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| + | 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 FPGA]]
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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 electronics is composed of a general purpose [[Kart/Daughterboard|FPGA daughterboard]]
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| − | mounted on a dedicated [[Kart/Motherboard|motherboard]]
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| − | with 8 [https://wiki.hevs.ch/fsi/index.php5/Kart/Motherboard#PMOD PMOD connectors].
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| − | An Honor10 Lite smartphone 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]] is controlling the propulsion motor.
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| − | * A [[Kart/stepper motor controller|stepper motor controller]] is responsible for the Kart to turn.
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| − | * A [[Kart/Sensors|sensor controller]] controls various I/Os (LEDs, buttons, range finder, hall sensors ...).
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| − | * A [[Kart/serial_link#Control_Registers|control registers manager]] retrieve and control various status information (bluetooth connection, hardware directions ...).
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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/a/YV2oi5ct 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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| − | For the smoothest experience, you can use Git directly by cloning the repository.
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| − | Otherwise, it is possible to download directly the corresponding <code>zip</code> and store it in you personal drive (<code>U:\</code>).
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| − | While working on the project, it may be preferable to copy it locally for a quicker experience.
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| − | Do not forget to either commit and push your modifications to your Git repository or save the modified files on your drive !
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| − | }}
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| − | {{WarningBox|content=
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| − | Make sure that there is no space character in the full path to the project files.
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| − | HDL may hang while booting or files not loading/saving correctly.
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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 [[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/Sensors|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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| − | ==== Testing ====
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| − | In addition to the tests explained in the different modules, an [[Kart/Daughterboard#Testing|overall tester]] is available to test the whole board.
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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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| − | ==== Starting point ====
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| − | * You can download the Kart template project with the minimal interface here: [[http://kart-javadoc.hevs.ch/Kart.zip Kart.zip]]
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| − | * You can find the instructions how to open the project in Android Studio in the [[http://kart-javadoc.hevs.ch/Programming%20Introduction.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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| − | * The installable package of the (or rather a) solution can be found here: [[http://kart-javadoc.hevs.ch/KartSolution.apk KartSolution.apk]]
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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 sensor has a new value or a register is modified by the kart (i.e. the hall sensor counter value has changed), your application has to implement the KartListener interface. Don't forget to register your listener to the Kart (kart.addKartListener(...)).
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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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| − | == Components ==
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| − | === Power supply ===
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| − | The main power is drawn from two 6 V / 2400 mAh battery packs in series
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| − | The [[Kart/Motherboard|motherboard]] provides two connectors for the batteries, along with an extra one to wire an NiMh charger.
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| − | {{WarningBox|content=
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| − | Make sure to shut the circuit off while charging to avoid higher voltage on the 12V rail.
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| − | The charge rate should be of around 0.05C => 120mA here.
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| − | }}
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| − | The 12V is reduced to a 5V rail through a buck converter.
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| − | The [[Kart/Daughterboard|daughterboard]] is then fed with the 5V to provide an extra 3.3V rail.
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| − | Finally, an ADC converter provides the [[kart/Motherboard#Power state|battery level]] as both the battery voltage and consumed current can be read from it.
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| − | === FPGA board ===
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| − | The [[Kart/Daughterboard|daughterboard]] is equipped with an [https://www.mouser.ch/datasheet/2/268/Microsemi_DS0110_IGLOO_nano_Low_Power_Flash_FPGAs_-1592764.pdf Igloo AGLN250] FPGA in a VQ100 package.
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| − | The clock is rooted to the FPGA from a 10 MHz quartz.
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| − | It is designed as an SODIMM-200 RAM stick to be easily interchangeable and plugged into various motherboards.
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| − | === Sensors ===
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| − | The sensors connected to the I/Os of the motherboard are:
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| − | * 1 to 2 [[kart/Sensors#Hall_sensors|hall sensor(s)]]
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| − | * 1 [[Kart/Sensors#Ultrasound_ranger|ultrasound ranger]]
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| − | * 1 [[Kart/Sensors#End_of_turn_switch|end of turn]] contact switch
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| − | * up to 4 [[Kart/Sensors#LEDs_.2F_Low-consumption_outputs|LEDs or digital outputs]]
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| − | * up to 16 [[Kart/Sensors#Buttons_.2F_Digital_inputs|buttons or digital inputs]]
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| − | <!--
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| − | * 0 to 4 [[kart/Sensors#Proximity_sensors|VCNL4000 I2C Distance/Ambience Light Sensor]]
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| − | -->
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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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