Phoenix AEB ECU

This repo is an implementation of the AEB ECU for Project Phoenix.

See the design doc for more info.

Pinout

• Lidar UART rx: pd0

• Lidar PWM out: pe9

• CAN rx: pb8

• CAN tx: pb9

CAN transceiver is powered with 3v3 and Gnd.

LD06 connector order, left to right:

UART tx, PWM in, GND, 5V

Building

This codebase is designed to be run on an ST Nucleo-f767zi, along with an LD06 lidar.

1. Install the Rust toolchain.
2. cargo install probe-run
3. cargo install flip-link
4. rustup target install thumbv7em-none-eabihf
5. build the repo with cargo build or cargo build --release and flash manually, or debug with cargo run.