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Add .clang-format and .editorconfig

This commit is contained in:
Jasper Blanckenburg 2022-05-29 00:47:46 +02:00 committed by jazzpi
parent b28ff29f45
commit ec9fa4bb0f
16 changed files with 697 additions and 536 deletions
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137
.clang-format Normal file
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@ -0,0 +1,137 @@
---
Language: Cpp
# BasedOnStyle: LLVM
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AlignConsecutiveAssignments: false
AlignConsecutiveDeclarations: false
AlignEscapedNewlines: Right
AlignOperands: true
AlignTrailingComments: true
AllowAllArgumentsOnNextLine: true
AllowAllConstructorInitializersOnNextLine: true
AllowAllParametersOfDeclarationOnNextLine: true
AllowShortBlocksOnASingleLine: Never
AllowShortCaseLabelsOnASingleLine: false
AllowShortFunctionsOnASingleLine: All
AllowShortLambdasOnASingleLine: All
AllowShortIfStatementsOnASingleLine: Never
AllowShortLoopsOnASingleLine: false
AlwaysBreakAfterDefinitionReturnType: None
AlwaysBreakAfterReturnType: None
AlwaysBreakBeforeMultilineStrings: false
AlwaysBreakTemplateDeclarations: MultiLine
BinPackArguments: true
BinPackParameters: true
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SplitEmptyRecord: true
SplitEmptyNamespace: true
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BreakInheritanceList: BeforeColon
BreakBeforeTernaryOperators: true
BreakConstructorInitializersBeforeComma: false
BreakConstructorInitializers: BeforeColon
BreakAfterJavaFieldAnnotations: false
BreakStringLiterals: true
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CommentPragmas: "^ IWYU pragma:"
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ConstructorInitializerAllOnOneLineOrOnePerLine: false
ConstructorInitializerIndentWidth: 4
ContinuationIndentWidth: 4
Cpp11BracedListStyle: true
DeriveLineEnding: true
DerivePointerAlignment: false
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
FixNamespaceComments: true
ForEachMacros:
- foreach
- Q_FOREACH
- BOOST_FOREACH
IncludeBlocks: Regroup
IncludeCategories:
- Regex: '^[<"]stm'
Priority: 2
SortPriority: 0
- Regex: "^<std"
Priority: 4
SortPriority: 0
- Regex: ".*"
Priority: 1
SortPriority: 0
IncludeIsMainRegex: "(Test)?$"
IncludeIsMainSourceRegex: ""
IndentCaseLabels: false
IndentGotoLabels: true
IndentPPDirectives: None
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IndentWrappedFunctionNames: false
JavaScriptQuotes: Leave
JavaScriptWrapImports: true
KeepEmptyLinesAtTheStartOfBlocks: true
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MacroBlockEnd: ""
MaxEmptyLinesToKeep: 1
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ObjCBinPackProtocolList: Auto
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ObjCSpaceBeforeProtocolList: true
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SpaceBeforeAssignmentOperators: true
SpaceBeforeCpp11BracedList: false
SpaceBeforeCtorInitializerColon: true
SpaceBeforeInheritanceColon: true
SpaceBeforeParens: ControlStatements
SpaceBeforeRangeBasedForLoopColon: true
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SpaceInEmptyParentheses: false
SpacesBeforeTrailingComments: 1
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SpacesInContainerLiterals: true
SpacesInCStyleCastParentheses: false
SpacesInParentheses: false
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SpaceBeforeSquareBrackets: false
Standard: Latest
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- Q_UNUSED
- QT_REQUIRE_VERSION
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UseCRLF: false
UseTab: Never
---

8
.editorconfig Normal file
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[*]
end_of_line = lf
insert_final_newline = true
charset = utf-8
[*.{h,c}]
indent_style = space
indent_size = 2

2
.gitignore vendored
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@ -1,3 +1,3 @@
build/ build/
.cache/ .cache/
.vscode/ .vscode/

4
Core/Inc/events.h
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@ -42,7 +42,7 @@ typedef struct {
* The event is deep-copied to the queue, so it can be deallocated after the * The event is deep-copied to the queue, so it can be deallocated after the
* call is complete. * call is complete.
*/ */
void event_push(Event *ev); void event_push(Event* ev);
/** /**
* @brief Pop an event from the start of the queue. * @brief Pop an event from the start of the queue.
* *
@ -57,4 +57,4 @@ uint16_t event_num_free();
void handle_events(); void handle_events();
#endif // __EVENTS_H #endif // __EVENTS_H

2
Core/Inc/leds.h
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@ -3,4 +3,4 @@
void leds_init(); void leds_init();
#endif // __LEDS_H #endif // __LEDS_H

212
Core/Inc/main.h
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@ -1,106 +1,106 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file : main.h * @file : main.h
* @brief : Header for main.c file. * @brief : Header for main.c file.
* This file contains the common defines of the application. * This file contains the common defines of the application.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2022 STMicroelectronics. * Copyright (c) 2022 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H #ifndef __MAIN_H
#define __MAIN_H #define __MAIN_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "stm32g4xx_hal.h" #include "stm32g4xx_hal.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */ /* USER CODE BEGIN ET */
/* USER CODE END ET */ /* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */ /* USER CODE BEGIN EC */
/* USER CODE END EC */ /* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */ /* USER CODE BEGIN EM */
/* USER CODE END EM */ /* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/ /* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void); void Error_Handler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */
/* USER CODE END EFP */ /* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/ /* Private defines -----------------------------------------------------------*/
#define TOP_PWM_Pin GPIO_PIN_0 #define TOP_PWM_Pin GPIO_PIN_0
#define TOP_PWM_GPIO_Port GPIOA #define TOP_PWM_GPIO_Port GPIOA
#define LOGO_PWM_Pin GPIO_PIN_1 #define LOGO_PWM_Pin GPIO_PIN_1
#define LOGO_PWM_GPIO_Port GPIOA #define LOGO_PWM_GPIO_Port GPIOA
#define LED_ICLK_Pin GPIO_PIN_2 #define LED_ICLK_Pin GPIO_PIN_2
#define LED_ICLK_GPIO_Port GPIOA #define LED_ICLK_GPIO_Port GPIOA
#define LED_OCLK_Pin GPIO_PIN_3 #define LED_OCLK_Pin GPIO_PIN_3
#define LED_OCLK_GPIO_Port GPIOA #define LED_OCLK_GPIO_Port GPIOA
#define LED_NCLR_Pin GPIO_PIN_4 #define LED_NCLR_Pin GPIO_PIN_4
#define LED_NCLR_GPIO_Port GPIOA #define LED_NCLR_GPIO_Port GPIOA
#define LED_SER_Pin GPIO_PIN_5 #define LED_SER_Pin GPIO_PIN_5
#define LED_SER_GPIO_Port GPIOA #define LED_SER_GPIO_Port GPIOA
#define LED_NOE_Pin GPIO_PIN_6 #define LED_NOE_Pin GPIO_PIN_6
#define LED_NOE_GPIO_Port GPIOA #define LED_NOE_GPIO_Port GPIOA
#define V_POT_Pin GPIO_PIN_11 #define V_POT_Pin GPIO_PIN_11
#define V_POT_GPIO_Port GPIOB #define V_POT_GPIO_Port GPIOB
#define BTN0_Pin GPIO_PIN_12 #define BTN0_Pin GPIO_PIN_12
#define BTN0_GPIO_Port GPIOB #define BTN0_GPIO_Port GPIOB
#define BTN0_EXTI_IRQn EXTI15_10_IRQn #define BTN0_EXTI_IRQn EXTI15_10_IRQn
#define BTN1_Pin GPIO_PIN_13 #define BTN1_Pin GPIO_PIN_13
#define BTN1_GPIO_Port GPIOB #define BTN1_GPIO_Port GPIOB
#define BTN1_EXTI_IRQn EXTI15_10_IRQn #define BTN1_EXTI_IRQn EXTI15_10_IRQn
#define BTN2_Pin GPIO_PIN_14 #define BTN2_Pin GPIO_PIN_14
#define BTN2_GPIO_Port GPIOB #define BTN2_GPIO_Port GPIOB
#define BTN2_EXTI_IRQn EXTI15_10_IRQn #define BTN2_EXTI_IRQn EXTI15_10_IRQn
#define BTN3_Pin GPIO_PIN_15 #define BTN3_Pin GPIO_PIN_15
#define BTN3_GPIO_Port GPIOB #define BTN3_GPIO_Port GPIOB
#define BTN3_EXTI_IRQn EXTI15_10_IRQn #define BTN3_EXTI_IRQn EXTI15_10_IRQn
#define DISP_RESET_Pin GPIO_PIN_15 #define DISP_RESET_Pin GPIO_PIN_15
#define DISP_RESET_GPIO_Port GPIOA #define DISP_RESET_GPIO_Port GPIOA
#define ENC0A_Pin GPIO_PIN_4 #define ENC0A_Pin GPIO_PIN_4
#define ENC0A_GPIO_Port GPIOB #define ENC0A_GPIO_Port GPIOB
#define ENC0B_Pin GPIO_PIN_5 #define ENC0B_Pin GPIO_PIN_5
#define ENC0B_GPIO_Port GPIOB #define ENC0B_GPIO_Port GPIOB
#define ENC1A_Pin GPIO_PIN_6 #define ENC1A_Pin GPIO_PIN_6
#define ENC1A_GPIO_Port GPIOB #define ENC1A_GPIO_Port GPIOB
#define ENC1B_Pin GPIO_PIN_7 #define ENC1B_Pin GPIO_PIN_7
#define ENC1B_GPIO_Port GPIOB #define ENC1B_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __MAIN_H */ #endif /* __MAIN_H */

2
Core/Inc/rpi.h
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@ -25,7 +25,7 @@ extern RPiI2CState rpi_i2c_state;
extern size_t rpi_num_polls; extern size_t rpi_num_polls;
void rpi_init(I2C_HandleTypeDef *handle); void rpi_init(I2C_HandleTypeDef* handle);
void rpi_update_tx_buffer(); void rpi_update_tx_buffer();
void rpi_update_tx_buffer_mission_select(); void rpi_update_tx_buffer_mission_select();

7
Core/Inc/user_inputs.h
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@ -2,10 +2,11 @@
#define __FT_USER_INPUTS_H #define __FT_USER_INPUTS_H
#include "events.h" #include "events.h"
#include "stm32g4xx_hal.h" #include "stm32g4xx_hal.h"
void handle_button_press(const ButtonPressEvent *ev); void handle_button_press(const ButtonPressEvent* ev);
void handle_button_press_mission_select(const ButtonPressEvent *ev); void handle_button_press_mission_select(const ButtonPressEvent* ev);
#endif // __FT_USER_INPUTS_H #endif // __FT_USER_INPUTS_H

5
Core/Inc/vehicle.h
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@ -2,14 +2,15 @@
#define __VEHICLE_H #define __VEHICLE_H
#include "state.h" #include "state.h"
#include "stm32g4xx_hal.h" #include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_fdcan.h" #include "stm32g4xx_hal_fdcan.h"
#define CAN_ID_MISSION_SELECT 0x400 #define CAN_ID_MISSION_SELECT 0x400
#define CAN_ID_AS_MISSION_FB 0x410 #define CAN_ID_AS_MISSION_FB 0x410
void vehicle_init(FDCAN_HandleTypeDef *handle); void vehicle_init(FDCAN_HandleTypeDef* handle);
void vehicle_send_mission_select(Mission mission); void vehicle_send_mission_select(Mission mission);
#endif // __VEHICLE_H #endif // __VEHICLE_H

6
Core/Src/events.c
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@ -1,11 +1,13 @@
#include "events.h" #include "events.h"
#include "main.h" #include "main.h"
#include "user_inputs.h" #include "user_inputs.h"
#include <stdint.h> #include <stdint.h>
static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0}; static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0};
void event_push(Event *ev) { void event_push(Event* ev) {
if (event_num_free() == 0) { if (event_num_free() == 0) {
// TODO: How do we handle this? // TODO: How do we handle this?
return; return;
@ -61,4 +63,4 @@ void handle_events() {
Error_Handler(); Error_Handler();
} }
} }
} }

4
Core/Src/leds.c
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@ -1,5 +1,7 @@
#include "leds.h" #include "leds.h"
#include "main.h" #include "main.h"
#include "stm32g4xx_hal.h" #include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_gpio.h" #include "stm32g4xx_hal_gpio.h"
@ -24,4 +26,4 @@ void leds_init() {
HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_SET);
HAL_Delay(10); HAL_Delay(10);
HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
} }

798
Core/Src/main.c
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@ -1,401 +1,405 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file : main.c * @file : main.c
* @brief : Main program body * @brief : Main program body
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2022 STMicroelectronics. * Copyright (c) 2022 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "events.h" #include "events.h"
#include "leds.h" #include "leds.h"
#include "rpi.h" #include "rpi.h"
#include "state.h" #include "state.h"
#include "vehicle.h" #include "vehicle.h"
#include "stm32g4xx_hal.h" #include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_gpio.h" #include "stm32g4xx_hal_gpio.h"
#include <stdint.h> #include <stdint.h>
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */ /* USER CODE BEGIN PTD */
/* USER CODE END PTD */ /* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */ /* USER CODE BEGIN PD */
/* USER CODE END PD */ /* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */ /* USER CODE BEGIN PM */
/* USER CODE END PM */ /* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1; ADC_HandleTypeDef hadc1;
FDCAN_HandleTypeDef hfdcan1; FDCAN_HandleTypeDef hfdcan1;
I2C_HandleTypeDef hi2c2; I2C_HandleTypeDef hi2c2;
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
/* USER CODE END PV */ /* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void); void SystemClock_Config(void);
static void MX_GPIO_Init(void); static void MX_GPIO_Init(void);
static void MX_ADC1_Init(void); static void MX_ADC1_Init(void);
static void MX_FDCAN1_Init(void); static void MX_FDCAN1_Init(void);
static void MX_I2C2_Init(void); static void MX_I2C2_Init(void);
/* USER CODE BEGIN PFP */ /* USER CODE BEGIN PFP */
/* USER CODE END PFP */ /* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/ /* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
/** /**
* @brief The application entry point. * @brief The application entry point.
* @retval int * @retval int
*/ */
int main(void) { int main(void) {
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/ /* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. /* Reset of all peripherals, Initializes the Flash interface and the Systick.
*/ */
HAL_Init(); HAL_Init();
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
/* USER CODE END Init */ /* USER CODE END Init */
/* Configure the system clock */ /* Configure the system clock */
SystemClock_Config(); SystemClock_Config();
/* USER CODE BEGIN SysInit */ /* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */ /* USER CODE END SysInit */
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_ADC1_Init(); MX_ADC1_Init();
MX_FDCAN1_Init(); MX_FDCAN1_Init();
MX_I2C2_Init(); MX_I2C2_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
leds_init(); leds_init();
state_init(); state_init();
vehicle_init(&hfdcan1); vehicle_init(&hfdcan1);
rpi_init(&hi2c2); rpi_init(&hi2c2);
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
uint32_t rpi_active_since = 0; uint32_t last_can = 0;
while (1) { while (1) {
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */
uint32_t now = HAL_GetTick(); uint32_t now = HAL_GetTick();
if (now < 1000) { if (now < 1000) {
HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_RESET);
} else { } else {
HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
} }
handle_events(); handle_events();
} if (now - last_can > 100) {
/* USER CODE END 3 */ // vehicle_send_mission_select(MISSION_ACCELERATION);
} last_can = now;
}
/** }
* @brief System Clock Configuration /* USER CODE END 3 */
* @retval None }
*/
void SystemClock_Config(void) { /**
RCC_OscInitTypeDef RCC_OscInitStruct = {0}; * @brief System Clock Configuration
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; * @retval None
*/
/** Configure the main internal regulator output voltage void SystemClock_Config(void) {
*/ RCC_OscInitTypeDef RCC_OscInitStruct = {0};
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1); RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters /** Configure the main internal regulator output voltage
* in the RCC_OscInitTypeDef structure. */
*/ HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON; /** Initializes the RCC Oscillators according to the specified parameters
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; * in the RCC_OscInitTypeDef structure.
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; */
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLN = 10; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { RCC_OscInitStruct.PLL.PLLN = 10;
Error_Handler(); RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
} RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
/** Initializes the CPU, AHB and APB buses clocks if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
*/ Error_Handler();
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | }
RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; /** Initializes the CPU, AHB and APB buses clocks
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; */
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Error_Handler(); RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
} RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
}
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
/** Error_Handler();
* @brief ADC1 Initialization Function }
* @param None }
* @retval None
*/ /**
static void MX_ADC1_Init(void) { * @brief ADC1 Initialization Function
* @param None
/* USER CODE BEGIN ADC1_Init 0 */ * @retval None
*/
/* USER CODE END ADC1_Init 0 */ static void MX_ADC1_Init(void) {
ADC_MultiModeTypeDef multimode = {0}; /* USER CODE BEGIN ADC1_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE END ADC1_Init 0 */
/* USER CODE BEGIN ADC1_Init 1 */
ADC_MultiModeTypeDef multimode = {0};
/* USER CODE END ADC1_Init 1 */ ADC_ChannelConfTypeDef sConfig = {0};
/** Common config /* USER CODE BEGIN ADC1_Init 1 */
*/
hadc1.Instance = ADC1; /* USER CODE END ADC1_Init 1 */
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc1.Init.Resolution = ADC_RESOLUTION_12B; /** Common config
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; */
hadc1.Init.GainCompensation = 0; hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE; hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV; hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.LowPowerAutoWait = DISABLE; hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.ContinuousConvMode = DISABLE; hadc1.Init.GainCompensation = 0;
hadc1.Init.NbrOfConversion = 1; hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE; hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; hadc1.Init.LowPowerAutoWait = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DMAContinuousRequests = DISABLE; hadc1.Init.NbrOfConversion = 1;
hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED; hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.OversamplingMode = DISABLE; hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
if (HAL_ADC_Init(&hadc1) != HAL_OK) { hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
Error_Handler(); hadc1.Init.DMAContinuousRequests = DISABLE;
} hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
hadc1.Init.OversamplingMode = DISABLE;
/** Configure the ADC multi-mode if (HAL_ADC_Init(&hadc1) != HAL_OK) {
*/ Error_Handler();
multimode.Mode = ADC_MODE_INDEPENDENT; }
if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK) {
Error_Handler(); /** Configure the ADC multi-mode
} */
multimode.Mode = ADC_MODE_INDEPENDENT;
/** Configure Regular Channel if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK) {
*/ Error_Handler();
sConfig.Channel = ADC_CHANNEL_14; }
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5; /** Configure Regular Channel
sConfig.SingleDiff = ADC_SINGLE_ENDED; */
sConfig.OffsetNumber = ADC_OFFSET_NONE; sConfig.Channel = ADC_CHANNEL_14;
sConfig.Offset = 0; sConfig.Rank = ADC_REGULAR_RANK_1;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) { sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
Error_Handler(); sConfig.SingleDiff = ADC_SINGLE_ENDED;
} sConfig.OffsetNumber = ADC_OFFSET_NONE;
/* USER CODE BEGIN ADC1_Init 2 */ sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
/* USER CODE END ADC1_Init 2 */ Error_Handler();
} }
/* USER CODE BEGIN ADC1_Init 2 */
/**
* @brief FDCAN1 Initialization Function /* USER CODE END ADC1_Init 2 */
* @param None }
* @retval None
*/ /**
static void MX_FDCAN1_Init(void) { * @brief FDCAN1 Initialization Function
* @param None
/* USER CODE BEGIN FDCAN1_Init 0 */ * @retval None
*/
/* USER CODE END FDCAN1_Init 0 */ static void MX_FDCAN1_Init(void) {
/* USER CODE BEGIN FDCAN1_Init 1 */ /* USER CODE BEGIN FDCAN1_Init 0 */
/* USER CODE END FDCAN1_Init 1 */ /* USER CODE END FDCAN1_Init 0 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1; /* USER CODE BEGIN FDCAN1_Init 1 */
hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL; /* USER CODE END FDCAN1_Init 1 */
hfdcan1.Init.AutoRetransmission = ENABLE; hfdcan1.Instance = FDCAN1;
hfdcan1.Init.TransmitPause = ENABLE; hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan1.Init.ProtocolException = DISABLE; hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
hfdcan1.Init.NominalPrescaler = 1; hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.NominalSyncJumpWidth = 16; hfdcan1.Init.AutoRetransmission = ENABLE;
hfdcan1.Init.NominalTimeSeg1 = 63; hfdcan1.Init.TransmitPause = ENABLE;
hfdcan1.Init.NominalTimeSeg2 = 16; hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.DataPrescaler = 1; hfdcan1.Init.NominalPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 4; hfdcan1.Init.NominalSyncJumpWidth = 16;
hfdcan1.Init.DataTimeSeg1 = 5; hfdcan1.Init.NominalTimeSeg1 = 63;
hfdcan1.Init.DataTimeSeg2 = 4; hfdcan1.Init.NominalTimeSeg2 = 16;
hfdcan1.Init.StdFiltersNbr = 2; hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.ExtFiltersNbr = 0; hfdcan1.Init.DataSyncJumpWidth = 4;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; hfdcan1.Init.DataTimeSeg1 = 5;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) { hfdcan1.Init.DataTimeSeg2 = 4;
Error_Handler(); hfdcan1.Init.StdFiltersNbr = 2;
} hfdcan1.Init.ExtFiltersNbr = 0;
/* USER CODE BEGIN FDCAN1_Init 2 */ hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
/* USER CODE END FDCAN1_Init 2 */ Error_Handler();
} }
/* USER CODE BEGIN FDCAN1_Init 2 */
/**
* @brief I2C2 Initialization Function /* USER CODE END FDCAN1_Init 2 */
* @param None }
* @retval None
*/ /**
static void MX_I2C2_Init(void) { * @brief I2C2 Initialization Function
* @param None
/* USER CODE BEGIN I2C2_Init 0 */ * @retval None
*/
/* USER CODE END I2C2_Init 0 */ static void MX_I2C2_Init(void) {
/* USER CODE BEGIN I2C2_Init 1 */ /* USER CODE BEGIN I2C2_Init 0 */
/* USER CODE END I2C2_Init 1 */ /* USER CODE END I2C2_Init 0 */
hi2c2.Instance = I2C2;
hi2c2.Init.Timing = 0x10909CEC; /* USER CODE BEGIN I2C2_Init 1 */
hi2c2.Init.OwnAddress1 = 64;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; /* USER CODE END I2C2_Init 1 */
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c2.Instance = I2C2;
hi2c2.Init.OwnAddress2 = 0; hi2c2.Init.Timing = 0x10909CEC;
hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK; hi2c2.Init.OwnAddress1 = 64;
hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
if (HAL_I2C_Init(&hi2c2) != HAL_OK) { hi2c2.Init.OwnAddress2 = 0;
Error_Handler(); hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
} hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
/** Configure Analogue filter if (HAL_I2C_Init(&hi2c2) != HAL_OK) {
*/ Error_Handler();
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) { }
Error_Handler();
} /** Configure Analogue filter
*/
/** Configure Digital filter if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
*/ Error_Handler();
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) { }
Error_Handler();
} /** Configure Digital filter
/* USER CODE BEGIN I2C2_Init 2 */ */
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) {
/* USER CODE END I2C2_Init 2 */ Error_Handler();
} }
/* USER CODE BEGIN I2C2_Init 2 */
/**
* @brief GPIO Initialization Function /* USER CODE END I2C2_Init 2 */
* @param None }
* @retval None
*/ /**
static void MX_GPIO_Init(void) { * @brief GPIO Initialization Function
GPIO_InitTypeDef GPIO_InitStruct = {0}; * @param None
* @retval None
/* GPIO Ports Clock Enable */ */
__HAL_RCC_GPIOA_CLK_ENABLE(); static void MX_GPIO_Init(void) {
__HAL_RCC_GPIOB_CLK_ENABLE(); GPIO_InitTypeDef GPIO_InitStruct = {0};
/*Configure GPIO pin Output Level */ /* GPIO Ports Clock Enable */
HAL_GPIO_WritePin(GPIOA, __HAL_RCC_GPIOA_CLK_ENABLE();
TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin | __HAL_RCC_GPIOB_CLK_ENABLE();
LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
DISP_RESET_Pin, /*Configure GPIO pin Output Level */
GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOA,
TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin |
/*Configure GPIO pins : TOP_PWM_Pin LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
LED_NCLR_Pin LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin DISP_RESET_Pin,
*/ GPIO_PIN_RESET);
GPIO_InitStruct.Pin = TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin |
LED_OCLK_Pin | LED_NCLR_Pin | LED_SER_Pin | /*Configure GPIO pins : TOP_PWM_Pin LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin
LED_NOE_Pin | DISP_RESET_Pin; LED_NCLR_Pin LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; */
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pin = TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin |
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; LED_OCLK_Pin | LED_NCLR_Pin | LED_SER_Pin |
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); LED_NOE_Pin | DISP_RESET_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
/*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */ GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */
GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin;
/*Configure GPIO pins : ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */ GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pin = ENC0A_Pin | ENC0B_Pin | ENC1A_Pin | ENC1B_Pin; GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pull = GPIO_PULLUP;
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;
/* EXTI interrupt init*/ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0); GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn); HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/* EXTI interrupt init*/
/* USER CODE BEGIN 4 */ HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
/* USER CODE END 4 */ }
/** /* USER CODE BEGIN 4 */
* @brief This function is executed in case of error occurrence.
* @retval None /* USER CODE END 4 */
*/
void Error_Handler(void) { /**
/* USER CODE BEGIN Error_Handler_Debug */ * @brief This function is executed in case of error occurrence.
/* User can add his own implementation to report the HAL error return state */ * @retval None
__disable_irq(); */
while (1) { void Error_Handler(void) {
} /* USER CODE BEGIN Error_Handler_Debug */
/* USER CODE END Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */
} __disable_irq();
while (1) {
#ifdef USE_FULL_ASSERT }
/** /* USER CODE END Error_Handler_Debug */
* @brief Reports the name of the source file and the source line number }
* where the assert_param error has occurred.
* @param file: pointer to the source file name #ifdef USE_FULL_ASSERT
* @param line: assert_param error line source number /**
* @retval None * @brief Reports the name of the source file and the source line number
*/ * where the assert_param error has occurred.
void assert_failed(uint8_t *file, uint32_t line) { * @param file: pointer to the source file name
/* USER CODE BEGIN 6 */ * @param line: assert_param error line source number
/* User can add his own implementation to report the file name and line * @retval None
number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, */
line) */ void assert_failed(uint8_t* file, uint32_t line) {
/* USER CODE END 6 */ /* USER CODE BEGIN 6 */
} /* User can add his own implementation to report the file name and line
#endif /* USE_FULL_ASSERT */ number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

17
Core/Src/rpi.c
View File

@ -1,9 +1,12 @@
#include "rpi.h" #include "rpi.h"
#include "main.h" #include "main.h"
#include "state.h" #include "state.h"
#include "stm32g4xx_hal_def.h" #include "stm32g4xx_hal_def.h"
#include "stm32g4xx_hal_gpio.h" #include "stm32g4xx_hal_gpio.h"
#include "stm32g4xx_hal_i2c.h" #include "stm32g4xx_hal_i2c.h"
#include <stdint.h> #include <stdint.h>
uint8_t i2c_rx_buf[I2C_RX_BUF_SIZE]; uint8_t i2c_rx_buf[I2C_RX_BUF_SIZE];
@ -12,10 +15,10 @@ uint8_t i2c_tx_len;
RPiI2CState rpi_i2c_state; RPiI2CState rpi_i2c_state;
size_t rpi_num_polls; size_t rpi_num_polls;
static I2C_HandleTypeDef *bus; static I2C_HandleTypeDef* bus;
static uint8_t current_command; static uint8_t current_command;
void rpi_init(I2C_HandleTypeDef *handle) { void rpi_init(I2C_HandleTypeDef* handle) {
bus = handle; bus = handle;
rpi_i2c_state = RPI_I2C_IDLE; rpi_i2c_state = RPI_I2C_IDLE;
rpi_num_polls = 0; rpi_num_polls = 0;
@ -51,7 +54,7 @@ void rpi_update_tx_buffer_ami() {
i2c_tx_buf[1] = stw_state.view_state.ami.current_mission; i2c_tx_buf[1] = stw_state.view_state.ami.current_mission;
} }
void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) { void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef* handle) {
switch (rpi_i2c_state) { switch (rpi_i2c_state) {
case RPI_I2C_SENDING_DATA_SIZE: case RPI_I2C_SENDING_DATA_SIZE:
if (HAL_I2C_Slave_Seq_Transmit_IT(bus, i2c_tx_buf, i2c_tx_len, if (HAL_I2C_Slave_Seq_Transmit_IT(bus, i2c_tx_buf, i2c_tx_len,
@ -70,7 +73,7 @@ void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) {
} }
} }
void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *handle) { void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef* handle) {
if (rpi_i2c_state != RPI_I2C_WAITING_FOR_COMMAND) { if (rpi_i2c_state != RPI_I2C_WAITING_FOR_COMMAND) {
// TODO: How do we handle this? // TODO: How do we handle this?
return; return;
@ -81,7 +84,7 @@ void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *handle) {
rpi_i2c_state = RPI_I2C_WAITING_FOR_MASTER_RECEIVE; rpi_i2c_state = RPI_I2C_WAITING_FOR_MASTER_RECEIVE;
} }
void HAL_I2C_AddrCallback(I2C_HandleTypeDef *handle, uint8_t TransferDirection, void HAL_I2C_AddrCallback(I2C_HandleTypeDef* handle, uint8_t TransferDirection,
uint16_t AddrMatchCode) { uint16_t AddrMatchCode) {
if (handle != bus) { if (handle != bus) {
HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, GPIO_PIN_RESET);
@ -116,7 +119,7 @@ void HAL_I2C_AddrCallback(I2C_HandleTypeDef *handle, uint8_t TransferDirection,
} }
} }
void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *handle) { void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef* handle) {
if (handle != bus) { if (handle != bus) {
return; return;
} }
@ -124,4 +127,4 @@ void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *handle) {
if (rpi_i2c_state == RPI_I2C_IDLE) { if (rpi_i2c_state == RPI_I2C_IDLE) {
HAL_I2C_EnableListen_IT(bus); HAL_I2C_EnableListen_IT(bus);
} }
} }

2
Core/Src/state.c
View File

@ -5,4 +5,4 @@ STWState stw_state;
void state_init() { void state_init() {
stw_state.view = VIEW_MISSION_SELECT; stw_state.view = VIEW_MISSION_SELECT;
stw_state.view_state.mission_select.selection = MISSION_ACCELERATION; stw_state.view_state.mission_select.selection = MISSION_ACCELERATION;
} }

13
Core/Src/user_inputs.c
View File

@ -3,9 +3,10 @@
#include "events.h" #include "events.h"
#include "main.h" #include "main.h"
#include "state.h" #include "state.h"
#include "stm32g4xx_hal_gpio.h"
#include "vehicle.h" #include "vehicle.h"
#include "stm32g4xx_hal_gpio.h"
void HAL_GPIO_EXTI_Callback(uint16_t pin) { void HAL_GPIO_EXTI_Callback(uint16_t pin) {
Event ev; Event ev;
@ -35,7 +36,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t pin) {
event_push(&ev); event_push(&ev);
} }
void handle_button_press(const ButtonPressEvent *ev) { void handle_button_press(const ButtonPressEvent* ev) {
switch (stw_state.view) { switch (stw_state.view) {
case VIEW_MISSION_SELECT: case VIEW_MISSION_SELECT:
handle_button_press_mission_select(ev); handle_button_press_mission_select(ev);
@ -47,10 +48,10 @@ void handle_button_press(const ButtonPressEvent *ev) {
} }
} }
void handle_button_press_mission_select(const ButtonPressEvent *ev) { void handle_button_press_mission_select(const ButtonPressEvent* ev) {
switch (*ev) { switch (*ev) {
case BTN_PRESS_PREV: { case BTN_PRESS_PREV: {
Mission *selection = &stw_state.view_state.mission_select.selection; Mission* selection = &stw_state.view_state.mission_select.selection;
if (*selection == MISSION_ACCELERATION || *selection == MISSION_NONE) { if (*selection == MISSION_ACCELERATION || *selection == MISSION_NONE) {
*selection = MISSION_MANUAL; *selection = MISSION_MANUAL;
} else { } else {
@ -64,7 +65,7 @@ void handle_button_press_mission_select(const ButtonPressEvent *ev) {
vehicle_send_mission_select(stw_state.view_state.mission_select.selection); vehicle_send_mission_select(stw_state.view_state.mission_select.selection);
break; break;
case BTN_PRESS_NEXT: { case BTN_PRESS_NEXT: {
Mission *selection = &stw_state.view_state.mission_select.selection; Mission* selection = &stw_state.view_state.mission_select.selection;
if (*selection == MISSION_MANUAL) { if (*selection == MISSION_MANUAL) {
*selection = MISSION_ACCELERATION; *selection = MISSION_ACCELERATION;
} else { } else {
@ -73,4 +74,4 @@ void handle_button_press_mission_select(const ButtonPressEvent *ev) {
break; break;
} }
} }
} }

14
Core/Src/vehicle.c
View File

@ -1,14 +1,16 @@
#include "vehicle.h" #include "vehicle.h"
#include "main.h" #include "main.h"
#include "state.h" #include "state.h"
#include "stm32g4xx_hal_def.h" #include "stm32g4xx_hal_def.h"
#include "stm32g4xx_hal_fdcan.h" #include "stm32g4xx_hal_fdcan.h"
FDCAN_HandleTypeDef *can; FDCAN_HandleTypeDef* can;
void handle_as_mission_fb(FDCAN_RxHeaderTypeDef *header, uint8_t *data); void handle_as_mission_fb(FDCAN_RxHeaderTypeDef* header, uint8_t* data);
void vehicle_init(FDCAN_HandleTypeDef *handle) { void vehicle_init(FDCAN_HandleTypeDef* handle) {
can = handle; can = handle;
// RX Filter // RX Filter
@ -67,7 +69,7 @@ void vehicle_send_mission_select(Mission mission) {
/* BEGIN CAN MESSAGE HANDLERS { */ /* BEGIN CAN MESSAGE HANDLERS { */
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
uint32_t interrupt_flags) { uint32_t interrupt_flags) {
if (!(interrupt_flags & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)) { if (!(interrupt_flags & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)) {
return; return;
@ -91,7 +93,7 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
} }
} }
void handle_as_mission_fb(FDCAN_RxHeaderTypeDef *header, uint8_t *data) { void handle_as_mission_fb(FDCAN_RxHeaderTypeDef* header, uint8_t* data) {
Mission mission_fb = data[0]; Mission mission_fb = data[0];
if (mission_fb == MISSION_NONE) { if (mission_fb == MISSION_NONE) {
return; return;
@ -102,4 +104,4 @@ void handle_as_mission_fb(FDCAN_RxHeaderTypeDef *header, uint8_t *data) {
stw_state.view = VIEW_AMI; stw_state.view = VIEW_AMI;
} }
/* } END CAN MESSAGE HANDLERS */ /* } END CAN MESSAGE HANDLERS */