|helio |link ltd. - auburn universitytroppel/internal/violin... · main function motor controller...
TRANSCRIPT
CAN NETWORK
Steering InterfaceμController Module
Display InterfaceμController Module
Motor InterfaceμController Module
Driver Inputs
Signal Controller
Sensor Inputs
Vehicle Controls
Motor ControllerDriver Display
Wireless Modem
Battery ProtectCircuit
|Helio |Link Ltd.
•Functionally arrange components into 3 nodesNode #1: Motor Controller ModuleNode #2: Driver Display ModuleNode #3: Steering Column Module
•Connect the nodes using CAN technology•Develop common hardware at each nodeBased around the Freescale HCS12 CPUFlexible, to serve all I/O needs at each node
•Use CodeWarrior to develop software to control all of the network’s functionsSerial communicationsAnalog to Digital ConversionCAN interfaceLCD Driver DisplayInterrupt driven inputGeneral Purpose I/O
Auburn’s Solar Car Racing Team approached the Electrical Engineering department with a request for a networked system of microcontrollers to replace their current vehicle’s wiring harness to resolve these issues:
•Excess weight associated with the current harness•Reliability issues with the quantity of wires•Difficulty in modifying the electronics configuration•Driver safety issues resulting from component failures
Team |Helio|Link Is: |Mike Cornelison |Beau Eckerman |David Last |Aaron Steiner |Luke Stewart |Brian Whitehouse
• Increased communication among the three sections of the car
• Reduced weight• Increased reliability• Added level of safety• Easily reconfigurable / expanded
•Maximum power draw: 12W (1A @12VDC)•Minimize weight added to the vehicle•Keep development and production costs low•Replace all system I/O and communication with the CAN•Make functionally ubiquitous to driver and chase vehicle•Ensure safety of driver in case of network failures
•Developed a architecture capable of interconnecting all vehicle sub-systems•Designed custom node hardware for the CAN physical layer (not built)Powerful HC9S12 microcontrollerTwo CAN interfacesTwo RS-232 interfacesLCD controllerMixed signal input/output
•Coded control software to implement all I/O functions & serial communicationsCAN messaging and priority assignmentRS-232 control and pass-through capableADCLCD display controllerInterrupt driven user interfaceGPIO
Main FunctionMain Function
MotorController
Node
DisplayNode
SteeringControls
Node
MainFunction
Initialize CANMessaging
InitializeInput/Output Pins
InitializeLCD Display
InitializeSerial Interface
Clear Display
Read Throttle On/Off
Read MotorController Direction(Forward/Reverse)
Read MotorController On/Off
Display Current Speed
Display Desired Speed
Display CruiseControl On/Off
Display Trip Odometer
Display Throttle Position
Display Throttle On/Off
Display Up-Time Clock
Display MotorController On/Off
Display Motor Controller Direction (Forward/Reverse)
Display MPH/KPH
Transmit ThrottleOn/Off Over CAN
Transmit MotorController Direction
Over CAN
Transmit MotorController On/Off
Over CAN
Transmit SerialOver CAN
MPH/KPH PushButton Toggle
Receive CAN Messages
Receive Serial TrafficFrom Wireless Modem
Interrupts
InitializeSerial Interface
Initialize MotorController ForSerial Control
Initialize CANMessaging
Set Motor ControllerOn/Off
Set Motor ControllerMode
(Torque/Cruise)
Set Motor Direction(Forward/Reverse)
Set DesiredMotor Current
Set Target Speed
Read Page 1 Data
Transmit Serial TrafficOver CAN
Send Serial TrafficTo Motor Controller
Transmit SpeedOver CAN
Receive CAN Messages
Receive Serial TrafficFrom Motor Controller
Interrupts
MainFunction
Initialize CANMessaging
InitializeAnalog-to-Digital
Converter
InitializeInput/Output
Pins
Read Throttle Potentiometer
Send ThrottlePosition Over
CAN
Send CruiseControl Status
Over CAN
Send DesiredSpeed Over
CAN
MainFunction
Cruise Control On/Off
Cruise Control Increment
Cruise Control Decrement
Receive CAN Messages
Interrupts
•Displays vehicle information to the driver such as speed and throttle position•Features motor ignition, trip odometer, MPH/KPH toggle, and time-of-operation clock•Receives data from chase vehicle via RS-232 serial connection to wireless modem
•Allows driver to control throttle and braking using a potentiometer•Provides cruise control with increment/decrement controls•Sends throttle and cruise control information over CAN to motor controller and display
Freescale HC9S12DG128 Microcontroller:•16-bit HCS12 CPU•128kB Flash EEPROM, 8kB RAM, 2kB EEPROM•2x SCI, 3x CAN 2.0 A & B (1Mb/sec), I2C•2 8-channel, 10-bit ADCs•PWM, Enhanced Capture Timer•29 GPIO Lines•Low power operation modes
Panasonic PCA82C250N CAN Transceiver:•High speed (1Mb/s) transceiver module•Handles arbitration, packet formation
Texas Instruments MAX202 RS-232 Transceiver:• Dual RS-232 level converters and line drivers
ON Semiconductor MC34164 μC Supervisor:•Under-voltage & power-on reset sensing
64-pin Header:•Driver Display Interface•8-Channel ADC Connection•9 Interrupt Capable Inputs•8 Enhanced Capture Timers•22 GPIO
6-Pin ISP Connection:•Breaks out the ISP & In-system debug module
Network & Power Connector:•2-Wire CAN network interface•+12VDC Power in
|Helio |Link Ltd.
•Exchanges data with motor controller via RS-232 serial communication•Sends serial data from motor controller over CAN to display and steering node•Sends CAN data to motor controller over serial connection
μC
CAN0CAN4
RS-232RS-232
GPIO
Network
Wireless Modem
•Motor Ctrlr. Enable•Throttle Enable•Direction Toggle•Mph/kph Toggle•Odometer Reset
Push Buttons
Interrupts
Driver Display
μC
CAN0CAN4
RS-232RS-232
GPIOADC
Network
Motor Controller
•To turn signal & brake light controller
•Battery Current•Backup Battery Voltage•Solar Array Current
μC
CAN0CAN4
RS-232RS-232
GPIOADC
Network
Batter ProtectionCircuit
•Acceleration•REGEN
Push Buttons
Interrupts
•Cruise Control Set•Cruise Control Up•Cruise Control Down•Left Blinker•Right Blinker