Difference between revisions of "F16: Kasper"

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* Individual testing of Compass module with SJOne Board
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Revision as of 05:33, 30 October 2016

Contents

Project Title

Self Driving Car

Abstract

This project implements a self-driving car.

Objectives & Introduction

Objective of this project is to create a self driving car

System Block Diagram

System block diagram

Team Members & Responsibilities

We have used five controllers


Team Schedule

Sl No. Start Date End Date Task Status Actual Completion Date
1 09/20/2016 09/27/2016
  • Divide the project into smaller tasks
  • Allocate each module to a team of two
 Complete 09/27/2016
2 09/28/2016 10/04/2016
  • Study previous reports to get an overall understanding of the project
  • Plan the stages of the project so that tasks across modules can be synchronised
  • Research on the components and order the same
  • Understand the placement of modules in the car
 Complete 10/04/2016
3 10/05/2016 10/11/2016
  • Study the hardware specifications of each module and review them for hardware errors
  • Study the datasheet for the components and come up with pin diagrams
  • Understand the hardware interfacing of each of the modules and test compatibility
  • Analyse power requirements
 Complete 10/11/2016
4 10/12/2016 10/18/2016
  • Analyse the communication required across the controllers.
  • Design Message IDs based on the priority of the messages and the data to be sent across.
  • Implement the DBC file compatible with all the controllers.
  • Interface GPS module with SJOne board. Firmware development and NMEA sentence parsing.
 Complete 10/18/2016
5 10/19/2016 10/25/2016
  • Establish communication across all the CAN controllers over CAN bus based on the DBC file.
  • Verify the power-up interactions between Master and the other controllers
  • Check the sensor functionality stand-alone with a minimal driver to send basic data
  • Interface motor to the SJOne board and check for basic functionality
  • Interface Compass module with SJOne board. Firmware development and stand-alone testing
  • Work on Bluetooth firmware development to integrate with SJ one board.
 Upcoming Task
6 10/25/2016

CAN COMMUNICATION DEMO

Upcoming Task
7 10/26/2016 11/07/2016
  • Read sensor values and filter the readings. Prepare sensor values to be sent over the CAN bus to the Master controller.
  • Integrate LCD, Power, Motors together and control using SJOne board
  • Calibrate GPS and Compass Module
  • Develop basic Android application to work with the Bluetooth module. Test the communication between SJOne board and Android application over Bluetooth protocol.
  • Design the Obstacle avoidance and start with basic implementation
 Upcoming Task
8 11/08/2016

PROJECT PROTOTYPE DEMO

Upcoming Task
9 11/08/2016 11/15/2016
  • Test each module individually for accurate functionality based on communication with the Master.
  • Verify the stringent requirement of Start-up Sync, Periodic heart-beat messages, Stop car through Bluetooth command
  • Integrate all modules with the Master to test the data flow
  • Design the way-point algorithm and start with the implementation
  • Design the Navigation Algorithm and start with the implementation
 Upcoming Task
10 11/16/2016 11/29/2016
  • Implement motor feedback and IO display
  • Complete the implementation of Android application
  • Interface all the controllers each with additional implemented features
  • Verify the rest of the communication over the CAN bus across the five controllers
 Upcoming Task
11 11/29/2016

PROJECT PROTOTYPE DEMO 2

Upcoming Task
12 11/29/2016 12/06/2016
  • Test the accuracy of the data sent from the sensor and the settings to the Motor based on the Obstacle Avoidance Algorithm
  • Test the accuracy of check-points from the Bluetooth controller, location data from the Geocontroller sensor and Navigation Algorithm
  • Verify the correct response of each module
 Upcoming Task
13 12/07/2016 12/15/2016
  • Check for tuning or calibration of components if required
  • Brainstorm on the test cases
  • Complete end-to-end testing for various scenarios and conditions
 Upcoming Task
14 12/17/2016

FINAL PROJECT DEMO

Upcoming Task
15 12/20/2016

PROJECT REPORT SUBMISSION

Upcoming Task

Parts List & Cost

Item# Part Desciption Vendor Qty Cost $
1 RC Car From Preet 1 0
2 SJOne board Preet 5 80
3 GPS Module Adafruit 1 40
4 Triple Axis Magnetometer (Compass) Sparkfun 1 15
5 Bluetooth Module Sparkfun 1 24.95
6 LCD screen Adafruit 1 24.95
7 Ultrasonic sensor Sparkfun 1 27.95

Sensor Controller

Team Members & Responsibilities

  • Shruthi Narayan
  • Rimjhim Ghosh

Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 10/5/2016 10/11/2016
  • Research and order the sensors
 Complete 10/9/2016
2 10/12/2016 10/18/2016
  • Study data sheets and identify pins
  • Prepare hardware connection diagram with SJOne Board
 In Progress
3 10/19/2016 10/25/2016
  • Wire the sensors and check with the sample code
  • Prepare the sensor DBC file
Upcoming Task
4 10/26/2016 11/1/2016
  • Interface sensor to SJOne board. Read sensor values and filter the readings
  • Prepare sensor values to be sent over CAN bus and test the correctness of sensor CAN messages
 Upcoming Task
5 11/2/2016 11/8/2016
  • Collaborate to achieve basic obstacle avoidance for Project Prototype Demo
Upcoming Task
6 11/9/2016 11/15/2016
  • Implement and integrate code with multiple sensors
 Upcoming Task
7 11/16/2016 11/22/2016
  • Test and debug the integrated module
 Upcoming Task
8 11/23/2016 11/29/2016
  • Collaborate with the other module teams to make sure that the sensors are in working condition for Project Prototype Demo-2
 Upcoming Task
9 11/30/2016 12/6/2016
  • Test for stability of sensors
 Upcoming Task
10 12/7/2016 12/17/2016
  • Code testing during final phases. Modify code in cooperation with other teams for Final Project Demo
 Upcoming Task

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

Team Members & Responsibilities

  • Chethan Keshava
  • Prashant Aithal

Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/27/2016 10/04/2016
  • Finalize project and team schedule and update project wiki
 Complete 10/04/2016
2 10/04/2016 10/11/2016
  • LCD module selection and purchase
 Complete 10/07/2016
3 10/11/2016 10/18/2016
  • Understanding LCD data sheets and testing the basic functionality
 Upcoming Task
4 10/18/2016 10/25/2016
  • Interfacing motors and test control of motors from the SJOne board
 Upcoming Task
5 10/25/2016 11/1/2016
  • Integrate LCD, Power, Motors together and control using SJOne board
Upcoming Task
6 11/1/2016 11/15/2016
  • Discuss with other teams to get simulated inputs from GPS and sensor module and test car control with those inputs. (Testing of obstacle avoidance)
 Upcoming Task
7 11/15/2016 11/28/2016
  • Collaborate with other teams to establish CAN communication between all the modules
 Upcoming Task
8 11/28/2016 12/05/2016
  • Product testing and trial runs
Upcoming Task

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

Team Members & Responsibilities

  • Ankit Gandhi

Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/28/2016 10/4/2016
  • Study previous project reports and order GPS and Compass modules
 Complete 10/6/2016
3 10/5/2016 10/11/2016
  • Pin Identification for GPS module on SJOne and connection diagram
  • Pin Identification for Compass module on SJOne and connection diagram
 Complete 10/10/2016
4 10/12/2016 10/18/2016
  • Identify power requirements for the GPS module
  • Interfacing GPS module with SJone, Firmware Development and NMEA sentence parsing
  • Individual testing of GPS module with SJOne Board
 Complete
5 10/19/2016 10/25/2016
  • Identify power requirements for the GPS module
  • Interfacing Compass Module with SJOne Board and Firmware Development
  • Individual testing of Compass module with SJOne Board
 In Progress
6 10/26/2016 11/01/2016
  • Calibrating GPS and Compass Module
  • Interfacing the GPS and compass module to Android application.
 Upcoming Task
7 11/02/2016 11/08/2016
  • Integrate GPS and Compass module with Master using CAN
 Upcoming Task
8 11/09/2016 12/05/2016
  • Testing and debugging with whole system
Upcoming Task

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.

GPS Module

Ultimate GPS

The breakout is built around the MTK3339 chipset, a no-nonsense, high-quality GPS module that can track up to 22 satellites on 66 channels


  • -165 dBm sensitivity, 10 Hz updates, 66 channels
  • 5V friendly design and only 20mA current draw
  • RTC battery-compatible
  • Internal patch antenna + u.FL connector for external active antenna


The Compass Module - HMC5883L

Compass

Compass module is based on Honeywell’s HMC5883L. <br\> When current flows through a wire, a magnetic field is created. This is the basic principle behind electromagnets. This is also the principle used to measure magnetic fields with a magnetometer. The direction of Earth's magnetic fields affects the flow of electrons in the sensor, and those changes in current can be measured and calculated to derive a compass heading.

The features of HMC5883L are:

  • Simple I2C interface
  • 2.16-3.6VDC supply range
  • Low current draw
  • 5 milli-gauss resolution

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.

Communication Bridge Controller

Team Members & Responsibilities

  • Bharat Khanna
  • Shantanu Vashishtha


Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/20/2016 09/27/2016
  • Dividing the project into smaller tasks.
  • Based on the number of tasks allocating each task to a team of two.
 Complete 09/27/2016
2 09/28/2016 10/4/2016
  • Study previous project reports and order Bluetooth module and other components based on the following factors:
  • Power requirement, preferably with input voltage within SJOne board output voltage range.
  • Review of the components that give few or no hardware errors.
  • Ease of integration with SJOne board.
 Complete 10/9/2016
3 10/5/2016 10/11/2016
  • Understanding Bluetooth module hardware design and protocol requirement for communication.
  • Figuring out the pins on SJOne board required for communication with Bluetooth module.
 Complete 10/11/2016
4 10/12/2016 10/18/2016
  • CAN message ID's, priorities, data size and format proposals for all the possible CAN messages on the bus.
  • Planning methods for testing Bluetooth module.
 Complete 10/18/2016
5 10/19/2016 10/25/2016
  • Work on Bluetooth firmware development to integrate with SJ one board.
 Upcoming Task
6 10/26/2016 11/08/2016
  • Develop basic Android application to work with the Bluetooth module.
  • Test the communication between SJ one board and Android application over Bluetooth protocol.
 Upcoming Task
7 11/9/2016 11/20/2016
  • Interface Bluetooth module with CAN.
  • Integration of geolocation API with mobile APP.
  • Testing the Bluetooth module with Mobile application by incorporating filter.
 Upcoming Task
8 11/21/2016 12/05/2016
  • Testing the Bluetooth module with Master controller using CAN communication
  • Testing and debugging of the complete system.
 Upcoming Task

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.

Bluetooth Module

Bluetooth Module

RN42XV is built around Microchip's RN42 low power Bluetooth module. Some features of this module are as follows


  • Based on the popular 2 x 10 (2mm) socket footprint.
  • Voltage range: (3-3.6)Volts
  • Current range: 26 μA sleep, 3 mA connected, 30 mA transmit.
  • UART data connection interface.
  • Sustained data rates: 240 Kbps (slave), 300 Kbps (master)
  • Transmission range up to 60 feet (20 m) distance, +4 dBm output transmitter, -80 dBm typical receive sensitivity.
  • FHSS/GFSK modulation, 79 channels at 1-MHz intervals.



Hardware Design

The interface between Bluetooth module and controller is as shown in fig
File:Schematic, Bluetooth interfacing with controller.JPG
Interface between Bluetooth module and 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.

Master Controller

Team Members & Responsibilities

  • Aajna Karki
  • Spoorthi Mysore Shivakumar

Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/26/2016 10/05/2016
  • Understand the tasks involved and the overall scope of the Master Controller
  • Finalise on the CAN transceiver to be used and place an order for the same
 Complete 10/05/2016
2 10/06/2016 10/18/2016
  • Finalise on the node addresses and message IDs for each of the CAN controllers
  • Implement the DBC file
 Complete 10/18/2016
3 10/19/2016 10/25/2016
  • Understand the overall hardware design and build the car
  • Establish CAN communication with the other controllers based on the DBC file
  • Test the basic power-up interactions with the controllers
 Upcoming Task
4 10/26/2016 11/07/2016
  • Design and implement the Obstacle avoidance algorithm
 Upcoming Task
5 11/08/2016 11/15/2016
  • Co-ordinate during the integration of the motor and sensor modules from the Master Controller perspective
  • Establish complete communication across different CAN controllers interfaced
  • Strictly monitor sync, heart-beat messages and the stop command from bluetooth
  • Design and start the implementation of the Navigation Algorithm
 Upcoming Task
6 11/16/2016 11/29/2016
  • Test the full-fledge functionality of Obstacle Avoidance algorithm based on data from all the sensors and commands to the motor controller.
  • Verify communication with Bluetooth controller for accurate check-point data
  • Test the functionality of Navigation algorithm with the location data from Geocontroller
 Upcoming Task
7 11/29/2016 12/06/2016
  • Test the algorithms for any unaccounted scenaios or issues faced
  • Verify the accuracy of data received from all controllers and the response from the Master Controller
 Upcoming Task
8 12/06/2016 12/15/2016
  • Test extensively and debug issues
 Upcoming Task

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

References

Acknowledgement

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

References Used

List any references used in project.

Appendix

You can list the references you used.

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