Firmware source code for PER's distributed vehicle software. One directory per node, each is compiled into a separate binary. See each node's own README for module-level details.

Vehicle control nodes

• main_module Master control unit. Owns the vehicle state machine, SDC monitoring, inverter interface, and the final torque request.
• dashboard Pedalbox sampling/plausibility plus the driver UI rendered on the Nextion LCD.
• torque_vector State estimation and torque-vectoring control loops (does not directly drive the inverters).

Power and sensing nodes

• pdu Low-voltage power distribution: rail switching, ADC telemetry, nFAULT scanning, and cooling control.
• a_box Accumulator (battery) box: BMS master, charging management, and battery telemetry.
• driveline Front/rear driveline sensor interface and CAN telemetry. The same source is compiled into two binaries via CMake preprocessor flags.

Data acquisition

• daq CAN bus logging to SD card and real-time UDP/Ethernet streaming, fed by the in-house lockless SPMC queue.

Bench / dev nodes

• f4_testing STM32F4-based bench testing target. Not deployed on the vehicle.
• g4_testing STM32G4-based bench testing target. Not deployed on the vehicle.