ProcessorGeneral

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.

---

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. Master_Schematic.sch: Master_Schematic.sch

Modules

• C1 Not yet in use, awaiting final revisions

Low-level

• Low Level Board
• C2 Low Level actuator controller software

High-Level

• High-Level Board

• C3 Pilot -mounted on HighLevel board
• C4 Planner -mounted with HighLevel Board
• C5 Sonar
• C6 navigator -mounted on HighLevel board
• C7 Vision

Other

• 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".

---

• LowLevelV2_1Signals.xls: Signals on LowLevel board