ELECINF344/381

Partie interactive du site pédagogique ELECINF344/ELECINF381 de Télécom ParisTech (occurrence 2011).

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TSV Safe Express: Timing issues.

Today Alexis delivered us the whole set of the train light circuit. Initially we tried to add another light card to our current testing configuration. We managed to get 2 light cards configured , so up to this point the central station has been able to control 2 light cards, the train and an ethernet connection  in total.

Currently we are working on stabilizing the  NMRAnet CAN bus protocol. We encountered problems  of what we think mainly concern,  a difference between the CAN bus bandwidth  and the processing bandwidth of the central station. For example, as we observed, during programming the events of a node,  within an environment of multiple CAN packets exhange, the central station missed acknowledgement frames sent by the node after  the configuration file. This prevented the central station from successfully programming a node. After inserting a delay between sending the data of the configuration file and the ACK we observed that the node got successfully programmed. This led us to assume a mismatch in processing and CAN bus bandwidth.

In order to face these kind of problems which have appeared, we will adjust the CAN bus bandwidth, use one buffer for event processing and another one for network-management purposes, and additionally install event filters on the fly accordingly for each node.

 

TSV Safe Express: DCC Signals and Ethernet

Our journey has continued from CAN to LAN passing through DCC in its way. During the last two days, we tried to write the dcc encoder for our card which will act as the central station. In brief, I will try to explain DCC for all those who are not already aware of it. DCC (Digital Command Control) is a standard which permits us to operate model railways by sending modulated pulse wave(amplified with the help of a booster) to the rail tracks. Thereby, we can control any locomotive or accessory (like Traffic lights) if they have the dcc decoder. DCC is standard provided by NMRA.
We have done the following encodings for bit 0 and 1 as per NMRA DCC Standard.
(i) bit ’0′ – 232 microseconds (half high and half low)
(ii) bit ’1′ – 116 microseconds (half cycle is low)
On the implementation part, to generate such type of signal on the STM32 GPIO port, we use PWM module(using Internal Timer of STM32) with 50% duty cycle. This was setup in Output Compare Mode. Through the help of oscilloscope, we verified that we got the expected results. We created a dcc packet simulator(coded as a task of FreeRTOS) and we tried sending Messages to the port as per DCC Communication Packet format.

On the Ethernet part, we have chosen LwIP Stack as the TCP/IP Stack. We have chosen LwIP primarily as it has features like DHCP, UDP, IPv6 which we may need as the project matures further. So, we integrated the LwIP stack with STM32F107(which has in-built MAC Controller) and DP83848P Phy Controller taking help of a similar example provided by ST on their website. We were able to make a telnet connection to our Central Station and correponding exchange messages through telnet.

On the stabilisation of NMRA CAN protocol, we added a watchdog module within all the nodes including the central station. This was required because if the software hangs in one of the nodes, it should have the ability to re-join the network. The timeout of the watchdog module has been kept to 3 seconds(Typically because we want our nodes to rejoin the network as soon as possible and at the same time give Central Station enough time to remove this node from the node table and event table). Also, the command to reset the nodes sent by the network manager at the start of his execution as a broadcast message to all the nodes will have a deeper impact. Instead of doing a cache reset at the nodes, we are now doing an actual software reset to the node. This is just to simulate an actual reset. All these changes done to stabilisation are open for discussions and all remarks/critics/ideas are heartily welcomed.

TSV Safe Express: Day’s work.

Today we were able to control our leds using the TLC5945 Led Driver, although we have not yet exploited it’s capabilities at full extent.  As Alexis and Samuel proposed during our meeting, we should use dot correction in order to balance the mismatch of luminosity between green, red and orange. In addition, it would be useful to control intensity through TLC5945 grayscale mode especially once we assemble the whole system containing 60 leds.

Our next PSSC concerns DCC  control of the train , although there are many more things we are concerned about. At this point we are mostly concerned about switching from our laboratory based STM32F103 cards, to the STM32F107 based central station card. For the moment we haven’t yet achieved to configure the STM32F107 CAN bus drivers correctly. Once this is done we will do more tests and continue working on the stability of the NMRAnet CAN bus module.

One problem of the NMRAnet CAN bus net module is the fact that in presence of multiple producer consumer events, the nodes fail to reply in time, to the STATUS REQUEST message addressed to them by the central station at some point. We have thought that a possible fact that causes this situation is that for the moment nodes are using only one of the STM32F103′s  available CAN bus reception FIFO’s. In this case, processing the status request incoming packets is being delayed by event packets already present in the FIFO . Therefore we think that filtering out NMRAnet producer/ consumer event packets from one of the FIFO’s and letting them pass thorugh the other one  seems like an improvement.

 

TSV Safe Express: à partir de carte TP à la carte réelle

Pendant le week-end, nous avons essayé de stabiliser le protocol de NMRAnet (CAN bus) avec trois cartes. Nous avons réussi avec 3 cartes mail il y avait beaucoup de problèmes quand on utilise plus que un carte pour le nœud. Les plus importants sont:-
Pour rappel, nous avons 3 cartes – Un carte central station, 2 qui sont nœuds.
1. Premier nœud se timed out lorsque le deuxième nœud entre dans le réseau –
Raison- Il y avait trop des paquets à partir de le nouvelle carte parce que Il se fait programmé. Alors, le « network manager » supprime le premier nœud s’il ne reçoit pas le paquet état ​​dans un délai prédéterminé.
Solution- Utilise le CAN Filter qui lui permet de recevoir que les paquets qui le concernent. ça va dire , une fois le filtre statique est installé, les nœuds ne recevraient pas de paquets qui sont envoyés par d’autres nœuds soit le gestionnaire du réseau (« Network Manager »)ou de l’outil de configuration(« Configuration Tool »).
Futur Développement possible – Actuellement, pour les évènements de carte feux(« Consumer ») il n’y a pas de filtres qui signifie que chaque noeud reçoit les événements qui sont générés par d’autres. Pour cela, nous avons besoin d’installer des filtres CAN dynamiquement en fonction du nombre d’événements qui lui sont donnés par le gestionnaire du réseau. Nous le ferons en fonction de comment ça se passe avec les 12 attendus plus de cartes.

2. Redémarre de le nœud ne marche pas –
Raison – Si le redémarrage est très rapide, le nœud n’a pas reprogrammé par l’outil de configuration. C’est parce que le gestionnaire de réseau n’a pas assez de temps pour lui de supprimer de sa table nœud.
Solution – Après le redémarrage, le nœud inactif pendant 3 secondes qui donne la gare centrale de suffisamment de temps pour lui supprimer.
Futur Développement possible – Au lieu de dormir aveugle de 3 secondes, l’introduction de l’Etat en fonction le contrôle opérationnel au niveau du « Network Manager ».

3. Redémarre de le station central –
Raison – Depuis le nœud est déjà programmée, ainsi qu’il ne devient pas programmé encore par l’outil de configuration.
Solution – Au démarrer de la gare centrale, il envoie une commande broadcaste à tous les nœuds de se réinitialiser.
ça marche mais avec deux carte, ça ne marche plus. Juste une carte, qui devient programmé. Nous sommes en train de trouver la raison.

Pour le Carte Feux (pas de TP) – Nous avons réussi avec CAN et nous pouvons contrôle cette carte à partir de station central. Maintenant, Theodoros, il est en train de travailler sur le SPI. Siwar continue de travailler à CAN bootloader. Vaibhav travaille sur le code existant.