GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.
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Transcript of GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.
![Page 1: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/1.jpg)
GPS & Sensor Telemetry
Formula SAE
Ryan Langley
2104584
HPV Sensor Suite
Thomas Cross
2107294
![Page 2: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/2.jpg)
HPV Super Series
• Human Powered Vehicle
• Multiple riders per vehicle
• Endurance races
• Manual lap timing
![Page 3: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/3.jpg)
Project Aims
• Sensor suite onboard vehicle
• Location, speed and lap times
• Data logging
• Display data to pit crew
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Pit Module•Graphical User Interface
•View real-time data
•Log/display lap times
•Data communications
Vehicle Module•GPS + Accelerometer
•Speed display
•Data logging
•Data communications
![Page 5: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/5.jpg)
GUI
Firmware
Hardware
![Page 6: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/6.jpg)
GUI
Firmware
Hardware
![Page 7: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/7.jpg)
RF Module
Reverse Polarity & Overvoltage Protection
Switched-Mode Power Supply (5V)
Linear Regulator(3.3V)
Liquid Crystal Display
Microcontroller
SD Card
Microcontroller
I2CUART
UART I2C SPI
Input Power
GPS Module Accelerometer
![Page 8: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/8.jpg)
RF Module
Reverse Polarity & Overvoltage Protection
Switched-Mode Power Supply (5V)
Linear Regulator(3.3V)
Liquid Crystal Display
Microcontroller
SD Card
Microcontroller
I2CUART
UART I2C SPI
Input Power
GPS Module Accelerometer
![Page 9: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/9.jpg)
Circuit Protection
• Reverse polarity protection
• Overvoltage protection
• Transient suppression
![Page 10: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/10.jpg)
RF Module
Reverse Polarity & Overvoltage Protection
Switched-Mode Power Supply (5V)
Linear Regulator(3.3V)
Liquid Crystal Display
Microcontroller
SD Card
Microcontroller
I2CUART
UART I2C SPI
Input Power
GPS Module Accelerometer
![Page 11: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/11.jpg)
Power Supply
• 3.3V and 5V rails– Linear regulator for each rail – 5V SMPS powering 3.3V linear regulator– SMPS for each rail– 3.3V @ 0.1A– 5V @ 0.9A
Ploss (W) Efficiency Cost($AU)
2 x Linear 7.17 40.3% $3.30
1 x SMPS1 x Linear
1.42 77.3% $9.41
2 x SMPS 1.21 80% $15.52
![Page 12: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/12.jpg)
RF Module
Reverse Polarity & Overvoltage Protection
Switched-Mode Power Supply (5V)
Linear Regulator(3.3V)
Liquid Crystal Display
Microcontroller
SD Card
Microcontroller
I2CUART
UART I2C SPI
Input Power
GPS Module Accelerometer
![Page 13: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/13.jpg)
Inputs
• GPS Module– Updates at 10Hz– UART - NMEA Data and checksum– 2.5m location accuracy
• Accelerometer– MMA8451Q– 3-Axis– I2C
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RF Module
Reverse Polarity & Overvoltage Protection
Switched-Mode Power Supply (5V)
Linear Regulator(3.3V)
Liquid Crystal Display
Microcontroller
SD Card
Microcontroller
I2CUART
UART I2C SPI
Input Power
GPS Module Accelerometer
![Page 15: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/15.jpg)
Outputs
• RF Module - RFD900– UART– 40km LOS
• LCD– I2C– Displays data to rider
• SD Card– SPI– microSD
![Page 16: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/16.jpg)
RF Module
Reverse Polarity & Overvoltage Protection
Switched-Mode Power Supply (5V)
Linear Regulator(3.3V)
Liquid Crystal Display
Microcontroller
SD Card
Microcontroller
I2CUART
UART I2C SPI
Input Power
GPS Module Accelerometer
![Page 17: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/17.jpg)
Microcontroller
• 2 x UART - GPS & RF Module
• 1 x SPI - SD Card (SPI Mode)
• 1 x I2C - Accelerometer, LCD
• PIC18F46K22– 2 x UART, 2 x SPI/I2C– 64KB Program Memory– 64MHz oscillator
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AccelerometerSD Card
GPS
Protection Circuitry
5V SMPS
3.3V LinearRegulator
Programming Header
![Page 19: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/19.jpg)
GUI
Firmware
Hardware
![Page 20: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/20.jpg)
GUI
Firmware
Hardware
![Page 21: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/21.jpg)
Formula SAE
• Design & build race car
• Students of all disciplines
• Annual competition
• Flinders’ first year
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GPS Telemetry Project
• Basis for sensor addition
• Build car and driver feedback
• Improve performance of team
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Firmware Goals
• Configure sensors
• Read in, send and process data
• Log data
• Handle errors
• All in real time – or close to
![Page 24: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/24.jpg)
GPS
• Configure UART peripheral
• Configure GPS module
• Receive NMEA data
• Process & Send data
![Page 25: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/25.jpg)
Configure UART
• 1 start – 8 data – 1 stop – no parity
• 115,200 baud
• Interrupt based
• Ring buffer
TAIL
HEAD
$ G P R M C
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Configure UART
![Page 27: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/27.jpg)
GPS
• Configure UART peripheral
• Configure GPS module
• Receive NMEA data
• Process & Send data
![Page 28: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/28.jpg)
Configure GPS Module
• Send only GPRMC and GPGSA– Lat & long– Date & time– Speed, heading– Precision
• Configure baud to 115,200
• Send data at 10 Hz
![Page 29: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/29.jpg)
GPS
• Configure UART peripheral
• Configure GPS module
• Receive NMEA data
• Process & Send data
![Page 30: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/30.jpg)
Receive NMEA Data
$
\n
GPS_msg_flag
N
YY
N
Receive ISR
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GPS
• Configure UART peripheral
• Configure GPS module
• Receive NMEA data
• Process & Send data
![Page 32: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/32.jpg)
Process & Send Data
• Pull msg from RX buffer
M C … \n$ G P R 0
N
NY
Y
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Accelerometer
• Configure I2C peripheral
• Configure Accelerometer module
• Obtain data
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Configure I2C
• 400 kHz speed
• Set as Master device
• Generic code
![Page 35: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/35.jpg)
Accelerometer
• Configure I2C peripheral
• Configure Accelerometer module
• Obtain data
![Page 36: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/36.jpg)
Configure Accelerometer
• Read latest data (not FIFO)
• 8G, 4G, or 2G mode
• 8-bit resolution
![Page 37: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/37.jpg)
Accelerometer
• Configure I2C peripheral
• Configure Accelerometer module
• Obtain data
![Page 38: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/38.jpg)
Obtain data
• Read the values at 10 Hz
• Use ‘get’ functions to access
X, Y, and Z values.
![Page 39: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/39.jpg)
The Main Loop
![Page 40: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/40.jpg)
The Results
![Page 41: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/41.jpg)
The Results
ACC IN
RFD OUT
GPS IN
![Page 42: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/42.jpg)
Data Logging
• Easy to use
• Windows compatible file system
• Different files for GPS and ACC data
![Page 43: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/43.jpg)
SD_Card.hSD_Card.c
Data Logging
SPI.hSPI.c
FatFsFiles
Main Loop
diskio.hdiskio.c
![Page 44: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/44.jpg)
SD_Card.hSD_Card.c
diskio.hdiskio.c
SPI.hSPI.c
FatFsFiles
Main Loop
![Page 45: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/45.jpg)
SD Card
• Provides high-level logging functions– Create/open files– Log ACC data– Log GPS data– Save files
![Page 46: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/46.jpg)
SD_Card.hSD_Card.c
SPI.hSPI.c
FatFsFiles
diskio.hdiskio.c
Main Loop
![Page 47: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/47.jpg)
FatFs
• Generic FAT File System Module
• Designed for embedded systems
• 3rd party open source
• Platform independent
![Page 48: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/48.jpg)
SD_Card.hSD_Card.c
SPI.hSPI.c
FatFsFiles
diskio.hdiskio.c
Main Loop
![Page 49: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/49.jpg)
Disk IO
• Provides low-level disk IO functions– Initialize– Read– Write– Disk Status
![Page 50: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/50.jpg)
SD_Card.hSD_Card.c
SPI.hSPI.c
FatFsFiles
diskio.hdiskio.c
Main Loop
![Page 51: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/51.jpg)
SPI
• Portable SPI peripheral code
• Various initialization options
• Byte transmit, receive and exchange
![Page 52: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/52.jpg)
Logging Result
![Page 53: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/53.jpg)
GUI
Firmware
Hardware
![Page 54: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/54.jpg)
GUI
Firmware
Hardware
![Page 55: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/55.jpg)
Yes
No
Get Message TypeValid Message Header?No
Yes
New Message Received?
Yes
Valid Message?
Extract Message Data
No
Update Lap/Race Timer
10 Hz
Plot GPS Location Display Acceleration
Lap Detected?
Log Lap Time
Yes
Re
se
t
![Page 56: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/56.jpg)
Receiving Data
• Scan until new message is received
• Check for valid header e.g. “$GPRMC…”
• Check for correct length and checksum
• Extract message data– Lat & long– Date & time– Speed, heading
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Update GUI
• Update lap/race counter every 0.1s
• Plot most recent GPS location
• Display accelerometer data
• Display heading/speed
![Page 58: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/58.jpg)
Lap Detection
• Check if travel line crosses finish line
• Log lap time and display on graph/table
• Reset lap timer
![Page 59: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/59.jpg)
GUI
![Page 60: GPS & Sensor Telemetry Formula SAE Ryan Langley 2104584 HPV Sensor Suite Thomas Cross 2107294.](https://reader036.fdocuments.net/reader036/viewer/2022062322/5697bfd51a28abf838cad8cd/html5/thumbnails/60.jpg)
Summary
• Designed generic hardware
• Data processing and transmission
• Display real-time data on user interface
• Autonomously log lap times