S23: CAN CLAN

1 CAN CLAN
2 Abstract
- 2.1 Introduction
- 2.2 Team Members & Responsibilities
3 Schedule
4 Parts List & Cost
5 Printed Circuit Board
6 CAN Communication
- 6.1 Hardware Design
- 6.2 DBC File
7 Sensor ECU
8 Motor ECU
9 Geographical Controller
10 Communication Bridge Controller & LCD
11 Master Module
12 Mobile Application
13 Conclusion

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

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	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 Communication

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

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_: DRIVER MOTOR SENSOR GEO DEBUG


BO_ 100 DRIVER_HEARTBEAT: 3 DRIVER
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" DBG

BO_ 110 DRIVER_STEERING: 3 DRIVER
 SG_ DRIVER_STEERING_yaw : 0|12@1+ (0.001,-2) [-10|10] "radians" MOTOR
 SG_ DRIVER_STEERING_velocity : 12|12@1+ (0.01,-20) [-20|20] "kph" MOTOR

BO_ 120 MOTOR_HEARTBEAT: 5 MOTOR
 SG_ MOTOR_HEARTBEAT_speed_raw : 0|8@1+ (1,0) [0|0] "count" DEBUG
 SG_ MOTOR_HEARTBEAT_speed_rpm : 8|10@1+ (1,0) [0|0] "rpm" DEBUG
 SG_ MOTOR_HEARTBEAT_speed_kph : 18|10@1+ (0.1,-10) [-10|10] "kph" DEBUG
 SG_ MOTOR_HEARTBEAT_angle_duty : 28|10@1+ (0.001,-2) [-10|10] "duty" MOTOR


BO_ 125 MOTOR_DEBUG: 8 MOTOR
 SG_ MOTOR_DEBUG_speed_target : 0|26@1+ (0.1,-10) [-10|10] "kph" DEBUG
 SG_ MOTOR_DEBUG_speed_kph : 26|10@1+ (0.1,-10) [-10|10] "kph" DEBUG
 SG_ MOTOR_DEBUG_speed_duty : 36|10@1+ (0.1,0) [0|0] "duty" DEBUG
 SG_ MOTOR_DEBUG_integral_error : 46|10@1+ (0.1,-10) [-10|10] "error" DEBUG
 SG_ MOTOR_DEBUG_current_state : 56|3@1+ (1,0) [0|5] "state" DEBUG
 SG_ MOTOR_DEBUG_next_state : 59|3@1+ (1,0) [0|5] "state" DEBUG




BO_ 128 MOTOR_ESC_CALIBRATED: 1 MOTOR
 SG_ MOTOR_ESC_CALIBRATED_calibration_status : 0|4@1+ (1,0) [0|3] "esc_calibration_e" DRIVER
 SG_ MOTOR_ESC_CALIBRATED_start_calibration_ack_to_driver : 4|1@1+ (1,0) [0|1] "bool" DRIVER


BO_ 129 DRIVER_START_ESC_CALIBRATION: 1 DRIVER
 SG_ MOTOR_ESC_CALIBRATED_begin_esc_calibration : 0|1@1+ (1,0) [0|3] "bool" MOTOR

BO_ 130 MOTOR_ACK: 1 MOTOR
 SG_ MOTOR_ACK_cmd : 0|8@1+ (1,0) [0|0] "" DRIVER


BO_ 200 SENSOR_SONARS: 8 SENSOR
 SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|800] "inch" DRIVER
 SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|0] "inch" DRIVER
 SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|0] "inch" DRIVER
 SG_ SENSOR_SONARS_back : 30|10@1+ (1,0) [0|0] "inch" DRIVER
 SG_ SENSOR_SONARS_frame_id : 42|16@1+ (1,0) [0|0] "" DRIVER

BO_ 210 SENSOR_DESTINATION_LOCATION: 8 SENSOR
 SG_ SENSOR_DESTINATION_latitude : 0|28@1+ (0.000001,-90.000000) [-90|90] "Degrees" GEO
 SG_ SENSOR_DESTINATION_longitude : 28|28@1+ (0.000001,-180.000000) [-180|180] "Degrees" GEO

BO_ 218 NAVIGATION_MESSAGE: 1 GEO
 SG_ NAVIGATION_STATUS_navigation_status : 0|8@1+ (1,0) [0|3] "navigation_status_e" DRIVER

BO_ 219 CHECKPOINT_MESSAGE: 8 GEO
 SG_ CHECKPOINT_MESSAGE_compass_heading : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER
 SG_ CHECKPOINT_MESSAGE_destination_bearing : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER
 SG_ CHECKPOINT_MESSAGE_destination_distance : 24|16@1+ (0.1,0) [0|0] "Meters" DRIVER
 SG_ CHECKPOINT_MESSAGE_curr_checkpoint_num : 40|8@1+ (1,0) [0|255] "Integer" DRIVER
 SG_ CHECKPOINT_MESSAGE_total_checkpoint_num : 48|8@1+ (1,0) [0|255] "Integer" DRIVER
 SG_ CHECKPOINT_MESSAGE_checkpoint_status : 56|8@1+ (1,0) [0|3] "checkpoint_status_e" DRIVER

BO_ 220 GEO_STATUS: 8 GEO
 SG_ GEO_STATUS_compass_heading : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER
 SG_ GEO_STATUS_destination_bearing : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER
 SG_ GEO_STATUS_destination_distance : 24|16@1+ (0.1,0) [0|0] "Meters" DRIVER

BO_ 520 DEBUG_GPS_CURRENT_LOCATION: 8 GEO
 SG_ DEBUG_GPS_CURRENT_LOCATION_latitude : 0|28@1+ (0.000001,-90.000000) [-90|90] "Degrees" DEBUG
 SG_ DEBUG_GPS_CURRENT_LOCATION_longitude : 28|28@1+ (0.000001,-180.000000) [-180|180] "Degrees" DEBUG
 SG_ DEBUG_GPS_CURRENT_LOCATION_fix : 56|2@1+ (1,0) [0|2] "" DEBUG

BO_ 521 DEBUG_GEO_GPS_UPDATE: 8 GEO
 SG_ DEBUG_GEO_GPS_UPDATE_count : 0|16@1+ (1,0) [0|0] "" DEBUG
 SG_ DEBUG_GEO_GPS_UPDATE_max_period : 16|16@1+ (1,0) [0|0] "milliseconds" DEBUG
 SG_ DEBUG_GEO_GPS_UPDATE_min_period : 32|16@1+ (1,0) [0|0] "milliseconds" DEBUG
 SG_ DEBUG_GEO_GPS_UPDATE_average_period : 48|16@1+ (1,0) [0|0] "milliseconds" DEBUG

BO_ 522 DEBUG_GEO_COMPASS_UPDATE: 8 GEO
 SG_ DEBUG_GEO_COMPASS_UPDATE_count : 0|16@1+ (1,0) [0|0] "" DEBUG
 SG_ DEBUG_GEO_COMPASS_UPDATE_max_period : 16|16@1+ (1,0) [0|0] "milliseconds" DEBUG
 SG_ DEBUG_GEO_COMPASS_UPDATE_min_period : 32|16@1+ (1,0) [0|0] "milliseconds" DEBUG
 SG_ DEBUG_GEO_COMPASS_UPDATE_average_period : 48|16@1+ (1,0) [0|0] "milliseconds" DEBUG

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 geographical controller of the car";
CM_ BU_ DEBUG "the debug topic that all controllers can publish to";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";

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" ;