Design and Implementation of a USB-to-CAN Bridge for the GuRoo Project

Student: Bartek Bebel

Supervisor: Dr. Gordon Wyeth

Category: Computer Systems Engineering Thesis Project

This thesis details the design and implementation of a USB to CAN Bridge for use in the GuRoo, the walking robot project. GuRoo requires information to be sent from the main controlling unit, an iPAQ, to joint controller boards located in various parts of the robot.

The design presented in this thesis modifies one of the controller boards to act as a link between the iPAQ and the remaining controllers. iPAQ’s Universal Serial Bus (USB) interface has been utilised to communicate via the bridging board to a Controller Area Network (CAN) linking the controller boards. Half duplex communication needs to be implemented to allow of passing commands from the iPAQ as well as transmitting status information from the controller boards.

The hardware design has been implemented and tests conducted to ensure it is working. At this stage the software is written, but not operational. It is expected that by the end of the semester the USB to CAN Bridge should be able to pass messages from and to the iPAQ.

Poster Presentation (PDF)

Thesis Document (PDF)

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