Increase TX queue size

Core/Inc/vehicle.h

@@ -21,6 +21,8 @@ void vehicle_thread_entry(ULONG hfdcan_addr);
 
 void vehicle_broadcast_buttons(GPIO_PinState *button_states);
 
+void vehicle_broadcast_wishlist();
+
 #endif // SIMULATOR
 
 #ifdef __cplusplus

Core/Inc/vehicle_state.h

@@ -7,6 +7,7 @@ extern "C" {
 
 #include "params.h"
 #include "stw_defines.h"
+#include <stdbool.h>
 #include <stdint.h>
 
 #define NUM_CONES 12
@@ -112,6 +113,7 @@ typedef struct {
   int sdc_closed;
   int pdu_sdc_active;
   int imd_ok;
+  bool drs_active;
   int sdcl_state[3];
 
   R2DProgress r2d_progress;
@@ -148,6 +150,7 @@ typedef struct {
   IniChkState ini_chk_state;
 
   unsigned lap_count;
+  unsigned lap_count_endu;
   float lap_last;
   float lap_best;
 
@@ -191,7 +194,15 @@ typedef struct {
   ParamType last_param_confirmed;
 } VehicleState;
 
+typedef struct {
+  bool initialized;
+
+  uint8_t power_limit;
+  uint8_t speed_limit;
+} DriverWishlist;
+
 extern VehicleState vehicle_state;
+extern DriverWishlist wishlist;
 
 #ifdef __cplusplus
 } // extern "C"

Core/Src/leds.c

@@ -80,31 +80,17 @@ void led_thread_entry(ULONG child_thread_stack_addr) {
       continue;
     }
 
-    float speed =
-        (vehicle_state.speed - LED_SPEED_MIN) / (LED_SPEED_MAX - LED_SPEED_MIN);
-    float num_leds_exact = speed * N_LEDS;
-    num_leds_exact = fmin(N_LEDS, fmax(0, num_leds_exact));
-    int num_leds = num_leds_exact;
-    float num_leds_frac = num_leds_exact - num_leds;
-
-    float hue =
-        LED_SPEED_HUE_MIN - speed * (LED_SPEED_HUE_MIN - LED_SPEED_HUE_MAX);
-    hue = fmin(LED_SPEED_HUE_MIN, fmax(LED_SPEED_HUE_MAX, hue));
-    uint8_t r, g, b;
-    led_hsv_to_rgb(hue, 1.0f, 1.0f, &r, &g, &b);
-
-    // Fully illuminate first n LEDs
-    for (int i = 0; i < num_leds; i++) {
-      led_set(i, r, g, b);
+    for (int i = 0; i <= 3; i++) {
+      int led_limit = (4 - i) * 3; // 3% per LED
+      int red = (vehicle_state.bat_delta_last >= led_limit) ? 0xFF : 0;
+      led_set(i, red, 0, 0);
     }
-    // Partially illuminate n+1th LED
-    if (num_leds < N_LEDS) {
-      led_hsv_to_rgb(hue, 1.0f, num_leds_frac, &r, &g, &b);
-      led_set(num_leds, r, g, b);
-    }
-    // Turn off all other LEDs
-    for (int i = num_leds + 1; i < N_LEDS; i++) {
-      led_set(i, 0, 0, 0);
+    int blue = (vehicle_state.drs_active) ? 0xFF : 0;
+    led_set(4, 0, 0, blue);
+    for (int i = 5; i <= 9; i++) {
+      int led_limit = -((i - 4) * 3); // 3% per LED
+      int green = (vehicle_state.bat_delta_last <= led_limit) ? 0xFF : 0;
+      led_set(i, 0, green, 0);
     }
   }
 }

Core/Src/main.c

@@ -329,7 +329,7 @@ static void MX_FDCAN1_Init(void) {
   hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
   hfdcan1.Init.TxEventsNbr = 0;
   hfdcan1.Init.TxBuffersNbr = 0;
-  hfdcan1.Init.TxFifoQueueElmtsNbr = 1;
+  hfdcan1.Init.TxFifoQueueElmtsNbr = 32;
   hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
   if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {

Core/Src/vehicle.c

@@ -24,10 +24,12 @@
 #define CAN_ID_CS_INTERNAL 0x108
 #define CAN_ID_ABX_MISC 0x109
 #define CAN_ID_ABX_HYDRAULICS 0x110
+#define CAN_ID_ABX_ENDURANCE 0x113
 #define CAN_ID_EPSC_OUT 0x321
 #define CAN_ID_MISSION_SELECTED 0x400
 #define CAN_ID_STW_BUTTONS 0x401
 #define CAN_ID_STW_PARAM_SET 0x402
+#define CAN_ID_STW_DRIVERWISHLIST 0x403
 #define CAN_ID_AS_MISSION_FB 0x410
 #define CAN_ID_STW_STATUS 0x412
 #define CAN_ID_ABX_PARAM_CONFIRMED 0x413
@@ -55,6 +57,7 @@
 void vehicle_thread_entry(ULONG hfdcan_addr) {
   memset(&vehicle_state, 0, sizeof(vehicle_state));
   memset(&vehicle_state.cone_pos, 0xFF, sizeof(vehicle_state.cone_pos));
+  memset(&wishlist, 0, sizeof(wishlist));
 
   ftcan_init((void *)hfdcan_addr);
   ftcan_add_filter(CAN_ID_AMS_SLAVE_PANIC, 0x7FF);
@@ -68,6 +71,7 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
   ftcan_add_filter(CAN_ID_ABX_BRAKE_T, 0x7FF);
   ftcan_add_filter(CAN_ID_CS_INTERNAL, 0x7FF);
   ftcan_add_filter(CAN_ID_ABX_MISC, 0x7FF);
+  ftcan_add_filter(CAN_ID_ABX_ENDURANCE, 0x7FF);
   ftcan_add_filter(CAN_ID_ABX_HYDRAULICS, 0x7FF);
   ftcan_add_filter(CAN_ID_EPSC_OUT, 0x7FF);
   ftcan_add_filter(CAN_ID_AS_MISSION_FB, 0x7FF);
@@ -80,6 +84,7 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
 
   while (1) {
     tx_thread_sleep(10);
+    vehicle_broadcast_wishlist();
   }
 }
 
@@ -102,6 +107,17 @@ void vehicle_broadcast_buttons(GPIO_PinState *button_states) {
   ftcan_transmit(CAN_ID_STW_BUTTONS, &data, 1);
 }
 
+void vehicle_broadcast_wishlist() {
+  if (!wishlist.initialized) {
+    return;
+  }
+
+  uint8_t data[2];
+  data[0] = wishlist.power_limit;
+  data[1] = wishlist.speed_limit;
+  ftcan_transmit(CAN_ID_STW_DRIVERWISHLIST, data, 2);
+}
+
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
   const uint8_t *ptr;
   if ((id & CAN_ID_STW_CONES_MASK) == CAN_ID_STW_CONES_BASE) {
@@ -166,6 +182,18 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
       vehicle_state.hyd_press_b =
           ((data[1] >> 4) | (data[2] << 4)) * CAN_ABX_DRIVER_PRESS_FACTOR;
       break;
+    case CAN_ID_ABX_ENDURANCE:
+      vehicle_state.power_limit = data[0];
+      vehicle_state.speed_limit = data[1];
+      if (!wishlist.initialized) {
+        wishlist.initialized = true;
+        wishlist.power_limit = vehicle_state.power_limit;
+        wishlist.speed_limit = vehicle_state.speed_limit;
+      }
+      vehicle_state.lap_count_endu = data[2];
+      vehicle_state.bat_delta_overall = ((int8_t)data[3]) * 1.0f;
+      vehicle_state.bat_delta_last = ((int8_t)data[4]) * 1.0f;
+      break;
     case CAN_ID_ABX_TIMINGS:
       vehicle_state.lap_best = (data[0] | (data[1] << 8)) * 0.01f;
       vehicle_state.lap_last = (data[2] | (data[3] << 8)) * 0.01f;
@@ -225,6 +253,7 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
       vehicle_state.errors.err_res = (data[5] >> 2) & 1;
       vehicle_state.errors.err_invl = (data[5] >> 3) & 1;
       vehicle_state.errors.err_invr = (data[5] >> 4) & 1;
+      vehicle_state.drs_active = (data[5] >> 5) & 1;
       break;
     case CAN_ID_ABX_PARAM_CONFIRMED:
       vehicle_state.last_param_confirmed = data[0];

Core/Src/vehicle_state.c

@@ -1,6 +1,7 @@
 #include "vehicle_state.h"
 
 VehicleState vehicle_state;
+DriverWishlist wishlist;
 
 const char *inichkstate_str(IniChkState state) {
   switch (vehicle_state.ini_chk_state) {

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.1.0] date: [Mon Jul 24 18:47:29 CEST 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Wed Jun 12 17:44:56 CEST 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -228,7 +228,16 @@ Middlewares/ST/threadx/common/src/txe_timer_delete.c \
 Middlewares/ST/threadx/common/src/txe_timer_info_get.c \
 TouchGFX/App/app_touchgfx.c \
 Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c \
-Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c \
+TouchGFX/target/TouchGFXHAL.cpp \
+TouchGFX/target/STM32TouchController.cpp \
+TouchGFX/target/TouchGFXGPIO.cpp \
+TouchGFX/target/generated/TouchGFXConfiguration.cpp \
+TouchGFX/target/generated/TouchGFXGeneratedHAL.cpp \
+TouchGFX/target/generated/STM32DMA.cpp \
+TouchGFX/target/generated/OSWrappers.cpp \
+Core/Src/sysmem.c \
+Core/Src/syscalls.c
 
 # ASM sources
 ASM_SOURCES =  \

TouchGFX/App/app_touchgfx.c

@@ -8,7 +8,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

TouchGFX/App/app_touchgfx.h

@@ -8,7 +8,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

TouchGFX/gui/include/gui/endurance_screen/EnduranceView.hpp

@@ -60,6 +60,11 @@ public:
   void updateDetails();
   void updateProgress();
 
+  void decreasePowerLimit() override;
+  void increasePowerLimit() override;
+  void decreaseSpeedLimit() override;
+  void increaseSpeedLimit() override;
+
 protected:
   BatDelta lastLapDelta;
   BatDelta overallDelta;
@@ -67,6 +72,8 @@ protected:
   ValueBuffer slimBuffer;
   ValueBuffer socBuffer;
   ValueBuffer tbatBuffer;
+
+  bool limitsChangable();
 };
 
 #endif // ENDURANCEVIEW_HPP

TouchGFX/gui/src/endurance_screen/EnduranceView.cpp

@@ -1,3 +1,4 @@
+#include "main.h"
 #include "touchgfx/Color.hpp"
 #include "touchgfx/Unicode.hpp"
 #include "vehicle_state.h"
@@ -5,6 +6,10 @@
 #include <cmath>
 #include <gui/endurance_screen/EnduranceView.hpp>
 
+#ifndef SIMULATOR
+#include "stm32h7xx_hal_gpio.h"
+#endif
+
 EnduranceView::EnduranceView()
     : lastLapDelta(lastLapBox, lastLapBat),
       overallDelta(overallBox, overallBat), plimBuffer(powerLimit, 2, 0),
@@ -39,6 +44,54 @@ void EnduranceView::updateDetails() {
 
 void EnduranceView::updateProgress() { progressBar.update(); }
 
+void EnduranceView::decreasePowerLimit() {
+  if (!limitsChangable()) {
+    return;
+  }
+
+  if (wishlist.power_limit > 15) {
+    wishlist.power_limit--;
+  }
+}
+
+void EnduranceView::increasePowerLimit() {
+  if (!limitsChangable()) {
+    return;
+  }
+
+  if (wishlist.power_limit < 40) {
+    wishlist.power_limit++;
+  }
+}
+
+void EnduranceView::decreaseSpeedLimit() {
+  if (!limitsChangable()) {
+    return;
+  }
+
+  if (wishlist.speed_limit > 40) {
+    wishlist.speed_limit--;
+  }
+}
+
+void EnduranceView::increaseSpeedLimit() {
+  if (!limitsChangable()) {
+    return;
+  }
+
+  if (wishlist.speed_limit < 100) {
+    wishlist.speed_limit++;
+  }
+}
+
+bool EnduranceView::limitsChangable() {
+#ifdef SIMULATOR
+  return true;
+#else
+  return HAL_GPIO_ReadPin(BTN3_GPIO_Port, BTN3_Pin) == GPIO_PIN_SET;
+#endif
+}
+
 BatDelta::BatDelta(touchgfx::BoxWithBorder &box,
                    touchgfx::TextAreaWithOneWildcard &field)
     : box(box), field(field), value(INT_MIN) {}

TouchGFX/target/generated/OSWrappers.cpp

@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

TouchGFX/target/generated/STM32DMA.cpp

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

TouchGFX/target/generated/STM32DMA.hpp

@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

TouchGFX/target/generated/TouchGFXConfiguration.cpp

@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

TouchGFX/target/generated/TouchGFXGeneratedHAL.cpp

@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

TouchGFX/target/generated/TouchGFXGeneratedHAL.hpp

@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

steering-wheel.ioc

@@ -36,7 +36,7 @@ FDCAN1.NominalTimeSeg1=63
 FDCAN1.NominalTimeSeg2=16
 FDCAN1.RxFifo0ElmtsNbr=16
 FDCAN1.StdFiltersNbr=32
-FDCAN1.TxFifoQueueElmtsNbr=1
+FDCAN1.TxFifoQueueElmtsNbr=32
 File.Version=6
 GPIO.groupedBy=Show All
 JPEG.IPParameters=JPEG_RGB_FORMAT
@@ -152,8 +152,8 @@ Mcu.Pin7=PF2
 Mcu.Pin70=VP_TIM1_VS_ClockSourceINT
 Mcu.Pin71=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin72=VP_TIM17_VS_ClockSourceINT
-Mcu.Pin73=VP_STMicroelectronics.X-CUBE-AZRTOS-H7_VS_RTOSJjThreadX_6.1.12_3.0.0
-Mcu.Pin74=VP_STMicroelectronics.X-CUBE-TOUCHGFX_VS_GraphicsJjApplication_4.22.0
+Mcu.Pin73=VP_STMicroelectronics.X-CUBE-TOUCHGFX_VS_GraphicsJjApplication_4.22.0
+Mcu.Pin74=VP_STMicroelectronics.X-CUBE-AZRTOS-H7_VS_RTOSJjThreadX_6.1.12_3.0.0
 Mcu.Pin8=PF3
 Mcu.Pin9=PF4
 Mcu.PinsNb=75
@@ -448,7 +448,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-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_TIM17_Init-TIM17-false-HAL-true,14-MX_DMA2D_Init-DMA2D-false-HAL-true,16-MX_TouchGFX_Init-STMicroelectronics.X-CUBE-TOUCHGFX.4.21.2-false-HAL-false,17-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_DMA_Init-DMA-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_TIM17_Init-TIM17-false-HAL-true,14-MX_DMA2D_Init-DMA2D-false-HAL-true,15-MX_TouchGFX_Init-STMicroelectronics.X-CUBE-TOUCHGFX.4.22.0-false-HAL-false,16-MX_TouchGFX_Process-STMicroelectronics.X-CUBE-TOUCHGFX.4.22.0-false-HAL-false,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
 RCC.ADCFreq_Value=2000000
 RCC.AHB12Freq_Value=160000000
 RCC.AHB4Freq_Value=160000000