FWT-10 SRS Documentation #9
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Co-authored-by: Matthew Magee <mjmagee991@gmail.com>
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Noticed a couple of leftover comments that were never cleaned up (mostly notated them with "fix!") and had like one grammatical nitpick but otherwise looks great! I think perhaps including more information about what the types of data represent and how they could theoretically be used would benefit the reader.
| processing of data and manages CAN network communication for the IMU. The | ||
| BNO055 is used to obtain the orientation measurements. | ||
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| * list some boards that will use the data |
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For DEV1, this data is not currently being used by other boards, but it can be used for traction control in the future
| Software Interfaces | ||
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| The DEV1 IMU software interface is the report of measurements over the CAN |
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this is a weird way to phrase this. Maybe say something like "The DEV1 IMU software reports measurements over the CAN (is it CAN or CANopen?) network.
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| There is no communication between IMU and the other boards on the DEV1 bike ... | ||
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| * using a strict definition of communication as in both parties are connected |
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There is no bi-directional communication, but there is certainly data being broadcast by the IMU. This section should be reworded in general
| handled via I2C, however it does not adhere to standard I2C. For more about | ||
| the non-standard I2C communication scheme, read ... | ||
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| * should leave implementation of i2c in the state of software doc? |
| the driver class will: | ||
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| * check that the BNO055's self-test initiated at startup was successful | ||
| * switch the BNO055 from configuration mode to NDOF operation mode |
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you are using the same syntax of a * at the front of a message to indicate a comment to yourself, so maybe do something like a -> for a list item, to differentiate the two?
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* is automatically detected as a list item by the rST compiler, so this should remain the same, but something else should be used for the comments
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| The IMU chip is an auxiliary board that does not require any user interaction | ||
| post-development? |
| * Must be developed for the STM32F334r8 | ||
| * Resulting binary must fit within the ST microcontroller 64KB flash memory | ||
| * Orientation measurements must be performed by the BNO055 | ||
| * non standard I2C communication with the BNO055 |
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(see previous note about list items)
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See comment on previous note about list items
| External Interface Requirements | ||
| ------------------------------- | ||
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| * no external interface? |
| do is described in the Product Functions section under `Initialization | ||
| and Configuration of BNO055`_. | ||
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| * should be more specific? |
| The Inertial Measurement Unit measures acceleration and position data for the | ||
| bike using the BNO055 chip. This chip uses its sensors ( | ||
| accelerometers, magnetometer, and gyroscope) to calculate a number of | ||
| metrics, including gravity vector, linear acceleration, angular velocity, | ||
| Euler angles, and the surrounding magnetic field. The IMU reports these | ||
| measurements over CAN, providing general information to the bike on its | ||
| orientation and allowing other boards to act accordingly for optimal | ||
| performance. The system is based around the built-in BNO055 chip. The firmware | ||
| is written for the STM32F334K8U6 microcontroller designed into the DEV1 IMU. |
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| The Inertial Measurement Unit measures acceleration and position data for the | |
| bike using the BNO055 chip. This chip uses its sensors ( | |
| accelerometers, magnetometer, and gyroscope) to calculate a number of | |
| metrics, including gravity vector, linear acceleration, angular velocity, | |
| Euler angles, and the surrounding magnetic field. The IMU reports these | |
| measurements over CAN, providing general information to the bike on its | |
| orientation and allowing other boards to act accordingly for optimal | |
| performance. The system is based around the built-in BNO055 chip. The firmware | |
| is written for the STM32F334K8U6 microcontroller designed into the DEV1 IMU. | |
| The Inertial Measurement Unit measures inertial values for the bike using the | |
| BNO055 chip. This chip uses its sensors (accelerometers, magnetometers, and | |
| gyroscopes) to calculate a number of metrics, including gravity vector, linear | |
| acceleration, angular velocity, Euler angles, and the surrounding magnetic field. | |
| The IMU reports these measurements over CAN, providing general information to | |
| the bike on its orientation and allowing other boards to act accordingly for optimal | |
| performance. The system is based around the built-in BNO055 chip. The firmware | |
| is written for the STM32F334K8U6 microcontroller designed into the DEV1 IMU. |
| For more information on the IMU and software level API, refer to | ||
| the `Read the Docs DEV1 IMU page <https://imu.readthedocs.io>`_. |
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If someone is reading this, they're already on the readthedocs page
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| * Datasheet for BNO055 - https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf |
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While I see why this isn't fully necessary to have here. It's fairly convenient for a developer to be able to access this from this file instead of having to dig through documentation files, so I think it should be left here for now.
| and building the DEV1 IMU. Members of this group may refer to this document | ||
| to ensure requirements and constraints align with their expectations. | ||
| Additionally, this document can be used as a point of reference during | ||
| the hardware/firmware bring up and debugging. |
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| the hardware/firmware bring up and debugging. | |
| the hardware/firmware bringup process. |
| developing, and testing the DEV1 IMU firmware. Members of this team will | ||
| need to refer to this document throughout the development process to ensure | ||
| all target needs are met within the agreed upon constraints. | ||
| * Integration Team Members: RIT EVT team members who handle systems level |
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| * Integration Team Members: RIT EVT team members who handle systems level | |
| * Integration Team Members: RIT EVT team members who handle systems-level |
| * check that the BNO055's self-test initiated at startup was successful | ||
| * switch the BNO055 from configuration mode to NDOF operation mode | ||
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| The NDOF operation mode calculates fused absolute orientation data from the |
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| The NDOF operation mode calculates fused absolute orientation data from the | |
| The 9DOF operation mode calculates fused absolute orientation data from the |
| * Must be developed for the STM32F334r8 | ||
| * Resulting binary must fit within the ST microcontroller 64KB flash memory | ||
| * Orientation measurements must be performed by the BNO055 | ||
| * non standard I2C communication with the BNO055 |
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See comment on previous note about list items
| * Must be developed for the STM32F334r8 | ||
| * Resulting binary must fit within the ST microcontroller 64KB flash memory | ||
| * Orientation measurements must be performed by the BNO055 | ||
| * non standard I2C communication with the BNO055 |
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| * non standard I2C communication with the BNO055 | |
| * Non-standard I2C communication with the BNO055 |
| IMU Inertial Measurement Unit | ||
| CAN Controller Area Network | ||
| CANopen Communication protocol built on CAN | ||
| DEV1 Dirt Electric Vehicle Team | ||
| EVT Electrical Vehicle Team | ||
| I2C Inter-Integrated Circuit | ||
| KB Kilobyte | ||
| STM32F334K8 ST Microcontroller selected for this project |
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| IMU Inertial Measurement Unit | |
| CAN Controller Area Network | |
| CANopen Communication protocol built on CAN | |
| DEV1 Dirt Electric Vehicle Team | |
| EVT Electrical Vehicle Team | |
| I2C Inter-Integrated Circuit | |
| KB Kilobyte | |
| STM32F334K8 ST Microcontroller selected for this project | |
| IMU Inertial Measurement Unit | |
| CAN Controller Area Network | |
| CANopen Higher-level communication protocol using CAN | |
| DEV1 Dirt Electric Vehicle 1 | |
| EVT Electric Vehicle Team | |
| I2C Inter-Integrated Circuit | |
| KB Kilobyte | |
| STM32F334K8 ST Microcontroller selected for this project |
| ======== ============================ ========== | ||
| Revision Description Date | ||
| -------- ---------------------------- ---------- | ||
| 1 Initial documentation. |
Most of the earlier sections, along with more general sections, were copied from BMS. For those who I was unsure about I made a list underneath with things I'm thinking about
Link to RTD for this branch: https://imu.readthedocs.io/en/srs-doc/srs.html#