Difference between revisions of "S23: CAN CLAN"
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NS_ : | 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_: | BS_: | ||
− | BU_: DRIVER MOTOR | + | BU_: DBG DRIVER GEO MOTOR SENSOR_BRIDGE |
− | BO_ 100 | + | BO_ 100 ULTRASONIC_TO_DRIVER: 5 SENSOR_BRIDGE |
− | SG_ | + | 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_ | + | BO_ 300 GPS_DESTINATION: 8 SENSOR_BRIDGE |
− | SG_ | + | SG_ GPS_DEST_LATITUDE_SCALED_100000 : 0|32@1- (1,0) [0|0] "Degrees" GEO |
− | SG_ | + | SG_ GPS_DEST_LONGITUDE_SCALED_100000 : 32|32@1- (1,0) [0|0] "Degrees" GEO |
− | BO_ | + | BO_ 50 DRIVE_STATUS_CMD: 1 SENSOR_BRIDGE |
− | SG_ | + | SG_ DRIVE_STATUS_CMD_start : 0|1@1+ (1,0) [0|0] "" MOTOR |
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+ | BO_ 600 SELF_TEST_CMD: 1 SENSOR_BRIDGE | ||
+ | SG_ SELF_TEST_CMD_start : 0|1@1+ (1,0) [0|0] "" MOTOR, GEO, DRIVER | ||
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+ | 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_ | + | 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_ | + | BO_ 650 GEO_CURRENT_COORDS: 8 SENSOR_BRIDGE |
− | SG_ | + | 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_ | + | BO_ 620 MOTOR_SELF_TEST_RESULT: 1 MOTOR |
− | + | SG_ MOTOR_SELF_TEST_RESULT_status : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE | |
− | SG_ | ||
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− | + | 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"; | |
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− | CM_ BU_ DRIVER "The driver controller driving the car"; | ||
− | CM_ BU_ MOTOR "The motor controller of the car"; | ||
− | CM_ BU_ | ||
− | CM_ BU_ GEO " | ||
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BA_DEF_ "BusType" STRING ; | BA_DEF_ "BusType" STRING ; | ||
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BA_ "GenMsgCycleTime" BO_ 100 1000; | BA_ "GenMsgCycleTime" BO_ 100 1000; | ||
BA_ "GenMsgCycleTime" BO_ 200 50; | BA_ "GenMsgCycleTime" BO_ 200 50; | ||
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Revision as of 20:44, 11 May 2023
Contents
CAN CLAN
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>
Gitlab Project Link - https://gitlab.com/rashmi_sv/the_CAN_clan.git
Rashmi Suhas Vaidya
- Geo Controller
- GPS and Compass Interfacing
- Driver Node
- Integration Testing
Zeel Jatinkumar Lia
- Sensor and Bridge Controller
- RPM Sensor
- Driver Node
- Integration Testing
Priyam Hajisheth
- Driver Node
- LCD interfacing
- Mobile App
- Integration Testing
Xinyu He
- Hardware solution
- Wiki Page Update
- Integration Testing
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 |
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2 | 03/08/2023 | 03/14/2023 |
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3 | 03/15/2023 | 03/21/2023 |
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4 | 03/22/2023 | 03/28/2023 |
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5 | 03/29/2023 | 04/04/2023 |
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6 | 04/05/2023 | 04/11/2023 |
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7 | 04/12/2022 | 04/18/2022 |
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8 | 04/19/2023 | 04/25/2023 |
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9 | 04/26/2023 | 05/02/2023 |
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10 | 05/03/2023 | 05/09/2023 |
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11 | 05/10/2023 | 05/16/2023 |
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11 | 05/24/2023 | 05/24/2023 |
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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 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 ===