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