steering Firmware More...

Classes
struct	ButtonCallbacks
	Button Callbacks. More...

struct	ButtonConfig
	Button configuration structure. More...

struct	Button
	Button instance structure. More...

struct	LEDPixels

struct	ButtonLEDManager

struct	ButtonManager
	Button Manager structure. More...

struct	Note

struct	SteeringConfig
	Steering configuration data. More...

struct	SteeringStorage
	Steering storage. More...

Macros
#define	BUTTON_LED_MANAGER_BITS_PER_LED (24U)

#define	BUTTON_LED_MANAGER_DMA_BUF_LEN (512U)

#define	BUTTON_LED_MANAGER_COLOR_RED { 255, 0, 0 }

#define	BUTTON_LED_MANAGER_COLOR_GREEN { 0, 255, 0 }

#define	BUTTON_LED_MANAGER_COLOR_BLUE { 0, 0, 255 }

#define	BUTTON_LED_MANAGER_COLOR_YELLOW { 255, 200, 0 }

#define	BUTTON_LED_MANAGER_COLOR_ORANGE { 255, 100, 0 }

#define	BUTTON_LED_MANAGER_COLOR_PURPLE { 160, 0, 255 }

#define	BUTTON_LED_MANAGER_COLOR_CYAN { 0, 255, 255 }

#define	BUTTON_LED_MANAGER_COLOR_WHITE { 255, 255, 255 }

#define	BUTTON_LED_MANAGER_COLOR_PINK { 255, 80, 150 }

#define	BUTTON_LED_MANAGER_COLOR_OFF { 0, 0, 0 }

#define	BUTTON_MANAGER_DEBUG 1

#define	STEERING_BUTTON_DEBOUNCE_PERIOD_MS 5U
	Steering button debounce period millisecond.

#define	STEERING_CRUISE_MAX_SPEED_KMH 80U
	Maximum cruise control spesed in kilometers per hour.

#define	STEERING_CRUISE_MIN_SPEED_KMH 40U
	Minimum cruise control speed in kilometers per hour.

#define	STEERING_CAN_RX { .port = GPIO_PORT_B, .pin = 8 }
	Steering CAN RX Port.

#define	STEERING_CAN_TX { .port = GPIO_PORT_B, .pin = 9 }
	Steering CAN TX Port.

#define	STEERING_LEFT_TURN_BUTTON { .port = GPIO_PORT_B, .pin = 12 }
	Steering left turn button.

#define	STEERING_RIGHT_TURN_BUTTON { .port = GPIO_PORT_A, .pin = 6 }
	Steering right turn button.

#define	STEERING_HAZARDS_BUTTON { .port = GPIO_PORT_C, .pin = 5 }
	Steering hazards button.

#define	STEERING_NEUTRAL_BUTTON { .port = GPIO_PORT_B, .pin = 2 }
	Steering neutral button.

#define	STEERING_DRIVE_BUTTON { .port = GPIO_PORT_B, .pin = 1 }
	Steering drive button.

#define	STEERING_REVERSE_BUTTON { .port = GPIO_PORT_E, .pin = 7 }
	Steering reverse button.

#define	STEERING_HORN_BUTTON { .port = GPIO_PORT_A, .pin = 7 }
	Steering horn button.

#define	STEERING_REGEN_BUTTON { .port = GPIO_PORT_E, .pin = 8 }
	Steering horn button.

#define	STEERING_CC_UP_BUTTON { .port = GPIO_PORT_B, .pin = 13 }
	Steering cruise control up button.

#define	STEERING_CC_DOWN_BUTTON { .port = GPIO_PORT_B, .pin = 14 }
	Steering cruise control down button.

#define	STEERING_LEFT_TURN_LED { .port = GPIO_PORT_B, .pin = 6 }
	Left turn LED.

#define	STEERING_RIGHT_TURN_LED { .port = GPIO_PORT_B, .pin = 7 }
	Right turn LED.

#define	STEERING_DISPLAY_CTRL { .port = GPIO_PORT_A, .pin = 0 }
	Display control (Push-pull to control display state)

#define	STEERING_DISPLAY_CURRENT_CTRL { .port = GPIO_PORT_A, .pin = 1 }
	Display current control (PWM to control % of current)

#define	STEERING_RGB_LIGHTS_PWM_PIN { .port = GPIO_PORT_A, .pin = 2 }
	PWM pin for RGB LED control.

#define	STEERING_BUZZER_PWM_PIN { .port = GPIO_PORT_D, .pin = 12 }
	PWM pin for the buzzer.

Typedefs
typedef struct Button	Button
	Button instance structure.

typedef struct ButtonLEDManager	ButtonLEDManager

typedef struct ButtonManager	ButtonManager
	Button Manager structure.

Enumerations
enum	ButtonState { BUTTON_IDLE , BUTTON_PRESSED }
	Button states representing current input. More...

enum	NoteFrequency { NOTE_REST = 0 , NOTE_C3 = 131 , NOTE_CS3 = 139 , NOTE_D3 = 147 , NOTE_DS3 = 156 , NOTE_E3 = 165 , NOTE_F3 = 175 , NOTE_FS3 = 185 , NOTE_G3 = 196 , NOTE_GS3 = 208 , NOTE_A3 = 220 , NOTE_AS3 = 233 , NOTE_B3 = 247 , NOTE_C4 = 262 , NOTE_CS4 = 277 , NOTE_D4 = 294 , NOTE_DS4 = 311 , NOTE_E4 = 330 , NOTE_F4 = 349 , NOTE_FS4 = 370 , NOTE_G4 = 392 , NOTE_GS4 = 415 , NOTE_A4 = 440 , NOTE_AS4 = 466 , NOTE_B4 = 494 , NOTE_C5 = 523 , NOTE_CS5 = 554 , NOTE_D5 = 587 , NOTE_DS5 = 622 , NOTE_E5 = 659 , NOTE_F5 = 698 , NOTE_FS5 = 740 , NOTE_G5 = 784 , NOTE_GS5 = 831 , NOTE_A5 = 880 , NOTE_AS5 = 932 , NOTE_B5 = 988 , NOTE_C6 = 1047 , NOTE_CS6 = 1109 , NOTE_D6 = 1175 , NOTE_DS6 = 1245 , NOTE_E6 = 1319 , NOTE_F6 = 1397 , NOTE_FS6 = 1480 , NOTE_G6 = 1568 , NOTE_GS6 = 1661 , NOTE_A6 = 1760 , NOTE_AS6 = 1865 , NOTE_B6 = 1976 , NOTE_C7 = 2093 , NOTE_CS7 = 2217 , NOTE_D7 = 2349 , NOTE_DS7 = 2489 , NOTE_E7 = 2637 , NOTE_F7 = 2794 , NOTE_FS7 = 2960 , NOTE_G7 = 3136 , NOTE_GS7 = 3322 , NOTE_A7 = 3520 , NOTE_AS7 = 3729 , NOTE_B7 = 3951 , NOTE_C8 = 4186 }

enum	DriveState { DRIVE_STATE_INVALID = 0 , DRIVE_STATE_NEUTRAL , DRIVE_STATE_DRIVE , DRIVE_STATE_REVERSE }
	Drive states representing the current output. More...

enum	DriveStateRequest { DRIVE_STATE_REQUEST_NONE = 0 , DRIVE_STATE_REQUEST_D , DRIVE_STATE_REQUEST_N , DRIVE_STATE_REQUEST_R }
	Requests made to control the drive state. More...

enum	LightsSignalState { LIGHTS_SIGNAL_STATE_OFF = 0 , LIGHTS_SIGNAL_STATE_LEFT , LIGHTS_SIGNAL_STATE_RIGHT , LIGHTS_SIGNAL_STATE_HAZARD }
	Light signal states representing the current output. More...

enum	LightsSignalRequest { LIGHTS_SIGNAL_REQUEST_OFF = 0 , LIGHTS_SIGNAL_REQUEST_LEFT , LIGHTS_SIGNAL_REQUEST_RIGHT , LIGHTS_SIGNAL_REQUEST_HAZARD }
	Requests made to control the light signals. More...

enum	SteeringButtons { STEERING_BUTTON_HAZARDS , STEERING_BUTTON_DRIVE , STEERING_BUTTON_NEUTRAL , STEERING_BUTTON_REVERSE , STEERING_BUTTON_REGEN , STEERING_BUTTON_LEFT_LIGHT , STEERING_BUTTON_RIGHT_LIGHT , STEERING_BUTTON_HORN , STEERING_BUTTON_CRUISE_CONTROL_UP , STEERING_BUTTON_CRUISE_CONTROL_DOWN , NUM_STEERING_BUTTONS }
	Steering buttons.

Functions
StatusCode	button_init (Button button, ButtonConfig config)
	Initialize a button instance. More...

StatusCode	button_update (Button *button)
	Update the Button state based on the given GPIO state. More...

StatusCode	button_led_manager_init (SteeringStorage *storage)
	Initialize the button LED manager. More...

StatusCode	button_led_manager_set_color (SteeringButtons button, LEDPixels color_code)
	Update a button's LED color (marks for update but doesn't transmit immediately) More...

StatusCode	button_led_manager_update (void)
	Force immediate update of all LEDs (call after setting colors) More...

bool	button_led_manager_is_busy (void)
	Check if the LED manager is currently transmitting data. More...

StatusCode	button_led_manager_clear_all (void)
	Set all LEDs to off (black) More...

StatusCode	button_manager_init (SteeringStorage *storage)
	Initialize the button manager. More...

StatusCode	button_manager_reset (void)
	Reset the button manager state. More...

StatusCode	button_manager_update (void)
	Update the button manager. More...

StatusCode	buzzer_init (void)
	Initialize the buzzer. More...

StatusCode	buzzer_beep (void)
	Play a simple beep at 3.5kHz. More...

StatusCode	buzzer_play_melody (Note *melody)
	Play a custom melody. More...

StatusCode	buzzer_play_startup (void)
	Play predefined startup melody. More...

StatusCode	buzzer_play_error (void)
	Play predefined error melody. More...

StatusCode	buzzer_play_success (void)
	Play predefined success melody. More...

StatusCode	buzzer_stop (void)
	Stop any currently playing sound. More...

bool	buzzer_is_playing (void)
	Check if a melody is currently playing. More...

StatusCode	display_init (SteeringStorage *storage)
	Initialize the display. More...

void	drive_state_manager_init (void)
	Initialize the drive state manager.

void	drive_state_manager_request (DriveStateRequest req)
	Make a request to change the drive state. More...

void	drive_state_manager_update (void)
	Update the drive state based on the current request.

DriveState	drive_state_manager_get_state (void)
	Get the current state of the drive controller. More...

void	lights_signal_manager_init (void)
	Initialize state variables and timer.

void	lights_signal_manager_request (LightsSignalRequest req)
	Make a request to change the signal state. More...

void	lights_signal_manager_update (void)
	Update the signal state based on the current request.

LightsSignalState	lights_signal_manager_get_state (void)
	Get the current state of the signal lights. More...

StatusCode	party_mode_init (SteeringStorage *storage)
	Initialize party mode system. More...

StatusCode	party_mode_run (void)
	Run party mode. More...

bool	party_mode_active (void)
	Check if party mode is active. More...

float	estimate_remaining_range_km (void)
	Estimate remaining kilometres based on cell voltage. More...

StatusCode	steering_init (SteeringStorage storage, SteeringConfig config)
	Initialize the steering interface. More...

Detailed Description

steering Firmware

Csteering Firmware.

Macro Definition Documentation

◆ BUTTON_MANAGER_DEBUG

#define BUTTON_MANAGER_DEBUG 1

Set to 1 to enable debug prints

Enumeration Type Documentation

◆ ButtonState

enum ButtonState

Button states representing current input.

Enumerator
BUTTON_IDLE	Button is not pressed
BUTTON_PRESSED	Button is pressed

◆ DriveState

enum DriveState

Drive states representing the current output.

Enumerator
DRIVE_STATE_INVALID	Wrong State
DRIVE_STATE_NEUTRAL	Car Not Actively Moving in Neutral
DRIVE_STATE_DRIVE	Car Drive Forward
DRIVE_STATE_REVERSE	Car Drive Reverse

◆ DriveStateRequest

enum DriveStateRequest

Requests made to control the drive state.

Enumerator
DRIVE_STATE_REQUEST_NONE	No Request
DRIVE_STATE_REQUEST_D	Request to switch to drive
DRIVE_STATE_REQUEST_N	Request to switch to neutral
DRIVE_STATE_REQUEST_R	Request to switch to reverse

◆ LightsSignalRequest

enum LightsSignalRequest

Requests made to control the light signals.

Enumerator
LIGHTS_SIGNAL_REQUEST_OFF	Request to turn off signals
LIGHTS_SIGNAL_REQUEST_LEFT	Request to turn on left signal
LIGHTS_SIGNAL_REQUEST_RIGHT	Request to turn on right signal
LIGHTS_SIGNAL_REQUEST_HAZARD	Request to turn on hazard signal

◆ LightsSignalState

enum LightsSignalState

Light signal states representing the current output.

Enumerator
LIGHTS_SIGNAL_STATE_OFF	All lights off
LIGHTS_SIGNAL_STATE_LEFT	Left signal active
LIGHTS_SIGNAL_STATE_RIGHT	Right signal active
LIGHTS_SIGNAL_STATE_HAZARD	Hazard signal active

Function Documentation

◆ button_init()

StatusCode button_init	(	Button *	button,
		ButtonConfig *	config
	)

Initialize a button instance.

Parameters

button	Pointer to the Button instance to initialize
config	Pointer to the ButtonConfig structure

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_INVALID_ARGS if an invalid parameter is passed in

◆ button_led_manager_clear_all()

StatusCode button_led_manager_clear_all ( void )

Set all LEDs to off (black)

Returns: STATUS_CODE_OK if successful

◆ button_led_manager_init()

StatusCode button_led_manager_init ( SteeringStorage * storage )

Initialize the button LED manager.

Parameters

storage Pointer to the SteeringStorage instance

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_INVALID_ARGS if an invalid parameter is passed in

◆ button_led_manager_is_busy()

bool button_led_manager_is_busy ( void )

Check if the LED manager is currently transmitting data.

Returns: true if DMA transmission is in progress, false otherwise

◆ button_led_manager_set_color()

StatusCode button_led_manager_set_color	(	SteeringButtons	button,
		LEDPixels	color_code
	)

Update a button's LED color (marks for update but doesn't transmit immediately)

Parameters

button	Button selector for modification
color_code	RGB color code for the button LED

Returns: STATUS_CODE_OK if set successfully STATUS_CODE_UNINITIALIZED if the system has not already been initialized STATUS_CODE_INVALID_ARGS if the button is invalid

◆ button_led_manager_update()

StatusCode button_led_manager_update ( void )

Force immediate update of all LEDs (call after setting colors)

Returns: STATUS_CODE_OK if transmission started successfully STATUS_CODE_UNINITIALIZED if the system has not been initialized STATUS_CODE_RESOURCE_EXHAUSTED if DMA is busy

◆ button_manager_init()

StatusCode button_manager_init ( SteeringStorage * storage )

Initialize the button manager.

Parameters

storage Pointer to the SteeringStorage instance

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_INVALID_ARGS if an invalid parameter is passed in

◆ button_manager_reset()

StatusCode button_manager_reset ( void )

Reset the button manager state.

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_UNINITIALIZED if the system has not already been initialized

◆ button_manager_update()

StatusCode button_manager_update ( void )

Update the button manager.

Parameters

manager Pointer to the ButtonManager instance

Returns: STATUS_CODE_OK if updated successfully STATUS_CODE_UNINITIALIZED if the system has not already been initialized

◆ button_update()

StatusCode button_update ( Button * button )

Update the Button state based on the given GPIO state.

Parameters

button Pointer to the Button instance

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_INVALID_ARGS if an invalid parameter is passed in

◆ buzzer_beep()

StatusCode buzzer_beep ( void )

Play a simple beep at 3.5kHz.

Returns: STATUS_CODE_OK on success

◆ buzzer_init()

StatusCode buzzer_init ( void )

Initialize the buzzer.

Returns: STATUS_CODE_OK on success

◆ buzzer_is_playing()

bool buzzer_is_playing ( void )

Check if a melody is currently playing.

Returns: true if playing, false otherwise

◆ buzzer_play_error()

StatusCode buzzer_play_error ( void )

Play predefined error melody.

Returns: STATUS_CODE_OK on success

◆ buzzer_play_melody()

StatusCode buzzer_play_melody ( Note * melody )

Play a custom melody.

Parameters

melody Array of Note structures, terminated by {NOTE_REST, 0}

Returns: STATUS_CODE_OK on success

◆ buzzer_play_startup()

StatusCode buzzer_play_startup ( void )

Play predefined startup melody.

Returns: STATUS_CODE_OK on success

◆ buzzer_play_success()

StatusCode buzzer_play_success ( void )

Play predefined success melody.

Returns: STATUS_CODE_OK on success

◆ buzzer_stop()

StatusCode buzzer_stop ( void )

Stop any currently playing sound.

Returns: STATUS_CODE_OK on success

◆ display_init()

StatusCode display_init ( SteeringStorage * storage )

Initialize the display.

Parameters

storage Pointer to the SteeringStorage instance

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_INVALID_ARGS if an invalid parameter is passed in

◆ drive_state_manager_get_state()

DriveState drive_state_manager_get_state ( void )

Get the current state of the drive controller.

Returns: Current drive state

◆ drive_state_manager_request()

void drive_state_manager_request ( DriveStateRequest req )

Make a request to change the drive state.

Parameters

req	The requested drive state

◆ estimate_remaining_range_km()

float estimate_remaining_range_km ( void )

Estimate remaining kilometres based on cell voltage.

Parameters

min_cell_voltage Minimum cell voltage from the battery telemetry

Returns: Estimated remaining range (in kilometers)

◆ lights_signal_manager_get_state()

LightsSignalState lights_signal_manager_get_state ( void )

Get the current state of the signal lights.

Returns: The current light signal state

◆ lights_signal_manager_request()

void lights_signal_manager_request ( LightsSignalRequest req )

Make a request to change the signal state.

Parameters

req	The requested light signal state

◆ party_mode_active()

bool party_mode_active ( void )

Check if party mode is active.

Returns: TRUE when party mode is active FALSE when party mode is inactive

◆ party_mode_init()

StatusCode party_mode_init ( SteeringStorage * storage )

Initialize party mode system.

Parameters

storage Pointer to the steering storage

Returns: STATUS_CODE_OK on success STATUS_CODE_INVALID_ARGS when params are invalid

◆ party_mode_run()

StatusCode party_mode_run ( void )

Run party mode.

Returns: STATUS_CODE_OK on success STATUS_CODE_UNINITIALIZED when party mode is not initialized

◆ steering_init()

StatusCode steering_init	(	SteeringStorage *	storage,
		SteeringConfig *	config
	)

Initialize the steering interface.

Parameters

storage	Pointer to the steering storage
config	Pointer to the steering config

Returns: STATUS_CODE_OK if steering initialization succeeded STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ BUTTON_MANAGER_DEBUG

Enumeration Type Documentation

◆ ButtonState

◆ DriveState

◆ DriveStateRequest

◆ LightsSignalRequest

◆ LightsSignalState

Function Documentation

◆ button_init()

◆ button_led_manager_clear_all()

◆ button_led_manager_init()

◆ button_led_manager_is_busy()

◆ button_led_manager_set_color()

◆ button_led_manager_update()

◆ button_manager_init()

◆ button_manager_reset()

◆ button_manager_update()

◆ button_update()

◆ buzzer_beep()

◆ buzzer_init()

◆ buzzer_is_playing()

◆ buzzer_play_error()

◆ buzzer_play_melody()

◆ buzzer_play_startup()

◆ buzzer_play_success()

◆ buzzer_stop()

◆ display_init()

◆ drive_state_manager_get_state()

◆ drive_state_manager_request()

◆ estimate_remaining_range_km()

◆ lights_signal_manager_get_state()

◆ lights_signal_manager_request()

◆ party_mode_active()

◆ party_mode_init()

◆ party_mode_run()

◆ steering_init()