Codriver - IoT Vehicle Monitoring System

Overview

Codriver is an advanced IoT-based vehicle monitoring system that connects to a car's OBD-II interface via WiFi, displays real-time vehicle data on a TFT display, and streams telemetry data via Bluetooth Low Energy (BLE). The system monitors engine parameters, environmental conditions, and vehicle dynamics using integrated sensors.

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Hardware Requirements

Main Components

• ESP32-S3 DevKit C-1 (with 4MB Flash, PSRAM support)
• TFT Display (240x240 SPI Display)
  • MOSI: GPIO 11
  • SCLK: GPIO 12
  • CS: GPIO 10
  • DC: GPIO 6
  • RST: GPIO 7
• MPU6050 (6-axis IMU - Accelerometer & Gyroscope)
  • SDA: GPIO 5
  • SCL: GPIO 4
  • I2C Address: 0x68
• DHT11 (Temperature & Humidity Sensor)
  • Data Pin: GPIO 2
• WiFi OBD-II Adapter (ELM327 compatible)

Wiring Diagram Summary

Component	Pin	ESP32 GPIO
TFT MOSI	MOSI	11
TFT SCLK	SCLK	12
TFT CS	CS	10
TFT DC	DC	6
TFT RST	RST	7
MPU6050 SDA	SDA	5
MPU6050 SCL	SCL	4
DHT11 Data	DATA	2

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Software Requirements

Development Environment

• PlatformIO (VS Code Extension or CLI)
• Arduino Framework for ESP32
• Git (for version control)

Required Libraries

The following libraries are automatically installed via PlatformIO:

• moononournation/GFX Library for Arduino @ 1.4.7 - Display graphics
• bblanchon/ArduinoJson @ ^6.20.0 - JSON parsing
• adafruit/DHT sensor library @ ^1.4.6 - DHT11 sensor support
• Arduino_GFX_Library - TFT display driver
• BLEDevice - Bluetooth Low Energy communication
• WiFi - WiFi connectivity (ESP32 core)
• LittleFS - File system support
• Wire - I2C communication

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Project Layout

Directory Structure

Codriver/
├── .gitignore
├── .vscode/
│   └── settings.json
├── lib/
│   ├── Bluetooth/
│   │   ├── bleconnection.hpp
│   │   └── bleconnection.cpp
│   ├── Datas/
│   │   └── livedata.h
│   ├── Obd/
│   │   ├── requests.hpp
│   │   └── requests.cpp
│   ├── Pitch_Roll/
│   │   └── complementary_filter.hpp
│   ├── Screen/
│   │   ├── screen.hpp
│   │   └── screen.cpp
│   └── Sensors/
│       ├── sensor.h
│       └── sensors.cpp
├── src/
│   ├── main.cpp
│   ├── global.hpp
│   ├── global.cpp
│   └── codes.txt
├── data/
├── test/
├── .gitignore
├── platformio.ini
├── partitions.csv
├── sdkconfig.esp32-s3-devkitc-1
└── README.md

Source Code Organization

Core Components

main.cpp

• FreeRTOS task creation and management
• 5 concurrent tasks running on dual cores:
  • vOBDFetchTask - Fetches OBD-II data via WiFi (Core 0)
  • vSENSFetchTask - Reads DHT11 and MPU6050 sensors (Core 0)
  • vUITask - Renders TFT display (Core 1)
  • vBLETask - Handles BLE communication (Core 0)
  • vSaveTask - Persists settings to flash (Core 0)

global.hpp/cpp

• Shared data structures (LiveData, OBDCommand_t, DataTypes_t)
• FreeRTOS mutexes for thread-safe operations
• OBD-II PID definitions (RPM, Boost, Coolant Temp, etc.)
• State management and preferences storage

requests.hpp/cpp

• WiFi connection to OBD-II adapter
• ELM327 command protocol implementation
• Round-robin PID polling strategy
• Error handling and reconnection logic

screen.hpp/cpp

• TFT display initialization (GFX Library)
• Dynamic gauge rendering for different data types
• Multiple display modes (RPM, Boost, G-Force, etc.)
• Bitmap management and screen transitions

bleconnection.hpp/cpp

• BLE server setup with custom UUIDs
• Real-time telemetry streaming to mobile devices
• Characteristics for each vehicle parameter

sensors.cpp/sensor.h

• DHT11 temperature and humidity reading
• MPU6050 I2C initialization and configuration
• Accelerometer and gyroscope data acquisition
• Complementary filter for tilt/acceleration calculation

complementary_filter.hpp

• Sensor fusion algorithm for IMU data
• Combines accelerometer and gyroscope readings
• Removes drift and noise from motion tracking

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How to Build, Flash, and Run

Prerequisites

1. Install Visual Studio Code
2. Install PlatformIO IDE extension
3. Connect your ESP32-S3 DevKit to your computer via USB

Building the Project

# Open terminal in VS Code (Ctrl+`)
# Navigate to project directory
cd YourProjectDirectory\Codriver

# Build the project
pio run

Alternatively, use PlatformIO GUI:

• Open the PlatformIO sidebar (alien icon)
• Click "Build" under "Project Tasks" → "esp32-s3-devkitc-1"

Flashing to ESP32-S3

# Upload firmware to the board
pio run --target upload

Or via GUI:

• Click "Upload" in PlatformIO Project Tasks

Monitoring Serial Output

# Open serial monitor
pio device monitor -b 115200

Or via GUI:

• Click "Monitor" in PlatformIO Project Tasks

Complete Workflow

1. Configure WiFi Credentials (in requests.cpp)

   • Set your OBD-II adapter's WiFi SSID and password
   • Default OBD-II adapter IP: 192.168.0.10:35000

2. Build and Upload

   pio run --target upload

3. Connect Hardware

   • Plug OBD-II adapter into your vehicle's OBD-II port
   • Power on the ESP32-S3 (via USB or external power)
   • The system will automatically connect to the OBD adapter

4. Test Functionality

   • Check Serial Monitor for debug output
   • Verify TFT display shows vehicle data
   • Connect via BLE to change screen via a mobile app

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User Guide

Initial Setup

1. First Boot: The system initializes all sensors and connects to WiFi
2. Display Modes: Press Enter in the Serial Monitor to cycle through different display modes:
   • RPM Gauge
   • Boost Pressure
   • G-Force Visualization
   • Engine Temperature
   • Internal Temps
   • Battery Voltage
   • Pitch and Roll Gauges

Display Modes

• RPM: Shows engine revolutions per minute
• Boost: Displays turbo boost pressure
• G-Force: Real-time acceleration visualization (braking, cornering)
• Temperature: Engine coolant temperature
• Voltage: Battery voltage monitoring
• Car Temp: Inside the car temperature and humidity
• Pitch and Roll: Side and front inclination of the car currently

Bluetooth Connectivity

1. Enable BLE on your mobile device
2. Scan for "Codriver" or the custom device name
3. Connect to access the customization of the UI
4. Use a BLE scanning app (e.g., nRF Connect) to view characteristics

Testing Mode

For development without a vehicle:

• Uncomment #define TESTING in global.hpp
• The system will generate simulated vehicle data

Troubleshooting

Issue	Solution
Display not working	Check SPI wiring and power supply
WiFi connection fails	Verify OBD adapter is powered and WiFi credentials are correct
No sensor data	Check I2C connections (MPU6050) and DHT11 wiring
BLE not discoverable	Ensure BLE is enabled in code and ESP32 is powered

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Features

Real-Time Monitoring

• ✅ Engine RPM
• ✅ Turbo Boost Pressure
• ✅ Coolant Temperature
• ✅ Battery Voltage
• ✅ G-Force (Acceleration, Braking, Cornering)
• ✅ Cabin Temperature & Humidity
• ✅ Vehicle Tilt/Incline

Advanced Capabilities

• Dual-Core Processing: Separate UI rendering from data acquisition
• Round-Robin PID Polling: Optimized OBD-II query scheduling
• Persistent Settings: Saves display preferences to flash memory
• Error Handling: Automatic reconnection on WiFi/OBD failures
• Sensor Fusion: Complementary filter for accurate IMU data

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Project Links

Documentation & Presentation

• 📊 PowerPoint Presentation: Link to Presentation
• 🎥 YouTube Demo Video: Link to Video

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Team Members & Contributions

Team Structure

This project was developed by a collaborative team with the following contributions:

Gianluca Campi - Sensor Fetching & Screen Graphics

• Designed and implemented the hardware wiring schematic
• Integrated MPU6050 IMU sensor and DHT11 sensor (sensor.cpp)
• Pitch and Roll calculation and handling (ComplementaryFilter.cpp)
• Graphics designer and implementation for the screen (screen.cpp)
• Tested and validated all sensor readings
• Tested the various screen functions with simulated values

Leonardo Mosca - OBD-II Communication & Prototype Manufacturing

• Developed OBD-II WiFi communication protocol (requests.cpp)
• Implemented ELM327 command parsing and error handling
• Created FreeRTOS task architecture in main.cpp & LittleFS memory partitioning
• Optimized round-robin PID polling strategy
• Implemented the preferences saving and upload on restart
• Hardware dependent testing and final full test
• Videomaker and prototype manufactoring (soldering, printing, ecc..)

Mathias Bruni - Bluetooth/API & Application Design

• Implemented BLE server and characteristic definitions (bleconnection.cpp)
• Handled the BLE errors and retrials
• Full Android mobile app implementation (Mobile)
• Tested BLE connectivity with various mobile devices

Ilya Goronov - 3D Modeling & GitHub Organization

• Created the 3D model for fitting the parts
• Created and Organized the GitHub workflow

Collective Efforts

• Code review and debugging sessions
• System integration and testing
• Documentation and presentation preparation
• Demo video production and review

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Technical Specifications

Performance Metrics

• Refresh Rate: 50 Hz (20ms UI update cycle)
• OBD-II Polling: Variable (10-20ms per PID)
• Sensor Update: 150ms cycle
• BLE Streaming: 500ms update interval

Memory Usage

• Flash: ~2MB (out of 4MB)
• SRAM: ~32KB heap usage
• PSRAM: Enabled for graphics buffering

Power Consumption

• Active Mode: ~200-300mA @ 5V
• Display: ~80-100mA
• ESP32-S3: ~120-150mA (WiFi + BLE active)

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License

This project is developed as part of an IoT university course. Please refer to your course guidelines for usage and distribution policies.

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Acknowledgments

• Espressif Systems - ESP32-S3 platform
• PlatformIO - Development environment
• Arduino Community - Libraries and examples
• Course Instructors - Guidance and support

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Contact & Support

For questions or issues, please contact the team members or refer to the project repository's issue tracker.

Last Updated: February 2026