🚗 RealTimeDrivingDynamics

⚙️ Overview

RealTimeDrivingDynamics is a high-efficiency, real-time ECU-style embedded system running on a Teensy 4.1 microcontroller. Designed for precise vehicle dynamics analysis, it uses hardware interrupts and direct memory access to sample and log high-frequency sensor data with minimal latency.

✨ Key Features

• ⚡ Real-time interrupt-based sampling every 20 ms
• 📥 DMA-backed data access for minimal CPU overhead
• 🔌 Custom CAN-Bus handling for decoding raw binary Correvit messages
• 🔧 Clean, modular C++ architecture
• 📊 Structured SD card logging with failure checks
• 🧩 Supports analog, I²C, and CAN-based sensors

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🎯 What Is Measured

Signal	Source	Unit	Description
Steering Angle	Potentiometer	°	Steering wheel position
Left/Right Wheel Angle	Potentiometer	°	Estimated wheel angles (via mapping)
Acc X, Y, Z	MPU6050 (I²C)	g	Linear acceleration
Gyro X, Y, Z	MPU6050 (I²C)	°/s	Angular velocity
Vtot (Total Velocity)	Correvit (CAN)	km/h	Optical ground speed
Vx, Vy	Correvit (CAN)	km/h	Velocity components in x/y axes
Yaw Angle (Raw & Calculated)	Correvit (CAN)	°	Optical and computed yaw angles

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🔌 Sensor Interfaces

🧭 IMU – MPU6050 via I²C

• Measures 3-axis acceleration and gyroscopic rotation
• Calibrated on startup
• Accessed over I²C with precise bit parsing

🔄 Steering Potentiometer (Analog)

• Measures voltage proportional to steering angle
• Wheel angles are computed using calibration functions derived from a full vehicle axle alignment

📡 Correvit Ground-Speed Sensor (CAN Bus)

• High-end optical sensor for Vtot, Vx, Vy, yaw
• Data sent via 2 CAN messages (ID 0x01 and 0x02)
• Custom DBC-style bit decoding and angle computation

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💾 Data Logging

Logs are written to SD card in real time as tab-separated .txt files:

• CAN_Trace.txt: Groundspeed and yaw from Correvit
• MPU_Trace.txt: Steering and IMU data

Each file includes:

• Labeled columns
• Units
• Ready-to-import formatting for MATLAB, Python, or Excel

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🧩 Architecture

• 🕒 Interrupt Timer: Fires every 20 ms for consistent sampling
• 📦 Direct Memory Access (DMA): Optimized sensor reads and memory writes
• 📨 CAN Listener: Custom logic for Correvit decoding
• 🧱 Modular Structs: Separation between sensor logic and data handling
• 🖴 Buffered Writes: Data written in blocks to SD card to reduce wear

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🧠 Requirements

• Microcontroller: Teensy 4.1
• IMU: MPU6050 via I²C
• Steering Sensor: Analog linear potentiometer
• Ground Speed Sensor: Correvit S-Motion or compatible
• Storage: Onboard SD card slot (Teensy 4.1)

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