Pneumatics Board

Overview

• Board used: STM32F767ZI
• Function: Manages pneumatic brake actuation and monitors high‑ and low‑pressure sensors. Note: pressure monitoring is currently commented out

Sensors used

Sensor	Pins	Address	Wiring Photo	Extra Info
High‑pressure sensor 1	PC12 (GPIO input)	N/A	—	Digital input with internal pull‑down; state indicates pressure range (e.g., LowRange).
High‑pressure sensor 2	PC13 (GPIO input)	N/A	—	Digital input with internal pull‑down.
Low‑pressure sensor 1	PA3 (ADC1)	N/A	—	Analog voltage measured by ADC1, converted using V_ref from config.
Low‑pressure sensor 2	PA2 (ADC2)	N/A	—	Analog voltage measured by ADC2.
Low‑pressure sensor 3	PA1 (ADC3)	N/A	—	Analog voltage measured by ADC3.

Testing Objectives

State Machine Actions

Event	Action
UnclampBrakesCommand	Sets brake GPIO high (unclamp) and sends BrakesUnclamped over CAN.
ClampBrakesCommand	Sets brake GPIO low (clamp) and sends BrakesClamped over CAN.