Stag 12 VCU - #268

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maartin0 wants to merge 148 commits into

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Commits on May 9, 2026

Feat: Add New VCU IOC file
r-kirkbride
committed
3b51069
feat/add-new-IO-functions
r-kirkbride
committed
4f0b665
feat: add useful pin labels to important pins
r-kirkbride
committed
39476a7

Commits on Jun 12, 2026

Update VCU.ioc with new stag12 config for digital io
Agwld
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11d214e
I/O fixes
Agwld
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5fa5886

Commits on Jun 13, 2026

rename RTD_DRIVE to R2D_DRIVE in the .ioc
maartin0
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9cfc830
Fix some other IOC issues (missing ThreadX and changed the HAL timer source to TIM6) and reran code generation
maartin0
committed
6497f26
Rename GREEN_LED (heartbeat) usages to ROB_LED and comment out undefined DRS_LED
maartin0
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ca89498
Use ROB_LED alias rather than direct gpio pin, and flash every 200ms to make it obvious something is wrong
maartin0
committed
64f43cc
use uart8 instead of uart1 (todo: also mirror debug output over USART1->RS232)
maartin0
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1835e01
Configure adcs for apps and bps
maartin0
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7e6d45f

Commits on Jun 14, 2026

Add missing files to makefile -> build now works!
maartin0
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2a93ec0
remove unused adc_reading to fix warning
maartin0
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fe76417
GPIO fixes: wheelspeed inputs (3/4 were defined as outputs instead of inputs) and SPARE_OUT_3 was also set as an input
maartin0
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5908961
Simplify weird comparison for VCU_Input_Read
maartin0
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9e29bca
log over both UART and USART (debug header + rs232)
maartin0
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56fbd5d
fix all compilation warnings (except those from middlewares)
maartin0
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422fe6f
Realised we never configure SCS channels in the config (used to be one ADC per SCS), so now is dynamically changed based on the config
maartin0
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de041ed
Update CAN baud rate to 1Mbit/s
maartin0
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518d9eb
disable SD card temporarily
maartin0
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540e617
add rs232 logic
maartin0
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34b9c8b
update Makefile
maartin0
committed
2730fb8
use gdb-multiarch to support new arm installations when debugging on vscode
maartin0
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f00f6f6
Fix RS232 by switching UART8 RX/TX
maartin0
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188e80b
Sample 144 times rather than every 3 times for every SCS signal/ADC reading
maartin0
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b6309b4

Commits on Jun 19, 2026

add CAN error logging
maartin0
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af5eaee
enable CAN NVIC interrupts
maartin0
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3575e93

Commits on Jun 20, 2026

Enable auto-bus off recovery
maartin0
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31e9d7e
Switch to rtcan rewrite branch
maartin0
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9c013fc
Log errors on CAN TX failure
maartin0
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d69828c
Rename CAN-C to CAN-T, pin can-defs to stag-12 branch
maartin0
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b322719

Commits on Jun 21, 2026

Update APPS calib values
maartin0
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374f768
Update can-defs to stag-12 layout with updated cantools output
maartin0
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746c89f
Allow RS232 transciever to auto power off
maartin0
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967d03d
Fix/add some missing broadcast states
maartin0
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9097d57
Update to latest can-defs
maartin0
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a71d8a7
Update apps logging to do everything in 1 line so that readings don't get cut
maartin0
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c9cee73
Fix apps multiplier (off by factor of 10)
maartin0
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93f4768
Lots and lots of rtcan related fixes
maartin0
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7a86081
Update apps calib thresholds
maartin0
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7640c8b

Commits on Jun 22, 2026

Commits on Jun 25, 2026

Commits on Jun 26, 2026

Commits on Jun 27, 2026

Reset apps_bps_start on TS_ON
maartin0
committed
1f9223d

Commits on Jun 30, 2026

Add Vector CANoe workspace + control panel + Ignore .cbf files generated by CANoe
maartin0
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08b34a1
Update ctrl.c to use functions per switch statement rather than one massive switch with inlined logic
maartin0
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dcca37b
update can-defs
maartin0
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5f34e6a
Switch CAN-S and CAN-T (sigh)
maartin0
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384dc97
Move PDM from CAN-S to CAN-T
maartin0
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0e7af61
Add VCU_Sensors_Raw message
maartin0
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0f717b1
Configure RTDS pin as digital output, not PWM timer
maartin0
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4d1b8fb
Add inverted option (enabled) to APPS config for when potentiometer is flipped in pedal
maartin0
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9d237de
Add implementation of raw APPS/BPS signals CAN message for debugging
maartin0
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c0f6f9f
Rename BPS_ADC to BPS_F_ADC, and re-configure bps code to use BPS_R_ADC
maartin0
committed
0e88553

Commits on Jul 1, 2026

Temporarily switch BPS to use SAGL ADC due to PCB opamp issues, and update bps calibration values
maartin0
committed
3641434

Commits on Jul 2, 2026

Update BPS threshold to 10% (from 4%), calibrate pedals, and move VCU messages from CAN-S to CAN-T
maartin0
committed
54d5cad
Update CANoe workspace
maartin0
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89dcd73
Try and fix VCU crashing upon CAN bus error
Agwld
committed
5c5d9f8

Commits on Jul 3, 2026

add filters to rtcan
maartin0
committed
5e3c30d

Commits on Jul 4, 2026

Increase queue sizes for RTCAN and the inverter
maartin0
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5cde931
Change BPS log levels
maartin0
committed
a4288e0
Update calib values
maartin0
committed
b7d4861
Don't enter Error_Handler() on any CAN errors
maartin0
committed
e7ca804
Update CAN-T baud rate to 500kbps, enable AutoRetransmission on both channels and change JumpWidth to 2TQ
maartin0
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e047d7b
Switch SAGL and BPS back over
maartin0
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541b6dd

Commits on Jul 5, 2026

APPS and BPS calib again
maartin0
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7d31285
Add rtcan_s_h to canbc so we can broadcast states on both buses
maartin0
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25cd982
Split canbc to use CAN-S for non critical sensors
maartin0
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7e06198
Add SAGL implementation
maartin0
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d9f8e03
Don't clamp raw ADC value for APPS and BPS
maartin0
committed
2075922
Update CANoe workspace
maartin0
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873c3ec
Fix apps inversion issue when at 0% throttle by applying it earlier
maartin0
committed
3a21bb8
Update BPS threshold warning log level to INFO
maartin0
committed
6b55fcf
Fix broken error message in pm100.c (missing index)
maartin0
committed
a94ee49
Add fans implementation (subscribing to sensor hub fan switch message to trigger power)
maartin0
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d348328
Allow inverting fan switch
maartin0
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d5b0099
Switch BPS log threshold back to DEBUG
maartin0
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f555eaa
Add slightly redundant (but useful for debugging) inversion conversion for apps1 on top of apps2
maartin0
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9939731
More calibration
maartin0
committed
93a5ced

Commits on Jul 11, 2026

Commits on Jul 12, 2026

Commits on Jul 13, 2026

Commits on Jul 14, 2026

Clear R2D led after fault
maartin0
committed
fc5bf8b

Commits on Jul 15, 2026

Commits on Jul 16, 2026

Clear SCS error on success
maartin0
committed
7ae10f7
Update CANoe workspace
maartin0
committed
effaee6
Update can-defs to latest commit
maartin0
committed
d5d16bd
More calibration
maartin0
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3b8ae4c

Commits on Jul 17, 2026

Use brakelight as threshold check for BPS due to noise
maartin0
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ec233c2
fixes
maartin0
committed
54306f5
elec scrut complete
maartin0
committed
511d322

Commits on Jul 21, 2026

FSUK 2026 endurance fixes
maartin0
committed
98b6e1c
Drop wheelspeed priority below logging
maartin0
committed
7b56739
drop discrepancy configs for apps
maartin0
committed
33df502
Update makefile to production builds (-DCOMPETITION_MODE), fine because debugger will flash with DEBUG=1 using vscode launch configuration
maartin0
committed
1e3e7d5
Update CANoe workspace
maartin0
committed
52468e2
Merge reliability fixes from claude-fixes
maartin0
committed
858cb57

Commits on Jul 26, 2026

Improve interface for setting max output torque
maartin0
committed
3880d28
Up torque limit for remote ctrl to 230 Nm
maartin0
committed
c0e3d7b

Commits on Aug 4, 2026

Flip motor direction
maartin0
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2d8de9e
Switch to exponential torque map
maartin0
committed
2c05ef5
Strip out speed limiting
maartin0
committed
4924813
Add configurable (powf) exponent to the exponential torque map
maartin0
committed
75a9b98
Update README and setup script
maartin0
committed
362aa6c
Add clang-format command for src/SUFST and run it
maartin0
committed
f74800f
Up discrepancies for testing
maartin0
committed
dc9a95a

Commits on Aug 6, 2026

pre fsg apps cal
espitt
authored
17e2e8f

Commits on Aug 9, 2026

Add comment on apps_bps_high_threshold
maartin0
committed
91ab760

Commits on Aug 11, 2026

Run trunk fmt
maartin0
committed
d3ff43d
Fix trunk issues
maartin0
committed
7dd6070

Commits on Aug 12, 2026

Update CANoe workspace to include individual BMS values
maartin0
committed
0c1475e

Commits on Aug 13, 2026

Add trunk CI action
maartin0
committed
8147572

Commits on Aug 14, 2026

fsg scrut changes
maartin0
committed
c84e7a3