# 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