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Lines changed: 413 additions & 251 deletions

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‎.cubemx-manifest.json‎

Lines changed: 77 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
44
"boards": {
55
"BMS": {
66
"ioc_checksum": "08670b75875f2feedea3280eecc4821f36b742ccf7680976ae6f87bc3937ebfc",
7-
"generated_at": "2026-05-23T23:02:29Z",
7+
"generated_at": "2026-05-25T04:41:50Z",
88
"files": {
99
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1010
"Core/Inc/adc.h": "0ac97025a4065f07b7b65a906bd0c45ea800215434ed43c287c1685507f3f612",
@@ -75,7 +75,7 @@
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},
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"DASH": {
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"ioc_checksum": "919253252bb89abb628b9105693f93510957783991dc2f4608e8da228a4235ea",
78-
"generated_at": "2026-05-23T23:02:31Z",
78+
"generated_at": "2026-05-25T04:41:52Z",
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"files": {
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8181
"Core/Inc/can.h": "d9c82c8382c196a76d472a6b82a292a0384a086536ca280ce701ebbba9f5c682",
@@ -177,7 +177,7 @@
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},
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"DART": {
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"ioc_checksum": "5e40a62867a13bf2ccbc21a8343b896b2979b658d024cb6721e46e05b32b5a45",
180-
"generated_at": "2026-05-23T23:02:32Z",
180+
"generated_at": "2026-05-25T04:41:52Z",
181181
"files": {
182182
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@@ -203,23 +203,84 @@
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},
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"DCU": {
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"ioc_checksum": "1897fddbae0d70adffbb05afce5d5d2ae8f76fef77b684b121ff3e8f6f6dc2ea",
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206+
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"files": {
208208
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209211
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215+
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216+
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218+
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215221
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216-
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222+
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223+
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218-
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219-
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225+
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226+
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227+
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222-
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230+
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231+
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232+
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235+
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237+
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280+
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281+
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282+
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283+
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224285
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"STM32F446XX_FLASH.ld": "104cb1a1baa900a864bd01c5aebded70dda1429afc827de8ec3373ce9d64bfb3",
@@ -228,7 +289,7 @@
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},
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"LVPDB": {
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"ioc_checksum": "aad83d2888e50c4498ca882150e6cc94c6266554b55da81220b3a142c5b5e4b2",
231-
"generated_at": "2026-05-23T23:02:33Z",
292+
"generated_at": "2026-05-25T04:41:54Z",
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"files": {
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@@ -256,7 +317,7 @@
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},
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"PCU": {
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"ioc_checksum": "dce88e9916056d652c3fdf3d09dd8a7ad066bc7c7b6af576218e9be7277811b8",
259-
"generated_at": "2026-05-23T23:02:33Z",
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"generated_at": "2026-05-25T04:41:55Z",
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"files": {
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"Core/Inc/can.h": "98925d7f4010f054e17d240116244377377c15248a5413a09ff811cdc23084e5",
@@ -286,7 +347,7 @@
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},
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"Sensor_Nodes": {
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289-
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"generated_at": "2026-05-25T04:41:55Z",
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"files": {
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@@ -316,7 +377,7 @@
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"UART": {
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319-
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380+
"generated_at": "2026-05-25T04:41:57Z",
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"files": {
321382
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@@ -376,7 +437,7 @@
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},
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"UART_TEST": {
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"ioc_checksum": "06c9618835096e44e3f73cd158bbc2e3fcf76e65dc9a29db68fe607180843efd",
379-
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"files": {
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382443
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‎BMS/VERSION‎

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1-
1.6.0
1+
1.6.1

‎DART/VERSION‎

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1-
1.6.0
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1.6.1

‎DASH/VERSION‎

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1.6.0
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1.6.1

‎DCU/Core/User/Src/FEB_Main.c‎

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@@ -80,11 +80,7 @@ void FEB_Init(void)
8080

8181
/* Initialize console (registers built-in commands: echo, help, hello, commands,
8282
* version, uptime, reboot, log). The CSV-over-console protocol is handled by
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* feb_console's parser directly — no separate init needed.
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* NOTE: deliberately no LOG_I before this — the DMA from a pre-console LOG_I
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* can collide with the synchronous HAL_UART_Transmit calls inside
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* FEB_Console_Init's debug path and wedge the boot. BMS's FEB_Init
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* (on origin/main) follows the same order. */
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* feb_console's parser directly — no separate init needed. */
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FEB_Console_Init(true);
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/* CAN-log subsystem's CSV-form handlers. Pair with the pipe-form

‎DCU/VERSION‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
1.6.0
1+
1.6.1

‎LVPDB/Core/User/Inc/FEB_CAN_BRAKE.h‎

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@@ -0,0 +1,25 @@
1+
/**
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******************************************************************************
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* @file : FEB_CAN_BRAKE.h
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* @brief : CAN BRAKE Receiving Module
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* @author : Formula Electric @ Berkeley
6+
******************************************************************************
7+
*/
8+
9+
#ifndef FEB_CAN_BRAKE_H
10+
#define FEB_CAN_BRAKE_H
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#include <stdbool.h>
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#include <stdint.h>
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typedef struct
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{
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volatile uint8_t brake_percent;
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volatile uint32_t last_rx_tick;
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} BRAKE_State_t;
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void FEB_CAN_BRAKE_Init(void);
22+
uint8_t FEB_CAN_BRAKE_GetPercent(void);
23+
bool FEB_CAN_BRAKE_IsDataFresh(uint32_t timeout_ms);
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25+
#endif /* FEB_CAN_BRAKE_H */

‎LVPDB/Core/User/Src/FEB_CAN_BRAKE.c‎

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@@ -0,0 +1,64 @@
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/**
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******************************************************************************
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* @file : FEB_CAN_BRAKE.c
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* @brief : CAN BRAKE Receiving Module Implementation
5+
* @author : Formula Electric @ Berkeley
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******************************************************************************
7+
*/
8+
9+
#include "FEB_CAN_BRAKE.h"
10+
#include "feb_can.h"
11+
#include "feb_can_lib.h"
12+
#include "stm32f4xx_hal.h"
13+
#include <stdbool.h>
14+
15+
static BRAKE_State_t brake_state = {};
16+
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/* ============================================================================
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* RX Callback Handlers
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* ============================================================================ */
20+
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static void rx_callback(FEB_CAN_Instance_t instance, uint32_t can_id, FEB_CAN_ID_Type_t id_type, const uint8_t *data,
22+
uint8_t length, void *user_data)
23+
{
24+
struct feb_can_brake_t msg;
25+
if (feb_can_brake_unpack(&msg, data, length) == 0)
26+
{
27+
brake_state.brake_percent = msg.brake_percent;
28+
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__DMB();
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brake_state.last_rx_tick = HAL_GetTick();
31+
}
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}
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/* ============================================================================
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* API Implementation
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* ============================================================================ */
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void FEB_CAN_BRAKE_Init(void)
39+
{
40+
FEB_CAN_RX_Params_t rx_params = {
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.instance = FEB_CAN_INSTANCE_1,
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.can_id = FEB_CAN_BRAKE_FRAME_ID,
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.id_type = FEB_CAN_ID_STD,
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.filter_type = FEB_CAN_FILTER_EXACT,
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.fifo = FEB_CAN_FIFO_0,
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.callback = rx_callback,
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.user_data = NULL,
48+
};
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50+
(void)FEB_CAN_RX_Register(&rx_params);
51+
}
52+
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uint8_t FEB_CAN_BRAKE_GetPercent(void)
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{
55+
return brake_state.brake_percent;
56+
}
57+
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bool FEB_CAN_BRAKE_IsDataFresh(uint32_t timeout_ms)
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{
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uint32_t last = brake_state.last_rx_tick;
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if (last == 0)
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return false;
63+
return (HAL_GetTick() - last) < timeout_ms;
64+
}

‎LVPDB/Core/User/Src/FEB_Main.c‎

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@
1010
#include "main.h"
1111
#include <stdint.h>
1212
#include <stdio.h>
13+
#include "FEB_CAN_BRAKE.h"
1314
#include "FEB_CAN_DASH.h"
1415

1516
extern CAN_HandleTypeDef hcan1;
@@ -315,6 +316,7 @@ void FEB_Main_Setup(void)
315316
// Initialize ping/pong module
316317
FEB_CAN_PingPong_Init();
317318
FEB_CAN_DASH_Init();
319+
FEB_CAN_BRAKE_Init();
318320

319321
LOG_I(TAG_MAIN, "LVPDB Setup Complete");
320322
LOG_I(TAG_MAIN, "Type 'help' for available commands");
@@ -387,6 +389,9 @@ void FEB_Main_Loop(void)
387389

388390
// FEB_TPS_Enable(tps_handles[3], true); // BM_L
389391

392+
bool brake_on = FEB_CAN_BRAKE_IsDataFresh(250) && (FEB_CAN_BRAKE_GetPercent() > 10);
393+
HAL_GPIO_WritePin(BL_Switch_GPIO_Port, BL_Switch_Pin, brake_on ? GPIO_PIN_SET : GPIO_PIN_RESET);
394+
390395
FEB_UART_ProcessRx(FEB_UART_INSTANCE_1);
391396
}
392397

‎LVPDB/VERSION‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
1.6.0
1+
1.6.1

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