Torque Dial

Core/Inc/button.h

@@ -27,6 +27,6 @@ void init_buttons();
 #define BUTTON_1_PIN GPIO_PIN_2 // PB2
 #define BUTTON_2_PIN GPIO_PIN_10 // PB10
 #define BUTTON_3_PIN GPIO_PIN_11 // PB11
-#define BUTTON_4_PIN GPIO_PIN_7 // PA7
+#define BUTTON_4_PIN GPIO_PIN_4 // PA4   // (This will probably change)
 #define BUTTON_5_PIN GPIO_PIN_0 // PB0
 #define BUTTON_6_PIN GPIO_PIN_1 // PB1

Core/Inc/main.h

@@ -32,6 +32,7 @@ extern "C" {
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "button.h"
+#include "torque_dial.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
@@ -60,9 +61,12 @@ void Error_Handler(void);
 
 /* USER CODE BEGIN Private defines */
 extern button_t buttons[MAX_BUTTON_SIZE]; /* defined in buttons.c */
-#define STEERING_CANID_IO 0x680
-#define DEBOUNCE_TIME 8 // unit is ms
-#define DEBOUNCE_ON 1 // 0 for off, 1 for on
+#define BUTTON_CANID_IO 0x680
+#define DIAL_CANID_IO 0x681
+#define BUTTON_DEBOUNCE_TIME 8 // unit is ms
+#define BUTTON_DEBOUNCE_ON 1 // 0 for off, 1 for on
+#define DIAL_DEBOUNCE_TIME 10 // unit is ms
+#define DIAL_DEBOUNCE_ON 1 // 0 for off, 1 for on
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus

Core/Inc/torque_dial.h

@@ -0,0 +1,35 @@
+#include <stdint.h>
+#include <stdbool.h>
+#include "main.h"
+#include "can.h"
+
+#define SWITCH_1_PIN GPIO_PIN_5 // PB5
+#define SWITCH_2_PIN GPIO_PIN_6 // PB6
+#define SWITCH_3_PIN GPIO_PIN_7 // PB7
+#define SWITCH_4_PIN GPIO_PIN_8 // PB8
+#define SWITCH_5_PIN GPIO_PIN_9 // PB9
+
+typedef enum {
+	SWITCH_1,
+	SWITCH_2,
+	SWITCH_3,
+	SWITCH_4,
+	SWITCH_5,
+	MAX_DIAL_SIZE,
+} dial_switches_t;
+
+typedef struct dial {
+	uint8_t dial_current_setting;
+	uint32_t prev_tick;
+	bool actively_debouncing;
+} dial_t;
+
+/**
+ * @brief Initializes torque dial
+ */
+void init_dial(dial_t *dial, can_t *can, can_msg_t can_msg_dial);
+
+/**
+ * @brief Switches dial setting
+ */
+uint8_t switch_dial_setting(uint16_t pin);

Core/Src/main.c

@@ -33,7 +33,7 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-volatile uint8_t flag;
+volatile uint8_t interrupt_flag;
 volatile uint16_t gpio_pin;
 /* USER CODE END PD */
 
@@ -65,7 +65,7 @@ static void MX_USART1_UART_Init(void);
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 {
 	gpio_pin = GPIO_Pin;
-	flag = 1;
+	interrupt_flag = 1;
 }
 /* USER CODE END 0 */
 
@@ -85,15 +85,19 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
-	init_buttons();
 
 	can_t *can = malloc(sizeof(can_t));
 	can->hcan = &hcan;
+	can_msg_t can_msg_button = { .len = sizeof(uint8_t), .id = BUTTON_CANID_IO }; // change this later
+  can_msg_t can_msg_dial =  { .len = sizeof(uint8_t), .id = DIAL_CANID_IO }; // change this later
 
-	can_msg_t can_msg = { .len = sizeof(uint8_t), .id = STEERING_CANID_IO };
 	button_t button;
   GPIO_TypeDef* port = NULL;
+  uint8_t button_flag = 0;
+  uint8_t dial_flag = 0;
+  dial_t dial;
 
+  init_buttons();
   /* USER CODE END Init */
 
   /* Configure the system clock */
@@ -108,73 +112,125 @@ int main(void)
   MX_CAN_Init();
   MX_USART1_UART_Init();
   /* USER CODE BEGIN 2 */
-
+  init_dial(&dial, can, can_msg_dial);
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
 	while (1) {
-		while (flag) {
+		while (interrupt_flag) {
 			/* To change button mapping, change the index
 			button is retrieving from the list */
 			switch (gpio_pin) {
 			case BUTTON_1_PIN:
         port = GPIOB;
+        button_flag = 1;
 				button = buttons[BUTTON_LEFT];
 				break;
 			case BUTTON_2_PIN:
         port = GPIOB;
+        button_flag = 1;
 				button = buttons[BUTTON_RIGHT];
 				break;
 			case BUTTON_3_PIN:
         port = GPIOB;
+        button_flag = 1;
 				button = buttons[BUTTON_ESC];
 				break;
 			case BUTTON_4_PIN:
         port = GPIOA;
+        button_flag = 1;
 				button = buttons[BUTTON_UP];
 				break;
 			case BUTTON_5_PIN:
         port = GPIOB;
+        button_flag = 1;
 				button = buttons[BUTTON_DOWN];
 				break;
 			case BUTTON_6_PIN:
         port = GPIOB;
+        button_flag = 1;
 				button = buttons[BUTTON_ENTER];
 				break;
+      case SWITCH_1_PIN:
+        port = GPIOB;
+        dial_flag = 1;
+        break;
+      case SWITCH_2_PIN:
+        port = GPIOB;
+        dial_flag = 1;
+        break;
+      case SWITCH_3_PIN:
+        port = GPIOB;
+        dial_flag = 1;
+        break;
+      case SWITCH_4_PIN:
+        port = GPIOB;
+        dial_flag = 1;
+        break;
+      case SWITCH_5_PIN:
+        port = GPIOB;
+        dial_flag = 1;
+        break;
 			default:
 				break;
 			}
+      interrupt_flag = 0;
+    }
 
-			// debounce logic
+    while(button_flag) {
+      // debounce logic
 			if (!button.pressed) {
 				button.pressed = true;
 				button.prev_tick = HAL_GetTick();
 			}
 
 			// wait 8ms before continuing
-			if ((HAL_GetTick() <= button.prev_tick + DEBOUNCE_TIME) && DEBOUNCE_ON) {
+			if ((HAL_GetTick() <= button.prev_tick + BUTTON_DEBOUNCE_TIME) && BUTTON_DEBOUNCE_ON) {
 				continue;
 			}
 
 			// if the pin is still high, send CAN message
 			if(HAL_GPIO_ReadPin(port, gpio_pin) == GPIO_PIN_SET) {
-				memcpy(&can_msg.data, &button.button_id, 1);
-				can_send_msg(can, &can_msg);
+				memcpy(&can_msg_button.data, &button.button_id, 1);
+				can_send_msg(can, &can_msg_button);
 				printf("Button %d pressed\n", button.button_id);
 			}
       else {
         printf("Failed to read the pin for button %d when doing debounce check.\n", button.button_id);
       }
 
 			button.pressed = false;
-			flag = 0;
-		}
-	}
+      button_flag = 0;
+    }
+
+    while(dial_flag) {
+      if(!dial.actively_debouncing) {
+        dial.actively_debouncing = true;
+        dial.prev_tick = HAL_GetTick();
+      }
+
+      // wait 10ms before continuing
+      if ((HAL_GetTick() <= dial.prev_tick + DIAL_DEBOUNCE_TIME) && DIAL_DEBOUNCE_ON) {
+				continue;
+			}
+
+      // if the pin is still high, send CAN message
+			if(HAL_GPIO_ReadPin(port, gpio_pin) == GPIO_PIN_SET) {
+        dial.dial_current_setting = switch_dial_setting(gpio_pin);
+				memcpy(&can_msg_dial.data, &dial.dial_current_setting, 1);
+				can_send_msg(can, &can_msg_dial);
+				printf("Button %d pressed\n", dial.dial_current_setting);
+			}
+
+      dial.actively_debouncing = false;
+      dial_flag = 0;
+	  }
+  }
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
-
+    
   /* USER CODE END 3 */
 }
 
@@ -299,8 +355,8 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOA_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
 
-  /*Configure GPIO pin : PA7 */
-  GPIO_InitStruct.Pin = GPIO_PIN_7;
+  /*Configure GPIO pin : PA4 */
+  GPIO_InitStruct.Pin = GPIO_PIN_4;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -317,7 +373,7 @@ static void MX_GPIO_Init(void)
                            PB9 */
   GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8
                           |GPIO_PIN_9;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
   GPIO_InitStruct.Pull = GPIO_PULLDOWN;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 

Core/Src/torque_dial.c

@@ -0,0 +1,47 @@
+#include "torque_dial.h"
+#include <stdlib.h>
+
+uint16_t dial_pins[5] = { SWITCH_1_PIN, SWITCH_2_PIN, SWITCH_3_PIN,
+			  SWITCH_4_PIN, SWITCH_5_PIN };
+
+uint8_t switch_dial_setting(uint16_t pin)
+{
+	uint8_t setting = -1;
+	switch (pin) {
+	case SWITCH_1_PIN:
+		setting = SWITCH_1;
+		break;
+	case SWITCH_2_PIN:
+		setting = SWITCH_2;
+		break;
+	case SWITCH_3_PIN:
+		setting = SWITCH_3;
+		break;
+	case SWITCH_4_PIN:
+		setting = SWITCH_4;
+		break;
+	case SWITCH_5_PIN:
+		setting = SWITCH_5;
+		break;
+	default:
+		break;
+	}
+	return setting;
+}
+
+// Init the dial's setting on startup
+void init_dial(dial_t *dial, can_t *can, can_msg_t can_msg_dial)
+{
+	uint16_t pin = NULL;
+	for (int i = 0; i < 5; i++) {
+		if (HAL_GPIO_ReadPin(GPIOB, dial_pins[i]) == GPIO_PIN_SET) {
+			pin = dial_pins[i];
+			break;
+		}
+	}
+	dial->dial_current_pin = pin;
+	dial->dial_current_setting = switch_dial_setting(pin);
+	memcpy(&can_msg_dial.data, &dial->dial_current_setting, 1);
+	can_send_msg(can, &can_msg_dial);
+	printf("Initial dial setting is %d\n", dial->dial_current_setting);
+}

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.5.0-RC5] date: [Sun Jan 26 13:13:00 EST 2025] 
+# File automatically-generated by tool: [projectgenerator] version: [4.5.0-RC5] date: [Sun Jan 26 18:17:55 EST 2025] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -61,7 +61,7 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
 Core/Src/system_stm32f1xx.c
 # ASM sources
-# ASM sources# ASM sources# ASM sources# ASM sourcesASM_SOURCES =  \
+# ASM sources# ASM sources# ASM sources# ASM sources# ASM sourcesASM_SOURCES =  \
 startup_stm32f103xb.s
 
 # ASM sources

SteeringWheel24A.ioc

@@ -19,7 +19,7 @@ Mcu.IP4=USART1
 Mcu.IPNb=5
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
-Mcu.Pin0=PA7
+Mcu.Pin0=PA4
 Mcu.Pin1=PB0
 Mcu.Pin10=PB5
 Mcu.Pin11=PB6
@@ -59,8 +59,8 @@ PA11.Mode=CAN_Activate
 PA11.Signal=CAN_RX
 PA12.Mode=CAN_Activate
 PA12.Signal=CAN_TX
-PA7.Locked=true
-PA7.Signal=GPXTI7
+PA4.Locked=true
+PA4.Signal=GPXTI4
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
 PB0.Locked=true
@@ -76,23 +76,23 @@ PB2.Signal=GPXTI2
 PB5.GPIOParameters=GPIO_PuPd
 PB5.GPIO_PuPd=GPIO_PULLDOWN
 PB5.Locked=true
-PB5.Signal=GPIO_Input
+PB5.Signal=GPXTI5
 PB6.GPIOParameters=GPIO_PuPd
 PB6.GPIO_PuPd=GPIO_PULLDOWN
 PB6.Locked=true
-PB6.Signal=GPIO_Input
+PB6.Signal=GPXTI6
 PB7.GPIOParameters=GPIO_PuPd
 PB7.GPIO_PuPd=GPIO_PULLDOWN
 PB7.Locked=true
-PB7.Signal=GPIO_Input
+PB7.Signal=GPXTI7
 PB8.GPIOParameters=GPIO_PuPd
 PB8.GPIO_PuPd=GPIO_PULLDOWN
 PB8.Locked=true
-PB8.Signal=GPIO_Input
+PB8.Signal=GPXTI8
 PB9.GPIOParameters=GPIO_PuPd
 PB9.GPIO_PuPd=GPIO_PULLDOWN
 PB9.Locked=true
-PB9.Signal=GPIO_Input
+PB9.Signal=GPXTI9
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false
@@ -142,8 +142,18 @@ SH.GPXTI11.0=GPIO_EXTI11
 SH.GPXTI11.ConfNb=1
 SH.GPXTI2.0=GPIO_EXTI2
 SH.GPXTI2.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.GPXTI7.0=GPIO_EXTI7
 SH.GPXTI7.ConfNb=1
+SH.GPXTI8.0=GPIO_EXTI8
+SH.GPXTI8.ConfNb=1
+SH.GPXTI9.0=GPIO_EXTI9
+SH.GPXTI9.ConfNb=1
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_SYS_VS_ND.Mode=No_Debug