switch to event based input system (untested)

main/drivers/CMakeLists.txt

@@ -4,7 +4,9 @@ set(SOURCES
     "TM1640/TM1640.cpp"
     "SparkFunBQ27441/SparkFunBQ27441.cpp"
     "esp_lcd_ili9488/esp_lcd_ili9488.c"
-    "bottom_half.cpp"
+    # "bottom_half.cpp"
+    "event_based_bottom_half.cpp"
+    "inputs.cpp"
     "char_lcd.cpp"
     "game_timer.cpp"
     "i2c_lcd_pcf8574.c"

main/drivers/event_based_bottom_half.cpp

@@ -0,0 +1,326 @@
+#include "bottom_half.h"
+#include "inputs.hpp"
+
+#include <array>
+
+static uint8_t reverse_4_bits(uint8_t value) {
+    return static_cast<uint8_t>(((value & 0x1) << 3) |
+                                ((value & 0x2) << 1) |
+                                ((value & 0x4) >> 1) |
+                                ((value & 0x8) >> 3));
+}
+
+static KeypadKey map_input_keypad_key(InputKeypadKey key) {
+    switch (key) {
+        case InputKeypadKey::K0: return KeypadKey::k0;
+        case InputKeypadKey::K1: return KeypadKey::k1;
+        case InputKeypadKey::K2: return KeypadKey::k2;
+        case InputKeypadKey::K3: return KeypadKey::k3;
+        case InputKeypadKey::K4: return KeypadKey::k4;
+        case InputKeypadKey::K5: return KeypadKey::k5;
+        case InputKeypadKey::K6: return KeypadKey::k6;
+        case InputKeypadKey::K7: return KeypadKey::k7;
+        case InputKeypadKey::K8: return KeypadKey::k8;
+        case InputKeypadKey::K9: return KeypadKey::k9;
+        case InputKeypadKey::A:  return KeypadKey::ka;
+        case InputKeypadKey::B:  return KeypadKey::kb;
+        case InputKeypadKey::C:  return KeypadKey::kc;
+        case InputKeypadKey::D:  return KeypadKey::kd;
+        case InputKeypadKey::STAR:  return KeypadKey::star;
+        case InputKeypadKey::POUND: return KeypadKey::pound;
+        default: return KeypadKey::k0;
+    }
+}
+
+static uint8_t get_fingerprint_touch_state() {
+    InputsState current = InputsController::get_input_state();
+    return static_cast<uint8_t>((current.touch_state >> 4) & 0x1);
+}
+
+static bool touch_state_initialized = false;
+static bool touch_state_last = false;
+
+static bool update_fingerprint_transition(bool want_pressed) {
+    bool current = get_fingerprint_touch_state();
+    if (!touch_state_initialized) {
+        touch_state_last = current;
+        touch_state_initialized = true;
+        return false;
+    }
+
+    bool transition = want_pressed ? (current && !touch_state_last)
+                                   : (!current && touch_state_last);
+    touch_state_last = current;
+    return transition;
+}
+
+static std::array<SwitchFlip, 8> pending_switch_flips;
+static size_t pending_switch_flip_count = 0;
+
+static void push_pending_switch_flip(const SwitchFlip& event) {
+    if (pending_switch_flip_count < pending_switch_flips.size()) {
+        pending_switch_flips[pending_switch_flip_count++] = event;
+        return;
+    }
+
+    // Drop the oldest event if the buffer is full.
+    for (size_t i = 1; i < pending_switch_flips.size(); ++i) {
+        pending_switch_flips[i - 1] = pending_switch_flips[i];
+    }
+    pending_switch_flips.back() = event;
+}
+
+static bool pop_pending_switch_flip(bool want_up, SwitchFlip& out) {
+    for (size_t i = 0; i < pending_switch_flip_count; ++i) {
+        if (pending_switch_flips[i].is_up() == want_up) {
+            out = pending_switch_flips[i];
+            for (size_t j = i + 1; j < pending_switch_flip_count; ++j) {
+                pending_switch_flips[j - 1] = pending_switch_flips[j];
+            }
+            --pending_switch_flip_count;
+            return true;
+        }
+    }
+    return false;
+}
+
+static void clear_pending_switch_flips() {
+    pending_switch_flip_count = 0;
+}
+
+static std::array<SwitchTouch, 8> pending_switch_touches;
+static size_t pending_switch_touch_count = 0;
+
+static void push_pending_switch_touch(const SwitchTouch& event) {
+    if (pending_switch_touch_count < pending_switch_touches.size()) {
+        pending_switch_touches[pending_switch_touch_count++] = event;
+        return;
+    }
+
+    for (size_t i = 1; i < pending_switch_touches.size(); ++i) {
+        pending_switch_touches[i - 1] = pending_switch_touches[i];
+    }
+    pending_switch_touches.back() = event;
+}
+
+static bool pop_pending_switch_touch(bool want_touched, SwitchTouch& out) {
+    for (size_t i = 0; i < pending_switch_touch_count; ++i) {
+        if (pending_switch_touches[i].is_touched() == want_touched) {
+            out = pending_switch_touches[i];
+            for (size_t j = i + 1; j < pending_switch_touch_count; ++j) {
+                pending_switch_touches[j - 1] = pending_switch_touches[j];
+            }
+            --pending_switch_touch_count;
+            return true;
+        }
+    }
+    return false;
+}
+
+static void clear_pending_switch_touches() {
+    pending_switch_touch_count = 0;
+}
+
+void init_bottom_half() {
+    init_expander();
+    clear_all_pressed_released();
+}
+
+void clear_all_pressed_released() {
+    InputsController::clear_all_events();
+    clear_pending_switch_flips();
+    clear_pending_switch_touches();
+    touch_state_initialized = false;
+}
+
+bool get_keypad_pressed(KeypadKey* kp) {
+    auto opt = InputsController::get_keypad_press();
+    if (!opt.has_value()) {
+        return false;
+    }
+
+    if (kp != nullptr) {
+        *kp = map_input_keypad_key(opt.value());
+    }
+    return true;
+}
+
+bool get_keypad_released(KeypadKey* kp) {
+    auto opt = InputsController::get_keypad_release();
+    if (!opt.has_value()) {
+        return false;
+    }
+
+    if (kp != nullptr) {
+        *kp = map_input_keypad_key(opt.value());
+    }
+    return true;
+}
+
+char char_of_keypad_key(KeypadKey kp) {
+    switch (kp) {
+        case KeypadKey::k1: return '1';
+        case KeypadKey::k2: return '2';
+        case KeypadKey::k3: return '3';
+        case KeypadKey::k4: return '4';
+        case KeypadKey::k5: return '5';
+        case KeypadKey::k6: return '6';
+        case KeypadKey::k7: return '7';
+        case KeypadKey::k8: return '8';
+        case KeypadKey::k9: return '9';
+        case KeypadKey::k0: return '0';
+        case KeypadKey::ka: return 'A';
+        case KeypadKey::kb: return 'B';
+        case KeypadKey::kc: return 'C';
+        case KeypadKey::kd: return 'D';
+        case KeypadKey::star: return '*';
+        case KeypadKey::pound: return '#';
+        default: return ' ';
+    }
+}
+
+static bool take_button(ButtonKey* button, std::optional<Button> opt) {
+    if (!opt.has_value()) {
+        return false;
+    }
+    if (button != nullptr) {
+        *button = static_cast<ButtonKey>(static_cast<uint8_t>(opt.value()));
+    }
+    return true;
+}
+
+bool get_button_pressed(ButtonKey* button) {
+    return take_button(button, InputsController::get_button_press());
+}
+
+bool get_button_released(ButtonKey* button) {
+    return take_button(button, InputsController::get_button_release());
+}
+
+uint8_t get_button_state() {
+    return reverse_4_bits(InputsController::button_state() & 0xF);
+}
+
+static bool take_switch_key(SwitchKey* switch_, const SwitchFlip& event) {
+    if (switch_ != nullptr) {
+        *switch_ = static_cast<SwitchKey>(static_cast<uint8_t>(event.get_switch()));
+    }
+    return true;
+}
+
+bool get_switch_flipped_up(SwitchKey* switch_) {
+    SwitchFlip event;
+    if (pop_pending_switch_flip(true, event)) {
+        return take_switch_key(switch_, event);
+    }
+
+    while (true) {
+        auto opt = InputsController::get_switch_flip();
+        if (!opt.has_value()) {
+            return false;
+        }
+        if (opt->is_up()) {
+            return take_switch_key(switch_, *opt);
+        }
+        push_pending_switch_flip(*opt);
+    }
+}
+
+bool get_switch_flipped_down(SwitchKey* switch_) {
+    SwitchFlip event;
+    if (pop_pending_switch_flip(false, event)) {
+        return take_switch_key(switch_, event);
+    }
+
+    while (true) {
+        auto opt = InputsController::get_switch_flip();
+        if (!opt.has_value()) {
+            return false;
+        }
+        if (!opt->is_up()) {
+            return take_switch_key(switch_, *opt);
+        }
+        push_pending_switch_flip(*opt);
+    }
+}
+
+bool get_switch_flipped(SwitchKey* switch_) {
+    if (pending_switch_flip_count > 0) {
+        SwitchFlip event = pending_switch_flips[0];
+        for (size_t i = 1; i < pending_switch_flip_count; ++i) {
+            pending_switch_flips[i - 1] = pending_switch_flips[i];
+        }
+        --pending_switch_flip_count;
+        return take_switch_key(switch_, event);
+    }
+
+    auto opt = InputsController::get_switch_flip();
+    if (!opt.has_value()) {
+        return false;
+    }
+
+    return take_switch_key(switch_, *opt);
+}
+
+uint8_t get_switch_state() {
+    return reverse_4_bits(InputsController::switch_state() & 0xF);
+}
+
+static bool take_switch_touch(SwitchKey* switch_, const SwitchTouch& event) {
+    if (switch_ != nullptr) {
+        *switch_ = static_cast<SwitchKey>(static_cast<uint8_t>(event.get_switch()));
+    }
+    return true;
+}
+
+bool get_switch_touch_pressed(SwitchKey* switch_) {
+    SwitchTouch event;
+    if (pop_pending_switch_touch(true, event)) {
+        return take_switch_touch(switch_, event);
+    }
+
+    while (true) {
+        auto opt = InputsController::get_switch_touch();
+        if (!opt.has_value()) {
+            return false;
+        }
+        if (opt->is_touched()) {
+            return take_switch_touch(switch_, *opt);
+        }
+        push_pending_switch_touch(*opt);
+    }
+}
+
+bool get_switch_touch_released(SwitchKey* switch_) {
+    SwitchTouch event;
+    if (pop_pending_switch_touch(false, event)) {
+        return take_switch_touch(switch_, event);
+    }
+
+    while (true) {
+        auto opt = InputsController::get_switch_touch();
+        if (!opt.has_value()) {
+            return false;
+        }
+        if (!opt->is_touched()) {
+            return take_switch_touch(switch_, *opt);
+        }
+        push_pending_switch_touch(*opt);
+    }
+}
+
+uint8_t get_switch_touch_state() {
+    return reverse_4_bits(InputsController::switch_touch_state() & 0xF);
+}
+
+bool get_touch_state() {
+    return get_fingerprint_touch_state() != 0;
+}
+
+bool get_touch_pressed() {
+    return update_fingerprint_transition(true);
+}
+
+bool get_touch_released() {
+    return update_fingerprint_transition(false);
+}

main/drivers/inputs.cpp

@@ -0,0 +1,475 @@
+#include "inputs.hpp"
+#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;
+
+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...");
+
+    // legacy I2C driver: use the shared I2C_NUM_0 bus already configured elsewhere.
+    // TODO: replace all these ESP_ERROR_CHECK with proper error handling that doesn't just crash the program
+
+    // 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};
+
+    ESP_ERROR_CHECK(i2c_master_write_read_device(I2C_NUM_0, EXPANDER_I2C_ADDR, &REG_WHOAMI, 1, read_buf, 1, pdMS_TO_TICKS(EXPANDER_TIMEOUT_MS)));
+
+    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_write_read_device(I2C_NUM_0, EXPANDER_I2C_ADDR, &REG_SW_VERSION, 1, read_buf, 2, pdMS_TO_TICKS(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(InputKeypadKey));
+    expander_peripheral_singleton.keypad_release_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(InputKeypadKey));
+
+    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_write_read_device(I2C_NUM_0, EXPANDER_I2C_ADDR, &REG_EVENT_QUEUE_POP, 1, &recv, 1, pdMS_TO_TICKS(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;
+    InputKeypadKey key = static_cast<InputKeypadKey>(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<InputKeypadKey> InputsController::get_keypad_press() {
+    InputKeypadKey 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.
+InputKeypadKey InputsController::wait_keypad_press() {
+    InputKeypadKey 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<InputKeypadKey> InputsController::get_keypad_release() {
+    InputKeypadKey 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.
+InputKeypadKey InputsController::wait_keypad_release() {
+    InputKeypadKey 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;
+}
+

main/drivers/inputs.hpp

@@ -0,0 +1,275 @@
+#ifndef INPUTS_H
+#define INPUTS_H
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#include <freertos/semphr.h>
+#include <optional>
+
+#define EXPANDER_I2C_ADDR (0x7E)
+#define EXPANDER_I2C_SPEED (400000)
+// 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)
+
+// 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,
+};
+
+constexpr uint8_t raw_value(Button v) { return static_cast<uint8_t>(v); }
+constexpr Button button_from_raw(uint8_t raw) { return static_cast<Button>(raw & 0b11); }
+
+/// The four switches on the bottom half.
+enum class Switch: uint8_t {
+    S1 = 0,
+    S2 = 1,
+    S3 = 2,
+    S4 = 3,
+};
+
+constexpr uint8_t raw_value(Switch v) { return static_cast<uint8_t>(v); }
+constexpr Switch switch_from_raw(uint8_t raw) { return static_cast<Switch>(raw & 0b11); }
+
+enum class TouchedReleased: uint8_t {
+    Released = 0,
+    Touched = 1,
+};
+
+constexpr uint8_t raw_value(TouchedReleased v) { return static_cast<uint8_t>(v); }
+constexpr TouchedReleased touched_released_from_raw(uint8_t raw) { return static_cast<TouchedReleased>(raw & 0b1); }
+
+/// One of the keys on the keypad.
+enum class InputKeypadKey: 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,
+};
+
+constexpr uint8_t raw_value(InputKeypadKey v) { return static_cast<uint8_t>(v); }
+constexpr InputKeypadKey keypad_key_from_raw(uint8_t raw) { return static_cast<InputKeypadKey>(raw & 0b1111); }
+
+constexpr char keypad_key_to_char(InputKeypadKey key) {
+    static constexpr char lookup[16] = {
+        '0', '1', '2', '3', '4', '5', '6', '7',
+        '8', '9', 'A', 'B', 'C', 'D', '*', '#'
+    };
+    return lookup[static_cast<uint8_t>(key) & 0b1111];
+}
+
+
+struct SwitchFlip {
+private:
+    // [bit2: up] [bit1-0: switch] 
+    uint8_t data;
+
+public:
+    // Constructor
+    SwitchFlip(Switch sw, bool up)
+        : data((static_cast<uint8_t>(sw) & 0b11) |
+               ((up ? 1 : 0) << 2)) {}
+
+    // Default constructor
+    SwitchFlip() : data(0) {}
+
+    // Raw value constructor
+    explicit SwitchFlip(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
+    // Getters
+    Switch get_switch() const {
+        return static_cast<Switch>(data & 0b11);
+    }
+
+    bool is_up() const {
+        return (data >> 2) & 1;
+    }
+
+    // Setters
+    void set_switch(Switch sw) {
+        data = (data & ~0b11) | (static_cast<uint8_t>(sw) & 0b11);
+    }
+
+    void set_up(bool up) {
+        data = (data & ~(1 << 2)) | ((up ? 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) {}
+
+    // Raw value constructor
+    explicit SwitchTouch(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
+    // 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) {}
+
+    // Raw value constructor
+    explicit ButtonOrSwitch(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
+    // 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 InputsState {
+    /// 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;
+
+    InputsState() : 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) {}
+};
+
+class InputsController {
+public:
+    static void clear_all_events();
+
+    static InputsState get_input_state();
+    
+    static bool has_button_press();
+    static std::optional<Button> get_button_press();
+    static Button wait_button_press();
+    static uint8_t button_state();
+
+    static bool has_button_release();
+    static std::optional<Button> get_button_release();
+    static Button wait_button_release();
+
+    static bool has_switch_flip();
+    static std::optional<SwitchFlip> get_switch_flip();
+    static SwitchFlip wait_switch_flip();
+    static uint8_t switch_state();
+
+    static bool has_switch_touch();
+    static std::optional<SwitchTouch> get_switch_touch();
+    static SwitchTouch wait_switch_touch();
+    static uint8_t switch_touch_state();
+
+    static bool has_keypad_press();
+    static std::optional<InputKeypadKey> get_keypad_press();
+    static InputKeypadKey wait_keypad_press();
+
+    static bool has_keypad_release();
+    static std::optional<InputKeypadKey> get_keypad_release();
+    static InputKeypadKey wait_keypad_release();
+    static uint16_t keypad_state();
+
+    // TODO: impl and add the hal and RFID stuff
+};
+
+#endif // INPUTS_H

main/drivers/pins.h

@@ -0,0 +1,48 @@
+#ifndef PINS_H
+#define PINS_H
+
+#include "driver/gpio.h"
+
+// ONLY INPUTS.HPP uses this file
+
+#define PIN_SDA          (GPIO_NUM_7)
+#define PIN_SCL          (GPIO_NUM_15)
+
+#define PIN_LCD_MISO     (GPIO_NUM_16)
+#define PIN_LCD_MOSI     (GPIO_NUM_17)
+#define PIN_LCD_CLK      (GPIO_NUM_18)
+#define PIN_LCD_RS       (GPIO_NUM_8)
+#define PIN_LCD_RST      (GPIO_NUM_9)
+
+#define PIN_USB_DM       (GPIO_NUM_19)
+#define PIN_USB_DP       (GPIO_NUM_20)
+
+#define PIN_I2S_DAT      (GPIO_NUM_3)
+#define PIN_I2S_BCLK     (GPIO_NUM_11)
+#define PIN_I2S_LRCLK    (GPIO_NUM_12)
+
+#define PIN_SSEG_DAT     (GPIO_NUM_46)
+#define PIN_SSEG_CLK     (GPIO_NUM_48)
+
+#define PIN_MPU_INT      (GPIO_NUM_10)
+#define PIN_EXPANDER_INT (GPIO_NUM_13)
+
+#define PIN_IR_RCV       (GPIO_NUM_14)
+
+// #define PIN_NEOPIXEL     (GPIO_NUM_21) // Rev 2.1
+#define PIN_NEOPIXEL     (GPIO_NUM_0) // Rev 2.0
+
+#define PIN_SD_DAT0      (GPIO_NUM_38)
+#define PIN_SD_DAT1      (GPIO_NUM_47)
+#define PIN_SD_DAT2      (GPIO_NUM_42)
+#define PIN_SD_DAT3      (GPIO_NUM_41)
+#define PIN_SD_CMD       (GPIO_NUM_40)
+#define PIN_SD_CLK       (GPIO_NUM_39)
+
+#define PIN_PERH0        (GPIO_NUM_6)
+#define PIN_PERH1        (GPIO_NUM_5)
+#define PIN_PERH2        (GPIO_NUM_4)
+#define PIN_PERH3        (GPIO_NUM_2)
+#define PIN_PERH4        (GPIO_NUM_1)
+
+#endif // PINS_H