Difference between revisions of "F16: Kasper"

Revision as of 03:37, 18 December 2016 (view source) Proj user18 (talk | contribs) (→‎Software Design) ← Older edit		Revision as of 03:38, 18 December 2016 (view source) Proj user18 (talk | contribs) (→‎Software Design) Newer edit →
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	Compass data is sent over the CAN bus every 10Hz.		Compass data is sent over the CAN bus every 10Hz.
−	void geoTask::sendCompassData()	+	void geoTask::sendCompassData()
−	{	+	{
	COMPASS_DATA_t geoCompassData = { 0 };		COMPASS_DATA_t geoCompassData = { 0 };
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	dbc_encode_and_send_COMPASS_DATA(&geoCompassData);		dbc_encode_and_send_COMPASS_DATA(&geoCompassData);
−	}	+	}
	=== Implementation ===		=== Implementation ===

---

Revision as of 03:38, 18 December 2016

Project Title

Self Driving Car

Abstract

We are in an era of smart machines. With the self driving cars taking over the roads these days, it is an interesting challenge to build our own version of it.
This project aims at the implementation of such a self-driving car.

It is based on CAN communication protocol which has been proven to be robust and deterministic by the automotive industry. The controller used is the SJ-One Board.

The overall driving of the car is divided across five modules:
Sensor: The sensor module essentially checks for obstacles in the driving path.
MotorIO: MotorIO drives the car using the underlying DC motor and Servo.
Geo: Geo controller is responsible for obtaining the location details and aid navigation.
Bridge: Bridge controller interfaces with the Android application where the path to be traversed is selected.
Master: Master co-ordinates the data from each of the modules and drives the MotorIO.

With all these implementations in place, the car will be able to drive itself to the destination.

Objectives & Introduction

Objective of this project is to create a self driving car

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

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	Completed	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	Completed	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.	Completed	10/18/2016
5	10/19/2016	11/01/2016	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. 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.	Completed
6	11/01/2016		CAN COMMUNICATION DEMO	Completed
7	11/01/2016	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 and motor. Implement code for all the transactions of motor and LCD over CAN. Calibrate GPS and Compass Module.Develop complete code for GPS and Compass module communication over CAN 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.	Completed
8	11/08/2016		PROJECT PROTOTYPE DEMO	Completed
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.	Completed
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	Completed
11	11/29/2016		PROJECT PROTOTYPE DEMO 2	Completed
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	Completed
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	Completed
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
8	Jumper cable	Amazon	1	9.99
9	DB9 Connector	HSC	1	1
10	CAN Transceiver	Microchip	10	10

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

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	Complete	10/18/2016
3	10/19/2016	10/25/2016	Wire the sensors and check with the sample code Prepare the sensor DBC file	Complete	10/25/2016
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	Complete	11/1/2016
5	11/2/2016	11/8/2016	Collaborate to achieve basic obstacle avoidance for Project Prototype Demo	Complete	11/8/2016
6	11/9/2016	11/15/2016	Implement and integrate code with multiple sensors	Complete	11/15/2016
7	11/16/2016	11/22/2016	Test and debug the integrated module	Complete	11/22/2016
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	Complete	11/29/2016
9	11/30/2016	12/6/2016	Test for stability of sensors	Complete	12/5/2016
10	12/7/2016	12/17/2016	Code testing during final phases. Modify code in cooperation with other teams for Final Project Demo	In-Progress

Hardware Design

4 Parallax Ping ultrasonic distance sensors are used for this project. They are used for obstacle detection and avoidance. Non-contact distance can be measured from about 2 cm (0.8 inches) to 3 meters (3.3 yards).

The PING))) sensor works by transmitting an ultrasonic burst and providing an output pulse that corresponds to the time required for the burst echo to return to the sensor. By measuring the echo pulse width, the distance to target can easily be calculated.

Four Sensors placed in the car, three in front (front_left, front_center, front_right) and one at the back (back). The image below shows the wired connections between sensors and SJOne board.

Software Design

Operation Squence:

Software timer for triggering sensor:

All sensors are triggered using software timers. A soft timer is declared for each sensor which keeps track of the time between trigger and echo for that particular sensor.

#define Echo_Return_Pulse 18.5
SoftTimer ping_duration_left;
ping_duration_left.reset(Echo_Return_Pulse);
ping_duration_left.restart();

Hardware timer for calculating distance:

The declaration of hardware timer is as shown below:

lpc_timer_enable(lpc_timer0,1); /*enable timer0*/
lpc_timer_set_value(lpc_timer0,0); /*set timer0 value=0*/

Distance Calculation:

Distance=Speed * Time

The distance covered by the sound wave is twice the actual distance.

Therefore, Distance= (Speed * Time)/2

Speed of sound=340m/s, 1m=100cm, 1us=0.000001 s

Distance covered in 1us= (340*100*0.000001)/2 = 0.017cm

#define Distance_Scale 0.017
time_left = lpc_timer_get_value(lpc_timer0);
distance_left = (Distance_Scale)*time_left;

Ranging:

LeftSIG.setAsOutput(); /*make SIGpin output*/
LeftSIG.setLow(); /*set low for 2us and then high for clean high*/
delay_us(2);
LeftSIG.setHigh(); /* enable Ranging (enable left sonar). trigger/set high for 2 µs (min), 5 µs typical. Ultrasonic burst*/
delay_us(5);
LeftSIG.setLow(); /*set low*/
LeftSIG.setAsInput(); /*make SIGpin input*/

Implementation

Sensor Testing: LV-MaxSonar-EZ(MB1010):

• This sensor gives a range of 0 inches to 254 inches with a voltage supply of 5V.

• Using multiple ultrasonic sensors in a single system caused interference (crosstalk) so the sensors were triggered sequentially which reduced the fluctuating values

• The range reading time of Maxbotix LV-MaxSonar-EZ1 is 49 ms for a range of 254 inches (6.54 m) requirement was to send all sensor values in 10 Hz. Only 2 sensor values could be sent.

• Having the requirement to send the sensor readings in 10Hz, we reduced the delay between the sensors to 15ms covering a range of 101 inches. Send values of all the four sensors (left, center, right, back) in 10Hz using chaining process.

• Even after this there were frequent abrupt values encountered in the readings so considering the fluctuations and requirement we switched to parallax ping sensors.

Parallax Ping Sensor Testing:

Pin Configuration:

Pin1: GND- Ground pin

Pin2: 5V- Voltage Supply pin

Pin3: SIG- Signal Pin- This emits a short 40Khz burst acting as a trigger pin then the same pin starts listening the echo.

• Provides precise, non-contact distance measurements within a 2 cm to 3 m range • Simple pulse in/pulse out communication requires just one I/O pin • Burst indicator LED shows measurement in progress • 3-pin header makes it easy to connect to a development board, directly or with an extension cable, no soldering required • The PING))) sensor works by transmitting an ultrasonic (well above human hearing range) burst and providing an output pulse that corresponds to the time required for the burst echo to return to the sensor. By measuring the echo pulse width, the distance to target can easily be calculated.

The PING))) sensor detects objects by emitting a short ultrasonic burst and then "listening" for the echo. Under control of a host microcontroller (trigger pulse), the sensor emits a short 40 kHz (ultrasonic) burst. This burst travels through the air, hits an object and then bounces back to the sensor. The PING))) sensor provides an output pulse to the host that will terminate when the echo is detected, hence the width of this pulse corresponds to the distance to the target.

Testing & Technical Challenges

Issue 1: Triggering of Sensors in Parallel

Triggering all the sensors in parallel causes interference between adjacent sensors, which in turn causes mis-firing of echo. This results in incorrect distance values from all the sensors.

Solution: Sequential triggering of Sensors Each sensor is triggered only when the previous sensor receives an echo or exceeds the maximum echo reception wait time which is 18.5ms.

Issue 2: Sensor Angle The Left and Right sensors gave faulty values when placed at an acute angle on the corner of the base board.

Solution: angle>45 Increased the angle to cover wider area and avoid reflections. Increasing the angle to more than 45 degrees helped get us accurate values.

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 DC and Servo motor and testing the basic functionality	Complete	10/15/2016
4	10/18/2016	10/25/2016	Interfacing motors and test control of motors from the SJOne board	Complete	10/24/2016
5	10/25/2016	11/1/2016	Control the motors using received CAN messages	Complete	11/1/2016
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)	Complete	11/15/2016
7	11/15/2016	11/28/2016	Collaborate with other teams to establish CAN communication between all the modules	Complete	11/28/2016
8	11/28/2016	12/05/2016	Product testing and trial runs	Upcoming Task

Motor/IO Controller Software Design

Tasks

Motor/IO Controller Tasks

Task Name	Purpose
Period Init	CAN Bus Initialization, Reset CAN Bus
Periodic 1Hz Callback	Check if CAN bus off and Reset bus. Reset the RPM counter.
Periodic 10Hz Callback	Drive car according to the commands received from Master controller
Periodic 100Hz Callback
Periodic 1000Hz Callback

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.

Node A Source	Node A Pin	Node B Source	Node B Pin	Description
3.3V Power Supply	3.3V	SJOne Board	3V3	SJOne Power
3.3V Power Supply	GND	SJOne Board	GND	SJOne Ground
CAN Transceiver	CAN Tx	SJOne Board	P0.1 (Tx)	SJOne - CAN Tx
CAN Transceiver	CAN Rx	SJOne Board	P0.0 (Rx)	SJOne - CAN Rx
CAN Transceiver	5V	5V Power Supply	5V	SJOne - CAN Power
CAN Transceiver	Ground	5V Power Supply	GND	SJOne - CAN Ground
CAN Transceiver	CANL	CAN BUS	CANL	CANL to CAN BUS
CAN Transceiver	CANR	CAN BUS	CANR	CANR to CAN BUS
Steering Servo	PWM Port	SJOne Board	P2.0 PWM	Steering Control
Steering Servo	Ground	SJOne Board	GND	Common ground for reference voltage
ESC/Motor	PWM Port	SJOne Board	P2.1 PWM	Motor Control
ESC/Motor	Ground	SJOne Board	GND	Common ground for reference voltage

Software Flow Diagram

DC Motor

A DC motor converts direct current electrical power into mechanical power. The most common types rely on the forces produced by magnetic fields. Pulse width modulation (PWM) is used to control the motor. One advantage is that the power loss in the switching transistor is small because the transistor is either fully “ON” or fully “OFF”. As a result the switching transistor has a much reduced power dissipation giving it a linear type of control which results in better speed stability. The RC Car came with the motor that needed 7.4V of power supply to work. The motor has the power to run the car at a maximum speed of the 35mph.DC motor is controlled with the help of three wires coming out of the ESC. These wires are VCC, GND and Speed control. The VCC line is not used as required voltage is directly given to the motor through a battery, via ESC. The GND line and Speed control lines are connected to the ground and PWM pin of SJOne board.The DC motor was driven using pwm2 i.e. pin P2.1 of the SJOne board. In-built PWM generation function was used. It requires two parameters, one is pin being used and the other being the frequency.

File:BLDC.gif DC Motor

ESC Wire Pins	SJOne Board Pins
Vcc	-
GND	GND
Speed Control	P2.1

Servo Motor

The RC Car came with a digital servo motor. The motor works without ESC. The motor is controlled by giving PWM signal from the SJOne board.

Servo Motor

Servo motor is controlled with the help of three wires coming out of the servo motor. The wires are VCC, GND and Direction control. The VCC is connected to the 3.3v. GND and direction control are connected to the ground and pwm pins of SJOne board. Servo Motor Pins SJOne Board Pins Vcc Vcc GND GND Direction Control P2.0 Servo Motor Pin Connections We control the Servo motor using pwm1 i.e. pin P2.0 of the SJOne board. We configure the PWM pin using an in-build function which requires two parameters, one is the pin that we are using and the other is the frequency of the pwm. To set the duty cycle, in-build set function is used in which we are passing the duty cycle at which we want servo motor to work.

Speed Feedback Encoder

The speed feedback is simply an rpm meter. It consists of a Hall Effect magnetic sensor with a set of magnets. The magnets are attached to the inner surface of the wheels and the sensor is connected to the end of the shaft connecting the wheel. Whenever the magnet comes near the sensor, a high signal is generated from the sensor and given to the GPIO port of the SJOne board, which is made as positive edge triggered. The interrupt handler would then increment a count which would give us revolutions per second if the above mentioned count is measured over one second (1Hz periodic callback function).

The next step would be to control speed with this calculated rpm. There are two conditions that need to be checked. One is the speed that the MASTER controller is sending (stop, slow, normal or fast) and another is the rpm. Each of the speeds would have a desired rpm and the calculated rpm is compared to the desired rpm and the final PWM signal to the DC motor is incremented or decremented depending on that. A scenario for this usage would be when the car encounters an upward ramp and the car would slow down while climbing to that. The algorithm would check and sense that the rpm has reduced and would modify PWM for DC to increase power and hence the rpm of car is kept at the desired range.

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 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).

The LCD is used to display vital parameters such as

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

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	Complete
6	10/26/2016	11/01/2016	Calibrating GPS and Compass Module Interfacing the GPS and compass module to Android application.	Complete
7	11/02/2016	11/08/2016	Integrate GPS and Compass module with Master using CAN	Complete
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

---

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 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

Geo Controller Tasks

Task Name	Purpose
Periodic 1Hz Callback	Receive Checkpoint from Master.
Periodic 10Hz Callback	Send GPS data over CAN BUS Send IMU heading,bearing,speed and distance data over CAN Bus

• Initialization

1. GPS module is interfaced using UART. UART is initialize using the most common configuration 9600/8-N-1(9600 baudrate, 8 databits, no (N) parity bit, and one (1) stop bit. We are using LSM303DLHC compass module. Both GPS and Compass module is initialized as below.

 void geotaskInit()
 {
   gpsUart.init(GPS_BAUD_RATE,rx_q,tx_q);   // Initialize UART for GPS
   LSM_MAG.init();                          // Initialize LSM303 Magnetometer 
   LSM_ACCL.init();                         // Initialize LSM303 Accelerometer
 }

• GPS module is programmed to send GPS data at 10Hz. Interrupt Handler continuously receives these data and stores in the queue.

Periodically (10Hz) calling the getChar function gives a complete NMEA string.

// Following string is used to set NMEA output sentence, we are using GPRMC for this project

char dataTobeSenttoGPS[] = "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n";
char dataTobeSenttoGPS_1[] =  "$PMTK220,100*2F\r\n";

After sending this, we will be getting GPS string after every 10Hz, which is read by interrupt handler.

  bool geoTask::readGpsData()
  {
       int i=0;
       char c=0;
       while(gpsUart.getChar(&c, 0))
       {
               if ('\r' != c && '\n' != c)
               {
                   rxBuff[i++] = c;
               }
               if('\n' == c )
               {
                   break;
               }
       }
       rxBuff[i++] = '\0';
       strncpy(gpsStr,rxBuff,sizeof(rxBuff)); 
       parseGpsData(gpsStr);
       return true;
  }

• Sending data over CAN bus: In GeoController, we are using can1 for transmit and receive can messages. Latitude and longitude values are getting updated by GPS task using global structure. 'CAN send' function which is getting called every 100hz is using memcpy function to copy the structure data to CAN message and send over can bus.

Compass:

Compass data is sent over the CAN bus every 10Hz.

 void geoTask::sendCompassData()
 {

COMPASS_DATA_t geoCompassData = { 0 };

calculateDistance();

if(newChkPointRecvd) { calculateBearing(); newChkPointRecvd = false; }

LSM_MAG.getHeading(&heading);

geoCompassData.COMPASS_DATA_bearing = bearing; geoCompassData.COMPASS_DATA_heading = heading; geoCompassData.COMPASS_DATA_speed = speed; geoCompassData.COMPASS_DATA_distance = distance;

u0_dbg_printf("head: %f,bearing:%f,Dis:%.2f\n",heading,bearing,distance);

// This function will encode the CAN data bytes, and send the CAN msg using dbc_app_send_can_msg() dbc_encode_and_send_COMPASS_DATA(&geoCompassData);

 }

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

1. Compass Calibration

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.	Complete	10/25/2016
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.	Complete	11/08/2016
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.	Complete	11/20/2016
8	11/21/2016	12/05/2016	Testing the Bluetooth module with Master controller using CAN communication Testing and debugging of the complete system.	In Progress

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

---

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.

Android Application Design

Problem statement

In present day, What is that one thing, which has become an essential part of a human life? Yes, that's correct, the answer is smartphone. It is almost impossible to imagine a single day without a mobile phone. So whether it is for a bank transaction or daily grocery shopping or travel, we need all the updated information in our hand. Keeping in mind this technological need, an application to control and track our self driving car prototype makes total sense. With universality of android platform, we decide to make an adnroid application to control our self driving car prototype "Kasper".

Implementation

Command format and functionality

Application workfow

FC

Application features

Android UI design

Testing and challenges

Source code

Hardware Design

The interface between Bluetooth module and controller is as shown in fig

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	Complete	10/25/2016
4	10/26/2016	11/07/2016	Design and implement the Obstacle avoidance algorithm	Complete	11/07/2016
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 and the stop command from bluetooth Design and start the implementation of the Navigation Algorithm	Complete	11/20/2016
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	In Progress
7	11/29/2016	12/06/2016	Test the algorithms for any unaccounted scenarios 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

Master Controller is interfaced to CAN transceiver as shown below

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

Below is the detailed flowchart of Obstacle and Navigation Algorithm

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

Few challenged faced while implementing are as below

1. Make sure the system has only one CAN Receive. Let the values be populated in 100Hz and used in 1Hz/10Hz based on priority. Having more than one CAN can lead to confusions and hence may also miss messages.

2. When reading messages in 100Hz , read the CAN messages and use a if instead of while so that you avoid the chances of it to overrun.

My Issue #1

Discuss the issue and resolution.

Conclusion

The self driving car project has definitely helped us learn and grow in terms of technical knowledge as well as team management. Right from choosing the hardware components by considering every aspect of its functionality to programming them, this project has indeed given us an end-to-end learning of the entire system. There has been a lot of decision making which has resulted in many brain-storming sessions with the team as a whole.

The different phases of the project have been significant in their own terms. Selection of hardware is of utmost importance. We have had scenarios where we changed the ultrasonic sensors and the RPM sensors for greater accuracy. A major learning is that component selection needs diligent efforts. Sticking to the demo timelines would help a great deal. Code reviews would be beneficial as well.

We, as a team, have learnt how to build a machine from scratch. We also have learnt how a considerably big team can manage their particular modules and co-ordinate with the other modules as well. Team management has been a good takeaway here.

It has been overall a tremendous learning experience. I hope the further projects benefit from our learning curve documented.

Project Video

Upload a video of your project and post the link here.

Project Source Code

• Gitlab Source Code Link

References

Acknowledgement

This project has been an amazing learning experience for the whole team. The knowledge we take from here is immense. We are grateful to our Professor Preetpal Kang for his guidance and efforts towards making our learning commendable. Also, we would like to extend our sincere thanks to the ISA team for their continuous support. Here is a special mention to the Kasper team for all their meticulous and diligent efforts towards making this project a reality.

References Used

List any references used in project.

Appendix

You can list the references you used.