Kart
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The Kart module is a Summer School module for students between 3. and 4. semester. It's a home-made car remotely controlled by a smart-phone. | The Kart module is a Summer School module for students between 3. and 4. semester. It's a home-made car remotely controlled by a smart-phone. | ||
| − | The work of the students can be summarized in | + | The work of the students can be summarized in four main tasks: |
* design and build the chassis | * design and build the chassis | ||
| + | * analyse the motor driver circuits (DC and stepper) | ||
* configure the controlling FPGAs | * configure the controlling FPGAs | ||
* complete and extend the GUI on the smart-phone | * complete and extend the GUI on the smart-phone | ||
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== System Architecture == | == System Architecture == | ||
| − | The kart is controlled by a | + | The kart is controlled by a smartphone via Bluetooth. |
| − | A | + | A Bluetooth receiver on the kart communicates via an [[kart/serial link|RS232 serial link]] with the FPGA control board. |
The control is distributed over several FPGA boards connected via [[kart/I2C link|I2C]]: | The control is distributed over several FPGA boards connected via [[kart/I2C link|I2C]]: | ||
* An I2C master receives RS232 controls, stores them in a set of registers and dispatches them at a regular interval on the I2C. The master also reads data values from the I2C, stores them into a second set of registers and sends the corresponding information at a regular rate over the RS232. | * An I2C master receives RS232 controls, stores them in a set of registers and dispatches them at a regular interval on the I2C. The master also reads data values from the I2C, stores them into a second set of registers and sends the corresponding information at a regular rate over the RS232. | ||
| − | * A [[Kart/DC motor controller|DC motor controller]] receives speed | + | * A [[Kart/DC motor controller|DC motor controller]] receives a speed value and builds a PWM and a direction control. |
* A [[Kart/stepper motor controller|stepper motor controller]] receives the desired angle and builds the coil controls signals. | * A [[Kart/stepper motor controller|stepper motor controller]] receives the desired angle and builds the coil controls signals. | ||
| − | === | + | === Bluetooth communication === |
| − | A | + | A Bluetooth communication transfers serial port data. |
A receiver chip creates the RS232 signals for the FPGA. | A receiver chip creates the RS232 signals for the FPGA. | ||
The [[kart/serial link#Serial link protocol|protocol]] defines how the [[kart/serial link#Registers|registers]] are accessed. | The [[kart/serial link#Serial link protocol|protocol]] defines how the [[kart/serial link#Registers|registers]] are accessed. | ||
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* the propulsion DC motor speed and direction | * the propulsion DC motor speed and direction | ||
* the steering stepper motor target angle and step period | * the steering stepper motor target angle and step period | ||
| − | * | + | * four LEDs |
The FPGA sends following information back: | The FPGA sends following information back: | ||
* the [[kart/battery level|battery level]] | * the [[kart/battery level|battery level]] | ||
* the actual steering angle | * the actual steering angle | ||
| − | * the [[Kart/sensors/VCNL4000| | + | * the [[Kart/sensors/VCNL4000|proximity sensor]] data |
| − | * the [[Kart/sensors/SS311PT|hall sensor]] | + | * the [[Kart/sensors/SS311PT|hall sensor]] pulse count |
=== Sensors === | === Sensors === | ||
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* a 9 pole DSub connector for RS232 | * a 9 pole DSub connector for RS232 | ||
* the FPGA JTAG programming connector | * the FPGA JTAG programming connector | ||
| − | |||
=== Boards === | === Boards === | ||
| − | There are | + | There are motherboards equipped with a AGL125 in a VQ100 package. They connect to Daughterboards which hold the connectors to the different mechanical parts of the Kart. Each Motherboard therefore controls one motor or multiple sensors on the Kart. These Daughterboards are configured as slaves and are all connected to one master Motherboard. |
Existing daughterboards are: | Existing daughterboards are: | ||
Revision as of 17:36, 11 June 2014
|
The Kart module is a Summer School module for students between 3. and 4. semester. It's a home-made car remotely controlled by a smart-phone.
The work of the students can be summarized in four main tasks:
- design and build the chassis
- analyse the motor driver circuits (DC and stepper)
- configure the controlling FPGAs
- complete and extend the GUI on the smart-phone
System Architecture
The kart is controlled by a smartphone via Bluetooth.
A Bluetooth receiver on the kart communicates via an RS232 serial link with the FPGA control board.
The control is distributed over several FPGA boards connected via I2C:
- An I2C master receives RS232 controls, stores them in a set of registers and dispatches them at a regular interval on the I2C. The master also reads data values from the I2C, stores them into a second set of registers and sends the corresponding information at a regular rate over the RS232.
- A DC motor controller receives a speed value and builds a PWM and a direction control.
- A stepper motor controller receives the desired angle and builds the coil controls signals.
Bluetooth communication
A Bluetooth communication transfers serial port data. A receiver chip creates the RS232 signals for the FPGA. The protocol defines how the registers are accessed.
The FPGA receives following controls:
- the propulsion DC motor speed and direction
- the steering stepper motor target angle and step period
- four LEDs
The FPGA sends following information back:
- the battery level
- the actual steering angle
- the proximity sensor data
- the hall sensor pulse count
Sensors
Board connectors
The FPGA board has following connections:
- a 26 pin Header connector
- a 9 pole DSub connector for RS232
- the FPGA JTAG programming connector
Boards
There are motherboards equipped with a AGL125 in a VQ100 package. They connect to Daughterboards which hold the connectors to the different mechanical parts of the Kart. Each Motherboard therefore controls one motor or multiple sensors on the Kart. These Daughterboards are configured as slaves and are all connected to one master Motherboard.
Existing daughterboards are:
Getting started
In order to start the projects you should do the following:
- Read carefully the specifications above
- Consult the student's guide for the first steps
- When preparing the labs, follow the setup guide
Additional Information
- Additional informations for collaborators
- To do list
