Send button state to CAN

Core/Inc/leds.h

@@ -1,6 +1,8 @@
 #ifndef __LEDS_H
 #define __LEDS_H
 
-void leds_init();
+#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/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/leds.c

@@ -4,17 +4,21 @@
 
 #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();
+  }
 
-void leds_init() {
   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_GPIO_WritePin(TOP_PWM_GPIO_Port, TOP_PWM_Pin, GPIO_PIN_SET);
   HAL_Delay(10);
 
   for (int i = 0; i < 12; i++) {
-    GPIO_PinState state = (i % 2 == 0) ? GPIO_PIN_SET : GPIO_PIN_RESET;
+    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);

Core/Src/main.c

@@ -29,6 +29,7 @@
 
 #include "stm32g4xx_hal.h"
 #include "stm32g4xx_hal_gpio.h"
+#include "stm32g4xx_hal_tim.h"
 
 #include <stdint.h>
 
@@ -55,6 +56,8 @@ FDCAN_HandleTypeDef hfdcan1;
 
 I2C_HandleTypeDef hi2c2;
 
+TIM_HandleTypeDef htim2;
+
 /* USER CODE BEGIN PV */
 
 /* USER CODE END PV */
@@ -65,13 +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 */
 
 /**
@@ -105,8 +116,9 @@ int main(void) {
   MX_ADC1_Init();
   MX_FDCAN1_Init();
   MX_I2C2_Init();
+  MX_TIM2_Init();
   /* USER CODE BEGIN 2 */
-  leds_init();
+  leds_init(&htim2);
   state_init();
   vehicle_init(&hfdcan1);
   rpi_init(&hi2c2);
@@ -126,10 +138,8 @@ 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_mission_select(MISSION_ACCELERATION);
-      last_can = now;
-    }
+    vehicle_send_buttons();
+    loop_delay();
   }
   /* USER CODE END 3 */
 }
@@ -323,6 +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
@@ -337,17 +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/stm32g4xx_hal_msp.c

@@ -57,7 +57,9 @@
 /* USER CODE BEGIN 0 */
 
 /* USER CODE END 0 */
-/**
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+                    /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -315,6 +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/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) {
-    Error_Handler();
-  }
+  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 { */

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sat May 28 19:05:06 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sun May 29 02:01:26 CEST 2022] 
 ##########################################################################################################################
 
 # ------------------------------------------------

STM32Make.make

@@ -154,7 +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
@@ -242,6 +243,12 @@ erase: $(BUILD_DIR)/$(TARGET).elf
 #######################################
 clean:
 	-rm -fR $(BUILD_DIR)
+
+#######################################
+# custom makefile rules
+#######################################
+
+
 	
 #######################################
 # dependencies

steering-wheel-stm.ioc

@@ -32,7 +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
@@ -83,7 +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
@@ -198,7 +199,7 @@ 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
+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
@@ -249,6 +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