Kart
Line 46: | Line 46: | ||
Edit the <code>motorControl.pdc</code> constraints file and change the <code>jtagIo[3]</code> constraint to pin 43. | Edit the <code>motorControl.pdc</code> constraints file and change the <code>jtagIo[3]</code> constraint to pin 43. | ||
− | == | + | == Getting started == |
− | + | In order to start the projects you should do the following: | |
− | + | * Read carefully the specifications above | |
+ | * Consulte the [[kart/students|guide for the first steps]] | ||
− | + | == Additional Information == | |
− | + | Additional informations for [[kart/professor|collaborators]] | |
− | + | ||
[[Category:Kart]] | [[Category:Kart]] |
Revision as of 10:44, 7 January 2013
|
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.
Getting started
In order to start the projects you should do the following:
- Read carefully the specifications above
- Consulte the guide for the first steps
Additional Information
Additional informations for collaborators