expander work

include/blk_box_drivers/expander.hpp

@@ -0,0 +1,221 @@
+#ifndef EXPANDER_H
+#define EXPANDER_H
+
+#include "blk_box_drivers/i2c.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+
+#define EXPANDER_I2C_ADDR (0x7E)
+#define EXPANDER_I2C_SPEED (400000)
+#define EXPANDER_TIMEOUT_MS (10)
+
+#define EXPANDER_WHOAMI_VALUE (0x85)
+
+// queue sizes
+#define EXPANDER_EVENT_QUEUE_SIZE 4
+#define EXPANDER_KEYPAD_QUEUE_SIZE 16
+
+void init_expander();
+
+/// The four buttons on the bottom half.
+enum class Button: uint8_t {
+    B1 = 0,
+    B2 = 1,
+    B3 = 2,
+    B4 = 3,
+    GREEN = 0,
+    YELLOW = 1,
+    RED = 2,
+    BLUE = 3,
+};
+
+/// The four switches on the bottom half.
+enum class Switch: uint8_t {
+    S1 = 0,
+    S2 = 1,
+    S3 = 2,
+    S4 = 3,
+};
+
+enum class TouchedReleased: uint8_t {
+    Released = 0,
+    Touched = 1,
+};
+
+/// One of the keys on the keypad.
+enum class KeypadKey: uint8_t {
+    K0 = 0,
+    K1 = 1,
+    K2 = 2,
+    K3 = 3,
+    K4 = 4,
+    K5 = 5,
+    K6 = 6,
+    K7 = 7,
+    K8 = 8,
+    K9 = 9,
+    A = 10,
+    B = 11,
+    C = 12,
+    D = 13,
+    STAR = 14,
+    POUND = 15,
+};
+
+struct SwitchFlip {
+private:
+    // [bit2: pressed] [bit1-0: switch] 
+    uint8_t data;
+
+public:
+    // Constructor
+    SwitchFlip(Switch sw, bool pressed)
+        : data((static_cast<uint8_t>(sw) & 0b11) |
+               ((pressed ? 1 : 0) << 2)) {}
+
+    // Default constructor
+    SwitchFlip() : data(0) {}
+
+    // Getters
+    Switch get_switch() const {
+        return static_cast<Switch>(data & 0b11);
+    }
+
+    bool is_pressed() const {
+        return (data >> 2) & 1;
+    }
+
+    // Setters
+    void set_switch(Switch sw) {
+        data = (data & ~0b11) | (static_cast<uint8_t>(sw) & 0b11);
+    }
+
+    void set_pressed(bool pressed) {
+        data = (data & ~(1 << 2)) | ((pressed ? 1 : 0) << 2);
+    }
+};
+static_assert(sizeof(SwitchFlip) == 1);
+
+struct SwitchTouch {
+private:
+    // [bit2: touched] [bit1-0: switch] 
+    uint8_t data;
+
+public:
+    // Constructor
+    SwitchTouch(Switch sw, bool touched)
+        : data((static_cast<uint8_t>(sw) & 0b11) |
+               ((touched ? 1 : 0) << 2)) {}
+
+    // Default constructor
+    SwitchTouch() : data(0) {}
+
+    // Getters
+    Switch get_switch() const {
+        return static_cast<Switch>(data & 0b11);
+    }
+
+    bool is_touched() const {
+        return (data >> 2) & 1;
+    }
+
+    // Setters
+    void set_switch(Switch sw) {
+        data = (data & ~0b11) | (static_cast<uint8_t>(sw) & 0b11);
+    }
+
+    void set_touched(bool touched) {
+        data = (data & ~(1 << 2)) | ((touched ? 1 : 0) << 2);
+    }
+};
+static_assert(sizeof(SwitchTouch) == 1);
+
+struct ButtonOrSwitch {
+private:
+    // [bit2: is_switch] [bit1-0: number]
+    uint8_t data;
+
+public:
+    // Constructor
+    ButtonOrSwitch(uint8_t number, bool is_switch)
+        : data((number & 0b11) |
+               ((is_switch ? 1 : 0) << 2)) {}
+
+    ButtonOrSwitch() : data(0) {}
+
+    // Getters
+    uint8_t number() const {
+        return data & 0b11;
+    }
+
+    bool is_switch() const {
+        return (data >> 2) & 1;
+    }
+
+    // Setters
+    void set_number(uint8_t number) {
+        data = (data & ~0b11) | (number & 0b11);
+    }
+
+    void set_is_switch(bool is_switch) {
+        data = (data & ~(1 << 2)) | ((is_switch ? 1 : 0) << 2);
+    }
+};
+static_assert(sizeof(ButtonOrSwitch) == 1);
+
+
+/// @brief The state of the bottom half of the box.
+struct ExpanderState {
+    /// The touch state of the switches in the lower 4 bits.
+    /// The touch pad state in bit 4.
+    uint8_t touch_state;
+    /// The current state of the buttons in the lower 4 bits.
+    uint8_t button_state;
+    /// The current state of the switches. Up switches are stored
+    /// in the lower 4 bits, switches that are down are stored in
+    /// the upper 4 bits. If switches are in the middle, the
+    /// corresponding bit will be `0` in the upper and lower 4.
+    uint8_t switch_state;
+    /// The state of the keypad.
+    uint16_t keypad_state;
+    /// The sensitivity of the `hal` value to auto update.
+    uint16_t hal_sense;
+    /// The sensitivity of the `close_hal` value to auto update.
+    uint16_t close_hal_sense;
+    /// A non-exact hal value reading.
+    /// This only gets updated when it changes by `hal_sense`
+    uint16_t hal;
+    /// A non-exact hal value reading.
+    /// This only gets updated when it changes by `close_hal_sense`
+    uint16_t close_hal;
+    /// The RFID card that was presented last.
+    uint32_t rfid_state;
+
+    ExpanderState() : touch_state(0), button_state(0), switch_state(0), keypad_state(0), hal_sense(0), close_hal_sense(0), hal(0), close_hal(0), rfid_state(0) {}
+};
+
+/// The global data for the expander peripheral.
+class ExpanderPeripheral {
+    // TODO: change these to private
+    public: 
+    SemaphoreHandle_t state_mutex;
+    ExpanderState state;
+
+    // channels
+    QueueHandle_t button_press_events;
+    QueueHandle_t button_release_events;
+    QueueHandle_t switch_flip_events;
+    QueueHandle_t switch_touch_events;
+    QueueHandle_t touch_events;
+    QueueHandle_t keypad_press_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

include/blk_box_drivers/i2c.h

@@ -1 +1,12 @@
-void i2c_test();
+#ifndef I2C_H
+#define I2C_H
+
+#include "driver/i2c_master.h"
+
+#define MAIN_I2C_NUM I2C_NUM_0
+
+extern i2c_master_bus_handle_t i2c_main_bus_handle;
+
+void init_main_i2c();
+
+#endif // I2C_H