Boards

Every custom board on the rover runs firmware from a project under src/. This section documents what each board does and the CAN messages it speaks.

Board	Directory	Purpose	Config
ABS	src/abs	absolute encoder	config/abs.yaml
BMC	src/bmc	brushed motor controller	config/bmc.yaml
LIM	src/lim	standalone limit switch reporter	config/lim.yaml
PDB	src/pdlb	power distribution and autonomy status LED	none
SCI	src/science	atmospheric sensor suite	none

src/tests/* are firmware test fixtures rather than boards, and src/canalyzer is an early-stage project developed on its own branch.

CAN Addressing

Every message carries a base ID from the DBC plus a source and destination node ID packed into the arbitration ID:

arbitration_id = base_id + (src_id << 8) + dest_id

The node IDs are the boards’ configured can_id and host_can_id. The rover-side host is 0x10. See esw.can for the host-side API.

Base IDs are grouped by board:

Range	Board
0x8010 - 0x8013	BMC
0x8020 - 0x8022	ABS
0x8030 - 0x8031	LIM
0x8051, 0x8060 - 0x8061	SCI
0x8070 - 0x8071	PDB
0x80F0 - 0x80F2	shared, all boards

Shared Messages

Three messages are common to the boards that have a configuration.

Message	Base ID	DLC	Direction	Signals
ESWConfigCmd	0x80F00000	6	to board	address (8), value (32), apply (1)
ESWProbe	0x80F10000	4	to board	data (32)
ESWAck	0x80F20000	4	from board	data (32)

ESWConfigCmd writes one configuration register; with apply clear it reads the register back instead, answering with ESWAck. ESWProbe is a liveness check that echoes its payload back in an ESWAck.

PDB and SCI implement neither, since neither has a configuration file.

See Configuration for how registers are defined and pushed.

Adding a Board

Copy _template.md in this directory as the starting point for a new board page, then add it to the nav in zensical.toml.