Autonomous Distro/Control Board code

[LelsersLasers]

No description provided.

[Copilot]

Pull request overview

This PR introduces core firmware logic for the Autonomous Control/Distro Board, including RC (iBUS) input parsing, CAN-based autonomous command handling, and a precharge/contactor safety state machine integrated into the STM32CubeMX project.

Changes:

• Add new application modules: state machine (logic.*), CAN protocol handling (can.*), iBUS DMA parser (ibus.*), and shared utilities (util.*).
• Update MCU configuration to support CAN2 RX interrupts, USART3 RX DMA (circular), and PWM defaults/timing.
• Expand README with board pin definitions and CAN message format documentation.

Reviewed changes

Copilot reviewed 19 out of 19 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
README.md	Documents board rename, adds GPIO and CAN message definitions.
AutonomousDistroBoard/compile_commands.json	Adds a compile database artifact for tooling.
AutonomousDistroBoard/Core/Src/util.c	Implements time/util helpers, option type, and debounce controller.
AutonomousDistroBoard/Core/Src/stm32f4xx_it.c	Adds DMA1 Stream1 and CAN2 RX0 IRQ handlers + externs.
AutonomousDistroBoard/Core/Src/stm32f4xx_hal_msp.c	Enables CAN2 RX IRQ; configures USART3 RX DMA and deinit.
AutonomousDistroBoard/Core/Src/main.c	Wires in logic init/run loop, starts PWM, enables DMA clock/IRQ, updates clocks and peripheral timings.
AutonomousDistroBoard/Core/Src/logic.c	Implements precharge/contactor state machine, RC/autonomous mode selection, PWM output, CAN status TX.
AutonomousDistroBoard/Core/Src/ibus.c	Implements circular-DMA iBUS frame parser.
AutonomousDistroBoard/Core/Src/can.c	Implements CAN RX callback handling + status TX packing.
AutonomousDistroBoard/Core/Inc/util.h	Declares util helpers, Option, and debounce controller API.
AutonomousDistroBoard/Core/Inc/stm32f4xx_it.h	Declares the new IRQ handlers.
AutonomousDistroBoard/Core/Inc/stm32f4xx_hal_conf.h	Updates HSE_VALUE to 8 MHz.
AutonomousDistroBoard/Core/Inc/main.h	Adds labeled GPIO pin defines (coil/precharge/LED/CAN_S).
AutonomousDistroBoard/Core/Inc/logic.h	Declares logic state machine API and system constants.
AutonomousDistroBoard/Core/Inc/ibus.h	Declares iBUS parser API/data structures.
AutonomousDistroBoard/Core/Inc/can.h	Declares CAN message formats and helper APIs.
AutonomousDistroBoard/AutonomousDistroBoard.ioc	CubeMX updates for CAN timing, DMA, NVIC, PWM parameters, and HSE.
AutonomousDistroBoard/.mxproject	CubeMX metadata update.
AutonomousDistroBoard/.gitignore	Ignores .cache/ directory.

Comments suppressed due to low confidence (1)

AutonomousDistroBoard/Core/Src/main.c:215

• CAN is initialized but never brought online: there’s no CAN filter configuration, no HAL_CAN_Start(), and no HAL_CAN_ActivateNotification(..., CAN_IT_RX_FIFO0_MSG_PENDING). Without these, CAN2_RX0_IRQn won’t fire (so control commands won’t be received) and HAL_CAN_AddTxMessage will fail because the peripheral isn’t started. Configure at least one filter bank to accept the control/status IDs (or a mask), start CAN, and enable RX FIFO0 notifications in the CAN init/user-code section.

static void MX_CAN2_Init(void)
{

  /* USER CODE BEGIN CAN2_Init 0 */

  /* USER CODE END CAN2_Init 0 */

  /* USER CODE BEGIN CAN2_Init 1 */

  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 4;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_12TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */

  /* USER CODE END CAN2_Init 2 */

}

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Pull request overview

Copilot reviewed 19 out of 19 changed files in this pull request and generated 8 comments.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[LelsersLasers]

Maybe let this file go into main with this PR so we can debug on the kart easier, but when we have a sec, replace this with something that generates this