GTUEngineers / autonomous-vehicle-mcu

Autonomous-Vehicle

Teknofest Robotaksi Otonom Araç Yarışması - Gebze Technical University Team

We've used STM32F407G Discovery as microcontroller. You can easily import the project in STM32IDE.

Messages of UART Communication

0000 0000 0000 0000 0000 0000 -> Packet(24 bit) 

Fırst 8 bits are header,
Last 16 bits are data

Start Stop REQ

Start Stop Header

0000 0000 

Start Stop Data

0000 0000 0000 0000 STOP

0000 0000 0000 0001 START 

Steering REQ

Steering Header

0000 0001 

Steering Data

0000 XXXX XXXX XXXX left steering val

0001 XXXX XXXX XXXX right steering val

Throttle REQ

Throttle Header

0000 0010 

Throttle Data

XXXX XXXX XXXX XXXX throttle value

Brake REQ

Brake Header

0000 0011

Brake Data

0000 0000 0000 0000 Release

0000 0000 0000 0001 Lock

Generic REP

Generic Rep Header

0000 0100

Generic Rep Data

0000 0000 0000 0000 Error

0000 0000 0000 0001 Ok

State REQ

State REQ Header

0000 0101

State REQ Data

0000 0000 0000 0000 (Don't care)

State REP

State REP Header

0000 0110

State REP Data

0000 0000 0000 0000 STOP

0000 0000 0000 0001 Running

0000 0000 0000 0010 Error