main.cpp File Reference

Main VCU program entry point. More...

#include <Arduino.h>
#include "BoardConfig.h"
#include "Pedal.hpp"
#include "BMS.hpp"
#include "Enums.hpp"
#include "CarState.hpp"
#include "Scheduler.hpp"
#include "Curves.hpp"
#include "Telemetry.hpp"
#include "Debug.hpp"
#include <mcp2515.h>

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Macros
#define	mcp2515_motor   mcp2515_DL
#define	mcp2515_BMS   mcp2515_DL

Functions
MCP2515	mcp2515_motor (CS_CAN_MOTOR)
MCP2515	mcp2515_BMS (CS_CAN_BMS)
MCP2515	mcp2515_DL (CS_CAN_DL)
Pedal	pedal (mcp2515_DL, car, car.pedal.apps_5v)
void	schedulerMotorRead ()
void	schedulerPedalSend ()
void	scheduler_bms ()
void	schedulerTelemetryPedal ()
void	schedulerTelemetryMotor ()
void	schedulerTelemetryBms ()
void	setup ()
	Setup function for initializing the VCU system. Initializes MCP2515s, IO pins, as well as own modules such as Pedal and Debug.
void	loop ()
	Main loop function for the VCU system. Handles car state transitions, pipes dataflow between modules.

Variables
constexpr uint8_t	INPUT_COUNT = 5
constexpr uint8_t	OUTPUT_COUNT = 3
constexpr uint8_t	pins_in [INPUT_COUNT] = {DRIVE_MODE_BTN, BRAKE_IN, APPS_5V, APPS_3V3, HALL_SENSOR}
constexpr uint8_t	pins_out [OUTPUT_COUNT] = {FRG, BRAKE_LIGHT, BUZZER}
constexpr uint8_t	NUM_MCP = 3
MCP2515	MCPS [NUM_MCP] = { mcp2515_DL , mcp2515_DL , mcp2515_DL}
constexpr uint16_t	BUSSIN_MILLIS = 2000
constexpr uint16_t	BMS_OVERRIDE_MILLIS = 1000
constexpr uint16_t	BRAKE_THRESHOLD = BRAKE_TABLE[0].in
bool	brake_pressed = false
struct CarState	car
	Global car state structure.
BMS	bms (mcp2515_DL, car)
Telemetry	telem (mcp2515_DL, car)
Scheduler< 3, NUM_MCP >	scheduler (10000, 500, *micros)

Detailed Description

Main VCU program entry point.

Author

Planeson, Chiho, Red Bird Racing

Version

2.2.1

Date

2026-02-25

Definition in file main.cpp.

Macro Definition Documentation

mcp2515_BMS

#define mcp2515_BMS   mcp2515_DL

Definition at line 48 of file main.cpp.

mcp2515_motor

#define mcp2515_motor   mcp2515_DL

Definition at line 47 of file main.cpp.

Function Documentation

loop()

void loop

(

)

Main loop function for the VCU system. Handles car state transitions, pipes dataflow between modules.

Definition at line 175 of file main.cpp.

References APPS_3V3, APPS_5V, TelemetryFramePedal::StateByteStatus::bits, Bms, BMS_OVERRIDE_MILLIS, TelemetryFramePedal::brake, BRAKE_IN, BRAKE_LIGHT, brake_pressed, BRAKE_THRESHOLD, Bussin, BUSSIN_MILLIS, BUTTON_ACTIVE, BUZZER, car, TelemetryFramePedal::StateByteStatus::Bits::car_status, Drive, DRIVE_MODE_BTN, TelemetryFramePedal::StateByteStatus::Bits::force_stop, FRG, HALL_SENSOR, TelemetryFramePedal::hall_sensor, TelemetryFramePedal::StateByteStatus::Bits::hv_ready, Init, CarState::millis, CarState::pedal, pedal(), Pedal::pedal_final, scheduler, scheduler_bms(), Startin, TelemetryFramePedal::status, CarState::status_millis, THROTTLE_TABLE, and Pedal::update().

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mcp2515_BMS()

MCP2515 mcp2515_BMS

(

CS_CAN_BMS

)

mcp2515_DL()

MCP2515 mcp2515_DL

(

CS_CAN_DL

)

Referenced by setup().

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mcp2515_motor()

MCP2515 mcp2515_motor

(

CS_CAN_MOTOR

)

pedal()

Pedal pedal	(	mcp2515_DL	,
		car	,
		car.pedal.	apps_5v
	)

Referenced by loop(), Pedal::pedalTorqueMapping(), schedulerMotorRead(), schedulerPedalSend(), and setup().

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scheduler_bms()

void scheduler_bms

(

)

Definition at line 86 of file main.cpp.

References bms, and BMS::checkHv().

Referenced by loop().

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schedulerMotorRead()

void schedulerMotorRead

(

)

Definition at line 78 of file main.cpp.

References pedal(), and Pedal::readMotor().

Referenced by setup().

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schedulerPedalSend()

void schedulerPedalSend

(

)

Definition at line 82 of file main.cpp.

References pedal(), and Pedal::sendFrame().

Referenced by setup().

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schedulerTelemetryBms()

void schedulerTelemetryBms

(

)

Definition at line 98 of file main.cpp.

References Telemetry::sendBms(), and telem.

Referenced by setup().

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schedulerTelemetryMotor()

void schedulerTelemetryMotor

(

)

Definition at line 94 of file main.cpp.

References Telemetry::sendMotor(), and telem.

Referenced by setup().

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schedulerTelemetryPedal()

void schedulerTelemetryPedal

(

)

Definition at line 90 of file main.cpp.

References Telemetry::sendPedal(), and telem.

Referenced by setup().

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setup()

void setup

(

)

Setup function for initializing the VCU system. Initializes MCP2515s, IO pins, as well as own modules such as Pedal and Debug.

Definition at line 113 of file main.cpp.

References bms, CAN_RATE, Datalogger, DBGLN_GENERAL(), BMS::initFilter(), Pedal::initFilter(), Debug_Serial::initialize(), Debug_CAN::initialize(), Pedal::initMotor(), INPUT_COUNT, MCP2515_CRYSTAL_FREQ, mcp2515_DL(), MCPS, Motor, NUM_MCP, OUTPUT_COUNT, pedal(), pins_in, pins_out, scheduler, schedulerMotorRead(), schedulerPedalSend(), schedulerTelemetryBms(), schedulerTelemetryMotor(), and schedulerTelemetryPedal().

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Variable Documentation

bms

BMS bms(mcp2515_DL, car)	(	mcp2515_DL	,
		car
	)

Referenced by scheduler_bms(), and setup().

BMS_OVERRIDE_MILLIS

constexpr uint16_t BMS_OVERRIDE_MILLIS = 1000

constexpr

Definition at line 55 of file main.cpp.

Referenced by loop().

brake_pressed

bool brake_pressed = false

Definition at line 59 of file main.cpp.

Referenced by loop().

BRAKE_THRESHOLD

constexpr uint16_t BRAKE_THRESHOLD = BRAKE_TABLE[0].in

constexpr

Definition at line 57 of file main.cpp.

Referenced by loop().

BUSSIN_MILLIS

constexpr uint16_t BUSSIN_MILLIS = 2000

constexpr

Definition at line 54 of file main.cpp.

Referenced by loop().

car

struct CarState car

Initial value:

= {
    {}, 
    {}, 
    {}, 
    0,  
    0   
}

Global car state structure.

See also

CarState

Definition at line 65 of file main.cpp.

Referenced by loop().

INPUT_COUNT

constexpr uint8_t INPUT_COUNT = 5

constexpr

Definition at line 37 of file main.cpp.

Referenced by setup().

MCPS

MCP2515 MCPS[NUM_MCP] = { mcp2515_DL , mcp2515_DL , mcp2515_DL}

Definition at line 52 of file main.cpp.

Referenced by setup().

NUM_MCP

constexpr uint8_t NUM_MCP = 3

constexpr

Definition at line 51 of file main.cpp.

Referenced by setup().

OUTPUT_COUNT

constexpr uint8_t OUTPUT_COUNT = 3

constexpr

Definition at line 38 of file main.cpp.

Referenced by setup().

pins_in

constexpr uint8_t pins_in[INPUT_COUNT] = {DRIVE_MODE_BTN, BRAKE_IN, APPS_5V, APPS_3V3, HALL_SENSOR}

constexpr

Definition at line 39 of file main.cpp.

Referenced by setup().

pins_out

constexpr uint8_t pins_out[OUTPUT_COUNT] = {FRG, BRAKE_LIGHT, BUZZER}

constexpr

Definition at line 40 of file main.cpp.

Referenced by setup().

scheduler

Scheduler< 3, NUM_MCP > scheduler(10000, 500, *micros)	(	10000	,
		500	,
		*	micros
	)

Referenced by loop(), and setup().

telem

Telemetry telem(mcp2515_DL, car)	(	mcp2515_DL	,
		car
	)

Referenced by schedulerTelemetryBms(), schedulerTelemetryMotor(), and schedulerTelemetryPedal().