Send button state to CAN

.clang-format

@@ -0,0 +1,137 @@
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+

.editorconfig

@@ -0,0 +1,8 @@
+[*]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+
+[*.{h,c}]
+indent_style = space
+indent_size = 2

Core/Inc/leds.h

@@ -0,0 +1,8 @@
+#ifndef __LEDS_H
+#define __LEDS_H
+
+#include "stm32g4xx_hal.h"
+
+void leds_init(TIM_HandleTypeDef* timer);
+
+#endif // __LEDS_H

Core/Inc/main.h

@@ -41,7 +41,7 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 /* USER CODE BEGIN EC */
-
+#define MAIN_LOOP_PERIOD 50 /* ms */
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/
@@ -49,6 +49,8 @@ extern "C" {
 
 /* USER CODE END EM */
 
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
+
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);
 
@@ -96,7 +98,7 @@ void Error_Handler(void);
 #define ENC1B_Pin GPIO_PIN_7
 #define ENC1B_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
-
+#define TOP_PWM_TIM_CHANNEL TIM_CHANNEL_1
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus

Core/Inc/stm32g4xx_hal_conf.h

@@ -62,7 +62,7 @@
 /*#define HAL_SMBUS_MODULE_ENABLED   */
 /*#define HAL_SPI_MODULE_ENABLED   */
 /*#define HAL_SRAM_MODULE_ENABLED   */
-/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 /*#define HAL_UART_MODULE_ENABLED   */
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */

Core/Inc/stm32g4xx_it.h

@@ -55,6 +55,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void FDCAN1_IT0_IRQHandler(void);
 void I2C2_EV_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Core/Inc/user_inputs.h

@@ -2,7 +2,22 @@
 #define __FT_USER_INPUTS_H
 
 #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

@@ -0,0 +1,24 @@
+#ifndef __VEHICLE_H
+#define __VEHICLE_H
+
+#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);
+
+HAL_StatusTypeDef vehicle_send_mission_select(Mission mission);
+HAL_StatusTypeDef vehicle_send_buttons();
+
+#endif // __VEHICLE_H

Core/Src/events.c

@@ -1,6 +1,8 @@
 #include "events.h"
+
 #include "main.h"
 #include "user_inputs.h"
+
 #include <stdint.h>
 
 static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0};

Core/Src/leds.c

@@ -0,0 +1,33 @@
+#include "leds.h"
+
+#include "main.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
+#include "stm32g4xx_hal_tim.h"
+
+void leds_init(TIM_HandleTypeDef* timer) {
+  if (HAL_TIM_PWM_Start(timer, TOP_PWM_TIM_CHANNEL) != HAL_OK) {
+    Error_Handler();
+  }
+
+  HAL_GPIO_WritePin(LED_NOE_GPIO_Port, LED_NOE_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(LED_NCLR_GPIO_Port, LED_NCLR_Pin, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
+  HAL_Delay(10);
+
+  for (int i = 0; i < 12; i++) {
+    GPIO_PinState state = GPIO_PIN_RESET;
+    HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, state);
+    HAL_Delay(5);
+    HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_SET);
+    HAL_Delay(10);
+    HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
+    HAL_Delay(10);
+  }
+
+  HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_SET);
+  HAL_Delay(10);
+  HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
+}

Core/Src/main.c

@@ -22,11 +22,14 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "events.h"
+#include "leds.h"
 #include "rpi.h"
 #include "state.h"
+#include "vehicle.h"
 
 #include "stm32g4xx_hal.h"
 #include "stm32g4xx_hal_gpio.h"
+#include "stm32g4xx_hal_tim.h"
 
 #include <stdint.h>
 
@@ -53,6 +56,8 @@ FDCAN_HandleTypeDef hfdcan1;
 
 I2C_HandleTypeDef hi2c2;
 
+TIM_HandleTypeDef htim2;
+
 /* USER CODE BEGIN PV */
 
 /* USER CODE END PV */
@@ -63,13 +68,21 @@ static void MX_GPIO_Init(void);
 static void MX_ADC1_Init(void);
 static void MX_FDCAN1_Init(void);
 static void MX_I2C2_Init(void);
+static void MX_TIM2_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-
+void loop_delay() {
+  static uint32_t last_loop = 0;
+  int32_t diff = MAIN_LOOP_PERIOD - (HAL_GetTick() - last_loop);
+  if (diff > 0) {
+    HAL_Delay(diff);
+  }
+  last_loop = HAL_GetTick();
+}
 /* USER CODE END 0 */
 
 /**
@@ -103,14 +116,17 @@ int main(void) {
   MX_ADC1_Init();
   MX_FDCAN1_Init();
   MX_I2C2_Init();
+  MX_TIM2_Init();
   /* USER CODE BEGIN 2 */
+  leds_init(&htim2);
   state_init();
+  vehicle_init(&hfdcan1);
   rpi_init(&hi2c2);
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
-  uint32_t rpi_active_since = 0;
+  uint32_t last_can = 0;
   while (1) {
     /* USER CODE END WHILE */
 
@@ -122,6 +138,8 @@ int main(void) {
       HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
     }
     handle_events();
+    vehicle_send_buttons();
+    loop_delay();
   }
   /* USER CODE END 3 */
 }
@@ -144,7 +162,13 @@ void SystemClock_Config(void) {
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
+  RCC_OscInitStruct.PLL.PLLN = 10;
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
+  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
     Error_Handler();
   }
@@ -153,12 +177,12 @@ void SystemClock_Config(void) {
    */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
                                 RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
     Error_Handler();
   }
 }
@@ -242,20 +266,20 @@ static void MX_FDCAN1_Init(void) {
   /* USER CODE END FDCAN1_Init 1 */
   hfdcan1.Instance = FDCAN1;
   hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
-  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
+  hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
   hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
-  hfdcan1.Init.AutoRetransmission = DISABLE;
-  hfdcan1.Init.TransmitPause = DISABLE;
+  hfdcan1.Init.AutoRetransmission = ENABLE;
+  hfdcan1.Init.TransmitPause = ENABLE;
   hfdcan1.Init.ProtocolException = DISABLE;
   hfdcan1.Init.NominalPrescaler = 1;
-  hfdcan1.Init.NominalSyncJumpWidth = 1;
-  hfdcan1.Init.NominalTimeSeg1 = 2;
-  hfdcan1.Init.NominalTimeSeg2 = 2;
+  hfdcan1.Init.NominalSyncJumpWidth = 16;
+  hfdcan1.Init.NominalTimeSeg1 = 63;
+  hfdcan1.Init.NominalTimeSeg2 = 16;
   hfdcan1.Init.DataPrescaler = 1;
-  hfdcan1.Init.DataSyncJumpWidth = 1;
-  hfdcan1.Init.DataTimeSeg1 = 1;
-  hfdcan1.Init.DataTimeSeg2 = 1;
-  hfdcan1.Init.StdFiltersNbr = 0;
+  hfdcan1.Init.DataSyncJumpWidth = 4;
+  hfdcan1.Init.DataTimeSeg1 = 5;
+  hfdcan1.Init.DataTimeSeg2 = 4;
+  hfdcan1.Init.StdFiltersNbr = 2;
   hfdcan1.Init.ExtFiltersNbr = 0;
   hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
@@ -281,7 +305,7 @@ static void MX_I2C2_Init(void) {
 
   /* USER CODE END I2C2_Init 1 */
   hi2c2.Instance = I2C2;
-  hi2c2.Init.Timing = 0x00303D5B;
+  hi2c2.Init.Timing = 0x10909CEC;
   hi2c2.Init.OwnAddress1 = 64;
   hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -309,6 +333,50 @@ static void MX_I2C2_Init(void) {
   /* USER CODE END I2C2_Init 2 */
 }
 
+/**
+ * @brief TIM2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM2_Init(void) {
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 79;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 255;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 31;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+}
+
 /**
  * @brief GPIO Initialization Function
  * @param None
@@ -323,17 +391,15 @@ static void MX_GPIO_Init(void) {
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOA,
-                    TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin |
-                        LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
-                        DISP_RESET_Pin,
+                    LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin | LED_NCLR_Pin |
+                        LED_SER_Pin | LED_NOE_Pin | DISP_RESET_Pin,
                     GPIO_PIN_RESET);
 
-  /*Configure GPIO pins : TOP_PWM_Pin LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin
-                           LED_NCLR_Pin LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin
-   */
-  GPIO_InitStruct.Pin = TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin |
-                        LED_OCLK_Pin | LED_NCLR_Pin | LED_SER_Pin |
-                        LED_NOE_Pin | DISP_RESET_Pin;
+  /*Configure GPIO pins : LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin LED_NCLR_Pin
+                           LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin */
+  GPIO_InitStruct.Pin = LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_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.Speed = GPIO_SPEED_FREQ_LOW;

Core/Src/rpi.c

@@ -1,9 +1,12 @@
 #include "rpi.h"
+
 #include "main.h"
 #include "state.h"
+
 #include "stm32g4xx_hal_def.h"
 #include "stm32g4xx_hal_gpio.h"
 #include "stm32g4xx_hal_i2c.h"
+
 #include <stdint.h>
 
 uint8_t i2c_rx_buf[I2C_RX_BUF_SIZE];

Core/Src/stm32g4xx_hal_msp.c

@@ -57,6 +57,8 @@
 /* USER CODE BEGIN 0 */
 
 /* USER CODE END 0 */
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                     /**
   * Initializes the Global MSP.
   */
@@ -192,6 +194,9 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
     GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* FDCAN1 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspInit 1 */
 
   /* USER CODE END FDCAN1_MspInit 1 */
@@ -221,6 +226,8 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
 
+    /* FDCAN1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
 
   /* USER CODE END FDCAN1_MspDeInit 1 */
@@ -310,6 +317,76 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
 
 }
 
+/**
+* @brief TIM_PWM MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_pwm: TIM_PWM handle pointer
+* @retval None
+*/
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
+{
+  if(htim_pwm->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+  /* USER CODE BEGIN TIM2_MspInit 1 */
+
+  /* USER CODE END TIM2_MspInit 1 */
+  }
+
+}
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspPostInit 0 */
+
+  /* USER CODE END TIM2_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PA0     ------> TIM2_CH1
+    */
+    GPIO_InitStruct.Pin = TOP_PWM_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(TOP_PWM_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM2_MspPostInit 1 */
+
+  /* USER CODE END TIM2_MspPostInit 1 */
+  }
+
+}
+/**
+* @brief TIM_PWM MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_pwm: TIM_PWM handle pointer
+* @retval None
+*/
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
+{
+  if(htim_pwm->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+  /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+  /* USER CODE END TIM2_MspDeInit 1 */
+  }
+
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/stm32g4xx_it.c

@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern FDCAN_HandleTypeDef hfdcan1;
 extern I2C_HandleTypeDef hi2c2;
 /* USER CODE BEGIN EV */
 
@@ -198,6 +199,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32g4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles FDCAN1 interrupt 0.
+  */
+void FDCAN1_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 0 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 1 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 1 */
+}
+
 /**
   * @brief This function handles I2C2 event interrupt / I2C2 wake-up interrupt through EXTI line 24.
   */

Core/Src/user_inputs.c

@@ -3,30 +3,60 @@
 #include "events.h"
 #include "main.h"
 #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();
   }
@@ -60,9 +90,7 @@ void handle_button_press_mission_select(const ButtonPressEvent *ev) {
   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;
+    vehicle_send_mission_select(stw_state.view_state.mission_select.selection);
     break;
   case BTN_PRESS_NEXT: {
     Mission* selection = &stw_state.view_state.mission_select.selection;
@@ -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

@@ -0,0 +1,127 @@
+#include "vehicle.h"
+
+#include "main.h"
+#include "state.h"
+#include "user_inputs.h"
+
+#include "stm32g4xx_hal_def.h"
+#include "stm32g4xx_hal_fdcan.h"
+
+FDCAN_HandleTypeDef* can;
+
+void handle_as_mission_fb(FDCAN_RxHeaderTypeDef* header, uint8_t* data);
+
+void vehicle_init(FDCAN_HandleTypeDef* handle) {
+  can = handle;
+
+  // RX Filter
+  FDCAN_FilterTypeDef filter;
+  filter.IdType = FDCAN_STANDARD_ID;
+  filter.FilterIndex = 0;
+  filter.FilterType = FDCAN_FILTER_MASK;
+  filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+  filter.FilterID1 = CAN_ID_AS_MISSION_FB;
+  filter.FilterID2 = filter.FilterID1;
+  if (HAL_FDCAN_ConfigFilter(can, &filter) != HAL_OK) {
+    Error_Handler();
+  }
+
+  // Global filter: Filter all remote frames with STD & EXT ID, reject non
+  // matching frames with STD & EXT ID
+
+  // TODO: What does that mean?
+  if (HAL_FDCAN_ConfigGlobalFilter(can, FDCAN_REJECT, FDCAN_REJECT,
+                                   FDCAN_FILTER_REMOTE,
+                                   FDCAN_FILTER_REMOTE) != HAL_OK) {
+    Error_Handler();
+  }
+
+  // Start FDCAN module
+  if (HAL_FDCAN_Start(can) != HAL_OK) {
+    Error_Handler();
+  }
+
+  // Enable RX interrupt
+  if (HAL_FDCAN_ActivateNotification(can, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) !=
+      HAL_OK) {
+    Error_Handler();
+  }
+}
+
+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;
+  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;
+
+  uint8_t data[1];
+  data[0] = mission;
+  return HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data);
+}
+
+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 { */
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
+                               uint32_t interrupt_flags) {
+  if (!(interrupt_flags & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)) {
+    return;
+  }
+
+  static FDCAN_RxHeaderTypeDef header;
+  static uint8_t data[64];
+
+  if (HAL_FDCAN_GetRxMessage(can, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
+    Error_Handler();
+  }
+
+  if (header.IdType != FDCAN_STANDARD_ID) {
+    return;
+  }
+
+  switch (header.Identifier) {
+  case CAN_ID_AS_MISSION_FB:
+    handle_as_mission_fb(&header, data);
+    break;
+  }
+}
+
+void handle_as_mission_fb(FDCAN_RxHeaderTypeDef* header, uint8_t* data) {
+  Mission mission_fb = data[0];
+  if (mission_fb == MISSION_NONE) {
+    return;
+  }
+
+  stw_state.view_state.ami.current_mission = mission_fb;
+
+  stw_state.view = VIEW_AMI;
+}
+
+/* } END CAN MESSAGE HANDLERS */

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sat May 28 00:49:24 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sun May 29 02:01:26 CEST 2022] 
 ##########################################################################################################################
 
 # ------------------------------------------------

STM32Make.make

@@ -37,6 +37,7 @@ BUILD_DIR = build
 # C sources
 C_SOURCES =  \
 Core/Src/events.c \
+Core/Src/leds.c \
 Core/Src/main.c \
 Core/Src/rpi.c \
 Core/Src/state.c \
@@ -44,6 +45,7 @@ Core/Src/stm32g4xx_hal_msp.c \
 Core/Src/stm32g4xx_it.c \
 Core/Src/system_stm32g4xx.c \
 Core/Src/user_inputs.c \
+Core/Src/vehicle.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 \
@@ -152,7 +154,8 @@ CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-
 CXXFLAGS = $(MCU) $(CXX_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -feliminate-unused-debug-types
 
 ifeq ($(DEBUG), 1)
-CFLAGS += -g -gdwarf-2
+CFLAGS += -g -gdwarf -ggdb
+CXXFLAGS += -g -gdwarf -ggdb
 endif
 
 # Add additional flags
@@ -241,6 +244,12 @@ erase: $(BUILD_DIR)/$(TARGET).elf
 clean:
 	-rm -fR $(BUILD_DIR)
 
+#######################################
+# custom makefile rules
+#######################################
+
+
+	
 #######################################
 # dependencies
 #######################################

steering-wheel-stm.ioc

@@ -6,10 +6,23 @@ ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
 ADC1.master=1
+FDCAN1.AutoRetransmission=ENABLE
+FDCAN1.DataSyncJumpWidth=4
+FDCAN1.DataTimeSeg1=5
+FDCAN1.DataTimeSeg2=4
+FDCAN1.FrameFormat=FDCAN_FRAME_FD_BRS
+FDCAN1.IPParameters=StdFiltersNbr,Mode,FrameFormat,AutoRetransmission,TransmitPause,NominalSyncJumpWidth,NominalTimeSeg1,NominalTimeSeg2,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2
+FDCAN1.Mode=FDCAN_MODE_NORMAL
+FDCAN1.NominalSyncJumpWidth=16
+FDCAN1.NominalTimeSeg1=63
+FDCAN1.NominalTimeSeg2=16
+FDCAN1.StdFiltersNbr=2
+FDCAN1.TransmitPause=ENABLE
 File.Version=6
-GPIO.groupedBy=
-I2C2.IPParameters=OwnAddress
+GPIO.groupedBy=Group By Peripherals
+I2C2.IPParameters=OwnAddress,Timing
 I2C2.OwnAddress=0x20
+I2C2.Timing=0x10909CEC
 KeepUserPlacement=false
 Mcu.CPN=STM32G441CBT6
 Mcu.Family=STM32G4
@@ -19,7 +32,8 @@ Mcu.IP2=I2C2
 Mcu.IP3=NVIC
 Mcu.IP4=RCC
 Mcu.IP5=SYS
-Mcu.IPNb=6
+Mcu.IP6=TIM2
+Mcu.IPNb=7
 Mcu.Name=STM32G441CBTx
 Mcu.Package=LQFP48
 Mcu.Pin0=PA0
@@ -56,6 +70,7 @@ 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.FDCAN1_IT0_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
@@ -69,7 +84,7 @@ NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 PA0.GPIOParameters=GPIO_Label
 PA0.GPIO_Label=TOP_PWM
 PA0.Locked=true
-PA0.Signal=GPIO_Output
+PA0.Signal=S_TIM2_CH1
 PA1.GPIOParameters=GPIO_Label
 PA1.GPIO_Label=LOGO_PWM
 PA1.Locked=true
@@ -184,46 +199,49 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true
-RCC.AHBFreq_Value=16000000
-RCC.APB1Freq_Value=16000000
-RCC.APB1TimFreq_Value=16000000
-RCC.APB2Freq_Value=16000000
-RCC.APB2TimFreq_Value=16000000
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true
+RCC.ADC12Freq_Value=80000000
+RCC.AHBFreq_Value=80000000
+RCC.APB1Freq_Value=80000000
+RCC.APB1TimFreq_Value=80000000
+RCC.APB2Freq_Value=80000000
+RCC.APB2TimFreq_Value=80000000
 RCC.CRSFreq_Value=48000000
-RCC.CortexFreq_Value=16000000
+RCC.CortexFreq_Value=80000000
 RCC.EXTERNAL_CLOCK_VALUE=12288000
-RCC.FCLKCortexFreq_Value=16000000
-RCC.FDCANFreq_Value=16000000
+RCC.FCLKCortexFreq_Value=80000000
+RCC.FDCANFreq_Value=80000000
 RCC.FamilyName=M
-RCC.HCLKFreq_Value=16000000
+RCC.HCLKFreq_Value=80000000
 RCC.HSE_VALUE=8000000
 RCC.HSI48_VALUE=48000000
 RCC.HSI_VALUE=16000000
-RCC.I2C1Freq_Value=16000000
-RCC.I2C2Freq_Value=16000000
-RCC.I2C3Freq_Value=16000000
-RCC.I2SFreq_Value=16000000
-RCC.IPParameters=AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
-RCC.LPTIM1Freq_Value=16000000
-RCC.LPUART1Freq_Value=16000000
+RCC.I2C1Freq_Value=80000000
+RCC.I2C2Freq_Value=80000000
+RCC.I2C3Freq_Value=80000000
+RCC.I2SFreq_Value=80000000
+RCC.IPParameters=ADC12Freq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
+RCC.LPTIM1Freq_Value=80000000
+RCC.LPUART1Freq_Value=80000000
 RCC.LSCOPinFreq_Value=32000
 RCC.LSE_VALUE=32768
 RCC.LSI_VALUE=32000
 RCC.MCO1PinFreq_Value=16000000
-RCC.PLLPoutputFreq_Value=64000000
-RCC.PLLQoutputFreq_Value=64000000
-RCC.PLLRCLKFreq_Value=64000000
-RCC.PWRFreq_Value=16000000
-RCC.RNGFreq_Value=64000000
-RCC.SAI1Freq_Value=16000000
-RCC.SYSCLKFreq_VALUE=16000000
-RCC.USART1Freq_Value=16000000
-RCC.USART2Freq_Value=16000000
-RCC.USART3Freq_Value=16000000
-RCC.USBFreq_Value=64000000
+RCC.PLLN=10
+RCC.PLLPoutputFreq_Value=80000000
+RCC.PLLQoutputFreq_Value=80000000
+RCC.PLLRCLKFreq_Value=80000000
+RCC.PWRFreq_Value=80000000
+RCC.RNGFreq_Value=80000000
+RCC.SAI1Freq_Value=80000000
+RCC.SYSCLKFreq_VALUE=80000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+RCC.USART1Freq_Value=80000000
+RCC.USART2Freq_Value=80000000
+RCC.USART3Freq_Value=80000000
+RCC.USBFreq_Value=80000000
 RCC.VCOInputFreq_Value=16000000
-RCC.VCOOutputFreq_Value=128000000
+RCC.VCOOutputFreq_Value=160000000
 SH.GPXTI12.0=GPIO_EXTI12
 SH.GPXTI12.ConfNb=1
 SH.GPXTI13.0=GPIO_EXTI13
@@ -232,6 +250,13 @@ SH.GPXTI14.0=GPIO_EXTI14
 SH.GPXTI14.ConfNb=1
 SH.GPXTI15.0=GPIO_EXTI15
 SH.GPXTI15.ConfNb=1
+SH.S_TIM2_CH1.0=TIM2_CH1,PWM Generation1 CH1
+SH.S_TIM2_CH1.ConfNb=1
+TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM2.IPParameters=Channel-PWM Generation1 CH1,Prescaler,PeriodNoDither,PulseNoDither_1
+TIM2.PeriodNoDither=255
+TIM2.Prescaler=79
+TIM2.PulseNoDither_1=31
 VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
 VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
 VP_SYS_VS_Systick.Mode=SysTick