Difference between revisions of "S19: CANT Bus"
Proj user4 (talk | contribs) (→Team Members & Responsibilities) |
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<Show your CAN bus hardware design> | <Show your CAN bus hardware design> | ||
− | === | + | ==== CAN Communication ==== |
− | + | 243.dbc | |
− | < | + | <syntaxhighlight lang="c">VERSION "1.0" |
+ | 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_: COMMS DRIVER LOCALIZE MOTOR AVOIDANCE | ||
+ | BO_ 10 KILL_MOTOR: 1 DRIVER | ||
+ | SG_ KILL_MOTOR_cmd : 0|8@1+ (1,0) [0|0] "" MOTOR,COMMS | ||
+ | |||
+ | BO_ 11 KILL_MOTOR_REMOTE: 1 COMMS | ||
+ | SG_ KILL_MOTOR_cmd : 0|8@1+ (1,0) [0|0] "" DRIVER | ||
+ | |||
+ | BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER | ||
+ | SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" LOCALIZE,COMMS,AVOIDANCE,MOTOR | ||
+ | |||
+ | BO_ 101 MOTOR_CMD: 2 DRIVER | ||
+ | SG_ MOTOR_CMD_steer : 0|6@1+ (1,-30) [-30|30] "degrees" MOTOR | ||
+ | SG_ MOTOR_CMD_drive : 8|7@1+ (1,0) [0|100] "" MOTOR | ||
+ | |||
+ | BO_ 200 AVOIDANCE_LIDAR: 8 AVOIDANCE | ||
+ | SG_ LIDAR_mux M : 0|4@1+ (1,0) [0|0] "" DRIVER | ||
+ | SG_ LIDAR_err_count : 4|12@1+ (1,0) [0|0] "" DRIVER | ||
+ | SG_ LIDAR_left m0 : 16|12@1+ (0.1,0) [0|0] "" DRIVER | ||
+ | SG_ LIDAR_middle m0 : 28|12@1+ (0.1,0) [0|0] "" DRIVER | ||
+ | SG_ LIDAR_right m0 : 40|12@1+ (0.1,0) [0|0] "" DRIVER | ||
+ | SG_ LIDAR_rear m0 : 52|12@1+ (0.1,0) [0|0] "" DRIVER | ||
+ | |||
+ | BO_ 300 LOCALIZE_GPS: 8 LOCALIZE | ||
+ | SG_ GPS_STATUS : 0|8@1+ (1,0) [0|0] "" DRIVER,COMMS | ||
+ | SG_ GPS_TX_LATITUDE : 8|24@1+ (0.000001,37.000000) [37.000000|38.000000] "degrees" DRIVER,COMMS | ||
+ | SG_ GPS_TX_LONGITUDE : 32|24@1- (0.000001,-122.000000) [-122.000000|-121.000000] "degrees" DRIVER,COMMS | ||
+ | |||
+ | BO_ 301 LOCALIZE_IMU: 8 LOCALIZE | ||
+ | SG_ IMU_STATUS : 0|8@1+ (1,0) [0|0] "" DRIVER,COMMS | ||
+ | SG_ IMU_COMPASS : 8|12@1+ (0.1,0) [0|360.0] "degrees" DRIVER,COMMS | ||
+ | |||
+ | BO_ 302 SPEED: 8 LOCALIZE | ||
+ | SG_ SPEED_kph : 0|16@1- (0.001,0) [-5|10] "kph" COMMS,DRIVER | ||
+ | |||
+ | BO_ 400 MOTOR_STATUS: 1 MOTOR | ||
+ | SG_ MOTOR_STATUS_data : 0|8@1+ (1,0) [0|0] "" COMMS,DRIVER | ||
+ | |||
+ | BO_ 500 SET_WAYPOINT: 8 COMMS | ||
+ | SG_ SET_WAYPOINT_LAT : 0|24@1+ (0.000001,37.000000) [37.000000|38.000000] "degrees" DRIVER | ||
+ | SG_ SET_WAYPOINT_LONG : 24|24@1- (0.000001,-122.000000) [-122.000000|-121.000000] "degrees" DRIVER | ||
+ | |||
+ | BO_ 501 SET_STATUS: 1 COMMS | ||
+ | SG_ SET_STATUS_cmd : 0|8@1+ (1,0) [0|0] "" DRIVER | ||
+ | |||
+ | CM_ BU_ DRIVER "The driver controller driving the car"; | ||
+ | CM_ BU_ MOTOR "The motor controller of the car"; | ||
+ | CM_ BU_ LOCALIZE "The localization controller of the car"; | ||
+ | CM_ BU_ AVOIDANCE "The collision avoidance controller of the car"; | ||
+ | CM_ BU_ COMMS "The wireless comms and telemetry controller of the car"; | ||
+ | CM_ BO_ 100 "Sync message used to synchronize the controllers"; | ||
+ | CM_ BO_ 501 "0: stop, 1: ready, 2: navigate, 3: skip/next" | ||
+ | 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_ 500 100; | ||
+ | BA_ "GenMsgCycleTime" BO_ 100 1000; | ||
+ | BA_ "GenMsgCycleTime" BO_ 101 100; | ||
+ | BA_ "GenMsgCycleTime" BO_ 400 100; | ||
+ | BA_ "GenMsgCycleTime" BO_ 200 100; | ||
+ | BA_ "FieldType" SG_ 500 DBC_TEST1_enum "DBC_TEST1_enum"; | ||
+ | BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd"; | ||
+ | VAL_ 500 DBC_TEST1_enum 2 "DBC_TEST1_enum_val_two" 1 "DBC_TEST1_enum_val_one" ; | ||
+ | VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ; | ||
+ | </syntaxhighlight> | ||
− | |||
− | |||
== Sensor ECU == | == Sensor ECU == | ||
<Picture and link to Gitlab> | <Picture and link to Gitlab> |
Revision as of 23:14, 26 March 2019
Contents
Grading Criteria
- How well is Software & Hardware Design described?
- How well can this report be used to reproduce this project?
- Code Quality
- Overall Report Quality:
- Software Block Diagrams
- Hardware Block Diagrams
- Schematic Quality
- Quality of technical challenges and solutions adopted.
Project Title
[C]ompile [A]nother [N]on-[T]rivial Bus
Abstract
<2-3 sentence abstract>
Introduction
The project was divided into N modules:
- Sensor ...
- Motor..
- ...
- Android
Team Members & Responsibilities
- Kevin Chan
- Lidar, Tachometer, Power, Wireless communications
- Khrysta Finch
- Assistant Team Leader, Chassis, Telemetry, Compass, Driver (PCB/Schematic)
- Andrew Javier
- Motor, Steering, Compass, Wireless communications (GPS, Lidar, Chasis)
- Aaron Lee
- GPS, Mobile App (Compass, Telemetry)
- Jonathan Rojas
- GPS, Lidar, Tachometer, Power
- Vijay Vanapalli
- Motor, Steering, PCB/Schematic (Mobile App)
- Nelson Wong
- Team Leader, Driver, Telemetry, PCB/Schematic, Chassis, Mobile App
<Team Picture>
Gitlab Project Link - [1]
<Provide ECU names and members responsible> <One member may participate in more than one ECU>
- Sensor
- Link to Gitlab user1
- Link to Gitlab user2
- Motor
- Link to Gitlab user1
- Link to Gitlab user2
- Geographical
- Link to Gitlab user1
- Link to Gitlab user2
- Communication Bridge Controller & LCD
- Link to Gitlab user1
- Link to Gitlab user2
- Android Application
- Link to Gitlab user1
- Link to Gitlab user2
- Testing Team
- Link to Gitlab user1
- Link to Gitlab user2
Schedule
Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.
Week# | Start Date | End Date | Task Description | Status | Completion Date |
---|---|---|---|---|---|
1 | 3/4 | 3/10 |
|
Complete | |
2 | 3/11 | 3/17 |
|
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3 | 3/18 | 3/24 |
|
||
4 | 3/25 | 3/31 |
|
||
5 | 4/1 | 4/7 |
|
||
6 | 4/8 | 4/14 |
|
||
7 | 4/15 | 4/21 |
|
||
8 | 4/22 | 4/28 |
|
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9 | 4/29 | 5/5 |
|
||
10 | 5/6 | 5/12 |
|
Parts List & Cost
Item# | Part Desciption | Vendor | Qty | Cost |
---|---|---|---|---|
1 | RC Car | Traxxas | 1 | $250.00 |
2 | CAN Transceivers MCP2551-I/P | Microchip [2] | 8 | Free Samples |
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>
CAN Communication
243.dbc
VERSION "1.0"
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_: COMMS DRIVER LOCALIZE MOTOR AVOIDANCE
BO_ 10 KILL_MOTOR: 1 DRIVER
SG_ KILL_MOTOR_cmd : 0|8@1+ (1,0) [0|0] "" MOTOR,COMMS
BO_ 11 KILL_MOTOR_REMOTE: 1 COMMS
SG_ KILL_MOTOR_cmd : 0|8@1+ (1,0) [0|0] "" DRIVER
BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" LOCALIZE,COMMS,AVOIDANCE,MOTOR
BO_ 101 MOTOR_CMD: 2 DRIVER
SG_ MOTOR_CMD_steer : 0|6@1+ (1,-30) [-30|30] "degrees" MOTOR
SG_ MOTOR_CMD_drive : 8|7@1+ (1,0) [0|100] "" MOTOR
BO_ 200 AVOIDANCE_LIDAR: 8 AVOIDANCE
SG_ LIDAR_mux M : 0|4@1+ (1,0) [0|0] "" DRIVER
SG_ LIDAR_err_count : 4|12@1+ (1,0) [0|0] "" DRIVER
SG_ LIDAR_left m0 : 16|12@1+ (0.1,0) [0|0] "" DRIVER
SG_ LIDAR_middle m0 : 28|12@1+ (0.1,0) [0|0] "" DRIVER
SG_ LIDAR_right m0 : 40|12@1+ (0.1,0) [0|0] "" DRIVER
SG_ LIDAR_rear m0 : 52|12@1+ (0.1,0) [0|0] "" DRIVER
BO_ 300 LOCALIZE_GPS: 8 LOCALIZE
SG_ GPS_STATUS : 0|8@1+ (1,0) [0|0] "" DRIVER,COMMS
SG_ GPS_TX_LATITUDE : 8|24@1+ (0.000001,37.000000) [37.000000|38.000000] "degrees" DRIVER,COMMS
SG_ GPS_TX_LONGITUDE : 32|24@1- (0.000001,-122.000000) [-122.000000|-121.000000] "degrees" DRIVER,COMMS
BO_ 301 LOCALIZE_IMU: 8 LOCALIZE
SG_ IMU_STATUS : 0|8@1+ (1,0) [0|0] "" DRIVER,COMMS
SG_ IMU_COMPASS : 8|12@1+ (0.1,0) [0|360.0] "degrees" DRIVER,COMMS
BO_ 302 SPEED: 8 LOCALIZE
SG_ SPEED_kph : 0|16@1- (0.001,0) [-5|10] "kph" COMMS,DRIVER
BO_ 400 MOTOR_STATUS: 1 MOTOR
SG_ MOTOR_STATUS_data : 0|8@1+ (1,0) [0|0] "" COMMS,DRIVER
BO_ 500 SET_WAYPOINT: 8 COMMS
SG_ SET_WAYPOINT_LAT : 0|24@1+ (0.000001,37.000000) [37.000000|38.000000] "degrees" DRIVER
SG_ SET_WAYPOINT_LONG : 24|24@1- (0.000001,-122.000000) [-122.000000|-121.000000] "degrees" DRIVER
BO_ 501 SET_STATUS: 1 COMMS
SG_ SET_STATUS_cmd : 0|8@1+ (1,0) [0|0] "" DRIVER
CM_ BU_ DRIVER "The driver controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ LOCALIZE "The localization controller of the car";
CM_ BU_ AVOIDANCE "The collision avoidance controller of the car";
CM_ BU_ COMMS "The wireless comms and telemetry controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ BO_ 501 "0: stop, 1: ready, 2: navigate, 3: skip/next"
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_ 500 100;
BA_ "GenMsgCycleTime" BO_ 100 1000;
BA_ "GenMsgCycleTime" BO_ 101 100;
BA_ "GenMsgCycleTime" BO_ 400 100;
BA_ "GenMsgCycleTime" BO_ 200 100;
BA_ "FieldType" SG_ 500 DBC_TEST1_enum "DBC_TEST1_enum";
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";
VAL_ 500 DBC_TEST1_enum 2 "DBC_TEST1_enum_val_two" 1 "DBC_TEST1_enum_val_one" ;
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
<Bullet or Headings of a module>
Unreliable sonor sensors
<Problem Summary> <Problem Resolution>
Motor ECU
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
<Bullet or Headings of a module>
Unreliable Servo Motors
<Problem Summary> <Problem Resolution>
Geographical Controller
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
<Bullet or Headings of a module>
Unreliable GPS lock
<Problem Summary> <Problem Resolution>
Communication Bridge Controller & LCD
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
<Bullet or Headings of a module>
Insane Bug
<Problem Summary> <Problem Resolution>
Master Module
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
<Bullet or Headings of a module>
Improper Unit Testing
<Problem Summary> <Problem Resolution>
Mobile Application
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
<Bullet or Headings of a module>
Wifi Link Reliability
<Problem Summary> <Problem Resolution>
Conclusion
<Organized summary of the project>
<What did you learn?>
Project Video
Project Source Code
Advise for Future Students
<Bullet points and discussion>