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_: 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;