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This page: structure of this subsystem components/driving_board folder contains 4 libraries: firmwaremotorparsersimulink Firmware contains the generated CubeMX code. Don't edit this after generating, it will be rewritten after you generate again. NOTE: do make...

components/driving_board/motor All of the motor functions in this folder are called in 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...

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(): Encode...

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 sy...

This page: each driving_board protobuffer explained. The protobuffers for the driving_board are passed between software, control and embedded. DrivingBoardDiagnostics.proto Embedded → Software / Debugging This file contains the full diagnostic state of the...