switch to event based expander interface (WIP)

2026-04-08 21:54:13 -05:00 · 2026-04-08 21:54:13 -05:00 · d03a208272
commit d03a208272
parent 202b926eb7
2 changed files with 488 additions and 1 deletions
--- a/main/drivers/CMakeLists.txt
+++ b/main/drivers/CMakeLists.txt
@ -4,12 +4,13 @@ set(SOURCES
    "TM1640/TM1640.cpp"
    "SparkFunBQ27441/SparkFunBQ27441.cpp"
    "esp_lcd_ili9488/esp_lcd_ili9488.c"
-    "bottom_half.cpp"
+    # "bottom_half.cpp"
    "char_lcd.cpp"
    "game_info.cpp"
    "game_timer.cpp"
    "i2c_lcd_pcf8574.c"
    "i2c.cpp"
+    "inputs.cpp"
    "leds.cpp"
    "perh.cpp"
    "power.cpp"
--- a/main/drivers/inputs.cpp
+++ b/main/drivers/inputs.cpp
@ -0,0 +1,486 @@
+#include "blk_box_drivers/inputs.hpp"
+
+#include "bottom_half.h"
+#include "pins.h"
+#include "driver/i2c.h"
+#include "driver/gpio.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "esp_err.h"
+
+static const char *TAG = "INPUTS";
+
+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_SW_VERSION = 0x02;
+const static uint8_t REG_EVENT_QUEUE_POP = 0x10;
+const static uint8_t REG_EVENT_QUEUE_LEN = 0x11;
+const static uint8_t REG_STATE_BUTTONS = 0x20;
+const static uint8_t REG_STATE_SWITCHES = 0x21;
+const static uint8_t REG_STATE_KEYPAD = 0x22;
+const static uint8_t REG_STATE_TOUCH = 0x23;
+const static uint8_t REG_STATE_RFID = 0x24;
+const static uint8_t REG_STATE_HALL = 0x25;
+const static uint8_t REG_STATE_CLOSE = 0x26;
+const static uint8_t REG_RESET = 0x30;
+const static uint8_t REG_HALL_SENSITIVITY = 0x31;
+const static uint8_t REG_CLOSE_SENSITIVITY = 0x32;
+const static uint8_t REG_SWITCH_TOUCH_EVENT = 0x33;
+
+/// The global data for the expander peripheral.
+class ExpanderPeripheral {
+    // TODO: change these to private
+    // or even make this class hidden
+    public: 
+    SemaphoreHandle_t state_mutex;
+    InputsState 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;
+};
+
+ExpanderPeripheral expander_peripheral_singleton;
+
+// forward declarations
+static void get_events();
+static void handle_event(uint8_t event);
+static void handle_button_switch_event(uint8_t event);
+static void handle_keypad_event(uint8_t event);
+static void handle_touch_event(uint8_t event);
+static void handle_rfid_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() {
+    ESP_LOGI(TAG, "Initializing expander...");
+
+    i2c_device_config_t dev_config = {
+        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+        .device_address = EXPANDER_I2C_ADDR,
+        .scl_speed_hz = EXPANDER_I2C_SPEED,
+        .scl_wait_us = 0, // default
+        .flags = {
+            .disable_ack_check = 0,
+        }
+    };
+
+    // setup interrupt on BOTTOM_PIN_INTERUPT
+    gpio_config_t io_conf = {
+        .pin_bit_mask = (1ULL << BOTTOM_PIN_INTERUPT),
+        .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(BOTTOM_PIN_INTERUPT, expander_isr_handler, NULL));
+
+    // verify the expander connection status by reading the WHOAMI register
+    uint8_t read_buf[2] = {0};
+
+    i2c_master_write_read_device(I2C_NUM_0, BOTTOM_I2C_ADDR, &REG_WHOAMI, 1, read_buf, 1, 1000);
+
+    if (read_buf[0] != EXPANDER_WHOAMI_VALUE) {
+        ESP_LOGE(TAG, "WHOAMI mismatch, expected 0x%02X, got 0x%02X", EXPANDER_WHOAMI_VALUE, read_buf[0]);
+        return;
+    }
+
+    ESP_LOGD(TAG, "Expander WHOAMI check passed");
+
+    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
+    expander_peripheral_singleton.state_mutex = xSemaphoreCreateMutex();
+    expander_peripheral_singleton.button_press_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button));
+    expander_peripheral_singleton.button_release_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button));
+    expander_peripheral_singleton.switch_flip_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchFlip));
+    expander_peripheral_singleton.switch_touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchTouch));
+    expander_peripheral_singleton.touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(TouchedReleased));
+    expander_peripheral_singleton.keypad_press_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]);
+
+    // 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");
+    }
+}
+
+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);
+    }
+}
+
+static void get_events() {
+    uint8_t recv;
+    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));
+        handle_event(recv);
+    }
+}
+
+static void handle_event(uint8_t event) {
+    const uint8_t BUTTON_SWITCH = 0b000;
+    const uint8_t KEYPAD = 0b001;
+    const uint8_t TOUCH = 0b010;
+    const uint8_t RFID = 0b011;
+
+    ESP_LOGD(TAG, "Expander event: 0b%08b (0x%02X)", event, event);
+
+    if (event == 0) {
+        ESP_LOGE(TAG, "We read from event queue while it was empty!");
+        return;
+    }
+
+    uint8_t type_bits = event >> 5;
+
+    switch (type_bits) {
+        case BUTTON_SWITCH:
+            handle_button_switch_event(event);
+            break;
+        case KEYPAD:
+            handle_keypad_event(event);
+            break;
+        case TOUCH:
+            handle_touch_event(event);
+            break;
+        case RFID:
+            handle_rfid_event(event);
+            break;
+        default:
+            handle_close_hal_event(event);
+            break;
+    }
+}
+
+static void handle_button_switch_event(uint8_t event) {
+    const uint8_t PRESSED_NOT_RELEASED_BIT = 0b10000;
+    const uint8_t SWITCH_NOT_BUTTON_BIT = 0b01000;
+    const uint8_t SWITCH_UP_NOT_DOWN_BIT = 0b00100;
+    const uint8_t NUMBER_MASK = 0b00011;
+
+    bool pressed = (event & PRESSED_NOT_RELEASED_BIT) != 0;
+    uint8_t number = event & NUMBER_MASK;
+
+    if ((event & SWITCH_NOT_BUTTON_BIT) != 0) {
+        // For now, we support two position switches by only looking at the switch up events
+        bool switch_up = (event & SWITCH_UP_NOT_DOWN_BIT) != 0;
+        if (!switch_up) {
+            return;
+        }
+
+        Switch sw = static_cast<Switch>(number);
+        SwitchFlip sw_flip = SwitchFlip(sw, pressed);
+        xQueueSendToBack(expander_peripheral_singleton.switch_flip_events, &sw_flip, 0);
+        xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+        if (pressed) {
+            // set
+            expander_peripheral_singleton.state.switch_state |= 1 << number;
+        } else {
+            // clear
+            expander_peripheral_singleton.state.switch_state &= ~(1 << number);
+        }
+        xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    } else {
+        // button
+        Button button = static_cast<Button>(number);
+        if (pressed) {
+            xQueueSendToBack(expander_peripheral_singleton.button_press_events, &button, 0);
+            xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+            expander_peripheral_singleton.state.button_state |= 1 << number;
+            xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+        } else {
+            xQueueSendToBack(expander_peripheral_singleton.button_release_events, &button, 0);
+            xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+            expander_peripheral_singleton.state.button_state &= ~(1 << number);
+            xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+        }
+    }
+}
+
+static void handle_keypad_event(uint8_t event) {
+    const uint8_t PRESSED_NOT_RELEASED_BIT = 0b10000;
+    const uint8_t KEY_MASK = 0b1111;
+
+    bool pressed = (event & PRESSED_NOT_RELEASED_BIT) != 0;
+    uint8_t number = event & KEY_MASK;
+    KeypadKey key = static_cast<KeypadKey>(number);
+
+    // starcode system gets first dibs
+    // TODO: do starcode inbetweener
+    // if starcode_handle_keypad(key, pressed).await {
+    //     return;
+    // }
+
+    if (pressed) {
+        xQueueSendToBack(expander_peripheral_singleton.keypad_press_events, &key, 0);
+        xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+        expander_peripheral_singleton.state.keypad_state |= 1 << number;
+        xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    } else {
+        xQueueSendToBack(expander_peripheral_singleton.keypad_release_events, &key, 0);
+        xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+        expander_peripheral_singleton.state.keypad_state &= ~(1 << number);
+        xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    }
+}
+
+static void handle_touch_event(uint8_t event) {
+    const uint8_t TOUCHED_NOT_UNTOUCHED_BIT = 0b10000;
+    const uint8_t SENSOR_MASK = 0b0111;
+    const uint8_t FINGERPRINT_BIT = 0b0100;
+
+    bool touched = (event & TOUCHED_NOT_UNTOUCHED_BIT) != 0;
+    uint8_t sensor = event & SENSOR_MASK;
+
+    if ((sensor & FINGERPRINT_BIT) != 0) {
+        TouchedReleased touch_state = static_cast<TouchedReleased>(touched);
+        xQueueSendToBack(expander_peripheral_singleton.touch_events, &touch_state, 0);
+    } else {
+        Switch sw = static_cast<Switch>(sensor);
+        SwitchTouch sw_touch = SwitchTouch(sw, touched);
+        xQueueSendToBack(expander_peripheral_singleton.switch_touch_events, &sw_touch, 0);
+    }
+
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    if (touched) {
+        expander_peripheral_singleton.state.touch_state |= 1 << sensor;
+    } else {
+        expander_peripheral_singleton.state.touch_state &= ~(1 << sensor);
+    }
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+}
+
+static void handle_rfid_event(uint8_t event) {
+    // TODO: impl
+    (void)event;
+}
+
+static void handle_close_hal_event(uint8_t event) {
+    // TODO: impl
+    (void)event;
+}
+
+// InputsController implementations
+
+/// Clears all events waiting in the queues.
+void InputsController::clear_all_events() {
+    xQueueReset(expander_peripheral_singleton.button_press_events);
+    xQueueReset(expander_peripheral_singleton.button_release_events);
+    xQueueReset(expander_peripheral_singleton.switch_flip_events);
+    xQueueReset(expander_peripheral_singleton.switch_touch_events);
+    xQueueReset(expander_peripheral_singleton.touch_events);
+    xQueueReset(expander_peripheral_singleton.keypad_press_events);
+    xQueueReset(expander_peripheral_singleton.keypad_release_events);
+}
+
+InputsState InputsController::get_input_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    InputsState state_copy = expander_peripheral_singleton.state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return state_copy;
+}
+
+/// Returns `true` iff there is a button press event waiting.
+bool InputsController::has_button_press() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.button_press_events) > 0;
+}
+
+/// Gets the next button press event (if any).
+std::optional<Button> InputsController::get_button_press() {
+    Button b;
+    if (xQueueReceive(expander_peripheral_singleton.button_press_events, &b, 0) == pdTRUE) {
+        return b;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next button press event, waiting if neccesary.
+Button InputsController::wait_button_press() {
+    Button b;
+    xQueueReceive(expander_peripheral_singleton.button_press_events, &b, portMAX_DELAY);
+    return b;
+}
+
+/// Gets the current state of the buttons.
+uint8_t InputsController::button_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.button_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a button release event waiting.
+bool InputsController::has_button_release() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.button_release_events) > 0;
+}
+
+/// Gets the next button release event (if any).
+std::optional<Button> InputsController::get_button_release() {
+    Button b;
+    if (xQueueReceive(expander_peripheral_singleton.button_release_events, &b, 0) == pdTRUE) {
+        return b;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next button release event, waiting if neccesary.
+Button InputsController::wait_button_release() {
+    Button b;
+    xQueueReceive(expander_peripheral_singleton.button_release_events, &b, portMAX_DELAY);
+    return b;
+}
+
+/// Returns `true` iff there is a switch flip event waiting.
+bool InputsController::has_switch_flip() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.switch_flip_events) > 0;
+}
+
+/// Gets the next switch flip event (if any).
+std::optional<SwitchFlip> InputsController::get_switch_flip() {
+    SwitchFlip s;
+    if (xQueueReceive(expander_peripheral_singleton.switch_flip_events, &s, 0) == pdTRUE) {
+        return s;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next switch flip event, waiting if neccesary.
+SwitchFlip InputsController::wait_switch_flip() {
+    SwitchFlip s;
+    xQueueReceive(expander_peripheral_singleton.switch_flip_events, &s, portMAX_DELAY);
+    return s;
+}
+
+/// Gets the current state of the switches.
+uint8_t InputsController::switch_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.switch_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a switch touch event waiting.
+bool InputsController::has_switch_touch() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.switch_touch_events) > 0;
+}
+
+/// Gets the next switch touch event (if any).
+std::optional<SwitchTouch> InputsController::get_switch_touch() {
+    SwitchTouch s;
+    if (xQueueReceive(expander_peripheral_singleton.switch_touch_events, &s, 0) == pdTRUE) {
+        return s;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next switch touch event, waiting if neccesary.
+SwitchTouch InputsController::wait_switch_touch() {
+    SwitchTouch s;
+    xQueueReceive(expander_peripheral_singleton.switch_touch_events, &s, portMAX_DELAY);
+    return s;
+}
+
+/// Gets the current state of the touch sensors.
+uint8_t InputsController::switch_touch_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.touch_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a keypad press event waiting.
+bool InputsController::has_keypad_press() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.keypad_press_events) > 0;
+}
+
+/// Gets the next keypad press event (if any).
+std::optional<KeypadKey> InputsController::get_keypad_press() {
+    KeypadKey k;
+    if (xQueueReceive(expander_peripheral_singleton.keypad_press_events, &k, 0) == pdTRUE) {
+        return k;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next keypad press event, waiting if neccesary.
+KeypadKey InputsController::wait_keypad_press() {
+    KeypadKey k;
+    xQueueReceive(expander_peripheral_singleton.keypad_press_events, &k, portMAX_DELAY);
+    return k;
+}
+
+/// Returns `true` iff there is a keypad release event waiting.
+bool InputsController::has_keypad_release() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.keypad_release_events) > 0;
+}
+
+/// Gets the next keypad release event (if any).
+std::optional<KeypadKey> InputsController::get_keypad_release() {
+    KeypadKey k;
+    if (xQueueReceive(expander_peripheral_singleton.keypad_release_events, &k, 0) == pdTRUE) {
+        return k;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next keypad release event, waiting if neccesary.
+KeypadKey InputsController::wait_keypad_release() {
+    KeypadKey k;
+    xQueueReceive(expander_peripheral_singleton.keypad_release_events, &k, portMAX_DELAY);
+    return k;
+}
+
+/// Gets the current state of the keypad.
+uint16_t InputsController::keypad_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint16_t value = expander_peripheral_singleton.state.keypad_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+