VCU-STM32F767ZI

For the Formula Student VCU - Inverter, Sensor & BMS communications

Black Forest Formula Team - Formula Student VCU 2021

This repository lays the foundation for the VCU development of the Black Forest Formula Team located in Offenburg. You can find an overview to get started in this ReadMe, for more information we suggest to refer to the Wiki you can find in this Repo.

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Repository organisation

• Introduction
• Getting started
  • CAN Bus Communication
    • Send a message
    • Receive a message
• Inverter Control
  • To-Do
    • Receiving CAN-Messages
    • Monitoring and Safety
    • HiL-Testing
    • Connect the Driver Interface
    • Sensor-Data
    • Inverter Control

Introduction

This project represents the VCU development of the Formula Student Team from Hochschule Offenburg (Germany). The focus lays on the documentation for new team members which allows them a smooth start to improve our software. Our VCU is a STM32-F767ZI board which uses the HAL-Lib for CAN-Communication.

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Getting started

First of all check out the project structure in the Wiki.

1. To work on the project use the STM32CubeIDE. Install the latest version for your system.
2. Clone this project when you are using GitHub Desktop or download the ZIP-file.
3. Open the project in the STM32IDE
4. For the VCU development use the "BFFT_Architecture_STM32_FreeRTOS(in VCU-STM32F767ZI-master)" only as you can see in the project structure also. Do not touch the others.

HAL gets initialized in the main.c, the rest of the CAN-communication happens in mymain.ccp for now. In the future, CAN-communication has to be handled in seperate functions.

CAN Bus Communication

To enable the CAN-communication start CAN and activate notification to receive messeges.

if (HAL_CAN_Start(&hcan1) != HAL_OK)
{
	Error_Handler();
}

if (HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_RX_FIFO1_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
{
	Error_Handler();
}	

Send a message

In mymain.ccp you can find a simple example for sending one CAN-Message.

// prepare header
CAN_TxHeaderTypeDef header;
// set standard id
header.StdId = 42;
// use standard id
header.IDE = CAN_ID_STD;
// this is a data frame, not a remote frame, because we have data to send
header.RTR = CAN_RTR_DATA;
// data length, we send eight bytes
header.DLC = 8;
uint8_t data[] = {1, 2, 3, 4, 5, 6, 7, 8};
uint32_t txMailbox_used_to_store;

if (HAL_CAN_AddTxMessage(&hcan1, &header, data, &txMailbox_used_to_store) != HAL_OK)
{
	Error_Handler();
}

Receive a message

Interrupt routine is implemented and tested.

Test load on Hil Box

TX/RX load check on Hil-Box .

Inverter Control

Dokumentation for inverterhandling (left and right inverter). Here you can find it in detail.

To-Do

Inverter Control

Handle the control of the inverters and e-machine via CAN.

Monitoring and Safety

Implementation of saftey and monitoring function which triggers e.g. derating.

HiL-Testing

Validate and check if the VCU works properly. Create test cases with our HiL-Box if all the functions are correctly implemented and applied.

Connect the Driver Interface

The driver interface shows important data e.g. velocity. Implement classes/functions in the VCU to send sensor data to a display via CAN.

Sensor-Data

Implementation of classes and functions to handle the sensor data (receiving).