Difference between revisions of "S23: CAN CLAN"

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Revision as of 20:43, 11 May 2023

CAN CLAN

Final car.png

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

<Team Picture>

  • Final car.png

Gitlab Project Link - https://gitlab.com/rashmi_sv/the_CAN_clan.git

  • Final car.png
  • Rashmi Suhas Vaidya

    • Geo Controller
    • GPS and Compass Interfacing
    • Driver Node
    • Integration Testing
  • Final car.png
  • Zeel Jatinkumar Lia

    • Sensor and Bridge Controller
    • RPM Sensor
    • Driver Node
    • Integration Testing
  • Final car.png
  • Priyam Hajisheth

    • Driver Node
    • LCD interfacing
    • Mobile App
    • Integration Testing
  • Final car.png
  • Xinyu He

    • Hardware solution
    • Wiki Page Update
    • Integration Testing
  • Final car.png
  • 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 CLAN Car Pinout.png




    CAN Communication

    <Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>

    Hardware Design

    <Show your CAN bus 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

    <You can optionally use an inline image>

    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_: DRIVER MOTOR SENSOR GEO DEBUG
    
    
    BO_ 100 DRIVER_HEARTBEAT: 3 DRIVER
     SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" DBG
    
    BO_ 110 DRIVER_STEERING: 3 DRIVER
     SG_ DRIVER_STEERING_yaw : 0|12@1+ (0.001,-2) [-10|10] "radians" MOTOR
     SG_ DRIVER_STEERING_velocity : 12|12@1+ (0.01,-20) [-20|20] "kph" MOTOR
    
    BO_ 120 MOTOR_HEARTBEAT: 5 MOTOR
     SG_ MOTOR_HEARTBEAT_speed_raw : 0|8@1+ (1,0) [0|0] "count" DEBUG
     SG_ MOTOR_HEARTBEAT_speed_rpm : 8|10@1+ (1,0) [0|0] "rpm" DEBUG
     SG_ MOTOR_HEARTBEAT_speed_kph : 18|10@1+ (0.1,-10) [-10|10] "kph" DEBUG
     SG_ MOTOR_HEARTBEAT_angle_duty : 28|10@1+ (0.001,-2) [-10|10] "duty" MOTOR
    
    
    BO_ 125 MOTOR_DEBUG: 8 MOTOR
     SG_ MOTOR_DEBUG_speed_target : 0|26@1+ (0.1,-10) [-10|10] "kph" DEBUG
     SG_ MOTOR_DEBUG_speed_kph : 26|10@1+ (0.1,-10) [-10|10] "kph" DEBUG
     SG_ MOTOR_DEBUG_speed_duty : 36|10@1+ (0.1,0) [0|0] "duty" DEBUG
     SG_ MOTOR_DEBUG_integral_error : 46|10@1+ (0.1,-10) [-10|10] "error" DEBUG
     SG_ MOTOR_DEBUG_current_state : 56|3@1+ (1,0) [0|5] "state" DEBUG
     SG_ MOTOR_DEBUG_next_state : 59|3@1+ (1,0) [0|5] "state" DEBUG
    
    
    
    
    BO_ 128 MOTOR_ESC_CALIBRATED: 1 MOTOR
     SG_ MOTOR_ESC_CALIBRATED_calibration_status : 0|4@1+ (1,0) [0|3] "esc_calibration_e" DRIVER
     SG_ MOTOR_ESC_CALIBRATED_start_calibration_ack_to_driver : 4|1@1+ (1,0) [0|1] "bool" DRIVER
    
    
    BO_ 129 DRIVER_START_ESC_CALIBRATION: 1 DRIVER
     SG_ MOTOR_ESC_CALIBRATED_begin_esc_calibration : 0|1@1+ (1,0) [0|3] "bool" MOTOR
    
    BO_ 130 MOTOR_ACK: 1 MOTOR
     SG_ MOTOR_ACK_cmd : 0|8@1+ (1,0) [0|0] "" DRIVER
    
    
    BO_ 200 SENSOR_SONARS: 8 SENSOR
     SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|800] "inch" DRIVER
     SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|0] "inch" DRIVER
     SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|0] "inch" DRIVER
     SG_ SENSOR_SONARS_back : 30|10@1+ (1,0) [0|0] "inch" DRIVER
     SG_ SENSOR_SONARS_frame_id : 42|16@1+ (1,0) [0|0] "" DRIVER
    
    BO_ 210 SENSOR_DESTINATION_LOCATION: 8 SENSOR
     SG_ SENSOR_DESTINATION_latitude : 0|28@1+ (0.000001,-90.000000) [-90|90] "Degrees" GEO
     SG_ SENSOR_DESTINATION_longitude : 28|28@1+ (0.000001,-180.000000) [-180|180] "Degrees" GEO
    
    BO_ 218 NAVIGATION_MESSAGE: 1 GEO
     SG_ NAVIGATION_STATUS_navigation_status : 0|8@1+ (1,0) [0|3] "navigation_status_e" DRIVER
    
    BO_ 219 CHECKPOINT_MESSAGE: 8 GEO
     SG_ CHECKPOINT_MESSAGE_compass_heading : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER
     SG_ CHECKPOINT_MESSAGE_destination_bearing : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER
     SG_ CHECKPOINT_MESSAGE_destination_distance : 24|16@1+ (0.1,0) [0|0] "Meters" DRIVER
     SG_ CHECKPOINT_MESSAGE_curr_checkpoint_num : 40|8@1+ (1,0) [0|255] "Integer" DRIVER
     SG_ CHECKPOINT_MESSAGE_total_checkpoint_num : 48|8@1+ (1,0) [0|255] "Integer" DRIVER
     SG_ CHECKPOINT_MESSAGE_checkpoint_status : 56|8@1+ (1,0) [0|3] "checkpoint_status_e" DRIVER
    
    BO_ 220 GEO_STATUS: 8 GEO
     SG_ GEO_STATUS_compass_heading : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER
     SG_ GEO_STATUS_destination_bearing : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER
     SG_ GEO_STATUS_destination_distance : 24|16@1+ (0.1,0) [0|0] "Meters" DRIVER
    
    BO_ 520 DEBUG_GPS_CURRENT_LOCATION: 8 GEO
     SG_ DEBUG_GPS_CURRENT_LOCATION_latitude : 0|28@1+ (0.000001,-90.000000) [-90|90] "Degrees" DEBUG
     SG_ DEBUG_GPS_CURRENT_LOCATION_longitude : 28|28@1+ (0.000001,-180.000000) [-180|180] "Degrees" DEBUG
     SG_ DEBUG_GPS_CURRENT_LOCATION_fix : 56|2@1+ (1,0) [0|2] "" DEBUG
    
    BO_ 521 DEBUG_GEO_GPS_UPDATE: 8 GEO
     SG_ DEBUG_GEO_GPS_UPDATE_count : 0|16@1+ (1,0) [0|0] "" DEBUG
     SG_ DEBUG_GEO_GPS_UPDATE_max_period : 16|16@1+ (1,0) [0|0] "milliseconds" DEBUG
     SG_ DEBUG_GEO_GPS_UPDATE_min_period : 32|16@1+ (1,0) [0|0] "milliseconds" DEBUG
     SG_ DEBUG_GEO_GPS_UPDATE_average_period : 48|16@1+ (1,0) [0|0] "milliseconds" DEBUG
    
    BO_ 522 DEBUG_GEO_COMPASS_UPDATE: 8 GEO
     SG_ DEBUG_GEO_COMPASS_UPDATE_count : 0|16@1+ (1,0) [0|0] "" DEBUG
     SG_ DEBUG_GEO_COMPASS_UPDATE_max_period : 16|16@1+ (1,0) [0|0] "milliseconds" DEBUG
     SG_ DEBUG_GEO_COMPASS_UPDATE_min_period : 32|16@1+ (1,0) [0|0] "milliseconds" DEBUG
     SG_ DEBUG_GEO_COMPASS_UPDATE_average_period : 48|16@1+ (1,0) [0|0] "milliseconds" DEBUG
    
    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 geographical controller of the car";
    CM_ BU_ DEBUG "the debug topic that all controllers can publish to";
    CM_ BO_ 100 "Sync message used to synchronize the controllers";
    CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";
    
    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" ;
    
    
    


    Sensor ECU

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>



    Motor ECU

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>



    Geographical Controller

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>





    Communication Bridge Controller & LCD

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>



    Master Module

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>



    Mobile Application

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>






    Conclusion

    <Organized summary of the project>

    <What did you learn?>

    Project Video

    Project Source Code

    Advise for Future Students

    <Bullet points and discussion>

    Acknowledgement

    === References ===