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| − | {{TOC right}}
| + | All of the information is now available on a dedicated website. |
| | + | <br> |
| | + | Please visit https://ss1.hevs.io/. |
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| − | The Kart module (214_Pr1) is a Summer School module for students
| + | [[Category:Kart]] |
| − | between the 2nd and the 3rd semester.
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| − | It is a [[kart/gallery|home-made model car]] remotely controlled by a smartphone.
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| − | [[File:Kart I2C.jpg|150px|center|Demo Kart]]
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| − | The work of the students can be summarized in four main tasks:
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| − | * design and assembly of the chassis and the body
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| − | * analysis of the DC motor
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| − | * [[Kart#FPGA_Design|configuration of the controlling FPGAs]]
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| − | * [[Kart#Android_App|completion and extension of the control GUI on the smartphone]]
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| − | Take a look at the [[kart/gallery|karts gallery]] !
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| − | == System Architecture ==
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| − | The kart is controlled by a smartphone via Bluetooth.
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| − | === Hardware ===
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| − | The electronic is composed of an FPGA daughterboard which embedds an [https://www.mouser.ch/datasheet/2/268/Microsemi_DS0110_IGLOO_nano_Low_Power_Flash_FPGAs_-1592764.pdf Igloo AGLN250] chip.
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| − | It is designed as an SODIMM-200 RAM stick to be plugged into the motherboard, where all sensors and control boards are wired through the [https://digilent.com/reference/pmod/start PMOD] standard as well as the battery and an I2C chip to read both the battery voltage and consumed current.
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| − | An Honor10 Lite running Android acts as the interface for the user.
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| − | === Distributed controls ===
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| − | A [[Kart/Bluetooth|Bluetooth - USB dongle]] on the kart communicates via an [[kart/serial link|UART serial link]] with the FPGA.
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| − | The control values are stored in a set of [[kart/serial link#Registers|registers]] accessed through a simple [[kart/serial link#Serial link protocol|protocol]].
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| − | The design is separated over four different modules:
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| − | * A [[Kart/DC motor controller|DC motor controller]] receives a '''prescaler''' and a '''speed''' value to build the corresponding '''PWM''' and '''direction''' signals.
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| − | * A [[Kart/stepper motor controller|stepper motor controller]] receives a '''prescaler''' and the '''desired angle''' and builds the coil controls signals.
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| − | * A [[Kart/sensor board|sensor controller]] manages I/O comprising '''hall sensors''' (to retrieve the driving speed), LEDs, buttons, and a '''range finder''' (to get the distance from an obstacle).
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| − | * A [[Kart/serial_link#Hardware_control_register|control registers manager]] retrieve various information of the Kart and can play test sequences.
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| − | == Tasks ==
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| − | The [[Media:Programming_Introduction.pdf|programming introduction]] gives an overview about the structure of the software/hardware and the students' tasks.
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| − | They comprise:
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| − | * [http://en.wikipedia.org/wiki/Field-programmable_gate_array FPGA] design for driving the hardware and reading the sensors
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| − | * [https://www.android.com Android] application development for the remote control
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| − | The students receive the FPGA board preprogrammed with a functional solution and Android phones with a demo application.
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| − | This allows to start the development either with the FPGA design or the Android application.
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| − | === FPGA Design ===
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| − | ==== Design environment ====
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| − | A [https://classroom.github.com/g/Gvzsxsu_ FPGA design environment] is available, based on:
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| − | * [http://www.mentor.com/products/fpga/hdl_design/hdl_designer_series/ HDL designer] for graphical design entry
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| − | * [http://www.mentor.com/products/fv/modelsim/ ModelSim] for simulation
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| − | * [http://www.microsemi.com/products/fpga-soc/design-resources/design-software/libero-ide Libero IDE] for synthesis and programming
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| − | {{TaskBox|content=
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| − | clone the Git repository or download the corresponding <code>zip</code> and install it,
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| − | preferably to your personal drive (<code>U:\</code>).
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| − | }}
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| − | {{WarningBox|content=
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| − | Make sure that there is no space character in the path to ELN_kart.
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| − | }}
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| − | The design is made using [https://www.mentor.com/products/fpga/hdl_design/hdl_designer_series/ HDL Designer]
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| − | as it was the case during the case during the [[Main_Page#Semester_1|previous semester's]] labs and project.
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| − | The FPGAs are [[Libero IDE presentation|configured]] using the [https://www.microsemi.com/product-directory/design-resources/1751-libero-ide Libero IDE].
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| − | ==== Modules designs ====
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| − | Three of the different modules must be completed:
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| − | * The [[Kart/DC motor controller|DC motor controller]] receives a '''prescaler''' and a '''speed''' value to build the corresponding '''PWM''' and '''direction''' signals.
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| − | * The [[Kart/stepper motor controller|stepper motor controller]] receives a '''prescaler''' and the '''desired angle''' and builds the coil controls signals.
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| − | * The [[Kart/sensor board|sensor controller]] manages I/O comprising '''hall sensors''' (to retrieve the driving speed) and a '''range finder''' (to get the distance from an obstacle).
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| − | === Android App ===
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| − | One goal is to implement an Android application that controls and monitors the kart.
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| − | ==== Introduction ====
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| − | The installable package of the (or rather a) solution can be found here: [[Media:Kart.apk|Kart.apk]]
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| − | ==== Starting point ====
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| − | * You can download the Kart project with the minimal interface here: [[Media:Kart.zip|Kart.zip]]
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| − | * You can find the instructions how to open the project in Android Studio in the [[Media:Programming_Introduction.pdf|programming introduction]] presentation...
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| − | * The online documentation of all Java classes that are at your disposition is [[http://kart-javadoc.hevs.ch here]]
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| − | * If you need timers, please do not use Java standard Timer and TimerTask, we provide a dedicated Timer class in the package <b>ch.hevs.utils.Timer</b>.
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| − | * To be informed when a register is modified by the kart (i.e. the hall sensor counter value has changed), your application has to implement the KartStatusRegisterListener interface. This will force your application to have a method (statusRegisterHasChanged) that will be called when a register value has changed. Don't forget to register your listener to the Kart (kart.addStatusRegisterListener(...)).
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| − | ==== Common Problems ====
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| − | * Don't block the main thread with an infinite loop
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| − | * Don't change the orientation of the display during the execution, it can crash the BT communication. Do it in the Manifest.
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| − | ==== Virtual Kart ====
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| − | If you need to test your Android application against a Kart and your Kart is either not build yet or not available at the moment, you can install the '''Virtual Kart''' application and use the Kart Bluetooth to USB adapter [[Media:Kart USB-RS232 board.pdf|board]].
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| − | * Windows version [http://kart-javadoc.hevs.ch/Virtual%20Kart-2019.8-win64.exe here]
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| − | * macOS version [http://kart-javadoc.hevs.ch/Virtual%20Kart-2019.8-macOS.dmg here]
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| − | == Components ==
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| − | === Power supply ===
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| − | The [[Kart/power supply|power supply board]] provides the 5 V and the 3.3 V to the other boards.
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| − | This is generated from two 6 V battery packs.
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| − | The power supply board also comprises an ADC which provides the [[kart/battery level|battery level]].
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| − | === FPGA boards ===
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| − | The [[Kart/FPGA board|FPGA motherboards]] are equipped with an AGL125 [http://www.microsemi.com/products/fpga-soc/fpga/igloo-overview IGLOO] in a VQ100 package. The clock passed to the FPGA comes from a 10 MHz quartz.
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| − | They hold daughterboards which drive different parts of the Kart.
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| − | The motherboards are interconnected via an [[kart/I2C link|I2C link]].
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| − | The FPGA motherboards can be tested with the help of a dedicated [[Kart/FPGA_board#Test|test board]] which runs a signal from one I/O pin to the next.
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| − | === FPGA daughterboards ===
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| − | Existing daughterboards are:
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| − | * a [[Kart/Bluetooth|Bluetooth interface board]]
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| − | * a [[Kart/DC motor controller|DC motor controller]]
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| − | * a [[Kart/stepper motor controller|stepper motor controller]]
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| − | * an [[Kart/sensor board|I/O board]] for the sensors
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| − | * an [[Kart/FPGA_board#Test|FPGA test]] board
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| − | === Sensors ===
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| − | The sensors connected to the I/O board are:
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| − | * 1 to 4 [[kart/sensors/VCNL4000|VCNL4000 I2C Distance/Ambience Light Sensor]]
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| − | * 1 to 2 [[kart/sensors/SS311PT|SS311PT Hall Sensor]]
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| − | * 1 [[Kart/sensors/HCSR04|ultrasound ranger]]
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| − | * 1 [[Kart/sensor board|end of turn]] contact switch
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| − | == Additional Information ==
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| − | * Additional informations [[kart/professor|for collaborators]]
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| − | * [[kart/toDo|To do list]]
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| − | * When preparing the labs, follow the [[kart/setup|setup guide]]
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| − | [[Category:Bachelor]] [[Category:SummerSchool]] [[Category:Pr1]] [[Category:Kart]]
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