S24: Team Gran Turismo

1 Project Title
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 and Bridge ECU
8 Motor ECU
9 Geographical Controller
10 Communication Bridge Controller & LCD
11 Driver Module
12 Mobile Application
13 Conclusion

Project Title

Gran Turismo

Abstract

"The Gran Turismo" is an autonomous RC car designed to navigate to a specified destination using GPS coordinates, communicated via a mobile application. The car integrates four microcontrollers (Driver, Sensor/Bridge, Geo, and Motor nodes) which communicate over a Controller Area Network (CAN) bus. It utilizes FreeRTOS to manage periodic tasks for data gathering, processing, and decision-making, ensuring effective obstacle detection and avoidance while maintaining the intended path.

Introduction

The project was divided into 5 modules:

Sensor/Bridge node
Motor node
Geo node
Driver node
Android App

Team Members & Responsibilities

Team Members:

Daniel Zhao Yeung
Suryanto Phienanda
Kaijian Wu
Lianshi Gan

Gitlab Project Link - C243_GT

Team Members	Task Responsibility
Daniel Zhao Yeung	Geo Node
Lianshi Gan	Sensor Node
Suryanto Phienanda	Motor Node
Suryanto Phienanda	Driver Node
Kaijian Wu	Mobile App, Bridge Node

Schedule

Week#	Start Date	End Date	Task	Status
1	03/04/2024	03/10/2024	Learn about the Busmaster and dbc. Connect db9 to Busmaster. Assign tasks to each team member.	Completed
2	03/11/2024	03/17/2024	Finish up RC Car Infrastructure. Get all the sensors and parts. Play with sensors and SJ2 boards.	Completed
3	03/18/2024	03/24/2024	Start working on dbc and mobile app. Integrate sensors with SJ2 boards. Get Data from different modules(GPS, Sensors). Starting to check on motor.	Completed
4	03/25/2024	03/31/2024	Develop LCD module. Start working on driver module. Build libraries for all modules (Bluetooth/WIFI, GPS, Sensor....). Continue work on mobile app.	Completed
5	04/01/2024	04/07/2024	PROTOTYPE 1 Build the car with all the modules. Create unit/integration tests. Continue work on mobile app.	Completed
6	04/08/2024	04/14/2024	Get the speed measuring sensor. Motors with PID control. Continue work on mobile app.	Completed
7	04/15/2024	04/21/2024	PROTOTYPE 2 Integrate bluetooth module Continue with mobile app	Completed
8	04/22/2024	04/28/2024	Finalize/Connect mobile app with RC car. Obstacle avoidance.	Completed
9	04/29/2024	05/05/2024	PROTOTYPE 3 Prepare for outdoor tests.	Completed
10	05/06/2024	05/12/2024	PROTOTYPE 4 Perform outdoors tests and recalibrate.	Completed
11	05/13/2024	05/19/2024	Final Demo	Incomplete

Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car	Traxxas	1	$250.00
2	CAN Transceivers MCP2551-I/P	Microchip [1]	8	Free Samples
3	Ultrasonic Sensor URM09 from DFRobots	dfrobot [2]	4	$8 * 4
4	DSD TECH HM-10 Bluetooth 4.0 BLE	Amazon [3]	1	$12.00

Printed Circuit Board

CAN Communication

Hardware Design

DBC File

Sensor and Bridge ECU

Hardware Design

Ultrasonic Sensor

Selecting the appropriate distance sensor is crucial for the success of the project. Our team chose the Ultrasonic Sensor URM09 from DFRobots due to its ease of use and cost-effectiveness. The URM09 offers multiple communication protocols, and we opted for the I2C package to simplify the configuration and reading process, allowing us to focus on the overall system integration.

Ultra-Sonic Sensor URM09 (I2C Protocol)
- Supply Voltage: 3.3~5.5V DC
- Operating Current: 20mA
- Operating Temperature Range: -10℃～＋70℃
- Measurement Range: 2cm～500cm (can be set)
- Resolution: 1cm
- Accuracy: 1%
- Frequency: 50Hz Max
- Dimension: 47mm × 22 mm/1.85” × 0.87”

Bluetooth Module

For the communication between the Mobile app and the RC car. We use the DSD TECH HM-10 Bluetooth 4.0 BLE module. This module communicate with the SJ2 board by using UART. It transmits raw data between mobile app and bridge. It is lightweight and has small size.

Software Design

Bluetooth Module

The Bluetooth module is used for transmitting command and GPS data between the app the Bridge.

Technical Challenges

Bluetooth Module

Challenge: : Due to its design, it can read/send a string up to 20 characters at a time. Any string more than 20 characters will be break into 2 lines automatically and process. The datasheet provides limited information when developing the Bluetooth module.
Solution: On SJ2 board side, we break out data into serval strings and pad '0' into some data string to ensure it is send in exact 20 characters.

Configure 4 ADC channels

We load the distance sensor data by ADC channel. There are only 3 channels ready to use on SJ2 board. Need to modify P0_26 as below to unlock ADC:

static void distance__configure_all_adc_pins(void) {
  LPC_IOCON->P0_25 &= ~(3 << 3);
  LPC_IOCON->P0_25 &= ~(1 << 7);

  LPC_IOCON->P0_26 &= ~(3 << 3);
  LPC_IOCON->P0_26 &= ~(1 << 16);
  LPC_IOCON->P0_26 &= ~(1 << 7);

  LPC_IOCON->P1_30 &= ~(3 << 3);
  LPC_IOCON->P1_30 &= ~(1 << 7);

  LPC_IOCON->P1_31 &= ~(3 << 3);
  LPC_IOCON->P1_31 &= ~(1 << 7);
}