CANMod.gps

[NicoOhR]

Write a CANMod class to read the data from the CAN bus, separating into GPS values and the IMU data.

[wxkim]

objective:

since CANmod already transmits on CAN protocol, we want to read from it and package it into data payload

the goal is to take CAN message and format it into human readable.

milestones:

• Write standalone conversion algorithms
• Integrate into/with HAL
• Testing
• Merge & Deploy

priorities:

IMU (p, r, w, x, y, z) -> 64 bits (8 bytes) & sampled at 100 Hz

• linear acceleration on the 3 perpendicular axes of movement, given in a = meters / seconds squared
  • x (lateral)
  • y (longitudinal)
  • z (vertical)
• angular velocity about each of the 3 axes, given in ω = degrees / second
  • pitch (about the x axis)
  • yaw (about the z axis)
  • roll (about the y axis)

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position (lat, long) -> 64 bits (8 bytes) & sampled at 1 Hz

• positionValid : bit 0
  • returns boolean value - 0 or 1 - after checking validity (idk how this works yet)
• latitude : bit 1 to 28
  • returns the coordinate latitude
  • do unsigned binary to decimal conversion, then divide by 1 million, then subtract 90 to get the true coordinate val.
• longitude : bit 29 to 57
  • returns the coordinate longitude
  • do unsigned binary to decimal conversion, then divide by 1 million, then subtract 180 to get the true coordinate val.
• accuracy : bit 58 to 63
  • returns the range of accuracy in meters
  • the smaller the better
  • example: if accuracy is 10, the position is accurate within the surrounding 10 meters from the given coordinate.

miscellaneous:

dynamic modeling of car (later)