Overview

The main goal of the Steering Interface is to detect steering events such as when the horn is pressed or the turn signal is moved. Once it detects this, it will raise an event and send a CAN message.

For digital input, this is accomplished by:

Initializing all the pins with an interrupt in steering_digital_input
Triggering the interrupt if a certain button is pressed (eg horn) which raises an event
Processing the event and sending the respective CAN message in steering_can

For analog input, this is accomplished by:

Using adc_periodic_reader which uses soft_timer and interrupts to periodically check the voltage
Checking the voltages and raising the correct event using steering_control_stalk
Processing the event and sending the respective CAN message in steering_can

Modules

Modules for this board:

steering_can

steering_can_process_event() //Sends CAN messages

steering_digital_input()

steering_digital_input_init() // sets up interrupts for buttons and generates events

Operation

processes events and sends steering CAN messages.

steering_control_stalk()

control_stalk_init() // sets up analog_readers

Operation

Uses an analog reader to read voltages, and converts them to signal events

adc_periodic_reader()

accepts a callback, repeatedly calls that callback with new data as it gets new data.

Events

Event	Source	Destination	Data	Description

Event	Source	Destination	Data
STEERING_DIGITAL_INPUT_EVENT_HORN	steering_digital_input	steering_can	1: pressed 0: released
STEERING_DIGITAL_INPUT_EVENT_HIGH_BEAM_FORWARD	steering_digital_input	steering_can	1: ON 0: OFF
STEERING_DIGITAL_INPUT_EVENT_HIGH_BEAM_REAR	steering_digital_input	steering_can	1: ON 0: OFF
STEERING_DIGITAL_INPUT_EVENT_REGEN_BRAKE_TOGGLE	steering_digital_input	steering_can	none
STEERING_DIGITAL_INPUT_EVENT_CC	steering_digital_input	steering_can, cruise_control_stalk	1: ON 0: OFF
STEERING_SIGNAL_STALK_EVENT_LEFT	signal_stalk	steering_can	none
STEERING_SIGNAL_STALK_EVENT_RIGHT	signal_stalk	steering_can	none
STEERING_SIGNAL_STALK_EVENT_OFF	signal_stalk	steering_can	none
STEERING_CRUISE_CONTROL_EVENT_INCREASE_SPEED	cruise_control_stalk	steering_can	none
STEERING_CRUISE_CONTROL_EVENT_DECREASE_SPEED	cruise_control_stalk	steering_can	none
STEERING_CRUISE_CONTROL_EVENT_BRAKE_PRESSED	steering_can	cruise_control_stalk

Old Car GPIO INPUTS

Input	GPIO Address	Description

Input	GPIO Address	Description
STEERING_DIGITAL_INPUT_HORN	PB1	????
STEERING_DIGITAL_INPUT_LANE_ASSIST	PA6	GPIO top button
STEERING_DIGITAL_INPUT_HIGH_BEAM_FORWARD	PA7	GPIO pull above back
STEERING_DIGITAL_INPUT_HIGH_BEAM_REAR	PB0	GPIO push above forward
STEERING_DIGITAL_INPUT_REGEN_BRAKE_TOGGLE	PA4	GPIO bottom button
STEERING_DIGITAL_INPUT_CC_ON_OFF	PA5	GPIO pull bottom back
STEERING_DIGITAL_DIGITAL_INPUT_CC_INCREASE_SPEED STEERING_DIGITAL_DIGITAL_INPUT_CC_DECREASE_SPEED	PA2	ADC: pull bottom up/down
nothing?	PA1	????
the distance thingy…	PA3	This is an ADC
sick	PA0	this is an ADC

GPIO Inputs

Input	GPIO Address	Description

Input	GPIO Address	Description
STEERING_DIGITAL_INPUT_HORN	PB1
STEERING_DIGITAL_INPUT_LANE_ASSIST	PA6
STEERING_DIGITAL_INPUT_HIGH_BEAM_FORWARD	PA7
STEERING_DIGITAL_INPUT_HIGH_BEAM_REAR	PB0
STEERING_DIGITAL_INPUT_REGEN_BRAKE_TOGGLE	PA4
STEERING_DIGITAL_INPUT_CC_ON_OFF	PA5
STEERING_DIGITAL_DIGITAL_INPUT_CC_INCREASE_SPEED	PA2
STEERING_DIGITAL_DIGITAL_INPUT_CC_DECREASE_SPEED	PA1
STEERING_DIGITAL_DIGITAL_INPUT_TURN_SIGNAL_STALK	PA3	This is an ADC

Outgoing CAN Messages

CAN Message	Exported Enums:

CAN Message	Exported Enums:
CAN_TRANSMIT_LIGHTS	u8 EELightType, u8 EELightState
CAN_TRANSMIT_HORN	u8 EEHornState
CAN_TRANSMIT_CRUISE_COMMAND	u8 cruise_command

Other Concerns

cruise control being enabled at the startup
- add a check at startup
cruise control pin being noisy
- will probably debounce? or some thing like that…

Electrical

Steering Interface: Firmware