Heinz/spi task Review

.settings/language.settings.xml

@@ -2,21 +2,21 @@
 <project>
 	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1910886301" name="Debug">
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="985175499654131366" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1436124437320108471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
 		</extension>
 	</configuration>
 	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.783339558" name="Release">
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="985173715110890335" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1436125939973682704" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

.settings/stm32cubeide.project.prefs

@@ -1,5 +1,6 @@
+2F62501ED4689FB349E356AB974DBE57=05328855C4E51ECDCD46876FE3491C71
 635E684B79701B039C64EA45C3F84D30=06D51718D4F3D877E4CF008AE59E16BB
 66BE74F758C12D739921AEA421D593D3=2
 8DF89ED150041C4CBC7CB9A9CAA90856=05328855C4E51ECDCD46876FE3491C71
-DC22A860405A8BF2F2C095E5B6529F12=05328855C4E51ECDCD46876FE3491C71
+DC22A860405A8BF2F2C095E5B6529F12=D7B61603071EE7338842D45EDC3395F0
 eclipse.preferences.version=1

.vscode/settings.json

@@ -2,6 +2,9 @@
     "files.associations": {
         "cstring": "cpp",
         "__config": "cpp",
-        "typeinfo": "cpp"
+        "typeinfo": "cpp",
+        "array": "cpp",
+        "xstring": "cpp",
+        "xlocinfo": "cpp"
     }
 }

BCubed.ioc

@@ -9,7 +9,7 @@ FREERTOS.configTOTAL_HEAP_SIZE=65536
 FREERTOS.configUSE_NEWLIB_REENTRANT=1
 FREERTOS.configUSE_TIMERS=1
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32L152RET6
 Mcu.Family=STM32L1
@@ -227,7 +227,7 @@ PC9.Signal=GPXTI9
 PD2.GPIOParameters=GPIO_Label
 PD2.GPIO_Label=Board_SLCT_0
 PD2.Locked=true
-PD2.Signal=GPXTI2
+PD2.Signal=GPIO_Output
 PH0-OSC_IN.Locked=true
 PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
@@ -298,16 +298,14 @@ SH.GPXTI0.0=GPIO_EXTI0
 SH.GPXTI0.ConfNb=1
 SH.GPXTI13.0=GPIO_EXTI13
 SH.GPXTI13.ConfNb=1
-SH.GPXTI2.0=GPIO_EXTI2
-SH.GPXTI2.ConfNb=1
 SH.GPXTI6.0=GPIO_EXTI6
 SH.GPXTI6.ConfNb=1
 SH.GPXTI7.0=GPIO_EXTI7
 SH.GPXTI7.ConfNb=1
 SH.GPXTI9.0=GPIO_EXTI9
 SH.GPXTI9.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
-SPI1.CalculateBaudRate=16.0 MBits/s
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
+SPI1.CalculateBaudRate=1000.0 KBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
 SPI1.Mode=SPI_MODE_MASTER
@@ -330,4 +328,3 @@ VP_SYS_VS_tim2.Mode=TIM2
 VP_SYS_VS_tim2.Signal=SYS_VS_tim2
 board=custom
 rtos.0.ip=FREERTOS
-isbadioc=false

BCubed.launch

@@ -40,7 +40,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>

Components/Debug/DebugTask.cpp

@@ -13,6 +13,7 @@
 #include <cstring>
 
 #include "IOExpander.hpp"
+#include "SPI/SPI_Task.hpp"
 
 // External Tasks (to send debug commands to)
 
@@ -96,6 +97,12 @@ void DebugTask::HandleDebugMessage(const char* msg)
         // Echo the message (without the 'echo')
         CUBE_PRINT("\n%s", &msg[5]);
     }
+    else if (strncmp(msg, "readAccel ", 5) == 0) {
+        // test_SPI_Pedals.readAccelerationPedal();
+    }
+    else if (strncmp(msg, "readBrake ", 5) == 0) {
+        // test_SPI_Pedals.readBrakingPedal();
+    }
     else if (strncmp(msg, "iecho ", 6) == 0) {
         // Int echo the message (echo an int parameter)
         int32_t val = Utils::ExtractIntParameter(msg, 6);

Components/Drivers/IOExpander.cpp

@@ -26,7 +26,7 @@ bool IOExpander::Commit() {
  * 
  * @return true on success, false on failure (invalid arguments)
  */
-bool IOExpander::SetPin(IOExpanderPin pin, IOState state) {
+bool IOExpander::SetPin(IOPin pin, IOState state) {
     // Check for invalid arguments
     if(pin >= IOExpanderPin::IO_NUM_PINS ||
        state >= IOState::ERROR) return false;
@@ -47,7 +47,7 @@ bool IOExpander::SetPin(IOExpanderPin pin, IOState state) {
  * 
  * @return true on success, false on failure
  */
-bool IOExpander::SetPinNow(IOExpanderPin pin, IOState state) {
+bool IOExpander::SetPinNow(IOPin pin, IOState state) {
     if (SetPin(pin, state)) {
         return Commit();
     }
@@ -62,7 +62,7 @@ bool IOExpander::SetPinNow(IOExpanderPin pin, IOState state) {
  * @param pin Pin to toggle
  * @return true on success, false on failure (invalid arguments)
  */
-bool IOExpander::TogglePin(IOExpanderPin pin) {
+bool IOExpander::TogglePin(IOPin pin) {
     // Check for invalid arguments
     if(pin >= IOExpanderPin::IO_NUM_PINS) return false;
 
@@ -80,7 +80,7 @@ bool IOExpander::TogglePin(IOExpanderPin pin) {
  * @param pin Pin to toggle
  * @return true on success, false on failure 
  */
-bool IOExpander::TogglePinNow(IOExpanderPin pin) {
+bool IOExpander::TogglePinNow(IOPin pin) {
     if (TogglePin(pin)) {
         Commit();
     }
@@ -106,7 +106,7 @@ bool IOExpander::Update() {
  *     ERROR if pin is not set as an input
  *           or if pin is invalid
  */
-IOState IOExpander::GetPinState(IOExpanderPin pin) {
+IOState IOExpander::GetPinState(IOPin pin) {
     // Check for invalid arguments
     if(pin >= IOExpanderPin::IO_NUM_PINS) return IOState::ERROR;
 
@@ -129,9 +129,46 @@ IOState IOExpander::GetPinState(IOExpanderPin pin) {
  *         or if pin is invalid
  *         or if I2C read fails
  */
-IOState IOExpander::GetPinStateNow(IOExpanderPin pin) {
+IOState IOExpander::GetPinStateNow(IOPin pin) {
     if (Update()) {
         return GetPinState(pin);
     }
     return IOState::ERROR;
-}
+}
+
+/**
+ * @brief Get pin state of all pins
+ * 
+ * @return array of IOState, each index corresponding to each pin
+ */
+std::array<IOState, 16> IOExpander::GetExpanderState() {
+    std::array<IOState, 16> expanderState;
+
+    for(uint8_t i = 0; i < 8; i++) {
+        IOPin pin = static_cast<IOPin>(i);
+        expanderState[i] = GetPinState(pin);
+    }
+
+    for(uint8_t i = 10; i < 18; i++) {
+        IOPin pin = static_cast<IOPin>(i);
+        expanderState[i - 2] = GetPinState(pin);
+    }
+
+    return expanderState;
+}
+
+/**
+ * @brief Get pin in state of all pins with Update
+ * 
+ * @return array of IOState, each index corresponding to a pin
+ */
+std::array<IOState, 16> IOExpander::GetExpanderStateNow() {
+    if(Update()) {
+        return GetExpanderState();
+    }
+        // Initialize and return an array filled with ERROR state for failure
+    std::array<IOState, 16> errorState;
+    errorState.fill(IOState::ERROR);
+    return errorState;
+}
+

Components/Drivers/IOExpander.hpp

@@ -30,6 +30,7 @@
 // -- Includes ------------------------------------------------------------------
 #include "main_system.hpp" // This should have the platform specific HAL included
 #include <stdint.h>
+#include <array>
 
 // -- Macros --------------------------------------------------------------------
 #define I2C_TIMEOUT_MS 1000
@@ -63,10 +64,47 @@ enum class IOState {
     HIGH = 1,
     HI = HIGH,
 
-    INPUT = 1,
+    INPUT = 2,
     ERROR
 };
 
+/* ------------------------------- Namespace for Alternative IOPin names -------------------------------*/
+namespace DriverControls {
+    constexpr IOPin FORWARD_NEUTRAL_REVERSE_H = IOPin::P00;
+    constexpr IOPin FORWARD_NEUTRAL_REVERSE_L = IOPin::P01;
+    constexpr IOPin ARRAYS_DISCONNECT = IOPin::P02;
+    constexpr IOPin RACE_MODE_ENABLE = IOPin::P03;
+    constexpr IOPin HEADLIGHTS_ENABLE = IOPin::P04;
+    constexpr IOPin DISPLAY_SCREEN_ROTATE = IOPin::P05;
+    constexpr IOPin PROXIMITY_SENSOR_ENABLE = IOPin::P06;
+    constexpr IOPin LAP_BUTTON = IOPin::P07;
+    constexpr IOPin HORN_ENABLE = IOPin::P10;
+    constexpr IOPin LEFT_SIGNAL_ENABLE = IOPin::P11;
+    constexpr IOPin RIGHT_SIGNAL_ENABLE = IOPin::P12;
+    constexpr IOPin EMERGENCY_HAZARD = IOPin::P13;
+    constexpr IOPin MOTOR_RESET = IOPin::P14;
+    constexpr IOPin PARKING_BRAKE_DETECT = IOPin::P15;
+    constexpr IOPin MECHANICAL_BRAKE = IOPin::P16;
+    constexpr IOPin GREEN_LED = IOPin::P17;
+}
+
+namespace PowerBoard {
+    constexpr IOPin RIGHT_TURN_LIGHT_SIGNAL = IOPin::P00;
+    constexpr IOPin LEFT_TURN_LIGHT_SIGNAL = IOPin::P01;
+    constexpr IOPin DAYTIME_RUNNING_LIGHT_SIGNAL = IOPin::P02;
+    constexpr IOPin HEADLIGHT_SIGNAL = IOPin::P03;
+    constexpr IOPin BRAKE_LIGHT_SIGNAL = IOPin::P04;
+    constexpr IOPin HORN_SIGNAL = IOPin::P05;
+    constexpr IOPin ORANGE_LED = IOPin::P06;
+    constexpr IOPin GREEN_LED = IOPin::P07;
+
+    constexpr IOPin P13 = IOPin::P13;
+    constexpr IOPin P14 = IOPin::P14;
+    constexpr IOPin P15 = IOPin::P15;
+    constexpr IOPin P16 = IOPin::P16;
+    constexpr IOPin P17 = IOPin::P17;
+}
+
 // -- Typedefs ------------------------------------------------------------------
 typedef IOPin IOExpanderPin; // In case we want to change the name of IOPin
 
@@ -93,6 +131,8 @@ class IOExpander {
     bool Update(); // Update IO Expander Read State
     IOState GetPinState(IOPin pin); // Get pin state (note. last read state)
     IOState GetPinStateNow(IOPin pin); // Get pin state with update
+    std::array<IOState, 16> GetExpanderState(); // Get exapnder state
+    std::array<IOState, 16> GetExpanderStateNow(); // Get expander state with update
 
     static inline const uint8_t CalculateAddress(uint8_t ad0, uint8_t ad1, uint8_t ad2);
 

Components/GPIO.hpp

@@ -44,6 +44,26 @@ namespace GPIO
 
         inline bool IsOn() { return HAL_GPIO_ReadPin(LED_GREEN_GPIO_Port, LED_GREEN_Pin) == GPIO_PIN_SET; }
     }
+    namespace BOARD_SELECT_0
+    {
+        inline void On() {HAL_GPIO_WritePin(Board_SLCT_0_GPIO_Port, Board_SLCT_0_Pin, GPIO_PIN_SET); }
+        inline void Off() {HAL_GPIO_WritePin(Board_SLCT_0_GPIO_Port, Board_SLCT_0_Pin, GPIO_PIN_RESET); }
+    }
+    namespace BOARD_SELECT_1
+    {
+        inline void On() {HAL_GPIO_WritePin(Board_SLCT_1_GPIO_Port, Board_SLCT_1_Pin, GPIO_PIN_SET); }
+        inline void Off() {HAL_GPIO_WritePin(Board_SLCT_1_GPIO_Port, Board_SLCT_1_Pin, GPIO_PIN_RESET); }
+    }
+    namespace SPI_DATA_CS0
+    {
+        inline void On() {HAL_GPIO_WritePin(SPI_Data_CS0_GPIO_Port, SPI_Data_CS0_Pin, GPIO_PIN_SET); }
+        inline void Off() {HAL_GPIO_WritePin(SPI_Data_CS0_GPIO_Port, SPI_Data_CS0_Pin, GPIO_PIN_RESET); }
+    }
+    namespace SPI_DATA_CS1
+    {
+        inline void On() {HAL_GPIO_WritePin(SPI_Data_CS1_GPIO_Port, SPI_Data_CS1_Pin, GPIO_PIN_SET); }
+        inline void Off() {HAL_GPIO_WritePin(SPI_Data_CS1_GPIO_Port, SPI_Data_CS1_Pin, GPIO_PIN_RESET); }
+    }
 }
 
 #endif /* HELIOS_INCLUDE_SC_CORE_GPIO_H */