Added Torque Dial Driver IO (#273)

Core/Inc/pedals.h

@@ -41,6 +41,14 @@ void increase_torque_limit();
 */
 void decrease_torque_limit();
 
+/**
+ * @brief Sets the torque limit to a specific percentage
+ * 
+ * @param percentage Percentage of the torque limit. Acceptable values are between 0.0 and 1.0.
+ * 
+ */
+void set_torque_limit(float percentage);
+
 /**
  * @brief Get the current torque limit percentage
  * 

Core/Inc/steeringio.h

@@ -3,7 +3,8 @@
 
 #include "can.h"
 
-#define STEERING_CANID_IO 0x680
+#define BUTTON_CANID_IO 0x680
+#define DIAL_CANID_IO	0x681
 
 typedef enum {
 	BUTTON_LEFT,
@@ -12,14 +13,31 @@ typedef enum {
 	BUTTON_UP,
 	BUTTON_DOWN,
 	BUTTON_ENTER,
+	BUTTON_SPARE,
 	MAX_STEERING_BUTTONS
 } steeringio_button_t;
 
+typedef enum {
+	DIAL_SWITCH_1,
+	DIAL_SWITCH_2,
+	DIAL_SWITCH_3,
+	DIAL_SWITCH_4,
+	DIAL_SWITCH_5,
+	MAX_DIAL_SIZE,
+} steeringio_dial_t;
+
 /**
  * @brief Update the status of the steering wheel buttons.
  *
  * @param can_msg can message containing data update
  */
-void steeringio_update(can_msg_t can_msg);
+void buttons_update(can_msg_t can_msg);
+
+/**
+ * @brief Update the status of the active steering wheel dial switch.
+ *
+ * @param can_msg can message containing data update
+ */
+void dial_update(can_msg_t can_msg);
 
 #endif /* STEERING_H */

Core/Src/can_handler.c

@@ -23,7 +23,7 @@ can_t *can1;
 
 /* Relevant Info for Initializing CAN 1 */
 static uint32_t id_list[] = { DTI_CANID_ERPM, DTI_CANID_CURRENTS, BMS_DCL_MSG,
-			      STEERING_CANID_IO };
+			      BUTTON_CANID_IO, DIAL_CANID_IO };
 
 void init_can1(CAN_HandleTypeDef *hcan)
 {
@@ -150,8 +150,11 @@ void vCanReceive(void *pv_params)
 			case BMS_DCL_MSG:
 				handle_dcl_msg();
 				break;
-			case STEERING_CANID_IO:
-				steeringio_update(msg);
+			case BUTTON_CANID_IO:
+				buttons_update(msg);
+				break;
+			case DIAL_CANID_IO:
+				dial_update(msg);
 				break;
 			default:
 				break;

Core/Src/pedals.c

@@ -57,6 +57,18 @@ void decrease_torque_limit()
 	}
 }
 
+void set_torque_limit(float percentage)
+{
+	torque_limit_percentage = percentage;
+
+	// Make sure the percentage is within the valid range
+	if (torque_limit_percentage > 1.0) {
+		torque_limit_percentage = 1.0;
+	} else if (torque_limit_percentage < 0.0) {
+		torque_limit_percentage = 0.0;
+	}
+}
+
 float get_torque_limit_percentage()
 {
 	return torque_limit_percentage;

Core/Src/steeringio.c

@@ -21,7 +21,14 @@ static void right_button_cb()
 	}
 }
 
-void steeringio_update(can_msg_t msg)
+static void set_torque_limit_wrapper(float percentage)
+{
+	if (get_func_state() == F_EFFICIENCY) {
+		set_torque_limit(percentage);
+	}
+}
+
+void buttons_update(can_msg_t msg)
 {
 	uint8_t button_id = msg.data[0];
 
@@ -50,7 +57,38 @@ void steeringio_update(can_msg_t msg)
 		printf("Enter button pressed \n");
 		select_nero_index();
 		break;
+	case BUTTON_SPARE:
+		printf("Spare button pressed \n");
+		break;
 	default:
 		break;
 	}
 }
+
+void dial_update(can_msg_t msg)
+{
+	uint8_t dial_switch_id = msg.data[0];
+
+	switch (dial_switch_id) {
+	case DIAL_SWITCH_1:
+		printf("Dial set to switch 1 \n");
+		set_torque_limit_wrapper(0.2);
+		break;
+	case DIAL_SWITCH_2:
+		printf("Dial set to switch 2 \n");
+		set_torque_limit_wrapper(0.4);
+		break;
+	case DIAL_SWITCH_3:
+		printf("Dial set to switch 3 \n");
+		set_torque_limit_wrapper(0.6);
+		break;
+	case DIAL_SWITCH_4:
+		printf("Dial set to switch 4 \n");
+		set_torque_limit_wrapper(0.8);
+		break;
+	case DIAL_SWITCH_5:
+		printf("Dial set to switch 5 \n");
+		set_torque_limit_wrapper(1.0);
+		break;
+	}
+}