Handle Mission Select

Core/Src/events.c

@@ -0,0 +1,64 @@
+#include "events.h"
+#include "main.h"
+#include "user_inputs.h"
+#include <stdint.h>
+
+static volatile EventQueue event_queue = {.read_idx = 0, .write_idx = 0};
+
+void event_push(Event *ev) {
+  if (event_num_free() == 0) {
+    // TODO: How do we handle this?
+    return;
+  }
+
+  event_queue.ring_buffer[event_queue.write_idx] = *ev;
+  event_queue.write_idx = (event_queue.write_idx + 1) % EVENT_QUEUE_SIZE;
+}
+
+Event event_pop() {
+  if (event_num_pending() == 0) {
+    // TODO: How do we handle this?
+    Error_Handler();
+  }
+
+  Event result = event_queue.ring_buffer[event_queue.read_idx];
+  event_queue.read_idx = (event_queue.read_idx + 1) % EVENT_QUEUE_SIZE;
+  return result;
+}
+
+uint16_t event_num_pending() {
+  // Copy the values so we can be sure they don't change while we're computing
+  // this
+  uint16_t read_idx = event_queue.read_idx;
+  uint16_t write_idx = event_queue.write_idx;
+  if (write_idx >= read_idx) {
+    return write_idx - read_idx;
+  } else {
+    return write_idx + (EVENT_QUEUE_SIZE - read_idx);
+  }
+}
+
+uint16_t event_num_free() {
+  // Copy the values so we can be sure they don't change while we're computing
+  // this
+  uint16_t read_idx = event_queue.read_idx;
+  uint16_t write_idx = event_queue.write_idx;
+  if (read_idx > write_idx) {
+    return read_idx - write_idx;
+  } else {
+    return read_idx + (EVENT_QUEUE_SIZE - write_idx);
+  }
+}
+
+void handle_events() {
+  while (event_num_pending() > 0) {
+    Event ev = event_pop();
+    switch (ev.type) {
+    case EV_BTN_PRESS:
+      handle_button_press(&ev.btn_press);
+      break;
+    default:
+      Error_Handler();
+    }
+  }
+}

Core/Src/main.c

@@ -21,10 +21,12 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "events.h"
 #include "rpi.h"
 #include "state.h"
 
 #include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
 
 #include <stdint.h>
 
@@ -119,13 +121,7 @@ int main(void) {
     } else {
       HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
     }
-    if (rpi_num_polls > 0) {
-      if (rpi_active_since == 0) {
-        rpi_active_since = now;
-      } else if (now - rpi_active_since > 10000) {
-        stw_state.view = VIEW_AMI;
-      }
-    }
+    handle_events();
   }
   /* USER CODE END 3 */
 }
@@ -343,13 +339,21 @@ static void MX_GPIO_Init(void) {
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin
-                           ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */
-  GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin | ENC0A_Pin |
-                        ENC0B_Pin | ENC1A_Pin | ENC1B_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  /*Configure GPIO pins : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */
+  GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */
+  GPIO_InitStruct.Pin = ENC0A_Pin | ENC0B_Pin | ENC1A_Pin | ENC1B_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
 }
 
 /* USER CODE BEGIN 4 */

Core/Src/rpi.c

@@ -29,7 +29,19 @@ void rpi_init(I2C_HandleTypeDef *handle) {
   }
 }
 
-void rpi_update_tx_buffer() { i2c_tx_buf[0] = stw_state.view; }
+void rpi_update_tx_buffer() {
+  i2c_tx_buf[0] = stw_state.view;
+  switch (stw_state.view) {
+  case VIEW_MISSION_SELECT:
+    rpi_update_tx_buffer_mission_select();
+    break;
+  default:
+    Error_Handler();
+  }
+}
+void rpi_update_tx_buffer_mission_select() {
+  i2c_tx_buf[1] = stw_state.view_state.mission_select.selection;
+}
 
 void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) {
   switch (rpi_i2c_state) {

Core/Src/state.c

@@ -2,4 +2,7 @@
 
 STWState stw_state;
 
-void state_init() { stw_state.view = VIEW_MISSION_SELECT; }
+void state_init() {
+  stw_state.view = VIEW_MISSION_SELECT;
+  stw_state.view_state.mission_select.selection = MISSION_ACCELERATION;
+}

Core/Src/stm32g4xx_it.c

@@ -212,6 +212,23 @@ void I2C2_EV_IRQHandler(void)
   /* USER CODE END I2C2_EV_IRQn 1 */
 }
 
+/**
+  * @brief This function handles EXTI line[15:10] interrupts.
+  */
+void EXTI15_10_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI15_10_IRQn 0 */
+
+  /* USER CODE END EXTI15_10_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(BTN0_Pin);
+  HAL_GPIO_EXTI_IRQHandler(BTN1_Pin);
+  HAL_GPIO_EXTI_IRQHandler(BTN2_Pin);
+  HAL_GPIO_EXTI_IRQHandler(BTN3_Pin);
+  /* USER CODE BEGIN EXTI15_10_IRQn 1 */
+
+  /* USER CODE END EXTI15_10_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/user_inputs.c

@@ -0,0 +1,77 @@
+#include "user_inputs.h"
+
+#include "events.h"
+#include "main.h"
+#include "state.h"
+#include "stm32g4xx_hal_gpio.h"
+
+void HAL_GPIO_EXTI_Callback(uint16_t pin) {
+  Event ev;
+
+  GPIO_PinState state = HAL_GPIO_ReadPin(GPIOB, pin);
+  ev.type = state;
+  switch (pin) {
+  case BTN0_Pin:
+    ev.type = EV_BTN_PRESS;
+    ev.btn_press = BTN_PRESS_PREV;
+    break;
+  case BTN1_Pin:
+    ev.type = EV_BTN_PRESS;
+    ev.btn_press = BTN_PRESS_R2D;
+    break;
+  case BTN2_Pin:
+    ev.type = EV_BTN_PRESS;
+    ev.btn_press = BTN_PRESS_OK;
+    break;
+  case BTN3_Pin:
+    ev.type = EV_BTN_PRESS;
+    ev.btn_press = BTN_PRESS_NEXT;
+    break;
+  default:
+    Error_Handler();
+  }
+
+  event_push(&ev);
+}
+
+void handle_button_press(const ButtonPressEvent *ev) {
+  switch (stw_state.view) {
+  case VIEW_MISSION_SELECT:
+    handle_button_press_mission_select(ev);
+    break;
+  case VIEW_AMI:
+    break;
+  default:
+    Error_Handler();
+  }
+}
+
+void handle_button_press_mission_select(const ButtonPressEvent *ev) {
+  switch (*ev) {
+  case BTN_PRESS_PREV: {
+    Mission *selection = &stw_state.view_state.mission_select.selection;
+    if (*selection == MISSION_ACCELERATION || *selection == MISSION_NONE) {
+      *selection = MISSION_MANUAL;
+    } else {
+      *selection = *selection - 1;
+    }
+    break;
+  }
+  case BTN_PRESS_R2D:
+    break;
+  case BTN_PRESS_OK:
+    stw_state.view_state.ami.current_mission =
+        stw_state.view_state.mission_select.selection;
+    stw_state.view = VIEW_AMI;
+    break;
+  case BTN_PRESS_NEXT: {
+    Mission *selection = &stw_state.view_state.mission_select.selection;
+    if (*selection == MISSION_MANUAL) {
+      *selection = MISSION_ACCELERATION;
+    } else {
+      *selection = *selection + 1;
+    }
+    break;
+  }
+  }
+}