software_development_log.md

National Taiwan University Racing Team Software Development Log

tags: development_log NTURT

Group: electrical system group

Person in charge: 羅紀翔

Authors: 羅紀翔 劉宇彤 黃柏瑞

Subsystem: RPI

Subsystem number: RP5

Software name: can_parser

Repository: github

Started designing date: 2022/1/18

Current version: 1.0

Last modified date: 2022/10/6

---

Engineering goal:

Parse can signal to allow bidirectional can sinal transfer between ros and other software/hardware on the can line.

Program structure:

TODO

Included libraries:

• boost-array
• yaml-cpp

Testing environment:

• ros noetic
• docker virtual environment from NTURacingTeam/docker with image ros_matlab, ros_rpi based on ubuntu20.04

Testing hardware:

• asus tuf gaming a15 FA506II-0031A 4800H
• raspberry pi 3B+

Operating system:

• ubuntu 20.04
• raspbian 32-bit

Compiler(intepreter) version:

• gcc 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.1)

---

Testing result of 1.0:

Receiving can signal from front box

Register to can parser from nodes nturt_torque_controller, nturt_state_controller, registered and data received successfully.

Todos in 1.0:

• check for transmitting can signal