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