ECUs implementing Sensorboards and Actorboard - Revision history

Donald: /* Sensorboard Throttle */

2011-06-14T12:38:28Z

‎Sensorboard Throttle

2011-06-14T12:38:05Z

‎Sensorboard Steering

2011-06-14T12:35:13Z

‎Sensorboard Throttle

2011-06-14T12:33:59Z

‎Sensorboard Steering

2010-08-17T11:15:25Z

‎Data Logging

2010-08-17T11:14:43Z

‎Data Logging

2010-08-17T08:03:58Z

‎LCD Display

2010-08-17T07:48:08Z

‎Sensorboard Acceleration and Datalogging

2010-08-17T07:47:41Z

‎LCD Display

2010-08-17T07:47:22Z

‎LCD Display

@@ Line 40: / Line 40: @@
 [[image:sensorboard_steering_throttle_rev1.2.jpg|thumb|right|Sensorboard Throttle, Revision 1.2]]
-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. The throttle signal creates an acceleration signal (CANID_THROTTLE) for positive values (throttle lever on the remote pulled) and brake signals (CANID_BRAKEFL and CANID_BRAKEFR) for negative values (throttle lever pushed).
+This ECU decodes the throttle PWM channel from the radio receiver and the [[Sensors#Wheel_speed_sensors|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. The throttle signal creates an acceleration signal (CANID_THROTTLE) for positive values (throttle lever on the remote pulled) and brake signals (CANID_BRAKEFL and CANID_BRAKEFR) for negative values (throttle lever pushed).
 The thoughts in [[#PWM_Decoding_and_Signal_Validity|PWM decoding and signal validity]] hold as well for this board.

@@ Line 11: / Line 11: @@
 ==Sensorboard Steering==
-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.
+This ECU decodes the steering PWM channel from the radio receiver and the [[Sensors#Wheel_speed_sensors|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.
 See [[CAN_Bus#CANID_WHEELSPEED|CANID_WHEELSPEED_FR and CANID_WHEELSPEED_RL]] as well as [[CAN_Bus#CANID_STEERING|CANID_STEERING]] for a description of this ECU's output signals.

@@ Line 41: / Line 41: @@
 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. The throttle signal creates an acceleration signal (CANID_THROTTLE) for positive values (throttle lever on the remote pulled) and brake signals (CANID_BRAKEFL and CANID_BRAKEFR) for negative values (throttle lever pushed).
-The thoughts in [[#PWM_Decoding_and_Signal_Validity]] hold as well for this board.
+The thoughts in [[#PWM_Decoding_and_Signal_Validity|PWM decoding and signal validity]] hold as well for this board.
 See [[CAN_Bus#CANID_WHEELSPEED|CANID_WHEELSPEED_FL and CANID_WHEELSPEED_RR]] as well as [[CAN_Bus#CANID_THROTTLE|CANID_THROTTLE]] and [[CAN_Bus#CANID_BRAKE|CANID_BRAKEFL and CANID_BRAKEFR]] for a description of this ECU's output signals.

@@ Line 24: / Line 24: @@
 However, in the random noise, even pulses like these appear quite frequent, so for a better filtering, the signal is only assumed to be present if at least 3 consecutive valid PWM pulses have appeared.
 The Sensorboards only transmit the measured PWM signal width if a valid signal is detected.
 ==Sensorboard Throttle==

@@ Line 116: / Line 116: @@
 *** The partition is formatted with FAT16, two fats.
-Using a Unix/Linux system, if <tt>/dev/mmcblk0</tt> is your MMC/SD card device's primary partition,
+Using a Unix/Linux system, if <tt>/dev/mmcblk0p1</tt> is your MMC/SD card device's primary partition,
    > mkfs.vfat -F 16 /dev/mmcblk0p1

@@ Line 73: / Line 73: @@
 * Else if DIP switch 4 is "on", the display shows the current supply voltage.
 * Else if DIP switch 5 is "on", the display shows the filename that the data is logged to (if SD card is present) and the total number of bytes that have been written to this file so far.
 * Independent of the other switches, the DIP 8 switch selects the mode of the display. If it is set to "on", the current raw value (as transferred over the CAN bus) is shown, if it is set to "off", the display shows the value converted to its respective physical unit (m/s^2, °/s, V).

@@ Line 134: / Line 134: @@
 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'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.
-===== Plotting the logged Data =====
+=== Plotting the logged Data ===
 There are several ways to evaluate the logged data graphically. Here is how to do it with Gnuplot, that is available for all common operating systems. The logged Data has the following format: TIMESTAMP:CAN-ID:VALUE.
 In Gnuplot type:

@@ Line 58: / Line 58: @@
 ===LCD Display===
-<gallery caption="LCD Display" widths="160px" heights="100px" perrow="5">
+<gallery caption="LCD Display status views" widths="160px" heights="100px" perrow="5">
 image:LCD_Display_GYRO_Raw.jpg
 image:LCD_Display_GYRO_Absolute.jpg