Phoenix Throttle ECU

This is the codebase for Phoenix's throttle ECU, part of the drive by wire subsystem.

See the design doc for more info.

Pinout

• Can rx: pb8
• Can tx: pb9
• Dac out: pa4
• ADC in: pa0

Transceiver is powered with 3v3 and Gnd.

Pedal is connected across the pot as the second resistor in a voltage divider, with a 7.5K resistor as the other end. This means that its connected as 5v -> 7.5K resistor -> ADC -> pot in -> pot out (not wiper out) -> Gnd.

The blue LED will blink with each Can message received.

Features

• vol_out: Has this ecu echo voltages in its throttle message rather than percents while in training mode. This is useful for gathering noise data and calibrating the kalman filter.
• kalman(default): Enables kalman smoothing. This has a minimal performance impact but great smoothing. Consider disabling when sampling noise.

Building

This codebase is designed to be run on an ST Nucleo-f767zi.

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.
6. If testing noise, compile with cargo run --no-default-features --features vol_out