F15: Fury

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.

Abstract

This section should be a couple lines to describe what your project does.

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.

Sl. No	Start Date	End Date	Task	Actual End date	Problems Encountered
1	09/20/2015	09/27/2015	Buy RC Car	09/26/2015	None
2	09/27/2015	10/3/2015	Divide the modules among team members	10/2/2015	None
3	10/3/2015	10/10/2015	Decide the pins used by each module
4	10/10/2015	10/25/2015	Get the main board ready which connects all SJOne boards
5	10/3/2015	10/30/2015	Work on individual modules
6	10/31/2015	11/13/2015	Sensors, motors and master controller are integrated and tested. GPS, android and master are integrated and tested
7	11/14/2015	12/10/2015	Integration, testing and tweaking
8	12/16/2015	12/16/2015	Final testing

Parts List & Cost

Give a simple list of the cost of your project broken down by components. Do not write long stories here.

Introduction

The Controllers

• Master Controller
• Motor and I/O controller
• Sensor Controller
• Geographical Controller and Compass
• Android & Communication Bridge Controller

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.

CAN 11-bit ID Format

DST	SRC	MSG
3 bits (11-9)	3 bits (8-6)	5 bits (5-0)

Controller ID Table

Controller ID	Controller Type
000	Motor and LCD Controller
001	Master Controller
010	Sensor Controller
011	GPS and compass Controller
100	Communication Bridge + Android Controller

Master Controller

Group Members

• Bhargava Sreekantappa Gayathri
• Thiruparan Balachandran

Schedule

Sl.No	Start Date	End Date	Task	Status	Actual Completion date	Problems Encountered
1	9/27/2015	10/4/2015	Decide on Node address and message ID's for CAN controller.	Completed	10/1/2015
2	10/4/2015	10/11/2015	Research and decide on the tasks, priorities and scheduling.	Completed	10/12/2015
3	10/11/2015	10/18/2015	Come up with a kill switch mechanism with the existing remote control and complete building the car.	In Progress
6	10/18/2015	10/30/2015	Set up inter board communication with CAN and test specific messages sent to a module and broadcast messages.
5	10/25/2015	10/30/2015	Get the car running by integrating with the motor controller and Implement logging.
6	10/31/2015	11/13/2015	Integrate GPS module and implement the algorithm for the car to travel to the destination with a hard coded Destination co-ordinates.
7	11/13/2015	11/21/2015	Integrate sensor module and implement obstruction avoidance mechanism.
8	11/21/2015	11/25/2015	Integrate the Bluetooth bridge and get co ordinates from hone as well as send vehicle parameters to the phone for displaying in the app.
9	11/26/2015	12/15/2015	Testing and fine tuning as required.

Hardware Design

kill-switch

To stop the car during an emergency we need a wireless kill switch which would kill the power to the motors. For the kill switch we will be using a 4 channel remote control from gearbest.com. The module has the following properties:

• Working voltage: DC 12V, relay excitation voltage of 5V
• Static current: Less than 7mA
• Relay output: Controllable AC / DC select-able
• Working frequency: 315MHz, 433.92MHz, can customize special frequency
• Control modes: Latch (L4), Unlatch (M4), Self-latching (T4)
• Channel: 4 channels
• Working range: 200 meters
• High-security, stable performance, low power consumption, and easy to use

The main battery which will power the motors will be having the kill switch in its path, when ever the kill switch is armed main battery will not be fed to the motors.

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.

Controller Communication Table

Master Control Module

S.R.	Message Number	Destination	Message Name (MSG_FUNCTION)	Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
1	0x020	Motor Controller	RESET	-
2	0x220	Sensor Controller	RESET	-
3	0x221	Sensor Controller	HEART BEAT	-
4	0x320	Geo-controller	RESET	-
5	0x420	Communication Bridge	RESET	-
6	0x021	Motor Controller	STEERING	8 bytes steering data
7	0x321	Geo controller	DESTINATION	8 bytes destination latitude and longitude data
8	0x421	Communication Bridge	DISPLAY DATA	8 bytes data to be displayed on the LCD

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.

Implementation

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.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Motor and I/O controller

Group Members

• Sin Yu Ho
• Nimmi Bhatt

Schedule

Sl.No	Start Date	End Date	Task	Status	Actual Completion date	Problems Encountered
1	9/27/2015	10/3/2015	Decide and purchase rpm sensor and LCD screen module	Completed	10/1/2015
2	10/4/2015	10/11/2015	Research and understand servo/throttle motor and issue command from terminal to control it.	In Progress
3	10/11/2015	10/18/2015	Understand LCD module programming and RPM sensor, and create a graphic speed monitoring
4	10/18/2015	10/25/2015	Design CAN message and implement CAN infrastructure.
5	10/25/2015	10/30/2015	Design and create graphic interface for monitoring sensor, gps, connection bridge, and master on LCD module
6	10/31/2015	11/13/2015	Integrate with master, testing and debug
7	11/14/2015	12/10/2015	Integrate with the whole system, testing and debug

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

• LCD: : 4D Systems- uLCD-35DT-AR

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.

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.

Motor Controller Communication Table

S.R.	Message Number	Destination	Message Name (MSG_FUNCTION)	Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
1	0x100	Master	HeartBeat	No Data
2	0x102	Master	MotorStatus	Byte [0-3]: speed in meter per hour Byte [4-7]: rpm

Implementation

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.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Sensor Controller

Group Members

• Christopher Laurence
• Julio Fuentes

Schedule

Sl.No	Start Date	End Date	Task	Status	Actual Completion date	Problems Encountered
1	9/27/2015	10/3/2015	Order ultra sonic sensors and read data sheets	Completed	10/2/2015	N/A
2	10/4/2015	10/10/2015	Connect ultra sonic sensor to LPC board & see if LDAR is an option	Completed	10/10/2015	N/A
3	10/11/2015	10/17/2015	Read data value from sensor and send in CAN bus	Completed	10/17/2015	N/A
4	10/18/2015	10/24/2015	Integrate and test proximity sensors	Completed	10/30/2015	Delayed while implementing FullCan
5	10/25/2015	10/31/2015	Develop battery sensor code	Completed	10/31/2015	N/A
6	11/01/2015	11/07/2015	Integrate and test battery sensor	Completed	11/07/2015	N/A
7	11/08/2015	11/21/2015	Complete hardware testing	Completed	12/12/2015	N/A

Hardware Design

For the Sensor team, we decided to use three ultrasonic sensor and a LIDAR sensor for the front. We also use a voltage dividing circuit to bring down the voltage of the batteries, so we can monitor the voltage using two ADC pins. Lastly, our voltage regulator comes with a flag bit that indicates that the voltage has dropped below 5% of 5 volts. Below are the schematics and pin layout for our design.

Battery Sensor Schematic

Sonic & LIDAR Sensor Schematic

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.

The ultrasonic sensor that we used for this project came with three interface methods. The XL-MaxSonar EZ are a highly senstive sensor that is capable of detecting object up to 725 cm away. However, this ultrasonic sensor will not be able to give you the actual distance of an object less than 20 cm away but it will detect it. The sensors allowed reading from ADC, UART, and PWM. The sensor group decided to use PWM because there would not be enough ADC available to do the battery sensor. The UART interface would take approximately 100 ms per a reading but the PWM could read a value between 18ms and 52 ms. Another reason we used PWM was because there are several pins that support PWM available on the SJSU board.The method to use the PWM is to trigger a 10 us high signal to the RX pin and read the value back from the PWM. The PWM will have an rising edge and falling edge and the time held high indicate the distance to the object.

XL-MaxSonar EZ

UltraSonic Waveform

The Battery sensor interface was an ADC pin to read the value then apply some calculations to get the approximate value.

Sensor Pin layout

Pin Name	Function
P2_0	PWM for left Sonic Sensor
P2_1	RX trigger for left Sonic Sensor
P2_2	PWM for right Sonic Sensor
P2_3	RX trigger for right Sonic Sensor
P2_4	PWM for back Sonic Sensor
P2_5	RX trigger for back Sonic Sensor
P2_6	5V Regulator Flag bit
P1_30	ADC from RC Battery
P1_31	ADC from 5V source for all Boards
SDA 2	LIDAR I2C data
SCL 2	LIDAR I2C clock

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.

Sensor Controller Communication Table

Sr. No.	Message Number	Destination	Message Name (MSG_FUNCTION)	Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
1	0x140	Master	HEARTBEAT	-
2	0x142	Master	SONIC SENSOR DATA	Msg : byte[0:1]  : (uint16_t) middle (LIDAR) Msg : byte[0:1]  : (uint16_t) left Msg : byte[2:3]  : (uint16_t) right Msg : byte[4:5]  : (uint16_t) back
3	0x144	Master & I/O Controller	BATTERY DATA	Msg : byte[0]  : (uint8_t) Motor battery * 10 Msg : byte[1]  : (uint8_t) Board battery * 10 Msg : byte[2]  : (uint8_t) Board battery Flag

Implementation

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.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Geographical Controller and Compass

Group Members

• Abhishek Gurudutt
• Tejeshwar Chandra Kamaal

Schedule

Sl.No	Start Date	End Date	Task	Status	Actual Completion date	Problems Encountered
1	9/23/2015	10/2/2015	Researched and decided upon the GPS module and Compass module.	Completed	10/1/2015	None
2	10/3/2015	10/3/2015	Ordered GPS module and compass module.	Completed	10/2/2015	None
3	10/5/2015	10/14/2015	Interface GPS module and compass module to SJOne board.	Completed	10/20/2015	The delivery of GPS and compass module was delayed.
4	10/15/2015	10/25/2015	Parse GPS data and format the data to be transmitted Test code to get compass reading information	Completed	10/25/2015	None
5	10/26/2015	10/30/2015	Calibrating the compass module. Integration of GPS and compass module. Interfacing of GPS and compass module to Android.	Completed	11/25/2015	Testing of the module is taking time. Burnt GPS module, had to order another one.
7	11/1/2015	11/13/2015	Integration with Master through CAN bus.	Inprogress	-	-
8	11/15/2015	12/10/2015	Testing and calibrating with other modules.	-	-	-

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

GPS Module

GPS Antenna

CMPS 11 Module

GPS Module

GPS module used in our project is Sparkfun Venus GPS - (Model: GPS-11058) and embedded antenna from Sparkfun - (Model: GPS-00177). We were able to configure this module at 10Hz and communicate at 38400bps through UART. Sparkfun has developed a Graphical User Interface to check Latitude, Longitude and every possible information this GPS module provides. GPS can also be configured to operate and communicate at various speed though the provided Graphical User Interface. This module has got an on-board flash to store these configuration. There are three modes in which this module can operate,

1. Cold start: Cold Start is performed every time when the GPS module is turned off without backup power supply connected. It is the longest starting time out of the three. It usually took around 15 to 20 minutes to get a GPS fix indoors.

2. Hot start: GPS module will perform Hot Start if the GPS module is provided with backup power and is powered on any time within the 2-hour time frame after GPS was previously turned off, the required fix is still stored inside the its flash memory and will not be changed. The Hot start time is typically around 10 to 15 seconds.

3. Warm start: Warm Start is performed if the module is switched on after the 2-hours of time, since satellite data has to be refreshed. Warm start time is typically around 2 to 3 minutes.

Compass Module

Compass module used for our project is CMPS 11 by Devantech Ltd(Robot Electronics). It is tilt compensated module which made life easier for us. There are two ways to establish communication between CMPS 11 and SJ-ONE board. UART and I2C are the two ways and we choose to do use I2C for communication. Since, it is faster.

1. First thing to do before calibrating the compass module is to make sure that there is proper I2C communication established between the compass module and SJ-ONE board. Once we have communication setup we can got ahead and find out the bearing degree of the compass and verify it with an actual analog compass.

2. Once the communication is setup and working as desired, then we can calibrate the compass. Calibration is done by sending 3 commands for every 20ms. The purpose of calibration is to remove sensor gain and offset of both magnetometer and accelerometer and achieves this by looking for maximum sensor outputs.

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.

GPS module

Communication between GPS and SJOne board is through UART2. GPS was configured to communicate at 38400bps and operate at 10Hz. A coin battery of 3.3V was connected between Vbat and Gnd of GPS. The coin battery helped in hot start of GPS module.

Compass module

CMPS 11 module provides two ways of communication. First option is I2C and second option is UART. We chose I2C communication since it is faster when compared to UART. Since GPS uses UART2 and Seven segment display uses UART3 we decided to use I2C. The operating voltage range is from 3.3v to 5v.

Just a word of caution

1. Don't use 5v supply because for us it somehow created more than expected offset and our initial testing failed because of it. Later we switched back to 3.3v and offset was in expected range and testing went well too.

2. When working with CMPS 11 don't get laptops, smartphones or any ferrous object close to it because the calibration of the compass will be dislodged.

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.

GPS module

A task is created to read the GPS values from the module. This task starts reading the input when there is some data on the received queue which is basically every 100ms, since the GPS module is configured to work at 10Hz. Data from communication module is received at the start of code which contains checkpoint details. The GPS data and the checkpoint data is used to calculate the distance to next checkpoint, distance to final destination and angle in which the car has to head by using Haversine formula. Once a checkpoint is reached, the checkpoint is updated and continues till final destination is reached. Once the final destination is reached, master is informed about the same. Present GPS data is transmitted back to communication bridge.

Compass module

All of compass calculation is done in 10Hz periodic task. Initial bearing is calculated and compared with the desired heading. The desired heading is calculated using the longitude and latitude values provided by the GPS module. Based on this value a turn decision is made and sent to the master to handle it.

1. For entering into the calibration mode, switch 1 on SJ- One board has to be pressed. 2. Switch 2 to come out of calibration mode back to heading mode. 3. Switch 3 to do the factory reset setting.

Algorithm to calculate distance using longitude and latitude values.

Algorithm to calculate desired heading using longitude and latitude values.

Controller Communication Table

GEO Controller Communication Table

Sr. No.	Message Number	Destination	Message Name (MSG_FUNCTION)	Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
1	0x160	Master	HEARTBEAT	-
2	0x162	Master and I/O	COMPASS HEADING DATA	Msg : 8 bits  : turn angle Msg : 7 bits  : checkpoint Msg : 1 bit  : isFinal Msg : 16 bits : distance to final destination Msg : 16 bits : distance to next checkpoint
3	0x461	Communication Bridge	GPS DATA	Msg : 8 bits  : latitude_decimal_part Msg : 20 bits : latitude_float_part Msg : 8 bits  : longitude_decimal_part Msg : 20 bits : longitude_decimal_part Msg : 7 bits  : checkpoint Msg : 1 bit  : isFinal
4	0x47F	Communication Bridge	CHECKPOINT RECEIVED	-

Implementation

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.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

On board LED 3 is toggled every time there is an error to push the data onto queue. On board LED 4 is toggled every time the data is not read from gps.

The sparkfun has developed a software to read the GPS value. The GPS module has to be connected to the laptop through a USB to Serial converter and then GPS value can be read without any difficulty. Vbat of around 3V has to be connected. The software has all the options to configure the module. Once done, it can be connected to SJOne board to read and parse the data. Initial fix, for the new module takes a while, once the initial fix is achieved, every time the GPS module is turned on, it takes very little time to get the correct GPS data.

Android & Communication Bridge Controller

Group Members

• Chinmayi Divakara
• Praveen Prabhakaran

Schedule

Sl.No	Start Date	End Date	Task	Status	Actual Completion date	Problems Encountered
1	9/30/2015	9/30/2015	Decide and purchase Bluetooth Module	Completed	9/30/2015	None
2	9/30/2015	10/14/2015	Develop Basic Android App with Bluetooth Sensor Communication	Completed	10/14/2015
3	10/15/2015	10/20/2015	Interface Bluetooth Module with SJSU Dev Board	Completed
4	10/12/2015	10/26/2015	Be able to send bi-directional arbitrary messages between Android App and Dev Board via Bluetooth	Completed
5	10/14/2015	11/21/2015	Interface Bluetooth Module with CAN
6	10/26/2015	11/30/2015	Integration with GPS module testing and fine tuning.
7	11/01/2015	11/13/2015	Integration with Master through CAN bus
8	11/15/2015	12/10/2015	Android App GUI enhancements (Google Maps, Google Drive)

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

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.

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.

Communication Bridge + Android Controller Communication Table

S.R.	Message Number	Destination	Message Name (MSG_FUNCTION)	Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
1	0X180	Master	HEARTBEAT	No DATA
2	0X180	Master	DRIVE MODE	Msg : byte[0] 0 to start, 1 to stop
3	0x181	Master	LOCATION POINTS	Msg : 8 bits  : latitude_decimal_part Msg : 20 bits : latitude_float_part Msg : 8 bits  : longitude_decimal_part Msg : 20 bits : longitude_float_part Msg : 8 bits  : checkpoint

Implementation

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.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Integration

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Include sub-sections that list out a problem and solution, such as:

My Issue #1

Discuss the issue and resolution.

Issue 1:

Full CAN was implemented to receive the required data. During CAN communication, when a particular message intended to receive for one particular module was received, the SJOne board of that module used to get stuck, there was no watchdog timer reset as well.

Solution - The Full CAN messages had to be added in ascending order. Once this was implemented, the working was smooth.

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

• Sourceforge Source Code Link

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

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