sc2-pdc

Firmware for Nucleo-L432KC based Power Distribution and Controls board.

Build

1. Run git submodule update --init.
2. Run pio run.

Modules

1. main starts the board, optional debug mode, and the CAN transmit loop.
2. IOManagement reads GPIO and ADC values. It writes accel and regen DAC outputs.
3. speed_calc counts MCU speed pulses and sets rpm and mph.
4. motor_control runs the PARK, IDLE, FORWARD, and REVERSE state machine.
5. canPDC receives driver inputs on CAN. It transmits telem on CAN.

Build flags

Set these flags in include/const.h. Set DEBUG_TECHNIQUE in main.cpp.

Flag	Role
DEBUG_PRINTS	Print status on Serial. This flag is on by default.
TEST_MODE	Use the CAN bounce test board path.
DEBUG_TECHNIQUE	0 is production. 1 sends random CAN echo data.

Parking brake

The parking brake sensor is not on the car. The firmware sets park_brake to false. The controller leaves PARK and runs.

Pins

Signal	Pin
Accel DAC	PA5
Regen DAC	PA4
Brake switch	PA0 (internal pulldown)
MCU speed pulse	PA8
Direction	PB7
Eco	PB1

CAN map

Receive from the steering wheel:

• 0x300 direction
• 0x301 regen
• 0x302 throttle
• 0x303 eco or power mode

Transmit:

• 0x200 through 0x208: accel out, regen, LV telem, brake, digital pack, mph