buttons: Add initial support for detecting button presses

Add mcu support for periodically polling for a button press.  Add host
code support for registering buttons and invoking callbacks for them.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

2 files changed, 161 insertions, 1 deletions

diff --git a/src/Makefile b/src/Makefile
index 92667b2a..22db35ea 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -5,4 +5,4 @@ src-$(CONFIG_HAVE_GPIO) += gpiocmds.c stepper.c endstop.c
 src-$(CONFIG_HAVE_GPIO_ADC) += adccmds.c
 src-$(CONFIG_HAVE_GPIO_SPI) += spicmds.c
 src-$(CONFIG_HAVE_GPIO_HARD_PWM) += pwmcmds.c
-src-$(CONFIG_HAVE_USER_INTERFACE) += lcd_st7920.c lcd_hd44780.c
+src-$(CONFIG_HAVE_USER_INTERFACE) += lcd_st7920.c lcd_hd44780.c buttons.c
diff --git a/src/buttons.c b/src/buttons.c
new file mode 100644
index 00000000..7f6e1ee7
--- /dev/null
+++ b/src/buttons.c
@@ -0,0 +1,160 @@
+// Report on user interface buttons
+//
+// Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "basecmd.h" // oid_alloc
+#include "board/gpio.h" // struct gpio_in
+#include "board/irq.h" // irq_disable
+#include "command.h" // DECL_COMMAND
+#include "sched.h" // struct timer
+
+struct buttons {
+    struct timer time;
+    uint32_t rest_ticks;
+    uint8_t pressed, last_pressed;
+    uint8_t report_count, reports[8];
+    uint8_t ack_count, retransmit_state, retransmit_count;
+    uint8_t button_count;
+    struct gpio_in pins[0];
+};
+
+enum { BF_NO_RETRANSMIT = 0x80, BF_PENDING = 0xff, BF_ACKED = 0xfe };
+
+static struct task_wake buttons_wake;
+
+static uint_fast8_t
+buttons_event(struct timer *t)
+{
+    struct buttons *b = container_of(t, struct buttons, time);
+
+    // Read pins
+    uint8_t i, bit, status = 0;
+    for (i = 0, bit = 1; i < b->button_count; i++, bit <<= 1) {
+        uint8_t val = gpio_in_read(b->pins[i]);
+        if (val)
+            status |= bit;
+    }
+
+    // Check if any pins have changed since last time
+    uint8_t diff = status ^ b->pressed;
+    if (diff) {
+        // At least one pin has changed - do button debouncing
+        uint8_t debounced = ~(status ^ b->last_pressed);
+        if (diff & debounced) {
+            // Pin has been consistently different - report it
+            b->pressed = (b->pressed & ~debounced) | (status & debounced);
+            if (b->report_count < sizeof(b->reports)) {
+                b->reports[b->report_count++] = b->pressed;
+                sched_wake_task(&buttons_wake);
+                b->retransmit_state = BF_PENDING;
+            }
+        }
+    }
+    b->last_pressed = status;
+
+    // Check if a retransmit is needed
+    uint8_t retransmit_state = b->retransmit_state;
+    if (!(retransmit_state & BF_NO_RETRANSMIT)) {
+        retransmit_state--;
+        if (retransmit_state & BF_NO_RETRANSMIT)
+            // timeout - do retransmit
+            sched_wake_task(&buttons_wake);
+        b->retransmit_state = retransmit_state;
+    }
+
+    // Reschedule timer
+    b->time.waketime += b->rest_ticks;
+    return SF_RESCHEDULE;
+}
+
+void
+command_config_buttons(uint32_t *args)
+{
+    uint8_t button_count = args[1];
+    if (button_count > 8)
+        shutdown("Max of 8 buttons");
+    struct buttons *b = oid_alloc(
+        args[0], command_config_buttons
+        , sizeof(*b) + sizeof(b->pins[0]) * button_count);
+    b->button_count = button_count;
+    b->time.func = buttons_event;
+}
+DECL_COMMAND(command_config_buttons, "config_buttons oid=%c button_count=%c");
+
+void
+command_buttons_add(uint32_t *args)
+{
+    struct buttons *b = oid_lookup(args[0], command_config_buttons);
+    uint8_t pos = args[1];
+    if (pos >= b->button_count)
+        shutdown("Set button past maximum button count");
+    b->pins[pos] = gpio_in_setup(args[2], args[3]);
+}
+DECL_COMMAND(command_buttons_add, "buttons_add oid=%c pos=%c pin=%u pull_up=%c");
+
+void
+command_buttons_query(uint32_t *args)
+{
+    struct buttons *b = oid_lookup(args[0], command_config_buttons);
+    sched_del_timer(&b->time);
+    b->time.waketime = args[1];
+    b->rest_ticks = args[2];
+    b->ack_count = b->report_count = 0;
+    b->retransmit_state = BF_ACKED;
+    b->retransmit_count = args[3];
+    if (b->retransmit_count >= BF_NO_RETRANSMIT)
+        shutdown("Invalid buttons retransmit count");
+    if (! b->rest_ticks)
+        return;
+    sched_add_timer(&b->time);
+}
+DECL_COMMAND(command_buttons_query,
+             "buttons_query oid=%c clock=%u rest_ticks=%u retransmit_count=%c");
+
+void
+command_buttons_ack(uint32_t *args)
+{
+    struct buttons *b = oid_lookup(args[0], command_config_buttons);
+    uint8_t count = args[1];
+    b->ack_count += count;
+    irq_disable();
+    if (count >= b->report_count) {
+        b->report_count = 0;
+        b->retransmit_state = BF_ACKED;
+    } else {
+        uint8_t pending = b->report_count - count, i;
+        for (i=0; i<pending; i++)
+            b->reports[i] = b->reports[i+count];
+        b->report_count = pending;
+    }
+    irq_enable();
+}
+DECL_COMMAND(command_buttons_ack, "buttons_ack oid=%c count=%c");
+
+void
+buttons_task(void)
+{
+    if (!sched_check_wake(&buttons_wake))
+        return;
+    uint8_t oid;
+    struct buttons *b;
+    foreach_oid(oid, b, command_config_buttons) {
+        // See if need to transmit buttons_state
+        if (b->retransmit_state != BF_PENDING)
+            continue;
+        // Generate message
+        irq_disable();
+        uint8_t report_count = b->report_count;
+        if (!report_count) {
+            irq_enable();
+            continue;
+        }
+        b->retransmit_state = b->retransmit_count;
+        irq_enable();
+        sendf("buttons_state oid=%c ack_count=%c state=%*s"
+              , oid, b->ack_count, report_count, b->reports);
+    }
+}
+DECL_TASK(buttons_task);