This document summarizes a hardware/software co-design project using a LEGO car. It includes sections on the hardware components including data flow, power supply, an FPGA, and an IMX6. The software sections describe using the FPGA for motor control, distance measurement, and voltage monitoring, and using the IMX6 as the connectivity control unit. A client interface allows remote control of the car through a server from various client devices over Ethernet, WiFi, and sockets. Future steps include adding ABS, improved obstacle detection, and autonomous driving capability.

1. •Andreas Huber
•Andrei Mituca
•张程 (Cheng Zhang)
•Felipe Pires
Hardware/Software Co-Design with a
LEGO car

2. General Topics
• Hardware
– Data Flow
– Power Supply
– Overview
• Software
– FPGA
– IMX6
– Client interface
• Future steps

3. Hardware - Overview
Physical Layer
Network Layer
Data Link
Controling

4. Hardware – Data flow
Motor
Hbridge FPGA
IMX6
Ethernet
Switch
Ethernet
Ethernet
Motor
Hbridge FPGA
Ethernet
Motor
HbridgeFPGA
Ethernet
Motor
HbridgeFPGA

5. Hardware – Power supply
Battery (12 V) Battery (12 V)
HBrigde FPGA Ethernet IMX6
Ethernet
Switch
12 V 5 V 9 V
DC/DC
Converter
12V -> 5V
DC/DC
Converter
12V -> 9V

6. Hardware – Overview

7. Hardware – Overview
FPGA
H-brigde
Motor
Ethernet
iMX6
DC/DC
Batteries

8. Software - FPGA
Control motor
PID control
Ultra Sound distance
measurement
Battery/Voltage
measurement

9. Software – IMX6
Debian 7 „Wheezy“ Connectivity Control unit
Kernel 3.0.35

10. Client interface

11. Software Architecture
FPGA
192.168.0.7
FPGA
192.168.0.8
FPGA
192.168.0.9
FPGA
192.168.0.10
Switch
Car server 192.168.0.1
C
Client server 11.0.0.1
Python
Client
Browser acess
Tablet/Phone
/PCJavaScript,
Jquery
CSS
Bootstrap
Ethernet
Unix sockets
Wifi / AJAX
CariMX6Client

12. Future steps
• Implement ABS/ESP
• Obstacle detection v2.0
• Autonomous driving

13. Results
Live demo!