Difference between revisions of "S19: CANT Bus"

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== Motor ECU ==
 
== Motor ECU ==
−
<Picture and link to Gitlab>
+
[[File:CANT Bus Architecture - Motor Overview.png|thumb|300px|center|Figure X: Architecture of Motor Controller]]
−
[[File:CANT Bus Architecture - Motor Overview.png]]
 
 
=== Hardware Design ===
 
=== Hardware Design ===
  

Revision as of 03:02, 1 May 2019

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
  • Strategize approach
  • Determine tasks
  • Assign tasks
  • Draft architecture
 Complete
2 3/11 3/17
  • Finalize architecture
  • Order parts
  • Begin electrical schematic and PCB design
3 3/18 3/24
  • Finalize electrical schematic and PCB design
  • Begin code design per subsystem (must include UT!)
4 3/25 3/31
  • Continued code design and editing
  • Begin app dev
  • Order PCB
5 4/1 4/7
  • Hardware assembly
  • Code review
6 4/8 4/14
  • App dev complete
  • Continue HW assembly
  • Begin outdoor testing
7 4/15 4/21
  • Review, Revise, Retest
8 4/22 4/28
  • Review, Revise, Retest
  • Code lock at end of the week
9 4/29 5/5
  • To be determined
10 5/6 5/12
  • To be determined

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_f_right : 0|8@1+ (1,0) [0|0] "cm" DRIVER
 SG_ LIDAR_f_middle : 8|8@1+ (1,0) [0|0] "cm" DRIVER
 SG_ LIDAR_f_left : 16|8@1+ (1,0) [0|0] "cm" DRIVER
 SG_ LIDAR_b_right : 24|8@1+ (1,0) [0|0] "cm" DRIVER
 SG_ LIDAR_b_middle : 32|8@1+ (1,0) [0|0] "cm" DRIVER
 SG_ LIDAR_b_left : 40|8@1+ (1,0) [0|0] "cm" 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

Figure X: Architecture of Motor Controller

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

Figure X: Architecture of Geographic Controller

Hardware Design

The geographical/Localization controller (SJOne board) was connected to a compass and GPS module.

The compass that we used was an MPU-9255 which consist of an accelerometer, gyrometer, and three-axis magnetometer. For our purpose, only the magnetometer was used as the compass to find the direction of where the car is heading to. The compass communicated with the geographical controller via I2C.

The GPS module that was selected was a Ublox Neo-6M module. The GPS communicates with the geographical controller via UART.

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>

Acknowledgement

References

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