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Code overview

All C sources + header files are inside src/. .c files are always inside Src/ and .h files are always inside Inc/. Almost all of our code is inside src/SUFST/, with the exception of some user code blocks for initialisation in src/Core/, notably main.c and app_threadx.c. Everything else is generated by STM32CubeMX based on the IOC in src/VCU.ioc.

Services vs Interfaces vs Functions

The most interesting files in this codebase are:

  • src/SUFST/Src/vcu.c: Initialisation code for all services
  • src/SUFST/Src/config.c: Config values used everywhere (lots of calibration, this could get moved into an EEPROM in the future to avoid having to commit this to git)
  • src/SUFST/Src/Services/tick.c: Main lifecycle state machine

SUFST Middlewares

This project depends on two submodules:

  • can-defs - CAN dbc definitions, with generated cantools C source helpers
  • rtcan - ThreadX RTOS service for managing concurrent access to CAN peripherals

Both of these are located in src/SUFST/Middlewares and added as git submodules.

STM32CubeMX generation

When you run the generator, make sure you first open the correct ioc, run the generator. If you're making any changes to included components, there's a chance you'll have to manually update the root Makefile. You can refer to the generated one in src/Makefile to see what to add, although don't just copy it over since this misses out some of our code (e.g. our middlewares).

ctrl.c state machine

The main states of the VCU are defined in ctrl.h. These are:

typedef enum
{
    CTRL_STATE_TS_BUTTON_WAIT,
    CTRL_STATE_WAIT_NEG_AIR,
    CTRL_STATE_PRECHARGE_WAIT,
    CTRL_STATE_R2D_WAIT,
    CTRL_STATE_TS_ON,
    CTRL_STATE_R2D_OFF,
    CTRL_STATE_R2D_OFF_WAIT,
    CTRL_STATE_TS_ACTIVATION_FAILURE,
    CTRL_STATE_TS_RUN_FAULT,
    CTRL_STATE_SPIN,
    CTRL_STATE_APPS_SCS_FAULT,
    CTRL_STATE_APPS_BPS_FAULT,
} ctrl_state_t;

You can read ctrl.c to see what happens in each of these states. Below is a rough diagram (although things have slightly changed since the diagram was created, refer to the code directly for an accurate view).

VCU Ctrl loop