F14: Self Driving Undergrad Team
Contents
- 1 Grading Criteria
- 2 In Memory of Chi Lam
- 3 Self-Driving Autonomous Car
- 4 Abstract
- 5 Objectives & Introduction
- 6 Schedule
- 7 Parts List & Cost
- 8 Design & Implementation
- 8.1 Hardware Design
- 8.2 Sensor Controller Team Hardware Design
- 8.3 Motor Controller Team Hardware Design
- 8.4 I/O Team Hardware Design
- 8.5 Communication Bridge + Android Hardware Design
- 8.6 Geographical Controller Team Hardware Design
- 8.7 Master Controller Team Hardware Design
- 8.8 Hardware Interface
- 8.9 Software Design
- 8.10 Software Interface
- 8.10.1 Sensor Controller Team Software Interface
- 8.10.2 Motor Controller Team Software Interface
- 8.10.3 I/O Team Software Interface
- 8.10.4 Communication Bridge + Android Software Interface
- 8.10.5 Geographical Controller Team Software Interface
- 8.10.6 Master Controller Team Software Interface
- 8.10.7 CAN Communication Table
- 9 Testing
- 10 Technical Challenges
- 11 Conclusion
- 12 References
Grading Criteria
- How well is Software & Hardware Design described?
- How well can this report be used to reproduce this project?
- Code Quality
- Overall Report Quality:
- Software Block Diagrams
- Hardware Block Diagrams
- Schematic Quality
- Quality of technical challenges and solutions adopted.
In Memory of Chi Lam
June 7th, 1991 - October 27th, 2014
This project is dedicated to Chi Lam, a beloved friend, dedicated Computer Engineering student, and member of this team.
You will be missed, friend.
Self-Driving Autonomous Car
Abstract
The objective of the project is to create a self-driving autonomous car in a 15 person team. The car utilizes several components and sensors in order to get from Point A to Point B. Implementation of the car involves multiple SJONE processor boards using FreeRTOS to communicate with each other via CAN bus.
Objectives & Introduction
Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.
Team Members & Responsibilities
| Master Controller Team | ||
|---|---|---|
| Charles Pham | Joshua Ambion | Michael Schneider |
| - Overall vehicle logic - Overall software vehicle Integration - CAN TX/RX messages architecture |
- Vehicle hardware - Assistant to other teams - Module specific logic |
- Module specific logic - CAN RX processing |
| Motor Controller Team | |
|---|---|
| Nikko Esplana | Chi Lam |
| - Motor/steering control via PWM signals - interface/test/attach wheel encoder |
- Rest in peace Chi! |
| Sensor Controller Team | |
|---|---|
| Sanjay Maharaj | Wei-chieh "Andy" Lo |
| - Vehicle hardware - Sensor implementation - CAN communication |
- Sensor implementation - Sensor values verification - CAN communication |
| Geographical Controller Team | ||
|---|---|---|
| Carlos Fernandez-Martinez | Zach Baumgartner | Albert Chen |
| - Compass calibration/integration | - GPS testing/integration | - CAN communication |
| Bridge Controller Team | ||
|---|---|---|
| Robert Julius | Tim Martin | Joseph Bourne |
| - Android Application | - Bluetooth Message Interface | - Board to CAN Communication |
| IO Controller Team | |
|---|---|
| Devin Villarosa | George Sebastian |
| - Receive Task - GUI Interface - Headlights Task - uLCD Library |
- Event Handle Task - GUI Interface - Headlights Task - uLCD Library |
Schedule
Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.
Final Product Schedule
| Week# | Date | Task | Actual |
|---|---|---|---|
| 1 | 10/12 | CAN Network Benchtest | Complete |
| 2 | 10/15 | Basic CAN Communication | Complete |
| 3 | 10/31 | Secure devices to R/C car | Complete |
| 4 | 11/7 | Basic Vehicle Self-Driving Test | In progress |
| 5 | 11/14 | P2P testing and improved obstacle avoidance | In progress |
| 6 | 11/31 | Buffer time for previous tasks and increased vehicle speed | In progress |
Sensor Controller Schedule
| Week# | Date | Task | Actual |
|---|---|---|---|
| 1 | 10/13 | Sensor Input Distance Calibration | Incomplete: Sonar is mostly calibrated, IR still needs work. Need sensor value "filtering" logic. |
| 2 | 10/17 | Off car CAN network test (full team) | Completed. Able to send raw sensor value to master. |
| 3 | 10/20 | Interface Sensors with CAN | Completed. Updates to the formatting of data being sent is ongoing. |
| 4 | 10/27 | Mount Sensors and test coverage | Completed. Still need to mount with actual brackets. |
| 5 | 10/31 | Mount Sensors with 3d printed brackets | Completed. IR brackets to be printed based on offset. |
| 6 | 11/1 | Implement diagnostic LED patterns | Completed. |
| 7 | 11/3 | Send obstacle avoidance decisions to master | Completed. Raw values sent to master for processing. |
| 8 | 11/4 | Add RJ11 cabling to all sensors | Completed. Still need to make neat and tidy. |
| 9 | 11/10 | Eliminate outliers (software) | Completed. |
| 10 | 11/13 | Eliminate outliers by strengthening sensor wiring (hardware) | Completed. |
| 12 | 11/24 | Continue testing and tuning as necessary | In progress |
Motor Controller Schedule
| Week# | Date | Task | Actual |
|---|---|---|---|
| 1 | 10/12 | Open up servo and motor modules,
find a speed sensor |
Complete |
| 2 | 10/19 | Interface/test PWM bus to steering servo and DC motor | Complete |
| 3 | 10/26 | Allow self-driving capability with master/bridge/sensor teams | Incomplete, only partial self-driving achieved |
| 4 | 11/2 | Improve fine motor movements with master/sensor teams | Incomplete, still needs tweaking. |
| 5 | 11/9 | Once wheel encoder comes in, learn/test/implement onto car | Incomplete, wheel encoder cannot be implemented, scrapping. |
| 6 | 11/16 | Integrate wheel encoder with rest of car | Incomplete, scrapped wheel encoder. |
| 7 | 11/23 | Test for proper operation | Complete, added functionality for center steer and forward speed calibration. |
| 8 | 11/30 | Continue testing until proper operation | Complete, motor works as intended. |
I/O Schedule
| Week# | Date | Task | Actual |
|---|---|---|---|
| 1 | 10/4 | Create LCD Screen Library (create ability to set value, get value, and write string to LCD screen) | 10/4 (String function completed on ~10/18) |
| 2 | 10/4 | Create LCD Screen GUI (generate forms for debugging and general usage) | 10/4 |
| 3 | 10/11 | LCD Library Test (Do unit tests on individual functions for LCD library)
Ability to get value from gauge on screen. Ability to set value to gauge on screen. Ability to send a string value to screen. |
10/11 (Finished string function on ~10/18) |
| 4 | 10/11 | Interface LCD with CAN
Create task for LCD event loop. Create task for Receiving on CAN. |
Complete (Completed on 10/26/2014) |
| 5 | 10/18 | Test LCD with CAN
Process CAN Messages from system |
Complete (Completed on 10/25/2014) |
| 6 | 10/25 | Implement onto Final Product | Incomplete (ready for implementation) |
| 7 | 11/2 | Headlights for car (hardware and software) + Aesthetics for GUI + Clean up code |
Communication Bridge and Android Schedule
| Week# | Date | Task | Actual |
|---|---|---|---|
| 1 | 10/13 | CAN Network Test | Complete |
| 2 | 10/20 | Interface Bluetooth Module with CAN | Complete |
| 3 | 10/27 | Mount PCB on car | In progress |
| 4 | 11/3 | Create basic Android application | Completed on 10/18 |
| 5 | 11/10 | Add map onto the Android application | In Progress |
| 6 | 11/17 | Send/receive CAN Messages via Android Application | Sending completed on 10/18, receiving in progress |
| 7 | 11/24 | Debug and Optimize Android Application | In progress |
| 8 | 12/1 | Continue Debugging and Optimizing as Necessary | In progress |
Geographical Controller Schedule
| Week# | Date | Task | Actual |
|---|---|---|---|
| 1 | 10/8 | Interface with GPS/Compass | Complete - receiving values |
| 2 | 10/15 | Finish core API | Complete |
| 3 | 10/22 | GPS get fix and receive raw data | Complete - raw data received, but need faster fix |
| 4 | 10/22 | Compass determine heading | Complete - heading may require additional calibration |
| 5 | 10/29 | Self calibration completed | Complete |
| 6 | 10/29 | GPS parse raw data to extract needed data | Complete - returns latitude, longitude, and calculated heading |
| 7 | 10/29 | Compass use heading from GPS to improve accuracy | In progress - may not provide tangible improvement |
| 8 | 11/5 | Improve GPS satellite procurement (antennae?) | Complete - attached antennae to GPS unit |
| 9 | 11/12 | Improve boot up time of GPS module via warm start | N/A - EZ start fast fix mode cannot coincide with 10 Hz update rate (defaults down to 1 Hz) |
| 10 | 11/12 | Fine tune compass calibration technique for accuracy | In progress |
| 11 | 12/3 | Buffer time for completion of previous tasks | In progress |
Master Controller Schedule
| Line Item # | Expected End Date | Task | Status |
|---|---|---|---|
| 1 | 10/15/14 | Decide on raw CAN struct architecture | Early completion |
| 2 | 10/18/14 | Develop and layout general common CAN messages | On-time completion |
| 3 | 10/20/14 | Design vehicle initialization procedure | Early completion |
| 4 | 10/23/14 | Develop and layout Inter-Controller Communication - Each Module's CAN messages | Early completion |
| 5 | 10/25/14 | Design vehicle initial running freed drive mode procedure - Controlled via Phone, no object detection and avoidance, no GPS, no Heading | Early completion |
| 6 | 10/28/14 | Complete design on vehicle running free drive mode procedure | On-time completion |
| 7 | 10/30/14 | Design vehicle initial running indoor drive mode procedure - Timed autonomous drive , object detection and avoidance, (possibly heading), and no GPS | In progress |
| 8 | 11/01/14 | All CAN message definitions complete | Early Completion |
| 9 | 11/02/14 | Design vehicle initial running gps drive mode procedure - Full autonomous drive , object detection and avoidance, heading and GPS | In progress |
| 10 | 11/05/14 | All CAN message receive processing complete | On-time completion |
| 11 | 11/14/14 | All basic vehicle functionality state machines implemented and verified | On-time completion |
| 12 | 11/15/14 | Complete design on vehicle running indoor drive mode procedure | In progress |
| 13 | 11/20/14 | Complete design on vehicle running gps drive mode procedure | In progress |
| 14 | 11/30/14 | Any additional advanced functionality implemented and verified | In progress |
Parts List & Cost
| Line Item# | Part Desciption | Vendor | Part Number | Qty | Cost ($) |
|---|---|---|---|---|---|
| 1 | CAN Board | Waveshare International Limited | SN65HVD230 | 15 | 92.00 |
| 2 | Traxxas Slash Pro 2WD Short-Course R/C Truck | Traxxas | 58034 Slash | 1 | 337.00 |
| 3 | Adafruit Ultimate GPS Breakout | Adafruit | MTK3339 | 1 | 39.95 + (4.685 Shipping) |
| 4 | Triple-axis Accelerometer+Magnetometer (Compass) Board | Adafruit | LSM303 | 1 | 14.95 + (4.685 Shipping) |
| 5 | GPS Antenna - External Active Antenna - 3-5V 28dB 5 Meter SMA | Adafruit | 960 | 1 | 12.95 + (4.735 Shipping) |
| 6 | SMA to uFL/u.FL/IPX/IPEX RF Adapter Cable | Adafruit | 851 | 1 | 3.95 + (4.735 Shipping) |
| 7 | 3.5" Intelligent module w/ Touch | 4D Systems | uLCD 35DT | 1 | 89.00 |
| 8 | 2GB microSD Card | ||||
| 9 | uUSB-PA5 Programming Adaptor | ||||
| 10 | 150mm 5 way Female-Female jumper cable | ||||
| 11 | 5 way Male-Male adaptor | ||||
| 12 | Sharp Infrared Range Finder | 4D Systems | GP2Y0A21 | 2 | 9.95 + 3.32 Shipping |
| 13 | SainSmart Sonar Ranging Detector | Amazon | HC-SR04 | 3 | 5.59 |
| 14 | RC LED Headlights | Amazon Prime | 2 | 5.99 | |
| 15 | XBee Bluetooth | ||||
| 16 | SJONE Board | Preet Industries | 6 | 480.00 | |
| 17 | Traxxas XL5 ESC unit | dollarhobbyz.com | 2WDS ESC | 2 | 54.00 + (4.67 Shipping) |
| Additional Shipping | $$$.$$ | ||||
| Total Cost | $$$.$$ |
Design & Implementation
The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.
Hardware Design
Discuss System Level Hardware Design
*INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
Overall Hardware Design Components
|
58034 Traxxas Slash RC Truck:
|
|
|
SN65HVD230 CAN Board Transceiver:
The SN65HVD230 CAN board transceiver is used to interface the microcontrollers logical signals to CAN electrical specifications. The SN65HVD230 CAN board transceiver was chosen specifically because not only did it work perfectly for CAN interfacing, but it came pre-built with the in-line resistors. Because there were fifteen people in our team, this was desired because a lot of work would be needed if we built each CAN board transceiver individually. The transceivers were purchased on eBay for $8.99 each. However, the item's location was in China, so ordering early would be best for future students. |
|
Sensor Controller Team Hardware Design
Discuss your hardware design of Sensor Controller
*INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
Sensor Pin Connections
| Line Item# | Node A Source | Node A Pin | Node B Source | Node B Pin | Description |
|---|---|---|---|---|---|
| 1 | 3.3V Power Supply | 3.3V | SJOne Board | 3V3 | SJOne Power |
| 2 | 3.3V Power Supply | GND | SJOne Board | GND | SJOne Ground |
| 3 | CAN Transceiver | Tx | SJOne Board | P0.1 (Tx) | SJOne - CAN Tx |
| 4 | CAN Transceiver | Rx | SJOne Board | P0.0 (Rx) | SJOne - CAN Rx |
| 5 | CAN Transceiver | 3.3V | 3.3V Power Supply | 3.3V | SJOne - CAN Power |
| 6 | CAN Transceiver | Ground | 3.3V Power Supply | GND | SJOne - CAN Ground |
| 7 | HC-SR04 Ultrasonic Sensor (Front Left) | Vcc | 5V Power Supply | +5V | Front Left Sensor Power |
| 8 | HC-SR04 Ultrasonic Sensor (Front Left) | GND | 5V Power Supply | GND | Front Left Sensor GND |
| 9 | HC-SR04 Ultrasonic Sensor (Front Left) | Echo | SJOne Board | P2.0 | Front Left Sensor Echo |
| 10 | HC-SR04 Ultrasonic Sensor (Front Left) | Trig | SJOne Board | P2.1 | Front Left Sensor Trig |
| 11 | HC-SR04 Ultrasonic Sensor (Front Right) | Vcc | 5V Power Supply | +5V | Front Right Sensor Power |
| 12 | HC-SR04 Ultrasonic Sensor (Front Right) | GND | 5V Power Supply | GND | Front Right Sensor GND |
| 13 | HC-SR04 Ultrasonic Sensor (Front Right) | Echo | SJOne Board | P2.2 | Front Right Sensor Echo |
| 14 | HC-SR04 Ultrasonic Sensor (Front Right) | Trig | SJOne Board | P2.3 | Front Right Sensor Trig |
| 15 | LV-MaxSonar-EZ-0 Ultrasonic Range Sensor (Front Middle) | Vcc | 5V Power Supply | +5V | Front Middle Sensor Power |
| 16 | LV-MaxSonar-EZ-0 Ultrasonic Range Sensor (Front Middle) | GND | 5V Power Supply | GND | Front Middle Sensor GND |
| 17 | LV-MaxSonar-EZ-0 Ultrasonic Range Sensor (Front Middle) | Echo | SJOne Board | P2.4 | Front Middle Sensor Echo |
| 18 | LV-MaxSonar-EZ-0 Ultrasonic Range Sensor (Front Middle) | Trig | SJOne Board | P2.5 | Front Middle Sensor Trig |
| 19 | HC-SR04 Ultrasonic Sensor (Rear Left) | Vcc | 5V Power Supply | +5V | Rear Left Sensor Power |
| 20 | HC-SR04 Ultrasonic Sensor (Rear Left) | GND | 5V Power Supply | GND | Rear Left Sensor GND |
| 21 | HC-SR04 Ultrasonic Sensor (Rear Left) | Echo | SJOne Board | P2.6 | Rear Left Sensor Echo |
| 22 | HC-SR04 Ultrasonic Sensor (Rear Left) | Trig | SJOne Board | P2.7 | Rear Left Sensor Trig |
| 23 | HC-SR04 Ultrasonic Sensor (Rear Right) | Vcc | 5V Power Supply | +5V | Rear Right Sensor Power |
| 24 | HC-SR04 Ultrasonic Sensor (Rear Right) | GND | 5V Power Supply | GND | Rear Right Sensor GND |
| 25 | HC-SR04 Ultrasonic Sensor (Rear Right) | Echo | SJOne Board | P2.8 | Rear Right Sensor Echo |
| 26 | HC-SR04 Ultrasonic Sensor (Rear Right) | Trig | SJOne Board | P2.9 | Rear Right Sensor Trig |
| 27 | CAN Transceiver | CANL | CAN BUS | CANL | CANL to CAN BUS |
| 28 | CAN Transceiver | CANR | CAN BUS | CANR | CANR to CAN BUS |
Sensor Controller Hardware Design Components
|
HC-SR04 Ultrasonic Distance Sensor:
The HC-SR04 is a distance sensor which detects objects using ultrasonic signals. The sensor is capable of detecting distances within 2cm-500cm. The sensor runs off 5V DC. Four pins are used: Vcc, Ground, Trig, and Echo. These sensors are relatively inexpensive, so four sensors were purchased. The four HC-SR04 sensors were implemented on our car at the following locations: front-left, front-right, rear-left, and rear-right. |
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LV-MaxSonar-EZ0 Ultrasonic Range Sensor:
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Motor Controller Team Hardware Design
Discuss your hardware design of Motor Controller
*INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
Motor Controller Hardware Design Components
|
58034 Traxxas Slash RC Truck:
|
|
Motor Pin Connections
| Line Item# | Node A Source | Node A Pin | Node B Source | Node B Pin | Description |
|---|---|---|---|---|---|
| 1 | 3.3V Power Supply | 3.3V | SJOne Board | 3V3 | SJOne Power |
| 2 | 3.3V Power Supply | GND | SJOne Board | GND | SJOne Ground |
| 3 | CAN Transceiver | CAN Tx | SJOne Board | P0.1 (Tx) | SJOne - CAN Tx |
| 4 | CAN Transceiver | CAN Rx | SJOne Board | P0.0 (Rx) | SJOne - CAN Rx |
| 5 | CAN Transceiver | 3.3V | 3.3V Power Supply | 3.3V | SJOne - CAN Power |
| 6 | CAN Transceiver | Ground | 3.3V Power Supply | GND | SJOne - CAN Ground |
| 7 | CAN Transceiver | CANL | CAN BUS | CANL | CANL to CAN BUS |
| 8 | CAN Transceiver | CANR | CAN BUS | CANR | CANR to CAN BUS |
| 9 | Steering Servo | PWM Port | SJOne Board | P2.0 PWM | Steering |
| 10 | Motor | PWM Port | SJOne Board | P2.1 PWM | Motor |
| 11 | ESC | Ground | SJOne Board | GND | SJONE - ESC Ground |
I/O Team Hardware Design
Discuss your hardware design of I/O
*INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
I/O Design Components
|
uLCD-35DT Intelligent Display Module:
The uLCD-35DT is an intelligent display module used to display information of the system, such as viewing the GPS destination, and a controller for the system, such as setting the car to indoor mode which tests for sensor only navigation. The uLCD-35DT system was chosen specifically because of its touch screen capabilities. The display is driven by A DIABLO16 processor. The processor allows stand-alone functionality for the screen. In order to program the screen with an interactive GUI, the 4D Systems Workshop 4 IDE Software was used. |
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I/O Pin Connections
| Line Item# | Node A Source | Node A Pin | Node B Source | Node B Pin | Description |
|---|---|---|---|---|---|
| 1 | LCD | 1 (LCD +5V) | 5V Power Supply | 5V | uLCD 35DT LCD Power |
| 2 | LCD | 7 (LCD GND) | 5V Power Supply | GND | uLCD 35DT LCD Ground |
| 3 | LCD | 5 (LCD RX) | SJOne Board | RX3 | uLCD 35DT LCD Receive Pin |
| 4 | LCD | 3 (LCD TX) | SJOne Board | TX3 | uLCD 35DT LCD Transmit Pin |
| 5 | 3.3V Power Supply | +3.3V | SJOne Board | 3V3 | SJOne Power |
| 6 | 3.3V Power Supply | GND | SJOne Board | GND | SJOne Ground |
| 7 | UART2 RX | P2.9 | SJOne RX | ||
| 8 | UART2 TX | P2.8 | SJOne TX | ||
| 9 | +5V | GPIO P2.0 | White LED1 | ||
| 10 | +5V | GPIO P2.1 | White LED2 | ||
| 11 | +5V | GPIO P2.2 | Red LED1 | ||
| 12 | +5V | GPIO P2.3 | Red LED2 | ||
| 13 | CAN Transceiver | CAN Tx | SJOne Board | P0.1 (Tx) | SJOne - CAN Tx |
| 14 | CAN Transceiver | CAN Rx | SJOne Board | P0.0 (Rx) | SJOne - CAN Rx |
| 15 | CAN Transceiver | CAN 3.3V | 3.3V Power Supply | 3.3V | SJOne - CAN Power |
| 16 | CAN Transceiver | CAN Ground | 3.3V Power Supply | GND | SJOne - CAN Ground |
| 17 | CAN Transceiver | CANL | CAN BUS | CANL | CANL to CAN BUS |
| 18 | CAN Transceiver | CANR | CAN BUS | CANR | CANR to CAN BUS |
Communication Bridge + Android Hardware Design
Discuss your hardware design of Communication Bridge and Android
*INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
Communication Bridge Pin Connections
| Line Item# | Node A Source | Node A Pin | Node B Source | Node B Pin | Description |
|---|---|---|---|---|---|
| 1 | 3.3V Power Supply | 3.3V | SJOne Board | 3V3 | SJOne Power |
| 2 | 3.3V Power Supply | GND | SJOne Board | GND | SJOne Ground |
| 3 | CAN Transceiver | CAN Tx | SJOne Board | P0.1 (Tx) | SJOne - CAN Tx |
| 4 | CAN Transceiver | CAN Rx | SJOne Board | P0.0 (Rx) | SJOne - CAN Rx |
| 5 | CAN Transceiver | CAN 3.3V | 3.3V Power Supply | 3.3V | SJOne - CAN Power |
| 6 | CAN Transceiver | CAN Ground | 3.3V Power Supply | GND | SJOne - CAN Ground |
| 7 | Bluetooth Bee | VCC | 5V Power Supply | +5V | Bluetooth Bee Power |
| 8 | Bluetooth Bee | GND | 5V Power Supply | GND | Bluetooth Bee GND |
| 9 | Bluetooth Bee | RX | SJOne Board | RX | Bluetooth Bee RX |
| 10 | Bluetooth Bee | TX | SJOne Board | TX | Bluetooth Bee TX |
| 11 | CAN Transceiver | CANL | CAN BUS | CANL | CANL to CAN BUS |
| 12 | CAN Transceiver | CANR | CAN BUS | CANR | CANR to CAN BUS |
Communication Bridge + Android Hardware Design Components
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Bluetooth Bee Standalone:
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Geographical Controller Team Hardware Design
Discuss your hardware design of Geographical Controller
*INCLUDE BLOCK DIAGRAM and PIN CONNECTIONS
Geographical Pin Connections
| Line Item# | Node A Source | Node A Pin | Node B Source | Node B Pin | Description |
|---|---|---|---|---|---|
| 1 | 3.3V Power Supply | 3.3V | SJOne Board | 3V3 | SJOne Power |
| 2 | 3.3V Power Supply | GND | SJOne Board | GND | SJOne Ground |
| 3 | CAN Transceiver | Tx | SJOne Board | P0.1 (Tx) | SJOne - CAN Tx |
| 4 | CAN Transceiver | Rx | SJOne Board | P0.0 (Rx) | SJOne - CAN Rx |
| 5 | CAN Transceiver | 3.3V | 3.3V Power Supply | 3.3V | SJOne - CAN Power |
| 6 | CAN Transceiver | Ground | 3.3V Power Supply | GND | SJOne - CAN Ground |
| 7 | MTK3339 GPS | VCC | 5V Power Supply | +5V | MTK3339 GPS Power |
| 8 | MTK3339 GPS | GND | 5V Power Supply | GND | MTK3339 GPS GND |
| 9 | MTK3339 GPS | RX | SJOne Board | RXD2 | MTK3339 GPS RX |
| 10 | MTK3339 GPS | TX | SJOne Board | TXD2 | MTK3339 GPS TX |
| 7 | LSM303 Compass + Accelerometer | VIN | 5V Power Supply | +5V | Compass + Accelerometer Power |
| 8 | LSM303 Compass + Accelerometer | GND | 5V Power Supply | GND | Compass + Accelerometer GND |
| 9 | LSM303 Compass + Accelerometer | RX | SJOne Board | RXD2 | Compass + Accelerometer SCL |
| 10 | LSM303 Compass + Accelerometer | TX | SJOne Board | TXD2 | Compass + Accelerometer SDA |
| 11 | CAN Transceiver | CANL | CAN BUS | CANL | CANL to CAN BUS |
| 12 | CAN Transceiver | CANR | CAN BUS | CANR | CANR to CAN BUS |
Geographical Controller Hardware Design Components
|
Adafruit MTK3339 GPS:
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||||
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Adafruit LSM303 Compass:
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| Line Item# | Node A Source | Node A Pin | Node B Source | Node B Pin | Description |
|---|---|---|---|---|---|
| 1 | 3.3V Power Supply | 3.3V | SJOne Board | 3V3 | SJOne Power |
| 2 | 3.3V Power Supply | GND | SJOne Board | GND | SJOne Ground |
| 3 | CAN Transceiver | CAN Tx | SJOne Board | P0.1 (Tx) | SJOne - CAN Tx |
| 4 | CAN Transceiver | CAN Rx | SJOne Board | P0.0 (Rx) | SJOne - CAN Rx |
| 5 | CAN Transceiver | CAN 3.3V | 3.3V Power Supply | 3.3V | SJOne - CAN Power |
| 6 | CAN Transceiver | CAN Ground | 3.3V Power Supply | GND | SJOne - CAN Ground |
| 7 | CAN Transceiver | CANL | CAN BUS | CANL | CANL to CAN BUS |
| 8 | CAN Transceiver | CANR | CAN BUS | CANR | CANR to CAN BUS |
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
SYSTEM LEVEL HARDWARE INTERFACE INTERFACE GOES HERE
Sensor Controller Team Hardware Interface
Sensor team uses CAN bus as a communication bus to communicate with master. The specific message ID used is 0x330. There are 5 sensor values (Front Left, Front, Front Right, Rear Left, Rear Right). 8 bits of integer is the size of our data for each sensor. frontLeftDistance:uint8_t:bytes[0] frontDistance:uint8_t:bytes[1] frontRightDistance:uint8_t:bytes[2] rearLeftDistance:uint8_t:bytes[3] rearDistance:uint8_t:bytes[4] rearRightDistance:uint8_t:bytes[5] After microcontroller obtained all the values, a tasks that is designated to send data to master will run. Every sensor value is updated periodically.
Motor Controller Team Hardware Interface
Discuss your hardware design of Motor Controller
*SHOW HOW FRAMES ARE SENT
I/O Team Hardware Interface
Communication Bridge + Android Hardware Interface
Discuss your hardware design of Communication Bridge and Android
*SHOW HOW FRAMES ARE SENT
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Geographical Controller Team Hardware Interface
Discuss your hardware design of Geographical Controller
*SHOW HOW FRAMES ARE SENT
Master Controller Team Hardware Interface
Discuss your hardware design of Master Controller
*SHOW HOW FRAMES ARE SENT
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
SYSTEM LEVEL SOFTWARE DESIGN GOES HERE
Sensor Controller Team Software Design
Describe how your hardware communicates. WHAT BUSes were used
*SHOW SOFTWARE FLOWCHART DIAGRAM
Motor Controller Team Software Design
Discuss your hardware design of Motor Controller
*SHOW SOFTWARE FLOWCHART DIAGRAM
I/O Team Software Design
The I/O Software is based off of two tasks: The Event Handler Task and the RX Task.
Event Handler Task (High Priority):
This Task receives any immediate messages sent from the uLCD, processes the message, and sends the message to the CAN BUS.
This task enables the system to: Turn On/Off the Vehicle and Change Vehicle Modes.
RX Task (Low Priority):
This task receives all messages from the CAN BUS, and outputs message data onto the uLCD
High Level IO Software Logic
Event Handler Task Logic
RX Task Logic
Communication Bridge + Android Software Design
Discuss your hardware design of Communication Bridge and Android
*SHOW SOFTWARE FLOWCHART DIAGRAM
Geographical Controller Team Software Design
Discuss your hardware design of Geographical Controller
*SHOW SOFTWARE FLOWCHART DIAGRAM
Master Controller Team Software Design
Discuss your hardware design of Master Controller
*SHOW SOFTWARE FLOWCHART DIAGRAM
Software Interface
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
SYSTEM LEVEL SOFTWARE IMPLEMENTATION GOES HERE
Sensor Controller Team Software Interface
Describe steps to communicate hardware
Motor Controller Team Software Interface
Describe steps to communicate hardware
I/O Team Software Interface
Describe steps to communicate hardware
Communication Bridge + Android Software Interface
Describe steps to communicate hardware
Geographical Controller Team Software Interface
Describe steps to communicate hardware
Master Controller Team Software Interface
Describe steps to communicate hardware
CAN Communication Table
Master CAN Communication Table
| TX Message ID | TX Message Transmit Rate | TX Message Description | RX Response Message ID | RX Listening Module |
|---|---|---|---|---|
| 0x100 | 1hz Periodic | Request Heartbeat (Module state and Timestamp) | 0x200, 0x300, 0x400, 0x500, 0x600 (Respectively) | Motor, Sensor, Geo, Bridge, IO (Respectively) |
| 0x101 | 1hz Periodic | Send Vehicle State | N/A | Motor, Sensor, Geo, Bridge, IO |
| 0x124 | Spontaneous | Set Torque and Steering | N/A | Motor |
| 0x140 | Spontaneous | Send Destination GPS | N/A | Geo |
| 0x14A | Spontaneous | Request Calibrate Compass | N/A | Geo |
| 0x14B | Spontaneous | Request Compass Heading | N/A | Geo |
| 0x14C | Spontaneous | Request Current GPS | N/A | Geo |
| 0x14D | Spontaneous | Request Current Time | N/A | Geo |
Motor CAN Communication Table
| TX Message ID | TX Message Transmit Rate | TX Message Description | RX Response Message ID | RX Listening Module |
|---|---|---|---|---|
| N/A | N/A | N/A | N/A | N/A |
Sensor CAN Communication Table
| TX Message ID | TX Message Transmit Rate | TX Message Description | RX Response Message ID | RX Listening Module |
|---|---|---|---|---|
| 0x330 | 10hz Periodic | Transmit all sensor's distances | N/A | Master, IO |
Geo CAN Communication Table
| TX Message ID | TX Message Transmit Rate | TX Message Description | RX Response Message ID | RX Listening Module |
|---|---|---|---|---|
| 0x441 | 10hz Periodic | Transmit Current GPS Coordinates | N/A | Master, IO |
| 0x445 | 10hz Periodic | Transmit Current Heading and Bearing | N/A | Master, IO |
| 0x449 | 10hz Periodic | Transmit Current GPS Heading | N/A | Master, IO |
| 0x465 | Spontaneous | Signal User that Calibration is complete | N/A | I/O |
Bridge CAN Communication Table
| TX Message ID | TX Message Transmit Rate | TX Message Description | RX Response Message ID | RX Listening Module |
|---|---|---|---|---|
| 0x050 | Spontaneous | Request Drive Mode change to Free Drive | N/A | Master |
| 0x051 | Spontaneous | Request Drive Mode change to GPS Drive | N/A | Master |
| 0x052 | Spontaneous | Request Drive Mode change to Indoor Drive | N/A | Master |
| 0x053 | Spontaneous | Transmit Destination GPS Coordinates | N/A | Master |
| 0x055 | Spontaneous | Request Vehicle Start Driving Command | N/A | Master |
| 0x056 | Spontaneous | Request Vehicle Turn Off | N/A | Master |
| 0x057 | Spontaneous | Request Vehicle Turn On | N/A | Master |
| 0x058 | Spontaneous | Send Free Drive Turn Left | N/A | Master |
| 0x059 | Spontaneous | Send Free Drive Straight | N/A | Master |
| 0x05A | Spontaneous | Send Free Drive Turn Right | N/A | Master |
| 0x05B | Spontaneous | Send Free Drive Stop | N/A | Master |
| 0x05C | Spontaneous | Send Free Drive Reverse Left | N/A | Master |
| 0x05D | Spontaneous | Send Free Drive Reverse Straight | N/A | Master |
| 0x05E | Spontaneous | Send Free Drive Reverse Right | N/A | Master |
IO CAN Communication Table
| TX Message ID | TX Message Transmit Rate | TX Message Description | RX Response Message ID | RX Listening Module |
|---|---|---|---|---|
| 0x060 | Spontaneous | Request Drive Mode change to Free Drive | N/A | Master |
| 0x061 | Spontaneous | Request Drive Mode change to GPS Drive | N/A | Master |
| 0x062 | Spontaneous | Request Drive Mode change to Indoor Drive | N/A | Master |
| 0x063 | Spontaneous | Request Vehicle Turn On | N/A | Master |
| 0x064 | Spontaneous | Request Vehicle Turn Off | N/A | Master |
| 0x065 | Spontaneous | Transmit Destination GPS Coordinates | N/A | Master |
| 0x066 | Spontaneous | Request Vehicle Start Driving Command | N/A | Master |
| 0x067 | Spontaneous | Start Geo Calibration | N/A | Geo |
Testing
Sensor Controller Testing
Sensor Controller Testing #1
Describe how you tested the Sensors Sensors are calibrated prior to any testings. 1. For individual sensors: Set a obstacle(36" x 48" poster board) in front of a sensor and sensor team verifies the sensor values with a ruler. Repeat this process with different distances (20cm, 40cm,and 60cm). 2. Detect any outlier: Set a obstacle and allow sensor to detect for period of time and sensor team verifies values within the period. If there were outliers, sensor team would verify the wiring or write a filtering algorithm. 3. Integrated test: After all sensors are tested individually, sensor team tested collaboratively with master. Sensor team would sent CAN message (5 sensor values) to master team and check if master team can perform certain operations according to different sensor values.
Motor Controller Testing
Motor Controller Testing #1
Describe how you tested the motors
I/O Testing
I/O Testing #1: uLCD UART Communication
Testing the following API calls: -Write String -Write int to String -Write float to String -uLCD TX events
I/O Testing #2: CAN COMMUNICATION
Tested if messages are sending and receiving tasks are operating correctly
I/O Testing #3: Data Processing
Tested if all tasks are processing the CAN frames appropriately
Communication Bridge + Android Testing
Communication Bridge + Android Testing #1
Describe how you tested the Communication Bridge + Android
Geographical Controller
Geographical Controller
Describe how you tested the Geographical Controller
Master Controller
Master Controller Testing #1
Describe how you tested the Master Controller
Technical Challenges
Sensor Controller Team Issues
MY ISSUE #1 TITLE
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
MY ISSUE #2 TITLE
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Motor Controller Team Issues
Motor Controller Issue #1
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Motor Controller Issue #2
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
I/O Team Issues
I/O Team Issue #1
PROBLEM:
Tasks blocking each other, thus slowing down performance
RESOLUTION:
Restructured task architecture
FUTURE RECOMMENDATIONS:
Draw out architecture first, then code
I/O Team Issue #2
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Communication Bridge + Android Team Issues
Communication Bridge + Android Issue #1
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Communication Bridge + Android #2
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Geographical Controller Issues
Geographical Controller #1
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Geographical Controller #2
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Master Controller Team Issues
Master Controller Issue #1
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Master Controller#2
PROBLEM:
RESOLUTION:
FUTURE RECOMMENDATIONS:
Conclusion
Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?
Project Video
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Project Source Code
References
Acknowledgement
Any acknowledgement that you may wish to provide can be included here.
References Used
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