Difference between revisions of "F16: Titans"

Parts List & Cost

DBC File Implementation

• The following is the DBC file of the project.

VERSION ""
NS_:
 NS_DESC_
 CM_
 BA_DEF_
 BA_
 VAL_
 CAT_DEF_
 CAT_
 FILTER
 BA_DEF_DEF_
 EV_DATA_
 ENVVAR_DATA_
 SGTYPE_
 SGTYPE_VAL_
 BA_DEF_SGTYPE_
 BA_SGTYPE_
 SIG_TYPE_REF_
 VAL_TABLE_
 SIG_GROUP_
 SIG_VALTYPE_
 SIGTYPE_VALTYPE_
 BO_TX_BU_
 BA_DEF_REL_
 BA_REL_
 BA_DEF_DEF_REL_
 BU_SG_REL_
 BU_EV_REL_
 BU_BO_REL_
 SG_MUL_VAL_
BS_:

BU_: DBG MASTER GPS MOTOR SENSOR APP

BO_ 1 APP_START_STOP: 1 APP
 SG_ APP_START_STOP_cmd : 0|8@1+ (1,0) [0|0] "COMMAND" MASTER

BO_ 16 SENSOR_DATA: 3 SENSOR 
 SG_ SENSOR_left_sensor : 0|8@1+ (1,0) [0|0] "Inches" MASTER,APP 
 SG_ SENSOR_middle_sensor : 8|8@1+ (1,0) [0|0] "Inches" MASTER,APP 
 SG_ SENSOR_right_sensor : 16|8@1+ (1,0) [0|0] "Inches" MASTER,APP

BO_ 32 MASTER_HB: 2 MASTER 
 SG_ MASTER_SPEED_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR,GPS,APP
 SG_ MASTER_STEER_cmd : 8|8@1+ (1,0) [0|0] "" SENSOR,MOTOR,GPS,APP

BO_ 65 GPS_Data: 8 GPS
 SG_ GPS_READOUT_valid_bit : 0|1@1+ (1,0) [0|1] "" MASTER,MOTOR,APP,MOTOR
 SG_ GPS_READOUT_read_counter : 1|11@1+ (1,0) [0|2000] "" MASTER,MOTOR,APP
 SG_ GPS_READOUT_latitude : 12|26@1+ (0.000001,0) [0|0] "" MASTER,MOTOR,APP
 SG_ GPS_READOUT_longitude : 38|26@1- (0.000001,0) [0|0] "" MASTER,MOTOR,APP

BO_ 66 COMPASS_Data: 2 GPS
 SG_ COMPASS_Heading : 0|16@1+ (1,0) [0|359] "Degree" MASTER,APP,MOTOR 

BO_ 48 MOTOR_STATUS: 3 MOTOR
 SG_ MOTOR_STATUS_speed_mph : 0|16@1+ (0.001,0) [0|0] "mph" MASTER,APP,MOTOR

CM_ BU_ MASTER "The master controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BU_ APP "The communication bridge controller of car";
CM_ BU_ GPS "GPS and compass controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
BA_DEF_ "BusType" STRING ;
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
BA_DEF_ SG_ "FieldType" STRING ;
BA_DEF_DEF_ "BusType" "CAN";
BA_DEF_DEF_ "FieldType" "";
BA_DEF_DEF_ "GenMsgCycleTime" 0;
BA_ "GenMsgCycleTime" BO_ 32 100;
BA_ "GenMsgCycleTime" BO_ 16 100;
BA_ "GenMsgCycleTime" BO_ 48 100;
BA_ "GenMsgCycleTime" BO_ 65 100;
BA_ "GenMsgCycleTime" BO_ 66 100;

Sensor Controller

Schedule

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Motor & I/O Controller

Schedule

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Geographical Controller

Schedule

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

GPS Module: Venus GPS with SMA connector GPS Module This GPS module uses UART serial communication interface. The refresh rate ranges from 1Hz up to 20Hz with a default baud rate of 9600bps. To achieve a desired refresh rate of 10Hz for our design, the baud rate must also be configured to 115200bps. Specifications: Specifications from SparkFun.com GPS Connector Definition: GND, TX,data output RX,data intput VCC,2.8V-6V

Razor IMU - 9 Degrees of Freedom

The 9DOF Razor IMU incorporates three sensors - an ITG-3200 (MEMS triple-axis gyro), ADXL345 (triple-axis accelerometer), and HMC5883L (triple-axis magnetometer) - to output nine degrees of inertial measurement. The outputs of all sensors are processed by an on-board ATmega328 and output over a serial interface.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

GPS Module

Originally a different GPS module, Readytosky Ublox NEO-M8N GPS, was purchased based on having a better accuracy of upto 0.9 meters with possibility of configuring refresh rate per datasheet but it was later found out that this version of GPS module had a stock ROM that could not be configured and saved. This lead to having to purchase the Venus GPS module as well as an external antenna. Later, it was figured that although the Venus GPS module was able to be configured for 10Hz refresh rate, the configuration was saved to the GPS's on board SRAM. This meant whenever the Venus GPS module lost power, the configuration setting becomes lost as well. The solution to this was having to solder a coin battery to provide 3V to the VBAT input on the Venus GPS module. The installation of this battery allows the GPS module to keep its new configuration setting saved in the SRAM as well as help it HOT START for a quicker boot-up time.

Communication Bridge Controller

Schedule

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Here is the hardware block diagram of Communication Bridge Controller.

Hardware block diagram for Communication Bridge Module

Here is the hardware block diagram of Communication Bridge Controller. Here is the hardware block diagram of Communication Bridge Controller. Here is the hardware block diagram of Communication Bridge Controller.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Central Controller

Schedule

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

My Issue #1

Discuss the issue and resolution.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

• GitLab Source Code Link

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix