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-rw-r--r--src/battery/battery.cpp2
-rw-r--r--src/drivers/gpios.cpp33
-rw-r--r--src/drivers/include/gpios.hpp5
-rw-r--r--src/drivers/include/samd.hpp4
-rw-r--r--src/drivers/samd.cpp27
-rw-r--r--src/main/main.cpp25
-rw-r--r--src/system_fsm/booting.cpp6
-rw-r--r--src/system_fsm/include/system_fsm.hpp2
-rw-r--r--src/system_fsm/system_fsm.cpp10
9 files changed, 34 insertions, 80 deletions
diff --git a/src/battery/battery.cpp b/src/battery/battery.cpp
index b3567ee5..95f2d17b 100644
--- a/src/battery/battery.cpp
+++ b/src/battery/battery.cpp
@@ -35,7 +35,7 @@ static const uint32_t kEmptyChargeMilliVolts = 3200; // BMS limit is 3100.
using ChargeStatus = drivers::Samd::ChargeStatus;
-void check_voltage_cb(TimerHandle_t timer) {
+static void check_voltage_cb(TimerHandle_t timer) {
Battery* instance = reinterpret_cast<Battery*>(pvTimerGetTimerID(timer));
instance->Update();
}
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
diff --git a/src/main/main.cpp b/src/main/main.cpp
index 3ae045d1..ddd9cad0 100644
--- a/src/main/main.cpp
+++ b/src/main/main.cpp
@@ -6,7 +6,6 @@
#include "freertos/portmacro.h"
-#include "gpios.hpp"
#include "i2c.hpp"
#include "system_events.hpp"
#include "tinyfsm.hpp"
@@ -18,32 +17,12 @@
extern "C" void app_main(void) {
ESP_ERROR_CHECK(drivers::init_i2c());
- SemaphoreHandle_t gpios_semphr = drivers::Gpios::CreateReadPending();
- SemaphoreHandle_t samd_semphr = drivers::Samd::CreateReadPending();
-
- // Semaphores must be empty before being added to a queue set. Hence all this
- // weird early init stuff; by being explicit about initialisation order, we're
- // able to handle GPIO ISR notifcations + system events from the same task,
- // and a little mess with worth not needing to allocate a whole extra stack.
- QueueSetHandle_t set = xQueueCreateSet(3);
- auto* event_queue = events::queues::SystemAndAudio();
- xQueueAddToSet(event_queue->has_events(), set);
- xQueueAddToSet(gpios_semphr, set);
- xQueueAddToSet(samd_semphr, set);
tinyfsm::FsmList<system_fsm::SystemState, ui::UiState,
audio::AudioState>::start();
+ auto* event_queue = events::queues::SystemAndAudio();
while (1) {
- QueueSetMemberHandle_t member = xQueueSelectFromSet(set, portMAX_DELAY);
- if (member == event_queue->has_events()) {
- event_queue->Service(0);
- } else if (member == gpios_semphr) {
- xSemaphoreTake(member, 0);
- events::System().Dispatch(system_fsm::internal::GpioInterrupt{});
- } else if (member == samd_semphr) {
- xSemaphoreTake(member, 0);
- events::System().Dispatch(system_fsm::internal::SamdInterrupt{});
- }
+ event_queue->Service(portMAX_DELAY);
}
}
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>();
generated by cgit v1.2.3 (git 2.25.1) at 2026-04-29 18:11:36 +0000