S20: Nimble
From Embedded Systems Learning Academy
Contents
Project Title
<Nimble>
Abstract
<2-3 sentence abstract>
Introduction
The project was divided into N modules:
- Sensor ...
- Motor..
- ...
- Android
Team Members & Responsibilities
<Team Picture>
- Tanmay Chandavarkar
- Sensor Module
- Master Module
- [ Yuming Cheng]
- GPS Module
- Master Module
- Motor Module
- [ Ellis Makwana]
- Sensor Module
- Master Module
- [ Naeem Mannan]
- Master Module
- Mobile Application
- LCD display
- [ Francesco Vescio]
- Sensor Module
- Master Module
- [ Lawrence Wan]
- Master Module
- GPS Module
- Motor Controller
- 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
Team Deliverables Schedule
| WEEK |
START DATE |
END DATE |
TASK DETAILS |
STATUS |
|---|---|---|---|---|
| 1 | Feb 2020 | 4 March 2020 |
|
|
| 2 | 05 March 2020 | 12 March 2020 |
|
|
| 3 | 13 March 2020 | 19 March 2020 |
|
|
| 4 | 20 March 2020 | 26 March 2020 |
|
|
| 5 | 27 March 2019 | 09 April 2019 |
|
|
| 6 | 10 April 2020 | 16 April 2020 |
|
|
| 7 | 17 April 2020 | 23 April 2020 |
|
|
| 8 | 24 April 2020 | 30 April 2020 |
|
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| 9 | 1 May 2020 | 7 May 2020 |
|
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| 10 | 8 May 2020 | 21 May 2020 |
|
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| 11 | 22 May 2020 |
|
|
Parts List & Cost
| Item# | Part Desciption | Vendor | Qty | Cost |
|---|---|---|---|---|
| 1 | RC Car | Traxxas - Amazon [1] | 1 | $168.84 |
| 2 | CAN Transceivers MCP2551-I/P | Robotshop [2] | 6 | $ 6.00 per unit including shipping fee |
| 3 | GPS | Amazon [] | 1 | $ .00 per unit including shipping fee |
| 4 | Compass | Amazon [] | 1 | $ .00 per unit including shipping fee |
| 5 | Ultrasonic sensors(LV-MaxSonar-EZ0) | SparkFun [] | 1 | $ 29.95 |
| 6 | Ultrasonic sensors (LV-MaxSonar-EZ1) | SparkFun [] | 2 | $ 51.90 |
| 7 | IR sensors (GP2Y0A21YK) | SparkFun [] | 1 | $ 34.23 including shipping fee and tax |
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 your DBC file> <You can optionally use an inline image>
Shown below is the DBC implementation for this project.
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_: MASTER BRIDGE MOTOR SENSOR GPS DBG
BO_ 103 BRIDGE_NODE: 1 BRIDGE
SG_ BRIDGE_START_cmd : 0|1@1+ (1,0) [0|1] "" MASTER,MOTOR
BO_ 104 CAR_CONTROL: 4 MASTER
SG_ MOTOR_DRIVE_cmd : 0|2@1+ (1,0) [0|0] "" MOTOR,BRIDGE
SG_ MOTOR_STEER_cmd : 2|15@1+ (0.1,-90.0) [-90|90] "" MOTOR,BRIDGE
SG_ MOTOR_kph : 17|12@1+ (0.01,0) [0.00|20.00] "kph" MOTOR,BRIDGE
BO_ 105 SENSOR_NODE: 5 SENSOR
SG_ SENSOR_FRONT_cm : 0|10@1+ (1,0) [0|645] "cm" MASTER,MOTOR,BRIDGE
SG_ LIDAR_Obstacle_FRONT : 10|3@1+ (1,0) [0|0] "" MASTER,MOTOR,BRIDGE
SG_ LIDAR_Obstacle_RIGHT : 13|3@1+ (1,0) [0|0] "" MASTER,MOTOR,BRIDGE
SG_ LIDAR_Obstacle_LEFT : 16|3@1+ (1,0) [0|0] "" MASTER,MOTOR,BRIDGE
SG_ LIDAR_Obstacle_BACK : 19|3@1+ (1,0) [0|0] "" MASTER,MOTOR,BRIDGE
SG_ LIDAR_Obstacle_BACK_RIGHT : 22|3@1+ (1,0) [0|0] "" MASTER,MOTOR,BRIDGE
SG_ LIDAR_Obstacle_BACK_LEFT : 25|3@1+ (1,0) [0|0] "" MASTER,MOTOR,BRIDGE
BO_ 106 MOTOR_NODE: 2 MOTOR
SG_ MOTOR_SPEED_kph : 0|12@1+ (0.01,0) [0.00|20.00] "kph" MASTER,BRIDGE
BO_ 107 BRIDGE_CHECKPOINTS: 8 BRIDGE
SG_ CHECKPOINT_LAT_deg : 0|28@1+ (0.000001,-90.000000) [-90|90] "Degrees" MASTER,GPS,MOTOR
SG_ CHECKPOINT_LONG_deg : 28|29@1+ (0.000001,-180.000000) [-180|180] "Degrees" MASTER,GPS,MOTOR
BO_ 108 GPS_LOCATION: 8 GPS
SG_ CURRENT_LAT_deg : 0|28@1+ (0.000001,-90.000000) [-90|90] "Degrees" MASTER,BRIDGE,MOTOR
SG_ CURRENT_LONG_deg : 28|29@1+ (0.000001,-180.000000) [-180|180] "Degrees" MASTER,BRIDGE,MOTOR
BO_ 109 COMPASS: 8 GPS
SG_ CMP_HEADING_deg : 0|12@1+ (0.1,0) [0|359.9] "Degrees" MASTER,BRIDGE,MOTOR
SG_ CMP_BEARING_deg : 12|12@1+ (0.1,0) [0|359.9] "Degrees" MASTER,BRIDGE,MOTOR
SG_ CMP_DISTANCE_meters : 24|17@1+ (0.01,0) [0|0] "Meters" MASTER,MOTOR,BRIDGE
BO_ 110 MASTER_HEARTBEAT: 1 MASTER
SG_ MASTER_hbt : 0|1@1+ (1,0) [0|1] "" SENSOR,MOTOR,BRIDGE,GPS
BO_ 111 SENSOR_HEARTBEAT: 1 SENSOR
SG_ SENSOR_hbt : 0|1@1+ (1,0) [0|1] "" MASTER
BO_ 112 MOTOR_HEARTBEAT: 1 MOTOR
SG_ MOTOR_hbt : 0|1@1+ (1,0) [0|1] "" MASTER
BO_ 113 GPS_HEARTBEAT: 1 GPS
SG_ GPS_hbt : 0|1@1+ (1,0) [0|1] "" MASTER
BO_ 114 BRIDGE_HEARTBEAT: 1 BRIDGE
SG_ BRIDGE_hbt : 0|1@1+ (1,0) [0|1] "" MASTER
BO_ 115 SENSOR_DEBUG: 1 SENSOR
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_sensor_init : 1|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_CAN_TX : 2|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 3|1@1+ (1,0) [0|0] "" DBG
BO_ 116 MOTOR_DEBUG: 2 MOTOR
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 1|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_RPM_kph : 2|12@1+ (0.01,0) [0.00|20.00] "kph" DBG
BO_ 117 MASTER_DEBUG: 1 MASTER
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 1|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_drive_mode : 2|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_HBT_FROM_ALL_CONTR : 3|1@1+ (1,0) [0|0] "" DBG
BO_ 118 GPS_DEBUG: 1 GPS
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_HBT_Transmit : 1|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 2|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_GPS_rx : 3|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_GPS_Fix : 4|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_Compass_Rx : 5|1@1+ (1,0) [0|0] "" DBG
BO_ 119 BRIDGE_DEBUG: 1 BRIDGE
SG_ IO_DEBUG_CAN_init : 0|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_HBT_Transmit : 1|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_bus_off : 2|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_Connected : 3|1@1+ (1,0) [0|0] "" DBG
SG_ IO_DEBUG_Bridge_rx : 4|1@1+ (1,0) [0|0] "" DBG
CM_ BU_ MASTER "The master controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BU_ BRIDGE "The bridge controller of the car";
CM_ BU_ GPS "The gps controller of the car";
CM_ BU_ DBG "The debug node of the car";
CM_ BO_ 100 "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_ 103 100;
BA_ "GenMsgCycleTime" BO_ 104 100;
BA_ "GenMsgCycleTime" BO_ 105 100;
BA_ "GenMsgCycleTime" BO_ 106 100;
BA_ "GenMsgCycleTime" BO_ 107 100;
BA_ "GenMsgCycleTime" BO_ 108 100;
BA_ "GenMsgCycleTime" BO_ 109 100;
BA_ "GenMsgCycleTime" BO_ 110 100;
BA_ "GenMsgCycleTime" BO_ 111 100;
BA_ "GenMsgCycleTime" BO_ 112 100;
BA_ "GenMsgCycleTime" BO_ 113 100;
BA_ "GenMsgCycleTime" BO_ 114 100;
BA_ "GenMsgCycleTime" BO_ 115 100;
BA_ "GenMsgCycleTime" BO_ 116 100;
BA_ "GenMsgCycleTime" BO_ 117 100;
BA_ "FieldType" SG_ 104 MOTOR_DRIVE_cmd "MOTOR_DRIVE_cmd";
VAL_ 104 MOTOR_DRIVE_cmd 2 "MOTOR_STOP" 1 "MOTOR_REV" 0 "MOTOR_FORWARD" ;
A screenshot of the Bus Master Application is as shown below:
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
Gitlab Project Link - [3]
Advise for Future Students
<Bullet points and discussion>
