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.