added passthouth off headlight settings messages

Application/BSP/BSP_SDLogger.c

@@ -34,7 +34,7 @@ void BSP_SDLogger_Init(int log_number) {
         ULOG_ERROR("Failed to open file %s", file_name);
     }
 
-    ULOG_SUBSCRIBE(BSP_SDLogger_ULOG, ULOG_DEBUG_LEVEL);
+    //ULOG_SUBSCRIBE(BSP_SDLogger_ULOG, ULOG_DEBUG_LEVEL);
 
     // close the file
     f_close(&file);

Application/CLS_BSP/CLS_BSP.c

@@ -1,4 +1,5 @@
 #include "CLS_BSP.h"
+#include "CLSAddress.h"
 
 
 #ifdef CLS_BSP_FDCAN
@@ -67,4 +68,9 @@ CLS_Position_t CLS_BSP_GetPosition(void) {
 }
 
 void CLS_BSP_SetPosition(CLS_Position_t position) {
-}
+}
+
+
+
+#include "BSP_GPIO.h"
+

Application/CLS_BSP/CMakeLists.txt

@@ -12,4 +12,4 @@ target_sources(${PROJECT_NAME}
     )
 
 target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_LIST_DIR})
-target_link_libraries(${PROJECT_NAME} PRIVATE CLS)
+target_link_libraries(${PROJECT_NAME} PRIVATE CLS BSP Vehicle)

Application/CMakeLists.txt

@@ -2,4 +2,5 @@ add_subdirectory(Tasks)
 add_subdirectory(CLS)
 add_subdirectory(CLS_BSP)
 add_subdirectory(BSP)
-add_subdirectory(ram_loader)
+add_subdirectory(ram_loader)
+add_subdirectory(Vehicle)

Application/Tasks/CMakeLists.txt

@@ -12,6 +12,8 @@ target_sources(${PROJECT_NAME}
     ${CMAKE_CURRENT_LIST_DIR}/FirmwareUpdate.c
     ${CMAKE_CURRENT_LIST_DIR}/LightTask.c
     ${CMAKE_CURRENT_LIST_DIR}/LightState.c  
+    ${CMAKE_CURRENT_LIST_DIR}/Headlight_can.c  
+    
     INTERFACE
     ${CMAKE_CURRENT_LIST_DIR}/UsbDataHandler.h
     ${CMAKE_CURRENT_LIST_DIR}/CanDataTask.h
@@ -22,4 +24,4 @@ target_sources(${PROJECT_NAME}
 
 target_include_directories(${PROJECT_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
 target_link_libraries(${PROJECT_NAME} PUBLIC PROTOS CLS)
-target_link_libraries(${PROJECT_NAME} PRIVATE Revision CLS_BSP BSP ulog ram_loader)
+target_link_libraries(${PROJECT_NAME} PRIVATE Revision CLS_BSP BSP ulog Vehicle ram_loader)

Application/Tasks/CanDataTask.c

@@ -11,6 +11,7 @@
 #include "ulog.h"
 #include "BSP_POWER.h"
 #include "BSP_GPIO.h"
+#include "Vehicle.h"
 // Define thread flags
 #define FLAG_FDCAN_RX_FIFO0  (1<<0)
 #define FLAG_FDCAN_RX_FIFO1  (1<<1)
@@ -46,7 +47,7 @@ const osThreadAttr_t CarCanTask_attr = {
   .priority = osPriorityNormal,
 };
 
-
+static uint64_t last_car_message_time = 0;
 
 uint32_t dlcDecode(uint32_t dlcCode) {
     switch(dlcCode) {
@@ -130,11 +131,6 @@ void CanDataTask_func(void *argument) {
     }   
 }
 
-static uint64_t last_unlock_message_time = UINT64_MAX;
-static uint64_t last_car_message_time = 0;
-static uint8_t car_can_brightness = 255;
-static float car_can_speed = 0;
-static int car_can_direction = 0;
 
 // convert byte to 2 hex characters
 void byteToHex(uint8_t byte, char * hex) {
@@ -143,6 +139,10 @@ void byteToHex(uint8_t byte, char * hex) {
     hex[1] = hexLookup[byte & 0x0F];
 }
 
+
+static FDCAN_RxHeaderTypeDef RxHeader = {0};
+static uint8_t RxData[8] = {0};
+
 void CarCanTask_func(void *argument) {
 
     // for testing accept all messages from the car can bus
@@ -152,20 +152,8 @@ void CarCanTask_func(void *argument) {
     }
 
 
-
+    Vehicle_Setup_CAN();
-    FDCAN_FilterTypeDef sFilterConfig;
+     
-    sFilterConfig.IdType = FDCAN_STANDARD_ID;
-    sFilterConfig.FilterIndex = 0;
-    sFilterConfig.FilterType = CLS_BSP_CAN_FILTER_LIST;
-    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
-    sFilterConfig.FilterID1 = 0x391;
-    sFilterConfig.FilterID2 = 0x395;
-    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
-
-    sFilterConfig.FilterIndex = 1;
-    sFilterConfig.FilterID1 = 0x351;
-    sFilterConfig.FilterID2 = 0x635;
-    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
 
     /* Start the FDCAN module */
     if (HAL_FDCAN_Start(&hfdcan2) != HAL_OK){
@@ -176,8 +164,7 @@ void CarCanTask_func(void *argument) {
         Error_Handler();
     }
 
-    FDCAN_RxHeaderTypeDef RxHeader;
+
-    uint8_t RxData[8];
 
     for(;;) {
         // wait for interrupt event on any fifo
@@ -261,71 +248,8 @@ void CarCanTask_func(void *argument) {
             if (HAL_FDCAN_GetRxMessage(&hfdcan2, FDCAN_RX_FIFO1, &RxHeader, RxData) != HAL_OK) {
                 Error_Handler();
             } else {
-                char msg[17] = {0};
 
-
+                Vehicle_Receive_CAN(RxHeader, RxData);
-                // do something with the can data
-
-
-                if(RxHeader.Identifier == 0x391) {
-                    byteToHex(RxData[0], &msg[0]);
-                    byteToHex(RxData[1], &msg[2]);
-                    byteToHex(RxData[2], &msg[4]);
-                    if (RxData[1]  == 0x04)
-                    {
-                        // car was unlocked
-                        last_unlock_message_time = osKernelGetTickCount();
-                    } 
-                    else if (RxData[1]  ==0x80)
-                    {
-                        // car was locked
-                        if (!BSP_GPIO_K15isSet()) {
-                         NVIC_SystemReset();
-                        }
-                    }
-                
-                }
-
-                if (RxHeader.Identifier == 0x395) {
-                    byteToHex(RxData[0], &msg[0]);
-
-                    // send the unlock message to the car
-                    if ((RxData[0] & 0x0F) == 0x01) {
-                        // car was unlocked
-                        last_unlock_message_time = osKernelGetTickCount();
-                        ULOG_DEBUG("Unlock message received");
-
-                    } else if ((RxData[0] & 0x0F) == 0x02) {
-                        // car was locked
-                        if (!BSP_GPIO_K15isSet()) {
-                            NVIC_SystemReset();
-                        }
-                    }
-
-                }
-
-                // speed signal 
-                // AA BB XX YY 00 00 00 00 
-                // Speed (XX*(2^8)+(YY-1))/190
-                // direction AA = 0x00 forward, 0x02 backward
-                if (RxHeader.Identifier == 0x351) {
-
-                    uint16_t speed = (RxData[2] << 8) + RxData[3];
-                    float speed_kmh = (speed - 1) / 190.0;
-                    car_can_speed = speed_kmh;
-                    car_can_direction = RxData[0];
-                    ULOG_DEBUG("Speed: %f, Direction: %d", car_can_speed, car_can_direction);
-
-
-                }
-
-                // brightness knob in 0 - 100
-                if (RxHeader.Identifier == 0x635) {
-                    // scale the brightness to 0 - 255 only using integer math
-                    car_can_brightness = ((uint32_t)RxData[0] * 255) / 100;
-                    ULOG_DEBUG("Brightness: %d", car_can_brightness);
-
-                }
 
                 //ULOG_DEBUG("Used Car MSG: %x, %d %s", RxHeader.Identifier, CLS_BSP_DLC_ToBytes(RxHeader.DataLength), msg );
             }
@@ -339,9 +263,6 @@ void CarCanTask_func(void *argument) {
  * @return true if a car can message has been received
  * @return false if no car can message has been received
  */
-bool CanDataTask_gotCarCanMessage() {
-    return last_unlock_message_time != UINT64_MAX;
-}
 
 
 bool CanDataTask_CarCanActive() {
@@ -350,20 +271,9 @@ bool CanDataTask_CarCanActive() {
     }
 
     return osKernelGetTickCount() - last_car_message_time < 1000;
-
 }
 
-uint8_t CanDataTask_CarCanBrightness() {
-    return car_can_brightness;
-}
 
-float CanDataTask_CarCanSpeed() {
-    return car_can_speed;
-}
-
-int CanDataTask_CarCanDirectionIsForward() {
-    return car_can_direction == 0;
-}
 
 void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
     // Notify the thread

Application/Tasks/Headlight_can.c

@@ -0,0 +1,84 @@
+
+#include "UsbDataHandler.h"
+#include "headlight.pb.h"
+#include "CanDataHandler.h"
+#include "stdint.h"
+#include "cmsis_os2.h"
+#include "CLS.h"
+#include "CLS_BSP.h"
+#include "CLSAddress.h"
+
+
+cls_headlight_RequestSettings msg_cls_headlight_RequestSettings;
+cls_headlight_Settings msg_cls_headlight_Settings;
+cls_headlight_SaveSettings msg_cls_headlight_SaveSettings;
+
+
+typedef struct Headlight_Control_Setting {
+    float alpha;
+    uint16_t on_threshold;
+    uint16_t off_threshold;
+} Headlight_Control_Setting_t;
+
+void DataClbk_cls_headlight_Settings(void* msg, uint32_t length) {
+    DATA_CLBK_SETUP(cls_headlight_Settings);
+    uint8_t device = msg_cls_headlight_Settings.deviceId;
+
+    uint16_t msg_light_setting = GENERATE_CLS_ADDRESS(CLS_CODE_CONFIG, device, 0);
+    CLS_BSP_TxHeaderType can_header = CREATE_BSP_CAN_HEADER(msg_light_setting, CLS_BSP_DLC_BYTES_8);
+    
+
+    Headlight_Control_Setting_t data = {0};
+    data.alpha = msg_cls_headlight_Settings.alpha;
+    data.on_threshold = msg_cls_headlight_Settings.on_threshold;
+    data.off_threshold = msg_cls_headlight_Settings.off_threshold;
+
+    CLS_BSP_CAN_AddMessageToSend(&can_header, (uint8_t*)&data);
+}
+
+
+void DataClbk_cls_headlight_SaveSettings(void* msg, uint32_t length) {
+    DATA_CLBK_SETUP(cls_headlight_SaveSettings);
+
+    uint8_t device = msg_cls_headlight_SaveSettings.deviceId;
+    uint16_t msg_light_setting = GENERATE_CLS_ADDRESS(CLS_CODE_CONFIG, device, 4);
+    CLS_BSP_TxHeaderType can_header = CREATE_BSP_CAN_HEADER(msg_light_setting, CLS_BSP_DLC_BYTES_1);
+    CLS_BSP_CAN_AddMessageToSend(&can_header, (uint8_t*)"X");
+}
+
+
+
+static Headlight_Control_Setting_t response_theme = {0};
+static cls_headlight_Settings headligh_settings = {0};
+void CanData_responseHeadlightSetting(CanDataId canid, uint8_t* data, uint8_t len) {
+    if(len == 8) {
+        memcpy(&response_theme, data, 8);
+
+        headligh_settings.alpha = response_theme.alpha;
+        headligh_settings.on_threshold = response_theme.on_threshold;
+        headligh_settings.off_threshold = response_theme.off_threshold;
+        headligh_settings.deviceId = (canid >> 3) & 0x1F;
+
+
+        USBDataResonse(&headligh_settings,cls_headlight_Settings_fields, cls_usb_PackageType_HEADLIGHT_SETTINGS);
+    }
+
+    CanData_removeEvent(canid);
+}
+
+
+
+void DataClbk_cls_headlight_RequestSettings(void* msg, uint32_t length) {
+    DATA_CLBK_SETUP(cls_headlight_RequestSettings);
+    uint8_t device = msg_cls_headlight_RequestSettings.deviceId;
+    uint8_t data = 0;
+
+    uint16_t msg_light_setting = GENERATE_CLS_ADDRESS(CLS_CODE_CONFIG, device, 7);
+    CLS_BSP_TxHeaderType can_header = CREATE_BSP_CAN_HEADER(msg_light_setting, CLS_BSP_DLC_BYTES_1);
+
+
+    CanData_regEventMsg(msg_light_setting,CanData_responseHeadlightSetting);
+
+
+    CLS_BSP_CAN_AddMessageToSend(&can_header, (uint8_t*)&data);
+}

Application/Tasks/LightState.c

@@ -5,6 +5,7 @@
 #include "LightTask.h"
 #include "ulog.h"
 #include "stdbool.h"
+#include "Vehicle.h"
 
 // Create the task with a specific priority and stack size
 osThreadAttr_t task_attr = {
@@ -24,89 +25,15 @@ void LightStateTask_start(void)
 
 
 
-// Check if K15 is on for switching the light state
-static bool isK15On()
-{
-    return BSP_GPIO_K15isSet();
-}
-
-
-// Define the threshold voltage for engine running
-#define ENGINE_RUNNING_THRESHOLD 13.3 // 13.5V
-
-// Define thresholds with hysteresis
-#define ENGINE_RUNNING_THRESHOLD_HIGH (ENGINE_RUNNING_THRESHOLD + 0.125)
-#define ENGINE_RUNNING_THRESHOLD_LOW (ENGINE_RUNNING_THRESHOLD - 0.125)
-
-// Global variable to store the current engine state
-static bool engineRunning = false;
-
-// Function to initialize the engine state based on the initial voltage
-static void initializeEngineState()
-{
-    float initialVoltage = BSP_ADC_ReadBusValue();
-    if (initialVoltage > ENGINE_RUNNING_THRESHOLD)
-    {
-        engineRunning = true;
-    }
-    else
-    {
-        engineRunning = false;
-    }
-}
-
-// Ensure the engine state is initialized once
-static bool isEngineInitialized = false;
-
-static bool isEngineRunning()
-{
-    if (!isEngineInitialized)
-    {
-        initializeEngineState();
-        isEngineInitialized = true;
-    }
-
-    float voltage = BSP_ADC_ReadBusValue();
-
-    if (engineRunning)
-    {
-        // If engine is currently running, use the lower threshold to turn it off
-        if (voltage < ENGINE_RUNNING_THRESHOLD_LOW)
-        {
-            engineRunning = false;
-        }
-    }
-    else
-    {
-        // If engine is currently off, use the higher threshold to turn it on
-        if (voltage > ENGINE_RUNNING_THRESHOLD_HIGH)
-        {
-            engineRunning = true;
-        }
-
-
-
-    }
-    return engineRunning;
-}
-// check if the headlight is on and the engine is running to switch the light state
-// we can check the headlight using the GPIO functions
-static bool isHeadlightOn()
-{
-    return BSP_GPIO_HeadLightIsSet();
-}
-
-
-
 // Function to determine the next state of the light
 // return 1 as default state
 // return 2 if the engine is running
 // return 3 if the headlight and engine is running
 static int determineNextState()
 {
-    if (isHeadlightOn() && isEngineRunning()) {
+    if (Vehicle_isHeadlightOn() && Vehicle_isEngineRunning()) {
         return 2;
-    } else if (isEngineRunning()) {
+    } else if (Vehicle_isEngineRunning()) {
         return 1;
     } else {
         return 0;

Application/Tasks/LightTask.c

@@ -11,6 +11,7 @@
 #include "BSP_GPIO.h"
 
 #include "CanDataTask.h"
+#include "Vehicle.h"
 #include "BSP_ADC.h"
 #define DIMM_DEADZONE_VOLTAGE 0.7
 
@@ -82,14 +83,14 @@ void LightTask_func(void *argument) {
 
 
 
-        float dimmfactor = 1.0;
+        uint8_t dimm = 255;
 
+        // currenlty not working
         // only dimm if the headlight is on
-        if (BSP_GPIO_HeadLightIsSet()) {
+        //if (Vehicle_isHeadlightOn()) {
 
             // new version over CAN
-            uint8_t precent = CanDataTask_CarCanBrightness();
+            //dimm  = Vehicle_Brightness();
-            dimmfactor = (float)precent / 100.0;
 
             // old version over ADC
             // calculate the dimmfactor based on the battery voltage and the dimmer voltage
@@ -104,9 +105,10 @@ void LightTask_func(void *argument) {
             //} else {
             //    dimmfactor = (v_dimm - 4.0) / (v_bus - 4.0);
             //}
-        }
 
-        uint8_t adjustedBrightness = (uint8_t)(brightness * dimmfactor);
+        //}
+
+        uint8_t adjustedBrightness = (brightness * dimm)/ 255;
         lightSettings_dimmed.brightness = adjustedBrightness;
         lightSettings_dimmed.theme = lightSettings.theme;
         

Application/Tasks/UsbDataHandler.c

@@ -3,6 +3,7 @@
 #include "FreeRTOS.h"
 #include "firmware.pb.h"
 #include "light.pb.h"
+#include "headlight.pb.h"
 #include "usb_device.h"
 #include <pb_decode.h>
 #include "cls_device.pb.h"
@@ -62,7 +63,9 @@ union {
   cls_light_SaveThemeSettings msg_cls_light_SaveThemeSettings;
   cls_light_RequestThemeSetting msg_cls_light_RequestThemeSetting;
   cls_usb_JumpToBootloader msg_cls_usb_JumpToBootloader;
-
+  cls_headlight_Settings msg_cls_headlight_Settings;
+  cls_headlight_SaveSettings msg_cls_headlight_SaveSettings;
+  cls_headlight_RequestSettings msg_cls_headlight_RequestSettings;
 } mem_msg_decode;
 
 
@@ -121,6 +124,9 @@ message_handler_t message_handlers[] = {
     MESSAGE_HANDLER(cls_usb_PackageType_LIGHT_SETTING_THEME_SAVE, cls_light_SaveThemeSettings),
     MESSAGE_HANDLER(cls_usb_PackageType_LIGHT_REQUEST_THEME, cls_light_RequestThemeSetting),
     MESSAGE_HANDLER(cls_usb_PackageType_JUMP_TO_BOOTLOADER, cls_usb_JumpToBootloader),
+    MESSAGE_HANDLER(cls_usb_PackageType_HEADLIGHT_SETTINGS, cls_headlight_Settings),
+    MESSAGE_HANDLER(cls_usb_PackageType_HEADLIGHT_SAVE_SETTINGS, cls_headlight_SaveSettings),
+    MESSAGE_HANDLER(cls_usb_PackageType_HEADLIGHT_REQUEST_SETTINGS, cls_headlight_RequestSettings),
 };
 
 

Application/Tasks/UsbDataHandler.h

@@ -136,6 +136,9 @@ void DataClbk_cls_light_GlobalTheme(void* msg, uint32_t length);
 void DataClbk_cls_light_ThemeSettings(void* msg, uint32_t length);
 void DataClbk_cls_light_SaveThemeSettings(void* msg, uint32_t length);
 void DataClbk_cls_light_RequestThemeSetting(void* msg, uint32_t length);
+void DataClbk_cls_headlight_Settings(void* msg, uint32_t length);
+void DataClbk_cls_headlight_SaveSettings(void* msg, uint32_t length);
+void DataClbk_cls_headlight_RequestSettings(void* msg, uint32_t length);
 
 #include "usb.pb.h"
 void USBDataResonse(void * msg, const pb_msgdesc_t *fields, cls_usb_PackageType typeid);

Application/Vehicle/CMakeLists.txt

@@ -0,0 +1,32 @@
+# Set the minimum required CMake version
+cmake_minimum_required(VERSION 3.12)
+
+# Set the project name
+project(Vehicle)
+
+# Add the source files for the library
+set(SOURCES
+Vehicle.c
+Vehicle_can.c
+)
+
+# Add the header files for the library
+set(HEADERS
+    Vehicle.h
+)
+
+# Create the library target
+add_library(Vehicle ${SOURCES} ${HEADERS})
+
+# Set the include directories for the library
+target_include_directories(Vehicle PUBLIC ./)
+
+# Set any additional compiler flags or options
+# target_compile_options(Vehicle PRIVATE ...)
+
+# Set any additional linker flags or options
+# target_link_options(Vehicle PRIVATE ...)
+
+# Specify any dependencies for the library
+target_link_libraries(Vehicle BSP CLS CLS_BSP)
+

Application/Vehicle/Vehicle.c

@@ -0,0 +1,82 @@
+
+#include "Vehicle.h"
+#include "BSP_GPIO.h"
+#include "stdbool.h"
+#include "BSP_ADC.h"
+
+// Define the threshold voltage for engine running
+#define ENGINE_RUNNING_THRESHOLD 13.0 // 13.5V
+
+// Define thresholds with hysteresis
+#define ENGINE_RUNNING_THRESHOLD_HIGH (ENGINE_RUNNING_THRESHOLD + 0.225)
+#define ENGINE_RUNNING_THRESHOLD_LOW (ENGINE_RUNNING_THRESHOLD - 0.225)
+
+// Global variable to store the current engine state
+static bool engineRunning = false;
+
+
+void Vehicle_Init() {
+    engineRunning = false;
+}
+
+bool Vehicle_isHeadlightOn()
+{
+    return BSP_GPIO_HeadLightIsSet();
+}
+
+bool Vehicle_isEngineRunning() {
+
+
+    float voltage = BSP_ADC_ReadBusValue();
+
+    if (engineRunning)
+    {
+        // If engine is currently running, use the lower threshold to turn it off
+        if (voltage < ENGINE_RUNNING_THRESHOLD_LOW)
+        {
+            engineRunning = false;
+        }
+    }
+    else
+    {
+        // If engine is currently off, use the higher threshold to turn it on
+        if (voltage > ENGINE_RUNNING_THRESHOLD_HIGH)
+        {
+            engineRunning = true;
+        }
+
+
+
+    }
+    return engineRunning;
+}
+
+bool Vehicle_isK15On() {
+    return BSP_GPIO_K15isSet();
+}
+
+
+
+
+
+
+#include "CLS.h"
+#include "CLS_BSP.h"
+#include "CLSAddress.h"
+
+static CLS_VehicleStatus_t status = {0};
+_Static_assert(sizeof(status) == 8, "CLS_HeatbeatData_t is not 8 bytes");
+
+void CLS_VehicleHeatbeat(void *argument) {
+    CLS_BSP_TxHeaderType cls_vehicle_header = CREATE_BSP_CAN_HEADER(GENERATE_CLS_ADDRESS(CLS_CODE_STATUS,0,CLS_CH_STA_VEHICLE), CLS_BSP_DLC_BYTES_8);
+
+    
+    status.k15 = Vehicle_isK15On();
+    status.headlight = Vehicle_isHeadlightOn();
+    status.engine = Vehicle_isEngineRunning();
+    status.speed = (uint8_t)Vehicle_Speed();
+    status.unlocked = Vehicle_UnlockedSignal();
+
+    CLS_BSP_CAN_AddMessageToSend(&cls_vehicle_header, (uint8_t*)&status);
+
+}

Application/Vehicle/Vehicle.h

@@ -0,0 +1,24 @@
+
+#include "fdcan.h"
+#include "stdint.h"
+#include "stdbool.h"
+
+void Vehicle_Init();
+
+bool Vehicle_isHeadlightOn();
+
+bool Vehicle_isEngineRunning();
+
+bool Vehicle_isK15On();
+
+
+void Vehicle_Setup_CAN();
+
+void Vehicle_Receive_CAN( FDCAN_RxHeaderTypeDef header, uint8_t* data);
+
+
+bool Vehicle_gotUnlockMessage();
+uint8_t Vehicle_Brightness();
+float Vehicle_Speed();
+int Vehicle_DirectionIsForward();
+bool Vehicle_UnlockedSignal();

Application/Vehicle/Vehicle_can.c

@@ -0,0 +1,146 @@
+#include "Vehicle.h"
+#include "fdcan.h"
+#include "CLS.h"
+#include "CLS_BSP.h"
+#include "BSP_GPIO.h"
+#include "cmsis_os2.h"
+
+static uint64_t last_unlock_message_time = UINT64_MAX;
+static uint8_t car_can_brightness = 255;
+static float car_can_speed = 0;
+static int car_can_direction = 0;
+
+
+void Vehicle_Setup_CAN() {
+
+
+    FDCAN_FilterTypeDef sFilterConfig;
+    sFilterConfig.IdType = FDCAN_STANDARD_ID;
+    sFilterConfig.FilterIndex = 0;
+    sFilterConfig.FilterType = CLS_BSP_CAN_FILTER_LIST;
+    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
+    sFilterConfig.FilterID1 = 0x391;
+    sFilterConfig.FilterID2 = 0x395;
+    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
+
+    sFilterConfig.FilterIndex = 1;
+    sFilterConfig.FilterID1 = 0x351;
+    sFilterConfig.FilterID2 = 0x635;
+    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
+
+}
+
+
+static void rx_unlock_key(uint8_t * RxData ) {
+    if (RxData[1]  == 0x04)
+        {
+            // car was unlocked
+            last_unlock_message_time = osKernelGetTickCount();
+        } 
+        else if (RxData[1]  ==0x80)
+        {
+            // car was locked
+            if (!BSP_GPIO_K15isSet()) {
+                NVIC_SystemReset();
+            }
+        }
+
+}
+
+static void rx_unlock_secure(uint8_t * RxData ) {
+    if ((RxData[0] & 0x0F) == 0x01) {
+        // car was unlocked
+        last_unlock_message_time = osKernelGetTickCount();
+
+    } else if ((RxData[0] & 0x0F) == 0x02) {
+        // car was locked
+        if (!BSP_GPIO_K15isSet()) {
+            NVIC_SystemReset();
+        }
+    }
+
+
+}
+
+static void rx_speed(uint8_t *  RxData) {
+    // speed signal 
+    // AA BB XX YY 00 00 00 00 
+    // Speed (XX*(2^8)+(YY-1))/190
+    // direction AA = 0x00 forward, 0x02 backward
+    uint16_t speed = (RxData[2] << 8) + RxData[3];
+    float speed_kmh = (speed - 1) / 190.0;
+    car_can_speed = speed_kmh;
+    car_can_direction = RxData[0];
+    //ULOG_DEBUG("Speed: %f, Direction: %d", car_can_speed, car_can_direction);
+
+}
+
+static void rx_brightness(uint8_t* RxData) {
+    // scale the brightness to 0 - 255 only using integer math
+    car_can_brightness = ((uint32_t)RxData[0] * 255) / 100;
+    //ULOG_DEBUG("Brightness: %d", car_can_brightness);
+}
+
+void Vehicle_Receive_CAN( FDCAN_RxHeaderTypeDef RxHeader, uint8_t* RxData) {
+
+                if(RxHeader.Identifier == 0x391) {
+                    rx_unlock_key(RxData);
+                }
+
+                if (RxHeader.Identifier == 0x395) {
+                    rx_unlock_secure(RxData);
+                }
+
+
+                if (RxHeader.Identifier == 0x351) {
+                    rx_speed(RxData);
+                }
+
+                // brightness knob in 0 - 100
+                if (RxHeader.Identifier == 0x635) {
+                    rx_brightness(RxData);
+                }
+
+}
+
+
+
+bool Vehicle_gotUnlockMessage() {
+    return last_unlock_message_time != UINT64_MAX;
+}
+
+
+
+uint8_t Vehicle_Brightness() {
+    return car_can_brightness;
+}
+
+float Vehicle_Speed() {
+    return car_can_speed;
+}
+
+int Vehicle_DirectionIsForward() {
+    return car_can_direction == 0;
+}
+
+
+static bool unlocked = false;
+
+ 
+bool Vehicle_UnlockedSignal() {
+
+    if (unlocked) {
+        if(Vehicle_isK15On()) {
+            unlocked = false;
+            last_unlock_message_time = UINT64_MAX;
+        }
+    }
+
+    if (!unlocked) {
+        if (Vehicle_gotUnlockMessage()) {
+            unlocked = true;
+        }
+    }
+
+    return unlocked;
+}

CMakeLists.txt

@@ -124,6 +124,7 @@ nanopb_generate_cpp(PROTO_SRCS PROTO_HDRS RELPATH proto
     proto/cls_device.proto
     proto/light.proto
     proto/usb.proto
+    proto/headlight.proto
 )
 add_library(PROTOS ${PROTO_SRCS} ${PROTO_HDRS})
 target_include_directories(PROTOS PUBLIC ${NANOPB_INCLUDE_DIRS} ${PROJECT_BINARY_DIR})
@@ -140,7 +141,7 @@ add_subdirectory("Application")
 add_executable(${CMAKE_PROJECT_NAME})
 target_sources(${CMAKE_PROJECT_NAME} PUBLIC ${sources_SRCS})
 
-target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC Tasks CLS CLS_BSP BSP EE24 INA219 ulog ram_loader)
+target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC Tasks CLS CLS_BSP BSP EE24 INA219 ulog ram_loader Vehicle)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC PROTOS)
 target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC uart_driver)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC lwrb)

Core/Src/freertos.c

@@ -40,6 +40,7 @@
 #include "BSP_GPIO.h"
 #include "BSP_ADC.h"
 #include "BSP_SDLogger.h"
+#include "Vehicle.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -236,7 +237,7 @@ void WaitForStartConfirm_Task(void *argument) {
   while(1) {
     osDelayUntil(tick);
     tick += delayTime;
-    if(BSP_GPIO_K15isSet() || CanDataTask_gotCarCanMessage()) {
+    if(BSP_GPIO_K15isSet() || Vehicle_gotUnlockMessage()) {
         BSP_POWER_FullPowerMode();
         ULOG_INFO("Power systems started");
         osThreadExit();

tools/CMakeLists.txt

@@ -6,6 +6,7 @@ ${PROTO_SRC_DIR}/firmware.proto
 ${PROTO_SRC_DIR}/light.proto
 ${PROTO_SRC_DIR}/usb.proto
 ${PROTO_SRC_DIR}/cls_device.proto
+${PROTO_SRC_DIR}/headlight.proto
 )
 
 # Specify where you want to generate the python code

tools/light_test.py

@@ -4,25 +4,26 @@ from google.protobuf.message import DecodeError
 from serial.tools import list_ports
 
 from light_pb2 import GlobalBrightness, Theme, GlobalTheme, ThemeSettings
+from headlight_pb2 import Settings, RequestSettings
 from usb_pb2 import PackageType
 from vcp_driver import *
 
 if __name__ == "__main__":
         ser = setup_connection()
         # Create a message
-        request = GlobalBrightness()
+        #request = GlobalBrightness()
-        request.brightness = 100
+        #request.brightness = 100
         # Serialize the request to a bytearray
-        request_data = request.SerializeToString()
+        #request_data = request.SerializeToString()
 
         # Send the request
-        send_package(PackageType.LIGHT_GLOBAL_BRIGHT, request_data, ser)
+        #send_package(PackageType.LIGHT_GLOBAL_BRIGHT, request_data, ser)
 
 
-        request = GlobalTheme()
+        #request = GlobalTheme()
-        request.theme = 1
+        #request.theme = 1
-        request_data = request.SerializeToString()
+        #request_data = request.SerializeToString()
-        send_package(PackageType.LIGHT_GLOBAL_THEME, request_data, ser)
+        #send_package(PackageType.LIGHT_GLOBAL_THEME, request_data, ser)
 
 
         # request = ThemeSettings()
@@ -33,3 +34,14 @@ if __name__ == "__main__":
         # request.animation = 2
         # request_data = request.SerializeToString()
         # send_package(PackageType.LIGHT_SETTING_THEME, request_data, ser)
+
+
+        request = Settings()
+        request.deviceId = 1
+        request.alpha = 0.001
+        request.on_threshold = 600
+        request.off_threshold = 400
+        request.on_time = 100
+        request.input_invert = False
+        request_data = request.SerializeToString()
+        send_package(PackageType.HEADLIGHT_SETTINGS, request_data, ser)

tools/set_device_type.py

@@ -6,10 +6,10 @@ if __name__ == "__main__":
         ser = setup_connection()
         # Create a message
         request = UpdateDeviceSettings()
-        request.device = 5
+        request.device = 0
-        request.type = Type.LIGHT
+        request.type = Type.COMMING_HOME
-        request.position.append(Position.RIGHT)
+        request.position.append(Position.LEFT)
-        request.position.append(Position.FLOOR)
+        request.position.append(Position.CENTER)
         # Serialize the request to a bytearray
         request_data = request.SerializeToString()
 

tools/test_get_theme.py

@@ -3,21 +3,20 @@ import struct
 from google.protobuf.message import DecodeError
 from serial.tools import list_ports
 
-from light_pb2 import RequestThemeSetting, Theme, ThemeSettings
+from headlight_pb2 import Settings, RequestSettings
 from usb_pb2 import PackageType
 from vcp_driver import *
 
 if __name__ == "__main__":
         ser = setup_connection()
 
-        request = RequestThemeSetting()
+        request = RequestSettings()
-        request.deviceId = 0
+        request.deviceId = 1
-        request.theme = 1
         print("send request")
         print(request)
 
         request_data = request.SerializeToString()
-        send_package(PackageType.LIGHT_REQUEST_THEME, request_data, ser)
+        send_package(PackageType.HEADLIGHT_REQUEST_SETTINGS, request_data, ser)
 
 
         print("wait for response")
@@ -30,13 +29,13 @@ if __name__ == "__main__":
         print(length, typeid, check)
 
         # Check if the type is RESPONSE_DEVICE_LIST
-        if typeid == PackageType.LIGHT_SETTING_THEME:
+        if typeid == PackageType.HEADLIGHT_SETTINGS:
             # Read the response data from the serial port
             response_data = ser.read(length)
 
             # Try to parse the data as a ResponseDeviceList message
             try:
-                response = ThemeSettings.FromString(response_data)
+                response = Settings.FromString(response_data)
                 
             except DecodeError:
                 # If we get a DecodeError, it means the data we read is not a valid