Handle Mission Select

Core/Inc/events.h

@@ -1,4 +1,60 @@
 #ifndef __EVENTS_H
 #define __EVENTS_H
 
+#include "stm32g441xx.h"
+
+#include <stdint.h>
+
+typedef enum {
+  BTN_PRESS_PREV,
+  BTN_PRESS_R2D,
+  BTN_PRESS_OK,
+  BTN_PRESS_NEXT
+} ButtonPressEvent;
+
+typedef enum { ENC0, ENC1 } Encoder;
+typedef enum { ENC_CHANGE_INC, ENC_CHANGE_DEC } EncoderChangeDirection;
+typedef struct {
+  Encoder encoder;
+  EncoderChangeDirection dir;
+} EncoderChangeEvent;
+
+typedef enum { EV_BTN_PRESS, EV_ENC_CHANGE } EventType;
+
+typedef struct {
+  EventType type;
+  union {
+    ButtonPressEvent btn_press;
+    EncoderChangeEvent enc_change;
+  };
+} Event;
+
+#define EVENT_QUEUE_SIZE 32
+typedef struct {
+  Event ring_buffer[EVENT_QUEUE_SIZE];
+  uint16_t read_idx;
+  uint16_t write_idx;
+} EventQueue;
+
+/**
+ * @brief Push an event to the back of the queue.
+ *
+ * The event is deep-copied to the queue, so it can be deallocated after the
+ * call is complete.
+ */
+void event_push(Event *ev);
+/**
+ * @brief Pop an event from the start of the queue.
+ *
+ * The value in the queue may be overwritten with the next event_push() call.
+ * Since that call can happen in an interrupt, i.e. is probably out of control
+ * of the event_pop() caller, we return by value here.
+ */
+Event event_pop();
+
+uint16_t event_num_pending();
+uint16_t event_num_free();
+
+void handle_events();
+
 #endif // __EVENTS_H

Core/Inc/main.h

@@ -75,12 +75,16 @@ void Error_Handler(void);
 #define V_POT_GPIO_Port GPIOB
 #define BTN0_Pin GPIO_PIN_12
 #define BTN0_GPIO_Port GPIOB
+#define BTN0_EXTI_IRQn EXTI15_10_IRQn
 #define BTN1_Pin GPIO_PIN_13
 #define BTN1_GPIO_Port GPIOB
+#define BTN1_EXTI_IRQn EXTI15_10_IRQn
 #define BTN2_Pin GPIO_PIN_14
 #define BTN2_GPIO_Port GPIOB
+#define BTN2_EXTI_IRQn EXTI15_10_IRQn
 #define BTN3_Pin GPIO_PIN_15
 #define BTN3_GPIO_Port GPIOB
+#define BTN3_EXTI_IRQn EXTI15_10_IRQn
 #define DISP_RESET_Pin GPIO_PIN_15
 #define DISP_RESET_GPIO_Port GPIOA
 #define ENC0A_Pin GPIO_PIN_4

Core/Inc/rpi.h

@@ -28,5 +28,6 @@ extern size_t rpi_num_polls;
 void rpi_init(I2C_HandleTypeDef *handle);
 
 void rpi_update_tx_buffer();
+void rpi_update_tx_buffer_mission_select();
 
 #endif // __RPI_H

Core/Inc/state.h

@@ -8,8 +8,33 @@ typedef enum {
   VIEW_TESTING = 3
 } STWView;
 
+typedef enum {
+  MISSION_NONE,
+  MISSION_ACCELERATION,
+  MISSION_SKIDPAD,
+  MISSION_AUTOCROSS,
+  MISSION_TRACKDRIVE,
+  MISSION_EBS_TEST,
+  MISSION_INSPECTION,
+  MISSION_MANUAL
+} Mission;
+
+typedef struct {
+  Mission selection;
+} MissionSelectState;
+
+typedef struct {
+  Mission current_mission;
+} AMIState;
+
+typedef union {
+  MissionSelectState mission_select;
+  AMIState ami;
+} ViewState;
+
 typedef struct {
   STWView view;
+  ViewState view_state;
 } STWState;
 
 extern STWState stw_state;

Core/Inc/stm32g4xx_it.h

@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void I2C2_EV_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Inc/user_inputs.h

@@ -0,0 +1,11 @@
+#ifndef __FT_USER_INPUTS_H
+#define __FT_USER_INPUTS_H
+
+#include "events.h"
+#include "stm32g4xx_hal.h"
+
+void handle_button_press(const ButtonPressEvent *ev);
+
+void handle_button_press_mission_select(const ButtonPressEvent *ev);
+
+#endif // __FT_USER_INPUTS_H

Core/Src/events.c

@@ -0,0 +1,64 @@
+#include "events.h"
+#include "main.h"
+#include "user_inputs.h"
+#include <stdint.h>
+
+static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0};
+
+void event_push(Event *ev) {
+  if (event_num_free() == 0) {
+    // TODO: How do we handle this?
+    return;
+  }
+
+  event_queue.ring_buffer[event_queue.write_idx] = *ev;
+  event_queue.write_idx = (event_queue.write_idx + 1) % EVENT_QUEUE_SIZE;
+}
+
+Event event_pop() {
+  if (event_num_pending() == 0) {
+    // TODO: How do we handle this?
+    Error_Handler();
+  }
+
+  Event result = event_queue.ring_buffer[event_queue.read_idx];
+  event_queue.read_idx = (event_queue.read_idx + 1) % EVENT_QUEUE_SIZE;
+  return result;
+}
+
+uint16_t event_num_pending() {
+  // Copy the values so we can be sure they don't change while we're computing
+  // this
+  uint16_t read_idx = event_queue.read_idx;
+  uint16_t write_idx = event_queue.write_idx;
+  if (write_idx >= read_idx) {
+    return write_idx - read_idx;
+  } else {
+    return write_idx + (EVENT_QUEUE_SIZE - read_idx);
+  }
+}
+
+uint16_t event_num_free() {
+  // Copy the values so we can be sure they don't change while we're computing
+  // this
+  uint16_t read_idx = event_queue.read_idx;
+  uint16_t write_idx = event_queue.write_idx;
+  if (read_idx > write_idx) {
+    return read_idx - write_idx;
+  } else {
+    return read_idx + (EVENT_QUEUE_SIZE - write_idx);
+  }
+}
+
+void handle_events() {
+  while (event_num_pending() > 0) {
+    Event ev = event_pop();
+    switch (ev.type) {
+    case EV_BTN_PRESS:
+      handle_button_press(&ev.btn_press);
+      break;
+    default:
+      Error_Handler();
+    }
+  }
+}

Core/Src/main.c

@@ -21,10 +21,12 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "events.h"
 #include "rpi.h"
 #include "state.h"
 
 #include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
 
 #include <stdint.h>
 
@@ -119,13 +121,7 @@ int main(void) {
     } else {
       HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
     }
-    if (rpi_num_polls > 0) {
+    handle_events();
-      if (rpi_active_since == 0) {
-        rpi_active_since = now;
-      } else if (now - rpi_active_since > 10000) {
-        stw_state.view = VIEW_AMI;
-      }
-    }
   }
   /* USER CODE END 3 */
 }
@@ -343,13 +339,21 @@ static void MX_GPIO_Init(void) {
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin
+  /*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */
-                           ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */
+  GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin;
-  GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin | ENC0A_Pin |
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
-                        ENC0B_Pin | ENC1A_Pin | ENC1B_Pin;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */
+  GPIO_InitStruct.Pin = ENC0A_Pin | ENC0B_Pin | ENC1A_Pin | ENC1B_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
 }
 
 /* USER CODE BEGIN 4 */

Core/Src/rpi.c

@@ -29,7 +29,19 @@ void rpi_init(I2C_HandleTypeDef *handle) {
   }
 }
 
-void rpi_update_tx_buffer() { i2c_tx_buf[0] = stw_state.view; }
+void rpi_update_tx_buffer() {
+  i2c_tx_buf[0] = stw_state.view;
+  switch (stw_state.view) {
+  case VIEW_MISSION_SELECT:
+    rpi_update_tx_buffer_mission_select();
+    break;
+  default:
+    Error_Handler();
+  }
+}
+void rpi_update_tx_buffer_mission_select() {
+  i2c_tx_buf[1] = stw_state.view_state.mission_select.selection;
+}
 
 void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) {
   switch (rpi_i2c_state) {

Core/Src/state.c

@@ -2,4 +2,7 @@
 
 STWState stw_state;
 
-void state_init() { stw_state.view = VIEW_MISSION_SELECT; }
+void state_init() {
+  stw_state.view = VIEW_MISSION_SELECT;
+  stw_state.view_state.mission_select.selection = MISSION_ACCELERATION;
+}

Core/Src/stm32g4xx_it.c

@@ -212,6 +212,23 @@ void I2C2_EV_IRQHandler(void)
   /* USER CODE END I2C2_EV_IRQn 1 */
 }
 
+/**
+  * @brief This function handles EXTI line[15:10] interrupts.
+  */
+void EXTI15_10_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI15_10_IRQn 0 */
+
+  /* USER CODE END EXTI15_10_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(BTN0_Pin);
+  HAL_GPIO_EXTI_IRQHandler(BTN1_Pin);
+  HAL_GPIO_EXTI_IRQHandler(BTN2_Pin);
+  HAL_GPIO_EXTI_IRQHandler(BTN3_Pin);
+  /* USER CODE BEGIN EXTI15_10_IRQn 1 */
+
+  /* USER CODE END EXTI15_10_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/user_inputs.c

@@ -0,0 +1,77 @@
+#include "user_inputs.h"
+
+#include "events.h"
+#include "main.h"
+#include "state.h"
+#include "stm32g4xx_hal_gpio.h"
+
+void HAL_GPIO_EXTI_Callback(uint16_t pin) {
+  Event ev;
+
+  GPIO_PinState state = HAL_GPIO_ReadPin(GPIOB, pin);
+  ev.type = state;
+  switch (pin) {
+  case BTN0_Pin:
+    ev.type = EV_BTN_PRESS;
+    ev.btn_press = BTN_PRESS_PREV;
+    break;
+  case BTN1_Pin:
+    ev.type = EV_BTN_PRESS;
+    ev.btn_press = BTN_PRESS_R2D;
+    break;
+  case BTN2_Pin:
+    ev.type = EV_BTN_PRESS;
+    ev.btn_press = BTN_PRESS_OK;
+    break;
+  case BTN3_Pin:
+    ev.type = EV_BTN_PRESS;
+    ev.btn_press = BTN_PRESS_NEXT;
+    break;
+  default:
+    Error_Handler();
+  }
+
+  event_push(&ev);
+}
+
+void handle_button_press(const ButtonPressEvent *ev) {
+  switch (stw_state.view) {
+  case VIEW_MISSION_SELECT:
+    handle_button_press_mission_select(ev);
+    break;
+  case VIEW_AMI:
+    break;
+  default:
+    Error_Handler();
+  }
+}
+
+void handle_button_press_mission_select(const ButtonPressEvent *ev) {
+  switch (*ev) {
+  case BTN_PRESS_PREV: {
+    Mission *selection = &stw_state.view_state.mission_select.selection;
+    if (*selection == MISSION_ACCELERATION || *selection == MISSION_NONE) {
+      *selection = MISSION_MANUAL;
+    } else {
+      *selection = *selection - 1;
+    }
+    break;
+  }
+  case BTN_PRESS_R2D:
+    break;
+  case BTN_PRESS_OK:
+    stw_state.view_state.ami.current_mission =
+        stw_state.view_state.mission_select.selection;
+    stw_state.view = VIEW_AMI;
+    break;
+  case BTN_PRESS_NEXT: {
+    Mission *selection = &stw_state.view_state.mission_select.selection;
+    if (*selection == MISSION_MANUAL) {
+      *selection = MISSION_ACCELERATION;
+    } else {
+      *selection = *selection + 1;
+    }
+    break;
+  }
+  }
+}

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Fri May 27 00:09:05 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sat May 28 00:49:24 CEST 2022] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -56,11 +56,11 @@ Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c \
+Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c \
+Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c \
-Core/Src/system_stm32g4xx.c \
+Core/Src/system_stm32g4xx.c
-Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c \
-Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c
 
 # ASM sources
 ASM_SOURCES =  \

STM32Make.make

@@ -36,12 +36,14 @@ BUILD_DIR = build
 ######################################
 # C sources
 C_SOURCES =  \
+Core/Src/events.c \
 Core/Src/main.c \
 Core/Src/rpi.c \
 Core/Src/state.c \
 Core/Src/stm32g4xx_hal_msp.c \
 Core/Src/stm32g4xx_it.c \
 Core/Src/system_stm32g4xx.c \
+Core/Src/user_inputs.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c \
@@ -81,7 +83,7 @@ PREFIX = arm-none-eabi-
 POSTFIX = "
 # The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
 # either it can be added to the PATH environment variable.
-GCC_PATH="/home/jasper/.config/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/10.3.1-2.3.1/.content/bin
+
 ifdef GCC_PATH
 CXX = $(GCC_PATH)/$(PREFIX)g++$(POSTFIX)
 CC = $(GCC_PATH)/$(PREFIX)gcc$(POSTFIX)

steering-wheel-stm.ioc

@@ -55,6 +55,7 @@ MxCube.Version=6.5.0
 MxDb.Version=DB.6.0.50
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.EXTI15_10_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.I2C2_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@@ -115,36 +116,44 @@ PB11.GPIO_Label=V_POT
 PB11.Locked=true
 PB11.Mode=IN14-Single-Ended
 PB11.Signal=ADC1_IN14
-PB12.GPIOParameters=GPIO_Label
+PB12.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB12.GPIO_Label=BTN0
+PB12.GPIO_PuPd=GPIO_PULLUP
 PB12.Locked=true
-PB12.Signal=GPIO_Input
+PB12.Signal=GPXTI12
-PB13.GPIOParameters=GPIO_Label
+PB13.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB13.GPIO_Label=BTN1
+PB13.GPIO_PuPd=GPIO_PULLUP
 PB13.Locked=true
-PB13.Signal=GPIO_Input
+PB13.Signal=GPXTI13
-PB14.GPIOParameters=GPIO_Label
+PB14.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB14.GPIO_Label=BTN2
+PB14.GPIO_PuPd=GPIO_PULLUP
 PB14.Locked=true
-PB14.Signal=GPIO_Input
+PB14.Signal=GPXTI14
-PB15.GPIOParameters=GPIO_Label
+PB15.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB15.GPIO_Label=BTN3
+PB15.GPIO_PuPd=GPIO_PULLUP
 PB15.Locked=true
-PB15.Signal=GPIO_Input
+PB15.Signal=GPXTI15
-PB4.GPIOParameters=GPIO_Label
+PB4.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB4.GPIO_Label=ENC0A
+PB4.GPIO_PuPd=GPIO_PULLUP
 PB4.Locked=true
 PB4.Signal=GPIO_Input
-PB5.GPIOParameters=GPIO_Label
+PB5.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB5.GPIO_Label=ENC0B
+PB5.GPIO_PuPd=GPIO_PULLUP
 PB5.Locked=true
 PB5.Signal=GPIO_Input
-PB6.GPIOParameters=GPIO_Label
+PB6.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB6.GPIO_Label=ENC1A
+PB6.GPIO_PuPd=GPIO_PULLUP
 PB6.Locked=true
 PB6.Signal=GPIO_Input
-PB7.GPIOParameters=GPIO_Label
+PB7.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB7.GPIO_Label=ENC1B
+PB7.GPIO_PuPd=GPIO_PULLUP
 PB7.Locked=true
 PB7.Signal=GPIO_Input
 PinOutPanel.RotationAngle=0
@@ -215,6 +224,14 @@ RCC.USART3Freq_Value=16000000
 RCC.USBFreq_Value=64000000
 RCC.VCOInputFreq_Value=16000000
 RCC.VCOOutputFreq_Value=128000000
+SH.GPXTI12.0=GPIO_EXTI12
+SH.GPXTI12.ConfNb=1
+SH.GPXTI13.0=GPIO_EXTI13
+SH.GPXTI13.ConfNb=1
+SH.GPXTI14.0=GPIO_EXTI14
+SH.GPXTI14.ConfNb=1
+SH.GPXTI15.0=GPIO_EXTI15
+SH.GPXTI15.ConfNb=1
 VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
 VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
 VP_SYS_VS_Systick.Mode=SysTick