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2014_02_03_Final_Presentation

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2014_02_03_Final_Presentation

  1. 1. •Andreas Huber •Andrei Mituca •张程 (Cheng Zhang) •Felipe Pires Hardware/Software Co-Design with a LEGO car
  2. 2. General Topics • Hardware – Data Flow – Power Supply – Overview • Software – FPGA – IMX6 – Client interface • Future steps
  3. 3. Hardware - Overview Physical Layer Network Layer Data Link Controling
  4. 4. Hardware – Data flow Motor Hbridge FPGA IMX6 Ethernet Switch Ethernet Ethernet Motor Hbridge FPGA Ethernet Motor HbridgeFPGA Ethernet Motor HbridgeFPGA
  5. 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. 6. Hardware – Overview
  7. 7. Hardware – Overview FPGA H-brigde Motor Ethernet iMX6 DC/DC Batteries
  8. 8. Software - FPGA Control motor PID control Ultra Sound distance measurement Battery/Voltage measurement
  9. 9. Software – IMX6 Debian 7 „Wheezy“ Connectivity Control unit Kernel 3.0.35
  10. 10. Client interface
  11. 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. 12. Future steps • Implement ABS/ESP • Obstacle detection v2.0 • Autonomous driving
  13. 13. Results Live demo!

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