CS122-FinalProject

Implement a multi-stage RC (Remote-Controlled) signal converter and a dashboard for small-robotics and ESC (Electronic Speed Controller) testing

Full Typed report provided dtope004-dres002_custom_lab_report.pdf

Hardware

• Microcontroller: Raspberry Pi Pico 2W (x2), pinout, C/C++ SDK
• FPGA: iCE Sugar Pro, pinout
• Display: 4.3 inch TFT LCD 480*272 resolution RGB565 and PMOD
• Wireless input Microcontroller: ESP32-S3 LoRA Development Board (ESP32-S3-LR1121-HF), documentation, custom firmware
• Backup plan if the Development board doesn't work, RadioMaster ELRS receiver (Not used)

Software

Software that was

• For text processing from Pico to FPGA, we are using an framebuffer with LVGL provided to us
• We used a custom ELRS reciever PCB which had to have its own custom ELRS configuration made by Troy.

Wiring

Pico 2W[0]

Codebase in icesugar-pro-framebuffer/sw/

• UART1 - Receives ELRS from ESP32-S3 LoRA Dev Board
• GP15 - Sends Display Data for Pico[1]
• SPI0 - Sends Display Data for FPGA for LCD
  • Displays Channel data, using LVGL, displays the 8 channels on the FPGA's Display
• GP15 - Encodes channel data into PPM Signal to Pico[1]

Pico 2W[1]

Codebase in ppmRead/

• Decodes PPM from Pico[0] and splits it across 8 PWM Channels

FPGA

Codebase in icesugar-pro-framebuffer/hw/

• Runs icesugarpro Framebuffer

Stage 1

Expected progress for the project

• 1. Program ELRS input to PPM output in the Pico (First half done)
• 2. This PPM output goes to the FPGA
• 3. Pico SPI0 CRFS -> PPM to FPGA

Stage 2

• 1. Pico SPI1 CRSF -> Channel Values to FPGA-Display (done)
• 2. FPGA -> 2 channels of PWM

Testing / Debug

Check the CRSF via ELRS (UART)

Used to debug incoming data from both Pico0(ELRS) and Pico1(PPM)

• pip install pyserial
• Locate the Pico's serial ls /dev/cu.usbmodem11*
• Example for my machine: python3 -m serial.tools.miniterm /dev/cu.usbmodem113401 113200