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Stag 12 VCU - #268

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maartin0 wants to merge 147 commits into
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stag-12
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Stag 12 VCU#268
maartin0 wants to merge 147 commits into
mainfrom
stag-12

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@maartin0 maartin0 commented Aug 4, 2026 •
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Changes

  • Brand new IOC for the new PCB
  • Invert APPS (using configurable parameter in config.c)
  • Add VCU_Input commands for inverting buffers
  • Improve CAN error handling (CAN-S now works)
  • Get logging working over UART, USART (RS232) and to the SD card (Closes Feat: logging to SD Card #267)
  • Improve Makefile to make debugging easier on new arm installations
  • Change SCS handling to multiplex ADCs for the several new inputs
  • Add interrupt-based wheelspeed implementation for all four wheels
  • Add Vector CANoe workspace to scripts/
  • Add VCU_Sensors_Raw message for raw ADC values - this has saved a huge amount of time when debugging
  • Add SAGL implementation
  • Add fan switch override (using RX from dash sensor hub)
  • Add different mode implementations (Endurance, Max, Reverse, Remote CTRL for dyno, Inverter prog etc)
  • Add exponential torque map implementation
  • Add trunk CI/CD (Closes ci: GitHub Actions implementation #218)

Checklist

  • Code has been tested on STM32 hardware.
  • Changes do not generate any new compiler warnings.
  • Code has been formatted using make format.
  • Commit messages follow the Conventional Commits specification.

Additional Notes

I haven't been using conventional commits but we'll squash this when merging so won't affect the main branch too much

r-kirkbride and others added 30 commits May 9, 2026 11:25
@r-kirkbride
Feat: Add New VCU IOC file
3b51069
@r-kirkbride
feat/add-new-IO-functions
4f0b665
@r-kirkbride
feat: add useful pin labels to important pins
39476a7
@Agwld
Update VCU.ioc with new stag12 config for digital io
11d214e
@Agwld
I/O fixes
5fa5886 
Added input inversion, ensured RTDS is active high. made inputs in trc.c and dash.c use new bsp functions
@maartin0
rename RTD_DRIVE to R2D_DRIVE in the .ioc
9cfc830
@maartin0
Fix some other IOC issues (missing ThreadX and changed the HAL timer …
6497f26 
…source to TIM6) and reran code generation
@maartin0
Rename GREEN_LED (heartbeat) usages to ROB_LED and comment out undefi…
ca89498 
…ned DRS_LED
@maartin0
Use ROB_LED alias rather than direct gpio pin, and flash every 200ms …
64f43cc 
…to make it obvious something is wrong
@maartin0
use uart8 instead of uart1 (todo: also mirror debug output over USART…
1835e01 
…1->RS232)
@maartin0
Configure adcs for apps and bps
7e6d45f
@maartin0
Add missing files to makefile -> build now works!
2a93ec0
@maartin0
remove unused adc_reading to fix warning
fe76417
@maartin0
GPIO fixes: wheelspeed inputs (3/4 were defined as outputs instead of…
5908961 
… inputs) and SPARE_OUT_3 was also set as an input
@maartin0
Simplify weird comparison for VCU_Input_Read
9e29bca
@maartin0
log over both UART and USART (debug header + rs232)
56fbd5d
@maartin0
fix all compilation warnings (except those from middlewares)
422fe6f
@maartin0
Realised we never configure SCS channels in the config (used to be on…
de041ed 
…e ADC per SCS), so now is dynamically changed based on the config
@maartin0
Update CAN baud rate to 1Mbit/s
518d9eb
@maartin0
disable SD card temporarily
540e617
@maartin0
add rs232 logic
34b9c8b
@maartin0
update Makefile
2730fb8
@maartin0
use gdb-multiarch to support new arm installations when debugging on …
f00f6f6 
…vscode
@maartin0
Fix RS232 by switching UART8 RX/TX
188e80b
@maartin0
Sample 144 times rather than every 3 times for every SCS signal/ADC r…
b6309b4 
…eading
@maartin0
add CAN error logging
af5eaee
@maartin0
enable CAN NVIC interrupts
3575e93
@maartin0
Enable auto-bus off recovery
31e9d7e
@maartin0
Switch to rtcan rewrite branch
9c013fc
@maartin0
Log errors on CAN TX failure
d69828c
maartin0 and others added 26 commits July 16, 2026 14:49
@maartin0
Update CANoe workspace
effaee6
@maartin0
Update can-defs to latest commit
d5d16bd
@maartin0
More calibration
3b8ae4c
@maartin0
Use brakelight as threshold check for BPS due to noise
ec233c2
@maartin0
fixes
54306f5
@maartin0
elec scrut complete
511d322
@maartin0
FSUK 2026 endurance fixes
98b6e1c
@maartin0
Drop wheelspeed priority below logging
7b56739
@maartin0
drop discrepancy configs for apps
33df502
@maartin0
Update makefile to production builds (-DCOMPETITION_MODE), fine becau…
1e3e7d5 
…se debugger will flash with DEBUG=1 using vscode launch configuration
@maartin0
Update CANoe workspace
52468e2
@maartin0
Merge reliability fixes from claude-fixes
858cb57
@maartin0
Improve interface for setting max output torque
3880d28
@maartin0
Up torque limit for remote ctrl to 230 Nm
c0e3d7b
@maartin0
Flip motor direction
2d8de9e
@maartin0
Switch to exponential torque map
2c05ef5
@maartin0
Strip out speed limiting
4924813
@maartin0
Add configurable (powf) exponent to the exponential torque map
75a9b98
@maartin0
Update README and setup script
362aa6c
@maartin0
Add clang-format command for src/SUFST and run it
f74800f
@maartin0
Up discrepancies for testing
dc9a95a
@espitt
pre fsg apps cal
17e2e8f 
Updated ADC min and max values for apps_1_scs and apps_2_scs based on new measurements.
@maartin0
Add comment on apps_bps_high_threshold
91ab760
@maartin0
Run trunk fmt
d3ff43d
@maartin0
Fix trunk issues
7dd6070
@maartin0
Update CANoe workspace to include individual BMS values
0c1475e
@maartin0
maartin0 requested a review from r-kirkbride August 13, 2026 07:23
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Feat: logging to SD Card ci: GitHub Actions implementation

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@maartin0 @r-kirkbride @Agwld @espitt