S23: Meh-sla Automotive

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 ECU
8 Motor ECU
9 Geographical Controller
10 Communication Bridge Controller & LCD
11 Master Module
12 Mobile Application
13 Conclusion

Project Title

Abstract

<2-3 sentence abstract>

Introduction

The project was divided into N modules:

Sensor ...
Motor..
...
Android

Team Members & Responsibilities

Gitlab Project Link - [1]

Sensor
- Link to Gitlab user1
- Link to Gitlab user2

Motor
- Link to Gitlab user1
- Link to Gitlab user2

Geographical
- Link to Gitlab user1
- Link to Gitlab user2

Communication Bridge Controller & LCD
- Link to Gitlab user1
- Link to Gitlab user2

Android Application
- Link to Gitlab user1
- Link to Gitlab user2

Testing Team
- Link to Gitlab user1
- Link to Gitlab user2

Schedule

Week #	Start Date	End Date	Task	Status
1	2/12/2023	2/18/2023	Read previous projects, gather information and discuss among group members	Completed
2	2/19/2023	2/25/2023	Brainstorm on the requirements for the project Create a high-level block diagram of the project	Completed Completed
3	26/2/2023	3/4/2023	Order the RC Car Order all the sensors	Completed Completed
4	3/5/2023	3/11/2023	Learning to use CAN BUSMASTER Test all the parts received and order any missing or damaged parts Test RC Car is functional	Completed Completed Completed
5	3/12/2023	3/18/2023	Establish CAN transmit and receive functionality, start formatting DBC messages DBC file discussed and implemented	Completed Completed
6	3/19/2023	3/25/2023	Discuss modules needed for PCB, any feature requests Purchase PCBs	Completed Completed
7	3/26/2023	4/1/2023	Finalize preparations and research during Spring Break Start working on way point algorithm Start working on obstacle avoidance algorithm	Completed Completed Completed
8	4/2/2023	4/8/2023	Work on the power supplies for boards Interface Bluetooth for bridge controller Integrate the GEO sensor and controller Interface with RC car and start working on DRIVER and MOTOR nodes Write a basic implementation of the sensor controller	Completed Completed Completed Completed Completed
9	4/9/2023	4/15/2023	Integrate compass Install RPM Sensor Start Mobile Application development Finalize power supply choice and how it integrates with PCB Finish PCB designs for each subsystem Begin design of entire RC car assembly First outdoor tests commence	Completed Completed Completed Completed Completed In Progress In Progress
10	4/16/2023	4/22/2023	Finish 1st vehicle prototype Complete basic mobile application Interface motor and steering together Begin implementation of RPM sensor for PID control Connect all boards to PCB and begin implementation Write motor test routines to define in mobile application Continue outdoor test	In Progress In Progress In Progress In Progress In Progress Incomplete Incomplete
11	4/23/2023	4/29/2023	Populate PCB and prepare for installation Finalize GPS module + create unit_tests First final draft MR for motor_board branch First final draft MR for bridge_controller branch First final draft MR for sensor_board branch First final draft MR for geo_board branch Continue outdoor tests	In Progress In Progress Incomplete Incomplete Incomplete Incomplete Incomplete
12	4/30/2023	5/6/2023	Finish mobile application Begin working on wiki Begin PID control for motor on hill Integrate initial mobile application features First North Garage tests commence	Incomplete Incomplete Incomplete Incomplete Incomplete
13	5/7/2023	5/13/2023	Fix bugs with altogether integration Finalize PID control Clean up code for branches --> update master branches More North Garage tests	Incomplete Incomplete Incomplete Incomplete
14	5/14/2023	5/19/2023	Final code cleanup Add RC Car designs (pirate ship flag, argh!) Finalize wiki report Final North Garage tests	Incomplete Incomplete Incomplete Incomplete

Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car	Traxxas	1	$250.00
2	CAN Transceivers MCP2551-I/P	Microchip [2]	8	Free Samples

Printed Circuit Board

CAN Communication

Hardware Design

DBC File

Gitlab link to DBC file

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 MOTOR SENSOR GEO

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

BO_ 101 MOTOR_SPEED: 1 DRIVER
 SG_ DC_MOTOR_DRIVE_SPEED_sig : 0|8@1+ (0.1,-10) [-10|10] "kph" MOTOR

BO_ 102 MOTOR_ANGLE: 1 DRIVER
 SG_ SERVO_STEER_ANGLE_sig : 0|8@1+ (1,-45) [-45|45] "degrees" MOTOR


BO_ 200 SENSOR_SONARS: 4 SENSOR
 SG_ SENSOR_SONARS_left : 0|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_right : 8|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_front : 16|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_rear : 24|8@1+ (1,0) [0|158] "inch" DRIVER

BO_ 202 GPS_DESTINATION_LOCATION: 8 SENSOR
 SG_ GPS_DEST_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "Degrees" GEO
 SG_ GPS_DEST_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "Degrees" GEO

BO_ 203 GEO_STATUS: 8 GEO
 SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR
 SG_ GEO_STATUS_COMPASS_BEARING: 12|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR
 SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|16@1+ (0.01,0) [0|0] "Meters" DRIVER,SENSOR

BO_ 204 GPS_CURRENT_INFO: 8 GEO
 SG_ GPS_CURRENT_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "degrees" DRIVER,SENSOR,MOTOR
 SG_ GPS_CURRENT_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "degrees" DRIVER,SENSOR,MOTOR
 
BO_ 205 GPS_CURRENT_DESTINATIONS_DATA: 8 GEO
 SG_ CURRENT_DEST_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "Degrees" DRIVER
 SG_ CURRENT_DEST_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "Degrees" DRIVER

BO_ 206 BRIDGE_APP_COMMANDS: 1 SENSOR
 SG_ APP_COMMAND : 0|2@1+ (1,0) [0|0] "" GEO,DRIVER

BO_ 300 MOTOR_STATUS: 3 MOTOR
 SG_ MOTOR_STATUS_wheel_error : 0|1@1+ (1,0) [0|0] "" DRIVER,IO
 SG_ MOTOR_STATUS_speed_kph : 8|16@1+ (0.001,0) [0|0] "kph" DRIVER,IO
 
BO_ 401 MOTOR_DEBUG: 1 MOTOR
 SG_ IO_DEBUG_test_unsigned : 0|8@1+ (1,0) [0|256] "sec" DBG

CM_ BU_ DBG "The debugging node for testing dbc with the car";
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 geological Controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";
CM_ SG_ 101 DC_MOTOR_DRIVE_SPEED_sig "The speed in kph to set the motor speed. TODO: choose kph/mph";
CM_ SG_ 102 SERVO_STEER_ANGLE_sig "The direction in degrees to set the RC car servo direction.";

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" ;