Difference between revisions of "F16: Kasper"

Revision as of 10:20, 14 December 2016

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

• Sensor Controller
  • Shruthi Narayan
  • Rimjhim Ghosh
  • Color coding: Text
• Motor & I/O Controller
  • Prashant Aithal
  • Chethan Keshava
  • Color coding: Text
• Geographical Controller
  • Ankit Gandhi
  • Color coding: Text
• Master Controller
  • Aajna Karki
  • Spoorthi Mysore Shivakumar
  • Color coding: Text
• Communication Bridge Controller
  • Bharat Khanna
  • Shantanu Vasishtha
  • Color coding: Text

Team Schedule

Parts List & Cost

DBC File Implementation

The DBC file used for the project is as below:

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 MASTER GEO SENSOR MOTORIO BRIDGE

BO_ 100 STOP_CAR: 1 MASTER 
 SG_ STOP_CAR_data : 0|8@1+ (1,0) [0|0] "" BRIDGE,GEO,SENSOR,MOTORIO,DBG

BO_ 110 RESET: 1 MASTER 
 SG_ RESET_data : 0|8@1+ (1,0) [0|0] "" BRIDGE,GEO,SENSOR,MOTORIO,DBG 

BO_ 120 POWER_SYNC_ACK: 1 MASTER 
 SG_ POWER_SYNC_ACK_data : 0|8@1+ (1,0) [0|0] "" BRIDGE,GEO,SENSOR,MOTORIO,DBG 

BO_ 130 STOP_CMD_APP: 1 BRIDGE 
 SG_ STOP_CMD_APP_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG

BO_ 140 START_CMD_APP: 1 BRIDGE 
 SG_ START_CMD_APP_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG

BO_ 200 MOTOR_POWER_SYNC: 1 MOTORIO 
 SG_ MOTOR_POWER_SYNC_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG

BO_ 210 SENSOR_POWER_SYNC: 1 SENSOR 
 SG_ SENSOR_POWER_SYNC_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG

BO_ 220 BRIDGE_POWER_SYNC: 1 BRIDGE
 SG_ GEO_POWER_SYNC_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG

BO_ 230 GEO_POWER_SYNC: 1 GEO 
 SG_ BRIDGE_POWER_SYNC_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG

BO_ 300 MOTORIO_HEARTBEAT: 1 MOTORIO
 SG_ MOTORIO_HEARTBEAT_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG 
 
BO_ 310 SENSOR_HEARTBEAT: 1 SENSOR
 SG_ SENSOR_HEARTBEAT_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG 
 
BO_ 320 BRIDGE_HEARTBEAT: 1 BRIDGE
 SG_ BRIDGE_HEARTBEAT_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG 

BO_ 330 GEO_HEARTBEAT: 1 GEO
 SG_ GEO_HEARTBEAT_data : 0|8@1+ (1,0) [0|0] "" MASTER,DBG

BO_ 400 SENSOR_SONIC: 4 SENSOR 
 SG_ SENSORS_SONIC_front_left : 0|8@1+ (1,0) [0|0] "" MASTER,MOTORIO,DBG
 SG_ SENSORS_SONIC_front_right : 8|8@1+ (1,0) [0|0] "" MASTER,MOTORIO,DBG
 SG_ SENSORS_SONIC_front_center : 16|8@1+ (1,0) [0|0] "" MASTER,MOTORIO,DBG
 SG_ SENSORS_SONIC_back : 24|8@1+ (1,0) [0|0] "" MASTER,MOTORIO,DBG

BO_ 410 MOTORIO_DIRECTION: 3 MASTER
 SG_ MOTORIO_DIRECTION_speed : 0|8@1+ (1,0) [0|10] "" MOTORIO,DBG
 SG_ MOTORIO_DIRECTION_turn : 8|8@1+ (1,-4) [-3|3] "" MOTORIO,DBG
 SG_ MOTORIO_DIRECTION_direction : 16|8@1+ (1,0) [0|2] "" MOTORIO,DBG

BO_ 420 BRIDGE_TOTAL_CHECKPOINT: 1 BRIDGE
 SG_ BRIDGE_TOTAL_CHECKPOINT_NUMBER : 0|8@1+ (1,0) [0|0] "" MASTER,MOTORIO,DBG

BO_ 430 RECEIVE_START_ACK: 1 MASTER
 SG_ RECEIVE_START_ACK_ack : 0|8@1+ (0,0) [0|0] "" BRIDGE,DBG

BO_ 440 BLUETOOTH_DATA: 8 BRIDGE
 SG_ BLUETOOTH_DATA_LAT : 0|32@1+ (0.000001,0) [0|0] "" MASTER,DBG
 SG_ BLUETOOTH_DATA_LON : 32|32@1+ (0.000001,0) [0|0] "" MASTER,DBG

BO_ 450 NEXT_CHECKPOINT_DATA: 8 MASTER
 SG_ NEXT_CHECKPOINT_DATA_latitude : 0|32@1+ (0.000001,0) [0|0] "" GEO,DBG
 SG_ NEXT_CHECKPOINT_DATA_longitude : 32|32@1+ (0.000001,0) [0|0] "" GEO,DBG

BO_ 460 COMPASS_DATA: 5 GEO
 SG_ COMPASS_DATA_speed : 0|8@1+ (1,0) [0|0] "" MASTER,DBG
 SG_ COMPASS_DATA_heading : 8|16@1+ (1,0) [0|0] "" MASTER,DBG
 SG_ COMPASS_DATA_bearing : 24|16@1+ (1,0) [0|0] "" MASTER,DBG

BO_ 470 CURRENT_LOCATION_ACK: 1 BRIDGE
 SG_ CURRENT_LOCATION_ACK_ack : 0|8@1+ (1,0) [0|0] "" MASTER,GEO,DBG

BO_ 480 GPS_LOCATION: 8 GEO
 SG_ GPS_LOCATION_latitude : 0|32@1+ (0.000001,0) [0|0] "" MASTER,BRIDGE,DBG
 SG_ GPS_LOCATION_longitude : 32|32@1+ (0.000001,0) [0|0] "" MASTER,BRIDGE,DBG

BO_ 490 DISTANCE_TO_DESTINATION: 1 GEO
 SG_ DISTANCE_TO_DESTINATION_data : 0|8@1+ (0,0) [0|0] "" MASTER, MOTORIO,DBG

BO_ 500 BATTERY_STATUS: 1 SENSOR
 SG_ DISTANCE_TO_DESTINATION_status : 0|8@1+ (0,0) [0|0] "" MASTER, MOTORIO,DBG

CM_ BU_ DBG "Debug node used to determine whether the message is received by any other node"; 
CM_ BU_ DRIVER "Master Controller";
CM_ BU_ SENSOR "Sensor Controller";
CM_ BU_ MOTORIO "Motor I/O controller";
CM_ BU_ BRIDGE "BRIDGE Controller";
CM_ BU_ GEO "Geo Controller";
CM_ BO_ 2 "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_ 300	          1;
BA_ "GenMsgCycleTime" BO_ 310	          1;
BA_ "GenMsgCycleTime" BO_ 320	          1;
BA_ "GenMsgCycleTime" BO_ 330             1;
BA_ "GenMsgCycleTime" BO_ 400 	          10;
BA_ "GenMsgCycleTime" BO_ 410             10;        
BA_ "GenMsgCycleTime" BO_ 450             10;
BA_ "GenMsgCycleTime" BO_ 460             10;
BA_ "GenMsgCycleTime" BO_ 470             10;
BA_ "GenMsgCycleTime" BO_ 480             10;

Sensor Controller

Team Members & Responsibilities

• Shruthi Narayan
• Rimjhim Ghosh

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

Team Members & Responsibilities

• Chethan Keshava
• Prashant Aithal

Schedule

Motor/IO Controller Software Design

Tasks

Motor Pin Connections

The car battery accepts compatible Ni-MH batteries. The battery powers the ESC unit, which in turn drives the motor and also powers the steering servo. The SJ One board, ESC unit and steering servo should share a common ground in order for the PWM signals to have the same reference voltage. The CAN transceiver uses the 5V power supply and GND, as well as the P0.0 (CAN RX) and P0.1 (CAN TX) of the SJ One Board. P2.0 (PWM1) and P2.1 (PWM2) controls the steering and motor respectively. This is done by sending out PWM signals from the SJ One board that change the width of a 20ms period waveform. 1ms width represents a 0% duty cycle, 1.5ms width represents a 50% duty cycle, and 2ms width represents a 100% duty cycle.

Motor Controller Block Diagram

DC Motor

Servo Motor

Speed Feedback Encoder

Liquid Crystal Display

IO is the mode of interaction between user and car peripherals. It includes touch screen GLCD and headlights. LCD displays the car status while the touch screen allows the user to shift between various modes. The head and tail light is an easy and convenient way to know the state and transition of the car. The LCD is used to display vital parameters such as

• Speed
• Obstacle proximity
• GPS co-ordinates
• Current and heading compass zone

The touch screen GLCD uLCD32PTU has the following features

• Low-cost 3.2" LCD-TFT display graphics user interface solution.
• 240 x 320 VGA resolution, RGB 65K true to life colours, TFT screen with Integrated 4-Wire Resistive Touch Panel.
• Easy 5 pin interface to any host device: VCC, TX, RX, GND, RESET
• Powered by 4D-Labs PICASO processor.
• 2 x Asynchronous hardware serial ports (COM0, COM1), TTL interface, with 300 to 600K baud.
• On-board micro-SD memory card adaptor for multimedia storage and data logging purposes. HC memory card support is also available for cards larger than 4GB.
• 4.0V to 5.5V range operation (single supply).

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

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. 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

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

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

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

You can list the references you used.