switch to event based expander interface (WIP)

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"

main/drivers/char_lcd.cpp

@@ -9,7 +9,6 @@
 #include "game_info.h"
 
 i2c_lcd_pcf8574_handle_t lcd;
-SemaphoreHandle_t lcd_mutex;
 
 static volatile bool header_enabled = false;
 
@@ -18,7 +17,6 @@ static const char* EMPTY_ROW = "                    ";
 
 static char buf[65];
 
-// TODO: move this to power.cpp
 static void monitor_battery_task(void* _arg) {
     (void) _arg;
 
@@ -31,35 +29,53 @@ static void monitor_battery_task(void* _arg) {
 static bool replay_handler(const char* event, char* arg) {
     if (strcmp(event, "LCD_CLEAR") == 0) {
         lcd_clear();
+        return true;
     }
-    else if (strcmp(event, "LCD_SET_DISPLAY") == 0) {
+    if (strcmp(event, "LCD_CURSOR") == 0) {
+        char* col_str = strtok(arg, ",");
+        char* row_str = strtok(NULL, ",");
+        uint32_t col = atoi(col_str);
+        uint32_t row = atoi(row_str);
+        lcd_set_cursor_pos(col, row);
+        return true;
+    }
+    if (strcmp(event, "LCD_SET_DISPLAY") == 0) {
         lcd_set_display(strcmp(arg, "true") == 0);
+        return true;
     }
-    else if (strcmp(event, "LCD_CURSOR_VIS") == 0) {
+    if (strcmp(event, "LCD_CURSOR_VIS") == 0) {
         lcd_set_cursor_vis(strcmp(arg, "true") == 0);
+        return true;
     }
-    else if (strcmp(event, "LCD_CURSOR_BLINK") == 0) {
+    if (strcmp(event, "LCD_CURSOR_BLINK") == 0) {
         lcd_set_cursor_blink(strcmp(arg, "true") == 0);
+        return true;
     }
-    else if (strcmp(event, "LCD_SCROLL_DISPLAY_LEFT") == 0) {
+    if (strcmp(event, "LCD_SCROLL_DISPLAY_LEFT") == 0) {
         lcd_scroll_display_left();
+        return true;
     }
-    else if (strcmp(event, "LCD_SCROLL_DISPLAY_RIGHT") == 0) {
+    if (strcmp(event, "LCD_SCROLL_DISPLAY_RIGHT") == 0) {
         lcd_scroll_display_right();
+        return true;
     }
-    else if (strcmp(event, "LCD_LEFT_TO_RIGHT") == 0) {
+    if (strcmp(event, "LCD_LEFT_TO_RIGHT") == 0) {
         lcd_left_to_right();
+        return true;
     }
-    else if (strcmp(event, "LCD_RIGHT_TO_LEFT") == 0) {
+    if (strcmp(event, "LCD_RIGHT_TO_LEFT") == 0) {
         lcd_right_to_left();
+        return true;
     }
-    else if (strcmp(event, "LCD_AUTOSCROLL") == 0) {
+    if (strcmp(event, "LCD_AUTOSCROLL") == 0) {
         lcd_set_autoscroll(strcmp(arg, "true") == 0);
+        return true;
     }
-    else if (strcmp(event, "LCD_BACKLIGHT") == 0) {
+    if (strcmp(event, "LCD_BACKLIGHT") == 0) {
         lcd_set_backlight(strcmp(arg, "true") == 0);
+        return true;
     }
-    else if (strcmp(event, "LCD_CREATE_CHAR") == 0) {
+    if (strcmp(event, "LCD_CREATE_CHAR") == 0) {
         char* location_str = strtok(arg, ",");
         uint8_t location = atoi(location_str);
 
@@ -70,34 +86,24 @@ static bool replay_handler(const char* event, char* arg) {
         }
 
         lcd_create_char(location, charmap);
+        return true;
     }
-    else if (strcmp(event, "LCD_PRINT") == 0) {
+    if (strcmp(event, "LCD_PRINT") == 0) {
-        char* str = strtok(arg, ",");
-        uint8_t col = atoi(str);
-        str = strtok(NULL, ",");
-        uint8_t row = atoi(str);
-        // get remaining part of string.
-        str = strtok(NULL, "");
-
         // TODO: handle \r and \n
-        lcd_print(col, row, str);
+        lcd_print(&lcd, arg);
-    } else {
+        return true;
-        return false;
     }
 
-    return true;
+    return false;
 }
 
 void init_lcd() {
     ESP_LOGI(TAG, "Initializing LCD...");
 
-    lcd_mutex = xSemaphoreCreateMutex();
-    assert(lcd_mutex != NULL);
-
     lcd_init(&lcd, LCD_ADDR, CHAR_LCD_I2C_NUM);
     lcd_begin(&lcd, LCD_COLS, LCD_ROWS);
 
-    lcd_set_backlight_to(&lcd, 1);
+    lcd_set_backlight(&lcd, 255);
 
     register_replay_fn(replay_handler);
 
@@ -106,122 +112,115 @@ void init_lcd() {
     ESP_LOGI(TAG, "LCD initialized!");
 }
 
-void lcd_clear(bool no_lock) {
+void lcd_clear() {
     if (!header_enabled) {
-        if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
         lcd_clear(&lcd);
-        if (!no_lock) xSemaphoreGive(lcd_mutex);
 
         if (is_state_tracking()) {
             event_occured("LCD_CLEAR", NULL);
         }
     } else {
-        if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
+        lcd_print(0, 1, EMPTY_ROW);
-        lcd_print(0, 1, EMPTY_ROW, true);
+        lcd_print(0, 2, EMPTY_ROW);
-        lcd_print(0, 2, EMPTY_ROW, true);
+        lcd_print(0, 3, EMPTY_ROW);
-        lcd_print(0, 3, EMPTY_ROW, true);
-        if (!no_lock) xSemaphoreGive(lcd_mutex);
     }
 }
 
-void lcd_set_display(bool display,  bool no_lock) {
+// TODO: rm
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
+void lcd_cursor_home() {
+    lcd_set_cursor_pos(0, 0);
+}
+
+// TODO: with print requiring you to set a pos every time, this function is not helpful
+void lcd_set_cursor_pos(uint8_t col, uint8_t row) {
+    lcd_set_cursor(&lcd, col, row);
+
+    if (is_state_tracking()) {
+        sprintf(buf, "%d,%d", col, row);
+        event_occured("LCD_CURSOR", buf);
+    }
+}
+
+void lcd_set_display(bool display) {
     if (display) {
         lcd_display(&lcd);
     } else {
         lcd_no_display(&lcd);
     }
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         event_occured("LCD_SET_DISPLAY", display ? "true" : "false");
     }
 }
 
-void lcd_set_cursor_vis(bool cursor, bool no_lock) {
+void lcd_set_cursor_vis(bool cursor) {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
     if (cursor) {
         lcd_cursor(&lcd);
     } else {
         lcd_no_cursor(&lcd);
     }
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         event_occured("LCD_CURSOR_VIS", cursor ? "true" : "false");
     }
 }
 
-void lcd_set_cursor_blink(bool blink, bool no_lock) {
+void lcd_set_cursor_blink(bool blink) {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
     if (blink) {
         lcd_blink(&lcd);
     } else {
         lcd_no_blink(&lcd);
     }
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         event_occured("LCD_CURSOR_BLINK", blink ? "true" : "false");
     }
 }
 
-void lcd_scroll_display_left(bool no_lock) {
+void lcd_scroll_display_left() {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
     lcd_scroll_display_left(&lcd);
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         event_occured("LCD_SCROLL_DISPLAY_LEFT", NULL);
     }
 }
-void lcd_scroll_display_right(bool no_lock) {
+void lcd_scroll_display_right() {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
     lcd_scroll_display_right(&lcd);
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         event_occured("LCD_SCROLL_DISPLAY_RIGHT", NULL);
     }
 }
 
-void lcd_left_to_right(bool no_lock) {
+void lcd_left_to_right() {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
     lcd_left_to_right(&lcd);
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         event_occured("LCD_LEFT_TO_RIGHT", NULL);
     }
 }
-void lcd_right_to_left(bool no_lock) {
+void lcd_right_to_left() {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
     lcd_right_to_left(&lcd);
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         event_occured("LCD_RIGHT_TO_LEFT", NULL);
     }
 }
 
-void lcd_set_autoscroll(bool autoscroll, bool no_lock) {
+void lcd_set_autoscroll(bool autoscroll) {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
     if (autoscroll) {
         lcd_autoscroll(&lcd);
     } else {
         lcd_no_autoscroll(&lcd);
     }
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         event_occured("LCD_AUTOSCROLL", autoscroll ? "true" : "false");
     }
 }
 
-void lcd_set_backlight(bool backlight, bool no_lock) {
+void lcd_set_backlight(bool backlight) {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
+    lcd_set_backlight(&lcd, backlight);
-    lcd_set_backlight_to(&lcd, backlight);
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         sprintf(buf, "%d", backlight);
@@ -229,12 +228,8 @@ void lcd_set_backlight(bool backlight, bool no_lock) {
     }
 }
 
-void lcd_create_char(uint8_t location, const uint8_t charmap[], bool no_lock) {
+void lcd_create_char(uint8_t location, const uint8_t charmap[]) {
-    if (location == 8) location = 0;
-
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
     lcd_create_char(&lcd, location, charmap);
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
         snprintf(buf, 65,
@@ -246,16 +241,13 @@ void lcd_create_char(uint8_t location, const uint8_t charmap[], bool no_lock) {
 }
 
 // TODO: switch to row, col
-void lcd_print(uint8_t col, uint8_t row, const char* str, bool no_lock) {
+void lcd_print(uint8_t col, uint8_t row, const char* str) {
-    if (!no_lock) xSemaphoreTake(lcd_mutex, portMAX_DELAY);
+    lcd_set_cursor_pos(col, row);
-    lcd_set_cursor(&lcd, col, row);
     lcd_print(&lcd, str);
-    if (!no_lock) xSemaphoreGive(lcd_mutex);
 
     if (is_state_tracking()) {
-        // TODO: handle \r and \n and others
+        // TODO: handle \r and \n
-        snprintf(buf, sizeof(buf), "%d,%d,%s", col, row, str);
+        event_occured("LCD_PRINT", str);
-        event_occured("LCD_PRINT", buf);
     }
 }
 
@@ -292,23 +284,13 @@ void lcd_do_splash() {
     };
 
     // TODO: make the lcd_lib somehow support the custom character 0 which would otherwise be a null terminator
-    xSemaphoreTake(lcd_mutex, portMAX_DELAY);
+    lcd_create_char(1, custom_char[0]);
-    lcd_create_char(1, custom_char[0], true);
+    lcd_create_char(2, custom_char[1]);
-    lcd_create_char(2, custom_char[1], true);
+    lcd_create_char(3, custom_char[2]);
-    lcd_create_char(3, custom_char[2], true);
+    lcd_create_char(4, custom_char[3]);
-    lcd_create_char(4, custom_char[3], true);
+    lcd_create_char(5, custom_char[4]);
-    lcd_create_char(5, custom_char[4], true);
+    lcd_create_char(6, custom_char[5]);
-    lcd_create_char(6, custom_char[5], true);
 
-    lcd_print(6, 1, "\x01\x02Marino", true);
+    lcd_print(6, 1, "\x01\x02Marino");
-    lcd_print(5, 2, "\x03\x04\x05\x06""DEV", true);
+    lcd_print(5, 2, "\x03\x04\x05\x06""DEV");
-    xSemaphoreGive(lcd_mutex);
-}
-
-bool lcd_lock(uint32_t ticks_to_wait) {
-    return xSemaphoreTake(lcd_mutex, ticks_to_wait);
-}
-
-void lcd_unlock() {
-    xSemaphoreGive(lcd_mutex);
 }

main/drivers/char_lcd.h

@@ -9,50 +9,51 @@
 #define LCD_COLS 20
 #define LCD_ROWS 4
 
-/// @brief Initializes the 2004 Character LCD
+/// Initializes the 2004 Character LCD
 void init_lcd();
 
-/// @brief Clear the LCD
+/// Clear the LCD
-void lcd_clear(bool no_lock = false);
+void lcd_clear();
 
-/// @brief Move cursor to home position
+/// Move cursor to home position
-void lcd_cursor_home(bool no_lock = false);
+void lcd_cursor_home();
 
-/// @brief Turn the display on/off
+/// Set cursor position
-void lcd_set_display(bool display, bool no_lock = false);
+void lcd_set_cursor_pos(uint8_t col, uint8_t row);
 
-/// @brief Turn the cursor's visibility on/off
+/// Turn the display on/off
-void lcd_set_cursor_vis(bool cursor, bool no_lock = false);
+void lcd_set_display(bool display);
 
-/// @brief Turn blinking cursor on/off
+/// Turn the cursor's visibility on/off
-void lcd_set_cursor_blink(bool blink, bool no_lock = false);
+void lcd_set_cursor_vis(bool cursor);
 
-/// @brief Scroll the display left
+/// Turn blinking cursor on/off
-void lcd_scroll_display_left(bool no_lock = false);
+void lcd_set_cursor_blink(bool blink);
-/// @brief Scroll the display right
-void lcd_scroll_display_right(bool no_lock = false);
 
-/// @brief Set the text to flows automatically left to right
+/// Scroll the display left
-void lcd_left_to_right(bool no_lock = false);
+void lcd_scroll_display_left();
-/// @brief Set the text to flows automatically right to left
+/// Scroll the display right
-void lcd_right_to_left(bool no_lock = false);
+void lcd_scroll_display_right();
 
-/// @brief Turn on/off autoscroll
+/// Set the text to flows automatically left to right
-void lcd_set_autoscroll(bool autoscroll, bool no_lock = false);
+void lcd_left_to_right();
+/// Set the text to flows automatically right to left
+void lcd_right_to_left();
 
-/// @brief Set backlight brightness
+// Turn on/off autoscroll
-void lcd_set_backlight(bool backlight, bool no_lock = false);
+void lcd_set_autoscroll(bool autoscroll);
 
-/// @brief Create a custom character. You get 8 custom characters.
+// Set backlight brightness
-/// You can print custom characters by using escape characters in strings:
+void lcd_set_backlight(bool backlight);
-/// use '\x01' - '\x07' for custom characters 1-7. Use '\x08' for custom char 0.
+
-void lcd_create_char(uint8_t location, const uint8_t charmap[], bool no_lock = false);
+// Create a custom character
+void lcd_create_char(uint8_t location, const uint8_t charmap[]);
 
 /// @brief Print a string to the LCD at a given pos. 
 /// @param col the column to print the string at.
 /// @param row the row the print the string at.
 /// @param str the string to print.
-void lcd_print(uint8_t col, uint8_t row, const char* str, bool no_lock = false);
+void lcd_print(uint8_t col, uint8_t row, const char* str);
 
 /// @brief Enables or disables the header on the LCD.
 /// @param enable `true` to enable the header, `false` to disable.
@@ -68,15 +69,4 @@ void lcd_print_header();
 /// @brief Prints the splash screen for the BLK_BOX.
 void lcd_do_splash();
 
-/// @brief Locks the LCD to allow chaining multiple commands without interuptions.
-///
-/// Commands you call while you lock the LCD, you must call with the `no_lock` flag set to true.
-///
-/// Do not hold this lock for an extended period of time.
-/// @return `true` iff the lock was aquired.
-bool lcd_lock(uint32_t ticks_to_wait);
-
-/// @brief Unlocks the LCD to give away the mutex access to it.
-void lcd_unlock();
-
 #endif /* CHAR_LCD_H */

main/drivers/i2c_lcd_pcf8574.c

@@ -233,7 +233,7 @@ void lcd_no_autoscroll(i2c_lcd_pcf8574_handle_t* lcd) {
 
 // Setting the backlight: It can only be turn on or off.
 // Current backlight value is saved in the i2c_lcd_pcf8574_handle_t struct for further data transfers
-void lcd_set_backlight_to(i2c_lcd_pcf8574_handle_t* lcd, uint8_t brightness) {
+void lcd_set_backlight(i2c_lcd_pcf8574_handle_t* lcd, uint8_t brightness) {
     // Place the backlight value in the lcd struct
     lcd->backlight = brightness;
     // Send no data
@@ -258,12 +258,7 @@ void lcd_write(i2c_lcd_pcf8574_handle_t* lcd, uint8_t value) {
 // Print characters to the LCD: cursor set or clear instruction must preceded this instruction, or it will write on the current text.
 void lcd_print(i2c_lcd_pcf8574_handle_t* lcd, const char* str) {
     while (*str) {
-        if (*str == '\x08') {
+        lcd_write(lcd, *str++);
-            lcd_write(lcd, '\x00');
-            str++;
-        } else {
-            lcd_write(lcd, *str++);
-        }
     }
 }  // lcd_print()
 
@@ -301,17 +296,18 @@ void lcd_print_number(i2c_lcd_pcf8574_handle_t* lcd, uint8_t col, uint8_t row, u
 
 // Private functions: derived from the esp32 i2c_master driver
 
+
 static void lcd_send(i2c_lcd_pcf8574_handle_t* lcd, uint8_t value, bool is_data) {
+    xSemaphoreTake(main_i2c_mutex, portMAX_DELAY);
     i2c_cmd_handle_t cmd = i2c_cmd_link_create();
     i2c_master_start(cmd);
     i2c_master_write_byte(cmd, (lcd->i2c_addr << 1) | I2C_MASTER_WRITE, true);
-    xSemaphoreTake(main_i2c_mutex, portMAX_DELAY);
     lcd_write_nibble(lcd, (value >> 4 & 0x0F), is_data, cmd);
     lcd_write_nibble(lcd, (value & 0x0F), is_data, cmd);
     i2c_master_stop(cmd);
     esp_err_t ret = i2c_master_cmd_begin(lcd->i2c_port, cmd, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
-    xSemaphoreGive(main_i2c_mutex);
     i2c_cmd_link_delete(cmd);
+    xSemaphoreGive(main_i2c_mutex);
     
     if (ret != ESP_OK) {
         ESP_LOGE(TAG, "Failed to send data to LCD: %s", esp_err_to_name(ret));
@@ -350,15 +346,15 @@ static void lcd_write_i2c(i2c_lcd_pcf8574_handle_t* lcd, uint8_t data, bool is_d
         data |= lcd->backlight_mask;
     }
 
+    xSemaphoreTake(main_i2c_mutex, portMAX_DELAY);
     i2c_cmd_handle_t cmd = i2c_cmd_link_create();
     i2c_master_start(cmd);
     i2c_master_write_byte(cmd, (lcd->i2c_addr << 1) | I2C_MASTER_WRITE, true);
     i2c_master_write_byte(cmd, data, true);
     i2c_master_stop(cmd);
-    xSemaphoreTake(main_i2c_mutex, portMAX_DELAY);
     esp_err_t ret = i2c_master_cmd_begin(lcd->i2c_port, cmd, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
-    xSemaphoreGive(main_i2c_mutex);
     i2c_cmd_link_delete(cmd);
+    xSemaphoreGive(main_i2c_mutex);
 
     if (ret != ESP_OK) {
         ESP_LOGE(TAG, "Failed to write to LCD: %s", esp_err_to_name(ret));

main/drivers/i2c_lcd_pcf8574.h

@@ -91,7 +91,7 @@ void lcd_autoscroll(i2c_lcd_pcf8574_handle_t* lcd);
 void lcd_no_autoscroll(i2c_lcd_pcf8574_handle_t* lcd);
 
 // Set backlight brightness
-void lcd_set_backlight_to(i2c_lcd_pcf8574_handle_t* lcd, uint8_t brightness);
+void lcd_set_backlight(i2c_lcd_pcf8574_handle_t* lcd, uint8_t brightness);
 
 // Create a custom character
 void lcd_create_char(i2c_lcd_pcf8574_handle_t* lcd, uint8_t location, const uint8_t charmap[]);

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;
+}
+

main/steps/setup_wires.cpp

@@ -23,8 +23,7 @@ void print_wires(WireColor* wires, int editing_idx) {
     }
     lcd_print(1, 3, string_buf);
 
-    // TODO: find a way to indicate without a cursor.
+    lcd_set_cursor_pos(editing_idx+1, 1);
-    // lcd_set_cursor_pos(editing_idx+1, 1);
 }
 
 void setup_wires(void) {

main/steps/step0.cpp

@@ -214,8 +214,7 @@ static void _update_display(uint8_t* digits, uint8_t cursor_pos) {
     lcd_print(1, 1, str_buf);
     cursor_pos = MAX(0, MIN(4, cursor_pos));
     int mapped_cursor_pos = CURSOR_POS_MAP[cursor_pos];
-    // TODO: find some way to indicate without a cursor.
+    lcd_set_cursor_pos(mapped_cursor_pos, 1);
-    // lcd_set_cursor_pos(mapped_cursor_pos, 1);
 }
 
 static void set_game_time() {