fixed binfile hole

.cproject

@@ -23,7 +23,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.116246094" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1041462468" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1294249446" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.19322524" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H723VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../FATFS/Target | ../FATFS/App | ../USB_DEVICE/App | ../USB_DEVICE/Target | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Middlewares/Third_Party/FatFs/src | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_FULL_LL_DRIVER | USE_HAL_DRIVER | STM32H723xx ||  || EEPROM | Drivers | Core/Startup | Middlewares | Core | FATFS | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32H723VGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.19322524" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H723VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../FATFS/Target | ../FATFS/App | ../USB_DEVICE/App | ../USB_DEVICE/Target | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Middlewares/Third_Party/FatFs/src | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_FULL_LL_DRIVER | USE_HAL_DRIVER | STM32H723xx ||  || Drivers | Core/Startup | Middlewares | Core | FATFS | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32H723VGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.784195808" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" value="275" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.550567667" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/CLS_Master}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1667139540" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -85,7 +85,6 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="EEPROM"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="FATFS"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
@@ -118,7 +117,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.315263605" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.861723814" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.575901382" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.41596049" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H723VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../FATFS/Target | ../FATFS/App | ../USB_DEVICE/App | ../USB_DEVICE/Target | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Middlewares/Third_Party/FatFs/src | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_FULL_LL_DRIVER | USE_HAL_DRIVER | STM32H723xx ||  || EEPROM | Drivers | Core/Startup | Middlewares | Core | FATFS | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32H723VGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.41596049" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H723VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../FATFS/Target | ../FATFS/App | ../USB_DEVICE/App | ../USB_DEVICE/Target | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Middlewares/Third_Party/FatFs/src | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_FULL_LL_DRIVER | USE_HAL_DRIVER | STM32H723xx ||  || Drivers | Core/Startup | Middlewares | Core | FATFS | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32H723VGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.669660917" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" value="275" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.62262984" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/CLS_Master}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1586300933" managedBuildOn="true" name="Gnu Make Builder.Release" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -176,7 +175,6 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="EEPROM"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="FATFS"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>

.gitea/workflows/build.yaml

@@ -4,11 +4,11 @@ on: [push]
 
 jobs:
   Build-Release:
-    runs-on: ubuntu-latest
+    runs-on: cls-build
     steps:
 
-      - name: Install dependencies
-        run: apt-get update && apt-get install -y gcc-arm-none-eabi binutils-arm-none-eabi ninja-build cmake protobuf-compiler python3 python3-grpcio python3-protobuf python3-pkg-resources python3-requests 
+      #- name: Install dependencies
+      #  run: apt-get update && apt-get install -y gcc-arm-none-eabi binutils-arm-none-eabi ninja-build cmake protobuf-compiler python3 python3-grpcio python3-protobuf python3-pkg-resources python3-requests 
         # run: pip install setuptools
       - name: Check out repository code
         uses: actions/checkout@v4

.gitmodules

@@ -19,3 +19,12 @@
 [submodule "proto"]
 	path = proto
 	url = git@git.lan:oliver/cls-proto.git
+[submodule "lib/TinyFrame"]
+	path = lib/TinyFrame
+	url = https://github.com/MightyPork/TinyFrame.git
+[submodule "Application/MLZR_Comm"]
+	path = Application/MLZR_Comm
+	url = git@git.lan:ODDIY/MLZR_Comm.git
+[submodule "Application/MLZR_GLASM"]
+	path = Application/MLZR_GLASM
+	url = git@git.lan:ODDIY/MLZR_GLASM.git

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
@@ -68,3 +69,8 @@ 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

@@ -1,5 +1,10 @@
+include_directories(MLZR_Comm_Conf)
+
 add_subdirectory(Tasks)
 add_subdirectory(CLS)
 add_subdirectory(CLS_BSP)
 add_subdirectory(BSP)
 add_subdirectory(ram_loader)
+add_subdirectory(MLZR_GLASM)
+add_subdirectory(MLZR_Comm)
+add_subdirectory(Vehicle)

Application/MLZR_Comm_Conf/mlzr_driver_conf.h

@@ -0,0 +1,14 @@
+// Define macros for UART and DMA configurations
+#define MAIN_UART USART1
+#define MAIN_DMA_RX 1
+#define MAIN_DMA_RX_CHANNEL 0
+#define MAIN_DMA_TX 1
+#define MAIN_DMA_TX_CHANNEL 1
+
+#define HALF_UART USART3
+#define HALF_DMA_RX 1
+#define HALF_DMA_RX_CHANNEL 2
+#define HALF_DMA_TX 1
+#define HALF_DMA_TX_CHANNEL 3
+
+#define DMA_MEM_ATTR __attribute__((section(".data"))) 

Application/Tasks/CMakeLists.txt

@@ -12,6 +12,9 @@ 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  
+    ${CMAKE_CURRENT_LIST_DIR}/DisplayComm.c
+    
     INTERFACE
     ${CMAKE_CURRENT_LIST_DIR}/UsbDataHandler.h
     ${CMAKE_CURRENT_LIST_DIR}/CanDataTask.h
@@ -22,4 +25,4 @@ target_sources(${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 mlzr_comm TinyFrame)

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};
 
-
-                // 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);
-
-                }
+                Vehicle_Receive_CAN(RxHeader, RxData);
 
                 //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
@@ -408,7 +318,6 @@ extern uint8_t gCLS_DEVICE_ADDRESS;
 void DataClbk_cls_device_RequestList(void* msg, uint32_t length) {
     memset(&list,0,sizeof(list));
     // add yourself
-
     CLS_Position_t position = CLS_BSP_GetPosition();
     CLS_Type_t type = CLS_BSP_GetDeviceType();
     
@@ -423,6 +332,20 @@ void DataClbk_cls_device_RequestList(void* msg, uint32_t length) {
     list.devices[list.devices_count].fw_version[1] = VERSION_INFO.patch;
     list.devices[list.devices_count].fw_version[2] = VERSION_INFO.minor;
     list.devices[list.devices_count].fw_version[3] = VERSION_INFO.major;
+    list.devices_count++;
+
+    //add display
+    list.devices[list.devices_count].available = true;
+    list.devices[list.devices_count].canid = GENERATE_CLS_ADDRESS(CLS_CODE_STATUS, gCLS_DEVICE_ADDRESS+1, CLS_CH_STA_HEATBEAT);
+    list.devices[list.devices_count].device = gCLS_DEVICE_ADDRESS+1;
+    list.devices[list.devices_count].type = cls_device_Type_DISPLAY; // enum to uint
+    list.devices[list.devices_count].position[0] =  position.p0;
+    list.devices[list.devices_count].position[1] =  position.p1;
+    list.devices[list.devices_count].position_count = 2;
+    list.devices[list.devices_count].fw_version[0] = 0;
+    list.devices[list.devices_count].fw_version[1] = 0;
+    list.devices[list.devices_count].fw_version[2] = 0;
+    list.devices[list.devices_count].fw_version[3] = 0;
 
     list.devices_count++;
 

Application/Tasks/DisplayComm.c

@@ -0,0 +1,16 @@
+
+#include "main.h"
+#include "UsbDataHandler.h"
+#include "stdint.h"
+#include "mlzr_comm.h"
+#include "pb_decode.h"
+#include "display.pb.h"
+
+static cls_display_SetLayout msg_cls_display_SetLayout;
+
+
+void DataClbk_cls_display_SetLayout(void* msg, uint32_t length) {
+    DATA_CLBK_SETUP(cls_display_SetLayout);
+    uint8_t num = (uint8_t)msg_cls_display_SetLayout.layout;
+    TF_SendSimple(tf_fallback,0x0F, &num, sizeof(num));
+}

Application/Tasks/FirmwareHandler.c

@@ -156,8 +156,13 @@ void DataClbk_cls_firmware_Done(void *msg, uint32_t length) {
 
   if(msg_cls_firmware_Done.device_id == gCLS_DEVICE_ADDRESS) {
     RamLoader_LoadApplication();
-  } else {
+  } else if (msg_cls_firmware_Done.device_id == gCLS_DEVICE_ADDRESS +1) {
+      // send fw to display
+      // todo !
 
+    } {
+
+      // send fw to slave
     FirmwareUpdateArgs args;
     args.device = msg_cls_firmware_Done.device_id;
     memcpy(args.name, msg_cls_firmware_Start.name, sizeof(args.name));

Application/Tasks/Headlight_can.c

@@ -0,0 +1,116 @@
+
+#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"
+#include "ulog.h"
+#include "Vehicle.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;
+
+
+uint16_t headlight_amblight = 0;
+
+void CanData_ambilight(CanDataId canid, uint8_t* data, uint8_t len) {
+    if(len == 2) {
+        headlight_amblight = (data[1] << 8) | data[0];
+    }
+
+    ULOG_INFO("Ambilight: %d", headlight_amblight);
+}
+
+void AddHeadlightMessages() {
+    CanData_regEventMsg(GENERATE_CLS_ADDRESS(CLS_CODE_STATUS, 0, CLS_CH_STA_AMBIENTLIGHT), CanData_ambilight);
+}
+
+// whan a message is received, this function is called
+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);
+}
+
+
+
+
+
+void DataClbk_cls_headlight_RequestBrightness(void* msg, uint32_t length) {
+
+    cls_headlight_RequestBrightness msg_cls_headlight_RequestBrightness;
+    memcpy(&msg_cls_headlight_RequestBrightness, msg, sizeof(cls_headlight_RequestBrightness));
+
+    cls_headlight_Brightness msg_cls_headlight_Brightness;
+    msg_cls_headlight_Brightness.brightness = headlight_amblight;
+    USBDataResonse(&msg_cls_headlight_Brightness,cls_headlight_Brightness_fields, cls_usb_PackageType_HEADLIGHT_BRIGHTNESS);
+
+}

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
 
@@ -77,19 +78,19 @@ void LightTask_func(void *argument) {
 
 
         // calculate the brightness to send
-        //uint8_t brightness = lightSettings.brightness;
+        uint8_t brightness = lightSettings.brightness;
         // Read ADC battery voltage and dimmer voltage
 
 
 
-        //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();
-            //dimmfactor = (float)precent / 100.0;
+            //dimm  = Vehicle_Brightness();
 
             // old version over ADC
             // calculate the dimmfactor based on the battery voltage and the dimmer voltage
@@ -104,14 +105,15 @@ void LightTask_func(void *argument) {
             //} else {
             //    dimmfactor = (v_dimm - 4.0) / (v_bus - 4.0);
             //}
-       // }
 
-        //uint8_t adjustedBrightness = (uint8_t)(brightness * dimmfactor);
-        //lightSettings_dimmed.brightness = adjustedBrightness;
-        //lightSettings_dimmed.theme = lightSettings.theme;
+        //}
 
-        lightSettings.brightness = 255;
-        CLS_BSP_CAN_AddMessageToSend(&can_header,(uint8_t*)&lightSettings);
+        uint8_t adjustedBrightness = (brightness * dimm)/ 255;
+        lightSettings_dimmed.brightness = adjustedBrightness;
+        lightSettings_dimmed.theme = lightSettings.theme;
+        
+        
+        CLS_BSP_CAN_AddMessageToSend(&can_header,(uint8_t*)&lightSettings_dimmed);
 
         if( settingChangeTime !=0 && tick > settingChangeTime + settingSaveTimeout) {
             BSP_EE24_PartWrite(BSP_EE24_PART_GLOBAL_LIGHT, (uint8_t*) &lightSettings, sizeof(lightSettings));

Application/Tasks/UsbDataHandler.c

@@ -3,10 +3,12 @@
 #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"
 #include "usb.pb.h"
+#include "display.pb.h"
 #include "stdbool.h"
 
 /* Declare the thread function */
@@ -62,7 +64,11 @@ 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;
+  cls_headlight_RequestBrightness msg_cls_headlight_RequestBrightness;
+  cls_display_SetLayout msg_cls_display_SetLayout;
 } mem_msg_decode;
 
 
@@ -121,6 +127,11 @@ 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),
+    MESSAGE_HANDLER(cls_usb_PackageType_HEADLIGHT_REQUEST_BRIGHTNESS, cls_headlight_RequestBrightness),
+    MESSAGE_HANDLER(cls_usb_PackageType_DISPLAY_SET_LAYOUT, cls_display_SetLayout),
 };
 
 

Application/Tasks/UsbDataHandler.h

@@ -136,6 +136,11 @@ 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);
+void DataClbk_cls_headlight_RequestBrightness(void* msg, uint32_t length);
+void DataClbk_cls_display_SetLayout(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 +1,149 @@
+#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;
+}
+
+
+

CLS_Master.ioc

@@ -26,6 +26,43 @@ ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5
 ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5
 ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5
 ADC1.master=1
+Bdma.LPUART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+Bdma.LPUART1_RX.0.EventEnable=DISABLE
+Bdma.LPUART1_RX.0.Instance=BDMA_Channel0
+Bdma.LPUART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Bdma.LPUART1_RX.0.MemInc=DMA_MINC_ENABLE
+Bdma.LPUART1_RX.0.Mode=DMA_NORMAL
+Bdma.LPUART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Bdma.LPUART1_RX.0.PeriphInc=DMA_PINC_DISABLE
+Bdma.LPUART1_RX.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Bdma.LPUART1_RX.0.Priority=DMA_PRIORITY_LOW
+Bdma.LPUART1_RX.0.RequestNumber=1
+Bdma.LPUART1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Bdma.LPUART1_RX.0.SignalID=NONE
+Bdma.LPUART1_RX.0.SyncEnable=DISABLE
+Bdma.LPUART1_RX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Bdma.LPUART1_RX.0.SyncRequestNumber=1
+Bdma.LPUART1_RX.0.SyncSignalID=NONE
+Bdma.LPUART1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
+Bdma.LPUART1_TX.1.EventEnable=DISABLE
+Bdma.LPUART1_TX.1.Instance=BDMA_Channel1
+Bdma.LPUART1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Bdma.LPUART1_TX.1.MemInc=DMA_MINC_ENABLE
+Bdma.LPUART1_TX.1.Mode=DMA_NORMAL
+Bdma.LPUART1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Bdma.LPUART1_TX.1.PeriphInc=DMA_PINC_DISABLE
+Bdma.LPUART1_TX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Bdma.LPUART1_TX.1.Priority=DMA_PRIORITY_LOW
+Bdma.LPUART1_TX.1.RequestNumber=1
+Bdma.LPUART1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Bdma.LPUART1_TX.1.SignalID=NONE
+Bdma.LPUART1_TX.1.SyncEnable=DISABLE
+Bdma.LPUART1_TX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Bdma.LPUART1_TX.1.SyncRequestNumber=1
+Bdma.LPUART1_TX.1.SyncSignalID=NONE
+Bdma.Request0=LPUART1_RX
+Bdma.Request1=LPUART1_TX
+Bdma.RequestsNb=2
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
@@ -198,36 +235,38 @@ I2C2.Timing=0x00D0D8FF
 KeepUserPlacement=false
 LPTIM4.ClockPrescaler=LPTIM_PRESCALER_DIV64
 LPTIM4.IPParameters=ClockPrescaler
-LPUART1.BaudRate=2000000
-LPUART1.IPParameters=BaudRate
+LPUART1.BaudRate=1000000
+LPUART1.FIFOMode=UART_FIFOMODE_DISABLE
+LPUART1.IPParameters=BaudRate,FIFOMode
 Mcu.CPN=STM32H723VGT6
 Mcu.Family=STM32H7
 Mcu.IP0=ADC1
-Mcu.IP1=CORTEX_M7
-Mcu.IP10=I2C2
-Mcu.IP11=LPTIM4
-Mcu.IP12=LPUART1
-Mcu.IP13=NVIC
-Mcu.IP14=PWR
-Mcu.IP15=RCC
-Mcu.IP16=RNG
-Mcu.IP17=RTC
-Mcu.IP18=SDMMC1
-Mcu.IP19=SYS
-Mcu.IP2=CRC
-Mcu.IP20=TIM2
-Mcu.IP21=USART1
-Mcu.IP22=USART3
-Mcu.IP23=USB_DEVICE
-Mcu.IP24=USB_OTG_HS
-Mcu.IP3=DEBUG
-Mcu.IP4=DMA
-Mcu.IP5=FATFS
-Mcu.IP6=FDCAN1
-Mcu.IP7=FDCAN2
-Mcu.IP8=FREERTOS
-Mcu.IP9=I2C1
-Mcu.IPNb=25
+Mcu.IP1=BDMA
+Mcu.IP10=I2C1
+Mcu.IP11=I2C2
+Mcu.IP12=LPTIM4
+Mcu.IP13=LPUART1
+Mcu.IP14=NVIC
+Mcu.IP15=PWR
+Mcu.IP16=RCC
+Mcu.IP17=RNG
+Mcu.IP18=RTC
+Mcu.IP19=SDMMC1
+Mcu.IP2=CORTEX_M7
+Mcu.IP20=SYS
+Mcu.IP21=TIM2
+Mcu.IP22=USART1
+Mcu.IP23=USART3
+Mcu.IP24=USB_DEVICE
+Mcu.IP25=USB_OTG_HS
+Mcu.IP3=CRC
+Mcu.IP4=DEBUG
+Mcu.IP5=DMA
+Mcu.IP6=FATFS
+Mcu.IP7=FDCAN1
+Mcu.IP8=FDCAN2
+Mcu.IP9=FREERTOS
+Mcu.IPNb=26
 Mcu.Name=STM32H723VGTx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE2
@@ -302,6 +341,8 @@ Mcu.UserName=STM32H723VGTx
 MxCube.Version=6.9.2
 MxDb.Version=DB.6.0.92
 NVIC.ADC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.BDMA_Channel0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.BDMA_Channel1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@@ -317,6 +358,7 @@ NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.LPTIM4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.LPUART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.OTG_HS_EP1_IN_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@@ -540,7 +582,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-LL-true,7-MX_USART3_UART_Init-USART3-false-LL-true,8-MX_RTC_Init-RTC-false-HAL-true,9-MX_SDMMC1_SD_Init-SDMMC1-false-HAL-true,10-MX_FATFS_Init-FATFS-false-HAL-false,11-MX_ADC1_Init-ADC1-false-HAL-true,12-MX_FDCAN1_Init-FDCAN1-false-HAL-true,13-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,14-MX_FDCAN2_Init-FDCAN2-false-HAL-true,15-MX_I2C1_Init-I2C1-false-HAL-true,16-MX_CRC_Init-CRC-false-HAL-true,17-MX_RNG_Init-RNG-false-HAL-true,18-MX_TIM2_Init-TIM2-false-HAL-true,19-MX_LPTIM4_Init-LPTIM4-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true,0-MX_VREFBUF_Init-VREFBUF-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_BDMA_Init-BDMA-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true,6-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,7-MX_USART1_UART_Init-USART1-false-LL-true,8-MX_USART3_UART_Init-USART3-false-LL-true,9-MX_RTC_Init-RTC-false-HAL-true,10-MX_SDMMC1_SD_Init-SDMMC1-false-HAL-true,11-MX_FATFS_Init-FATFS-false-HAL-false,12-MX_ADC1_Init-ADC1-false-HAL-true,13-MX_FDCAN1_Init-FDCAN1-false-HAL-true,14-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,15-MX_FDCAN2_Init-FDCAN2-false-HAL-true,16-MX_I2C1_Init-I2C1-false-HAL-true,17-MX_CRC_Init-CRC-false-HAL-true,18-MX_RNG_Init-RNG-false-HAL-true,19-MX_LPTIM4_Init-LPTIM4-false-HAL-true,20-MX_TIM2_Init-TIM2-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
 RCC.ADCFreq_Value=96000000
 RCC.AHB12Freq_Value=275000000
 RCC.AHB4Freq_Value=275000000

CMakeLists.txt

@@ -124,6 +124,8 @@ nanopb_generate_cpp(PROTO_SRCS PROTO_HDRS RELPATH proto
     proto/cls_device.proto
     proto/light.proto
     proto/usb.proto
+    proto/headlight.proto
+    proto/display.proto
 )
 add_library(PROTOS ${PROTO_SRCS} ${PROTO_HDRS})
 target_include_directories(PROTOS PUBLIC ${NANOPB_INCLUDE_DIRS} ${PROJECT_BINARY_DIR})
@@ -140,9 +142,9 @@ add_subdirectory("Application")
 add_executable(${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(${CMAKE_PROJECT_NAME} PUBLIC mlzr_comm TinyFrame uart_driver mlzr_glasm)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC lwrb)
 
 target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE 

Core/Inc/bdma.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    bdma.h
+  * @brief   This file contains all the function prototypes for
+  *          the bdma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __BDMA_H__
+#define __BDMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_BDMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BDMA_H__ */
+

Core/Inc/stm32h7xx_it.h

@@ -72,7 +72,10 @@ void SDMMC1_IRQHandler(void);
 void OTG_HS_EP1_OUT_IRQHandler(void);
 void OTG_HS_EP1_IN_IRQHandler(void);
 void OTG_HS_IRQHandler(void);
+void BDMA_Channel0_IRQHandler(void);
+void BDMA_Channel1_IRQHandler(void);
 void LPTIM4_IRQHandler(void);
+void LPUART1_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Src/bdma.c

@@ -0,0 +1,58 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    bdma.c
+  * @brief   This file provides code for the configuration
+  *          of all the requested memory to memory DMA transfers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "bdma.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure DMA                                                              */
+/*----------------------------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+  * Enable DMA controller clock
+  */
+void MX_BDMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_BDMA_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* BDMA_Channel0_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(BDMA_Channel0_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(BDMA_Channel0_IRQn);
+  /* BDMA_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(BDMA_Channel1_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(BDMA_Channel1_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */
+

Core/Src/freertos.c

@@ -40,6 +40,8 @@
 #include "BSP_GPIO.h"
 #include "BSP_ADC.h"
 #include "BSP_SDLogger.h"
+#include "Vehicle.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -150,6 +152,8 @@ void MX_FREERTOS_Init(void) {
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */
+void  AddHeadlightMessages();
+
 /**
   * @brief  Function implementing the defaultTask thread.
   * @param  argument: Not used
@@ -158,6 +162,8 @@ void MX_FREERTOS_Init(void) {
 
 #include "CLS_BSP.h"
 #include "CLSAddress.h"
+#include "mlzr_comm.h"
+#include "glasm.h"
 /* USER CODE END Header_StartDefaultTask */
 void StartDefaultTask(void *argument)
 {
@@ -167,6 +173,10 @@ void StartDefaultTask(void *argument)
   BSP_EE24_Init();
   BSP_INA_Init();
 
+  MLZR_INIT();
+  
+  GLASM_Init();
+
   retSD = f_mount(&SDFatFS,SDPath,0);
   retSD =  f_open(&SDFile, "counter.bin", FA_READ);
   
@@ -188,6 +198,7 @@ void StartDefaultTask(void *argument)
   }
 
   BSP_SDLogger_Init(counter);
+  AddHeadlightMessages();
 
   char  INA_LOG[72];
 
@@ -236,7 +247,7 @@ 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();

Core/Src/main.c

@@ -20,6 +20,7 @@
 #include "main.h"
 #include "cmsis_os.h"
 #include "adc.h"
+#include "bdma.h"
 #include "crc.h"
 #include "dma.h"
 #include "fatfs.h"
@@ -42,11 +43,14 @@
 #include "BSP_GPIO.h"
 #include "BSP_ADC.h"
 #include "ram_loader.h"
+#include "AsyncComm.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN PTD */
-
+extern uart_desc_t uart_half;
+__attribute__((__section__(".dma_buffer"))) uint8_t lp_buffer[2][2048] = {0};
+uint8_t swap_index = 0;
 /* USER CODE END PTD */
 
 /* Private define ------------------------------------------------------------*/
@@ -61,7 +65,6 @@
 
 /* Private variables ---------------------------------------------------------*/
 
-// define the magic number for the bootloader 8 bytes 
 /* USER CODE BEGIN PV */
 uint8_t gCLS_DEVICE_ADDRESS = 0x11;
 /* USER CODE END PV */
@@ -121,6 +124,7 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_DMA_Init();
+  MX_BDMA_Init();
   MX_I2C2_Init();
   MX_LPUART1_UART_Init();
   MX_USART1_UART_Init();
@@ -133,8 +137,8 @@ int main(void)
   MX_I2C1_Init();
   MX_CRC_Init();
   MX_RNG_Init();
-  MX_TIM2_Init();
   MX_LPTIM4_Init();
+  MX_TIM2_Init();
   /* USER CODE BEGIN 2 */
   
   BSP_GPIO_PeriperalsOn();
@@ -146,6 +150,14 @@ int main(void)
   ULOG_DEBUG("Setting Global CLS address to 0b10001");
   ULOG_DEBUG("Init Kernel and start schedule");
   
+  //HAL_UART_Receive(&hlpuart1, lp_buffer[swap_index], 10, 10000);
+
+  HAL_StatusTypeDef status = HAL_UARTEx_ReceiveToIdle_DMA(&hlpuart1, lp_buffer[swap_index], 2048);
+  if(status != HAL_OK){
+    ULOG_ERROR("Failed to start DMA");
+    Error_Handler();
+  }
+
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -168,6 +180,37 @@ int main(void)
   /* USER CODE END 3 */
 }
 
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){
+  if(huart->Instance ==LPUART1){
+    uint8_t new_index = (swap_index + 1) % 2;
+    HAL_UARTEx_ReceiveToIdle_DMA(&hlpuart1, lp_buffer[new_index], 2048);
+    usart_send_data(&uart_half, lp_buffer[swap_index], 2048);
+    swap_index = new_index;
+  }
+}
+
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
+ //restarts the DMA listening of the UART rx (next 247 bytes)
+	if(huart->Instance ==LPUART1){
+    
+    uint8_t new_index = (swap_index + 1) % 2;
+		HAL_UARTEx_ReceiveToIdle_DMA(&hlpuart1, lp_buffer[new_index], 2048);
+    usart_send_data(&uart_half, lp_buffer[swap_index], Size);
+    swap_index = new_index;
+	}
+	return;
+}
+
+
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
+{
+  /* Prevent unused argument(s) compilation warning */
+	if(huart->Instance ==LPUART1){
+    swap_index = (swap_index + 1) % 2;
+		HAL_UARTEx_ReceiveToIdle_DMA(&hlpuart1, lp_buffer[swap_index], 2048);
+	}
+}
+
 /**
   * @brief System Clock Configuration
   * @retval None

Core/Src/stm32h7xx_it.c

@@ -22,6 +22,7 @@
 #include "stm32h7xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "AsyncComm.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -41,7 +42,8 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-
+extern uart_desc_t uart_duplex;
+extern uart_desc_t uart_half;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -61,6 +63,9 @@ extern ADC_HandleTypeDef hadc1;
 extern FDCAN_HandleTypeDef hfdcan1;
 extern FDCAN_HandleTypeDef hfdcan2;
 extern LPTIM_HandleTypeDef hlptim4;
+extern DMA_HandleTypeDef hdma_lpuart1_rx;
+extern DMA_HandleTypeDef hdma_lpuart1_tx;
+extern UART_HandleTypeDef hlpuart1;
 extern RTC_HandleTypeDef hrtc;
 extern SD_HandleTypeDef hsd1;
 extern TIM_HandleTypeDef htim2;
@@ -233,7 +238,7 @@ void DMA1_Stream0_IRQHandler(void)
   /* USER CODE END DMA1_Stream0_IRQn 0 */
 
   /* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
-
+  usart_dma_irq_handler(&uart_duplex);
   /* USER CODE END DMA1_Stream0_IRQn 1 */
 }
 
@@ -247,7 +252,7 @@ void DMA1_Stream1_IRQHandler(void)
   /* USER CODE END DMA1_Stream1_IRQn 0 */
 
   /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
-
+  usart_dma_irq_handler_tx(&uart_duplex);
   /* USER CODE END DMA1_Stream1_IRQn 1 */
 }
 
@@ -261,7 +266,7 @@ void DMA1_Stream2_IRQHandler(void)
   /* USER CODE END DMA1_Stream2_IRQn 0 */
 
   /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
-
+  usart_dma_irq_handler(&uart_half);
   /* USER CODE END DMA1_Stream2_IRQn 1 */
 }
 
@@ -275,7 +280,7 @@ void DMA1_Stream3_IRQHandler(void)
   /* USER CODE END DMA1_Stream3_IRQn 0 */
 
   /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
-
+  usart_dma_irq_handler_tx(&uart_half);
   /* USER CODE END DMA1_Stream3_IRQn 1 */
 }
 
@@ -400,7 +405,7 @@ void USART1_IRQHandler(void)
 
   /* USER CODE END USART1_IRQn 0 */
   /* USER CODE BEGIN USART1_IRQn 1 */
-
+  usart_irq_handler(&uart_duplex);
   /* USER CODE END USART1_IRQn 1 */
 }
 
@@ -413,7 +418,7 @@ void USART3_IRQHandler(void)
 
   /* USER CODE END USART3_IRQn 0 */
   /* USER CODE BEGIN USART3_IRQn 1 */
-
+  usart_irq_handler(&uart_half);
   /* USER CODE END USART3_IRQn 1 */
 }
 
@@ -473,6 +478,34 @@ void OTG_HS_IRQHandler(void)
   /* USER CODE END OTG_HS_IRQn 1 */
 }
 
+/**
+  * @brief This function handles BDMA channel0 global interrupt.
+  */
+void BDMA_Channel0_IRQHandler(void)
+{
+  /* USER CODE BEGIN BDMA_Channel0_IRQn 0 */
+
+  /* USER CODE END BDMA_Channel0_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_lpuart1_rx);
+  /* USER CODE BEGIN BDMA_Channel0_IRQn 1 */
+
+  /* USER CODE END BDMA_Channel0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles BDMA channel1 global interrupt.
+  */
+void BDMA_Channel1_IRQHandler(void)
+{
+  /* USER CODE BEGIN BDMA_Channel1_IRQn 0 */
+
+  /* USER CODE END BDMA_Channel1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_lpuart1_tx);
+  /* USER CODE BEGIN BDMA_Channel1_IRQn 1 */
+
+  /* USER CODE END BDMA_Channel1_IRQn 1 */
+}
+
 /**
   * @brief This function handles LPTIM4 global interrupt.
   */
@@ -487,6 +520,22 @@ void LPTIM4_IRQHandler(void)
   /* USER CODE END LPTIM4_IRQn 1 */
 }
 
+/**
+  * @brief This function handles LPUART1 global interrupt.
+  */
+void LPUART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN LPUART1_IRQn 0 */
+
+  /* USER CODE END LPUART1_IRQn 0 */
+  HAL_UART_IRQHandler(&hlpuart1);
+  /* USER CODE BEGIN LPUART1_IRQn 1 */
+
+  
+
+  /* USER CODE END LPUART1_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/usart.c

@@ -25,6 +25,8 @@
 /* USER CODE END 0 */
 
 UART_HandleTypeDef hlpuart1;
+DMA_HandleTypeDef hdma_lpuart1_rx;
+DMA_HandleTypeDef hdma_lpuart1_tx;
 
 /* LPUART1 init function */
 
@@ -39,7 +41,7 @@ void MX_LPUART1_UART_Init(void)
 
   /* USER CODE END LPUART1_Init 1 */
   hlpuart1.Instance = LPUART1;
-  hlpuart1.Init.BaudRate = 2000000;
+  hlpuart1.Init.BaudRate = 3000000;
   hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
   hlpuart1.Init.StopBits = UART_STOPBITS_1;
   hlpuart1.Init.Parity = UART_PARITY_NONE;
@@ -157,7 +159,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   USART_InitStruct.PrescalerValue = LL_USART_PRESCALER_DIV1;
-  USART_InitStruct.BaudRate = 1000000;
+  USART_InitStruct.BaudRate = 2000000;
   USART_InitStruct.DataWidth = LL_USART_DATAWIDTH_8B;
   USART_InitStruct.StopBits = LL_USART_STOPBITS_1;
   USART_InitStruct.Parity = LL_USART_PARITY_NONE;
@@ -273,7 +275,7 @@ void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 1 */
   USART_InitStruct.PrescalerValue = LL_USART_PRESCALER_DIV1;
-  USART_InitStruct.BaudRate = 1000000;
+  USART_InitStruct.BaudRate = 2000000;
   USART_InitStruct.DataWidth = LL_USART_DATAWIDTH_8B;
   USART_InitStruct.StopBits = LL_USART_STOPBITS_1;
   USART_InitStruct.Parity = LL_USART_PARITY_NONE;
@@ -340,6 +342,44 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF8_LPUART;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+    /* LPUART1 DMA Init */
+    /* LPUART1_RX Init */
+    hdma_lpuart1_rx.Instance = BDMA_Channel0;
+    hdma_lpuart1_rx.Init.Request = BDMA_REQUEST_LPUART1_RX;
+    hdma_lpuart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_lpuart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_lpuart1_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_lpuart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_lpuart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_lpuart1_rx.Init.Mode = DMA_NORMAL;
+    hdma_lpuart1_rx.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_lpuart1_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_lpuart1_rx);
+
+    /* LPUART1_TX Init */
+    hdma_lpuart1_tx.Instance = BDMA_Channel1;
+    hdma_lpuart1_tx.Init.Request = BDMA_REQUEST_LPUART1_TX;
+    hdma_lpuart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_lpuart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_lpuart1_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_lpuart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_lpuart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_lpuart1_tx.Init.Mode = DMA_NORMAL;
+    hdma_lpuart1_tx.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_lpuart1_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmatx,hdma_lpuart1_tx);
+
+    /* LPUART1 interrupt Init */
+    HAL_NVIC_SetPriority(LPUART1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(LPUART1_IRQn);
   /* USER CODE BEGIN LPUART1_MspInit 1 */
 
   /* USER CODE END LPUART1_MspInit 1 */
@@ -365,6 +405,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6);
 
+    /* LPUART1 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+    HAL_DMA_DeInit(uartHandle->hdmatx);
+
+    /* LPUART1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(LPUART1_IRQn);
   /* USER CODE BEGIN LPUART1_MspDeInit 1 */
 
   /* USER CODE END LPUART1_MspDeInit 1 */

STM32H723VGTX_FLASH.ld

@@ -171,6 +171,17 @@ SECTIONS
     . = ALIGN(8);
   } >RAM_D1
 
+
+  .dma_buffer (NOLOAD):
+	{
+	/*_framebuffer =.; */
+	/*__framebuffer_start__ = _framebuffer; */
+	*(.dma_buffer)
+	*(.dma_buffer*)
+
+	} >RAM_D3
+
+
   /* Remove information from the standard libraries */
   /DISCARD/ :
   {

cmake_generated/cmake_generated.cmake

@@ -22,6 +22,7 @@ set(sources_SRCS ${sources_SRCS}
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/crc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/dma.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/bdma.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/fdcan.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/gpio.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/i2c.c

lib/CMakeLists.txt

@@ -4,5 +4,10 @@ add_subdirectory(nanopb)
 add_subdirectory(ulog)
 add_subdirectory(ina219)
 
+
 add_library(EE24 STATIC "ee24/ee24.c")
 target_include_directories(EE24 PUBLIC "ee24")
+
+
+add_library(TinyFrame STATIC "TinyFrame/TinyFrame.c")
+target_include_directories(TinyFrame PUBLIC "./TinyFrame" "./TinyFrameConf")

lib/TinyFrameConf/TF_Config.h

@@ -0,0 +1,81 @@
+//
+// TinyFrame configuration file.
+//
+// Rename to TF_Config.h
+//
+
+#ifndef TF_CONFIG_H
+#define TF_CONFIG_H
+
+#include <stdint.h>
+#include <stdio.h> // used by the TF_Error() macro defined below
+//#include <esp8266.h> // when using with esphttpd
+
+//----------------------------- FRAME FORMAT ---------------------------------
+// The format can be adjusted to fit your particular application needs
+
+// If the connection is reliable, you can disable the SOF byte and checksums.
+// That can save up to 9 bytes of overhead.
+
+// ,-----+-----+-----+------+------------+- - - -+-------------,                
+// | SOF | ID  | LEN | TYPE | HEAD_CKSUM | DATA  | DATA_CKSUM  |                
+// | 0-1 | 1-4 | 1-4 | 1-4  | 0-4        | ...   | 0-4         | <- size (bytes)
+// '-----+-----+-----+------+------------+- - - -+-------------'                
+
+// !!! BOTH PEERS MUST USE THE SAME SETTINGS !!!
+
+// Adjust sizes as desired (1,2,4)
+#define TF_ID_BYTES     2
+#define TF_LEN_BYTES    2
+#define TF_TYPE_BYTES   2
+
+// Checksum type. Options:
+//   TF_CKSUM_NONE, TF_CKSUM_XOR, TF_CKSUM_CRC8, TF_CKSUM_CRC16, TF_CKSUM_CRC32
+//   TF_CKSUM_CUSTOM8, TF_CKSUM_CUSTOM16, TF_CKSUM_CUSTOM32
+// Custom checksums require you to implement checksum functions (see TinyFrame.h)
+#define TF_CKSUM_TYPE TF_CKSUM_CRC16
+
+// Use a SOF byte to mark the start of a frame
+#define TF_USE_SOF_BYTE 1
+// Value of the SOF byte (if TF_USE_SOF_BYTE == 1)
+#define TF_SOF_BYTE     0x55
+
+//----------------------- PLATFORM COMPATIBILITY ----------------------------
+
+// used for timeout tick counters - should be large enough for all used timeouts
+typedef uint16_t TF_TICKS;
+
+// used in loops iterating over listeners
+typedef uint8_t TF_COUNT;
+
+//----------------------------- PARAMETERS ----------------------------------
+
+// Maximum received payload size (static buffer)
+// Larger payloads will be rejected.
+#define TF_MAX_PAYLOAD_RX 1024
+// Size of the sending buffer. Larger payloads will be split to pieces and sent
+// in multiple calls to the write function. This can be lowered to reduce RAM usage.
+#define TF_SENDBUF_LEN    1024
+
+// --- Listener counts - determine sizes of the static slot tables ---
+
+// Frame ID listeners (wait for response / multi-part message)
+#define TF_MAX_ID_LST   50
+// Frame Type listeners (wait for frame with a specific first payload byte)
+#define TF_MAX_TYPE_LST 5
+// Generic listeners (fallback if no other listener catches it)
+#define TF_MAX_GEN_LST  5
+
+// Timeout for receiving & parsing a frame
+// ticks = number of calls to TF_Tick()
+#define TF_PARSER_TIMEOUT_TICKS 10
+
+// Whether to use mutex - requires you to implement TF_ClaimTx() and TF_ReleaseTx()
+#define TF_USE_MUTEX  1
+
+// Error reporting function. To disable debug, change to empty define
+#define TF_Error(format, ...) printf("[TF] " format "\n", ##__VA_ARGS__)
+
+//------------------------- End of user config ------------------------------
+
+#endif //TF_CONFIG_H

tools/CMakeLists.txt

@@ -6,6 +6,8 @@ ${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
+${PROTO_SRC_DIR}/display.proto
 )
 
 # Specify where you want to generate the python code

tools/display_test.py

@@ -0,0 +1,41 @@
+import serial
+import struct
+from google.protobuf.message import DecodeError
+from serial.tools import list_ports
+
+from display_pb2 import SetLayout
+from usb_pb2 import PackageType
+from vcp_driver import *
+
+if __name__ == "__main__":
+        ser = setup_connection()
+        # Create a message
+        #request = GlobalBrightness()
+        #request.brightness = 100
+        # Serialize the request to a bytearray
+        #request_data = request.SerializeToString()
+
+        # Send the request
+        #send_package(PackageType.LIGHT_GLOBAL_BRIGHT, request_data, ser)
+
+
+        #request = GlobalTheme()
+        #request.theme = 1
+        #request_data = request.SerializeToString()
+        #send_package(PackageType.LIGHT_GLOBAL_THEME, request_data, ser)
+
+
+        # request = ThemeSettings()
+        # request.deviceId = 1
+        # request.theme = 1
+        # request.rgb = 0x00f000f0
+        # request.brightness = 255
+        # request.animation = 2
+        # request_data = request.SerializeToString()
+        # send_package(PackageType.LIGHT_SETTING_THEME, request_data, ser)
+
+
+        request = SetLayout()
+        request.layout = 2
+        request_data = request.SerializeToString()
+        send_package(PackageType.DISPLAY_SET_LAYOUT, request_data, ser)

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.brightness = 100
+        #request = GlobalBrightness()
+        #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.theme = 1
-        request_data = request.SerializeToString()
-        send_package(PackageType.LIGHT_GLOBAL_THEME, request_data, ser)
+        #request = GlobalTheme()
+        #request.theme = 1
+        #request_data = request.SerializeToString()
+        #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.type = Type.LIGHT
-        request.position.append(Position.RIGHT)
-        request.position.append(Position.FLOOR)
+        request.device = 0
+        request.type = Type.COMMING_HOME
+        request.position.append(Position.LEFT)
+        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.deviceId = 0
-        request.theme = 1
+        request = RequestSettings()
+        request.deviceId = 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

tools/uart_in_test.py

@@ -0,0 +1,13 @@
+import serial
+
+# Open the serial port
+ser = serial.Serial('/dev/ttyACM1', baudrate=1000000)
+
+# Send 10 bytes of data
+data = b'01234567890123456789012345678901234567890123456789'
+
+for i in range(10):
+    ser.write(data)
+
+# Close the serial port
+ser.close()