Send button state to CAN

Core/Inc/user_inputs.h

@@ -4,6 +4,20 @@
 #include "events.h"
 
 #include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
+
+typedef struct {
+  GPIO_PinState left;
+  GPIO_PinState right;
+  GPIO_PinState r2d;
+  GPIO_PinState enter;
+  GPIO_PinState enc0a;
+  GPIO_PinState enc0b;
+  GPIO_PinState enc1a;
+  GPIO_PinState enc1b;
+} ButtonsState;
+
+ButtonsState get_buttons_state();
 
 void handle_button_press(const ButtonPressEvent* ev);
 

Core/Inc/vehicle.h

@@ -4,13 +4,21 @@
 #include "state.h"
 
 #include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_def.h"
 #include "stm32g4xx_hal_fdcan.h"
 
 #define CAN_ID_MISSION_SELECT 0x400
+#define CAN_ID_BUTTONS 0x401
 #define CAN_ID_AS_MISSION_FB 0x410
 
+#define CAN_BUTTONS_LEFT (1 << 0)
+#define CAN_BUTTONS_RIGHT (1 << 1)
+#define CAN_BUTTONS_R2D (1 << 2)
+#define CAN_BUTTONS_ENTER (1 << 3)
+
 void vehicle_init(FDCAN_HandleTypeDef* handle);
 
-void vehicle_send_mission_select(Mission mission);
+HAL_StatusTypeDef vehicle_send_mission_select(Mission mission);
+HAL_StatusTypeDef vehicle_send_buttons();
 
 #endif // __VEHICLE_H

Core/Src/main.c

@@ -138,10 +138,7 @@ int main(void) {
       HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
     }
     handle_events();
-    if (now - last_can > 100) {
+    vehicle_send_buttons();
-      // vehicle_send_mission_select(MISSION_ACCELERATION);
-      last_can = now;
-    }
     loop_delay();
   }
   /* USER CODE END 3 */

Core/Src/user_inputs.c

@@ -5,30 +5,58 @@
 #include "state.h"
 #include "vehicle.h"
 
+#include "stm32g4xx_hal.h"
 #include "stm32g4xx_hal_gpio.h"
 
+#include <stdint.h>
+
+#define MIN_PRESS_INTERVAL 100
+
 void HAL_GPIO_EXTI_Callback(uint16_t pin) {
+  static uint32_t last_presses[4] = {0, 0, 0, 0};
+
   Event ev;
 
   GPIO_PinState state = HAL_GPIO_ReadPin(GPIOB, pin);
   ev.type = state;
+  uint32_t now = HAL_GetTick();
   switch (pin) {
-  case BTN0_Pin:
+  case BTN0_Pin: {
+    if (now - last_presses[0] < MIN_PRESS_INTERVAL) {
+      return;
+    }
+    last_presses[0] = now;
     ev.type = EV_BTN_PRESS;
     ev.btn_press = BTN_PRESS_PREV;
     break;
-  case BTN1_Pin:
+  }
+  case BTN1_Pin: {
+    if (now - last_presses[1] < MIN_PRESS_INTERVAL) {
+      return;
+    }
+    last_presses[1] = now;
     ev.type = EV_BTN_PRESS;
     ev.btn_press = BTN_PRESS_R2D;
     break;
-  case BTN2_Pin:
+  }
+  case BTN2_Pin: {
+    if (now - last_presses[2] < MIN_PRESS_INTERVAL) {
+      return;
+    }
+    last_presses[2] = now;
     ev.type = EV_BTN_PRESS;
     ev.btn_press = BTN_PRESS_OK;
     break;
-  case BTN3_Pin:
+  }
+  case BTN3_Pin: {
+    if (now - last_presses[3] < MIN_PRESS_INTERVAL) {
+      return;
+    }
+    last_presses[3] = now;
     ev.type = EV_BTN_PRESS;
     ev.btn_press = BTN_PRESS_NEXT;
     break;
+  }
   default:
     Error_Handler();
   }
@@ -75,3 +103,16 @@ void handle_button_press_mission_select(const ButtonPressEvent* ev) {
   }
   }
 }
+
+ButtonsState get_buttons_state() {
+  ButtonsState result;
+  result.left = HAL_GPIO_ReadPin(BTN0_GPIO_Port, BTN0_Pin);
+  result.right = HAL_GPIO_ReadPin(BTN3_GPIO_Port, BTN3_Pin);
+  result.r2d = HAL_GPIO_ReadPin(BTN1_GPIO_Port, BTN1_Pin);
+  result.enter = HAL_GPIO_ReadPin(BTN2_GPIO_Port, BTN2_Pin);
+  result.enc0a = HAL_GPIO_ReadPin(ENC0A_GPIO_Port, ENC0A_Pin);
+  result.enc0b = HAL_GPIO_ReadPin(ENC0B_GPIO_Port, ENC0B_Pin);
+  result.enc1a = HAL_GPIO_ReadPin(ENC1A_GPIO_Port, ENC1A_Pin);
+  result.enc1b = HAL_GPIO_ReadPin(ENC1B_GPIO_Port, ENC1B_Pin);
+  return result;
+}

Core/Src/vehicle.c

@@ -2,6 +2,7 @@
 
 #include "main.h"
 #include "state.h"
+#include "user_inputs.h"
 
 #include "stm32g4xx_hal_def.h"
 #include "stm32g4xx_hal_fdcan.h"
@@ -47,7 +48,7 @@ void vehicle_init(FDCAN_HandleTypeDef* handle) {
   }
 }
 
-void vehicle_send_mission_select(Mission mission) {
+HAL_StatusTypeDef vehicle_send_mission_select(Mission mission) {
   // TODO: Automatically resend this until it's acknowledged
   FDCAN_TxHeaderTypeDef header;
   header.Identifier = CAN_ID_MISSION_SELECT;
@@ -62,9 +63,28 @@ void vehicle_send_mission_select(Mission mission) {
 
   uint8_t data[1];
   data[0] = mission;
-  if (HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data) != HAL_OK) {
+  return HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data);
-    Error_Handler();
+}
-  }
+
+HAL_StatusTypeDef vehicle_send_buttons() {
+  FDCAN_TxHeaderTypeDef header;
+  header.Identifier = CAN_ID_BUTTONS;
+  header.IdType = FDCAN_STANDARD_ID;
+  header.TxFrameType = FDCAN_DATA_FRAME;
+  header.DataLength = FDCAN_DLC_BYTES_1;
+  header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+  header.BitRateSwitch = FDCAN_BRS_OFF;
+  header.FDFormat = FDCAN_CLASSIC_CAN;
+  header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+  header.MessageMarker = 0;
+
+  ButtonsState buttons = get_buttons_state();
+  uint8_t data[1];
+  data[0] = (buttons.left ? CAN_BUTTONS_LEFT : 0) |
+            (buttons.right ? CAN_BUTTONS_RIGHT : 0) |
+            (buttons.r2d ? CAN_BUTTONS_R2D : 0) |
+            (buttons.enter ? CAN_BUTTONS_ENTER : 0);
+  return HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data);
 }
 
 /* BEGIN CAN MESSAGE HANDLERS { */