Switch light OFF 3 Turn a specific light off.

Dim light 4 Diminish the brightness of a specific

light.

Bright light 5 Increases the brightness of a specific

light.


User Manual Page 39

Light brightness

control

6 Establishes the brightness of a specific

light.

The Test KNX connection provides a simple test, in order to check if the

connection with the KNX bus is functional. This option doesn’t communicate

directly with the KNX bus, it transmits a message to the KNX transceiver, and

checks if it responds correctly. This option is selected by transmitting to the

Overboard the message shown in Figure 27.


KNX Module(3h)

Test KNX connection

(1h)

0 1 2

Figure 27 - Test KNX connection

In order to control a specific light connected to the KNX bus, its address is

required. Each KNX address is constituted by three parts, ex: 1.4.36. A typical

message for switching a light in the KNX bus is shown in Figure 28, for

dimming/brightening is shown in Figure 29 and for brightness control in Figure

30.


User Manual Page 40


KNX Module(3h)

Switch Light(2h - ON)(3h - OFF)

Address(1º part)

Address(2º part)

Address(3º part)

0 1 2 3

4 5

Figure 28 - Switch KNX light

Regarding the dimming/brightening of a light through the KNX protocol,

there are seven available levels. Each level has a specific speed of

increasing/decreasing the brightness of the light. After the reception of a

message for dimming/brightening, the light will diminish/increase its brightness,

at a constant speed (chosen level), until it turns off/reaches maximum brightness

level, or until it receives an equal message which results in the immediately stop

of the variation in the light brightness.


User Manual Page 41


KNX Module(3h)

Dim Light(4h - Diminish)(5h - Increase)

Address(1º part)

Address(2º part)

Address(3º part)

0 1 2 3

4 5

Dimming level(1h - minimum)(7h - maximum)

6

Figure 29 - Dimming/brightening of a KNX light

The Light brightness control command, allows the control of a light

brightness by specifying the desired brightness level in percentage, from 0%

(shut off) to 100% (maximum brightness). The value sent is the equivalent in

hexadecimal to the percentage desired.


KNX Module(3h)

Light Brightness control

(6h)

Address(1º part)

Address(2º part)

Address(3º part)

0 1 2 3

4 5

Brightness level(0h – 0%)

(100h – 100%)

6

Figure 30 - Set brightness level, KNX light


User Manual Page 42

The X10 Wired, Control option, allows the control of devices connected to

the same X10 bus has the Overboard. The previous activation of the X10 module

is required before using this option. Due to the low operation speed of this

protocol, the completion of some actions may take up to a few seconds. The

available commands for this option are described in Table 10.

Table 10 - Available commands for the X10 module

Available

X10 commands

Hexadecimal

Code

Description

Turn OFF all units 1 Turns off all devices connected to the

X10 bus.

Turn ON all lights 2 Turns on all lights connected to the X10

bus.

Turn OFF all lights 3 Turns off all lights connected to the X10

bus.

Turn ON specific

device

4 Turns on a specific device connected to

the X10 bus.

Turn OFF specific

device

5 Turns off a specific device connected to

the X10 bus.

Diminish power to

specific device

6 Diminish the power being delivered to a

specific device.

Increase power to

specific device

7 Increases the power being delivered to

a specific device.


User Manual Page 43

Regarding the Turn OFF all units, Turn ON all lights and Turn OFF all

lights commands, in order to transmit these commands only the X10 house code

is required. The house code is a code attributed to each device, normally the

same in each house. It is an alphabet letter and can go from A to P, however, in

the Overboard application the letter isn’t transmitted instead a value that

corresponds to each letter is used. The letters and corresponding values are

shown in Table 11.

Table 11 - House code, codification

House Code Letter Hexadecimal

Code

House Code

Letter

Hexadecimal

Code

A 60 I 70

B E0 J F0

C 20 K 30

D A0 L B0

E 10 M 00

F 90 N 80

G 50 O 40

H D0 P C0

A typical message for the transmission of the commands described above is

shown in Figure 31.

House Code(60h -A) to

(C0h -P)

3


X10 Module(2h)

Turn on/off all units/lights.

(1h – all units off)(2h – all lights on)3h – all lights off)

0 1 2

Figure 31 - Turn off/on all units/lights, X10 message


User Manual Page 44

The switching and the dimming/brightening commands in the X10 protocol

require also the unit code. This information combined with the house code

constitutes the address of each device. The unit code, as the house code, is also

codified, as shown in Table 12.

Table 12 - Unit code, codification

Unit Code Number Hexadecimal

Code

Unit Code

Number

Hexadecimal

Code

1 6 9 7

2 E 10 F

3 2 11 3

4 A 12 B

5 1 13 0

6 9 14 8

7 5 15 4

8 D 16 C

A typical switching command in the X10 protocol is shown in Figure 32.


(C0h -P)

3


X10 Module(2h)

Switch device(4h - ON)(5h - OFF)

0 1 2

Unit Code(6h - 1) to(Ch - 16)

4

Figure 32 - Switching device message, X10 protocol


User Manual Page 45

The dimming and brightening commands require also the intensity level

argument. There are 22 available levels. The level argument transmitted is the

amount of levels that will be summed or subtracted to the present intensity level

in the device. A typical dimming/brightening command in the X10 protocol is

shown in Figure 33.


X10 Module(2h)

Dimm/Bright power intensity(6h - Dimming)

(7h - Brightening)


(C0h -P)

Unit Code(6h - 1) to(Ch - 16)

Intensity level(1h - Minimum)

(22h - Maximum)

0 1 2 3

4 5

Figure 33 - Dim/Bright message, X10 protocol

Regarding the Real Time Clock, Configure option in the Configure Module,

this option configures the Overboard real time clock and date. This option doesn’t

require any previous module activation. This data is only used in the X10

protocol, in order to set the X10 transceiver clock and date, when requested.

After setting them, the Overboard’s internal clock updates them automatically.

The number of the day related to the beginning of the year is transmitted in two

positions, the first transmits the less significant two decimal numbers and the

second, the most significant decimal number. Regarding the day of the week,

each day has a number attributed, shown in Table 13.


User Manual Page 46

Table 13 - Day of the Week, codification

Day of the Week Hexadecimal

Code

Sunday 1

Monday 2

Tuesday 4

Wednesday 8

Thursday 10

Friday 20

Saturday 40

In Figure 34 it is shown how to use this option.


Real Time Clock,Configure

(9h)

Seconds(0h – 0s) to(59h – 59s)

Minutes(0h – 0m) to(59h – 59m)

Hours(0h – 0 hours) to(23h – 23 hous)

Days(1h – 1 day) to(99h – 99 days)

0 1 2 3

4 5

Days(1h – 100 days) to

(3h – 300 days)

6 7

Day of the Week(1h – Sunday) to(40h – Saturday)

Figure 34 - Configure Time/Date message


User Manual Page 47

The Request Overboard Clock and date, option requests the Overboard its

present clock and date information. After this message transmission, the

Overboard will respond with the requested information. This option doesn’t

require any previous module activation. This option is selected by transmitting the

message shown in Figure 35.


Request Overboard clock

and date(Eh)

0 1

Figure 35 - Request clock and date information

After the transmission of this message, the Overboard will send a message with

the information requested. The composition of the message sent by the

Overboard is shown in Figure 36.

Message ID(Eh)

Day of the Week(1h – Sunday) to(40h – Saturday)

Days(1h – 1 day) to(99h – 99 days)

Days(1h – 100 days) to

(3h – 300 days)

Hours(0h – 0 hours) to(23h – 23 hous)

Minutes(0h – 0 min) to(59h – 59 min)

0 1 2 3

4 5

Seconds(0h – 0 s) to(59h – 59 s)

6

Figure 36 - Time and data information message


User Manual Page 48

Send Data

The Send Data action has the purpose of transmitting messages from the

Overboard to another device. This option only allows the transmission of

messages through the CAN bus protocol, since it is the only available protocol

that can transmit and receive messages. In order to use the CAN protocol, it is

required the previous activation of the CAN module.

The transmission of a message through the CAN bus protocol, along with

the data, requires the address, the type of address, the length of the data to

transmit, and the type of message to send. The CAN bus protocol has two types

of addresses, the standard and the extended. The transmission of a message

through the CAN bus with a standard address is shown in Figure 37.

Send Data(4h)

CAN Bus(1h)

Message Configuration

Address( 3 MSB)

Address(8 LSB)

Data

0 1 2 3

4 5 - 8

Figure 37 - Transmission of CAN message, standard ID

The message configuration specifies the type of address, the length of the data

and the type of message. Its composition is described in Table 14.


User Manual Page 49

Table 14 – Message configuration, description

Bit number Description

7 IDE

6 RTR

5 X

4 X

3 DLC

2

1

0

The Data length Code (DLC) is the length of the data in the message in bytes,

the maximum length, established by the protocol, is eight. The Remote

Transmission Request (RTR) bit specifies the type of message, it is one if it is a

remote transmission request message, otherwise it is zero. Regarding the

Identifier Extension (IDE) bit, it is one if it is used an extended address otherwise,

it is zero.

The address of the CAN device is sent in two positions, the tree most

significant bit in the first and the remaining eight bits in the second. As for the

data, a maximum of eight bytes can be sent in each message corresponding to a

maximum of four positions. The transmission of an extended address is different

due to the larger size of the address, as shown in Figure 38.


User Manual Page 50

Send Data(4h)

CAN Bus(1h)

Message Configuration

Address( 2 MSB)

Address(8 bit)

Address(8 LSB)

0 1 2 3

4 5

Address(8 LSB)

6-9

Figure 38 - Extended Address, CAN Message

The Message Configuration has the same composition has the previous, only,

due to the larger size of the address, it requires three positions.

Reboot Overboard

The Reboot command provides a full system reboot through software. It is

the software equivalent to the reset button of the Overboard. The transmission of

this command to the Overboard is made by sending FFh to the Overboard.

Sleep

The Sleep command makes the Overboard enter into a sleep state,

resulting in lower power consumptions. While in this state the Overboard is

unable to perform any functionality, only the real time clock remains active. All

the previous active modules are disabled and any incoming messages are

discarded. The Overboard will exit this state, if it receives any message from the

motherboard (normal mode) or host PC (test mode).


User Manual Page 51

Normal Mode

The normal mode is active if the Test Mode jumper shown in Figure 3 is

not inserted. In this mode, the Overboard makes use of the 51 pins Hirose

connector to communicate with a motherboard (mote). This communication is

made through I2C, using the proprietary protocol described previously. In this

mode, only three types of messages are transmitted by the Overboard to the

motherboard, the successful operation message, the failed operation message

and if requested the clock and date information, this last has already been shown

in Figure 36. The success/ failure messages are each a hexadecimal number,

described in Table 15.

Table 15 - Reports codification

Message Hexadecimal code

Successful Operation 55

Failed Operation 66


User Manual Page 52

Test Mode

The test mode is active if the Test Mode jumper shown in Figure 3 is

inserted. The main purpose of test mode is to test the Overboard functionalities.

In this mode, the Overboard makes use of the RJ 25 connector identified in

Figure 16 has KNX Connector to communicate with a host PC through RS-232.

The Overboard transmits instructions to the host PC, primitive interface, with the

purpose of facilitating the interaction between both. When active, the Overboard

automatically activates the RS-232 module related to the host PC

communications, and it remains active until the operation mode is switched.

After the mode activation, the Overboard automatically transmits the main

menu to the host PC, show in Figure 39. A console is required for viewing the

menus transmitted.

Figure 39 - Test Mode, Main Menu


User Manual Page 53

The interaction with the Overboard application is made by typing the

number/letter relative to the option desired. There is also a manual with

information about each option, shown in Figure 40 that can be accessed by

typing the i key.

Figure 40 - Overboard application, manual


User Manual Page 54

The Enable/Disable menus allow the user to enable/disable the Overboard

different modules, in order to make use of them.

Figure 41 - Overboard application, Enable Menu

The Configure Menu permits the configuration of the Overboard

functionalities and the Send Data Menu allows the user to transmit messages

through the CAN protocol. The Configure Menu and Send Data Menu are shown

in Figure 42 and 43 respectively.


User Manual Page 55

Figure 43 - Overboard application, Send Data Menu

Figure 42 - Overboard application, Configure Menu


User Manual Page 56

The sleep command in the main menu makes the Overboard enter in a

sleep state, when entering this state the Overboard transmit a message to the

console, show in Figure 44. By typing any key the Overboard will exit this state

and transmit the main menu.

Figure 44 - Overboard application, sleep mode

After the completion of each operation, the Overboard transmits a message

reporting its success or failure, as shown in Figures 45 and 46.

Figure 45 - Overboard application, success message

Figure 46 - Overboard application, failure message


User Manual Page 57


User Manual Page 58

4. Glossary

Wireless sensor networks - Group of spatially dispersed and dedicated sensors

for monitoring and recording the physical conditions of the environment, and

organizing the collected data.

Mote - Also known as node, it is the basic element of WSN. It is usually

composed by radio transceiver, a MCU and sensors.

Actuator - Mechanical device that converts energy into motion.

Daughter Board - Circuit board meant to be an extension of another board.

Automation Protocol - Network protocol used for process, industrial, building,

vehicle and substation automation.

Servomotor - A motor that controls the action of a mechanical device in a

servomechanism.

Stepper motor - Brushless DC motor that divides a full rotation into a number of

steps, allowing the motors position to be commanded to move and hold at one of

these steps without any feedback sensors.


User Manual Page 59


User Manual Page 60

5. Index

Wireless sensor networks – 9, 10.

Mote – 9, 11, 14, 15, 16, 44, 52.

Actuator – 9, 12, 14, 15, 17, 23, 30.

Daughter Board – 9, 11.

Automation Protocol – 9, 11, 23.

X10 Protocol – 23, 24, 27, 30, 44, 45.

KNX Protocol – 23, 25, 27, 30, 40.

CAN bus Protocol – 11, 23, 26, 34, 48,

Servomotor – 11, 12, 14, 17, 19, 20, 21, 34, 38.

Stepper motor – 11, 17, 19, 34, 36, 37.

Electric Motor – 11, 14, 18.

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