F15: Undergrads++ - Revision history

243 user2: /* Full CAN Implementation */

2015-12-19T20:39:09Z

‎Full CAN Implementation

2015-12-19T20:37:43Z

‎Hardware Interface

2015-12-19T20:37:26Z

‎Hardware Interface

2015-12-19T20:31:32Z

‎Finding the distance between two geographical coordinates.

2015-12-19T20:30:31Z

‎Finding the correct heading between two geographical coordinates.

2015-12-19T20:29:32Z

‎Software Design

2015-12-19T20:27:50Z

‎Hardware Design

2015-12-19T19:42:19Z

‎CAN Interface and Power Supply Hardware

2015-12-19T19:41:53Z

‎Undergrads++

2015-12-19T19:41:30Z

‎CAN Interface and Power Supply Hardware

@@ Line 495: / Line 495: @@
 Wrapper functions were created in order to simplify the initialization, sending and receiving of messages through the Full CAN api.
   bool iCAN_init_FULLCAN(uint32_t * std_list_arr, size_t arraySize); // std_list_arr is an array of accepted message IDs.
   bool iCAN_rx(can_fullcan_msg_t *msg, msg_hdr_t *msg_hdr);
   bool iCAN_tx(can_msg_t *msg, msg_hdr_t *msg_hdr);
 == Master Controller ==

@@ Line 585: / Line 585: @@
 <syntaxhighlight lang="cpp”>
-'bool iCAN_init_FULLCAN(uint32_t * std_list_arr, size_t arraySize);
+bool iCAN_init_FULLCAN(uint32_t * std_list_arr, size_t arraySize);
 </syntaxhighlight>
 <BR/>

@@ Line 584: / Line 584: @@
 For the software part, we configured the CAN bus using the FULL CAN mode. The main advantage of using the FULL CAN is that the processor does not have to parse the incoming message and messages go inside designated mail boxes. To initialize the CAN bus in FULL CAN mode, we set its baud rate to be 100kbps, the receive and send queue size to be 50 and pass an array of accepted message IDs and its size as parameters to the following function which initializes the CAN BUS.
-''bool iCAN_init_FULLCAN(uint32_t * std_list_arr, size_t arraySize);''
+<syntaxhighlight lang="cpp”>
 The function returns true if the bus is initialized successfully and all the message IDs are added to the acceptance filter.
 These messages can then be read using a pointer to the message mailbox as the first parameter and the dbc decode function as the second parameter to the following function:
-''iCAN_rx(can_fullcan_msg_t *msg, msg_hdr_t *msg_hdr);''
+</syntaxhighlight>
 For sending, after the DBC file encodes the message, we can transmit it over the CAN bus using the transmit function. First parameter is a pointer to the can_msg_t message and the second is the pointer to the message header generated by dbc parser.
+<syntaxhighlight lang="cpp”>
-''bool iCAN_tx(can_msg_t *msg, msg_hdr_t *msg_hdr);''
+bool iCAN_tx(can_msg_t *msg, msg_hdr_t *msg_hdr);
 === Software Design ===

@@ Line 1,285: / Line 1,285: @@
 =====Finding the distance between two geographical coordinates.=====
     dist = sin(degreeToRadian(lat1)) * sin(degreeToRadian(lat2)) + cos(degreeToRadian(lat1)) * cos(degreeToRadian(lat2)) * cos(degreeToRadian(theta));
     dist = acos(dist);
     dist = radianToDegree(dist);
     dist = dist * 60 * 1.1515 * 1.609344;
 == Testing & Technical Challenges ==

@@ Line 1,278: / Line 1,278: @@
 ==== Algorithms Used ====
 =====Finding the correct heading between two geographical coordinates.=====
    correctHeading = atan2(dy, dx) * 180 / pi; (where dy and dx are the delta of latitude and longitude)
 =====Finding the distance between two geographical coordinates.=====

@@ Line 919: / Line 919: @@
 <syntaxhighlight lang="cpp">
-    eint3_enable_port2(2, eint_falling_edge, calc_dist_middle); //Middle Sonar
+ eint3_enable_port2(2, eint_falling_edge, calc_dist_middle); //Middle Sonar
 </syntaxhighlight><BR/>
 Figure C. Enabling the interrupt for GPIO pin2.2

← Older revision		Revision as of 20:27, 19 December 2015
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−	[[File:Cmpe243 F15 Undergrads SJOne-Sensors.png\|~~600px~~\|left\|thumb\|Sensor Hardware Design]] [[File:Cmpe243 F15 Undergrads Sensor mount.jpg\|~~600px~~\|center\|thumb\|Mounted Senors]]	+	[[File:Cmpe243 F15 Undergrads SJOne-Sensors.png\|500px\|left\|thumb\|Sensor Hardware Design]] [[File:Cmpe243 F15 Undergrads Sensor mount.jpg\|500px\|center\|thumb\|Mounted Senors]]

	=== Software Design ===		=== Software Design ===

← Older revision		Revision as of 19:42, 19 December 2015
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−	[[File:Cmpe243 F15 Undergrads CAN .png\|~~400px~~\|left\|thumb\|CAN Interface and Power Supply ]] [[File:Cmpe243 F15 Undergrads CAN HW board.jpg\|~~400px~~\|center\|thumb\|CAN Interface and Power Supply prototype]]	+	[[File:Cmpe243 F15 Undergrads CAN .png\|500px\|left\|thumb\|CAN Interface and Power Supply ]] [[File:Cmpe243 F15 Undergrads CAN HW board.jpg\|500px\|center\|thumb\|CAN Interface and Power Supply prototype]]

	=== DBC File Implementation ===		=== DBC File Implementation ===

← Older revision		Revision as of 19:41, 19 December 2015
Line 2:		Line 2:


−	[[File:Cmpe243 F15 Undergrads Final.jpg\|~~600px~~\|left\|thumb\|Undergrads++ Car]] [[File:Cmpe243 F15 Undergrads side.jpg\|~~600px~~\|center\|thumb\|Under the hood]]	+	[[File:Cmpe243 F15 Undergrads Final.jpg\|500px\|left\|thumb\|Undergrads++ Car]] [[File:Cmpe243 F15 Undergrads side.jpg\|500px\|center\|thumb\|Under the hood]]

	== Abstract ==		== Abstract ==