https://conceptcar.iese.de:80/ConceptCar1/api.php?action=feedcontributions&feedformat=atom&user=Dulcineia 2026-05-04T18:06:17Z User contributions MediaWiki 1.23.2 https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Main_Page 2009-10-26T10:02:44Z

<p>Dulcineia: </p> <hr /> <div>==WELCOME==<br /> <br /> So here it is established, the Concept Car&#039;s wiki.<br /> <br /> The Concept Car, presented in Figure 1.1, is an experimental embedded system. It is a research platform based on a remote control car and several resources allowing deployment of different classes of applications. The Car is a 1:5 scale radio controlled remote control car that is - depending on the ground conditions - capable of driving at a speed of up to 50 km/h.<br /> <br /> <br /> :[[image:ConceptCarside.jpg|800px|Figure 1.1. Board Dimensions]]<br /> <br /> <br /> This wiki describes the Concept Car, its structure, components, software and hardware architecture and functionalities and presents in a detailed way how to develop and deploy applications for the car.<br /> <br /> The corresponding SVN can be accessed in [[Svn|this way]]. This should be a gathering point for all documentation.<br /> <br /> *[[CCar_Architecture|1 - Concept Car Architecture]]<br /> **[[Mechanical_System|1.1 - Mechanical System]]<br /> ***[[Mechanical_System#Engine|1.1.1 - Engine]]<br /> ***[[Mechanical_System#Radio_Control|1.1.2 - Radio Control]]<br /> ***[[Mechanical_System#Steering_System|1.1.3 - Steering System]]<br /> **[[Power_Supply|1.2. Power Supply]]<br /> **[[Electronic_System|1.3 - Electronic System]]<br /> ***[[CAN_Bus|1.3.1 - CAN Bus]]<br /> ***[[Sensors|1.3.2 - Sensors]]<br /> ***[[Electronic Control Units|1.3.3 - Electronic Control Units]]<br /> ****[[ECUs implementing Sensorboards and Actorboard|1.3.3.1 - ECUs implementing Sensorboards and Actorboard]]<br /> ****[[ECU implementing Controlboard|1.3.3.2 - ECU implementing Controlboard]]<br /> <br /> *[[Application Development and Deployment|2 - Application development and deployment]]<br /> **[[Platform Independent Application Development|2.1 - Platform Independent Application Development]]<br /> ***[[Platform Independent Application Development#2.1.1. Simulink_Models|2.1.1 - Simulink models]]<br /> ****[[Platform Independent Application Development#Software Application Code Generation|2.1.1.1 - Software Application Code Generation]]<br /> **[[Platform Specific Code Generation|2.2 - Platform Specific Code Generation]]<br /> **[[Application Deployment|2.3 - Application Deployment]]<br /> ***[[Flashing_the_ARM7_board|2.3.1 - Flashing the ARM7 board]]<br /> ***[[Deployment|2.3.2 - Deployment]]<br /> <br /> *[[Adding Resources to the Concept Car|3 - Adding Resources to the Concept Car]]<br /> <br /> *[[Bibliography|4 - Bibliography]]<br /> <br /> <br /> <br /> -------------------------------------------------------------------------------------------------------------------<br /> Consult the [http://meta.wikimedia.org/wiki/Help:Contents User&#039;s Guide] for information on using the wiki software.<br /> <br /> == Getting started ==<br /> * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list]<br /> * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ]<br /> * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Bibliography 2009-10-26T09:59:49Z

<p>Dulcineia: New page: [Ana07] Analog Devices, Inc. ADIS16006 Dual-Axis Accelerometer Data Sheet, A edition, December 2007. [Ana09] Analog Devices, Inc. ADIS16100 Yaw Rate Gyroscope Data Sheet, D edition, Decem...</p> <hr /> <div>[Ana07] Analog Devices, Inc. ADIS16006 Dual-Axis Accelerometer Data Sheet, A edition, December 2007.<br /> <br /> [Ana09] Analog Devices, Inc. ADIS16100 Yaw Rate Gyroscope Data Sheet, D edition, December 2006-2009.<br /> <br /> [Atm08] Atmel Corporation. AT90CAN128 Microcontroller Data Sheet, H edition, August 2008.<br /> <br /> [Atmel07] Atmel Corporation. AT91SAM7A2 Microcontroller Data Sheet, B edition, March 2007.<br /> <br /> [Car09] Wiki for the ConceptCar, http://conceptcar.iese.de, inspected 07.09.2009<br /> <br /> [Dav07] Davis, Robert I.; Burns, Alan; Bril, Reinder J.; Lukkien, Johan J. “Controller Area Network (CAN) schedulability analysis: Refuted, revisited and revised”. Real-Time System Journal, Vol. 35, Number 3, Springer Netherlands, 2007, pp. 239-272.<br /> <br /> [Kon09] Kontronik drives, Power JAZZ: http://www.kontronik.com/regler-einzeln/power-jazz-high-power-well-organized_en.html, inspected 07.09.2009<br /> <br /> [LM09] Lehner Motoren, 1930 series: http://www.lehner-motoren.com/ms19.php, inspected 07.09.2009<br /> <br /> [Mit09] Jonas Mitschang: Evaluation of a Model-Based Development Process for Automotive Embedded Systems, Diploma Thesis, 2009<br /> <br /> [RHW09] Robotikhardware: SRF02 ultrasonic distance sensor: http://www.shop.robotikhardware.de/shop/catalog/product_info.php?products_id=168, inspected 07.09.2009<br /> <br /> [Zim08] Werner Zimmermann and Ralf Schmidgall. Bussysteme in der Fahrzeugtechnik - Protokolle und Standards. Vieweg+Teubner, 3rd edition, 2008.<br /> <br /> [Zim09] Marcel Zimmer: Prototypische Implementierung und Evaluation von Sicherheitsmustern in eingebetteten Systemen, Diploma Thesis, 2009</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Main_Page 2009-10-21T11:27:52Z

<p>Dulcineia: </p> <hr /> <div>==WELCOME==<br /> <br /> So here it is established, the Concept Car&#039;s wiki.<br /> <br /> The Concept Car, presented in Figure 1.1, is an experimental embedded system. It is a research platform based on a remote control car and several resources allowing deployment of different classes of applications. The Car is a 1:5 scale radio controlled remote control car that is - depending on the ground conditions - capable of driving at a speed of up to 50 km/h.<br /> <br /> <br /> :[[image:ConceptCarside.jpg|800px|Figure 1.1. Board Dimensions]]<br /> <br /> <br /> This wiki describes the Concept Car, its structure, components, software and hardware architecture and functionalities and presents in a detailed way how to develop and deploy applications for the car.<br /> <br /> The corresponding SVN can be accessed in [[Svn|this way]]. This should be a gathering point for all documentation.<br /> <br /> *[[CCar_Architecture|1 - Concept Car Architecture]]<br /> **[[Mechanical_System|1.1 - Mechanical System]]<br /> ***[[Mechanical_System#Engine|1.1.1 - Engine]]<br /> ***[[Mechanical_System#Radio_Control|1.1.2 - Radio Control]]<br /> ***[[Mechanical_System#Steering_System|1.1.3 - Steering System]]<br /> **[[Power_Supply|1.2. Power Supply]]<br /> **[[Electronic_System|1.3 - Electronic System]]<br /> ***[[CAN_Bus|1.3.1 - CAN Bus]]<br /> ***[[Sensors|1.3.2 - Sensors]]<br /> ***[[Electronic Control Units|1.3.3 - Electronic Control Units]]<br /> ****[[ECUs implementing Sensorboards and Actorboard|1.3.3.1 - ECUs implementing Sensorboards and Actorboard]]<br /> ****[[ECU implementing Controlboard|1.3.3.2 - ECU implementing Controlboard]]<br /> ****[[ECUs_Emergency_|1.3.3.3 - Emergency Safe-State Board]]<br /> <br /> *[[Application Development and Deployment|2 - Application development and deployment]]<br /> **[[Platform Independent Application Development|2.1 - Platform Independent Application Development]]<br /> ***[[Platform Independent Application Development#2.1.1. Simulink_Models|2.1.1 - Simulink models]]<br /> ****[[Platform Independent Application Development#Software Application Code Generation|2.1.1.1 - Software Application Code Generation]]<br /> **[[Platform Specific Code Generation|2.2 - Platform Specific Code Generation]]<br /> **[[Application Deployment|2.3 - Application Deployment]]<br /> ***[[Flashing_the_ARM7_board|2.3.1 - Flashing the ARM7 board]]<br /> ***[[Deployment|2.3.2 - Deployment]]<br /> ***[[Monitoring_Execution|2.3.3 - Monitoring execution]]<br /> <br /> *[[Adding Resources to the Concept Car|3 - Adding Resources to the Concept Car]]<br /> <br /> *[[Bibliography|4 - Bibliography]]<br /> <br /> <br /> <br /> -------------------------------------------------------------------------------------------------------------------<br /> Consult the [http://meta.wikimedia.org/wiki/Help:Contents User&#039;s Guide] for information on using the wiki software.<br /> <br /> == Getting started ==<br /> * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list]<br /> * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ]<br /> * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Main_Page 2009-10-21T11:27:25Z

<p>Dulcineia: </p> <hr /> <div>==WELCOME==<br /> <br /> So here it is established, the Concept Car&#039;s wiki.<br /> <br /> The Concept Car, presented in Figure 1.1, is an experimental embedded system. It is a research platform based on a remote control car and several resources allowing deployment of different classes of applications. The Car is a 1:5 scale radio controlled remote control car that is - depending on the ground conditions - capable of driving at a speed of up to 50 km/h.<br /> <br /> <br /> :[[image:ConceptCarside.jpg|800px|Figure 4.1. Board Dimensions]]<br /> <br /> <br /> This wiki describes the Concept Car, its structure, components, software and hardware architecture and functionalities and presents in a detailed way how to develop and deploy applications for the car.<br /> <br /> The corresponding SVN can be accessed in [[Svn|this way]]. This should be a gathering point for all documentation.<br /> <br /> *[[CCar_Architecture|1 - Concept Car Architecture]]<br /> **[[Mechanical_System|1.1 - Mechanical System]]<br /> ***[[Mechanical_System#Engine|1.1.1 - Engine]]<br /> ***[[Mechanical_System#Radio_Control|1.1.2 - Radio Control]]<br /> ***[[Mechanical_System#Steering_System|1.1.3 - Steering System]]<br /> **[[Power_Supply|1.2. Power Supply]]<br /> **[[Electronic_System|1.3 - Electronic System]]<br /> ***[[CAN_Bus|1.3.1 - CAN Bus]]<br /> ***[[Sensors|1.3.2 - Sensors]]<br /> ***[[Electronic Control Units|1.3.3 - Electronic Control Units]]<br /> ****[[ECUs implementing Sensorboards and Actorboard|1.3.3.1 - ECUs implementing Sensorboards and Actorboard]]<br /> ****[[ECU implementing Controlboard|1.3.3.2 - ECU implementing Controlboard]]<br /> ****[[ECUs_Emergency_|1.3.3.3 - Emergency Safe-State Board]]<br /> <br /> *[[Application Development and Deployment|2 - Application development and deployment]]<br /> **[[Platform Independent Application Development|2.1 - Platform Independent Application Development]]<br /> ***[[Platform Independent Application Development#2.1.1. Simulink_Models|2.1.1 - Simulink models]]<br /> ****[[Platform Independent Application Development#Software Application Code Generation|2.1.1.1 - Software Application Code Generation]]<br /> **[[Platform Specific Code Generation|2.2 - Platform Specific Code Generation]]<br /> **[[Application Deployment|2.3 - Application Deployment]]<br /> ***[[Flashing_the_ARM7_board|2.3.1 - Flashing the ARM7 board]]<br /> ***[[Deployment|2.3.2 - Deployment]]<br /> ***[[Monitoring_Execution|2.3.3 - Monitoring execution]]<br /> <br /> *[[Adding Resources to the Concept Car|3 - Adding Resources to the Concept Car]]<br /> <br /> *[[Bibliography|4 - Bibliography]]<br /> <br /> <br /> <br /> -------------------------------------------------------------------------------------------------------------------<br /> Consult the [http://meta.wikimedia.org/wiki/Help:Contents User&#039;s Guide] for information on using the wiki software.<br /> <br /> == Getting started ==<br /> * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list]<br /> * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ]<br /> * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Main_Page 2009-10-20T14:51:07Z

<p>Dulcineia: </p> <hr /> <div>==WELCOME==<br /> <br /> So here it is established, the Concept Car&#039;s wiki.<br /> <br /> The Concept Car, presented in Figure 1.1, is an experimental embedded system. It is a research platform based on a remote control car and several resources allowing deployment of different classes of applications. The Car is a 1:5 scale radio controlled remote control car that is - depending on the ground conditions - capable of driving at a speed of up to 50 km/h.<br /> <br /> This wiki describes the Concept Car, its structure, components, software and hardware architecture and functionalities and presents in a detailed way how to develop and deploy applications for the car.<br /> <br /> The corresponding SVN can be accessed in [[Svn|this way]]. This should be a gathering point for all documentation.<br /> <br /> *[[CCar_Architecture|1 - Concept Car Architecture]]<br /> **[[Mechanical_System|1.1 - Mechanical System]]<br /> ***[[Mechanical_System#Engine|1.1.1 - Engine]]<br /> ***[[Mechanical_System#Radio_Control|1.1.2 - Radio Control]]<br /> ***[[Mechanical_System#Steering_System|1.1.3 - Steering System]]<br /> **[[Power_Supply|1.2. Power Supply]]<br /> **[[Electronic_System|1.3 - Electronic System]]<br /> ***[[CAN_Bus|1.3.1 - CAN Bus]]<br /> ***[[Sensors|1.3.2 - Sensors]]<br /> ***[[Electronic Control Units|1.3.3 - Electronic Control Units]]<br /> ****[[ECUs implementing Sensorboards and Actorboard|1.3.3.1 - ECUs implementing Sensorboards and Actorboard]]<br /> ****[[ECU implementing Controlboard|1.3.3.2 - ECU implementing Controlboard]]<br /> ****[[ECUs_Emergency_|1.3.3.3 - Emergency Safe-State Board]]<br /> <br /> *[[Application Development and Deployment|2 - Application development and deployment]]<br /> **[[Platform Independent Application Development|2.1 - Platform Independent Application Development]]<br /> ***[[Platform Independent Application Development#2.1.1. Simulink_Models|2.1.1 - Simulink models]]<br /> ****[[Platform Independent Application Development#Software Application Code Generation|2.1.1.1 - Software Application Code Generation]]<br /> **[[Platform Specific Code Generation|2.2 - Platform Specific Code Generation]]<br /> **[[Application Deployment|2.3 - Application Deployment]]<br /> ***[[Flashing_the_ARM7_board|2.3.1 - Flashing the ARM7 board]]<br /> ***[[Deployment|2.3.2 - Deployment]]<br /> ***[[Monitoring_Execution|2.3.3 - Monitoring execution]]<br /> <br /> *[[Adding Resources to the Concept Car|3 - Adding Resources to the Concept Car]]<br /> <br /> *[[Bibliography|4 - Bibliography]]<br /> <br /> <br /> <br /> -------------------------------------------------------------------------------------------------------------------<br /> Consult the [http://meta.wikimedia.org/wiki/Help:Contents User&#039;s Guide] for information on using the wiki software.<br /> <br /> == Getting started ==<br /> * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list]<br /> * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ]<br /> * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Adding_Resources_to_the_Concept_Car 2009-10-20T14:50:49Z

<p>Dulcineia: </p> <hr /> <div>The Concept Car has a modular architecture allowing the addition of resources in a simple way. In order to integrate a new element in the Car architecture it is necessary to integrate it to a new AT90CAN128 board. The AT90CAN128 boards are the interface between the sensors and actuators (i.e. the environment) and the Concept Car&#039;s CAN bus. Their main purpose is to do low level tasks, like PWM de- and encoding.<br /> <br /> The characteristics of the AT90CAN128 boards are presented in the following.<br /> <br /> ==Board Dimensions==<br /> <br /> [[image:StackableBoardLayout.png|thumb|200px|Figure 4.1. Board Dimensions]]<br /> <br /> All boards featuring an AT90CAN128 microcontroller are supposed to fit into any of the 8 spaces at the CAN bus box. Therefore they share the same dimensions, drill holes for mounting and SUB-D jack position. They all have the same dimensions to be interchangeable in place.<br /> <br /> This dimensions are precisely the same used for the SensorBoards in the old Hardware Revision 1.0, all Revisions &gt;= 1.2 must comply with these dimensions.<br /> <br /> Since the boards can be stacked, it is a good idea to place all connectors, switches and LEDs near the borders. <br /> <br /> Figure 4.1 presents the board dimensions.<br /> <br /> ===Schematic===<br /> <br /> First apply this in the schematic:<br /> * Add the 4 drill holes as parts &#039;&#039;MOUNT-HOLE3.0&#039;&#039;<br /> * The SUB-D CAN connector must be of type &#039;&#039;F09H&#039;&#039;<br /> <br /> <br /> ===Board===<br /> <br /> To get a proper board, follow these steps in eagle (when starting from scratch):<br /> # Set the grid to &#039;&#039;1mm&#039;&#039;<br /> # Move the edges of the dimension polygon so that it&#039;s a square of 73mm x 73mm, with its origin being in the bottom left edge. <br /> # Move the drill holes to the positions 4mm apart from each edge<br /> # Rotate the SUB-D CAN connector to face upwards and move it to position 37.506mm/60.88mm. &lt;tt&gt;MOVE CAN_BUS (37.506mm 60.88mm)&lt;/tt&gt; would do this.<br /> <br /> <br /> ==Operational Controls==<br /> <br /> [[image:Actorboard_boardDesignIllustration.png|thumb|350px|An example of good placement of the operational controls and of their labeling.]]<br /> <br /> These are recommendations on what operational controls to use to supply a uniform look&amp;feel (and in some aspects programming) of the sensor- and actor-boards. The placement is not critical, it just looks better this way ...<br /> <br /> * The CAN bus driver is designed to signal the bus state with 2 LEDs (a green one for &#039;&#039;error active&#039;&#039; state and a red one for &#039;&#039;bus off&#039;&#039; state). Those LEDs are attached to I/O-Pins PA7 (red LED) and PA6 (green LED), over a resistor of 220 Ohms to ground each. The LEDs (package: &lt;tt&gt;CHIP-LED0805&lt;/tt&gt;) should be placed as follows:<br /> ** suggested position for green LED: 1250x200mil, parallel to side<br /> ** suggested position for red LED: 1075x200mil, parallel to side<br /> * A green power on LED (&lt;tt&gt;CHIP-LED0805&lt;/tt&gt;) that is directly attached to the power supply is recommended. It should be placed at 850x200mil, parallel to side (next to the CAN LEDs), with a resistor of 220 Ohms.<br /> * The reset switch (&lt;tt&gt;10-XX&lt;/tt&gt;) should be placed near the boarder at 550x275mil.<br /> * The ISP and JTAG adapters (both &lt;tt&gt;ML10L&lt;/tt&gt;) should be placed at 2450x800mil (JTAG) and 2450x1610mil (ISP). ISP is mandatory, but JTAG can be omitted.<br /> * If any additional LEDs are required, they should be placed at the lower border, like the CAN LEDs 200mil away from it.<br /> * Connectors to peripheals or other boards must be low enough to avoid trouble with other boards in the stack. Recommended type is for example &lt;tt&gt;L02P&lt;/tt&gt;, &lt;tt&gt;L03P&lt;/tt&gt;, &lt;tt&gt;L05P&lt;/tt&gt; ...</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Application_Development_and_Deployment 2009-10-20T14:44:28Z

<p>Dulcineia: </p> <hr /> <div>The Concept Car has a modular architecture that allows the development and deployment of applications as driver assistance systems through the Controlboard.<br /> <br /> As Simulink Models are the primary use of the board, the process of developing and deploying those models will be presented in more details. However, it is possible to implement also other applications.<br /> <br /> Basically, the process consists of generating code from a Simulink Model and deploying this code to execute on the Concept Car platform. The execution of the application is coordinated by the Controlboard, that means, this board, based on the functionality described by the Simulink model, receives messages from the Sensors Boards, process these information, make decisions and send those decisions through messages to the Actor Board.<br /> <br /> The whole process in order to develop and deploy an application is described in the following:<br /> <br /> *[[Platform Independent Application Development|Platform Independent Application Development]]<br /> <br /> *[[Platform Specific Code Generation|Platform Specific Code Generation]]<br /> <br /> *[[Application Deployment|Application Deployment]]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Application_Deployment 2009-10-20T14:44:17Z

<p>Dulcineia: </p> <hr /> <div>After generating and compiling the code, it can be executed on the target platform. The following steps describe how to prepare the ARM7 board to the execution of the application.<br /> <br /> The application deployment process consists of two main steps:<br /> <br /> *[[Flashing the ARM7 board|Flashing the ARM7 board]]<br /> <br /> *[[Deployment|Deployment]]<br /> <br /> *[[Monitoring_Execution|Monitoring execution]]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Deployment 2009-10-20T14:43:40Z

<p>Dulcineia: </p> <hr /> <div>==Running the executable==<br /> <br /> After install the bootloader on the ARM7 board, following the steps presented in Section [[#2.3.1, the application is ready to be executed.<br /> <br /> The bootloader automatically executes the binary from an SD-Card that is inserted into the ARM7&#039;s SD card slot at boot time. Therefore, it is necessary to write the application code into one SD-Card with the name app.bin inside the SD-Card root folder.<br /> To boot into the executable make sure the following conditions are met:<br /> <br /> *The SD-Card is at most 1GB in size (larger Cards are SD-HC and do not work);<br /> *The SD-Card is formatted with FAT32 file system;<br /> *The executable is stored as the file<br /> <br /> app.bin<br /> <br /> inside the SD-Cards root folder.<br /> <br /> To control the bootloader&#039;s work it is easiest to connect to the ARM7 board over UART (115200Baud 8N1) and watch the status messages.<br /> <br /> With the SD-Card insert to the SD-Card slot of the board containing the correspondent app.bin file in the root folder, the next step is to press the button Reset in order to execute the application. The Reset button is located in opposite side of the CAN and the RS232 connectors in [[ECU_implementing_Controlboard#Hardware_description|Figure 1.6]].</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Deployment 2009-10-20T14:42:37Z

<p>Dulcineia: </p> <hr /> <div>==Running the executable==<br /> <br /> After install the bootloader on the ARM7 board, following the steps presented in Section [[#2.3.1, the application is ready to be executed.<br /> <br /> The bootloader automatically executes the binary from an SD-Card that is inserted into the ARM7&#039;s SD card slot at boot time. Therefore, it is necessary to write the application code into one SD-Card with the name app.bin inside the SD-Card root folder.<br /> To boot into the executable make sure the following conditions are met:<br /> <br /> *The SD-Card is at most 1GB in size (larger Cards are SD-HC and do not work);<br /> *The SD-Card is formatted with FAT32 file system;<br /> *The executable is stored as the file<br /> <br /> app.bin<br /> <br /> inside the SD-Cards root folder.<br /> <br /> To control the bootloader&#039;s work it is easiest to connect to the ARM7 board over UART (115200Baud 8N1) and watch the status messages.<br /> <br /> With the SD-Card insert to the SD-Card slot of the board containing the correspondent app.bin file in the root folder, the next step is to press the button Reset in order to execute the application. The Reset button is located in opposite side of the CAN and the RS232 connectors in [[ECU_implementing_Controlboard#1.3.3.2.2._Hardware_description|Figure 1.6]].</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Flashing_the_ARM7_board 2009-10-20T14:41:46Z

<p>Dulcineia: </p> <hr /> <div>This document describes the steps that need to be taken to upload the bootloader image into the Flash Memory of the ARM7 processor on the SAM7-LA2 development board with openOCD.<br /> <br /> ==Prerequisites==<br /> <br /> Before you start flashing, make sure that you have everything in place:<br /> <br /> * The openOCD executable:&lt;br&gt;This one must match your programmer, either take a precompiled one (&quot;openocd-usbprog.exe&quot; for usbProg or &quot;openocd-ft2232.exe&quot; for ARM-USB-Tiny) or compile it yourself as described in &quot;Compiling OpenOCD.html&quot;.<br /> * The configuration file for the SAM7-LA2:&lt;br&gt;Again, it must match your programmer, we provide two examples for usbProg (&quot;at91sam7a2-usbprog.cfg&quot;) and ARM-USB-Tiny (&quot;at91sam7a2-ft2232.cfg&quot;). It configures the flash banks and a working area (buffer memory) for OpenOCD.<br /> * A script for configuring the ARM7&#039;s AMC (Advanced Memory Controller) (&quot;at91sam7a2.script&quot;)<br /> * The bootloader image (&quot;bootloader.bin&quot;)&lt;br&gt;&#039;&#039;&#039;NOTE:&#039;&#039;&#039; These files can be found in our SVN at https://mars.iese.fraunhofer.de/ConceptCar/Documentation/openOCD/, both password and username are &quot;guest&quot; (without the quotes).<br /> * If the USBProg is used, a level shifter must be used to mediate between the 5V of the USBProg and the 3.3V of the ARM7 board. An example implementation of such a shifter can be found at https://mars.iese.fraunhofer.de/ConceptCar/Hardware/AT91SAM7A2/JTAG-Level%20Shifter/. Figure 2.16 presents the schematic of the Level Shifter.<br /> <br /> [[image:SAM7LA2_JTAG_USBProg_LevelShifter.png|thumb|500px|Figure 2.16. Schematic of the Level Shifter]]<br /> <br /> ==Flashing Manually==<br /> <br /> ===openOCD session===<br /> <br /> First you need to open an openOCD session. You do so by opening a DOS command prompt and changing to the directory the above mentioned files reside in. Then you call the appropriate Version of openOCD (here for usbProg):<br /> &lt;pre&gt;$ openocd-usbprog.exe -d 3 -f at91sam7a2-usbprog.cfg&lt;/pre&gt;<br /> Be sure that you call this command from within the correct directory.&lt;br&gt;<br /> &#039;&#039;&#039;NOTE:&#039;&#039;&#039; Depending on the programmer, you may need to install it&#039;s drivers first.<br /> <br /> ===Telnet session===<br /> <br /> To issue commands to openOCD (and thus writinging the ARM7&#039;s flash memory), you need to connect to this openOCD session via telnet. Open a second DOS command prompt and change to the same directory again (&#039;&#039;FIXME:&#039;&#039; Do you really need to do so?). Then start a telnet session:<br /> &lt;pre&gt;$ telnet localhost 4444&lt;/pre&gt;<br /> All the following commands are issued from within this telnet session.<br /> <br /> ===Preparing the device===<br /> <br /> The ARM7&#039;s AMC (Advanced Memory Controller) needs to be configured before reading and writting to the flash. To do this, run the script &quot;at91sam7a2.script&quot; with the following commands over telnet:<br /> &lt;pre&gt;<br /> &gt; reset<br /> JTAG device found: 0x1f0f0f0f (Manufacturer: 0x787, Part: 0xf0f0, Version: 0x1)<br /> Unexpected idcode after end of chain! 480 0x800000ff<br /> Unexpected idcode after end of chain! 512 0x0000007f<br /> Unexpected idcode after end of chain! 544 0x000000ff<br /> Unexpected idcode after end of chain! 576 0x000000ff<br /> Unexpected idcode after end of chain! 608 0x000000ff<br /> &gt; halt<br /> target state: halted<br /> target halted in Thumb state due to debug-request, current mode: Supervisor<br /> cpsr: 0x60000033 pc: 0x40001c96<br /> &gt; script at91sam7a2.script&lt;/pre&gt;<br /> This should configure the AMC and get the flash memory working. To check if the flash is working run the following commands over telnet:<br /> &lt;pre&gt;<br /> &gt; flash probe 0<br /> flash &#039;cfi&#039; found at 0x40000000<br /> &gt; flash info 0<br /> #0: cfi at 0x40000000, size 0x00100000, buswidth 2, chipwidth 2<br /> # 0: 0x00000000 (0x4000 16kB) protection state unknown<br /> # 1: 0x00004000 (0x2000 8kB) protection state unknown<br /> # 2: 0x00006000 (0x2000 8kB) protection state unknown<br /> # 3: 0x00008000 (0x8000 32kB) protection state unknown<br /> # 4: 0x00010000 (0x10000 64kB) protection state unknown<br /> # 5: 0x00020000 (0x10000 64kB) protection state unknown<br /> # 6: 0x00030000 (0x10000 64kB) protection state unknown<br /> # 7: 0x00040000 (0x10000 64kB) protection state unknown<br /> # 8: 0x00050000 (0x10000 64kB) protection state unknown<br /> # 9: 0x00060000 (0x10000 64kB) protection state unknown<br /> # 10: 0x00070000 (0x10000 64kB) protection state unknown<br /> # 11: 0x00080000 (0x10000 64kB) protection state unknown<br /> # 12: 0x00090000 (0x10000 64kB) protection state unknown<br /> # 13: 0x000a0000 (0x10000 64kB) protection state unknown<br /> # 14: 0x000b0000 (0x10000 64kB) protection state unknown<br /> # 15: 0x000c0000 (0x10000 64kB) protection state unknown<br /> # 16: 0x000d0000 (0x10000 64kB) protection state unknown<br /> # 17: 0x000e0000 (0x10000 64kB) protection state unknown<br /> # 18: 0x000f0000 (0x10000 64kB) protection state unknown<br /> <br /> non-cfi flash:<br /> <br /> mfr: 0x00c2, id:0x225b<br /> &lt;/pre&gt;<br /> <br /> ===Flashing the Bootloader===<br /> <br /> Now is time to write a binary file to the flash. Use the following command to do it:<br /> &lt;pre&gt;<br /> &gt; flash write_image erase bootloader.bin 0x40000000 bin<br /> auto erase enabled<br /> BUG: keep_alive() was not invoked in the 1000ms timelimit. GDB alive packet not sent! (1422)<br /> &lt;/pre&gt;<br /> &#039;&#039;&#039;NOTE:&#039;&#039;&#039; There is no progress information at all. Sometimes it can take a few minutes to flash the device.<br /> Wait until the process is finished to reset the board.<br /> In case the flashing process goes wrong, gets aborted or exits abruptly do not worry. Simply repeat the flash command.<br /> <br /> ==Automated Process for Flashing==<br /> <br /> For quicker &amp; easier board flashing you can let scripts do the above steps. In order to use them, just connect to the openocd telnet server (see steps 1 &amp; 2 above) and type (&#039;&#039;FIXME:&#039;&#039; Do we need to run reset and halt?):<br /> &lt;pre&gt;<br /> &gt; reset<br /> &gt; halt<br /> &gt; script at91sam7a2.script<br /> &gt; script flash.spt<br /> &lt;/pre&gt;<br /> This will flash the board with the bootloader.bin file @ 0x40000000.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Application_Deployment 2009-10-20T14:38:33Z

<p>Dulcineia: </p> <hr /> <div>After generating and compiling the code, it can be executed on the target platform. The following steps describe how to prepare the ARM7 board to the execution of the application.<br /> <br /> The application deployment process consists of two main steps:<br /> <br /> *[[Flashing the ARM7 board|Flashing the ARM7 board]]<br /> <br /> *[[Deployment|Deployment]]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Platform_Specific_Code_Generation 2009-10-20T14:37:36Z

<p>Dulcineia: </p> <hr /> <div>[[Platform_Independent_Application_Development|Section 2.1]] described how to generate the correspondent platform independent C code from a Simulink Model. As described previously, in order to get the code generated by RTW running on the target platform some glue code is necessary to access the run-time environments provided by the platform software. This Section describes the user actions required to get this code ready to execute on the target platform.<br /> <br /> The SimulinkTarget Tool is used in this process. All the steps are described in the following.<br /> <br /> ==Create (or load) a Project Configuration File==<br /> <br /> The SimulinkTarget tool creates a configuration file where all the decisions made during the conversion process are saved. Doing so enables the user to load the configuration file and avoids the overhead of going through all of the steps every time new code is generated. The first step is to either load or create a configuration file.<br /> <br /> <br /> :[[image:simulinktarget01.jpg]]<br /> <br /> <br /> After loading/creating a configuration file, new tabs are enabled and the user may proceed to the next steps.<br /> <br /> <br /> :[[image:simulinktarget02.jpg]]<br /> <br /> <br /> As the user can easily note, the tab Simulink Model has been enabled after load the Configuration File and is intuitively the next step to be taken.<br /> <br /> ==Load the Simulink Model==<br /> <br /> The tool needs to load a Simulink Model in order to obtain model specific information, such as port names, model name, etc. After parsing the model necessary information is collected and the tool can go further.<br /> <br /> <br /> :[[image:simulinktarget03.jpg]]<br /> <br /> <br /> The user then selects the correspondent MDL file that contains the model that will be executed on the ARM7 platform.<br /> <br /> <br /> :[[image:simulinktarget04.jpg]]<br /> <br /> <br /> Once again after completing the required steps inside the Simulink Model tab, new tabs are enabled and the user can continue to enter information required to achieve the final executable file.<br /> <br /> ==Load the RTW Generated Code==<br /> <br /> The goal of this step is load the code generated by the Matlab Simulink Real-Time Workshop. Therefore, in order to complete this step, the user must have finished the code generation using the Matlab Simulink Real-Time Workshop and have followed correctly all the Simulink settings for generating code presented in [[Platform_Independent_Application_Development#Setting_the_Simulink_Model_for_code_generation|Section Setting the Simulink Model for code generation]].<br /> <br /> <br /> :[[image:simulinktarget05.jpg]]<br /> <br /> <br /> After the folder containing the RTW generated code is specified, the tool will merge the model code together with the base system code. The base system code is selected in the next step.<br /> <br /> ==Select the Base Stub Code Used==<br /> <br /> The stub code contains both the base system functionality and the main system loop. The main system loop is responsible for the execution of the model.<br /> <br /> <br /> :[[image:simulinktarget06.jpg]]<br /> <br /> <br /> The screenshot above presents the user two options. One of them is to use the code provided with the SimulinkTarget tool. In this case the code used is related to a specific SVN release and will contain a version number. The user must be sure to use compatible combinations of software, that is, bootloader version should be the same as the stub code used with the SimulinkTarget.<br /> <br /> In case the user has a copy of a newer code that either does not match the version provided by the tool or that is not yet a release, it is possible to select the second option. If this option is chosen, the user must provide the address of the folder containing the stub code.<br /> <br /> <br /> :[[image:simulinktarget07.jpg]]<br /> <br /> <br /> After selecting one of the two options two tabs are enabled. The user can thereafter walk through the final steps in the process of setting up the configuration for generating a binary executable. The figure below differs from the above regarding the status of the configuration file. After clicking the Save button the tool removes the asterisks from the title bar.<br /> <br /> <br /> :[[image:simulinktarget08.jpg]]<br /> <br /> <br /> <br /> The base stub code provided by the tool or the user will be used together with the RTW generated code to compose the final source code, which will then be compiled into an application loaded by the ARM7 board bootloader.<br /> <br /> ==Define CAN Binding and Marshalling==<br /> <br /> This part of the work flow defines the CAN port binding. Since in the Concept Car there is a CAN bus responsible for supplying a communication means to all of the boards in the network, all data is transmitted through it. When modeling functionality in a Simulink Data-Flow model, there is only reference to IN ports and OUT ports. The model does not describe how data is input and output to the ports. They are an open link to the environment where the model executes.<br /> <br /> For this reason the user must provide a binding of the ports from the model to the Car&#039;s communication mechanism, which is a CAN bus. This is done by assigning CAN identifiers (IDs) to can messages that will carry the data to and from the model (more specifically, to/from the model ports).<br /> <br /> <br /> :[[image:simulinktarget09.jpg]]<br /> <br /> <br /> The user is able to define (1) an ID, which will be automatically converted to a Hexadecimal value by the tool; (2) a gradient, which is used to transform the value that the message carries (e.g. to transform a floating point number into an integer number); and (3) a y-intercept parameter used to determine a scaling factor for the message value. These three fields are user configurable and the last two are optional. The optional fields are enabled by the checkboxes.<br /> <br /> <br /> :[[image:simulinktarget10.jpg]]<br /> <br /> <br /> After defining the configurable fields for all ports the user can move on to the next step where the code will be generated. The information entered in this step by the user will be used during code generation. When the generator writes the code to get the value from the model (accessing the structure defined by the RTW generated code) it will then use the ID defined by the user to call the base CAN code to send the message on the bus.<br /> <br /> The code generator figures the port variable names based on information from the Model and creates code to access them. After that, code is generated to send the values of the variables through the CAN bus using the IDs defined by the user.<br /> <br /> ==Define Output Folder and Generate Code==<br /> <br /> At this point all the informations related to the code generation (merge between the RTW code and the base system code) are already setup. The next step is to select the destination folder and then the code is generated. The SimulinkTarget creates a folder named CODEGEN_yy-mm-dd_hh-mm-ss inside the selected destination folder.<br /> <br /> <br /> :[[image:simulinktarget11.jpg]]<br /> <br /> <br /> The tool generates a header file that is used by the main execution loop. This header contains definitions about the name of the step function generated by RTW, information about the periodicity of the steps, etc. The user can check what kind of information is generated by opening the file &quot;main.h&quot; inside the folder &quot;include/usr&quot;.<br /> <br /> ==Optionally compile the generated code==<br /> <br /> This is the last step in the work flow. Here the user can decide to compile the application within the tool. This step is optional because there is a makefile available for later compilation of the application. Nevertheless the user is able to select parameters for the compilation (such as debug information) and to deploy a binary executable through the SimulinkTarget tool. Figure 2.15 presents the screen to compile the generated code.<br /> <br /> <br /> :[[image:simulinktarget12.jpg]]<br /> <br /> <br /> ==Optionally compile the generated code manually==<br /> <br /> You can also enter the folder where the code was generated and issue &lt;pre&gt;$ make simulink_can&lt;/pre&gt; manually. This will build the executable with no optimizations and no extra features.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Platform_Independent_Application_Development 2009-10-20T14:19:29Z

<p>Dulcineia: </p> <hr /> <div>==Simulink Models==<br /> <br /> In order to develop applications for the Concept Car, Simulink models can be created and easily executed on the platform. This topic describes the whole process to get Simulink Models running on the Concept Car.<br /> <br /> As the Simulink Model is a platform independent model, the first step to get the model running on the Concept Car is to generate the correspondent C code. However, the code generated by RTW is still an application code and it is not ready to run on the target platform (AT91SAM7A2 board). In order to get this generated code running on the platform some glue code is necessary. This glue code accesses the run-time environments provided by the platform software (basic software to access the hardware resources described in [[ECU_implementing_Controlboard#Platform_software_and_run-time_environment|Section Platform Software and Run-Time Environment]]).<br /> <br /> Normally this glue code is developed manually. However, this document adopts a [http://en.wikipedia.org/wiki/Model-driven_architecture Model Driven approach] and to take advantage of this, in the Concept Car Project all glue code is automatically generated using Simulink Target tool . In this way, the user does not have to write any additional code.<br /> <br /> In the following, the process to generate code from a Simulink Model is described. At this moment, it is considered that the model is ready to generate code. This section does not focus on the development of Simulink Models. A brief tutorial about Simulink, Real-Time Workshop (RTW) and how to develop models using those tools is presented in Chapter 4. Chapter 5 presents examples of Simulink Models.<br /> <br /> ====Software Application Code Generation====<br /> <br /> This Section describes the parameters that must be set in order to generate code for the created Simulink model.<br /> <br /> ====Setting the Simulink Model for code generation====<br /> <br /> The following settings must be applied to the Simulink model when generating code from it with the Real-Time Workshop &amp; Embedded Coder. Failure to apply these settings will complicate the subsequent process to integrate this code into the ARM7 runtime platform.<br /> Currently, only single-rate/single-tasking models are supported. Other models require a more complex handling of the model_step() function.<br /> <br /> ======Top level model======<br /> *At the top level there must be a Simulink model, data exchange with the environment is only possible through inports and outports at top level. Code generation from a library is not possible.<br /> <br /> ======Model preferences======<br /> These settings must be applied in the “Configuration Parameters” dialog of the model. Each Configuration Section is described in the following.<br /> <br /> [[image:Simulink arm7target hardwaresettings.png|thumb|500px|Figure 2.1. Setting Hardware Implementation Section]]<br /> <br /> * Solver:<br /> ** The ode3 (Bogacki-Shampine) is used as fixed step type with 20ms sample time. This sample time is the interval for the generated code that calls model_step function.<br /> ** fixed-step size is specified, not auto.<br /> <br /> * Hardware implementation (as showed in Figure 2.1):<br /> ** Device vendor is ARM Compatible<br /> ** Device type is ARM 7<br /> ** Native word size is 32 bits<br /> ** Byte ordering is Little Endian<br /> ** Emulation hardware has to be set to None<br /> <br /> [[image:Simulink arm7target rtwsettings.png|thumb|500px|Figure 2.2. Setting Real-Time Workshop Section]]<br /> <br /> * The Real-Time Workshop section is divided in several tabs. The parameters that have to be set are (some of them are showed in Figure 2.2):<br /> ** Tab General<br /> *** System target file is ert.tlc (choose the first with no auto configuration)<br /> *** Language is C<br /> *** Compiler optimization level is Optimizations on (faster run)<br /> *** Generate makefile is Disabled<br /> *** Generate code only is Enabled<br /> ** Tab Interface<br /> *** Target function library: GNU99 (GNU)<br /> *** Floating point numbers is Enabled<br /> *** Non-finite numbers is Enabled (Used for e.g. integrator saturation)<br /> *** Continuous time is Enabled<br /> *** GRT compatible call interface is Disabled<br /> *** Single output/update is Enabled<br /> *** Interface is None<br /> ** Tab Templates:<br /> *** Generate an example main program is Disabled<br /> <br /> [[image:Simulink arm7target codesettings.png|thumb|500px|Figure 2.3. Setting Interface Section]]<br /> <br /> * Interface (Figure 2.3):<br /> ** Target function library is GNU99 (GNU)<br /> ** Floating-point numbers are Enabled<br /> ** GRT compatible call interface are Disable<br /> ** Select single output/update function<br /> ** Interface is None<br /> <br /> * Templates:<br /> ** Deselect Generate an example main program</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Electronic_Control_Units 2009-10-20T13:55:06Z

<p>Dulcineia: </p> <hr /> <div>In the Concept Car, since sensors and actuators are used to interact with the environment, signal processing is necessary in order to provide data to and from the system. The Sensorboards and the Actorboard are small ECUs for direct interaction with sensors and actors. They all feature an 8-Bit AT90CAN128 microcontroller [[Bibliography|[Atm08]]] with 128kB ROM and 4kB RAM running at 16MHz, utilizing the same CAN transceiver chip (PCA082).<br /> <br /> Although the 8-Bit AT90CAN128 nearly reach one instruction per clock cycle, these microcontrollers are not suited for any computation-intense tasks due to their 8-Bit architecture Therefore, the Controlboard with its 32-Bit ARM7 (AT91SAM7A2) microcontroller is designed for those tasks.<br /> <br /> The following Sections describe the ECUs of the Concept Car.<br /> <br /> [[ECUs implementing Sensorboards and Actorboard|ECUs implementing Sensorboards and Actorboard]]<br /> <br /> [[ECU implementing Controlboard|ECU implementing Controlboard]]<br /> <br /> [[ECUs_Emergency_|Emergency Safe-State Board]]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=ECU_implementing_Controlboard 2009-10-20T13:53:58Z

<p>Dulcineia: </p> <hr /> <div>The Controlboard is implemented over an AT91SAM7A2 board. It was presented in [[Electronic System|Section Electronic System]] in the Data Processing level of the Figure 1.3.<br /> <br /> ==Control board overview==<br /> <br /> As stated above, the Controlboard has bigger computational power than the other Sensor and Actorboards and it is responsible for the vehicle intelligence, executing computation-intensive tasks, allowing the implementation of more complex applications as driver assistance systems.<br /> <br /> The board does not have direct access to any sensors or actuators, but relies on the other boards to provide sensory input and apply actuator settings.<br /> <br /> The current firmware of this ECU offers an elegant and quick solution to load external executables via a bootloader from an SD-Card. Through a half-automated process executables can be created from Simulink™ models. The process, tools and further information are presented in details in [[Application_Development_and_Deployment|Chapter 2]].<br /> <br /> Table 1.7 presents the CAN messages the Controlboard emits. The &quot;CAN-IDs&quot; column presents the integer representing the ID of the message. Column &quot;Semantics&quot; describes the type (or meaning) of the message. Column &quot;Interval&quot; describes the interval in which the message is sent. Finally, the column &quot;Conversion&quot; holds a formula that is used for converting the message content which is usually a float value to the integer data that is packed into the message.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.7: Controlboard&#039;s CAN messages&#039;&#039;&#039;<br /> ! CAN ID !! Semantics !! Interval !! Conversion<br /> |-<br /> | 0x122 || Throttle value for engine control. Conversion result is percentage of controller’s maximum value, +100% means full speed, -100% is full stop, 0% is neither brake nor speedup. || Simulink Model’s step time || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_7_eq1.JPG]]<br /> |-<br /> | 0x125 || Desired steering angle (α) for the steering servo. Negative values mean “steer left”. Value range is -30° to 30°. || Simulink Model’s step time || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_7_eq2.JPG]]<br /> |}<br /> <br /> The following Sections describe the Controlboard in details, its hardware, signals, platform software, run-time environment and bootloader. Those details are very important to understand the next steps, where the process to develop applications to the Concept Car is described.<br /> <br /> ==Hardware description==<br /> <br /> The AT91SAM7A2 board is based on the ARM7TDMI embedded processor with a 32-bit RISC architecture, 16-bit instruction set and low power consumption. It is composed by an on-chip 16K bytes internal SRAM, 2 UART interfaces, SPI Interface, 4 Channel 16-bit PWM (Pulse Width Modulation), 4 CAN Controllers, Timer Counter, LEDs (Light-Emitting Diode), GPIO (General Purpose Input/Output), ADC (Analog-to-Digital Converter), Buttons, Ethernet, Buzzer and several others resources described in [reference AT91SAM7A2]. Figure 1.6 shows the AT91SAM7A2 board.<br /> <br /> [[image:SAL7-LA2.jpg|thumb|500px|Figure 1.6. AT91SAM7A2 board that implements the Control Board]]<br /> <br /> ==Signal Flow==<br /> <br /> As mentioned above, the AT90CAN128 Actor Board can operate based on two different sources to generate its PWM output. For that, the board offers a selection switch/jumper to choose between those models. By that one can select whether it uses direct input from the Sensor Boards or works based on the pre-processed data from the ARM7 board.<br /> <br /> ==Software description==<br /> <br /> The ARM7 board itself is not intended to directly access sensors or actors, it should merely process data from the CAN bus and produce control messages for the Actor Board.<br /> <br /> To enable access to all functionalities and components of the board C source code is provided. The source code eases the task of accessing board peripherals and makes software development a bit easier. Besides the resources listed above there is also code for dealing with interrupts, timers, SD Cards and so on.<br /> <br /> The software of the board consists of a bootloader and of the application software.<br /> <br /> ====Platform software and run-time environment====<br /> <br /> The platform software is the basic software provided to access the board’s resources. The AT91SAM7A2 board provides basic software for the following hardware resources:<br /> <br /> * SPI<br /> * USART<br /> * CAN<br /> * LED<br /> * GPIO<br /> * ADC<br /> * Buttons<br /> * Ethernet<br /> * Buzzer<br /> <br /> The source code eases the task of accessing board peripherals and makes software development a bit easier. Besides the resources listed above there is also code for dealing with interrupts, timers, SD Cards and so on.<br /> <br /> ====Bootloader====<br /> <br /> The bootloader is the boards’ base software and is responsible for two main tasks: deal with low level configuration of the platform (PLL setup, AMC, GIC, peripherals, etc.), load the user application from SD Card into the main memory.<br /> <br /> The bootloader is located on the external ash memory. It scans for a SD card and checks if it finds an appropriate filesystem with the specific application file on it. If the file is found on the card, it will be copied to the external SRAM and will be executed from there. There is no multi-tasking operating system with syscalls or similar.<br /> <br /> The basic steps during bootloader execution are listed below:<br /> <br /> * Setup memory map<br /> * Setup interrupt vectors in internal RAM<br /> * Setup execution modes stack<br /> * Setup PLL<br /> * Initialize its data section<br /> * Configure peripherals<br /> * Load user application from SD Card<br /> * Branch to user application<br /> <br /> The user application is loaded into the RAM starting from RAM address 0x00000000. This address is mapped to address 0x40600000 on the ARM processor. After loading the application to 0x40600000 the bootloader configures the Stack Pointer (SP) to point to address 0x40808ffc, which is the top of user application stack. Between application and stack more than 1MB is available. The bootloader also configures the interrupt mode stacks the processor uses when handling an interrupt or exception. This stack begins at address 0x409ffffc and extends until 0x409ffd08 with a size of 0xfc for each mode (Interrupt, Fast interrupt, Abort exception (data abort and prefetch abort) and Undefined exception).<br /> <br /> The complete memory map before and after the boot is presented in the following.<br /> <br /> ======Memory map======<br /> The board has a 4MB RAM memory accessed by the ARM processor. The access to this memory is configured by the ARM&#039;s AMC, which defines the address range for the external memory. Below a description of the current memory map is shown, for further details on the memory map please check the datasheet.<br /> <br /> * Before boot<br /> {| align=center<br /> |&lt;pre&gt;<br /> /---------------\ 0x00000000<br /> | FLASH |<br /> | | Low level code initially here (Bootloader: basic low level setup)<br /> | 1MB |<br /> |_______________| 0x000fffff<br /> | | 0x00100000<br /> | Reserved |<br /> | | <br /> |_______________| 0x002fffff<br /> | | 0x00300000<br /> | Internal RAM | <br /> | 16kB | <br /> |_______________| 0x003fffff<br /> | | 0x00400000<br /> | Reserved | <br /> | | <br /> |_______________| 0xffdfffff<br /> | | 0xffe00000<br /> | Peripherals |<br /> | |<br /> \---------------/ 0xffffffff<br /> &lt;/pre&gt;<br /> |}<br /> <br /> *After boot:<br /> <br /> {| align=center<br /> |&lt;pre&gt;<br /> /---------------\ 0x00000000<br /> | |<br /> | Internal RAM | Reset and other vectors (data abort, fetch abort, irq, firq)<br /> | 16kB | <br /> |_______________| 0x000fffff<br /> | | 0x00100000<br /> | Reserved |<br /> |_ _ _ _ _ _| 0x002fffff<br /> | | 0x00300000<br /> | Reserved | <br /> |_______________| 0x3fffffff<br /> | | 0x40000000<br /> | Flash 1MB |<br /> | External RAM | <br /> | 4MB | User application code, loaded by bootloader (subdivided into memory regions described below)<br /> | |<br /> |_______________| 0x7fffffff<br /> | | 0x80000000<br /> | Reserved | <br /> |_______________| 0xffdfffff<br /> | | 0xffe00000<br /> | Peripherals |<br /> | |<br /> \---------------/ 0xffffffff<br /> &lt;/pre&gt;<br /> |}<br /> <br /> *External RAM Memory Map:<br /> <br /> {| align=center<br /> |&lt;pre&gt;<br /> /---------------\ 0x40600000<br /> | | ||<br /> | Application | \/<br /> | | User application code gets loaded here<br /> |_ _ _ _ _ _| <br /> | |<br /> | Application | /\ <br /> | Stack | ||<br /> |_ _ _ _ _ _| 0x40808ffc<br /> | | 0x40809000<br /> | | <br /> | FREE | <br /> |_ _ _ _ _ _|<br /> | | <br /> | ARM SVR MODE | /\<br /> | STACK | ||<br /> |_ _ _ _ _ _| 0x409ff000 (Supervisor mode stack)<br /> | |<br /> | UNDEF STACK | 0x409ffd08 (Undefined exception stack)<br /> | ABORT STACK | 0x409ffe04<br /> | IRQ STACK | 0x409fff00<br /> | FIRQ STACK | 0x409ffffc (Last valid address on external memory)<br /> \---------------/<br /> &lt;/pre&gt;<br /> |}<br /> <br /> ====User level====<br /> <br /> The user level code is responsible for executing more complex tasks and should not concern about low level details. For this reason there are peripheral access functions in order to provide simple communication to peripherals from user code. Any customization can be done on the user part and there are only a few restrictions on modifying user code. Actually the primary use of the board is for Simulink models execution but also other applications that are not derived from a Simulink model can be executed.<br /> <br /> The application development and deployment process is explained in detail in [[Application_Development_and_Deployment|Chapter 3]].</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_7_eq2.JPG 2009-10-20T13:38:29Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_7_eq1.JPG 2009-10-20T13:38:24Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=ECUs_implementing_Sensorboards_and_Actorboard 2009-10-20T13:32:04Z

<p>Dulcineia: </p> <hr /> <div>The interfaces between the sensors and actuators and the Concept Car’s CAN Bus are implemented using AT90CAN128 boards. Their main purpose is to do low level tasks, for example PWM de- and encoding.<br /> <br /> In the following, the AT90CAN128 board is presented and the ECUs that are implemented over AT90CAN128 boards are described in details. Those ECUs were presented in the [[Electronic_System|Section Electronic_System]] in the Input and Output Processing levels of the Figure 1.3.<br /> <br /> ==The AT90CAN128 board==<br /> <br /> The AT90CAN128 board is composed by an 8-bit RISC Microcontroller with AVR core, 128K bytes of programmable Flash memory, 4K byte EEPROM and 4K byte of internal SRAM, 53 general purpose I/O lines, 32 general purpose working registers, CAN Controller , 4 timers, and others resources described in [[Bibliography|[Atm08]]].<br /> <br /> In the following, a table is presented for each ECU showing the CAN messages this ECU emits. In those tables, the &quot;CAN-IDs&quot; column presents the integer representing the ID of the message. Column &quot;Semantics&quot; describes the type (or meaning) of the message. Column &quot;Interval&quot; describes the interval in which the message is sent. Finally, the column &quot;Conversion&quot; holds a formula that is used for converting the message content which is usually a float value to the integer data that is packed into the message.<br /> <br /> ==Sensorboard Steering==<br /> <br /> This ECU decodes the steering PWM channel from the radio receiver and the wheel speed sensors from the rear left and front right wheels. Analogue amplifiers (MCP6002) increase the signal level of the wheel speed sensors so their signal can be decoded on a digital input of the AT90CAN128.<br /> <br /> Table 1.2 presents the CAN messages for the Sensorboard steering.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.2: Sensorboard Steering&#039;s CAN messages&#039;&#039;&#039;<br /> ! CAN ID !! Semantics !! Interval !! Conversion<br /> |-<br /> | 0x025 || Desired steering angle (α) for the steering servo. Negative values mean “steer left”. Value range is -30° to 30°. || Radio receiver’s frequency, 20ms typ. || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_2_eq1.JPG]]<br /> |-<br /> | 0x00a || Wheel speed (ω) from rear left wheel || 50ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_2_eq2.JPG]]<br /> |-<br /> | 0x009 || Wheel speed (ω) from the front right wheel || 50ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_2_eq3.JPG]]<br /> |}<br /> <br /> ==Sensorboard Throttle==<br /> <br /> This ECU decodes the throttle PWM channel from the radio receiver and the wheel speed sensors from the front left and rear right wheels. Analogue amplifiers (MCP6002) increase the signal level of the wheel speed sensors so their signal can be decoded on a digital input of the AT90CAN128.<br /> <br /> Table 1.3 presents the CAN messages for the Sensorboard Throttle.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.3: Sensorboard Throttle&#039;s CAN messages&#039;&#039;&#039;<br /> ! CAN ID !! Semantics !! Interval !! Conversion<br /> |-<br /> | 0x022 || Desired throttle value for the engine control. Conversion result is percentage of controller’s maximum value, +100% means full speed, -100% is full stop, 0% is neither brake nor speedup. || Radio receiver’s frequency, 20ms typ. || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_3_eq1.JPG]]<br /> |-<br /> | 0x008 || Wheel speed (ω) from front left wheel || 50ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_3_eq2.JPG]]<br /> |-<br /> | 0x00b || Wheel speed (ω) from the rear right wheel || 50ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_3_eq3.JPG]]<br /> |}<br /> <br /> ==Sensorboard Distance==<br /> <br /> This ECU accesses the distance sensors over an I²C-Bus. It features safety architecture, described in [[Bibliography|[Zim09]]].<br /> <br /> Table 1.4 presents the CAN message for the Sensorboard Distance.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.4: Sensorboard Distance&#039;s CAN message&#039;&#039;&#039;<br /> ! CAN ID !! Semantics !! Interval !! Conversion<br /> |-<br /> | 0x030 || Distance (d) to the next obstacle up front. || 65ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_4_eq1.JPG]]<br /> |}<br /> <br /> ==Sensorboard Acceleration &amp; Datalogging==<br /> <br /> This ECU controls the acceleration (longitudinal and lateral) and rotation (yaw rate) sensors over a SPI-Bus. It also measures the voltage of the battery that supplies the electrical components.<br /> <br /> It additionally features data logging capabilities; it dumps all data on the CAN-Bus to a file on a FAT-formatted SD- or MMC-Card.<br /> <br /> Table 1.5 presents the CAN messages for the Sensorboard Acceleration &amp; Datalogging.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.5: Sensorboard Acceleration&#039;s CAN messages&#039;&#039;&#039;<br /> ! CAN ID !! Semantics !! Interval !! Conversion<br /> |-<br /> | 0x010 || Longitudinal Acceleration (a&lt;sub&gt;x&lt;/sub&gt;) || 20ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_5_eq1.JPG]]<br /> |-<br /> | 0x011 || Lateral Acceleration (a&lt;sub&gt;y&lt;/sub&gt;) || 20ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_5_eq2.JPG]]<br /> |-<br /> | 0x012 || Rotation (ω) || 20ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_5_eq3.JPG]]<br /> |-<br /> | 0x00d || Voltage (U) of the electrical system’s battery || 200ms || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_5_eq4.JPG]]<br /> |}<br /> <br /> ====Data Logging====<br /> <br /> The Sensorboard Acceleration &amp; Datalogging can write data to a FAT16-formatted SD or MMC card that is inserted into the card reader slot. When the board is booted and a valid card is detected, a new file is created and data from all messages on the can bus is written into this file. There is no mechanism to specifically close the log file. Just remove the card or power down the board.<br /> <br /> * Log Indicators<br /> ** If logging is working and dumping precious driving data to the card, the red LED adjacent to the green power LED glows.<br /> <br /> * File Naming Scheme<br /> ** The data is stored to a newly created file with the naming scheme LOG&lt;nr&gt;.CAN. The &lt;nr&gt; part is a consecutive number to name all files differently and not to overwrite an older log. An internal counter increments each time a new log file is written, and the counter state is conserved in EEPROM over reboots. Reflashing the board resets the counter to 0.<br /> <br /> * Requirements for the card<br /> **The SD or MMC card must meet the following conditions:<br /> *** A partition table exists.<br /> *** The &quot;DOS compatibility flag&quot; must be set.<br /> *** There is exactly one primary partition.<br /> *** The partition&#039;s type is &quot;FAT16&quot; (set partition code to 0x06 with fdisk).<br /> *** The partition is formatted with FAT16, two fats.<br /> <br /> Using a Unix/Linux system, if /dev/mmcblk0 is your MMC/SD card device,<br /> <br /> &gt; mkfs.vfat -F 16 /dev/mmcblk0p1<br /> <br /> would create a valid FAT 16 partition.<br /> <br /> Despite having the correct partition scheme and formatting, some cards just did not work. We can not tell you why and how, just check if the red LED indicates that the logger works. Cards with 2GB or more tend to be problematic, try using a 1GB card.<br /> <br /> * Log file format<br /> ** The log file has a binary format, containing a dump of all CAN messages including a timestamp for each. For each CAN message, the following data fragment is written:<br /> <br /> /----------------------------------------------------------\<br /> | Header | Timestamp | CAN ID | Data Length | Data |<br /> | 0xca | 4 Bytes | 2 Bytes | 1 Byte | 0 - 8 Bytes |<br /> \----------------------------------------------------------------------------------------/<br /> <br /> The Header field is always one Byte with hex value 0xca. The Timestamp field holds the time in ms since the board was booted up. The remainder of the data fragment is the CAN message&#039;s id and content. For each received CAN message, a new fragment of this sort is appended to the log file. The writing format is set in [1]. Since there is no mechanism for explicitly closing the log file, the last message fragment in the log file is usually cut off.<br /> <br /> ==Actorboard==<br /> The ActorBoard&#039;s task is the creation of the PWM signals to drive the actuators. It receives the CAN messages and generates the respective PWM signals for controlling the ConceptCar’s actuators.<br /> <br /> With a switch, the board can be toggled to use either the radio receiver decoders’ data from the Sensorboards (CAN ids 0x22 and 0x25) or processed values from the Controlboard (CAN ids 0x122 and 0x125) as inputs.<br /> <br /> Based on the value from the CAN bus, the ECU implements the following features:<br /> * Entering a safe mode, i.e. producing a PWM signal that makes the car stop if one of these conditions hold:<br /> ** A Sensor Board detects a malformed PWM input signal and throws an error message on the CAN bus<br /> ** No new values arrive from the CAN bus (lost connectivity)<br /> * A hardware switch to select different CAN-IDs and by these different sources for the generated PWM signals.<br /> <br /> As described above, the Concept has two actuators, throttle motor and the steering servo.<br /> <br /> * Throttle<br /> **The brushless controller gets as input a PWM signal generated by the Actuator Board based on the received CAN messages.<br /> * Steering Servo<br /> **Steering is performed by a steering jumbo-servo that turns both front wheels. The steering servo directly processes the PWM signal that is generated by the Actuator Board.<br /> <br /> Table 1.6 presents the CAN messages for the Actorboard.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.6: Actorboard&#039;s CAN messages&#039;&#039;&#039;<br /> ! CAN ID !! Semantics !! Interval !! Conversion<br /> |-<br /> | 0x020 || Selected source for actuator control. The source can be selected with the switch on the Actorboard. || 1s || align=&quot;center&quot; width=&quot;150px&quot; | [[Image:Table2_6_eq1.JPG]]<br /> |}</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_6_eq1.JPG 2009-10-20T13:29:23Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_5_eq4.JPG 2009-10-20T13:24:39Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_5_eq3.JPG 2009-10-20T13:24:33Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_5_eq2.JPG 2009-10-20T13:24:28Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_5_eq1.JPG 2009-10-20T13:24:22Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_4_eq1.JPG 2009-10-20T13:23:01Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_3_eq3.JPG 2009-10-20T13:20:05Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_3_eq2.JPG 2009-10-20T13:19:57Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_3_eq1.JPG 2009-10-20T13:19:51Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_2_eq3.JPG 2009-10-20T13:18:02Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_2_eq2.JPG 2009-10-20T13:16:30Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Table2_2_eq1.JPG 2009-10-20T13:16:23Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Electronic_System 2009-10-20T13:06:36Z

<p>Dulcineia: </p> <hr /> <div>The electronic system is placed in the blue control signal paths from Figure 1.1, presented in Section [[Mechanical_System#Engine|Engine]], allowing direct control of the Concept Car’s actuators (engine and steering servo).<br /> <br /> [[image:ConceptCarElectronicSystem.JPG|thumb|500px|Figure 1.4. Concept Car Electronic System]]<br /> <br /> The electronic system of the Concept Car is composed by several boards, sensors and actuators. Figure 1.4 presents the schematic of the electronic components of the Concept Car. The round shaped components are sensor components and the rectangular boxes are electrical control units (ECUs). The ECUs are connected with a high-speed CAN-Bus.<br /> <br /> The [[Mechanical_System#Engine|&quot;Motor driver&quot;]], [[Mechanical_System#Radio_Control|&quot;Radio&quot;]] and [[Mechanical_System#Steering_System|&quot;Steering servo&quot;]] components were described previously.<br /> <br /> The electrical drive-by-wire system of the car is placed in the signal path between the radio receiver and the actuators.<br /> In the following, all the single components are described in detail.<br /> <br /> [[CAN Bus|CAN Bus]]<br /> <br /> [[Sensors| Sensors]]<br /> <br /> [[Electronic Control Units|Electronic Control Units]]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Sensors 2009-10-20T12:58:17Z

<p>Dulcineia: </p> <hr /> <div>The monitoring of the environment is implemented in the Concept Car using different sensors. In the following, all the sensors are described.<br /> <br /> ==Wheel speed sensors==<br /> <br /> The rotation speed of the wheels is measured with simple optical sensors, where 26 black stripes in the inside of the wheel are passing a photo sensor. The Figure 1.5 shows the marks inside of the wheel.<br /> <br /> [[image:CCarWheel.JPG|thumb|200px|Figure 1.5. Black Stripes Marks inside the Concept Car Wheel]]<br /> <br /> A photo diode (CNY 70) detects the passing of the stripes, and from the interval since the last stripe has passed the wheel speed is derived. The resolution of the timers that measure the interval between two stripes is 0.25µs. Every 50ms the wheel speed of all four sensors is written to the CAN-Bus. Depending on the current wheel speed, one of the following conditions holds:<br /> <br /> *1. The wheel speed is so low that no black stripe has passed within the last 50ms (may happen if speed is lower than 276.92°/s or 0.29m/s): The absence of a black stripe passing is communicated nevertheless<br /> *2. During 50ms exactly one black stripe has passed. In this case the wheel speed is derived from this single value.<br /> *3. During 50ms multiple stripes pass. In this case the average value is taken.<br /> <br /> Let be the average interval length between two stripes with the resolution of 0.25µs. In the cases (2) and (3) the wheel speed can be calculated by Equation 1.1.<br /> <br /> [[image:Equation2_1.JPG|thumb|200px|Equation 1.1]]<br /> <br /> The sensory data from the wheel speed sensors is to be considered as extremely noisy, and should not be used by any system without applying adequate filtering algorithms, as described in [[Bibliography|[Mit09]]].<br /> <br /> ==Distance Sensors==<br /> <br /> On the front side of the car there are two ultrasonic distance sensors. They are triggered in alternating order every 65ms to measure the distance to the next obstacle in front of the car. Their range is 15cm to 6m, with a resolution of 1cm. For further details consult the documentation, accessible under [[Bibliography|[RHW09]]].<br /> <br /> ==Acceleration Sensors==<br /> <br /> The acceleration of the Concept Car is measured with the ADIS16006 sensors. The dual-axis accelerometer ADIS16006 is capable of measuring -5g to +5g at a resolution of 1,9mg at 60Hz measurement rate. The maximum measurement range is ±8g. It has a built-in temperature sensor to mask out the temperature drift of the measurement results. For further details consult the documentation [[Bibliography|[Ana07]]].<br /> <br /> ==Rotation Sensor==<br /> <br /> The vehicle rotation along the yaw axis is measured using a rotation sensor of the type ADIS16100. The dynamic range of the yaw rate sensor ADIS16100 is 300°/s at a resolution of 0.244°/s. This sensor also provides temperature information for separating out the temperature drift. Further documentation can be found under [[Bibliography|[Ana09]]].<br /> <br /> ==Radio Receiver Decoder==<br /> <br /> The Radio Receiver outputs a pulse width modulation (PWM) signal. The PWM signal from the radio receiver’s channels must be decoded to be usable inside the system. Therefore the length of the pulses (duty cycle is 5% to 10%) is measured and normalized, with 5% being -100 to 10% being +100. The resolution is 0.01%. Radio receiver signals are sent over the CAN-Bus whenever a PWM-pulse with a valid duty cycle has been measured, so under typical driving conditions every 20ms for each channel.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Sensors 2009-10-20T12:57:50Z

<p>Dulcineia: </p> <hr /> <div>The monitoring of the environment is implemented in the Concept Car using different sensors. In the following, all the sensors are described.<br /> <br /> ==Wheel speed sensors==<br /> <br /> The rotation speed of the wheels is measured with simple optical sensors, where 26 black stripes in the inside of the wheel are passing a photo sensor. The Figure 1.5 shows the marks inside of the wheel.<br /> <br /> [[image:CCarWheel.JPG|thumb|200px|Figure 1.5. Black Stripes Marks inside the Concept Car Wheel]]<br /> <br /> A photo diode (CNY 70) detects the passing of the stripes, and from the interval since the last stripe has passed the wheel speed is derived. The resolution of the timers that measure the interval between two stripes is 0.25µs. Every 50ms the wheel speed of all four sensors is written to the CAN-Bus. Depending on the current wheel speed, one of the following conditions holds:<br /> <br /> *1. The wheel speed is so low that no black stripe has passed within the last 50ms (may happen if speed is lower than 276.92°/s or 0.29m/s): The absence of a black stripe passing is communicated nevertheless<br /> *2. During 50ms exactly one black stripe has passed. In this case the wheel speed is derived from this single value.<br /> *3. During 50ms multiple stripes pass. In this case the average value is taken.<br /> <br /> Let be the average interval length between two stripes with the resolution of 0.25µs. In the cases (2) and (3) the wheel speed can be calculated by Equation 1.1.<br /> <br /> [[image:Equation2_1.JPG|thumb|200px|Equation 1.1]]<br /> <br /> The sensory data from the wheel speed sensors is to be considered as extremely noisy, and should not be used by any system without applying adequate filtering algorithms, as described in [[Bibliography|[Mit09]]].<br /> <br /> ==Distance Sensors==<br /> <br /> On the front side of the car there are two ultrasonic distance sensors. They are triggered in alternating order every 65ms to measure the distance to the next obstacle in front of the car. Their range is 15cm to 6m, with a resolution of 1cm. For further details consult the documentation, accessible under [[Bibliography|[RHW09]]].<br /> <br /> ==Acceleration Sensors==<br /> <br /> The acceleration of the Concept Car is measured with the ADIS16006 sensors. The dual-axis accelerometer ADIS16006 is capable of measuring -5g to +5g at a resolution of 1,9mg at 60Hz measurement rate. The maximum measurement range is ±8g. It has a built-in temperature sensor to mask out the temperature drift of the measurement results. For further details consult the documentation [[Bibliography|[Ana07]]].<br /> <br /> ==Rotation Sensor==<br /> <br /> The vehicle rotation along the yaw axis is measured using a rotation sensor of the type ADIS16100. The dynamic range of the yaw rate sensor ADIS16100 is 300°/s at a resolution of 0.244°/s. This sensor also provides temperature information for separating out the temperature drift. Further documentation can be found under [[Bibliography|[Ana09]].<br /> <br /> ==Radio Receiver Decoder==<br /> <br /> The Radio Receiver outputs a pulse width modulation (PWM) signal. The PWM signal from the radio receiver’s channels must be decoded to be usable inside the system. Therefore the length of the pulses (duty cycle is 5% to 10%) is measured and normalized, with 5% being -100 to 10% being +100. The resolution is 0.01%. Radio receiver signals are sent over the CAN-Bus whenever a PWM-pulse with a valid duty cycle has been measured, so under typical driving conditions every 20ms for each channel.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Equation2_1.JPG 2009-10-20T12:55:08Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:CCarWheel.JPG 2009-10-20T12:50:40Z

<p>Dulcineia: Black Stripes Marks inside the Concept Car Wheel</p> <hr /> <div>Black Stripes Marks inside the Concept Car Wheel</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=CAN_Bus 2009-10-20T12:43:17Z

<p>Dulcineia: </p> <hr /> <div>The communication in the Concept Car is implemented via a high-speed (1Mbit/s) CAN-Bus (Controller-area network), featuring a message based protocol. Each message has a message identifier to distinguish between different message types. CAN standard 2.0A is applied, so the message identifiers are 11 bits wide, allowing 2048 distinct messages. Further details about the CAN-Bus can be found in [[Bibliography|[ZS08]]].<br /> <br /> In the ConceptCar, only messages with the length of 4 Bytes, which are interpreted as an unsigned integer number, are used. How the message data has to be interpreted depends only on the message identifier, further details are given in Section [[ECUs_implementing_Sensorboards_and_Actorboard|ECUs Implementing Sensorboards and Actorboards]], when the bus participant providing these messages is introduced.<br /> <br /> A complete description of all messages being transmitted via CAN Bus in the Concept Car and the semantics and IDs of each message is presented in [[CAN_IDs|CAN IDs]].</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:ConceptCarElectronicSystem.JPG 2009-10-20T12:35:14Z

<p>Dulcineia: Concept Car Electronic System</p> <hr /> <div>Concept Car Electronic System</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Power_Supply 2009-10-20T12:20:24Z

<p>Dulcineia: </p> <hr /> <div>[[image:PowerSupply.png|thumb|500px|Figure 1.3. Concept Car Power Supply Schematic]]<br /> <br /> The Concept Car features two independent power supply trains: <br /> * One for the &quot;heavy-load&quot; electric system: engine, servo, brakes, ... (5S1 LiPo, 4-5Ah)<br /> * One for the electronics system: the boards on the CAN bus (3S1 LiPo, 1600mAh)<br /> <br /> Figure 1.3 presents the Concept Car Power Supply Schematic.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Power_Supply 2009-10-20T12:19:25Z

<p>Dulcineia: </p> <hr /> <div>[[image:PowerSupply.png|thumb|600px]Figure 1.3. Concept Car Power Supply Schematic]<br /> <br /> The Concept Car features two independent power supply trains: <br /> * One for the &quot;heavy-load&quot; electric system: engine, servo, brakes, ... (5S1 LiPo, 4-5Ah)<br /> * One for the electronics system: the boards on the CAN bus (3S1 LiPo, 1600mAh)<br /> <br /> Figure 1.3 presents the Concept Car Power Supply Schematic.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Mechanical_System 2009-10-20T12:18:10Z

<p>Dulcineia: </p> <hr /> <div>__FORCETOC__<br /> <br /> The base platform of the Concept Car is a RC Car Model CE-5 from Carson Modellbau. This platform has the following parameters:<br /> <br /> * Scale is 1:5<br /> * Dimensions (l*w*h) are 80cm * 40cm * 23 cm<br /> * Weight is ~ 8.4kg<br /> * Top speed is ~60km/h<br /> * Rubber wheels, 12cm in diameter<br /> * Gear reduction from motor shaft to rear wheels is 20:44 * 20:77 (2 transmissions)<br /> * Differential gear<br /> <br /> ==Engine==<br /> <br /> The Concept Car engine is based on an air-cooled sensorless brushless electrical motor, which is presented in Figure 1.1.<br /> <br /> [[image:Figure2_1.JPG|thumb|500px|Figure 1.1. Basic Description of the Concept Car Engine]]<br /> <br /> Each part of the engine presented in Figure 1.1 is described in the following:<br /> <br /> * The motor is a 1930/9 from Lehner Motoren and its characteristics are shown in Figure 1.2 [[Bibliography|[LM09]]].<br /> * The engine control is a Power JAZZ from Kontronik. Its characteristics are presented in Table 1.1 [[Bibliography|[Kon09]]].<br /> * The power is supplied by an accumulator with a nominal voltage of ~21V and the ability to sustain a permanent discharge current of at least 80A. The actual type and internal construction of the accumulator is irrelevant, as long as these specifications are met. Currently a 5S1 LiPo accumulator is used.<br /> * The 5-6V supply voltage of the steering servo (max. 3A) is generated by a high-efficiency step-down voltage converter.<br /> <br /> [[image:Figure2_2.JPG|thumb|500px|Figure 1.2. Motor Characteristics]]<br /> <br /> Due to its sensorless nature, the engine tends to stutter when the car is pulling off.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.1: Kontronik Power JAZZ characteristics&#039;&#039;&#039;<br /> ! Characteristics (in German) !! POWER JAZZ 63V !! Characteristics (in English)<br /> |-<br /> | Zellenzahl (NiCd/NiMH) || 18-45 || Cell count (NiCd/NiMH)<br /> |-<br /> | Zellenzahl (LiPo) || 5-15 || Cell count (LiPo)<br /> |-<br /> | Spannungsbereich (V) || 13-63 || Operating Voltage (V)<br /> |-<br /> | Dauerstrom (A) (2,4AH Akku) || 120 || Contin. current (A) (2,4Ah battery)<br /> |-<br /> | max. Strom (A) (15sec) || 200 || Max. current (A) (15sec)<br /> |-<br /> | Maße (mm) Länge || 84 || Size (mm) length<br /> |-<br /> | Breite || 51 || width<br /> |-<br /> | Höhe || 35 || height<br /> |-<br /> | Gewicht (g) ohne Kabel || - || Weight (g) without cables<br /> |-<br /> | Gewicht (g) mit Kabel || 220 || Weight (g) with cables<br /> |-<br /> | Kabelquerschnitt (mm²) || 4/6 || Cable-cross-section (mm²)<br /> |-<br /> | BEC || / || BEC<br /> |-<br /> | BEC Belastbarkeit max. (A) || / || BEC current max. (A)<br /> |-<br /> | BEC Kurzschlußfest || / || BEC short circuit protection<br /> |-<br /> | Auto-Programmier-Modus || x || Auto Programming Mode<br /> |-<br /> | Modusprogrammierung || / || Mode programming<br /> |-<br /> | ProgCARD fähig || x || ProcCARD ability<br /> |-<br /> | Heli Drehzahlregelung || x || Automatic Power Consumption APC<br /> |-<br /> | EMK-Bremse abschaltbar || x || EMF brake can be disabled<br /> |-<br /> | proportionale Bremse || / || Proportional brake<br /> |-<br /> | Verpolschutz || x || Reverse polarity protection<br /> |-<br /> | Kurzschlußschutz || x || Short circuit protection<br /> |-<br /> | Anlaufschutz || x || False start protection<br /> |-<br /> | Strombegrenzung || x || Current limiting<br /> |-<br /> | Übertemperaturschutz || x || Overtemp. protection<br /> |-<br /> | Unterspannungsabschaltung || x || Undervoltage cutoff<br /> |-<br /> | -&quot;- abschaltbar || x || -&quot;- can be disabled<br /> |-<br /> | Abschaltspann./Zelle variabel* || x || Slow down instead of cutoff*<br /> |-<br /> | Abregelung statt Abschaltung* || x || Slow down instead of cutoff*<br /> |-<br /> | aktiver Freilauf || x || Active free wheeling circuit<br /> |-<br /> | LED Statusanzeige || / || -<br /> |-<br /> | Taktfrequenz (kHz) || 8-32 || PWM frequency (kHz)<br /> |-<br /> | Gesamte Kupferstärke (mm) || 1.9 || Total copper thickness<br /> |-<br /> | Drehrichtungsumpolung || x || Reverse rotation direction<br /> |-<br /> | Bestellnummer || 4991 || Order number<br /> |}<br /> <br /> ==Radio Control==<br /> The ConceptCar is remotely operated via a standard 2 channel 27MHz radio transmitter system. The channels are used for throttle and steering data. The radio receiver generates a 50Hz PWM signal with 5% to 10% duty cycle.<br /> <br /> ==Steering System==<br /> The steering system has simple mechanics; a servo motor sets the steering angle. Within a range of ±30° the steering angle is set to (pulse – 1.5ms) * 1° / 0.018ms, where “pulse” denotes the length of a PWM pulse at a PWM frequency of 50Hz.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Power_Supply 2009-10-20T12:16:57Z

<p>Dulcineia: </p> <hr /> <div>[[image:PowerSupply.png|thumb|500px]]<br /> <br /> The Concept Car features two independent power supply trains: <br /> * One for the &quot;heavy-load&quot; electric system: engine, servo, brakes, ... (5S1 LiPo, 4-5Ah)<br /> * One for the electronics system: the boards on the CAN bus (3S1 LiPo, 1600mAh)</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Mechanical_System 2009-10-20T12:15:36Z

<p>Dulcineia: </p> <hr /> <div>__FORCETOC__<br /> <br /> The base platform of the Concept Car is a RC Car Model CE-5 from Carson Modellbau. This platform has the following parameters:<br /> <br /> * Scale is 1:5<br /> * Dimensions (l*w*h) are 80cm * 40cm * 23 cm<br /> * Weight is ~ 8.4kg<br /> * Top speed is ~60km/h<br /> * Rubber wheels, 12cm in diameter<br /> * Gear reduction from motor shaft to rear wheels is 20:44 * 20:77 (2 transmissions)<br /> * Differential gear<br /> <br /> ==Engine==<br /> <br /> The Concept Car engine is based on an air-cooled sensorless brushless electrical motor, which is presented in Figure 1.1.<br /> <br /> [[image:Figure2_1.JPG|thumb|400px|Figure 1.1. Basic Description of the Concept Car Engine]]<br /> <br /> Each part of the engine presented in Figure 1.1 is described in the following:<br /> <br /> * The motor is a 1930/9 from Lehner Motoren and its characteristics are shown in Figure 1.2 [[Bibliography|[LM09]]].<br /> * The engine control is a Power JAZZ from Kontronik. Its characteristics are presented in Table 1.1 [[Bibliography|[Kon09]]].<br /> * The power is supplied by an accumulator with a nominal voltage of ~21V and the ability to sustain a permanent discharge current of at least 80A. The actual type and internal construction of the accumulator is irrelevant, as long as these specifications are met. Currently a 5S1 LiPo accumulator is used.<br /> * The 5-6V supply voltage of the steering servo (max. 3A) is generated by a high-efficiency step-down voltage converter.<br /> <br /> [[image:Figure2_2.JPG|thumb|400px|Figure 1.2. Motor Characteristics]]<br /> <br /> Due to its sensorless nature, the engine tends to stutter when the car is pulling off.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.1: Kontronik Power JAZZ characteristics&#039;&#039;&#039;<br /> ! Characteristics (in German) !! POWER JAZZ 63V !! Characteristics (in English)<br /> |-<br /> | Zellenzahl (NiCd/NiMH) || 18-45 || Cell count (NiCd/NiMH)<br /> |-<br /> | Zellenzahl (LiPo) || 5-15 || Cell count (LiPo)<br /> |-<br /> | Spannungsbereich (V) || 13-63 || Operating Voltage (V)<br /> |-<br /> | Dauerstrom (A) (2,4AH Akku) || 120 || Contin. current (A) (2,4Ah battery)<br /> |-<br /> | max. Strom (A) (15sec) || 200 || Max. current (A) (15sec)<br /> |-<br /> | Maße (mm) Länge || 84 || Size (mm) length<br /> |-<br /> | Breite || 51 || width<br /> |-<br /> | Höhe || 35 || height<br /> |-<br /> | Gewicht (g) ohne Kabel || - || Weight (g) without cables<br /> |-<br /> | Gewicht (g) mit Kabel || 220 || Weight (g) with cables<br /> |-<br /> | Kabelquerschnitt (mm²) || 4/6 || Cable-cross-section (mm²)<br /> |-<br /> | BEC || / || BEC<br /> |-<br /> | BEC Belastbarkeit max. (A) || / || BEC current max. (A)<br /> |-<br /> | BEC Kurzschlußfest || / || BEC short circuit protection<br /> |-<br /> | Auto-Programmier-Modus || x || Auto Programming Mode<br /> |-<br /> | Modusprogrammierung || / || Mode programming<br /> |-<br /> | ProgCARD fähig || x || ProcCARD ability<br /> |-<br /> | Heli Drehzahlregelung || x || Automatic Power Consumption APC<br /> |-<br /> | EMK-Bremse abschaltbar || x || EMF brake can be disabled<br /> |-<br /> | proportionale Bremse || / || Proportional brake<br /> |-<br /> | Verpolschutz || x || Reverse polarity protection<br /> |-<br /> | Kurzschlußschutz || x || Short circuit protection<br /> |-<br /> | Anlaufschutz || x || False start protection<br /> |-<br /> | Strombegrenzung || x || Current limiting<br /> |-<br /> | Übertemperaturschutz || x || Overtemp. protection<br /> |-<br /> | Unterspannungsabschaltung || x || Undervoltage cutoff<br /> |-<br /> | -&quot;- abschaltbar || x || -&quot;- can be disabled<br /> |-<br /> | Abschaltspann./Zelle variabel* || x || Slow down instead of cutoff*<br /> |-<br /> | Abregelung statt Abschaltung* || x || Slow down instead of cutoff*<br /> |-<br /> | aktiver Freilauf || x || Active free wheeling circuit<br /> |-<br /> | LED Statusanzeige || / || -<br /> |-<br /> | Taktfrequenz (kHz) || 8-32 || PWM frequency (kHz)<br /> |-<br /> | Gesamte Kupferstärke (mm) || 1.9 || Total copper thickness<br /> |-<br /> | Drehrichtungsumpolung || x || Reverse rotation direction<br /> |-<br /> | Bestellnummer || 4991 || Order number<br /> |}<br /> <br /> ==Radio Control==<br /> The ConceptCar is remotely operated via a standard 2 channel 27MHz radio transmitter system. The channels are used for throttle and steering data. The radio receiver generates a 50Hz PWM signal with 5% to 10% duty cycle.<br /> <br /> ==Steering System==<br /> The steering system has simple mechanics; a servo motor sets the steering angle. Within a range of ±30° the steering angle is set to (pulse – 1.5ms) * 1° / 0.018ms, where “pulse” denotes the length of a PWM pulse at a PWM frequency of 50Hz.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Mechanical_System 2009-10-20T11:38:21Z

<p>Dulcineia: </p> <hr /> <div>The base platform of the Concept Car is a RC Car Model CE-5 from Carson Modellbau. This platform has the following parameters:<br /> <br /> * Scale is 1:5<br /> * Dimensions (l*w*h) are 80cm * 40cm * 23 cm<br /> * Weight is ~ 8.4kg<br /> * Top speed is ~60km/h<br /> * Rubber wheels, 12cm in diameter<br /> * Gear reduction from motor shaft to rear wheels is 20:44 * 20:77 (2 transmissions)<br /> * Differential gear<br /> <br /> ==Engine==<br /> <br /> The Concept Car engine is based on an air-cooled sensorless brushless electrical motor, which is presented in Figure 1.1.<br /> <br /> [[image:Figure2_1.JPG|thumb|400px|Figure 1.1. Basic Description of the Concept Car Engine]]<br /> <br /> Each part of the engine presented in Figure 1.1 is described in the following:<br /> <br /> * The motor is a 1930/9 from Lehner Motoren and its characteristics are shown in Figure 1.2 [[Bibliography|[LM09]]].<br /> * The engine control is a Power JAZZ from Kontronik. Its characteristics are presented in Table 1.1 [[Bibliography|[Kon09]]].<br /> * The power is supplied by an accumulator with a nominal voltage of ~21V and the ability to sustain a permanent discharge current of at least 80A. The actual type and internal construction of the accumulator is irrelevant, as long as these specifications are met. Currently a 5S1 LiPo accumulator is used.<br /> * The 5-6V supply voltage of the steering servo (max. 3A) is generated by a high-efficiency step-down voltage converter.<br /> <br /> [[image:Figure2_2.JPG|thumb|400px|Figure 1.2. Motor Characteristics]]<br /> <br /> Due to its sensorless nature, the engine tends to stutter when the car is pulling off.<br /> <br /> {| border=&quot;1&quot;<br /> |+ &#039;&#039;&#039;Table 1.1: Kontronik Power JAZZ characteristics&#039;&#039;&#039;<br /> ! Characteristics (in German) !! POWER JAZZ 63V !! Characteristics (in English)<br /> |-<br /> | Zellenzahl (NiCd/NiMH) || 18-45 || Cell count (NiCd/NiMH)<br /> |-<br /> | Zellenzahl (LiPo) || 5-15 || Cell count (LiPo)<br /> |-<br /> | Spannungsbereich (V) || 13-63 || Operating Voltage (V)<br /> |-<br /> | Dauerstrom (A) (2,4AH Akku) || 120 || Contin. current (A) (2,4Ah battery)<br /> |-<br /> | max. Strom (A) (15sec) || 200 || Max. current (A) (15sec)<br /> |-<br /> | Maße (mm) Länge || 84 || Size (mm) length<br /> |-<br /> | Breite || 51 || width<br /> |-<br /> | Höhe || 35 || height<br /> |-<br /> | Gewicht (g) ohne Kabel || - || Weight (g) without cables<br /> |-<br /> | Gewicht (g) mit Kabel || 220 || Weight (g) with cables<br /> |-<br /> | Kabelquerschnitt (mm²) || 4/6 || Cable-cross-section (mm²)<br /> |-<br /> | BEC || / || BEC<br /> |-<br /> | BEC Belastbarkeit max. (A) || / || BEC current max. (A)<br /> |-<br /> | BEC Kurzschlußfest || / || BEC short circuit protection<br /> |-<br /> | Auto-Programmier-Modus || x || Auto Programming Mode<br /> |-<br /> | Modusprogrammierung || / || Mode programming<br /> |-<br /> | ProgCARD fähig || x || ProcCARD ability<br /> |-<br /> | Heli Drehzahlregelung || x || Automatic Power Consumption APC<br /> |-<br /> | EMK-Bremse abschaltbar || x || EMF brake can be disabled<br /> |-<br /> | proportionale Bremse || / || Proportional brake<br /> |-<br /> | Verpolschutz || x || Reverse polarity protection<br /> |-<br /> | Kurzschlußschutz || x || Short circuit protection<br /> |-<br /> | Anlaufschutz || x || False start protection<br /> |-<br /> | Strombegrenzung || x || Current limiting<br /> |-<br /> | Übertemperaturschutz || x || Overtemp. protection<br /> |-<br /> | Unterspannungsabschaltung || x || Undervoltage cutoff<br /> |-<br /> | -&quot;- abschaltbar || x || -&quot;- can be disabled<br /> |-<br /> | Abschaltspann./Zelle variabel* || x || Slow down instead of cutoff*<br /> |-<br /> | Abregelung statt Abschaltung* || x || Slow down instead of cutoff*<br /> |-<br /> | aktiver Freilauf || x || Active free wheeling circuit<br /> |-<br /> | LED Statusanzeige || / || -<br /> |-<br /> | Taktfrequenz (kHz) || 8-32 || PWM frequency (kHz)<br /> |-<br /> | Gesamte Kupferstärke (mm) || 1.9 || Total copper thickness<br /> |-<br /> | Drehrichtungsumpolung || x || Reverse rotation direction<br /> |-<br /> | Bestellnummer || 4991 || Order number<br /> |}<br /> <br /> ==1.1.2. Radio Control==<br /> The ConceptCar is remotely operated via a standard 2 channel 27MHz radio transmitter system. The channels are used for throttle and steering data. The radio receiver generates a 50Hz PWM signal with 5% to 10% duty cycle.<br /> <br /> ==1.1.3. Steering System==<br /> The steering system has simple mechanics; a servo motor sets the steering angle. Within a range of ±30° the steering angle is set to (pulse – 1.5ms) * 1° / 0.018ms, where “pulse” denotes the length of a PWM pulse at a PWM frequency of 50Hz.</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Figure2_2.JPG 2009-10-20T11:35:31Z

<p>Dulcineia: Motor Characteristics</p> <hr /> <div>Motor Characteristics</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=File:Figure2_1.JPG 2009-10-20T11:09:22Z

<p>Dulcineia: </p> <hr /> <div></div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=CCar_Architecture 2009-10-20T11:06:20Z

<p>Dulcineia: </p> <hr /> <div>This Section presents the Concept Car platform, including its mechanical, electrical and electronic components, hardware and software description, boards, connections, sensors and actuators. It describes their functionalities and how they cooperate with each other.<br /> <br /> *[[Mechanical_System|Mechanical System]]<br /> <br /> *[[Power_Supply|Power_Supply]]<br /> <br /> *[[Electronic_System|Electronic System]]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Main_Page 2009-10-20T11:01:05Z

<p>Dulcineia: </p> <hr /> <div>==WELCOME==<br /> <br /> So here it is established, the Concept Car&#039;s wiki.<br /> <br /> The Concept Car, presented in Figure 1.1, is an experimental embedded system. It is a research platform based on a remote control car and several resources allowing deployment of different classes of applications. The Car is a 1:5 scale radio controlled remote control car that is - depending on the ground conditions - capable of driving at a speed of up to 50 km/h.<br /> <br /> This wiki describes the Concept Car, its structure, components, software and hardware architecture and functionalities and presents in a detailed way how to develop and deploy applications for the car.<br /> <br /> The corresponding SVN can be accessed in [[Svn|this way]]. This should be a gathering point for all documentation.<br /> <br /> *[[CCar_Architecture|1 - Concept Car Architecture]]<br /> **[[Mechanical_System|1.1 - Mechanical System]]<br /> ***[[Mechanical_System#1.1.1. Engine|1.1.1 - Engine]]<br /> ***[[Mechanical_System#1.1.2. Radio_Control|1.1.2 - Radio Control]]<br /> ***[[Mechanical_System#1.1.3. Steering_System|1.1.3 - Steering System]]<br /> **[[Power_Supply|1.2. Power Supply]]<br /> **[[Electronic_System|1.3 - Electronic System]]<br /> ***[[CAN_Bus|1.3.1 - CAN Bus]]<br /> ***[[Sensors|1.3.2 - Sensors]]<br /> ***[[Electronic Control Units|1.3.3 - Electronic Control Units]]<br /> ****[[ECUs implementing Sensorboards and Actorboard|1.3.3.1 - ECUs implementing Sensorboards and Actorboard]]<br /> ****[[ECU implementing Controlboard|1.3.3.2 - ECU implementing Controlboard]]<br /> ****[[ECUs_Emergency_|1.3.3.3 - Emergency Safe-State Board]]<br /> <br /> *[[Application Development and Deployment|2 - Application development and deployment]]<br /> **[[Platform Independent Application Development|2.1 - Platform Independent Application Development]]<br /> ***[[Platform Independent Application Development#2.1.1. Simulink_Models|2.1.1 - Simulink models]]<br /> ****[[Platform Independent Application Development#Software Application Code Generation|2.1.1.1 - Software Application Code Generation]]<br /> **[[Platform Specific Code Generation|2.2 - Platform Specific Code Generation]]<br /> **[[Application Deployment|2.3 - Application Deployment]]<br /> ***[[Flashing_the_ARM7_board|2.3.1 - Flashing the ARM7 board]]<br /> ***[[Deployment|2.3.2 - Deployment]]<br /> ***[[Monitoring_Execution|2.3.3 - Monitoring execution]]<br /> <br /> *[[Adding Resources to the Concept Car|3 - Adding Resources to the Concept Car]]<br /> <br /> *[[Bibliography|4 - Bibliography]]<br /> <br /> <br /> <br /> -------------------------------------------------------------------------------------------------------------------<br /> Consult the [http://meta.wikimedia.org/wiki/Help:Contents User&#039;s Guide] for information on using the wiki software.<br /> <br /> == Getting started ==<br /> * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list]<br /> * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ]<br /> * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Main_Page 2009-10-20T11:00:50Z

<p>Dulcineia: </p> <hr /> <div>==WELCOME==<br /> <br /> So here it is established, the Concept Car&#039;s wiki.<br /> <br /> The Concept Car, presented in Figure 1.1, is an experimental embedded system. It is a research platform based on a remote control car and several resources allowing deployment of different classes of applications. The Car is a 1:5 scale radio controlled remote control car that is - depending on the ground conditions - capable of driving at a speed of up to 50 km/h.<br /> <br /> This wiki describes the Concept Car, its structure, components, software and hardware architecture and functionalities and presents in a detailed way how to develop and deploy applications for the car.<br /> <br /> The corresponding SVN can be accessed [[Svn|this way]]. This should be a gathering point for all documentation.<br /> <br /> *[[CCar_Architecture|1 - Concept Car Architecture]]<br /> **[[Mechanical_System|1.1 - Mechanical System]]<br /> ***[[Mechanical_System#1.1.1. Engine|1.1.1 - Engine]]<br /> ***[[Mechanical_System#1.1.2. Radio_Control|1.1.2 - Radio Control]]<br /> ***[[Mechanical_System#1.1.3. Steering_System|1.1.3 - Steering System]]<br /> **[[Power_Supply|1.2. Power Supply]]<br /> **[[Electronic_System|1.3 - Electronic System]]<br /> ***[[CAN_Bus|1.3.1 - CAN Bus]]<br /> ***[[Sensors|1.3.2 - Sensors]]<br /> ***[[Electronic Control Units|1.3.3 - Electronic Control Units]]<br /> ****[[ECUs implementing Sensorboards and Actorboard|1.3.3.1 - ECUs implementing Sensorboards and Actorboard]]<br /> ****[[ECU implementing Controlboard|1.3.3.2 - ECU implementing Controlboard]]<br /> ****[[ECUs_Emergency_|1.3.3.3 - Emergency Safe-State Board]]<br /> <br /> *[[Application Development and Deployment|2 - Application development and deployment]]<br /> **[[Platform Independent Application Development|2.1 - Platform Independent Application Development]]<br /> ***[[Platform Independent Application Development#2.1.1. Simulink_Models|2.1.1 - Simulink models]]<br /> ****[[Platform Independent Application Development#Software Application Code Generation|2.1.1.1 - Software Application Code Generation]]<br /> **[[Platform Specific Code Generation|2.2 - Platform Specific Code Generation]]<br /> **[[Application Deployment|2.3 - Application Deployment]]<br /> ***[[Flashing_the_ARM7_board|2.3.1 - Flashing the ARM7 board]]<br /> ***[[Deployment|2.3.2 - Deployment]]<br /> ***[[Monitoring_Execution|2.3.3 - Monitoring execution]]<br /> <br /> *[[Adding Resources to the Concept Car|3 - Adding Resources to the Concept Car]]<br /> <br /> *[[Bibliography|4 - Bibliography]]<br /> <br /> <br /> <br /> -------------------------------------------------------------------------------------------------------------------<br /> Consult the [http://meta.wikimedia.org/wiki/Help:Contents User&#039;s Guide] for information on using the wiki software.<br /> <br /> == Getting started ==<br /> * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list]<br /> * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ]<br /> * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list]</div>

Dulcineia https://conceptcar.iese.de:80/ConceptCar1/index.php?title=Main_Page 2009-10-20T11:00:29Z

<p>Dulcineia: </p> <hr /> <div>==WELCOME==<br /> <br /> So here it is established, the Concept Car&#039;s wiki.<br /> <br /> The Concept Car, presented in Figure 1.1, is an experimental embedded system. It is a research platform based on a remote control car and several resources allowing deployment of different classes of applications. The Car is a 1:5 scale radio controlled remote control car that is - depending on the ground conditions - capable of driving at a speed of up to 50 km/h.<br /> <br /> This wiki describes the Concept Car, its structure, components, software and hardware architecture and functionalities and presents in a detailed way how to develop and deploy applications for the car.<br /> <br /> The corresponding SVN can be accessed [[Svn|this way]]. This should be a gathering point for all documentation.<br /> <br /> *[[CCar_Architecture|1 - Concept Car Architecture]]<br /> **[[Mechanical_System|1.1 - Mechanical System]]<br /> ***[[Mechanical_System#1.1.1. Engine|1.1.1 - Engine]]<br /> ***[[Mechanical_System#1.1.2. Radio_Control|1.1.2 - Radio Control]]<br /> ***[[Mechanical_System#1.1.3. Steering_System|1.1.3 - Steering System]]<br /> **[[Power_Supply|1.2. Power Supply]]<br /> **[[Electronic_System|1.3 - Electronic System]]<br /> ***[[CAN_Bus|1.3.1 - CAN Bus]]<br /> ***[[Sensors|1.3.2 - Sensors]]<br /> ***[[Electronic Control Units|1.3.3 - Electronic Control Units]]<br /> ****[[ECUs implementing Sensorboards and Actorboard|1.3.3.1 - ECUs implementing Sensorboards and Actorboard]]<br /> ****[[ECU implementing Controlboard|1.3.3.2 - ECU implementing Controlboard]]<br /> ****[[ECUs_Emergency_|1.3.3.3 - Emergency Safe-State Board]]<br /> <br /> *[[Application Development and Deployment|2 - Application development and deployment]]<br /> **[[Platform Independent Application Development|2.1 - Platform Independent Application Development]]<br /> ***[[Platform Independent Application Development#2.1.1. Simulink_Models|2.1.1 - Simulink models]]<br /> ****[[Platform Independent Application Development#Software Application Code Generation|2.1.1.1 - Software Application Code Generation]]<br /> **[[Platform Specific Code Generation|2.2 - Platform Specific Code Generation]]<br /> **[[Application Deployment|2.3 - Application Deployment]]<br /> ***[[Flashing_the_ARM7_board|2.3.1 - Flashing the ARM7 board]]<br /> ***[[Deployment|2.3.2 - Deployment]]<br /> ***[[Monitoring_Execution|2.3.3 - Monitoring execution]]<br /> <br /> *[[Adding Resources to the Concept Car|3 - Adding Resources to the Concept Car]]<br /> <br /> *[[Bibliography|4 - Bibliography]]<br /> <br /> <br /> <br /> -------------------------------------------------------------------------------------------------------------------<br /> Consult the [http://meta.wikimedia.org/wiki/Help:Contents User&#039;s Guide] for information on using the wiki software.<br /> <br /> == Getting started ==<br /> * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list]<br /> * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ]<br /> * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list]</div>

Dulcineia