Lights Control Software

The purpose of lights control boards is to receive instructions from the driver controls board through a CAN message and take action accordingly. There are two lights boards on the car. One board is located at the front and one at the back. The boards will use the same software. Thus, software needs to determine which board it's being operated on. The responsibilities of each board is as follows: 

Front Board:

Front board controls the following peripherals:

1. High Beams: Tesla headlights
2. Low Beams:
3. Left/Right Turn Indicators (Signals): Signals on the Tesla headlights.
4. Side Left/Right Turn Indicators (Signals): Signal lights on the sides of the car
5. Daytime Running Lights: These lights are on as long as the car is turned on.
6. Horn

Rear Board:

As for the rear board:

1. Brake Lights: There's a centre brake light, and a pair of brake lights on each side.
2. Strobe Light: Blink the strobe light in case of emergency.
3. Left/Right Turn Indicators (Signals): Inside of each pair of brake lights, is the signals.

Functional Block Diagram: 

Modules:

1. lights_can: 
   1. Receive can messages
   2. Raise events. 
   3. Has information about the type of board (Front or Rear).
   4. Sends sync message (only rear board).
2. main: This module only contains a main loop where it gets the raised events from lights_can and passes them to the next three modules: strobe, simple_peripherals, and signals_fsm. Every module checks if it owns the event that is passed to it and processes it. If the event is not related to the module, the module ignores it.
3. simple_peripherals: Used for all the peripherals which have a simple on, or off state. These peripherals are: horn, high/low beams, and brake lights.
4. strobe: Uses a blinker object to blink the strobe light.
5. signals_fsm: Contains the FSM of the signals. Every often calls send_sync from lights_can to sync the two boards. Uses blinker for blinking the signals. 
6. blinker: Basically handles all the overhead related to using soft timers.
7. lights_gpio: 
   1. Is the only module that knows about all the addresses.
   2. Can be thought of the only part where the boards actually take action?!
   3. strobe, signals_fsm, and simple_peripherals all call its lights_gpio_set() function to change the state of the lights.

Front Board GPIO Ports:

Rear Board GPIO Ports:

Challenges: