Periodically check int lines instead of relying on interrupts

3 files changed, 18 insertions, 0 deletions

diff --git a/src/system_fsm/booting.cpp b/src/system_fsm/booting.cpp
index e7080e9b..c9a0a2d2 100644
--- a/src/system_fsm/booting.cpp
+++ b/src/system_fsm/booting.cpp
@@ -51,6 +51,8 @@ static auto bt_event_cb(drivers::bluetooth::Event ev) -> void {
   }
 }
 
+static const TickType_t kInterruptCheckPeriod = pdMS_TO_TICKS(100);
+
 auto Booting::entry() -> void {
   ESP_LOGI(kTag, "beginning tangara boot");
   sServices.reset(new ServiceLocator());
@@ -109,6 +111,10 @@ auto Booting::exit() -> void {
   sAppConsole = new console::AppConsole();
   sAppConsole->sServices = sServices;
   sAppConsole->Launch();
+
+  TimerHandle_t timer = xTimerCreate("INTERRUPTS", kInterruptCheckPeriod, true,
+                                     NULL, check_interrupts_cb);
+  xTimerStart(timer, portMAX_DELAY);
 }
 
 auto Booting::react(const BootComplete& ev) -> void {
diff --git a/src/system_fsm/include/system_fsm.hpp b/src/system_fsm/include/system_fsm.hpp
index c9803bef..cb733639 100644
--- a/src/system_fsm/include/system_fsm.hpp
+++ b/src/system_fsm/include/system_fsm.hpp
@@ -32,6 +32,8 @@
 
 namespace system_fsm {
 
+void check_interrupts_cb(TimerHandle_t timer);
+
 /*
  * State machine for the overall system state. Responsible for managing
  * peripherals, and bringing the rest of the system up and down.
diff --git a/src/system_fsm/system_fsm.cpp b/src/system_fsm/system_fsm.cpp
index ca191324..9cca7eda 100644
--- a/src/system_fsm/system_fsm.cpp
+++ b/src/system_fsm/system_fsm.cpp
@@ -6,6 +6,7 @@
 
 #include "system_fsm.hpp"
 #include "audio_fsm.hpp"
+#include "driver/gpio.h"
 #include "event_queue.hpp"
 #include "gpios.hpp"
 #include "relative_wheel.hpp"
@@ -23,6 +24,15 @@ std::unique_ptr<drivers::SdStorage> SystemState::sStorage;
 
 console::AppConsole* SystemState::sAppConsole;
 
+void check_interrupts_cb(TimerHandle_t timer) {
+  if (!gpio_get_level(GPIO_NUM_34)) {
+    events::System().Dispatch(internal::GpioInterrupt{});
+  }
+  if (!gpio_get_level(GPIO_NUM_35)) {
+    events::System().Dispatch(internal::SamdInterrupt{});
+  }
+}
+
 void SystemState::react(const FatalError& err) {
   if (!is_in_state<states::Error>()) {
     transit<states::Error>();