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Commit 6fe451a5 authored by Kamal Alkahwati's avatar Kamal Alkahwati
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report work, added pictures and restructured

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......@@ -54,6 +54,7 @@
\section{Specification of Requirements}
\input{./chapters/specs_reqs}
\newpage
\section{System Design}
\subsection{Static Design}
......@@ -66,6 +67,7 @@
\begin{figure}[H]
\centering
\includegraphics[width=\textwidth]{Pictures/componentchart_2}
\caption{System module diagram}
\end{figure}
\begin{figure}[H]
\centering
......@@ -101,11 +103,45 @@
\newpage
\section{Peripherals}
\subsection{USART - Universal Synchronous/Asynchronous Receiver/Transmitter}
\input{./peripherals/usart}
\begin{figure}[H]
\centering
\includegraphics[width=0.5\textwidth]{flowcharts/IMU}
\caption{IMU flowchart}
\end{figure}
\subsection{Ethernet}
\input{./peripherals/ethernet}
\begin{figure}[H]
\centering
\includegraphics[width=0.5\textwidth]{flowcharts/Ethernet}
\caption{Ethernet flowchart}
\end{figure}
\subsection{Timer}
\input{./peripherals/timer}
\begin{figure}[H]
\centering
\includegraphics[width=0.5\textwidth]{flowcharts/Sonar}
\caption{Sonar flowchart}
\end{figure}
\subsection{SPI - Serial Peripheral Interface}
\input{./peripherals/spi}
\begin{figure}[H]
\centering
\includegraphics[width=0.5\textwidth]{flowcharts/UWB}
\caption{UWB flowchart}
\end{figure}
\subsection{IR Sensors}
\input{./peripherals/adc} \label{sec:IR_adc}
\begin{figure}[H]
\centering
\includegraphics[width=0.5\textwidth]{flowcharts/IR}
\caption{IR flowchart}
\end{figure}
\newpage
......
\subsection{IR Sensors}
The IR sensors are intended as redundancy to the sonar.
For this task, two different kinds of IR sensors were chosen as IR sensors sufficiently long-ranged to cover for the sonar is inaccurate at shorter ranges.
Thus, a second, shorter-ranged sensor was chosen to cover the remaining distance.
......
\subsection{Ethernet}
The STM32F767IZ Nucleo board features a built in PHY, a LAN8742A supporting Full Duplex 100Mbit/s.
The Hokuyo UST-10LX Laser range finder will send its output over ethernet,
......
\subsection{Serial Peripheral Interface}
For sending data between the base station and the copter an Ultra-Wideband (UWB) radio will be used.
This radio communicates with the microcontroller (MCU) over a Serial Peripheral Interface (SPI) bus which
will need four GPIO pins set in alternate function mode for SPI. \newline
......
\subsection{Timer}
The F767ZI Nucleo has up to 15 timers on board.
Up to thirteen 16-bit timers and two 32-bit timers.
......
\subsection{USART - Universal Synchronous/Asynchronous Receiver/Transmitter}
The built in USART in the STM32F7-NUCLEO supports several communication standards for data transmission. Among these are RS-232 which requires two extra lines for communication. A Ready To Send(RTS) and a Clear To Send(CTS), which adds a layer of hardware flow control.
\subsubsection{IMU - Inertial Measurement Unit}
To track the movement of the copter in flight, a stable IMU with minimal swing effect has to be used. There are several low cost IMU's available on the market, similar to the one in the flight controller. While these are great for tracking instantaneous movement, they are not good at tracking movement over time. Due to noise and swinging of the gyro while accelerating in any direction, the tracking will be skewed while moving up and down the cave. This will result in a faulty scan. \newline
......
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