From ac0ed4b387d244378c1be2b1d5a77dd5c87fe7fa Mon Sep 17 00:00:00 2001
From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Mon, 2 Mar 2020 16:34:46 +0100
Subject: [PATCH] add fault interrupts, fix #6

---
 otto_controller/.cproject           |   4 +-
 otto_controller/.mxproject          |   2 -
 otto_controller/Core/Inc/main.h     |   3 +
 otto_controller/Core/Src/gpio.c     |  14 +--
 otto_controller/Core/Src/main.cpp   | 131 +++++++++++++++++++---------
 otto_controller/otto_controller.ioc |  18 +++-
 6 files changed, 114 insertions(+), 58 deletions(-)

diff --git a/otto_controller/.cproject b/otto_controller/.cproject
index bcf34be..d467a48 100644
--- a/otto_controller/.cproject
+++ b/otto_controller/.cproject
@@ -44,8 +44,8 @@
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F7xx/Include"/>
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc"/>
-									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
 									<listOptionValue builtIn="false" value="../Core/Inc/protobuf"/>
+									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.otherflags.978301265" name="Other flags" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.otherflags" useByScannerDiscovery="false" valueType="stringList"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1784720711" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
@@ -58,8 +58,8 @@
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F7xx/Include"/>
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc"/>
-									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
 									<listOptionValue builtIn="false" value="../Core/Inc/protobuf"/>
+									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1826209638" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
diff --git a/otto_controller/.mxproject b/otto_controller/.mxproject
index b4aeebb..68ed7a1 100644
--- a/otto_controller/.mxproject
+++ b/otto_controller/.mxproject
@@ -20,8 +20,6 @@ SourceFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_it.c
 SourceFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_hal_msp.c
 HeaderFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h
 SourceFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Src/main.c
-HeaderFiles=;
-SourceFiles=;
 
 [PreviousLibFiles]
 LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;
diff --git a/otto_controller/Core/Inc/main.h b/otto_controller/Core/Inc/main.h
index fb0a3d8..80943f3 100644
--- a/otto_controller/Core/Inc/main.h
+++ b/otto_controller/Core/Inc/main.h
@@ -58,6 +58,9 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
+#define user_button_Pin GPIO_PIN_13
+#define user_button_GPIO_Port GPIOC
+#define user_button_EXTI_IRQn EXTI15_10_IRQn
 #define current2_Pin GPIO_PIN_0
 #define current2_GPIO_Port GPIOC
 #define encoder_dx1_Pin GPIO_PIN_0
diff --git a/otto_controller/Core/Src/gpio.c b/otto_controller/Core/Src/gpio.c
index b3dac9b..7998962 100644
--- a/otto_controller/Core/Src/gpio.c
+++ b/otto_controller/Core/Src/gpio.c
@@ -56,11 +56,11 @@ void MX_GPIO_Init(void)
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOF, sleep2_Pin|sleep1_Pin, GPIO_PIN_SET);
 
-  /*Configure GPIO pin : PC13 */
-  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = user_button_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  HAL_GPIO_Init(user_button_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = current2_Pin;
@@ -76,8 +76,8 @@ void MX_GPIO_Init(void)
 
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = fault2_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(fault2_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PFPin PFPin */
@@ -96,8 +96,8 @@ void MX_GPIO_Init(void)
 
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = fault1_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(fault1_GPIO_Port, &GPIO_InitStruct);
 
   /* EXTI interrupt init*/
diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp
index 06216ed..9d51e08 100644
--- a/otto_controller/Core/Src/main.cpp
+++ b/otto_controller/Core/Src/main.cpp
@@ -129,14 +129,12 @@ static void MX_NVIC_Init(void);
 /* USER CODE END 0 */
 
 /**
-  * @brief  The application entry point.
-  * @retval int
-  */
-int main(void)
-{
+ * @brief  The application entry point.
+ * @retval int
+ */
+int main(void) {
   /* USER CODE BEGIN 1 */
   /* USER CODE END 1 */
-  
 
   /* MCU Configuration--------------------------------------------------------*/
 
@@ -194,7 +192,7 @@ int main(void)
 
   //Enables UART RX interrupt
   HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,
-                       VelocityCommand_size);
+  VelocityCommand_size);
 
   /* USER CODE END 2 */
 
@@ -209,56 +207,51 @@ int main(void)
 }
 
 /**
-  * @brief System Clock Configuration
-  * @retval None
-  */
-void SystemClock_Config(void)
-{
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+ * @brief System Clock Configuration
+ * @retval None
+ */
+void SystemClock_Config(void) {
+  RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = { 0 };
 
   /** Configure the main internal regulator output voltage 
-  */
+   */
   __HAL_RCC_PWR_CLK_ENABLE();
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
   /** Initializes the CPU, AHB and APB busses clocks 
-  */
+   */
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  {
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
     Error_Handler();
   }
   /** Initializes the CPU, AHB and APB busses clocks 
-  */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+   */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
+      | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
-  {
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
     Error_Handler();
   }
   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART6;
   PeriphClkInitStruct.Usart6ClockSelection = RCC_USART6CLKSOURCE_PCLK2;
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-  {
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) {
     Error_Handler();
   }
 }
 
 /**
-  * @brief NVIC Configuration.
-  * @retval None
-  */
-static void MX_NVIC_Init(void)
-{
+ * @brief NVIC Configuration.
+ * @retval None
+ */
+static void MX_NVIC_Init(void) {
   /* TIM3_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(TIM3_IRQn, 2, 1);
   HAL_NVIC_EnableIRQ(TIM3_IRQn);
@@ -295,7 +288,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
   //TIMER 10Hz Transmit
   if (htim->Instance == TIM6) {
 
-    pb_ostream_t stream = pb_ostream_from_buffer(proto_buffer_tx, sizeof(proto_buffer_tx));
+    pb_ostream_t stream = pb_ostream_from_buffer(proto_buffer_tx,
+                                                 sizeof(proto_buffer_tx));
 
     float left_wheel = left_encoder.GetLinearVelocity();
     float right_wheel = right_encoder.GetLinearVelocity();
@@ -313,7 +307,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 
     pb_encode(&stream, StatusMessage_fields, &status_msg);
 
-    HAL_UART_Transmit_DMA(&huart6,(uint8_t*) &proto_buffer_tx, StatusMessage_size);
+    HAL_UART_Transmit_DMA(&huart6, (uint8_t*) &proto_buffer_tx,
+    StatusMessage_size);
   }
 }
 
@@ -330,7 +325,7 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
   float angular_velocity;
 
   pb_istream_t stream = pb_istream_from_buffer(proto_buffer_rx,
-                                               VelocityCommand_size);
+  VelocityCommand_size);
 
   bool status = pb_decode(&stream, VelocityCommand_fields, &vel_cmd);
 
@@ -349,32 +344,82 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
     float cross_setpoint = left_setpoint - right_setpoint;
     cross_pid.set(cross_setpoint);
 
-
   }
 
   HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,
-                       VelocityCommand_size);
+  VelocityCommand_size);
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
   //Blue user button on the NUCLEO board
-  if (GPIO_Pin == GPIO_PIN_13) {
+  if (GPIO_Pin == user_button_Pin) {
     if (mode == 0) {
       mode = 1;
       //Enables TIM3 interrupt (used for PID control)
       HAL_TIM_Base_Start_IT(&htim3);
-
     }
+
+  } else if (GPIO_Pin == fault1_Pin) {
+    left_motor.brake();
+    right_motor.brake();
+    //stop TIM3 interrupt (used for PID control)
+    HAL_TIM_Base_Stop_IT(&htim3);
+
+    //Send status message with error code
+    status_msg.linear_velocity = 0;
+    status_msg.angular_velocity = 0;
+
+    float current_tx_millis = HAL_GetTick();
+    status_msg.delta_millis = current_tx_millis - previous_tx_millis;
+    previous_tx_millis = current_tx_millis;
+
+    status_msg.status = 4;
+
+    pb_ostream_t stream = pb_ostream_from_buffer(proto_buffer_tx,
+                                                 sizeof(proto_buffer_tx));
+    pb_encode(&stream, StatusMessage_fields, &status_msg);
+
+    HAL_UART_Transmit_DMA(&huart6, (uint8_t*) &proto_buffer_tx,
+    StatusMessage_size);
+
+    //loops forever, manual reset is needed
+    while (1);
+
+  } else if (GPIO_Pin == fault2_Pin) {
+    left_motor.brake();
+    right_motor.brake();
+    //stop TIM3 interrupt (used for PID control)
+    HAL_TIM_Base_Stop_IT(&htim3);
+
+    //Send status message with error code
+    status_msg.linear_velocity = 0;
+    status_msg.angular_velocity = 0;
+
+    float current_tx_millis = HAL_GetTick();
+    status_msg.delta_millis = current_tx_millis - previous_tx_millis;
+    previous_tx_millis = current_tx_millis;
+
+    status_msg.status = 5;
+
+    pb_ostream_t stream = pb_ostream_from_buffer(proto_buffer_tx,
+                                                 sizeof(proto_buffer_tx));
+    pb_encode(&stream, StatusMessage_fields, &status_msg);
+
+    HAL_UART_Transmit_DMA(&huart6, (uint8_t*) &proto_buffer_tx,
+    StatusMessage_size);
+
+    //loops forever, manual reset is needed
+    while (1);
   }
+
 }
 /* USER CODE END 4 */
 
 /**
-  * @brief  This function is executed in case of error occurrence.
-  * @retval None
-  */
-void Error_Handler(void)
-{
+ * @brief  This function is executed in case of error occurrence.
+ * @retval None
+ */
+void Error_Handler(void) {
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
 
diff --git a/otto_controller/otto_controller.ioc b/otto_controller/otto_controller.ioc
index cf90633..2f5322d 100644
--- a/otto_controller/otto_controller.ioc
+++ b/otto_controller/otto_controller.ioc
@@ -105,10 +105,12 @@ PA5.GPIOParameters=GPIO_Label
 PA5.GPIO_Label=encoder_sx1
 PA5.Locked=true
 PA5.Signal=S_TIM2_CH1_ETR
-PA6.GPIOParameters=GPIO_Label
+PA6.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
 PA6.GPIO_Label=fault2
+PA6.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
+PA6.GPIO_PuPd=GPIO_PULLUP
 PA6.Locked=true
-PA6.Signal=GPIO_Input
+PA6.Signal=GPXTI6
 PB3.GPIOParameters=GPIO_Label
 PB3.GPIO_Label=encoder_sx2
 PB3.Locked=true
@@ -117,6 +119,8 @@ PC0.GPIOParameters=GPIO_Label
 PC0.GPIO_Label=current2
 PC0.Locked=true
 PC0.Signal=GPIO_Analog
+PC13.GPIOParameters=GPIO_Label
+PC13.GPIO_Label=user_button
 PC13.Locked=true
 PC13.Signal=GPXTI13
 PC6.Mode=Asynchronous
@@ -139,10 +143,12 @@ PD15.GPIOParameters=GPIO_Label
 PD15.GPIO_Label=pwm1
 PD15.Locked=true
 PD15.Signal=S_TIM4_CH4
-PE9.GPIOParameters=GPIO_Label
+PE9.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
 PE9.GPIO_Label=fault1
+PE9.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
+PE9.GPIO_PuPd=GPIO_PULLUP
 PE9.Locked=true
-PE9.Signal=GPIO_Input
+PE9.Signal=GPXTI9
 PF12.GPIOParameters=GPIO_Label
 PF12.GPIO_Label=dir2
 PF12.Locked=true
@@ -224,6 +230,10 @@ RCC.VCOOutputFreq_Value=192000000
 RCC.VCOSAIOutputFreq_Value=192000000
 SH.GPXTI13.0=GPIO_EXTI13
 SH.GPXTI13.ConfNb=1
+SH.GPXTI6.0=GPIO_EXTI6
+SH.GPXTI6.ConfNb=1
+SH.GPXTI9.0=GPIO_EXTI9
+SH.GPXTI9.ConfNb=1
 SH.S_TIM2_CH1_ETR.0=TIM2_CH1,Encoder_Interface
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface