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| − | {{TOC right}}
| + | All of the information is now available on a dedicated website. |
| − | The Kart module is a Summer School module for students at the end of the first year.
| + | <br> |
| − | | + | Please visit https://ss1.hevs.io/. |
| − | == System Architecture ==
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| − | | + | |
| − | The kart is controlled by a smartPhone via BlueTooth.
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| − | | + | |
| − | A BlueTooth receiver on the kart control board communicates via an [[kart/serial link|RS232 serial link]] with the control board FPGA.
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| − | | + | |
| − | === BlueTooth communication ===
| + | |
| − | A BlueTooth communication transfers serial port data.
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| − | A receiver chip creates the RS232 signals for the FPGA.
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| − | The [[kart/serial link#Serial link protocol|protocol]] defines how the [[kart/serial link#Registers|registers]] are accessed.
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| − | The FPGA receives following controls:
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| − | * the propulsion DC motor speed and direction
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| − | * the steering stepper motor target angle and step period
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| − | * two LEDs
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| − | The FPGA sends following information back:
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| − | * the [[kart/battery level|battery level]]
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| − | * the actual steering angle
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| − | * the [[Kart/sensors/VCNL4000|distance sensor]] data
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| − | * the [[Kart/sensors/SS311PT|hall sensor]] status
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| − | | + | |
| − | === Sensors ===
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| − | * [[kart/sensors/VCNL4000|VCNL4000 i2c Distance/Ambience Light Sensor]]
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| − | * [[kart/sensors/SS311PT|SS311PT Hall Sensor]]
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| − | | + | |
| − | === Board connectors ===
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| − | The FPGA board has following connections:
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| − | * a [[kart/connectors/Header|26 pin Header]] connector
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| − | * a 9 pole DSub connector for RS232
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| − | * the FPGA JTAG programming connector
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| − | * the PIC RJ11 programming connector
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| − | | + | |
| − | === Boards ===
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| − | For special designs, some boards have larger FPGAs:
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| − | * Board 29 has a AGL125V5
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| − | * Board 30 has a AGL250V5
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| − | Within the Actel Project manager, the settings of the FPGA have to be changed: in <code>Project Manager</code>, change FPGA type in <code>Project -> Settings -> Device -> Die</code>.
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| − | | + | |
| − | For the AGL250V5, pin 46 associated to <code>jtagIo[3]</code> is not available.
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| − | Edit the <code>motorControl.pdc</code> constraints file and change the <code>jtagIo[3]</code> constraint to pin 43.
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| − | | + | |
| − | === To do ===
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| − | Go to stepper end upon each reception of "set HW orientation" command.
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| − | Don't go to stepper en at startup because "set HW orientation" command comes later than reset
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| − | | + | |
| − | Use the register to set the rate at which the FPGA sends status to the remote control.
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| − | | + | |
| − | Set-up a hall sensor wheel rotation counter.
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| | [[Category:Kart]] | | [[Category:Kart]] |
