Nanchang University's 18th Smart Car Extreme Off-Road Group Plan

There was an accident in the 18th Nanchang University Intelligent Car Extreme Off-road Group Project
Regional Competition. The car broke down and was not repaired. I felt sorry, so I opened it up.
Basic functions:
autonomous slalom, point-finding function,
remote control design and remote control function (about 500m),
non-burning parameter adjustment function through the remote control
, data return function, graphical GPS point data,
reserved HSSL and spi communication interfaces, with certain expansion capabilities.
Note: Some functions are not yet perfect and will be continuously improved. After the competition,
the project will also be modified. The remote control design with
touch screen and
brushless driver and tc264 main drive integrated solution (actually two boards, in order to reduce the cost of replacing damaged boards)
six-axis sensor icm42688 and adis16505 module pcb. (There are still problems to be solved on the adis16505 circuit)
Waterproof housing and bracket stl file
TC377 computing card schematic and PCB (the communication driver with 264 is not written yet, it will be completed slowly)
Reference project
1. Zhufei Technology TC264GTM unit bldc brushless drive solution https://gitee.com/seekfree/TC264_GTM_BLDC_Project
2. Wuhan University i2nav KF-GINS combined navigation solution https://github.com/i2Nav-WHU/KF-GINS
Note:
1. The adis16505 module solution has been verified to have problems with the spi routing, and the communication cannot be connected, which will be changed.
2. Both the TC264 main control and driver boards use six-layer boards, some of which seem unnecessary, and there may be problems with the impedance matching of the LVDS differential line (probably because I misread the laminated structure in the Jiali Chuang impedance matching artifact), and please criticize and correct me.
3.The imu module chip can support icm42670, icm42688, iim42652 or other Invesense six-axis sensors of the same package and series. If the line is too long and the iic cannot connect, the i2C pull-up resistor can be changed to 2.7K.
4.The program needs to be sorted out and will be sent in a few days.
5. It is best to use stainless steel CNC for the circuit board bracket, which is easy to break when printed with 3D, or build it yourself with carbon plates and carbon fiber tubes. The outer shell is 3D printed with photosensitive resin, which is waterproof but not resistant to high temperatures. If you need to use it on sunny days, you can use silicone mold and then make it with epoxy resin, which is also stronger.
Update log:
7.30: The code has been open sourced on github, link: https://github.com/aoeas117/stupid_car_software