Select missions with right encoder

AZURE_RTOS/App/app_azure_rtos.c

@@ -21,15 +21,15 @@
 /* Includes ------------------------------------------------------------------*/
 
 #include "app_azure_rtos.h"
-#include "app_touchgfx.h"
 #include "stm32h7xx.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "app.h"
-#include "graphics.h"
 #include "main.h"
 #include "tx_api.h"
+#include "tx_port.h"
+#include "ui.h"
 
 /* USER CODE END Includes */
 
@@ -63,7 +63,8 @@ static TX_BYTE_POOL tx_app_byte_pool;
 
 /* USER CODE BEGIN PV */
 TX_THREAD app_thread;
-TX_THREAD graphics_thread;
+TX_THREAD ui_thread;
+TX_QUEUE ui_queue;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -157,12 +158,22 @@ VOID tx_application_define(VOID *first_unused_memory) {
     Error_Handler();
   }
 
-  void *graphics_thread_stack = mem;
+  void *ui_queue_start = mem;
+  ULONG ui_queue_msg_size = sizeof(UIMessage) / sizeof(ULONG);
+  if (ui_queue_msg_size % sizeof(ULONG) != 0) {
+    ui_queue_msg_size++;
+  }
+  mem += UI_QUEUE_SIZE * ui_queue_msg_size;
+  if (tx_queue_create(&ui_queue, "UI Queue", ui_queue_msg_size, ui_queue_start,
+                      UI_QUEUE_SIZE * ui_queue_msg_size) != TX_SUCCESS) {
+    Error_Handler();
+  }
+
+  void *ui_thread_stack = mem;
   mem += THREAD_STACK_SIZE;
-  if (tx_thread_create(&graphics_thread, "Graphics Thread",
+  if (tx_thread_create(&ui_thread, "UI Thread", ui_thread_entry, 0,
-                       graphics_thread_entry, 0, graphics_thread_stack,
+                       ui_thread_stack, THREAD_STACK_SIZE, THREAD_PRIO_UI,
-                       THREAD_STACK_SIZE, THREAD_PRIO_GRAPHICS,
+                       THREAD_PRIO_UI, TX_NO_TIME_SLICE,
-                       THREAD_PRIO_GRAPHICS, TX_NO_TIME_SLICE,
                        TX_AUTO_START) != TX_SUCCESS) {
     Error_Handler();
   }

AZURE_RTOS/App/app_azure_rtos.h

@@ -44,8 +44,8 @@ extern "C" {
 #define THREAD_STACK_SIZE 4096
 
 #define THREAD_PRIO_APP 10
-#define THREAD_PRIO_GRAPHICS 20
+#define THREAD_PRIO_UI 6
-#define THREAD_PRIO_UI 5
+#define UI_QUEUE_SIZE 10
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/

Core/Inc/graphics.h

@@ -1,8 +0,0 @@
-#ifndef __INC_GRAPHICS_H
-#define __INC_GRAPHICS_H
-
-#include "tx_port.h"
-
-void graphics_thread_entry(ULONG _);
-
-#endif // __INC_GRAPHICS_H

Core/Inc/hx8357d.h

@@ -4,9 +4,17 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 void HX8357D_WriteData(uint8_t *data, size_t data_len);
 void HX8357D_WriteReg(uint8_t addr, uint8_t *data, size_t data_len);
 void HX8357D_Init();
 void HX8357D_Mode_RGB666();
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif // __HX8357D_H

Core/Inc/main.h

@@ -31,7 +31,7 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "tx_api.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
@@ -42,6 +42,7 @@ extern "C" {
 /* Exported constants --------------------------------------------------------*/
 /* USER CODE BEGIN EC */
 extern volatile int ltdc_cb_triggered;
+extern TX_QUEUE ui_queue;
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/
@@ -61,12 +62,16 @@ void Error_Handler(void);
 /* Private defines -----------------------------------------------------------*/
 #define ENC1A_Pin GPIO_PIN_3
 #define ENC1A_GPIO_Port GPIOE
+#define ENC1A_EXTI_IRQn EXTI3_IRQn
 #define ENC1B_Pin GPIO_PIN_4
 #define ENC1B_GPIO_Port GPIOE
+#define ENC1B_EXTI_IRQn EXTI4_IRQn
 #define ENC2A_Pin GPIO_PIN_5
 #define ENC2A_GPIO_Port GPIOE
+#define ENC2A_EXTI_IRQn EXTI9_5_IRQn
 #define ENC2B_Pin GPIO_PIN_6
 #define ENC2B_GPIO_Port GPIOE
+#define ENC2B_EXTI_IRQn EXTI9_5_IRQn
 #define BTN1_Pin GPIO_PIN_0
 #define BTN1_GPIO_Port GPIOF
 #define BTN2_Pin GPIO_PIN_1

Core/Inc/stm32h7xx_it.h

@@ -52,6 +52,9 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void EXTI3_IRQHandler(void);
+void EXTI4_IRQHandler(void);
+void EXTI9_5_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
 void LTDC_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Core/Inc/stw_defines.h

@@ -2,5 +2,15 @@
 #define __INC_STW_DEFINES_H
 
 #define NUM_MISSIONS 7
+typedef enum {
+  MISSION_NONE = 0,
+  MISSION_ACCEL = 1,
+  MISSION_SKIDPAD = 2,
+  MISSION_AUTOX = 3,
+  MISSION_TRACKDRIVE = 4,
+  MISSION_EBS = 5,
+  MISSION_INSPECTION = 6,
+  MISSION_MANUAL = 7
+} Mission;
 
 #endif // __INC_STW_DEFINES_H

Core/Inc/ui.h

@@ -0,0 +1,28 @@
+#ifndef __INC_ui_H
+#define __INC_ui_H
+
+#include "tx_port.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define NUM_BUTTONS 6
+#define NUM_ENCS 2
+#define BUTTON_MIN_PRESS_TIME 50 // ms
+#define ENC_MAX_PHASE 50         // ms
+
+typedef enum { UMK_BTN_RELEASED, UMK_ENC_CW, UMK_ENC_CCW } UIMessageKind;
+
+typedef struct {
+  UIMessageKind kind;
+  int number;
+} UIMessage;
+
+void ui_thread_entry(ULONG _);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __INC_ui_H

Core/Src/graphics.c

@@ -1,17 +0,0 @@
-#include "graphics.h"
-
-#include "stm32h7xx_hal.h"
-#include "tx_api.h"
-
-#include "hx8357d.h"
-#include "main.h"
-
-void graphics_thread_entry(ULONG _) {
-  HX8357D_Init();
-  HX8357D_Mode_RGB666();
-
-  while (1) {
-    HAL_GPIO_TogglePin(STATUS2_GPIO_Port, STATUS2_Pin);
-    tx_thread_sleep(100);
-  }
-}

Core/Src/main.c

@@ -135,6 +135,8 @@ int main(void) {
     Error_Handler();
   }
 
+  HX8357D_Init();
+  HX8357D_Mode_RGB666();
   /* USER CODE END 2 */
 
   MX_ThreadX_Init();
@@ -395,8 +397,7 @@ static void MX_LTDC_Init(void) {
   pLayerCfg.Alpha0 = 0;
   pLayerCfg.BlendingFactor1 = LTDC_BLENDING_FACTOR1_CA;
   pLayerCfg.BlendingFactor2 = LTDC_BLENDING_FACTOR2_CA;
-  // pLayerCfg.FBStartAdress = (uint32_t)&image_data_ft_logo_rainbow_rgb565;
+  pLayerCfg.FBStartAdress = 0;
-  pLayerCfg.FBStartAdress = (uint32_t)0x24040000;
   pLayerCfg.ImageWidth = 320;
   pLayerCfg.ImageHeight = 480;
   pLayerCfg.Backcolor.Blue = 0;
@@ -717,7 +718,7 @@ static void MX_GPIO_Init(void) {
 
   /*Configure GPIO pins : ENC1A_Pin ENC1B_Pin ENC2A_Pin ENC2B_Pin */
   GPIO_InitStruct.Pin = ENC1A_Pin | ENC1B_Pin | ENC2A_Pin | ENC2B_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
@@ -758,6 +759,16 @@ static void MX_GPIO_Init(void) {
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(BOOT0_SET_GPIO_Port, &GPIO_InitStruct);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI3_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI4_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
 }
 
 /* USER CODE BEGIN 4 */

Core/Src/stm32h7xx_it.c

@@ -160,6 +160,49 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32h7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles EXTI line3 interrupt.
+  */
+void EXTI3_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI3_IRQn 0 */
+
+  /* USER CODE END EXTI3_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(ENC1A_Pin);
+  /* USER CODE BEGIN EXTI3_IRQn 1 */
+
+  /* USER CODE END EXTI3_IRQn 1 */
+}
+
+/**
+  * @brief This function handles EXTI line4 interrupt.
+  */
+void EXTI4_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI4_IRQn 0 */
+
+  /* USER CODE END EXTI4_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(ENC1B_Pin);
+  /* USER CODE BEGIN EXTI4_IRQn 1 */
+
+  /* USER CODE END EXTI4_IRQn 1 */
+}
+
+/**
+  * @brief This function handles EXTI line[9:5] interrupts.
+  */
+void EXTI9_5_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI9_5_IRQn 0 */
+
+  /* USER CODE END EXTI9_5_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(ENC2A_Pin);
+  HAL_GPIO_EXTI_IRQHandler(ENC2B_Pin);
+  /* USER CODE BEGIN EXTI9_5_IRQn 1 */
+
+  /* USER CODE END EXTI9_5_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM6 global interrupt, DAC1_CH1 and DAC1_CH2 underrun error interrupts.
   */

Core/Src/ui.c

@@ -0,0 +1,97 @@
+#include "ui.h"
+
+#include "stm32h7a3xx.h"
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_gpio.h"
+#include "tx_api.h"
+
+#include "hx8357d.h"
+#include "main.h"
+#include <stdint.h>
+
+void ui_thread_entry(ULONG _) {
+  GPIO_TypeDef *button_ports[NUM_BUTTONS] = {BTN1_GPIO_Port, BTN2_GPIO_Port,
+                                             BTN3_GPIO_Port, BTN4_GPIO_Port,
+                                             BTN5_GPIO_Port, BTN6_GPIO_Port};
+  uint16_t button_pins[NUM_BUTTONS] = {BTN1_Pin, BTN2_Pin, BTN3_Pin,
+                                       BTN4_Pin, BTN5_Pin, BTN6_Pin};
+  GPIO_PinState button_states[NUM_BUTTONS] = {GPIO_PIN_RESET};
+  uint32_t button_change_times[NUM_BUTTONS] = {HAL_GetTick()};
+
+  while (1) {
+    for (int i = 0; i < NUM_BUTTONS; i++) {
+      GPIO_PinState state = HAL_GPIO_ReadPin(button_ports[i], button_pins[i]);
+      if (state != button_states[i]) {
+        uint32_t now = HAL_GetTick();
+        if (state == GPIO_PIN_RESET && now - button_change_times[i]) {
+          // Button release event!
+          UIMessage msg = {.kind = UMK_BTN_RELEASED, .number = i};
+          tx_queue_send(&ui_queue, &msg, TX_NO_WAIT);
+        }
+        button_change_times[i] = now;
+        button_states[i] = state;
+      }
+    }
+    // Release so other threads can get scheduled
+    tx_thread_sleep(1);
+  }
+}
+
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+  // This gets called when an edge on one of the encoder pins is detected.
+  static uint32_t last_change[NUM_ENCS * 2] = {0};
+  static GPIO_PinState last_state[NUM_ENCS * 2] = {GPIO_PIN_RESET};
+
+  if (GPIO_Pin == ENC2B_Pin) {
+    // ENC2A and ENC2B share an interrupt line, so the HAL calls this callback
+    // once with each pin. Since we already handled the interrupt once for
+    // ENC2A, we can just ignore it now.
+  }
+
+  uint32_t now = HAL_GetTick();
+
+  uint16_t pin_a, pin_b;
+  int idx_a, idx_b;
+  UIMessage msg;
+  if (GPIO_Pin == ENC1A_Pin || GPIO_Pin == ENC1B_Pin) {
+    pin_a = ENC1A_Pin;
+    pin_b = ENC1B_Pin;
+    idx_a = 0;
+    idx_b = 1;
+    msg.number = 0;
+  } else {
+    pin_a = ENC2A_Pin;
+    pin_b = ENC2B_Pin;
+    idx_a = 2;
+    idx_b = 3;
+    msg.number = 1;
+  }
+
+  // All encoder pins are on port E
+  GPIO_PinState state_a = HAL_GPIO_ReadPin(GPIOE, pin_a);
+  GPIO_PinState state_b = HAL_GPIO_ReadPin(GPIOE, pin_b);
+  int a_changed = state_a != last_state[idx_a];
+  int b_changed = state_b != last_state[idx_b];
+  last_state[idx_a] = state_a;
+  last_state[idx_b] = state_b;
+
+  if (state_a == GPIO_PIN_RESET && state_b == GPIO_PIN_RESET) {
+    // Second falling edge, direction depends on which pin changed last
+    if (a_changed && b_changed) {
+      // This shouldn't happen. Ignore this event.
+      last_change[idx_a] = now;
+      last_change[idx_b] = now;
+      return;
+    } else if (a_changed) {
+      last_change[idx_a] = now;
+      msg.kind = UMK_ENC_CCW;
+    } else if (b_changed) {
+      last_change[idx_b] = now;
+      msg.kind = UMK_ENC_CW;
+    } else {
+      // This shouldn't happen. Ignore this event.
+      return;
+    }
+    tx_queue_send(&ui_queue, &msg, TX_NO_WAIT);
+  }
+}

Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ltdc.c

@@ -160,7 +160,6 @@
   */
 
 /* Includes ------------------------------------------------------------------*/
-#include "main.h"
 #include "stm32h7xx_hal.h"
 
 /** @addtogroup STM32H7xx_HAL_Driver
@@ -631,8 +630,6 @@ HAL_StatusTypeDef HAL_LTDC_UnRegisterCallback(LTDC_HandleTypeDef *hltdc, HAL_LTD
   */
 void HAL_LTDC_IRQHandler(LTDC_HandleTypeDef *hltdc)
 {
-  ltdc_cb_triggered++;
-
   uint32_t isrflags  = READ_REG(hltdc->Instance->ISR);
   uint32_t itsources = READ_REG(hltdc->Instance->IER);
 
@@ -695,7 +692,6 @@ void HAL_LTDC_IRQHandler(LTDC_HandleTypeDef *hltdc)
   /* Line Interrupt management ************************************************/
   if (((isrflags & LTDC_ISR_LIF) != 0U) && ((itsources & LTDC_IER_LIE) != 0U))
   {
-    ltdc_cb_triggered++;
     /* Disable the Line interrupt */
     __HAL_LTDC_DISABLE_IT(hltdc, LTDC_IT_LI);
 

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Mon Mar 06 15:50:06 CET 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Tue Mar 07 19:47:03 CET 2023] 
 ##########################################################################################################################
 
 # ------------------------------------------------

STM32Make.make

@@ -39,12 +39,12 @@ C_SOURCES =  \
 AZURE_RTOS/App/app_azure_rtos.c \
 Core/Src/app.c \
 Core/Src/app_threadx.c \
-Core/Src/graphics.c \
 Core/Src/hx8357d.c \
 Core/Src/stm32h7xx_hal_msp.c \
 Core/Src/stm32h7xx_hal_timebase_tim.c \
 Core/Src/stm32h7xx_it.c \
 Core/Src/system_stm32h7xx.c \
+Core/Src/ui.c \
 Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c \
 Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c \
 Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c \
@@ -347,6 +347,8 @@ TouchGFX/generated/images/src/image_Fasttube_Logo.cpp \
 TouchGFX/generated/images/src/image_Fasttube_Logo_small.cpp \
 TouchGFX/generated/images/src/image_Fasttube_Logo_small_white.cpp \
 TouchGFX/generated/images/src/image_Fasttube_Logo_white.cpp \
+TouchGFX/generated/images/src/image_logo_dv_small.cpp \
+TouchGFX/generated/images/src/image_logo_dv_small_white.cpp \
 TouchGFX/generated/texts/src/LanguageGb.cpp \
 TouchGFX/generated/texts/src/Texts.cpp \
 TouchGFX/generated/texts/src/TypedTextDatabase.cpp \

TouchGFX/application.config

@@ -8,11 +8,14 @@
     "section": "ExtFlashSection",
     "extra_section": "ExtFlashSection",
     "images": {
-      "Fasttube_Logo.png": {
+      "Fasttube_Logo_small_white.png": {
-        "format": "RGB565"
+        "layout_rotation": "90"
       },
-      "Fasttube_Logo_white.png": {
+      "logo_dv_small.png": {
-        "format": "RGB565"
+        "layout_rotation": "90"
+      },
+      "logo_dv_small_white.png": {
+        "layout_rotation": "90"
       }
     }
   },

TouchGFX/generated/gui_generated/include/gui_generated/missionselect_screen/MissionSelectViewBase.hpp

@@ -11,6 +11,8 @@
 #include <touchgfx/widgets/TextArea.hpp>
 #include <touchgfx/containers/ListLayout.hpp>
 #include <gui/containers/MissionSelectElement.hpp>
+#include <touchgfx/widgets/canvas/Line.hpp>
+#include <touchgfx/widgets/canvas/PainterRGB565.hpp>
 #include <touchgfx/widgets/Image.hpp>
 
 class MissionSelectViewBase : public touchgfx::View<MissionSelectPresenter>
@@ -38,7 +40,9 @@ protected:
     MissionSelectElement ebs;
     MissionSelectElement inspection;
     MissionSelectElement manual;
-    touchgfx::Image image1;
+    touchgfx::Line lastLine;
+    touchgfx::PainterRGB565 lastLinePainter;
+    touchgfx::Image logo;
 
 private:
 

TouchGFX/generated/gui_generated/src/missionselect_screen/MissionSelectViewBase.cpp

@@ -38,11 +38,20 @@ MissionSelectViewBase::MissionSelectViewBase()
 
     missionList.add(manual);
 
+    lastLine.setPosition(0, 210, 480, 2);
+    lastLinePainter.setColor(touchgfx::Color::getColorFromRGB(170, 170, 170));
+    lastLine.setPainter(lastLinePainter);
+    lastLine.setStart(0, 0);
+    lastLine.setEnd(480, 0);
+    lastLine.setLineWidth(5);
+    lastLine.setLineEndingStyle(touchgfx::Line::ROUND_CAP_ENDING);
+    missionList.add(lastLine);
+
     add(missionList);
 
-    image1.setXY(160, 263);
+    logo.setXY(160, 263);
-    image1.setBitmap(touchgfx::Bitmap(BITMAP_FASTTUBE_LOGO_SMALL_WHITE_ID));
+    logo.setBitmap(touchgfx::Bitmap(BITMAP_LOGO_DV_SMALL_WHITE_ID));
-    add(image1);
+    add(logo);
 }
 
 MissionSelectViewBase::~MissionSelectViewBase()

TouchGFX/generated/images/include/images/BitmapDatabase.hpp

@@ -10,6 +10,8 @@ const uint16_t BITMAP_FASTTUBE_LOGO_ID = 0;
 const uint16_t BITMAP_FASTTUBE_LOGO_SMALL_ID = 1;
 const uint16_t BITMAP_FASTTUBE_LOGO_SMALL_WHITE_ID = 2;
 const uint16_t BITMAP_FASTTUBE_LOGO_WHITE_ID = 3;
+const uint16_t BITMAP_LOGO_DV_SMALL_ID = 4;
+const uint16_t BITMAP_LOGO_DV_SMALL_WHITE_ID = 5;
 
 namespace BitmapDatabase
 {

TouchGFX/generated/images/src/BitmapDatabase.cpp

@@ -1,21 +1,23 @@
-// 4.21.2 0x29b80d2b
+// 4.21.2 0xf00b0e5c
 // Generated by imageconverter. Please, do not edit!
 
 #include <images/BitmapDatabase.hpp>
 #include <touchgfx/Bitmap.hpp>
 
 extern const unsigned char image_fasttube_logo[]; // BITMAP_FASTTUBE_LOGO_ID = 0, Size: 480x165 pixels
-extern const unsigned char image_fasttube_logo_extra_data[];
 extern const unsigned char image_fasttube_logo_small[]; // BITMAP_FASTTUBE_LOGO_SMALL_ID = 1, Size: 160x55 pixels
 extern const unsigned char image_fasttube_logo_small_white[]; // BITMAP_FASTTUBE_LOGO_SMALL_WHITE_ID = 2, Size: 160x55 pixels
 extern const unsigned char image_fasttube_logo_white[]; // BITMAP_FASTTUBE_LOGO_WHITE_ID = 3, Size: 480x165 pixels
-extern const unsigned char image_fasttube_logo_white_extra_data[];
+extern const unsigned char image_logo_dv_small[]; // BITMAP_LOGO_DV_SMALL_ID = 4, Size: 160x55 pixels
+extern const unsigned char image_logo_dv_small_white[]; // BITMAP_LOGO_DV_SMALL_WHITE_ID = 5, Size: 160x55 pixels
 
 const touchgfx::Bitmap::BitmapData bitmap_database[] = {
-    { image_fasttube_logo, image_fasttube_logo_extra_data, 480, 165, 184, 124, 113, ((uint8_t)touchgfx::Bitmap::RGB565) >> 3, 9, ((uint8_t)touchgfx::Bitmap::RGB565) & 0x7 },
+    { image_fasttube_logo, 0, 480, 165, 0, 0, 480, ((uint8_t)touchgfx::Bitmap::RGB565) >> 3, 165, ((uint8_t)touchgfx::Bitmap::RGB565) & 0x7 },
-    { image_fasttube_logo_small, 0, 160, 55, 62, 42, 36, ((uint8_t)touchgfx::Bitmap::ARGB8888) >> 3, 2, ((uint8_t)touchgfx::Bitmap::ARGB8888) & 0x7 },
+    { image_fasttube_logo_small, 0, 160, 55, 0, 0, 160, ((uint8_t)touchgfx::Bitmap::RGB565) >> 3, 55, ((uint8_t)touchgfx::Bitmap::RGB565) & 0x7 },
-    { image_fasttube_logo_small_white, 0, 160, 55, 62, 42, 36, ((uint8_t)touchgfx::Bitmap::ARGB8888) >> 3, 2, ((uint8_t)touchgfx::Bitmap::ARGB8888) & 0x7 },
+    { image_fasttube_logo_small_white, 0, 160, 55, 0, 0, 160, ((uint8_t)touchgfx::Bitmap::RGB565) >> 3, 55, ((uint8_t)touchgfx::Bitmap::RGB565) & 0x7 },
-    { image_fasttube_logo_white, image_fasttube_logo_white_extra_data, 480, 165, 184, 124, 113, ((uint8_t)touchgfx::Bitmap::RGB565) >> 3, 9, ((uint8_t)touchgfx::Bitmap::RGB565) & 0x7 }
+    { image_fasttube_logo_white, 0, 480, 165, 0, 0, 480, ((uint8_t)touchgfx::Bitmap::RGB565) >> 3, 165, ((uint8_t)touchgfx::Bitmap::RGB565) & 0x7 },
+    { image_logo_dv_small, 0, 160, 55, 62, 42, 37, ((uint8_t)touchgfx::Bitmap::ARGB8888) >> 3, 2, ((uint8_t)touchgfx::Bitmap::ARGB8888) & 0x7 },
+    { image_logo_dv_small_white, 0, 160, 55, 62, 42, 37, ((uint8_t)touchgfx::Bitmap::ARGB8888) >> 3, 2, ((uint8_t)touchgfx::Bitmap::ARGB8888) & 0x7 }
 };
 
 namespace BitmapDatabase

TouchGFX/gui/include/gui/common/FrontendApplication.hpp

@@ -7,17 +7,16 @@ class FrontendHeap;
 
 using namespace touchgfx;
 
-class FrontendApplication : public FrontendApplicationBase
+class FrontendApplication : public FrontendApplicationBase {
-{
 public:
   FrontendApplication(Model &m, FrontendHeap &heap);
   virtual ~FrontendApplication() {}
 
-    virtual void handleTickEvent()
+  virtual void handleTickEvent() {
-    {
-        model.tick();
     FrontendApplicationBase::handleTickEvent();
+    model.tick();
   }
+
 private:
 };
 

TouchGFX/gui/include/gui/containers/MissionSelectElement.hpp

@@ -1,6 +1,7 @@
 #ifndef MISSIONSELECTELEMENT_HPP
 #define MISSIONSELECTELEMENT_HPP
 
+#include "touchgfx/hal/Types.hpp"
 #include <gui_generated/containers/MissionSelectElementBase.hpp>
 #include <texts/TextKeysAndLanguages.hpp>
 
@@ -12,8 +13,11 @@ public:
   virtual void initialize();
 
   void setUp(uint32_t i, TEXTS label);
+  void setSelected(bool selected);
 
 protected:
+private:
+  touchgfx::colortype bgColor;
 };
 
 #endif // MISSIONSELECTELEMENT_HPP

TouchGFX/gui/include/gui/missionselect_screen/MissionSelectPresenter.hpp

@@ -8,25 +8,28 @@ using namespace touchgfx;
 
 class MissionSelectView;
 
-class MissionSelectPresenter : public touchgfx::Presenter, public ModelListener
+class MissionSelectPresenter : public touchgfx::Presenter,
-{
+                               public ModelListener {
 public:
   MissionSelectPresenter(MissionSelectView &v);
 
   /**
-     * The activate function is called automatically when this screen is "switched in"
+   * The activate function is called automatically when this screen is "switched
-     * (ie. made active). Initialization logic can be placed here.
+   * in" (ie. made active). Initialization logic can be placed here.
    */
   virtual void activate();
 
   /**
-     * The deactivate function is called automatically when this screen is "switched out"
+   * The deactivate function is called automatically when this screen is
-     * (ie. made inactive). Teardown functionality can be placed here.
+   * "switched out" (ie. made inactive). Teardown functionality can be placed
+   * here.
    */
   virtual void deactivate();
 
   virtual ~MissionSelectPresenter(){};
 
+  virtual void notifyMissionChanged(Mission mission) override;
+
 private:
   MissionSelectPresenter();
 

TouchGFX/gui/include/gui/missionselect_screen/MissionSelectView.hpp

@@ -1,17 +1,22 @@
 #ifndef MISSIONSELECTVIEW_HPP
 #define MISSIONSELECTVIEW_HPP
 
-#include <gui_generated/missionselect_screen/MissionSelectViewBase.hpp>
+#include "gui/containers/MissionSelectElement.hpp"
 #include <gui/missionselect_screen/MissionSelectPresenter.hpp>
+#include <gui_generated/missionselect_screen/MissionSelectViewBase.hpp>
 
-class MissionSelectView : public MissionSelectViewBase
+class MissionSelectView : public MissionSelectViewBase {
-{
 public:
   MissionSelectView();
   virtual ~MissionSelectView() {}
   virtual void setupScreen();
   virtual void tearDownScreen();
+
+  void setSelectedMission(Mission mission);
+
 protected:
+private:
+  MissionSelectElement *selected;
 };
 
 #endif // MISSIONSELECTVIEW_HPP

TouchGFX/gui/include/gui/model/Model.hpp

@@ -1,21 +1,24 @@
 #ifndef MODEL_HPP
 #define MODEL_HPP
 
+#include "stw_defines.h"
 class ModelListener;
 
-class Model
+class Model {
-{
 public:
   Model();
 
-    void bind(ModelListener* listener)
+  void bind(ModelListener *listener) { modelListener = listener; }
-    {
-        modelListener = listener;
-    }
 
   void tick();
+
+  Mission getCurrentMission() const { return mission; }
+
 protected:
   ModelListener *modelListener;
+
+private:
+  Mission mission;
 };
 
 #endif // MODEL_HPP

TouchGFX/gui/include/gui/model/ModelListener.hpp

@@ -3,17 +3,18 @@
 
 #include <gui/model/Model.hpp>
 
-class ModelListener
+#include "stw_defines.h"
-{
+
+class ModelListener {
 public:
   ModelListener() : model(0) {}
 
   virtual ~ModelListener() {}
 
-    void bind(Model* m)
+  void bind(Model *m) { model = m; }
-    {
+
-        model = m;
+  virtual void notifyMissionChanged(Mission newMission){};
-    }
+
 protected:
   Model *model;
 };

TouchGFX/gui/src/containers/MissionSelectElement.cpp

@@ -11,11 +11,21 @@ void MissionSelectElement::initialize() {
 void MissionSelectElement::setUp(uint32_t i, TEXTS label) {
   uint8_t val;
   if (i % 2 == 0) {
-    val = 0b1000;
-  } else {
     val = 0b10000;
+  } else {
+    val = 0b11000;
   }
-  bg.setColor(touchgfx::Color::getColorFromRGB(val, val, val));
+  bgColor = touchgfx::Color::getColorFromRGB(val, val, val);
+  bg.setColor(bgColor);
 
   text.setTypedText(TypedText(label));
 }
+
+void MissionSelectElement::setSelected(bool selected) {
+  if (selected) {
+    bg.setColor(touchgfx::Color::getColorFromRGB(0xc5, 0x0e, 0x1f));
+  } else {
+    bg.setColor(bgColor);
+  }
+  bg.invalidate();
+}

TouchGFX/gui/src/missionselect_screen/MissionSelectPresenter.cpp

@@ -1,18 +1,13 @@
-#include <gui/missionselect_screen/MissionSelectView.hpp>
 #include <gui/missionselect_screen/MissionSelectPresenter.hpp>
+#include <gui/missionselect_screen/MissionSelectView.hpp>
 
 MissionSelectPresenter::MissionSelectPresenter(MissionSelectView &v)
-    : view(v)
+    : view(v) {}
-{
-
-}
-
-void MissionSelectPresenter::activate()
-{
-
-}
-
-void MissionSelectPresenter::deactivate()
-{
 
+void MissionSelectPresenter::activate() {}
+
+void MissionSelectPresenter::deactivate() {}
+
+void MissionSelectPresenter::notifyMissionChanged(Mission mission) {
+  view.setSelectedMission(mission);
 }

TouchGFX/gui/src/missionselect_screen/MissionSelectView.cpp

@@ -1,7 +1,7 @@
 #include "texts/TextKeysAndLanguages.hpp"
 #include <gui/missionselect_screen/MissionSelectView.hpp>
 
-MissionSelectView::MissionSelectView() {}
+MissionSelectView::MissionSelectView() : selected{nullptr} {}
 
 void MissionSelectView::setupScreen() {
   MissionSelectViewBase::setupScreen();
@@ -17,3 +17,36 @@ void MissionSelectView::setupScreen() {
 void MissionSelectView::tearDownScreen() {
   MissionSelectViewBase::tearDownScreen();
 }
+
+void MissionSelectView::setSelectedMission(Mission mission) {
+  if (selected != nullptr) {
+    selected->setSelected(false);
+  }
+
+  switch (mission) {
+  case MISSION_NONE:
+    break;
+  case MISSION_ACCEL:
+    selected = &accel;
+    break;
+  case MISSION_SKIDPAD:
+    selected = &skidpad;
+    break;
+  case MISSION_AUTOX:
+    selected = &autox;
+    break;
+  case MISSION_TRACKDRIVE:
+    selected = &trackdrive;
+    break;
+  case MISSION_EBS:
+    selected = &ebs;
+    break;
+  case MISSION_INSPECTION:
+    selected = &inspection;
+    break;
+  case MISSION_MANUAL:
+    selected = &manual;
+    break;
+  }
+  selected->setSelected(true);
+}

TouchGFX/gui/src/model/Model.cpp

@@ -1,12 +1,43 @@
+#include "main.h"
+#include "stm32h7xx_hal_gpio.h"
+#include "stw_defines.h"
+#include "tx_api.h"
+#include "ui.h"
 #include <gui/model/Model.hpp>
 #include <gui/model/ModelListener.hpp>
 
-Model::Model() : modelListener(0)
+Model::Model() : modelListener(0), mission{MISSION_NONE} {}
-{
 
+void Model::tick() {
+  UIMessage msg;
+  while (tx_queue_receive(&ui_queue, &msg, TX_NO_WAIT) == TX_SUCCESS) {
+    switch (msg.kind) {
+    case UMK_BTN_RELEASED:
+      // TODO: What do we do with this?
+      break;
+    case UMK_ENC_CW: {
+      int mission_int = static_cast<int>(mission);
+      mission_int++;
+      // mission_int = 0 is MISSION_NONE, which we don't want to select.
+      // NUM_MISSIONS is equal to the last mission, so check for strictly
+      // greater.
+      if (mission_int > NUM_MISSIONS) {
+        mission_int = 1;
+      }
+      mission = static_cast<Mission>(mission_int);
+      modelListener->notifyMissionChanged(mission);
+      break;
+    }
+    case UMK_ENC_CCW:
+      int mission_int = static_cast<int>(mission);
+      mission_int--;
+      if (mission_int <= 0) {
+        mission_int = NUM_MISSIONS;
+      }
+      mission = static_cast<Mission>(mission_int);
+      modelListener->notifyMissionChanged(mission);
+      break;
+    }
+    HAL_GPIO_TogglePin(STATUS2_GPIO_Port, STATUS2_Pin);
   }
-
-void Model::tick()
-{
-
 }

TouchGFX/simulator/gcc/Makefile

@@ -21,7 +21,7 @@ $(error Spaces not allowed in path)
 else
 
 ADDITIONAL_SOURCES := 
-ADDITIONAL_INCLUDE_PATHS := 
+ADDITIONAL_INCLUDE_PATHS := $(application_path)/../Core/Inc
 ADDITIONAL_LIBRARY_PATHS := 
 ADDITIONAL_LIBRARIES :=
 export ADDITIONAL_SOURCES ADDITIONAL_INCLUDE_PATHS ADDITIONAL_LIBRARY_PATHS ADDITIONAL_LIBRARIES

TouchGFX/steering-wheel.touchgfx

@@ -25,7 +25,7 @@
             "Name": "missionList",
             "Y": 48,
             "Width": 480,
-            "Height": 210,
+            "Height": 212,
             "Direction": "South",
             "Components": [
               {
@@ -82,17 +82,32 @@
                 "Width": 480,
                 "Height": 30,
                 "CustomContainerDefinitionName": "MissionSelectElement"
+              },
+              {
+                "Type": "Line",
+                "Name": "lastLine",
+                "Y": 210,
+                "Width": 480,
+                "Height": 2,
+                "Color": {
+                  "Red": 170,
+                  "Green": 170,
+                  "Blue": 170
+                },
+                "EndX": 480.0,
+                "LineWidth": 5.0,
+                "LineEndingStyle": "Round"
               }
             ]
           },
           {
             "Type": "Image",
-            "Name": "image1",
+            "Name": "logo",
             "X": 160,
             "Y": 263,
             "Width": 160,
             "Height": 55,
-            "RelativeFilename": "Fasttube_Logo_small_white.png"
+            "RelativeFilename": "logo_dv_small_white.png"
           }
         ],
         "Interactions": []

assets/logo_dv.svg

@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   version="1.0"
+   width="1600"
+   height="547"
+   viewBox="0 0 16000 5470"
+   preserveAspectRatio="xMidYMid"
+   id="svg75"
+   sodipodi:docname="logo_dv.svg"
+   inkscape:version="1.2.2 (b0a8486541, 2022-12-01)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg">
+  <defs
+     id="defs79" />
+  <sodipodi:namedview
+     id="namedview77"
+     pagecolor="#ffffff"
+     bordercolor="#000000"
+     borderopacity="0.25"
+     inkscape:showpageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="0"
+     inkscape:deskcolor="#d1d1d1"
+     showgrid="false"
+     inkscape:zoom="0.51584915"
+     inkscape:cx="772.51266"
+     inkscape:cy="215.17919"
+     inkscape:window-width="1676"
+     inkscape:window-height="991"
+     inkscape:window-x="0"
+     inkscape:window-y="0"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="layer101" />
+  <g
+     id="layer101"
+     fill="#000000"
+     stroke="none">
+    <path
+       d="m 0,5023 c 0,-511 6,-596 46,-678 48,-97 149,-173 276,-206 67,-18 121,-19 820,-19 h 748 v 170 170 H 1125 360 v 75 75 h 765 765 v 170 170 H 1125 360 v 260 260 H 180 0 Z"
+       id="path56" />
+    <path
+       d="m 2235,5455 c -121,-34 -234,-125 -287,-233 -32,-64 -33,-72 -33,-182 0,-107 2,-119 29,-175 40,-81 129,-168 208,-204 104,-47 160,-51 792,-51 h 586 v -75 -75 h -775 -775 v -170 -170 l 808,2 807,3 55,28 c 92,48 167,133 215,247 18,42 19,80 23,558 l 3,512 -803,-1 c -644,-1 -813,-3 -853,-14 z m 1295,-415 v -80 h -625 -625 v 80 80 h 625 625 z"
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+    <path
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+    <path
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+       id="path72"
+       sodipodi:nodetypes="ccccccccscsccc" />
+  </g>
+</svg>

steering-wheel.ioc

@@ -133,6 +133,9 @@ MxDb.Version=DB.6.0.70
 NRST.Locked=true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.EXTI3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.EXTI4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.EXTI9_5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.LTDC_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
@@ -291,48 +294,58 @@ PE13.Signal=S_TIM1_CH3
 PE2.Locked=true
 PE2.Mode=OCTOSPI1_IOL_Port1L
 PE2.Signal=OCTOSPIM_P1_IO2
-PE3.GPIOParameters=GPIO_Label
+PE3.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PE3.GPIO_Label=ENC1A
+PE3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
 PE3.Locked=true
-PE3.Signal=GPIO_Input
+PE3.Signal=GPXTI3
-PE4.GPIOParameters=GPIO_Label
+PE4.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PE4.GPIO_Label=ENC1B
+PE4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
 PE4.Locked=true
-PE4.Signal=GPIO_Input
+PE4.Signal=GPXTI4
-PE5.GPIOParameters=GPIO_Label
+PE5.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PE5.GPIO_Label=ENC2A
+PE5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
 PE5.Locked=true
-PE5.Signal=GPIO_Input
+PE5.Signal=GPXTI5
-PE6.GPIOParameters=GPIO_Label
+PE6.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PE6.GPIO_Label=ENC2B
+PE6.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
 PE6.Locked=true
-PE6.Signal=GPIO_Input
+PE6.Signal=GPXTI6
 PE9.GPIOParameters=GPIO_Label
 PE9.GPIO_Label=PWM_R
 PE9.Locked=true
 PE9.Signal=S_TIM1_CH1
-PF0.GPIOParameters=GPIO_Label
+PF0.GPIOParameters=GPIO_PuPd,GPIO_Label
 PF0.GPIO_Label=BTN1
+PF0.GPIO_PuPd=GPIO_NOPULL
 PF0.Locked=true
 PF0.Signal=GPIO_Input
-PF1.GPIOParameters=GPIO_Label
+PF1.GPIOParameters=GPIO_PuPd,GPIO_Label
 PF1.GPIO_Label=BTN2
+PF1.GPIO_PuPd=GPIO_NOPULL
 PF1.Locked=true
 PF1.Signal=GPIO_Input
-PF2.GPIOParameters=GPIO_Label
+PF2.GPIOParameters=GPIO_PuPd,GPIO_Label
 PF2.GPIO_Label=BTN3
+PF2.GPIO_PuPd=GPIO_NOPULL
 PF2.Locked=true
 PF2.Signal=GPIO_Input
-PF3.GPIOParameters=GPIO_Label
+PF3.GPIOParameters=GPIO_PuPd,GPIO_Label
 PF3.GPIO_Label=BTN4
+PF3.GPIO_PuPd=GPIO_NOPULL
 PF3.Locked=true
 PF3.Signal=GPIO_Input
-PF4.GPIOParameters=GPIO_Label
+PF4.GPIOParameters=GPIO_PuPd,GPIO_Label
 PF4.GPIO_Label=BTN5
+PF4.GPIO_PuPd=GPIO_NOPULL
 PF4.Locked=true
 PF4.Signal=GPIO_Input
-PF5.GPIOParameters=GPIO_Label
+PF5.GPIOParameters=GPIO_PuPd,GPIO_Label
 PF5.GPIO_Label=BTN6
+PF5.GPIO_PuPd=GPIO_NOPULL
 PF5.Locked=true
 PF5.Signal=GPIO_Input
 PF6.Locked=true
@@ -393,7 +406,7 @@ 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_DMA2D_Init-DMA2D-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_LTDC_Init-LTDC-false-HAL-true,6-MX_JPEG_Init-JPEG-false-HAL-true,7-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,8-MX_SPI3_Init-SPI3-false-HAL-true,9-MX_TIM1_Init-TIM1-false-HAL-true,10-MX_TIM2_Init-TIM2-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_CRC_Init-CRC-false-HAL-true,13-MX_TouchGFX_Init-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,14-MX_TouchGFX_Process-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA2D_Init-DMA2D-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_LTDC_Init-LTDC-false-HAL-true,6-MX_JPEG_Init-JPEG-false-HAL-true,7-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,8-MX_SPI3_Init-SPI3-false-HAL-true,9-MX_TIM1_Init-TIM1-false-HAL-true,10-MX_TIM2_Init-TIM2-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_CRC_Init-CRC-false-HAL-true,14-MX_TouchGFX_Init-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,15-MX_TouchGFX_Process-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
 RCC.ADCFreq_Value=129000000
 RCC.AHB12Freq_Value=64000000
 RCC.AHB4Freq_Value=64000000
@@ -477,6 +490,14 @@ RCC.VCO3OutputFreq_Value=128000000
 RCC.VCOInput1Freq_Value=16000000
 RCC.VCOInput2Freq_Value=2000000
 RCC.VCOInput3Freq_Value=16000000
+SH.GPXTI3.0=GPIO_EXTI3
+SH.GPXTI3.ConfNb=1
+SH.GPXTI4.0=GPIO_EXTI4
+SH.GPXTI4.ConfNb=1
+SH.GPXTI5.0=GPIO_EXTI5
+SH.GPXTI5.ConfNb=1
+SH.GPXTI6.0=GPIO_EXTI6
+SH.GPXTI6.ConfNb=1
 SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
 SH.S_TIM1_CH1.ConfNb=1
 SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2