System Architecture
The Elcano architecture features a series of microcontrollers connected over the automotive standard CAN bus. CAN is a no-host networking protocol with much of the overhead done in hardware. All Arduino processors are bare bones with no operating system. Messages sent over the bus are low bandwidth; any intense processing such as vision or lidar uses its own processor. Modularization reduces the size of the code running on any one processor. Reliability and security are enhanced since the core processors are not connected to the Internet and do not do machine learning.
Internal Links:
External Links:
- Arduino SAMD21: https://www.sparkfun.com/products/13664
- Arduino Mega: https://store.arduino.cc/usa/mega-2560-r3
- Arduino Due: https://store.arduino.cc/usa/due
- Arduino Micro: https://store.arduino.cc/usa/arduino-micro
- Kelly E-bike controller: https://www.kellycontroller.com/shop/kbs-e/
- Raspberry Pi CAN interface: https://copperhilltech.com/pican2-can-interface-for-raspberry-pi-2-3-with-smps/
- Raspberry Pi Camera: https://www.raspberrypi.org/products/camera-module-v2/
- Maxbotix 123x sonars: https://www.maxbotix.com/Ultrasonic_Sensors/MB1230.htm
- Adafruit GPS breakout: https://www.adafruit.com/product/746
- Adafruit INU: https://www.adafruit.com/product/1120
- Adafruit Gyro: https://www.adafruit.com/product/1032
- ADNS 3080 Optical Mouse: https://www.openimpulse.com/blog/products-page/product-category/adns-3080-optical-flow-sensor-module/
- Adafruit SD card: https://www.adafruit.com/product/254
- Scanse sweep: https://www.sparkfun.com/products/retired/14117
- Honeywell rotary sensor (Wheel angle): https://www.alliedelec.com/product/honeywell/rty060lvnax/70235872/
- Solenoid for brakes: https://www.alliedelec.com/m/d/6f3135ea4c7b055fa61164ffeb128a2c.pdf
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