Modules

Modules for this board:

steering_can

Methods:

steering_can_process_event()

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()

adc_periodic_reader_init()
adc_periodic_reader_set_up_channel(reader_id,adc_settings)//sets up the channels
//so an interrupt will be triggered periodically and will call the callback function
adc_periodic_reader_start(reader_id) //starts the soft timer
adc_periodic_reader_stop(reader_id)

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

Events

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
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
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_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…

Steering Interface: Firmware