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- /*******************************************************************************
- * IO Driver for IdeasX
- * Author: curiousmuch
- * Description: HAL layer for IdeasX v0.3.X encoders
- * This lib has a couple functions
- * 1) Provide SW interface for encoder hardware for the following functions:
- * reset, shutdown, enable / disable assistive switches
- * 2) Provide the ability to attach custom ISR to assistive switch inputs
- and INTR pin on LSM6DS3.
- * Todo:
- *******************************************************************************/
- #include "hal/io.h"
- #include "hal/lsm6ds3.h"
- #include "log/esp_log.h"
- static const char* TAG = "io.c";
- // debounce timers
- static Encoder_t encoder;
- void Encoder_GPIO_Handler(void);
- static void switchA_debounce(void);
- static void switchB_debounce(void);
- void ICACHE_FLASH_ATTR Encoder_InitIO(void)
- {
- ETS_GPIO_INTR_DISABLE(); // disable interrupts
- gpio_init(); // magic function in SDK
- encoder.debounce_delay = DEBOUNCEDELAY;
- encoder.switch_a_cb = NULL;
- encoder.switch_b_cb = NULL;
- encoder.imu_cb = NULL;
- // setup as GPIO pins
- PIN_FUNC_SELECT(LDO_SHUTDOWN_MUX, LDO_SHUTDOWN_FUNC);
- PIN_FUNC_SELECT(SWITCH_A_MUX, SWITCH_A_FUNC);
- PIN_FUNC_SELECT(SWITCH_B_MUX, SWITCH_B_FUNC);
- PIN_FUNC_SELECT(STATUS_LED_MUX, STATUS_LED_FUNC);
- // setup GPIO states
- gpio_output_set(BIT(LDO_SHUTDOWN), BIT(STATUS_LED), (BIT(LDO_SHUTDOWN)|BIT(STATUS_LED)), (BIT(SWITCH_A)|BIT(SWITCH_B)));
- // attach callback function for GPIO interrupts
- ETS_GPIO_INTR_ATTACH(Encoder_GPIO_Handler, NULL);
- // setup debounce SW timers
- os_timer_disarm(&encoder.switch_a_timer);
- os_timer_disarm(&encoder.switch_b_timer);
- os_timer_setfn(&encoder.switch_a_timer, (os_timer_func_t *)switchA_debounce, NULL);
- os_timer_setfn(&encoder.switch_b_timer, (os_timer_func_t *)switchB_debounce, NULL);
- }
- void ICACHE_FLASH_ATTR Encoder_SetSwitchCallback(switch_function_t switch_a_cb, switch_function_t switch_b_cb)
- {
- encoder.switch_a_cb = switch_a_cb;
- encoder.switch_b_cb = switch_b_cb;
- }
- void ICACHE_FLASH_ATTR Encoder_SetIMUCallback(imu_function_t imu_cb)
- {
- encoder.imu_cb = imu_cb;
- }
- void ICACHE_FLASH_ATTR Encoder_EnableIOInterrupts(void)
- {
- ETS_GPIO_INTR_DISABLE();
- gpio_pin_intr_state_set(GPIO_ID_PIN(SWITCH_A), GPIO_PIN_INTR_ANYEDGE);
- gpio_pin_intr_state_set(GPIO_ID_PIN(SWITCH_B), GPIO_PIN_INTR_ANYEDGE);
- ETS_GPIO_INTR_ENABLE();
- }
- void ICACHE_FLASH_ATTR Encoder_DisableIOInterrupts(void)
- {
- ETS_GPIO_INTR_DISABLE();
- gpio_pin_intr_state_set(GPIO_ID_PIN(SWITCH_A), GPIO_PIN_INTR_DISABLE);
- gpio_pin_intr_state_set(GPIO_ID_PIN(SWITCH_B), GPIO_PIN_INTR_DISABLE);
- }
- void ICACHE_FLASH_ATTR Encoder_ShutDown(void)
- {
- GPIO_OUTPUT_SET(LDO_SHUTDOWN, 0);
- }
- void ICACHE_FLASH_ATTR Encoder_GPIO_Handler(void)
- {
- uint8_t i;
- uint32_t gpio_status = GPIO_REG_READ(GPIO_STATUS_ADDRESS); // read interupt status of pins
- uint32_t gpio_states = GPIO_REG_READ(GPIO_IN_ADDRESS); // read pin status
- ETS_GPIO_INTR_DISABLE(); // disable GPIO interrupts
- for (i=0;i<GPIO_PIN_COUNT;i++)
- {
- if (BIT(i) & gpio_status)
- {
- gpio_pin_intr_state_set(GPIO_ID_PIN(i), GPIO_PIN_INTR_DISABLE); // disable interrupt for pin
- GPIO_REG_WRITE(GPIO_STATUS_W1TC_ADDRESS, gpio_status & BIT(i)); // clear interrupt status
- ESP_LOGV(TAG, "Pin Interrupt %d", i);
- switch(i)
- {
- case SWITCH_A:
- {
- if (LSM6DS3_Get_Interrupts() != LSM6DS3_NO_INT)
- {
- if (encoder.imu_cb != NULL)
- encoder.imu_cb();
- gpio_pin_intr_state_set(GPIO_ID_PIN(i), GPIO_PIN_INTR_ANYEDGE); // re-enable interrupts
- }
- else
- {
- if (encoder.switch_a_cb != NULL)
- encoder.switch_a_cb();
- os_timer_arm(&encoder.switch_a_timer, encoder.debounce_delay, 0);
- }
- break;
- }
- case SWITCH_B:
- {
- if (encoder.switch_b_cb != NULL)
- encoder.switch_b_cb();
- os_timer_arm(&encoder.switch_b_timer, encoder.debounce_delay, 0);
- break;
- }
- default:
- {
- ESP_LOGW(TAG, "unexpected interrupt on pin %d", i);
- }
- }
- }
- }
- ETS_GPIO_INTR_ENABLE();
- }
- static void ICACHE_FLASH_ATTR switchA_debounce(void)
- {
- ETS_GPIO_INTR_DISABLE();
- gpio_pin_intr_state_set(GPIO_ID_PIN(SWITCH_A), GPIO_PIN_INTR_ANYEDGE);
- os_timer_disarm(&encoder.switch_a_timer);
- ETS_GPIO_INTR_ENABLE();
- }
- static void ICACHE_FLASH_ATTR switchB_debounce(void)
- {
- ETS_GPIO_INTR_DISABLE();
- gpio_pin_intr_state_set(GPIO_ID_PIN(SWITCH_B), GPIO_PIN_INTR_ANYEDGE);
- os_timer_disarm(&encoder.switch_b_timer);
- ETS_GPIO_INTR_ENABLE();
- }
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