ProcessorGeneral - Revision history

JosephBreithaupt: /* General Processor Information */

2019-07-12T19:07:47Z

‎General Processor Information

Tfolsom at 18:03, 28 June 2019

2019-06-28T18:03:32Z

JosephBreithaupt at 04:14, 23 May 2019

2019-05-23T04:14:07Z

JosephBreithaupt: /* Low-level */

2019-05-23T04:11:50Z

‎Low-level

JosephBreithaupt at 23:27, 18 May 2019

2019-05-18T23:27:48Z

JosephBreithaupt: Created page with " = General Processor Information = This is the landing page for the different modules of the Elcano system, combined with an overview about how the system functions together..."

2019-05-18T23:13:47Z

Created page with " = General Processor Information = This is the landing page for the different modules of the Elcano system, combined with an overview about how the system functions together..."

New page

= General Processor Information =

This is the landing page for the different modules of the Elcano system, combined with an overview about how the system functions together. The modules make usage of the ElcanoSerial library for async communication, and are arranged in a loop, so that any module can communicate with each other. As discussed in the ElcanoIntro these modules work together in a way that, if they receive a message they cannot interpret, they will send it to the next module without modifying it in any way. This allows us to send a signal, for example, from a device at the beginning of the loop to a device at the end of the loop without needing a direct connection between the two.
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=Overview =
Below is the link to the Master Schematic file that allows anyone to easily locate all components and their intended connections. Please note that this schematic is not to scale, but all components are textually marked with the terminology commonly used throughout the Wiki.
[[%PUBURLPATH%/%WEB%/%TOPIC%/Master_Schematic.sch | Master_Schematic.sch]]: Master_Schematic.sch

=Modules =

* [[PowerOn | C1]] Not yet in use, awaiting final revisions

==Low-level ==

* [[LowLevel | C2]] Low Level actuator controller

== High-Level ==

* [[PilotPage | C3]] Pilot -mounted on HighLevel board
* [[PlannerPage | C4]] Planner -mounted with HighLevel Board
* [[SonarPage | C5]] Sonar
* [[NavigatorPage | C6]] navigator -mounted on HighLevel board
* [[VisionPage | C7]] Vision

== Other ==

* [[SweepObstacleDetector | Sweep Obstacle Detector]]

the order of communication connections is specified in ElcanoIntro

IMPORTANT NOTE: Throughout all articles and descriptions processors will be referred to as C1-C7 while printed circuit boards will be described using their own names such as "HighLevel" and "LowLevel".
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* [[%PUBURLPATH%/%WEB%/%TOPIC%/LowLevelV2_1Signals.xls | LowLevelV2_1Signals.xls]]: Signals on LowLevel board

@@ Line 7: / Line 7: @@
 The version 2 system depended on the ElcanoSerial library for async UART communication between the modules.  The modules were arranged in a loop, so that any module can communicate with each other. As discussed in the ElcanoIntro these modules work together in a way that, if they receive a message they cannot interpret, they will send it to the next module without modifying it in any way. This allows us to send a signal, for example, from a device at the beginning of the loop to a device at the end of the loop without needing a direct connection between the two.
-The version 3 system replaces the serial loop with CAN bus, an automotive standard introduced by Bosch in the 1990s. CAN is a no-host network, with arbitration performed in hardware to favor messages with higher priority IDs. In version 2, there were separate processors for C3 (Pilot), C4 (Planner) and C6 (Navigator). In version 3, these tasks are handled by a single Arduino Due on the High-Level Board.
+[[Communication | The version 3 system]] replaces the serial loop with CAN bus, an automotive standard introduced by Bosch in the 1990s. CAN is a no-host network, with arbitration performed in hardware to favor messages with higher priority IDs. In version 2, there were separate processors for C3 (Pilot), C4 (Planner) and C6 (Navigator). In version 3, these tasks are handled by a single Arduino Due on the High-Level Board.
 -------
 =Overview =
 Below is the link to the Master Schematic file that allows anyone to easily locate all components and their intended connections. Please note that this schematic is not to scale, but all components are textually marked with the terminology commonly used throughout the Wiki.

@@ Line 16: / Line 16: @@
 ==Low-level ==
-* [[LOwLevelBoard | Low Level Board]]
+* [[LowLevelBoard | Low Level Board]]
 * [[LowLevel | C2]] Low Level actuator controller software

← Older revision		Revision as of 23:27, 18 May 2019
Line 19:		Line 19:

	== High-Level ==		== High-Level ==
		+
		+	* [[HighLevel \| High-Level Board]]

	* [[PilotPage \| C3]] Pilot -mounted on HighLevel board		* [[PilotPage \| C3]] Pilot -mounted on HighLevel board

@@ Line 3: / Line 3: @@
 = General Processor Information =
-This is the landing page for the different modules of the Elcano system, combined with an overview about how the system functions together. The modules make usage of the ElcanoSerial library for async communication, and are arranged in a loop, so that any module can communicate with each other. As discussed in the ElcanoIntro these modules work together in a way that, if they receive a message they cannot interpret, they will send it to the next module without modifying it in any way. This allows us to send a signal, for example, from a device at the beginning of the loop to a device at the end of the loop without needing a direct connection between the two.
+This is the landing page for the different modules of the Elcano system, combined with an overview about how the system functions together.
 -------
 =Overview =
 Below is the link to the Master Schematic file that allows anyone to easily locate all components and their intended connections. Please note that this schematic is not to scale, but all components are textually marked with the terminology commonly used throughout the Wiki.
-[[%PUBURLPATH%/%WEB%/%TOPIC%/Master_Schematic.sch | Master_Schematic.sch]]: Master_Schematic.sch
+[[%PUBURLPATH%/%WEB%/%TOPIC%/Master_Schematic.sch | Master_Schematic.sch]]: Master_Schematic.sch  (version 2)
 =Modules =
-* [[PowerOn | C1]] Not yet in use, awaiting final revisions
+* [[Power System]] Includes a PowerOn circuit board, sometimes called C1
 ==Low-level ==
-* [[LowLevelBoard | Low Level Board]]
+Drive-by-wire actuator controller software
-* [[LowLevel | C2]] Low Level actuator controller software
 == High-Level ==
-* [[HighLevel | High-Level Board]]
+* [[HighLevel | High-Level Board v3]]
 == Other ==
 * [[SweepObstacleDetector | Sweep Obstacle Detector]]
-the order of communication connections is specified in ElcanoIntro
+The version 2 order of communication connections is specified in ElcanoIntro. Version 3 is asynchronous, with priorities determined by CAN message ID.
-IMPORTANT NOTE: Throughout all articles and descriptions processors will be referred to as C1-C7 while printed circuit boards will be described using their own names such as "HighLevel" and "LowLevel".
+IMPORTANT NOTE: Throughout older articles and descriptions processors are referred to as C1-C7 while printed circuit boards are described using their own names such as "HighLevel" and "LowLevel".
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