Select missions with right encoder

Core/Src/ui.c

@@ -0,0 +1,97 @@
+#include "ui.h"
+
+#include "stm32h7a3xx.h"
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_gpio.h"
+#include "tx_api.h"
+
+#include "hx8357d.h"
+#include "main.h"
+#include <stdint.h>
+
+void ui_thread_entry(ULONG _) {
+  GPIO_TypeDef *button_ports[NUM_BUTTONS] = {BTN1_GPIO_Port, BTN2_GPIO_Port,
+                                             BTN3_GPIO_Port, BTN4_GPIO_Port,
+                                             BTN5_GPIO_Port, BTN6_GPIO_Port};
+  uint16_t button_pins[NUM_BUTTONS] = {BTN1_Pin, BTN2_Pin, BTN3_Pin,
+                                       BTN4_Pin, BTN5_Pin, BTN6_Pin};
+  GPIO_PinState button_states[NUM_BUTTONS] = {GPIO_PIN_RESET};
+  uint32_t button_change_times[NUM_BUTTONS] = {HAL_GetTick()};
+
+  while (1) {
+    for (int i = 0; i < NUM_BUTTONS; i++) {
+      GPIO_PinState state = HAL_GPIO_ReadPin(button_ports[i], button_pins[i]);
+      if (state != button_states[i]) {
+        uint32_t now = HAL_GetTick();
+        if (state == GPIO_PIN_RESET && now - button_change_times[i]) {
+          // Button release event!
+          UIMessage msg = {.kind = UMK_BTN_RELEASED, .number = i};
+          tx_queue_send(&ui_queue, &msg, TX_NO_WAIT);
+        }
+        button_change_times[i] = now;
+        button_states[i] = state;
+      }
+    }
+    // Release so other threads can get scheduled
+    tx_thread_sleep(1);
+  }
+}
+
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+  // This gets called when an edge on one of the encoder pins is detected.
+  static uint32_t last_change[NUM_ENCS * 2] = {0};
+  static GPIO_PinState last_state[NUM_ENCS * 2] = {GPIO_PIN_RESET};
+
+  if (GPIO_Pin == ENC2B_Pin) {
+    // ENC2A and ENC2B share an interrupt line, so the HAL calls this callback
+    // once with each pin. Since we already handled the interrupt once for
+    // ENC2A, we can just ignore it now.
+  }
+
+  uint32_t now = HAL_GetTick();
+
+  uint16_t pin_a, pin_b;
+  int idx_a, idx_b;
+  UIMessage msg;
+  if (GPIO_Pin == ENC1A_Pin || GPIO_Pin == ENC1B_Pin) {
+    pin_a = ENC1A_Pin;
+    pin_b = ENC1B_Pin;
+    idx_a = 0;
+    idx_b = 1;
+    msg.number = 0;
+  } else {
+    pin_a = ENC2A_Pin;
+    pin_b = ENC2B_Pin;
+    idx_a = 2;
+    idx_b = 3;
+    msg.number = 1;
+  }
+
+  // All encoder pins are on port E
+  GPIO_PinState state_a = HAL_GPIO_ReadPin(GPIOE, pin_a);
+  GPIO_PinState state_b = HAL_GPIO_ReadPin(GPIOE, pin_b);
+  int a_changed = state_a != last_state[idx_a];
+  int b_changed = state_b != last_state[idx_b];
+  last_state[idx_a] = state_a;
+  last_state[idx_b] = state_b;
+
+  if (state_a == GPIO_PIN_RESET && state_b == GPIO_PIN_RESET) {
+    // Second falling edge, direction depends on which pin changed last
+    if (a_changed && b_changed) {
+      // This shouldn't happen. Ignore this event.
+      last_change[idx_a] = now;
+      last_change[idx_b] = now;
+      return;
+    } else if (a_changed) {
+      last_change[idx_a] = now;
+      msg.kind = UMK_ENC_CCW;
+    } else if (b_changed) {
+      last_change[idx_b] = now;
+      msg.kind = UMK_ENC_CW;
+    } else {
+      // This shouldn't happen. Ignore this event.
+      return;
+    }
+    tx_queue_send(&ui_queue, &msg, TX_NO_WAIT);
+  }
+}