ECEN5013 Project 2
Author - Gunj Manseta (Embedded Systems Engineering - University of Colorado Boulder)
Features:
- Proximity camera capture device
- Captures image if the object found to be at a specific distance from the sensor
- The image frame captured, gets stored on the server – BeagleBoneGreen
- Remote Logging
- Remote Client – Connects to the BBG via sockets to get the sensor values, and close the server.
- Communication of the Client(TIVA) to Server(BBG) via compile-time swappable UART(tested) or RF layer
- Detailed Messaging structure to handle communication among multiple modules(threads/software components) running on multiple boards
Hardware components:
TIVA C series TM4C1294XL development board running FreeRTOS
- HC-SR04 Ultrasonic Sensor (GPIO and Timers)
- Arducam OV2640 2MP camera module (SPI/GPIO/I2C)
- NRF24L01(+) (SPI/GPIO)
BeagleBone Green running Debian distro Linux
- TMP102 temperature sensor (I2C)
- APDS9301 luminosity sensor (I2C)
- NRF24L01(+) (SPI/GPIO)
Software Components:
Tiva+FreeRTOS
- Sensor tasks
- Communication Module tasks – Comm recv, Comm Send, Dispatcher
- Heartbeat timer
- Camera Interface
- Sonar Sensor interface
- Driverlib
- Messaging Queues, Task Notifications, and Mutexes
BBG+Linux
- Sensor tasks
- Communication Module tasks – Comm recv, Comm Send, Dispatcher
- Heartbeat
- Socket Server for remote access of on-board and Tiva sensor, and to close the application
- Logging task
- HW drivers
- Messaging Queues, and Mutexes
Messaging structure:
COMM_MSG -
/* Transport Layer Start */
SRC_ID src_id;
SRC_BOARD_ID src_brd_id;
DST_ID dst_id;
DST_BOARD_ID dst_brd_id;
/* Transport Layer End */
/* Message Layer Start */
MSG_ID msg_id;
union custom_data {
float distance_cm;
float sensor_value;
} data;
char message[18];
/* Message Layer End */
/* Message authentication */
uint16_t checksum;
Software Architecture Diagram:
TIVA + FreeRTOS
————————–
BBG + Linux
Sample image captured from the Arducam OV2642 module (2MP 640x480)
