Difference between revisions of "S20: Nimble"
From Embedded Systems Learning Academy
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=== Hardware Design === | === Hardware Design === | ||
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=== Software Design === | === Software Design === | ||
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== Motor ECU == | == Motor ECU == | ||
<Picture and link to Gitlab> | <Picture and link to Gitlab> | ||
Revision as of 05:13, 1 May 2020
Contents
Nimble
<Pic of the car>
Abstract
In this project, an autonomous vehicle framework for an RC car is presented using dedicated ECUs for motor control, on-board LCD display, steering control, sensor information handling, and communication bridging. A mobile application was also developed that allows for a user to set a destination, and receive updates on the RC car's position via a Bluetooth connection to the GPS unit. CAN communication between sensors and ECUs was defined via a DBC file. Code was developed using test-driven design principles in order to lower time spent debugging. Unit testing was performed using the CMock framework.
Introduction
The project was divided into these modules:
- Sensor node
- Motor node
- Driver node
- GPS node
- Bridge control node
- LCD node
- Mobile application
Team Members & Responsibilities
<Team Picture>
- Yuming Cheng [ LinkedIn] Gitlab
- GPS Module
- Master Module
- Motor Module
- Naeem Mannan [ LinkedIn] Gitlab
- Master Module
- Mobile Application
- LCD display
- Francesco Vescio [ LinkedIn] Gitlab
- Sensor Module
- Master Module
- Lawrence Wan [ LinkedIn] Gitlab
- Master Module
- GPS Module
- Motor Controller
Team Deliverables Schedule
| WEEK |
START DATE |
END DATE |
TASK DETAILS |
STATUS |
|---|---|---|---|---|
| 1 | Feb 2020 | 4 March 2020 |
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| 2 | 05 March 2020 | 12 March 2020 |
|
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| 3 | 13 March 2020 | 19 March 2020 |
|
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| 4 | 20 March 2020 | 26 March 2020 |
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| 5 | 27 March 2019 | 09 April 2019 |
|
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| 6 | 10 April 2020 | 16 April 2020 |
|
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| 7 | 17 April 2020 | 23 April 2020 |
|
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| 8 | 24 April 2020 | 30 April 2020 |
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| 9 | 1 May 2020 | 7 May 2020 |
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| 10 | 8 May 2020 | 21 May 2020 |
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| 11 | 22 May 2020 |
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Parts List & Cost
| Item# | Part Desciption | Vendor | Qty | Cost |
|---|---|---|---|---|
| 1 | RC Car | Traxxas - Amazon [1] | 1 | $168.84 |
| 2 | CAN Transceivers MCP2551-I/P | Robotshop [2] | 6 | $ 6.00 per unit including shipping fee |
| 3 | GPS | Amazon [] | 1 | $ .00 per unit including shipping fee |
| 4 | Compass | Amazon [] | 1 | $ .00 per unit including shipping fee |
| 5 | Ultrasonic sensors(LV-MaxSonar-EZ0) | SparkFun [3] | 1 | $ 29.95 |
| 6 | Ultrasonic sensors (LV-MaxSonar-EZ1) | SparkFun [4] | 2 | $ 51.90 |
| 7 | IR sensors (GP2Y0A21YK) | SparkFun [5] | 1 | $ 34.23 including shipping fee and tax |
Printed Circuit Board
<Picture and information, including links to your PCB>
CAN Communication
<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>
Hardware Design
<Show your CAN bus hardware design>
DBC File
<Gitlab link to your DBC file> <You can optionally use an inline image>
Shown below is the DBC implementation for this project.
VERSION ""
NS_ :
BA_
BA_DEF_
BA_DEF_DEF_
BA_DEF_DEF_REL_
BA_DEF_REL_
BA_DEF_SGTYPE_
BA_REL_
BA_SGTYPE_
BO_TX_BU_
BU_BO_REL_
BU_EV_REL_
BU_SG_REL_
CAT_
CAT_DEF_
CM_
ENVVAR_DATA_
EV_DATA_
FILTER
NS_DESC_
SGTYPE_
SGTYPE_VAL_
SG_MUL_VAL_
SIGTYPE_VALTYPE_
SIG_GROUP_
SIG_TYPE_REF_
SIG_VALTYPE_
VAL_
VAL_TABLE_
BS_:
BU_: DBG DRIVER IO MOTOR SENSOR BRIDGE GPS COMPASS CMP
BO_ 150 MOTOR_CMD: 3 DRIVER
SG_ MOTOR_CMD_STEERING : 0|8@1+ (1,-2) [-2|2] "" MOTOR
SG_ MOTOR_CMD_SPEED : 8|8@1+ (1,-25) [-25|25] "" MOTOR
BO_ 200 SENSOR_DATA: 8 SENSOR
SG_ SENSOR_SONARS_left : 0|16@1+ (1,0) [0|0] "cms" DRIVER
SG_ SENSOR_SONARS_mid : 16|16@1+ (1,0) [0|0] "cms" DRIVER
SG_ SENSOR_SONARS_right : 32|16@1+ (1,0) [0|0] "cms" DRIVER
SG_ SENSOR_IR_rear : 48|16@1+ (1,0) [0|0] "cms" DRIVER
BO_ 300 GPS_DESTINATION_INFO: 8 BRIDGE
SG_ GPS_DESTINATION_LAT : 0|28@1+ (0.000001,-90.000000) [-90|90] "degrees" DRIVER,GPS,MOTOR
SG_ GPS_DESTINATION_LONG : 28|29@1+ (0.000001,-180.000000) [-180|180] "degrees" DRIVER,GPS,MOTOR
BO_ 301 GPS_CURRENT_INFO: 8 GPS
SG_ GPS_CURRENT_LAT : 0|28@1+ (0.000001,-90.000000) [-90|90] "degrees" DRIVER,BRIDGE,MOTOR
SG_ GPS_CURRENT_LONG : 28|29@1+ (0.000001,-180.000000) [-180|180] "degrees" DRIVER,BRIDGE,MOTOR
BO_ 302 COMPASS: 6 GPS
SG_ CMP_DEST_BEARING : 0|16@1+ (0.1,0) [0|359.9] "degrees" DRIVER,BRIDGE,MOTOR
SG_ CMP_CURRENT_HEADING : 16|16@1+ (0.1,0) [0|359.9] "degrees" DRIVER,BRIDGE,MOTOR
SG_ CMP_DISTANCE : 32|16@1+ (0.01,0) [0|0] "meters" DRIVER,BRIDGE
BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR,GPS,BRIDGE
BO_ 101 SENSOR_HEARTBEAT: 1 SENSOR
SG_ SENSOR_heartbeat : 0|1@1+ (1,0) [0|1] "" DRIVER
BO_ 102 MOTOR_HEARTBEAT: 1 MOTOR
SG_ MOTOR_SENSOR_heartbeat : 0|1@1+ (1,0) [0|1] "" DRIVER
BO_ 103 GPS_HEARTBEAT: 1 GPS
SG_ GPS_SENSOR_heartbeat : 0|1@1+ (1,0) [0|1] "" DRIVER
BO_ 104 BRIDGE_HEARTBEAT: 1 BRIDGE
SG_ BRIDGE_SENSOR_heartbeat : 0|1@1+ (1,0) [0|1] "" DRIVER
BO_ 105 SENSOR_DEBUG: 1 SENSOR
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_sensor_init : 1|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_sensor_data : 2|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 3|1@1+ (1,0) [0|0] "" DBG
BO_ 106 MOTOR_DEBUG: 3 MOTOR
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 1|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_RPM_kph : 2|8@1+ (0.1,-25.6) [-25.6|25.5] "" DBG
SG_ IO_DEBUG_Steering : 10|8@1+ (1,-2) [-2|2] "" DBG
BO_ 107 DRIVER_DEBUG: 1 DRIVER
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 1|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_DRIVER : 3|1@1+ (1,0) [0|0] "" DBG
BO_ 108 GPS_DEBUG: 1 GPS
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 2|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_GPS : 3|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_Compass : 5|1@1+ (1,0) [0|0] "" DBG
BO_ 109 BRIDGE_DEBUG: 1 BRIDGE
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 2|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_Bridge : 4|1@1+ (1,0) [0|0] "" DBG
CM_ BU_ DRIVER "The driver controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BU_ BRIDGE "The bridge controller of the car";
CM_ BU_ GPS "The GPS controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";
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_ 100 1000;
BA_ "GenMsgCycleTime" BO_ 200 50;
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";
VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;
Sensor ECU
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Motor ECU
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Geographical Controller
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Communication Bridge Controller & LCD
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Master Module
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Mobile Application
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Conclusion
<Organized summary of the project>
<What did you learn?>
Project Video
Project Source Code
Gitlab Project Link - [6]
Advise for Future Students
<Bullet points and discussion>
