Kart
(→To do) |
(→To do) |
||
Line 46: | Line 46: | ||
=== To do === | === To do === | ||
Return to stepper end upon reception of "set HW orientation" command. | Return to stepper end upon reception of "set HW orientation" command. | ||
+ | Don't go to stepper en at startup because "set HW orientation" command comes later than reset | ||
Use the register to set the rate at which the FPGA sends status to the remote control. | Use the register to set the rate at which the FPGA sends status to the remote control. |
Revision as of 16:37, 6 September 2012
|
The Kart module is a Summer School module for students at the end of the first year.
System Architecture
The kart is controlled by a smartPhone via BlueTooth.
A BlueTooth receiver on the kart control board communicates via an RS232 serial link with the control board FPGA.
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
- two LEDs
The FPGA sends following information back:
- the battery level
- the actual steering angle
- the distance sensor data
- the hall sensor status
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
- the PIC RJ11 programming connector
Boards
For special designs, some boards have larger FPGAs:
- Board 29 has a AGL125V5
- Board 30 has a AGL250V5
Within the Actel Project manager, the settings of the FPGA have to be changed: in Project Manager
, change FPGA type in Project -> Settings -> Device -> Die
.
For the AGL250V5, pin 46 associated to jtagIo[3]
is not available.
Edit the motorControl.pdc
constraints file and change the jtagIo[3]
constraint to pin 43.
To do
Return to stepper end upon reception of "set HW orientation" command. Don't go to stepper en at startup because "set HW orientation" command comes later than reset
Use the register to set the rate at which the FPGA sends status to the remote control.
Set-up a hall sensor wheel rotation counter.