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basic expander work

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This commit is contained in:
Mitchell Marino 2026-04-01 12:49:59 -05:00
parent 8c0b6823fd
commit 837c3eacda
2 changed files with 110 additions and 50 deletions
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148
drivers/expander.cpp
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@ -4,12 +4,16 @@
#include "blk_box_drivers/i2c.h" #include "blk_box_drivers/i2c.h"
#include "driver/i2c_master.h" #include "driver/i2c_master.h"
#include "driver/gpio.h" #include "driver/gpio.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h" #include "esp_log.h"
#include "esp_err.h" #include "esp_err.h"
static const char *TAG = "EXPANDER"; static const char *TAG = "EXPANDER";
i2c_master_dev_handle_t expander_i2c_dev_handle; static TaskHandle_t expander_task_handle = NULL;
static i2c_master_dev_handle_t expander_i2c_dev_handle;
const static uint8_t REG_WHOAMI = 0x01; const static uint8_t REG_WHOAMI = 0x01;
const static uint8_t REG_SW_VERSION = 0x02; const static uint8_t REG_SW_VERSION = 0x02;
@ -27,15 +31,30 @@ const static uint8_t REG_HALL_SENSITIVITY = 0x31;
const static uint8_t REG_CLOSE_SENSITIVITY = 0x32; const static uint8_t REG_CLOSE_SENSITIVITY = 0x32;
const static uint8_t REG_SWITCH_TOUCH_EVENT = 0x33; const static uint8_t REG_SWITCH_TOUCH_EVENT = 0x33;
ExpanderPeripheral expander_peripheral; ExpanderPeripheral expander_peripheral_singleton;
// forward declarations // forward declarations
static void get_events();
static void handle_event(uint8_t event); static void handle_event(uint8_t event);
static void handle_button_switch_event(uint8_t event); static void handle_button_switch_event(uint8_t event);
static void handle_keypad_event(uint8_t event); static void handle_keypad_event(uint8_t event);
static void handle_touch_event(uint8_t event); static void handle_touch_event(uint8_t event);
static void handle_rfid_event(uint8_t event); static void handle_rfid_event(uint8_t event);
static void handle_close_hal_event(uint8_t event); static void handle_close_hal_event(uint8_t event);
static void expander_task(void *arg);
// ISR handler
static void IRAM_ATTR expander_isr_handler(void *arg) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (expander_task_handle != NULL) {
vTaskNotifyGiveFromISR(expander_task_handle, &xHigherPriorityTaskWoken);
}
if (xHigherPriorityTaskWoken == pdTRUE) {
portYIELD_FROM_ISR();
}
}
void init_expander() { void init_expander() {
ESP_LOGI(TAG, "Initializing expander..."); ESP_LOGI(TAG, "Initializing expander...");
@ -50,11 +69,28 @@ void init_expander() {
} }
}; };
// TODO: replace all these ESP_ERROR_CHECK with proper error handling that doesn't just crash the program
ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c_main_bus_handle, &dev_config, &expander_i2c_dev_handle)); ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c_main_bus_handle, &dev_config, &expander_i2c_dev_handle));
ESP_LOGD(TAG, "Expander I2C device added to bus"); ESP_LOGD(TAG, "Expander I2C device added to bus");
// TODO: setup interrupt on PIN_EXPANDER_INT // setup interrupt on PIN_EXPANDER_INT
gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << PIN_EXPANDER_INT),
.mode = GPIO_MODE_INPUT,
.pull_up_en = GPIO_PULLUP_ENABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_NEGEDGE
};
ESP_ERROR_CHECK(gpio_config(&io_conf));
// Install ISR service (only call once in your program)
ESP_ERROR_CHECK(gpio_install_isr_service(0));
// Attach the ISR to the expander pin
ESP_ERROR_CHECK(gpio_isr_handler_add(PIN_EXPANDER_INT, expander_isr_handler, NULL));
// verify the expander connection status by reading the WHOAMI register
uint8_t read_buf[2] = {0}; uint8_t read_buf[2] = {0};
ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_WHOAMI, 1, read_buf, 1, EXPANDER_TIMEOUT_MS)); ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_WHOAMI, 1, read_buf, 1, EXPANDER_TIMEOUT_MS));
@ -69,24 +105,51 @@ void init_expander() {
ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_SW_VERSION, 1, read_buf, 2, EXPANDER_TIMEOUT_MS)); ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_SW_VERSION, 1, read_buf, 2, EXPANDER_TIMEOUT_MS));
// init the peripheral struct // init the peripheral struct
expander_peripheral.state_mutex = xSemaphoreCreateMutex(); expander_peripheral_singleton.state_mutex = xSemaphoreCreateMutex();
expander_peripheral.button_press_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button)); expander_peripheral_singleton.button_press_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button));
expander_peripheral.button_release_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button)); expander_peripheral_singleton.button_release_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button));
expander_peripheral.switch_flip_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchFlip)); expander_peripheral_singleton.switch_flip_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchFlip));
expander_peripheral.switch_touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchTouch)); expander_peripheral_singleton.switch_touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchTouch));
expander_peripheral.touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(TouchedReleased)); expander_peripheral_singleton.touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(TouchedReleased));
expander_peripheral.keypad_press_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(KeypadKey)); expander_peripheral_singleton.keypad_press_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(KeypadKey));
expander_peripheral.keypad_release_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(KeypadKey)); expander_peripheral_singleton.keypad_release_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(KeypadKey));
ESP_LOGI(TAG, "Expander initialized! SW version: v%d.%d", read_buf[0], read_buf[1]); ESP_LOGI(TAG, "Expander initialized! SW version: v%d.%d", read_buf[0], read_buf[1]);
// Create the expander background worker task
BaseType_t task_created = xTaskCreate(
expander_task,
"expander_task",
4096,
NULL,
tskIDLE_PRIORITY + 1,
&expander_task_handle
);
if (task_created != pdPASS) {
ESP_LOGE(TAG, "Failed to create expander task");
}
} }
void get_events() { static void expander_task(void *arg) {
(void)arg;
while (true) {
get_events();
// Wait for interrupt notification (signal is sent when INT falls)
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
// loop continues and will process events once INT goes low
printf("WAKE\n");
}
}
static void get_events() {
uint8_t recv; uint8_t recv;
do { while (gpio_get_level(PIN_EXPANDER_INT) == 0) {
ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_EVENT_QUEUE_POP, 1, &recv, 1, EXPANDER_TIMEOUT_MS)); ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_EVENT_QUEUE_POP, 1, &recv, 1, EXPANDER_TIMEOUT_MS));
handle_event(recv); handle_event(recv);
} while (gpio_get_level(PIN_EXPANDER_INT) == 0); }
} }
static void handle_event(uint8_t event) { static void handle_event(uint8_t event) {
@ -95,7 +158,7 @@ static void handle_event(uint8_t event) {
const uint8_t TOUCH = 0b010; const uint8_t TOUCH = 0b010;
const uint8_t RFID = 0b011; const uint8_t RFID = 0b011;
ESP_LOGI(TAG, "Expander event: 0b%08b (0x%02X)", event, event); ESP_LOGD(TAG, "Expander event: 0b%08b (0x%02X)", event, event);
if (event == 0) { if (event == 0) {
ESP_LOGE(TAG, "We read from event queue while it was empty!"); ESP_LOGE(TAG, "We read from event queue while it was empty!");
@ -141,35 +204,35 @@ static void handle_button_switch_event(uint8_t event) {
Switch sw = static_cast<Switch>(number); Switch sw = static_cast<Switch>(number);
SwitchFlip sw_flip = SwitchFlip(sw, pressed); SwitchFlip sw_flip = SwitchFlip(sw, pressed);
if (xQueueSendToBack(expander_peripheral.switch_flip_events, &sw_flip, 0) != pdTRUE) { if (xQueueSendToBack(expander_peripheral_singleton.switch_flip_events, &sw_flip, 0) != pdTRUE) {
ESP_LOGE(TAG, "Failed to send switch flip event!"); ESP_LOGE(TAG, "Failed to send switch flip event!");
} }
xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY); xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
if (pressed) { if (pressed) {
// set // set
expander_peripheral.state.switch_state |= 1 << number; expander_peripheral_singleton.state.switch_state |= 1 << number;
} else { } else {
// clear // clear
expander_peripheral.state.switch_state &= ~(1 << number); expander_peripheral_singleton.state.switch_state &= ~(1 << number);
} }
xSemaphoreGive(expander_peripheral.state_mutex); xSemaphoreGive(expander_peripheral_singleton.state_mutex);
} else { } else {
// button // button
Button button = static_cast<Button>(number); Button button = static_cast<Button>(number);
if (pressed) { if (pressed) {
if (xQueueSendToBack(expander_peripheral.button_press_events, &button, 0) != pdTRUE) { if (xQueueSendToBack(expander_peripheral_singleton.button_press_events, &button, 0) != pdTRUE) {
ESP_LOGE(TAG, "Failed to send button press event!"); ESP_LOGE(TAG, "Failed to send button press event!");
} }
xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY); xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
expander_peripheral.state.button_state |= 1 << number; expander_peripheral_singleton.state.button_state |= 1 << number;
xSemaphoreGive(expander_peripheral.state_mutex); xSemaphoreGive(expander_peripheral_singleton.state_mutex);
} else { } else {
if (xQueueSendToBack(expander_peripheral.button_release_events, &button, 0) != pdTRUE) { if (xQueueSendToBack(expander_peripheral_singleton.button_release_events, &button, 0) != pdTRUE) {
ESP_LOGE(TAG, "Failed to send button release event!"); ESP_LOGE(TAG, "Failed to send button release event!");
} }
xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY); xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
expander_peripheral.state.button_state &= ~(1 << number); expander_peripheral_singleton.state.button_state &= ~(1 << number);
xSemaphoreGive(expander_peripheral.state_mutex); xSemaphoreGive(expander_peripheral_singleton.state_mutex);
} }
} }
} }
@ -189,19 +252,19 @@ static void handle_keypad_event(uint8_t event) {
// } // }
if (pressed) { if (pressed) {
if (xQueueSendToBack(expander_peripheral.keypad_press_events, &key, 0) != pdTRUE) { if (xQueueSendToBack(expander_peripheral_singleton.keypad_press_events, &key, 0) != pdTRUE) {
ESP_LOGE(TAG, "Failed to send keypad press event!"); ESP_LOGE(TAG, "Failed to send keypad press event!");
} }
xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY); xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
expander_peripheral.state.keypad_state |= 1 << number; expander_peripheral_singleton.state.keypad_state |= 1 << number;
xSemaphoreGive(expander_peripheral.state_mutex); xSemaphoreGive(expander_peripheral_singleton.state_mutex);
} else { } else {
if (xQueueSendToBack(expander_peripheral.keypad_release_events, &key, 0) != pdTRUE) { if (xQueueSendToBack(expander_peripheral_singleton.keypad_release_events, &key, 0) != pdTRUE) {
ESP_LOGE(TAG, "Failed to send keypad release event!"); ESP_LOGE(TAG, "Failed to send keypad release event!");
} }
xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY); xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
expander_peripheral.state.keypad_state &= ~(1 << number); expander_peripheral_singleton.state.keypad_state &= ~(1 << number);
xSemaphoreGive(expander_peripheral.state_mutex); xSemaphoreGive(expander_peripheral_singleton.state_mutex);
} }
} }
@ -215,24 +278,24 @@ static void handle_touch_event(uint8_t event) {
if ((sensor & FINGERPRINT_BIT) != 0) { if ((sensor & FINGERPRINT_BIT) != 0) {
TouchedReleased touch_state = static_cast<TouchedReleased>(touched); TouchedReleased touch_state = static_cast<TouchedReleased>(touched);
if (xQueueSendToBack(expander_peripheral.touch_events, &touch_state, 0) != pdTRUE) { if (xQueueSendToBack(expander_peripheral_singleton.touch_events, &touch_state, 0) != pdTRUE) {
ESP_LOGE(TAG, "Failed to send touch event!"); ESP_LOGE(TAG, "Failed to send touch event!");
} }
} else { } else {
Switch sw = static_cast<Switch>(sensor); Switch sw = static_cast<Switch>(sensor);
SwitchTouch sw_touch = SwitchTouch(sw, touched); SwitchTouch sw_touch = SwitchTouch(sw, touched);
if (xQueueSendToBack(expander_peripheral.switch_touch_events, &sw_touch, 0) != pdTRUE) { if (xQueueSendToBack(expander_peripheral_singleton.switch_touch_events, &sw_touch, 0) != pdTRUE) {
ESP_LOGE(TAG, "Failed to send switch touch event!"); ESP_LOGE(TAG, "Failed to send switch touch event!");
} }
} }
xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY); xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
if (touched) { if (touched) {
expander_peripheral.state.touch_state |= 1 << sensor; expander_peripheral_singleton.state.touch_state |= 1 << sensor;
} else { } else {
expander_peripheral.state.touch_state &= ~(1 << sensor); expander_peripheral_singleton.state.touch_state &= ~(1 << sensor);
} }
xSemaphoreGive(expander_peripheral.state_mutex); xSemaphoreGive(expander_peripheral_singleton.state_mutex);
} }
static void handle_rfid_event(uint8_t event) { static void handle_rfid_event(uint8_t event) {
@ -244,3 +307,4 @@ static void handle_close_hal_event(uint8_t event) {
// TODO: impl // TODO: impl
(void)event; (void)event;
} }

12
include/blk_box_drivers/expander.hpp
View File

@ -7,7 +7,8 @@
#define EXPANDER_I2C_ADDR (0x7E) #define EXPANDER_I2C_ADDR (0x7E)
#define EXPANDER_I2C_SPEED (400000) #define EXPANDER_I2C_SPEED (400000)
#define EXPANDER_TIMEOUT_MS (10) // the actual transaction takes ~0.3ms, but for some reason a timout of ~10 or lower causes issues.
#define EXPANDER_TIMEOUT_MS (100)
#define EXPANDER_WHOAMI_VALUE (0x85) #define EXPANDER_WHOAMI_VALUE (0x85)
@ -209,13 +210,8 @@ class ExpanderPeripheral {
QueueHandle_t touch_events; QueueHandle_t touch_events;
QueueHandle_t keypad_press_events; QueueHandle_t keypad_press_events;
QueueHandle_t keypad_release_events; QueueHandle_t keypad_release_events;
// button_press_events: Channel<CriticalSectionRawMutex, Button, EXPANDER_EVENT_QUEUE_SIZE>,
// button_release_events: Channel<CriticalSectionRawMutex, Button, EXPANDER_EVENT_QUEUE_SIZE>,
// switch_flip_events: Channel<CriticalSectionRawMutex, SwitchFlip, EXPANDER_EVENT_QUEUE_SIZE>,
// switch_touch_events: Channel<CriticalSectionRawMutex, SwitchTouch, EXPANDER_EVENT_QUEUE_SIZE>,
// touch_events: Channel<CriticalSectionRawMutex, TouchRelease, EXPANDER_EVENT_QUEUE_SIZE>,
// keypad_press_events: Channel<CriticalSectionRawMutex, KeypadKey, EXPANDER_KEYPAD_QUEUE_SIZE>,
// keypad_release_events: Channel<CriticalSectionRawMutex, KeypadKey, EXPANDER_KEYPAD_QUEUE_SIZE>,
}; };
#endif // EXPANDER_H #endif // EXPANDER_H