NOTE: do make sure that after generating your code in CubeMX, you run the post generation script. You can set a post generation script in CubeMX itself. However, if you use Windows run: scripts/post\_code\_generation.bash, if you use Mac run: scripts/post\_code\_generation\_mac.bash
The **Simulink** folder contains code generated by the control team, and it shouldn't be modified by embedded. This code is not used on the embedded side, but it provides a clear reference for the type of input we give to control algorithm and the output we receive from it. In `control.h`, struct `ExtY` gives the external outputs and `ExtU` is the struct for external inputs. --- ##### `src/driving_board` contains `main.c` This is the code that runs when we build and update to the board by pio. Main includes multiple threads for some tasks that need to run concurrently. --- ##### `ERC-Protobufs/components/driving_board` contains protobuffers for this subsystem Protobuffers are used to send information to software and debugging board and receiving information from software. # Motor Folder ##### `components/driving_board/motor` All of the motor functions in this folder are called in [Main](https://bookstack.roboteamtwente.nl/books/drive-system/page/main "Main") #### BLDC Motors: They are used to control the speed of the rover. ##### `bldc.c` contains: The set\_bldc\_pwm() method. This methods scales the control signal value calculated from control code and adjust the pwm **duty cycle** outputted by the STM32 accordingly. #### Stepper Motors: ##### `stepper.c` contains: The set\_stepper\_pwm() method. This methods scales the control signal value calculated from control code and adjust the pwm **frequency** outputted by the STM32 accordingly. #### Encoders: ##### `read_encoder.c` contains: The read encoders() method. This method reads encoder values of **encoder angle, voltage generated** and **rpm.** # Parser Folder ##### `components/driving_board/parser` **This page:** structure of message encoding in parser.c #### The encoding logic includes: ##### **copy\_motor\_to\_pb():** Copies each motor from internal MotorDiagnostic struct into protobuf MotorInformation. ##### **DBMDiagnosticsEncode():** Encodes full diagnostics data into a protobuf message. This function: Initializes the protobuf message Copies board state Copies all 10 motors into the protobuf structure Calls pb\_message\_encode to serialize data **The diagnostics message contains 10 motors:** front\_left, middle\_left, back\_left, front\_right, middle\_right, back\_right, steering\_front\_left, steering\_back\_left, steering\_front\_right, steering\_back\_right, Each motor is copied using a loop into the protobuf message. ##### **message\_add\_envelope():** This method wraps a protobuf message into a PBEnvelope using the same pb\_message\_encode function. It: Takes a populated protobuf message (e.g. DrivingBoardDiagnostics) Initializes a PBEnvelope Sets the correct oneof field (e.g. drive\_diag) Calls pb\_message\_encode on the envelope struct Returns encoded envelope buffer and length # Main #### **src/driving\_board/main.c** contains the main firmware entry point and runtime logic for the driving board. The system is built on FreeRTOS (CMSIS-RTOS v2) and runs multiple tasks concurrently. #### Initialization ##### init\_board() This function initializes the full system before starting the scheduler. It: - Configures MPU and cache - Initializes HAL and system clock - Initializes GPIO, timers, and UART logging - Initializes control algorithm (control\_initialize) - Initializes Ethernet and MAC filtering Creates FreeRTOS tasks Starts PWM and encoder peripherals - Starts the RTOS kernel. After this, the scheduler takes over. #### Tasks The system runs 3 main threads: ##### MainTask This task handles: Ethernet communication Diagnostics message creation and sending Periodic data updates **Example Flow For Sending A Message:** - Initialize UDP Fill DiagnosticsData using FillDiagnostics - Encode using DBMDiagnostics - Encode Send encoded data over Ethernet - Free allocated memory after sending Also sends test UDP and raw Ethernet messages. ##### PwmTask This task runs the control loop. It: - Calls control\_step() from control module(Simulink folder) - Reads outputs from rtY - Updates motor PWM using set\_bldc\_pwm Runs periodically (1 ms) ##### DrivingEncoderTask This task processes encoder data. It: - Reads timer counters - Calculates: revolutions radians (position) rpm (speed) - Populates motor data (rpm, voltage, angle). - Updates global variables used in diagnostics - Runs every 100 ms