Cleaned up switch statement. Also put in early returns where possible - #272
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Sep 12, 2026
* Feat: Add New VCU IOC file * feat/add-new-IO-functions * feat: add useful pin labels to important pins * Update VCU.ioc with new stag12 config for digital io * I/O fixes Added input inversion, ensured RTDS is active high. made inputs in trc.c and dash.c use new bsp functions * rename RTD_DRIVE to R2D_DRIVE in the .ioc * Fix some other IOC issues (missing ThreadX and changed the HAL timer source to TIM6) and reran code generation * Rename GREEN_LED (heartbeat) usages to ROB_LED and comment out undefined DRS_LED * Use ROB_LED alias rather than direct gpio pin, and flash every 200ms to make it obvious something is wrong * use uart8 instead of uart1 (todo: also mirror debug output over USART1->RS232) * Configure adcs for apps and bps * Add missing files to makefile -> build now works! * remove unused adc_reading to fix warning * GPIO fixes: wheelspeed inputs (3/4 were defined as outputs instead of inputs) and SPARE_OUT_3 was also set as an input * Simplify weird comparison for VCU_Input_Read * log over both UART and USART (debug header + rs232) * fix all compilation warnings (except those from middlewares) * Realised we never configure SCS channels in the config (used to be one ADC per SCS), so now is dynamically changed based on the config * Update CAN baud rate to 1Mbit/s * disable SD card temporarily * add rs232 logic * update Makefile * use gdb-multiarch to support new arm installations when debugging on vscode * Fix RS232 by switching UART8 RX/TX * Sample 144 times rather than every 3 times for every SCS signal/ADC reading * add CAN error logging * enable CAN NVIC interrupts * Enable auto-bus off recovery * Switch to rtcan rewrite branch * Log errors on CAN TX failure * Rename CAN-C to CAN-T, pin can-defs to stag-12 branch * Update APPS calib values * Update can-defs to stag-12 layout with updated cantools output * Allow RS232 transciever to auto power off * Fix/add some missing broadcast states * Update to latest can-defs * Update apps logging to do everything in 1 line so that readings don't get cut * Fix apps multiplier (off by factor of 10) * Lots and lots of rtcan related fixes * Update apps calib thresholds * Add wheelspeed can-defs, config and implementation * Update rs232 header attribution * Update log levels for apps.c -- use a warn log level on discrepancy and info otherwise to avoid spamming SD card with info * Move SUFST middlewares from src/Middlewares/SUFST to src/SUFST/Middlewares so that they're not rewritten on every CubeMX regeneration * Add newlines to bps.c logging * Add SD implementation (included both FileX and USBX middlewares, USB will be required later) * Get USB passthrough working * Actually increment the rolling counter field * Add value table for VCU_CTRL_State * Switch PM100 direction to forwards mode lol (the inverter is the correct way around this year) * Remove duplicate pm100 call/break * Add PDM ECU to CAN-T * Update wheelspeed ticks/wheel and circumference * Reset apps_bps_start on TS_ON * Add Vector CANoe workspace + control panel + Ignore .cbf files generated by CANoe * Update ctrl.c to use functions per switch statement rather than one massive switch with inlined logic * update can-defs * Switch CAN-S and CAN-T (sigh) * Move PDM from CAN-S to CAN-T * Add VCU_Sensors_Raw message * Configure RTDS pin as digital output, not PWM timer * Add inverted option (enabled) to APPS config for when potentiometer is flipped in pedal * Add implementation of raw APPS/BPS signals CAN message for debugging * Rename BPS_ADC to BPS_F_ADC, and re-configure bps code to use BPS_R_ADC * Temporarily switch BPS to use SAGL ADC due to PCB opamp issues, and update bps calibration values * Update BPS threshold to 10% (from 4%), calibrate pedals, and move VCU messages from CAN-S to CAN-T * Update CANoe workspace * Try and fix VCU crashing upon CAN bus error * add filters to rtcan * Increase queue sizes for RTCAN and the inverter * Change BPS log levels * Update calib values * Don't enter Error_Handler() on any CAN errors * Update CAN-T baud rate to 500kbps, enable AutoRetransmission on both channels and change JumpWidth to 2TQ * Switch SAGL and BPS back over * APPS and BPS calib again * Add rtcan_s_h to canbc so we can broadcast states on both buses * Split canbc to use CAN-S for non critical sensors * Add SAGL implementation * Don't clamp raw ADC value for APPS and BPS * Update CANoe workspace * Fix apps inversion issue when at 0% throttle by applying it earlier * Update BPS threshold warning log level to INFO * Fix broken error message in pm100.c (missing index) * Add fans implementation (subscribing to sensor hub fan switch message to trigger power) * Allow inverting fan switch * Switch BPS log threshold back to DEBUG * Add slightly redundant (but useful for debugging) inversion conversion for apps1 on top of apps2 * More calibration * Re-enable dynamic fan control while keeping override, and turn on pumps with override too * Add configurable hard max torque and config stubs for future modes implementation * Update BPS thresh from 40 to 80 and max torque to 100nm * Fix temperature conversions (was 10x too small for fan threshold) * Delete backup makefile * Move breaklight threshold into config.c (instead of hardcoded #define) -- the simulation threshold is still hardcoded in remote_ctrl.c * Fix vscode settings for error handling * Fix torque map percentage (off by a factor of 10), update CAN TQ and JW, reduce deadzone from 28 to 15% and calibrate some bits * Update CANoe workspace * Disable software BSPD, don't turn off inverter in TS fault * Add current+requested mode enum and can defs * Only sample SAGL (and other ext_inputs, currently just SAGL soon to be mode switch) at 10Hz not 100Hz * Implement mode switch ADC -> requested mode, Implement modes (except torque control) * Add brakelight debounce * Reset VCU after flash * Switch to only 10 modes (switch was configured differently than the schematic) * Fixes * Update APPS max discrepancy to 9.5% (2x bigger than before) * Disable R2D requires brake for dyno testing * Update priorities and thread names and logging levels for Fans + Wheelspeeds + SD logging (wheelspeed + SD had the same priority and wheelspeeds are definetly more important than the SD logs) * Massively simplify remote control logic to just do a simple torque request * Fix torque map to use dynamically set max output * Add remote ctrl mode * Add CANoe workspace generator for remote control * Actually send errors (latching rtcan errors) in the messages that were designed for them * Allow exiting TS_Run_Fault via TS_Off * Clear R2D led after fault * Update CANoe workspace * Flip R2D led states (inverted due to loom/vcu pcb buffers) * Don't enter a TS fault on APPS failure (just SCS fault) so it can auto resume if it fixes itself * Clear SCS error on success * Update CANoe workspace * Update can-defs to latest commit * More calibration * Use brakelight as threshold check for BPS due to noise * fixes * elec scrut complete * FSUK 2026 endurance fixes * Drop wheelspeed priority below logging * drop discrepancy configs for apps * Update makefile to production builds (-DCOMPETITION_MODE), fine because debugger will flash with DEBUG=1 using vscode launch configuration * Update CANoe workspace * Merge reliability fixes from claude-fixes * Improve interface for setting max output torque * Up torque limit for remote ctrl to 230 Nm * Flip motor direction * Switch to exponential torque map * Strip out speed limiting * Add configurable (powf) exponent to the exponential torque map * Update README and setup script * Add clang-format command for src/SUFST and run it * Up discrepancies for testing * pre fsg apps cal Updated ADC min and max values for apps_1_scs and apps_2_scs based on new measurements. * Add comment on apps_bps_high_threshold * Run trunk fmt * Fix trunk issues * Update CANoe workspace to include individual BMS values * Add trunk CI action * fsg scrut changes * Sketchy theories * Update IOC for DMA * unsafe but functional for testing * DMA ADC attempts * Strip out ext inputs sample divider (doesn't do anything) * fix: disabled reverse & change crawl to 150Nm * fix: change torque + disable brake implausibility check * fix: final endurance config changes * Some resets for testing * Reformat * Update IOC for DMA * DMA ADC attempts * Strip out ext inputs sample divider (doesn't do anything) * fix: disabled reverse & change crawl to 150Nm * fix: change torque + disable brake implausibility check * fix: final endurance config changes * Some resets for testing * Reformat * Update setup script * Update fan threshold * Fix trunk issues * Tidy up/refactor a lot of things * torque limiting implementations for wheel slip and power using PI controller * Switch SAGL and current sensor around (woops) * Convert vcu-setup-script to unix line endings and make readme show clone command for current branch * Update submodules to use main version (merged on remote) * Update docs! * Update state machine docs * Fix trunk issues * Cleaned up switch statement. Also put in early returns where possible (#272) Update torque_map.c * Ignore missing venv on github runner * Change setup script to link to main --------- Co-authored-by: r-kirkbride <r_kirkbride@outlook.com> Co-authored-by: Adam Eastman <eastman.adam1@gmail.com> Co-authored-by: espitt <ethan.spittles@outlook.com> Co-authored-by: sghillie <shaungilmore2255@gmail.com>
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