Difference between revisions of "S23: Meh-sla Automotive"

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(→‎Ultrasonic Sensors)
(→‎Ultrasonic Sensors)
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'''''SONAR task'''''
 
'''''SONAR task'''''
  
−
void sonar_task(void *p) {
+
void sonar_task(void *p) {
 
   sonar__init();
 
   sonar__init();
 
   front_rear_echo_received = xSemaphoreCreateBinary();
 
   front_rear_echo_received = xSemaphoreCreateBinary();

Revision as of 02:30, 17 May 2023

Project Title

<Team Name>


Abstract

<2-3 sentence abstract>

Introduction

The project was divided into N modules:

  • Sensor ...
  • Motor..
  • ...
  • Android

Team Members & Responsibilities

<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

Week # Start Date End Date Task Status
1 2/12/2023 2/18/2023
  • Read previous projects, gather information and discuss among group members
  • Completed
2 2/19/2023 2/25/2023
  • Brainstorm on the requirements for the project
  • Create a high-level block diagram of the project
  • Completed
  • Completed
3 26/2/2023 3/4/2023
  • Order the RC Car
  • Order all the sensors
  • Completed
  • Completed
4 3/5/2023 3/11/2023
  • Learning to use CAN BUSMASTER
  • Test all the parts received and order any missing or damaged parts
  • Test RC Car is functional
  • Completed
  • Completed
  • Completed
5 3/12/2023 3/18/2023
  • Establish CAN transmit and receive functionality, start formatting DBC messages
  • DBC file discussed and implemented
  • Completed
  • Completed
6 3/19/2023 3/25/2023
  • Discuss modules needed for PCB, any feature requests
  • Purchase PCBs
  • Completed
  • Completed
7 3/26/2023 4/1/2023
  • Finalize preparations and research during Spring Break
  • Start working on way point algorithm
  • Start working on obstacle avoidance algorithm
  • Completed
  • Completed
  • Completed
8 4/2/2023 4/8/2023
  • Work on the power supplies for boards
  • Interface Bluetooth for bridge controller
  • Integrate the GEO sensor and controller
  • Interface with RC car and start working on DRIVER and MOTOR nodes
  • Write a basic implementation of the sensor controller
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
9 4/9/2023 4/15/2023
  • Integrate compass
  • Install RPM Sensor
  • Start Mobile Application development
  • Finalize power supply choice and how it integrates with PCB
  • Finish PCB designs for each subsystem
  • Begin design of entire RC car assembly
  • First outdoor tests commence
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • In Progress
  • In Progress
10 4/16/2023 4/22/2023
  • Finish 1st vehicle prototype
  • Complete basic mobile application
  • Interface motor and steering together
  • Begin implementation of RPM sensor for PID control
  • Connect all boards to PCB and begin implementation
  • Write motor test routines to define in mobile application
  • Continue outdoor test
  • In Progress
  • In Progress
  • In Progress
  • In Progress
  • In Progress
  • Incomplete
  • Incomplete
11 4/23/2023 4/29/2023
  • Populate PCB and prepare for installation
  • Finalize GPS module + create unit_tests
  • First final draft MR for motor_board branch
  • First final draft MR for bridge_controller branch
  • First final draft MR for sensor_board branch
  • First final draft MR for geo_board branch
  • Continue outdoor tests
  • In Progress
  • In Progress
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
12 4/30/2023 5/6/2023
  • Finish mobile application
  • Begin working on wiki
  • Begin PID control for motor on hill
  • Integrate initial mobile application features
  • First North Garage tests commence
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
13 5/7/2023 5/13/2023
  • Fix bugs with altogether integration
  • Finalize PID control
  • Clean up code for branches --> update master branches
  • More North Garage tests
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
14 5/14/2023 5/19/2023
  • Final code cleanup
  • Add RC Car designs (pirate ship flag, argh!)
  • Finalize wiki report
  • Final North Garage tests
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete


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>

DBC File

Gitlab link to DBC file 

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 MOTOR SENSOR GEO

BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR

BO_ 101 MOTOR_SPEED: 1 DRIVER
 SG_ DC_MOTOR_DRIVE_SPEED_sig : 0|8@1+ (0.1,-10) [-10|10] "kph" MOTOR

BO_ 102 MOTOR_ANGLE: 1 DRIVER
 SG_ SERVO_STEER_ANGLE_sig : 0|8@1+ (1,-45) [-45|45] "degrees" MOTOR


BO_ 200 SENSOR_SONARS: 4 SENSOR
 SG_ SENSOR_SONARS_left : 0|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_right : 8|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_front : 16|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_rear : 24|8@1+ (1,0) [0|158] "inch" DRIVER

BO_ 202 GPS_DESTINATION_LOCATION: 8 SENSOR
 SG_ GPS_DEST_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "Degrees" GEO
 SG_ GPS_DEST_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "Degrees" GEO

BO_ 203 GEO_STATUS: 8 GEO
 SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR
 SG_ GEO_STATUS_COMPASS_BEARING: 12|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR
 SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|16@1+ (0.01,0) [0|0] "Meters" DRIVER,SENSOR

BO_ 204 GPS_CURRENT_INFO: 8 GEO
 SG_ GPS_CURRENT_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "degrees" DRIVER,SENSOR,MOTOR
 SG_ GPS_CURRENT_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "degrees" DRIVER,SENSOR,MOTOR
 
BO_ 205 GPS_CURRENT_DESTINATIONS_DATA: 8 GEO
 SG_ CURRENT_DEST_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "Degrees" DRIVER
 SG_ CURRENT_DEST_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "Degrees" DRIVER

BO_ 206 BRIDGE_APP_COMMANDS: 1 SENSOR
 SG_ APP_COMMAND : 0|2@1+ (1,0) [0|0] "" GEO,DRIVER

BO_ 300 MOTOR_STATUS: 3 MOTOR
 SG_ MOTOR_STATUS_wheel_error : 0|1@1+ (1,0) [0|0] "" DRIVER,IO
 SG_ MOTOR_STATUS_speed_kph : 8|16@1+ (0.001,0) [0|0] "kph" DRIVER,IO
 
BO_ 401 MOTOR_DEBUG: 1 MOTOR
 SG_ IO_DEBUG_test_unsigned : 0|8@1+ (1,0) [0|256] "sec" DBG

CM_ BU_ DBG "The debugging node for testing dbc with the car";
CM_ BU_ DRIVER "The driver controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BU_ GEO "The geological Controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";
CM_ SG_ 101 DC_MOTOR_DRIVE_SPEED_sig "The speed in kph to set the motor speed. TODO: choose kph/mph";
CM_ SG_ 102 SERVO_STEER_ANGLE_sig "The direction in degrees to set the RC car servo direction.";

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;
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";

VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;





Sensor and Bridge Controller

Hardware Design

Bridge controller connections

Ultrasonic Sensors

We used HC-SR04 ultrasonic sensors for obstacle detection. It could provide a range from 2 cm to 400 cm non-contact measurement. The ranging accuracy is approximately 3mm and the effectual angle is less than 15°. It needs to be powered by a 5V power supply. We are using 4 HC-SR04 sensors in the RC car(front, rear, left, and right).

HC-SR04 specifications
  • Operating voltage: +5V
  • Theoretical Measuring Distance: 2cm to 450cm
  • Practical Measuring Distance: 2cm to 80cm
  • Accuracy: 3mm
  • Measuring angle covered: <15°
  • Operating Current: <15mA
  • Operating Frequency: 40Hz

The pinout and the timing diagram of the HC-SR04 sensor are shown in the following figures. The module includes an ultrasonic transmitter, a receiver, and a control circuit. The basic principle of work: When the trigger pin is set HIGH for at least 10us, the module automatically sends a 40 kHz ultrasonic wave from the Ultrasonic transmitter. This wave travels in the air and when it gets obstructed by any material it gets reflected back toward the sensor. This reflected wave is observed by the Ultrasonic receiver module. Once the wave is returned the Echo pin goes high for a particular amount of time which will be equal to the time taken for the wave to return back to the sensor. The amount of time during which the Echo pin stays high is measured by the SJ2 board as it gives the information about the time taken for the wave to return back to the Sensor. Using this information the distance is measured as explained in the above heading. From that duration, the distance at which the object is present can be measured using the formula, Distance = Speed × Time.

HC-SR04 Pinout
HC-SR04 Timing Diagram
HC-SR04 Working Principle

Bluetooth Module

For the communication between the mobile and the RC Car, we are using Adafruit Bluefruit LE UART Friend - BLE module. This module communicates with the SJ2 board through UART at a baud rate of 9600. It also has the capability of working in two modes (data mode and command mode). We can toggle between the two modes using the MOD pin through a GPIO signal or manually using the onboard switch. It supports AT command set, which can be used to control the device's behavior. In data mode, the data written to the UART in the form of a string will be sent through Bluetooth.

Adafruit Bluefruit specifications
  • ARM Cortex M0 core running at 16MHz
  • 256KB flash memory
  • 32KB SRAM
  • Transport: UART @ 9600 baud with HW flow control (CTS+RTS required)
  • 5V-safe inputs
  • On-board 3.3V voltage regulation
  • Bootloader with support for safe OTA firmware updates
  • Easy AT command set to get up and running quickly

Software Design

We read about the signal interference of adjacent sensors from many of the past projects. So we decided to avoid that interference by triggering two non-adjacent sensors at a time. The FRONT_REAR sensor pair is triggered first. Once both of the sensors compute the distance from the obstacle, then the next pair, RIGHT_LEFT is triggered. For the ultrasonic sensors, we used a separate task instead of the periodic callbacks since this task sleeps on a semaphore which might affect the other functions in the periodic callback function.

Ultrasonic Sensors

SONAR task 

void sonar_task(void *p) {
 sonar__init();
 front_rear_echo_received = xSemaphoreCreateBinary();
 left_right_echo_received = xSemaphoreCreateBinary();
 lpc_peripheral__enable_interrupt(LPC_PERIPHERAL__GPIO, sonar__interrupt_dispatcher, "sonar_timing_handler");
 NVIC_EnableIRQ(GPIO_IRQn);
 while (1) {
   sonar__send_trigger_for_10us(FRONT_REAR);
   if (xSemaphoreTake(front_rear_echo_received, 1000)) {
     sonar_pair_info[0].distance_from_obstacle_sonar1 = sonar__compute_obstacle_distance_single_sensor(FRONT_SONAR);
     sonar_pair_info[0].distance_from_obstacle_sonar2 = sonar__compute_obstacle_distance_single_sensor(REAR_SONAR);
   }
   sonar__send_trigger_for_10us(LEFT_RIGHT);
   if (xSemaphoreTake(left_right_echo_received, 1000)) {
     sonar_pair_info[1].distance_from_obstacle_sonar1 = sonar__compute_obstacle_distance_single_sensor(LEFT_SONAR);
     sonar_pair_info[1].distance_from_obstacle_sonar2 = sonar__compute_obstacle_distance_single_sensor(RIGHT_SONAR);
   }
   sonar__averaging_sensor_values();
   vTaskDelay(10);
 }

}

Bluetooth Module

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 ===

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