Difference between revisions of "S23: CAN CLAN"

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(→‎Abstract)
(→‎DBC File)
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<You can optionally use an inline image>
 
<You can optionally use an inline image>
 +
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 DRIVER GEO MOTOR SENSOR_BRIDGE
 +
 +
 +
BO_ 100 ULTRASONIC_TO_DRIVER: 5 SENSOR_BRIDGE
 +
SG_ ULTRASONIC_TO_DRIVER_left : 0|10@1+ (1,0) [0|511] "cm" DRIVER
 +
SG_ ULTRASONIC_TO_DRIVER_right : 10|10@1+ (1,0) [0|511] "cm" DRIVER
 +
SG_ ULTRASONIC_TO_DRIVER_front : 20|10@1+ (1,0) [0|511] "cm" DRIVER
 +
SG_ ULTRASONIC_TO_DRIVER_back : 30|10@1+ (1,0) [0|511] "cm" DRIVER
 +
 +
BO_ 300 GPS_DESTINATION: 8 SENSOR_BRIDGE
 +
SG_ GPS_DEST_LATITUDE_SCALED_100000 : 0|32@1- (1,0) [0|0] "Degrees" GEO
 +
SG_ GPS_DEST_LONGITUDE_SCALED_100000 : 32|32@1- (1,0) [0|0] "Degrees" GEO
 +
 +
BO_ 50 DRIVE_STATUS_CMD: 1 SENSOR_BRIDGE
 +
SG_ DRIVE_STATUS_CMD_start : 0|1@1+ (1,0) [0|0] "" MOTOR
 +
 +
BO_ 600 SELF_TEST_CMD: 1 SENSOR_BRIDGE
 +
SG_ SELF_TEST_CMD_start : 0|1@1+ (1,0) [0|0] "" MOTOR, GEO, DRIVER
 +
 +
 +
BO_ 200 DRIVER_TO_MOTOR: 2 DRIVER
 +
SG_ DRIVER_TO_MOTOR_steer : 0|8@1- (1,0) [0|0] "degrees" MOTOR, SENSOR_BRIDGE
 +
SG_ DRIVER_TO_MOTOR_speed : 8|8@1- (1,0) [0|50] "mph" MOTOR, SENSOR_BRIDGE
 +
 +
BO_ 610 DRIVER_SELF_TEST_RESULT: 1 DRIVER
 +
SG_ DRIVER_SELF_TEST_RESULT_status : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE
 +
 +
 +
BO_ 400 GEO_STATUS: 8 GEO
 +
  SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER, SENSOR_BRIDGE
 +
  SG_ GEO_STATUS_COMPASS_BEARING : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER, SENSOR_BRIDGE
 +
  SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|16@1+ (0.1,0) [0|0] "Meters" DRIVER, SENSOR_BRIDGE
 +
  SG_ GEO_STATUS_SATELLITE_LOCKED : 40|1@1+ (1,0) [0|0] "" DRIVER, SENSOR_BRIDGE
 +
 +
BO_ 620 GEO_SELF_TEST_RESULT: 1 GEO
 +
SG_ GEO_SELF_TEST_RESULT_status : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE
 +
 +
BO_ 650 GEO_CURRENT_COORDS: 8 SENSOR_BRIDGE
 +
SG_ CURR_LATITUDE_SCALED_100000 : 0|32@1- (1,0) [0|0] "Degrees" SENSOR_BRIDGE
 +
SG_ CURR_LONGITUDE_SCALED_100000 : 32|32@1- (1,0) [0|0] "Degrees" SENSOR_BRIDGE
 +
 +
 +
BO_ 500 MOTOR_TO_APP_DBG: 2 MOTOR
 +
SG_ MOTOR_TO_APP_DBG_current_steer : 0|8@1- (1,0) [0|0] "degrees" SENSOR_BRIDGE
 +
SG_ MOTOR_TO_APP_DBG_current_speed : 8|8@1- (1,0) [0|50] "mph" SENSOR_BRIDGE
 +
 +
BO_ 620 MOTOR_SELF_TEST_RESULT: 1 MOTOR
 +
SG_ MOTOR_SELF_TEST_RESULT_status : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE
 +
 +
 +
CM_ BU_ DRIVER "The LED display and driver controller driving the car";
 +
CM_ BU_ MOTOR "The RPM sensor, DC and servo motor controller of the car";
 +
CM_ BU_ SENSOR_BRIDGE "The Bluetooth and the sonar sensor controller of the car";
 +
CM_ BU_ GEO "The GPS and compass sensor controller of the car";
 +
 +
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_ 100 1000;
 +
BA_ "GenMsgCycleTime" BO_ 200 50;
  
  
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
 +
 
== Sensor ECU ==
 
== Sensor ECU ==
 
<Picture and link to Gitlab>
 
<Picture and link to Gitlab>

Revision as of 20:42, 11 May 2023

CAN CLAN

Final car.png 

Picture of the RC Car


Abstract

Our goal for this project is to use knowledge we gathered from lectures to design, implement, and test a self-driving RC car using a Controller Area Network (CAN) bus for controller communication. The project involves FreeRTOS and utilizes periodic tasks (running at 1Hz, 10Hz, and 100Hz) to gather, process, and display data from various embedded modules.


Introduction

The project was divided into 5 modules:

  • Sensor Information
  • Motor Operation
  • Geological Information
  • Driver & LCD Manager
  • Bridge & Android Application


Team Members & Responsibilities

<Team Picture>

  • Final car.png

Gitlab Project Link - https://gitlab.com/rashmi_sv/the_CAN_clan.git

  • Final car.png

    • Rashmi Suhas Vaidya

    • Geo Controller
    • GPS and Compass Interfacing
    • Driver Node
    • Integration Testing
  • Final car.png

    • Zeel Jatinkumar Lia

    • Sensor and Bridge Controller
    • RPM Sensor
    • Driver Node
    • Integration Testing
  • Final car.png

    • Priyam Hajisheth

    • Driver Node
    • LCD interfacing
    • Mobile App
    • Integration Testing
  • Final car.png

    • Xinyu He

    • Hardware solution
    • Wiki Page Update
    • Integration Testing
  • Final car.png

    • Hongjin Cheng

    • RPM Sensor
    • Motor Controller
    • Hardware assembling
    • Integration Testing



    Schedule

    Week# Start Date End Date Task Status
    1 03/01/2023 03/07/2023
    • Read previous projects, gather information and discuss among the group members.
    • Discuss each team-member's preference and assign controller roles
    • Create parts list for the RC car, discuss, and decide on each item
    • Completed
    2 03/08/2023 03/14/2023
    • Order all parts from list and save tracking/price info
    • Completed
    3 03/15/2023 03/21/2023
    • Design interface for Bridge and Sensor Controller, with unit tests
    • Design interface for Motor Controller, with unit tests
    • Design interface for Driver and LCD Controller, with unit tests
    • Integrate Bridge/Sensor Controller to CAN bus with DBC, handling messages
    • Integrate Motor Controller to CAN bus with DBC, handling messages
    • Integrate Driver Controller to CAN bus with DBC, handling messages
    • All parts received
    • Completed
    4 03/22/2023 03/28/2023
    • Design interface for GEO Controller, with unit tests
    • Integrate Geological Controller to CAN bus with DBC, handling messages
    • Integrate Ultrasonic sensor with SJ2 to verify distance from obstacle is sensed
    • Integrate Motor and Steering with PWM control, figure out the working ranges
    • Integrate GPS sensor with SJ2, get GPGGA strings over UART, parse current coordinates
    • Completed
    5 03/29/2023 04/04/2023
    • Integrate Compass sensor with SJ2 board over I2C and get bearing values
    • Connect all nodes together on the CAN bus, verify messages across all nodes
    • Code the Haversine formula into GEO controller to get distance and heading based on current and destination coordinates
    • Write driver logic based on distance and heading from GEO and obstacle details from sensor nodes
    • Integrate GPS and Compass peripherals, writing the driver and unit tests
    • MILESTONE - All individual modules considered "Roughly Working" with hardware interfaced
    • Completed
    6 04/05/2023 04/11/2023
    • Finalize the DBC file for project
    • Create a detailed schedule for remaining tasks, dividing work into four milestones
    • Start RPM sensor logic implementation and add it to Motor controller
    • Integrate Bluetooth module to Bridge/Sensor controller, with UART logic
    • Work on integrating the MaxBotix ultrasonic sensor with the sensor module
    • Work on Stage-1 mounting of all components on the RC car with temporary fixing
    • Fix problem with BDC-DBF conversion on BusMaster and show graphs on it
    • MILESTONE - Basic car driving ability with basic obstacle avoidance
    • Incomplete
    7 04/12/2022 04/18/2022
    • Complete basic working Mobile App which connects to the bridge controller, sends a test message and receives sensor values
    • Work on calibrating compass sensor to get accurate bearing readings
    • Create a on-board battery power supply for all components
    • Work on Stage-2 mounting of all components on the RC car with soldering of parts and wires
    • Complete the Compass calibration and read accurate readings from it
    • Have PWM signals reliably controlling the motor speed
    • Start working on reliable navigation with obstacle avoidance
    • MILESTONE - Integrated, reliably "heading" towards provided destination bearing, basic obstacle avoidance
    • Incomplete
    8 04/19/2023 04/25/2023
    • Send fake destination coordinates from Mobile app and start and stop commands
    • Integrate LED display to the driver controller and show current heading, speed on it
    • Add a GPS Lock LED on the Geo controller
    • Add more LEDs on various SJ2 boards for more debug information for MIA, obstacle detection, etc
    • Work on getting the car pass the Ramp test
    • Work on Stage-3 permanent fixing of all components on the RC car
    • Outdoor testing for longer range trips, and complete necessary enhancements
    • MILESTONE - Integration part 2, perform obstacle avoidance and destination bearing
    • Incomplete
    9 04/26/2023 05/02/2023
    • Integrate Google Maps on Mobile App for destination coordinates
    • Show debug information (GPS Coordinates, Sensor Values, Values from Compass, Calculated Distance, Motor Speed) on App and LED screen
    • Work on getting the car to pass the U-turn test
    • Verify that the electrical and mechanical work is complete
    • MILESTONE - Integration and outdoor testing, adding necessary software changes
    • Incomplete
    10 05/03/2023 05/09/2023
    • Work on On/Off Button - power button to start the car
    • Enable the Headlights to the car
    • Work on robustness of the car, perform corner test cases in actual runs of the car
    • Start working on report writing of the project
    • MILESTONE - Integration testing, deal with uneven terrain, reliable waypoints navigation and obstacle avoidance
    • Incomplete
    11 05/10/2023 05/16/2023
    • Finish project report writing
    • Full System Testing, any needed Hardware and software fixes and optimizing
    • Incomplete
    11 05/24/2023 05/24/2023
    • Final Project Demo Day
    • Incomplete


    Parts List & Cost

    Item# Part Desciption Vendor Qty Cost/Item
    1 Unassembled RC Car Traxxas [1] 1 $279.99
    2 CAN Transceivers Amazon [2] 4 $8.99
    3 PCB JLCPCB [3] 1 $40.00
    4 Sensors DFRobot [4] 4 $12.90
    5 GPS Amazon [5] 1 $29.92
    6 RPM Sensor Traxxas [6] 1 $19.00
    7 WT901 IMU Amazon[7] 1 $32.00
    8 1kΩ Pull-Up Resistor N/A 1 N/A


    Printed Circuit Board

    The preliminary design consisted of neatly routes wires on a breadboard connecting all the various components. It still looked confusing due to the sheer amount of connections that had to be made, this complexity was to be handled by a custom PCB designed in EasyEDA.

    CAN CLAN Car Pinout.png



    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>

    DBC File

    Gitlab link to our DBC file : https://gitlab.com/rashmi_sv/the_CAN_clan/-/blob/dev/dbc_file/dbc/project.dbc

    <You can optionally use an inline image> 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 DRIVER GEO MOTOR SENSOR_BRIDGE


    BO_ 100 ULTRASONIC_TO_DRIVER: 5 SENSOR_BRIDGE 

    SG_ ULTRASONIC_TO_DRIVER_left : 0|10@1+ (1,0) [0|511] "cm" DRIVER
SG_ ULTRASONIC_TO_DRIVER_right : 10|10@1+ (1,0) [0|511] "cm" DRIVER
SG_ ULTRASONIC_TO_DRIVER_front : 20|10@1+ (1,0) [0|511] "cm" DRIVER
SG_ ULTRASONIC_TO_DRIVER_back : 30|10@1+ (1,0) [0|511] "cm" DRIVER

    BO_ 300 GPS_DESTINATION: 8 SENSOR_BRIDGE 

    SG_ GPS_DEST_LATITUDE_SCALED_100000 : 0|32@1- (1,0) [0|0] "Degrees" GEO
SG_ GPS_DEST_LONGITUDE_SCALED_100000 : 32|32@1- (1,0) [0|0] "Degrees" GEO

    BO_ 50 DRIVE_STATUS_CMD: 1 SENSOR_BRIDGE 

    SG_ DRIVE_STATUS_CMD_start : 0|1@1+ (1,0) [0|0] "" MOTOR

    BO_ 600 SELF_TEST_CMD: 1 SENSOR_BRIDGE 

    SG_ SELF_TEST_CMD_start : 0|1@1+ (1,0) [0|0] "" MOTOR, GEO, DRIVER


    BO_ 200 DRIVER_TO_MOTOR: 2 DRIVER 

    SG_ DRIVER_TO_MOTOR_steer : 0|8@1- (1,0) [0|0] "degrees" MOTOR, SENSOR_BRIDGE
SG_ DRIVER_TO_MOTOR_speed : 8|8@1- (1,0) [0|50] "mph" MOTOR, SENSOR_BRIDGE

    BO_ 610 DRIVER_SELF_TEST_RESULT: 1 DRIVER 

    SG_ DRIVER_SELF_TEST_RESULT_status : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE


    BO_ 400 GEO_STATUS: 8 GEO 

     SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER, SENSOR_BRIDGE
 SG_ GEO_STATUS_COMPASS_BEARING : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER, SENSOR_BRIDGE
 SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|16@1+ (0.1,0) [0|0] "Meters" DRIVER, SENSOR_BRIDGE
 SG_ GEO_STATUS_SATELLITE_LOCKED : 40|1@1+ (1,0) [0|0] "" DRIVER, SENSOR_BRIDGE

    BO_ 620 GEO_SELF_TEST_RESULT: 1 GEO 

    SG_ GEO_SELF_TEST_RESULT_status : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE

    BO_ 650 GEO_CURRENT_COORDS: 8 SENSOR_BRIDGE 

    SG_ CURR_LATITUDE_SCALED_100000 : 0|32@1- (1,0) [0|0] "Degrees" SENSOR_BRIDGE
SG_ CURR_LONGITUDE_SCALED_100000 : 32|32@1- (1,0) [0|0] "Degrees" SENSOR_BRIDGE


    BO_ 500 MOTOR_TO_APP_DBG: 2 MOTOR 

    SG_ MOTOR_TO_APP_DBG_current_steer : 0|8@1- (1,0) [0|0] "degrees" SENSOR_BRIDGE
SG_ MOTOR_TO_APP_DBG_current_speed : 8|8@1- (1,0) [0|50] "mph" SENSOR_BRIDGE

    BO_ 620 MOTOR_SELF_TEST_RESULT: 1 MOTOR 

    SG_ MOTOR_SELF_TEST_RESULT_status : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE


    CM_ BU_ DRIVER "The LED display and driver controller driving the car"; CM_ BU_ MOTOR "The RPM sensor, DC and servo motor controller of the car"; CM_ BU_ SENSOR_BRIDGE "The Bluetooth and the sonar sensor controller of the car"; CM_ BU_ GEO "The GPS and compass sensor controller of the car";

    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_ 100 1000; BA_ "GenMsgCycleTime" BO_ 200 50;



    Sensor ECU

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>


    Motor ECU

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>


    Geographical Controller

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>



    Communication Bridge Controller & LCD

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>


    Master Module

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>


    Mobile Application

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>




    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 ===

    Retrieved from "http://socialledge.com/sjsu/index.php?title=S23:_CAN_CLAN&oldid=70226"