Periodically check int lines instead of relying on interrupts

4 files changed, 13 insertions, 56 deletions

diff --git a/src/drivers/gpios.cpp b/src/drivers/gpios.cpp
index dc737710..e5560665 100644
--- a/src/drivers/gpios.cpp
+++ b/src/drivers/gpios.cpp
@@ -6,12 +6,13 @@
 
 #include "gpios.hpp"
 
-#include <stdint.h>
-
 #include <cstdint>
 
+#include "assert.h"
 #include "driver/gpio.h"
 #include "esp_attr.h"
+#include "esp_err.h"
+#include "esp_intr_alloc.h"
 #include "hal/gpio_types.h"
 
 #include "i2c.hpp"
@@ -60,12 +61,7 @@ constexpr std::pair<uint8_t, uint8_t> unpack(uint16_t ba) {
   return std::pair((uint8_t)ba, (uint8_t)(ba >> 8));
 }
 
-SemaphoreHandle_t Gpios::sReadPending;
-
-IRAM_ATTR static void interrupt_isr(void* arg) {
-  SemaphoreHandle_t sem = reinterpret_cast<SemaphoreHandle_t>(arg);
-  xSemaphoreGive(sem);
-}
+static constexpr gpio_num_t kIntPin = GPIO_NUM_34;
 
 auto Gpios::Create() -> Gpios* {
   Gpios* instance = new Gpios();
@@ -78,22 +74,10 @@ auto Gpios::Create() -> Gpios* {
 }
 
 Gpios::Gpios() : ports_(pack(kPortADefault, kPortBDefault)), inputs_(0) {
-  gpio_config_t config{
-      .pin_bit_mask = static_cast<uint64_t>(1) << GPIO_NUM_34,
-      .mode = GPIO_MODE_INPUT,
-      .pull_up_en = GPIO_PULLUP_ENABLE,
-      .pull_down_en = GPIO_PULLDOWN_DISABLE,
-      .intr_type = GPIO_INTR_NEGEDGE,
-  };
-  gpio_config(&config);
-  gpio_install_isr_service(ESP_INTR_FLAG_LEVEL1);
-  gpio_isr_handler_add(GPIO_NUM_34, &interrupt_isr, sReadPending);
+  gpio_set_direction(kIntPin, GPIO_MODE_INPUT);
 }
 
-Gpios::~Gpios() {
-  gpio_isr_handler_remove(GPIO_NUM_34);
-  gpio_uninstall_isr_service();
-}
+Gpios::~Gpios() {}
 
 auto Gpios::WriteBuffered(Pin pin, bool value) -> void {
   if (value) {
@@ -142,9 +126,4 @@ auto Gpios::Read() -> bool {
   return true;
 }
 
-auto Gpios::CreateReadPending() -> SemaphoreHandle_t {
-  sReadPending = xSemaphoreCreateBinary();
-  return sReadPending;
-}
-
 }  // namespace drivers
diff --git a/src/drivers/include/gpios.hpp b/src/drivers/include/gpios.hpp
index 18f71551..1755da92 100644
--- a/src/drivers/include/gpios.hpp
+++ b/src/drivers/include/gpios.hpp
@@ -10,6 +10,7 @@
 
 #include <atomic>
 #include <functional>
+#include <map>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -108,8 +109,6 @@ class Gpios : public IGpios {
    */
   auto Read(void) -> bool;
 
-  static auto CreateReadPending() -> SemaphoreHandle_t;
-
   // Not copyable or movable. There should usually only ever be once instance
   // of this class, and that instance will likely have a static lifetime.
   Gpios(const Gpios&) = delete;
@@ -120,8 +119,6 @@ class Gpios : public IGpios {
 
   std::atomic<uint16_t> ports_;
   std::atomic<uint16_t> inputs_;
-
-  static SemaphoreHandle_t sReadPending;
 };
 
 }  // namespace drivers
diff --git a/src/drivers/include/samd.hpp b/src/drivers/include/samd.hpp
index 2640eb8b..d9f1ca48 100644
--- a/src/drivers/include/samd.hpp
+++ b/src/drivers/include/samd.hpp
@@ -54,8 +54,6 @@ class Samd {
   auto ResetToFlashSamd() -> void;
   auto PowerDown() -> void;
 
-  static auto CreateReadPending() -> SemaphoreHandle_t;
-
   // Not copyable or movable. There should usually only ever be once instance
   // of this class, and that instance will likely have a static lifetime.
   Samd(const Samd&) = delete;
@@ -64,8 +62,6 @@ class Samd {
  private:
   std::optional<ChargeStatus> charge_status_;
   UsbStatus usb_status_;
-
-  static SemaphoreHandle_t sReadPending;
 };
 
 }  // namespace drivers
diff --git a/src/drivers/samd.cpp b/src/drivers/samd.cpp
index e6014306..f361513e 100644
--- a/src/drivers/samd.cpp
+++ b/src/drivers/samd.cpp
@@ -5,12 +5,15 @@
  */
 
 #include "samd.hpp"
-#include <stdint.h>
+
+#include <cstdint>
 #include <optional>
 
 #include "esp_err.h"
 #include "esp_log.h"
+#include "hal/gpio_types.h"
 #include "hal/i2c_types.h"
+
 #include "i2c.hpp"
 
 enum Registers : uint8_t {
@@ -26,23 +29,10 @@ static const uint8_t kAddress = 0x45;
 
 namespace drivers {
 
-SemaphoreHandle_t Samd::sReadPending;
-
-static void interrupt_isr(void* arg) {
-  SemaphoreHandle_t sem = reinterpret_cast<SemaphoreHandle_t>(arg);
-  xSemaphoreGive(sem);
-}
+static constexpr gpio_num_t kIntPin = GPIO_NUM_35;
 
 Samd::Samd() {
-  gpio_config_t config{
-      .pin_bit_mask = static_cast<uint64_t>(1) << GPIO_NUM_35,
-      .mode = GPIO_MODE_INPUT,
-      .pull_up_en = GPIO_PULLUP_ENABLE,
-      .pull_down_en = GPIO_PULLDOWN_DISABLE,
-      .intr_type = GPIO_INTR_NEGEDGE,
-  };
-  gpio_config(&config);
-  gpio_isr_handler_add(GPIO_NUM_35, &interrupt_isr, sReadPending);
+  gpio_set_direction(kIntPin, GPIO_MODE_INPUT);
 
   // Being able to interface with the SAMD properly is critical. To ensure we
   // will be able to, we begin by checking the I2C protocol version is
@@ -153,9 +143,4 @@ auto Samd::PowerDown() -> void {
   ESP_ERROR_CHECK(transaction.Execute(3));
 }
 
-auto Samd::CreateReadPending() -> SemaphoreHandle_t {
-  sReadPending = xSemaphoreCreateBinary();
-  return sReadPending;
-}
-
 }  // namespace drivers