Systems and Components #

Zakhar consists of Units. Each Unit is a separate device with specific function.

The Units are designed to communicate with each other though a CAN-bus network. Zakhar has its own simple protocol qCAN built on top of bare CANbus.

Each Unit represents a qCAN device with its unique DeviceID. Since it is possible to have two DeviceID on a single Unit we will use a term Node. Node is an qCAN-compatible CANbus device with a unique DeviceID.

Technically all Nodes can send and receive data and commands, but only one (Brain) is developed to perform as the Main Node. Other Nodes can be considered as Secondary ones. The Main Node differs of Secondary Nodes by possibility of command sending. Secondary Nodes can only receive commands and send data.

Systems #

All Units are split into Systems. A System is a group of Units serving a specific purpose. There are 4 Systems. Here is the full list and operating areas of each System:

• Brain System
  • Processing of data from Secondary Nodes
  • Decision making
  • Control
• IO (In/Out) System
  • Collecting data from sensors (In)
  • Interacting with the User: sound, video, light, etc. (Out)
• Motion System
  • Physical interactions
  • Movements
• Diagnostics and Development (DnD) System
  • Collecting of technical information for diagnostics
  • Technical support for the development - OTA controller updates, etc.

Units #

Here is the full list of Zakhar Units:

• Brain System
  • Brain Unit
• IO (In/Out) System
  • Face Unit
  • Sensor Unit (Sensors)
• Motion System
  • Wheeled Platform Unit
• Diagnostics and Development (DnD) System
  • CAN Tool Unit

The main Node is the Brain Unit. Others are Secondary. Each Secondary periodically sends a special message so the Main Node knows that the Secondary is still connected to the network.

As it was told each Node has a unique DeviceID:

Message Content #

WIP