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This repository presents of developing the Instrument Cluster and Head Unit for the PiRacer vehicle. Through the design of IPC mechanisms, it enables the implementation of functionalities on a Raspberry Pi4 that closely resemble those found in a real vehicle.
The 'DES Project' stands for Distributed Embedded Systems. The primary focus of this Head Unit project is to implement communication algorithms within the vehicle and facilitate Inter-Process Communication (IPC) among various processes. An essential challenge in this endeavor is to ensure that all of these interactions occur within an operating system developed based on Yocto.
A key communication protocol emphasized in this project is 'vsomeip' It is integrated using 'CommonAPI' Within the system, several processes have distinct roles:
- One process receives real-time vehicle speed data from external Electronic Control Units (ECUs) via CAN communication.
- Another process calculates real-time remaining battery levels.
- A separate process is responsible for controlling vehicle drive and steering, adapting its behavior based on the selected gear mode.
Detailed information regarding setup and configuration can be found within the settings folder. Following the content within this folder should allow you to reproduce the test environment we have implemented.
Below are the specifications of the hardware used in the project.
- 2-Channel CAN-BUS(FD) Shield (MCP2518FD)
- PiRacer AI Kit (PiRacer Standard)
- 7.9inch DSI LCD (400 x 1280)
- 7inch HDMI LCD (H) (1028 x 600)
- Gamepad controller
- CAN-BUS Shield V2.0 (MCP2515)
- IR infrared Speed Sensor (LM393)
To run it on a Yocto-based OS go to our meta-infotainment repo.
Additionally, for executing it on Raspbian OS after setting, use the following code:
mkdir build
cd build
cmake ..
make
./IPCManagerTo learn more about the specific implementation of the project, please refer to the README.md file inside each respective file.
- Yocto Project. (2021). Yocto Project. https://www.yoctoproject.org/
- Qt Project. (2021). Qt Project. https://www.qt.io/
- Raspberry Pi Foundation. (2021). Raspberry Pi. https://www.raspberrypi.org/
- CAN specification documents: These documents provide detailed information on the CAN (Controller Area Network) protocol and its implementation.
- VsomIp/Autosar documents: These documents provide information on the Inter-Process Communication (IPC) frameworks VsomIp and Autosar and their implementation in the automotive industry.
Shield:
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
