Installation instructions

Current MOPED setup consists of one so-called telematics control unit (TCU), which is the gateway for cooperation with the external word, and two vehicle control nodes, vehicle control unit (VCU) and sensor control unit (SCU).

TCU setup

TCU contains functionality for interacting with a plugin server, with other embedded platforms, and last but not least with the user. It runs Linux, taking use of existing WiFi-drivers, while the other nodes are Autosar-based. To send signals (for example plugin binaries) from our gateway to the Autosar control units, the Linux kernel must be configured to include CAN-drivers. Details on how this is done can be found here.

VCU/SCU setup

For the Autosar nodes, the SD cards only need to be formatted and filled with some basic bootloader files (unzipped). Next, copy an appropriate Autosar kernel image file, either kernel_VCU or kernel_SCU, and you are done.

A convenient way for monitoring the Autosar nodes is to set up a connection to their serial ports, using a serial-USB cable and a terminal emulator program, such as xterm or PuTTY. More details about how this can be done are collected on this wiki page.

Configuring TCU for a new hotspot

In some applications, most notably if you wish to drive the MOPED car using your smart phone, the TCU and the phone must be on the same network. The simplest way to achieve this is to let the phone act as a hotspot that allows TCU to connect to it. To make it work, the WiFi Protected Access (WPA) configuration file on TCU must be updated with the phone’s login details.

Log in on TCU, either directly, connecting HDMI-cable, keyboard, and mouse to the Raspberry Pi, or through SSH. An alternative way is to mount the TCU SD-card and work directly on your desktop. Now, open the WPA configuration file for editing:

sudo nano etc/wpa_supplicant/wpa_supplicant.conf

and add the following lines:

network={
 ssid="hotspot_name"
 psk="hotspot_password"
 proto=RSN
 key_mgmt=WPA-PSK
 pairwise=CCMP
 auth_alg=OPEN
 priority=60
}

where “hotspot_name” and “hotspot_password” are of course unique to your phone’s hotspot. The priority is arbitrary, but the higher it is the more probable it is that the MOPED car will connect to your phone, rather than to your colleague’s that happens to play around with the platform next door, just to annoy you.

That’s it, Ctrl-X to exit and save, and the car should be ready for driving.

WirelessIno – the driving app

To drive the car, there is a handy app for Android phones, named WirelessIno, developed on top of a bluetooth communication app with a similar name, BluIno. To install the app on your Android phone, make sure that the option “install apps from unknown sources” or “development options” is chosen. This is probably the most tricky part of the WirelessIno installation. Next, download the Wirelessino.apk to your phone, tap on it when the download is finished and click “yes”.

Next, the telematics node on the car needs to be configured with the phone’s hotspot (see the instructions above). When that is done, start up the hotspot and restart the car. Once the car-to-phone connection is established, the WiFi-stick should be shining with a steady blue light. Take a note of the ip address that the car obtained in the local network (it is normally shown in the list of connected devices in phone’s WiFi-sharing settings) and connect the WirelessIno to port 9000 on that address.

That should be it, cross your fingers and drive!