From 3d6957d757f24ac58c958f399632ca940b66be11 Mon Sep 17 00:00:00 2001
From: Julija <julia.ivaskeviciute@gmail.com>
Date: Sat, 8 Mar 2025 10:39:40 +0200
Subject: [PATCH 1/6] Queue and Switch classes added
---
CMakeLists.txt | 0
InputQueue.cpp | 5 +++++
InputQueue.h | 16 ++++++++++++++++
Switch.cpp | 5 +++++
Switch.h | 16 ++++++++++++++++
main.cpp | 3 +++
6 files changed, 45 insertions(+)
create mode 100644 CMakeLists.txt
create mode 100644 InputQueue.cpp
create mode 100644 InputQueue.h
create mode 100644 Switch.cpp
create mode 100644 Switch.h
create mode 100644 main.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..e69de29
diff --git a/InputQueue.cpp b/InputQueue.cpp
new file mode 100644
index 0000000..d28fd4d
--- /dev/null
+++ b/InputQueue.cpp
@@ -0,0 +1,5 @@
+//
+// Created by Lenovo on 8.3.2025.
+//
+
+#include "InputQueue.h"
diff --git a/InputQueue.h b/InputQueue.h
new file mode 100644
index 0000000..ba6d06c
--- /dev/null
+++ b/InputQueue.h
@@ -0,0 +1,16 @@
+//
+// Created by Lenovo on 8.3.2025.
+//
+
+#ifndef INPUTQUEUE_H
+#define INPUTQUEUE_H
+
+
+
+class InputQueue {
+
+};
+
+
+
+#endif //INPUTQUEUE_H
diff --git a/Switch.cpp b/Switch.cpp
new file mode 100644
index 0000000..9a76731
--- /dev/null
+++ b/Switch.cpp
@@ -0,0 +1,5 @@
+//
+// Created by Lenovo on 8.3.2025.
+//
+
+#include "Switch.h"
diff --git a/Switch.h b/Switch.h
new file mode 100644
index 0000000..cecbabc
--- /dev/null
+++ b/Switch.h
@@ -0,0 +1,16 @@
+//
+// Created by Lenovo on 8.3.2025.
+//
+
+#ifndef SWITCH_H
+#define SWITCH_H
+
+
+
+class Switch {
+
+};
+
+
+
+#endif //SWITCH_H
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..af2714a
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,3 @@
+//
+// Created by Lenovo on 8.3.2025.
+//
--
GitLab
From da6f47629eb841e4f657cb77f94b15e57ba68bb3 Mon Sep 17 00:00:00 2001
From: julijai <julija.ivaskeviciute@metropolia.fi>
Date: Sat, 8 Mar 2025 08:53:15 +0000
Subject: [PATCH 2/6] Update main.cpp
---
main.cpp | 30 +++++++++++++++++++++++++++---
1 file changed, 27 insertions(+), 3 deletions(-)
diff --git a/main.cpp b/main.cpp
index af2714a..6a24aed 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,3 +1,27 @@
-//
-// Created by Lenovo on 8.3.2025.
-//
+#include <iostream>
+#include <pico/stdio.h>
+
+#include "InputQueue.h"
+#include "Switch.h"
+
+int main() {
+ stdio_init_all();
+
+ InputQueue inputQueue;
+
+ Switch sw0 (9, InputQueue::SW0_PRESSED, &inputQueue, true, true);
+ Switch sw1 (8, InputQueue::SW1_PRESSED, &inputQueue, true, false);
+ Switch sw2 (7, InputQueue::SW2_PRESSED, &inputQueue, true, false);
+ Switch upLimit (27, InputQueue::LIMIT_UP_TRIGGERED, &inputQueue, true, false);
+ Switch downLimit (28, InputQueue::LIMIT_DOWN_TRIGGERED, &inputQueue, true, false);
+
+ while (true) {
+ if (!inputQueue.isEmpty()) {
+ InputQueue::InputType event;
+ if (inputQueue.pop(event)) {
+ std::cout << event << std::endl;
+ }
+ }
+ //sleep_ms(10);
+ }
+}
\ No newline at end of file
--
GitLab
From 37f6883611700f7f0304ad13cc06f164cff3543c Mon Sep 17 00:00:00 2001
From: julijai <julija.ivaskeviciute@metropolia.fi>
Date: Sat, 8 Mar 2025 08:57:42 +0000
Subject: [PATCH 3/6] Update 5 files
- /CMakeLists.txt
- /InputQueue.cpp
- /InputQueue.h
- /Switch.cpp
- /Switch.h
---
CMakeLists.txt | 45 ++++++++++++++++++++++++++++++++++++
InputQueue.cpp | 62 ++++++++++++++++++++++++++++++++++++++++++++++----
InputQueue.h | 41 ++++++++++++++++++++++++++-------
Switch.cpp | 49 +++++++++++++++++++++++++++++++++++----
Switch.h | 27 ++++++++++++++++++----
5 files changed, 203 insertions(+), 21 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e69de29..a2ddb90 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -0,0 +1,45 @@
+# Set minimum required version of CMake
+cmake_minimum_required(VERSION 3.12)
+
+# Include build functions from Pico SDK
+include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
+
+# Set board type because we are building for PicoW
+set(PICO_BOARD pico_w)
+
+# Set name of project (as PROJECT_NAME) and C/C standards
+project(GarageController C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+# Creates a pico-sdk subdirectory in our project for the libraries
+pico_sdk_init()
+
+add_compile_options(-Wall
+ -Wno-format # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int
+ -Wno-unused-function # we have some for the docs that aren't called
+ -Wno-maybe-uninitialized
+)
+
+# Tell CMake where to find the executable source file
+add_executable(${PROJECT_NAME}
+ InputQueue.cpp
+ InputQueue.h
+ Switch.cpp
+ Switch.h
+ main.cpp
+)
+
+# Create map/bin/hex/uf2 files
+pico_add_extra_outputs(${PROJECT_NAME})
+
+# Link to pico_stdlib (gpio, time, etc. functions)
+target_link_libraries(${PROJECT_NAME}
+ pico_stdlib
+ hardware_pwm
+ hardware_gpio
+)
+
+# Disable usb output, enable uart output
+pico_enable_stdio_usb(${PROJECT_NAME} 0)
+pico_enable_stdio_uart(${PROJECT_NAME} 1)
\ No newline at end of file
diff --git a/InputQueue.cpp b/InputQueue.cpp
index d28fd4d..a782c29 100644
--- a/InputQueue.cpp
+++ b/InputQueue.cpp
@@ -1,5 +1,59 @@
-//
-// Created by Lenovo on 8.3.2025.
-//
-
#include "InputQueue.h"
+
+
+InputQueue::InputQueue(size_t size): queueSize(size) {
+ queue_init(&events, sizeof(InputType), size);
+}
+
+InputQueue::~InputQueue() {
+ queue_free(&events);
+}
+
+bool InputQueue::push(InputType type) {
+ return queue_try_add(&events, &type);
+}
+
+//Getting events from the queue
+bool InputQueue::pop(InputType &event) {
+ return queue_try_remove(&events, &event);
+}
+
+bool InputQueue::isEmpty() {
+ return queue_is_empty(&events);
+}
+
+// Emptying the queue
+void InputQueue::clear() {
+ InputType event;
+ while (!isEmpty()) {
+ pop(event);
+ }
+}
+
+std::ostream& operator<<(std::ostream& os, const InputQueue::InputType& type) {
+ switch (type) {
+ case InputQueue::SW0_PRESSED:
+ os << "SW0_PRESSED";
+ break;
+ case InputQueue::SW1_PRESSED:
+ os << "SW1_PRESSED";
+ break;
+ case InputQueue::SW2_PRESSED:
+ os << "SW2_PRESSED";
+ break;
+ case InputQueue::LIMIT_UP_TRIGGERED:
+ os << "DOOR OPENED";
+ break;
+ case InputQueue::LIMIT_DOWN_TRIGGERED:
+ os << "DOOR CLOSED";
+ break;
+ case InputQueue::ENCODER_LEFT:
+ os << "DOOR CLOSING";
+ break;
+ case InputQueue::ENCODER_RIGHT:
+ os << "DOOR OPENING";
+ break;
+ }
+ return os;
+}
+
diff --git a/InputQueue.h b/InputQueue.h
index ba6d06c..4bac503 100644
--- a/InputQueue.h
+++ b/InputQueue.h
@@ -1,14 +1,39 @@
-//
-// Created by Lenovo on 8.3.2025.
-//
-
#ifndef INPUTQUEUE_H
#define INPUTQUEUE_H
-
-
-class InputQueue {
-
+#include "pico/util/queue.h"
+#include "pico/time.h"
+#include <iostream>
+
+class InputQueue { // Shared queue to store events triggered by irq handlers
+public:
+ enum InputType {
+ ENCODER_LEFT,
+ ENCODER_RIGHT,
+ SW0_PRESSED,
+ SW1_PRESSED,
+ SW2_PRESSED,
+ LIMIT_UP_TRIGGERED,
+ LIMIT_DOWN_TRIGGERED
+ };
+
+ friend std::ostream& operator<<(std::ostream& os, const InputQueue::InputType& type);
+
+ struct InputEvent {
+ InputType type;
+ };
+
+ InputQueue(size_t size = 100);
+ ~InputQueue();
+ //void initialize();
+ bool push(InputType event);
+ bool pop(InputType& event);
+ bool isEmpty( );
+ void clear( );
+
+private:
+ queue_t events{};
+ size_t queueSize;
};
diff --git a/Switch.cpp b/Switch.cpp
index 9a76731..d5a980a 100644
--- a/Switch.cpp
+++ b/Switch.cpp
@@ -1,5 +1,46 @@
-//
-// Created by Lenovo on 8.3.2025.
-//
-
#include "Switch.h"
+
+uint64_t Switch::lastEventTime = 0;
+std::map<uint, Switch*> Switch::switches;
+
+Switch::Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue, bool pullUp, bool callback) :
+ pin(pin), eventType(eventType), inputQueue(queue), pullUp(pullUp), callback(callback) {
+ //Switch pin initialization
+ gpio_init(pin);
+
+ if (pullUp) {
+ gpio_pull_up(pin);
+ }
+ gpio_set_dir(pin, GPIO_IN);
+
+ switches[pin] = this;
+
+ if (callback) {
+ gpio_set_irq_enabled_with_callback(pin, GPIO_IRQ_EDGE_FALL, true, &Switch::gpio_handler);
+ } else {
+ gpio_set_irq_enabled(pin, GPIO_IRQ_EDGE_FALL, true);
+ }
+
+}
+
+bool Switch::isPressed() const {
+ return pullUp ? !gpio_get(pin) : gpio_get(pin);
+}
+
+void Switch::gpio_handler(uint gpio, uint32_t events) {
+ uint64_t current_time = time_us_64();
+ uint64_t elapsed_time = current_time - lastEventTime;
+
+ if (elapsed_time > DEBOUNCE_TIME) {
+ lastEventTime = current_time;
+ }
+ auto it = switches.find(gpio);
+ if (it != switches.end()) {
+ Switch* sw = it->second;
+
+ if (sw->isPressed()) {
+ sw->inputQueue->push(sw->eventType);
+ }
+ }
+}
+
diff --git a/Switch.h b/Switch.h
index cecbabc..727322b 100644
--- a/Switch.h
+++ b/Switch.h
@@ -1,14 +1,31 @@
-//
-// Created by Lenovo on 8.3.2025.
-//
-
#ifndef SWITCH_H
#define SWITCH_H
+#include <cstdint>
+#include "InputQueue.h"
+#include <hardware/gpio.h>
+#include "pico/time.h"
+#include <iostream>
+#include <map>
class Switch {
-
+public:
+ Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue, bool pullUp = true, bool callback = false);
+ bool isPressed() const;
+
+ static void gpio_handler(uint gpio, uint32_t events);
+
+private:
+ uint8_t pin;
+ InputQueue::InputType eventType;
+ InputQueue* inputQueue;
+ bool pullUp;
+ bool callback;
+
+ static constexpr uint64_t DEBOUNCE_TIME = 100000;
+ static uint64_t lastEventTime;
+ static std::map<uint, Switch*> switches;
};
--
GitLab
From bf126746d4df124ee0185befff9442371dbc2e6a Mon Sep 17 00:00:00 2001
From: Julija <julia.ivaskeviciute@gmail.com>
Date: Sat, 8 Mar 2025 13:44:04 +0200
Subject: [PATCH 4/6] Added general GPIO class, switch inherits from GPIO. No
LED class needed
---
GPIO.cpp | 44 ++++++++++++++++++++++++++++++++++++++++++++
GPIO.h | 25 +++++++++++++++++++++++++
Switch.cpp | 29 +++++++++++++++--------------
Switch.h | 7 +++++--
main.cpp | 17 ++++++++++++-----
5 files changed, 101 insertions(+), 21 deletions(-)
create mode 100644 GPIO.cpp
create mode 100644 GPIO.h
diff --git a/GPIO.cpp b/GPIO.cpp
new file mode 100644
index 0000000..765b8fa
--- /dev/null
+++ b/GPIO.cpp
@@ -0,0 +1,44 @@
+#include "gpio.h"
+
+GPIO::GPIO(uint8_t pin, bool input, bool pullup, bool invert)
+ : pin_number(pin), is_input(input), is_pullup(pullup), is_inverted(invert) {
+ gpio_init(pin);
+
+ if (input) {
+ gpio_set_dir(pin, GPIO_IN);
+ if (pullup) {
+ gpio_pull_up(pin);
+ }
+ if (invert) {
+ gpio_set_inover(pin, GPIO_OVERRIDE_INVERT);
+ }
+ } else {
+ gpio_set_dir(pin, GPIO_OUT);
+ if (invert) {
+ gpio_set_outover(pin, GPIO_OVERRIDE_INVERT);
+ }
+ }
+}
+
+bool GPIO::read() const {
+ return gpio_get(pin_number);
+}
+
+bool GPIO::operator()() const {
+ return read();
+}
+
+void GPIO::write(bool value) {
+ if (!is_input) {
+ gpio_put(pin_number, value);
+ }
+}
+
+void GPIO::operator()(bool value) {
+ write(value);
+}
+
+GPIO::operator int() const {
+ return pin_number;
+}
+
diff --git a/GPIO.h b/GPIO.h
new file mode 100644
index 0000000..c6969a4
--- /dev/null
+++ b/GPIO.h
@@ -0,0 +1,25 @@
+#ifndef GPIO_H
+#define GPIO_H
+
+#include "pico/stdlib.h"
+
+class GPIO {
+public:
+ GPIO(uint8_t pin, bool input = true, bool pullup = true, bool invert = false);
+ GPIO(const GPIO &) = delete;
+
+ bool read() const;
+ bool operator() () const;
+ void write(bool value);
+ void operator() (bool);
+ operator int() const;
+private:
+ int pin_number;
+ bool is_input;
+ bool is_pullup;
+ bool is_inverted;
+};
+
+
+
+#endif //GPIO_H
diff --git a/Switch.cpp b/Switch.cpp
index d5a980a..cc48322 100644
--- a/Switch.cpp
+++ b/Switch.cpp
@@ -3,28 +3,30 @@
uint64_t Switch::lastEventTime = 0;
std::map<uint, Switch*> Switch::switches;
-Switch::Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue, bool pullUp, bool callback) :
- pin(pin), eventType(eventType), inputQueue(queue), pullUp(pullUp), callback(callback) {
+Switch::Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue, bool pullUp, bool callback, bool invert) :
+ GPIO(pin, true, pullUp, invert),
+ eventType(eventType), inputQueue(queue), callback(callback) {
//Switch pin initialization
- gpio_init(pin);
+ switches[pin] = this;
- if (pullUp) {
- gpio_pull_up(pin);
- }
- gpio_set_dir(pin, GPIO_IN);
+ uint32_t irq_type;
- switches[pin] = this;
+ if ((pullUp && invert) || (!pullUp && !invert)) {
+ irq_type = GPIO_IRQ_EDGE_RISE;
+ } else {
+ irq_type = GPIO_IRQ_EDGE_FALL;
+ }
if (callback) {
- gpio_set_irq_enabled_with_callback(pin, GPIO_IRQ_EDGE_FALL, true, &Switch::gpio_handler);
+ gpio_set_irq_enabled_with_callback(pin, irq_type, true, &Switch::gpio_handler);
} else {
- gpio_set_irq_enabled(pin, GPIO_IRQ_EDGE_FALL, true);
+ gpio_set_irq_enabled(pin, irq_type, true);
}
}
bool Switch::isPressed() const {
- return pullUp ? !gpio_get(pin) : gpio_get(pin);
+ return read();
}
void Switch::gpio_handler(uint gpio, uint32_t events) {
@@ -38,9 +40,8 @@ void Switch::gpio_handler(uint gpio, uint32_t events) {
if (it != switches.end()) {
Switch* sw = it->second;
- if (sw->isPressed()) {
- sw->inputQueue->push(sw->eventType);
- }
+
+ sw->inputQueue->push(sw->eventType);
}
}
diff --git a/Switch.h b/Switch.h
index 727322b..931c215 100644
--- a/Switch.h
+++ b/Switch.h
@@ -8,10 +8,13 @@
#include <iostream>
#include <map>
+#include "gpio.h"
-class Switch {
+
+class Switch: public GPIO {
public:
- Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue, bool pullUp = true, bool callback = false);
+ Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue, bool pullUp = true,
+ bool callback = false, bool invert=false);
bool isPressed() const;
static void gpio_handler(uint gpio, uint32_t events);
diff --git a/main.cpp b/main.cpp
index 6a24aed..80c772a 100644
--- a/main.cpp
+++ b/main.cpp
@@ -9,17 +9,24 @@ int main() {
InputQueue inputQueue;
- Switch sw0 (9, InputQueue::SW0_PRESSED, &inputQueue, true, true);
- Switch sw1 (8, InputQueue::SW1_PRESSED, &inputQueue, true, false);
- Switch sw2 (7, InputQueue::SW2_PRESSED, &inputQueue, true, false);
- Switch upLimit (27, InputQueue::LIMIT_UP_TRIGGERED, &inputQueue, true, false);
- Switch downLimit (28, InputQueue::LIMIT_DOWN_TRIGGERED, &inputQueue, true, false);
+ Switch sw0 (9, InputQueue::SW0_PRESSED, &inputQueue, true, true, true);
+ Switch sw1 (8, InputQueue::SW1_PRESSED, &inputQueue, true, false, true);
+ Switch sw2 (7, InputQueue::SW2_PRESSED, &inputQueue, true, false, true);
+ Switch upLimit (27, InputQueue::LIMIT_UP_TRIGGERED, &inputQueue, true, false, true);
+ Switch downLimit (28, InputQueue::LIMIT_DOWN_TRIGGERED, &inputQueue, true, false, true);
+
+ GPIO led1 (22, false, false, false);
while (true) {
if (!inputQueue.isEmpty()) {
InputQueue::InputType event;
if (inputQueue.pop(event)) {
std::cout << event << std::endl;
+ if (event == InputQueue::SW0_PRESSED) {
+ led1.write(true);
+ } else if (event == InputQueue::SW1_PRESSED) {
+ led1.write(false);
+ }
}
}
//sleep_ms(10);
--
GitLab
From d492c3bf975d2290a7e60206f9090922a0126804 Mon Sep 17 00:00:00 2001
From: Julija <julia.ivaskeviciute@gmail.com>
Date: Sun, 9 Mar 2025 12:23:53 +0200
Subject: [PATCH 5/6] B
Encoder class added. Interrupts need fixing
---
CMakeLists.txt | 6 +++++-
Encoder.cpp | 26 ++++++++++++++++++++++++++
Encoder.h | 25 +++++++++++++++++++++++++
main.cpp | 3 +++
4 files changed, 59 insertions(+), 1 deletion(-)
create mode 100644 Encoder.cpp
create mode 100644 Encoder.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a2ddb90..8faf614 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
set(PICO_BOARD pico_w)
# Set name of project (as PROJECT_NAME) and C/C standards
-project(GarageController C CXX ASM)
+project(TestGarage C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
@@ -23,10 +23,14 @@ add_compile_options(-Wall
# Tell CMake where to find the executable source file
add_executable(${PROJECT_NAME}
+ GPIO.cpp
+ GPIO.h
InputQueue.cpp
InputQueue.h
Switch.cpp
Switch.h
+ Encoder.cpp
+ Encoder.h
main.cpp
)
diff --git a/Encoder.cpp b/Encoder.cpp
new file mode 100644
index 0000000..70ff43a
--- /dev/null
+++ b/Encoder.cpp
@@ -0,0 +1,26 @@
+#include "Encoder.h"
+
+Encoder* Encoder::instance = nullptr;
+
+Encoder::Encoder(uint8_t pinANum, uint8_t pinBNum, InputQueue::InputType rotLeft, InputQueue::InputType rotRight, InputQueue *queue) :
+ pinA(pinANum, true, false, false),
+ pinB(pinBNum, true, false, false),
+ rotLeft(rotLeft), rotRight(rotRight), queue(queue) {
+
+ instance = this;
+ gpio_set_irq_enabled_with_callback(pinANum, GPIO_IRQ_EDGE_RISE, true, &Encoder::gpio_handler);
+ //gpio_set_irq_enabled(pinBNum, GPIO_IRQ_EDGE_RISE, true);
+}
+
+void Encoder::gpio_handler(uint gpio, uint32_t events) {
+ if (instance->pinB.read()) {
+ instance->queue->push(instance->rotRight);
+ } else {
+ instance->queue->push(instance->rotLeft);
+ }
+}
+
+Encoder::~Encoder() {
+ gpio_set_irq_enabled(int(pinA), GPIO_IRQ_EDGE_RISE, false);
+ instance = nullptr;
+}
diff --git a/Encoder.h b/Encoder.h
new file mode 100644
index 0000000..029562f
--- /dev/null
+++ b/Encoder.h
@@ -0,0 +1,25 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+
+#include <iostream>
+
+#include "gpio.h"
+#include "InputQueue.h"
+
+class Encoder {
+ public:
+ Encoder(uint8_t pinANum, uint8_t pinBNum, InputQueue::InputType rotLeft, InputQueue::InputType rotRight, InputQueue * queue);
+ ~Encoder();
+ private:
+ static Encoder * instance;
+ GPIO pinA;
+ GPIO pinB;
+ InputQueue::InputType rotLeft;
+ InputQueue::InputType rotRight;
+ InputQueue * queue;
+ static void gpio_handler(uint pin, uint32_t events);
+};
+
+
+
+#endif //ENCODER_H
diff --git a/main.cpp b/main.cpp
index 80c772a..68c83ab 100644
--- a/main.cpp
+++ b/main.cpp
@@ -3,6 +3,7 @@
#include "InputQueue.h"
#include "Switch.h"
+#include "Encoder.h"
int main() {
stdio_init_all();
@@ -17,6 +18,8 @@ int main() {
GPIO led1 (22, false, false, false);
+ Encoder rotEncoder(10, 11, InputQueue::ENCODER_LEFT, InputQueue::ENCODER_RIGHT, &inputQueue);
+
while (true) {
if (!inputQueue.isEmpty()) {
InputQueue::InputType event;
--
GitLab
From 2de1f470b003f3b8e717c31660e21dfb3e1aec8e Mon Sep 17 00:00:00 2001
From: Julija <julia.ivaskeviciute@gmail.com>
Date: Sun, 9 Mar 2025 21:54:20 +0200
Subject: [PATCH 6/6] Interrupt class created to have one global interrupt
handler for switches and encoder.
---
CMakeLists.txt | 18 ++++---
Encoder.cpp | 26 ----------
GPIO.cpp => IOcontrols/GPIO.cpp | 0
GPIO.h => IOcontrols/GPIO.h | 0
InputQueue.cpp => IOcontrols/InputQueue.cpp | 0
InputQueue.h => IOcontrols/InputQueue.h | 0
IOcontrols/Interrupt.cpp | 56 +++++++++++++++++++++
IOcontrols/Interrupt.h | 38 ++++++++++++++
Inputs/Encoder.cpp | 19 +++++++
Encoder.h => Inputs/Encoder.h | 13 +++--
Inputs/Switch.cpp | 29 +++++++++++
Switch.h => Inputs/Switch.h | 22 ++++----
Switch.cpp | 47 -----------------
main.cpp | 16 +++---
14 files changed, 183 insertions(+), 101 deletions(-)
delete mode 100644 Encoder.cpp
rename GPIO.cpp => IOcontrols/GPIO.cpp (100%)
rename GPIO.h => IOcontrols/GPIO.h (100%)
rename InputQueue.cpp => IOcontrols/InputQueue.cpp (100%)
rename InputQueue.h => IOcontrols/InputQueue.h (100%)
create mode 100644 IOcontrols/Interrupt.cpp
create mode 100644 IOcontrols/Interrupt.h
create mode 100644 Inputs/Encoder.cpp
rename Encoder.h => Inputs/Encoder.h (56%)
create mode 100644 Inputs/Switch.cpp
rename Switch.h => Inputs/Switch.h (53%)
delete mode 100644 Switch.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8faf614..d96a075 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,14 +23,16 @@ add_compile_options(-Wall
# Tell CMake where to find the executable source file
add_executable(${PROJECT_NAME}
- GPIO.cpp
- GPIO.h
- InputQueue.cpp
- InputQueue.h
- Switch.cpp
- Switch.h
- Encoder.cpp
- Encoder.h
+ IOcontrols/GPIO.cpp
+ IOcontrols/GPIO.h
+ IOcontrols/InputQueue.cpp
+ IOcontrols/InputQueue.h
+ IOcontrols/Interrupt.cpp
+ IOcontrols/Interrupt.h
+ Inputs/Switch.cpp
+ Inputs/Switch.h
+ Inputs/Encoder.cpp
+ Inputs/Encoder.h
main.cpp
)
diff --git a/Encoder.cpp b/Encoder.cpp
deleted file mode 100644
index 70ff43a..0000000
--- a/Encoder.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "Encoder.h"
-
-Encoder* Encoder::instance = nullptr;
-
-Encoder::Encoder(uint8_t pinANum, uint8_t pinBNum, InputQueue::InputType rotLeft, InputQueue::InputType rotRight, InputQueue *queue) :
- pinA(pinANum, true, false, false),
- pinB(pinBNum, true, false, false),
- rotLeft(rotLeft), rotRight(rotRight), queue(queue) {
-
- instance = this;
- gpio_set_irq_enabled_with_callback(pinANum, GPIO_IRQ_EDGE_RISE, true, &Encoder::gpio_handler);
- //gpio_set_irq_enabled(pinBNum, GPIO_IRQ_EDGE_RISE, true);
-}
-
-void Encoder::gpio_handler(uint gpio, uint32_t events) {
- if (instance->pinB.read()) {
- instance->queue->push(instance->rotRight);
- } else {
- instance->queue->push(instance->rotLeft);
- }
-}
-
-Encoder::~Encoder() {
- gpio_set_irq_enabled(int(pinA), GPIO_IRQ_EDGE_RISE, false);
- instance = nullptr;
-}
diff --git a/GPIO.cpp b/IOcontrols/GPIO.cpp
similarity index 100%
rename from GPIO.cpp
rename to IOcontrols/GPIO.cpp
diff --git a/GPIO.h b/IOcontrols/GPIO.h
similarity index 100%
rename from GPIO.h
rename to IOcontrols/GPIO.h
diff --git a/InputQueue.cpp b/IOcontrols/InputQueue.cpp
similarity index 100%
rename from InputQueue.cpp
rename to IOcontrols/InputQueue.cpp
diff --git a/InputQueue.h b/IOcontrols/InputQueue.h
similarity index 100%
rename from InputQueue.h
rename to IOcontrols/InputQueue.h
diff --git a/IOcontrols/Interrupt.cpp b/IOcontrols/Interrupt.cpp
new file mode 100644
index 0000000..7909c4f
--- /dev/null
+++ b/IOcontrols/Interrupt.cpp
@@ -0,0 +1,56 @@
+#include "Interrupt.h"
+
+#include "../Inputs/Encoder.h"
+#include "../Inputs/Switch.h"
+
+static std::map<uint, Interrupt*> interrupts;
+bool Interrupt::initialized = false;
+
+void Interrupt::initializeInterrupts() {
+ if (!initialized) {
+ gpio_set_irq_enabled_with_callback(0, GPIO_IRQ_EDGE_RISE, true, &Interrupt::globalHandler);
+ initialized = true;
+ }
+}
+
+Interrupt::Interrupt(uint pin, InputQueue* queue, std::string input_type) :
+ pin(pin), queue(queue), input_type(input_type) {
+
+ interrupts[pin] = this;
+
+ if (!initialized) {
+ initializeInterrupts();
+ }
+}
+
+Interrupt::~Interrupt() {
+ interrupts.erase(pin);
+}
+
+bool Interrupt::handleInterrupt(uint gpio, uint32_t events) {
+ if (input_type == "Switch" && button != nullptr) {
+ static uint64_t lastTime = 0;
+ uint64_t currentTime = time_us_64();
+
+ if (currentTime - lastTime > 50000) {
+ lastTime = currentTime;
+ queue->push(button->getEventType());
+ }
+ return true;
+ } else if (input_type == "Encoder" && encoder != nullptr) {
+ if (encoder->getPinB().read()) {
+ queue->push(encoder->getRotLeft());
+ } else {
+ queue->push(encoder->getRotRight());
+ }
+ return true;
+ }
+ return false;
+}
+
+void Interrupt::globalHandler(uint gpio, uint32_t events) {
+ auto it = interrupts.find(gpio);
+ if (it != interrupts.end() && it->second != nullptr) {
+ it->second->handleInterrupt(gpio, events);
+ }
+}
diff --git a/IOcontrols/Interrupt.h b/IOcontrols/Interrupt.h
new file mode 100644
index 0000000..3e9f582
--- /dev/null
+++ b/IOcontrols/Interrupt.h
@@ -0,0 +1,38 @@
+#ifndef INTERRUPT_H
+#define INTERRUPT_H
+
+#include "../IOcontrols/InputQueue.h"
+#include <map>
+
+class GPIO;
+class Switch;
+class Encoder;
+
+class Interrupt {
+ public:
+ Interrupt(uint pin, InputQueue* queue, std::string input_type);
+ ~Interrupt();
+
+ std::string getType() const {return input_type; }
+ uint getPin() const {return pin;}
+ InputQueue* getQueue() const {return queue;}
+
+ void setSwitch(Switch* sw) {button = sw; }
+ void setEncoder(Encoder* enc) {encoder = enc; }
+
+ bool handleInterrupt(uint gpio, uint32_t events);
+ static void globalHandler(uint gpio, uint32_t events);
+ static void initializeInterrupts();
+
+ private:
+ uint pin;
+ InputQueue* queue;
+ std::string input_type;
+
+ Switch* button = nullptr;
+ Encoder* encoder = nullptr;
+
+ static bool initialized;
+};
+
+#endif //INTERRUPT_H
diff --git a/Inputs/Encoder.cpp b/Inputs/Encoder.cpp
new file mode 100644
index 0000000..37751dc
--- /dev/null
+++ b/Inputs/Encoder.cpp
@@ -0,0 +1,19 @@
+#include "Encoder.h"
+
+//Encoder* Encoder::instance = nullptr;
+
+Encoder::Encoder(uint8_t pinANum, uint8_t pinBNum, InputQueue::InputType rotLeft, InputQueue::InputType rotRight, InputQueue *queue) :
+ pinA(pinANum, true, false, false),
+ pinB(pinBNum, true, false, false),
+ rotLeft(rotLeft), rotRight(rotRight), queue(queue) {
+
+ interrupt = std::make_unique<Interrupt>(pinANum, queue, "Encoder");
+ interrupt->setEncoder(this);
+
+ gpio_set_irq_enabled(pinANum, GPIO_IRQ_EDGE_RISE, true);
+}
+
+Encoder::~Encoder() {
+ gpio_set_irq_enabled(int(pinA), GPIO_IRQ_EDGE_RISE, false);
+
+}
diff --git a/Encoder.h b/Inputs/Encoder.h
similarity index 56%
rename from Encoder.h
rename to Inputs/Encoder.h
index 029562f..5410034 100644
--- a/Encoder.h
+++ b/Inputs/Encoder.h
@@ -2,14 +2,21 @@
#define ENCODER_H
#include <iostream>
+#include <memory>
-#include "gpio.h"
-#include "InputQueue.h"
+#include "../IOcontrols/GPIO.h"
+#include "../IOcontrols/InputQueue.h"
+#include "../IOcontrols/Interrupt.h"
class Encoder {
public:
Encoder(uint8_t pinANum, uint8_t pinBNum, InputQueue::InputType rotLeft, InputQueue::InputType rotRight, InputQueue * queue);
~Encoder();
+
+ GPIO& getPinB() { return pinB; }
+ InputQueue::InputType getRotLeft() const { return rotLeft; }
+ InputQueue::InputType getRotRight() const { return rotRight; }
+
private:
static Encoder * instance;
GPIO pinA;
@@ -17,7 +24,7 @@ class Encoder {
InputQueue::InputType rotLeft;
InputQueue::InputType rotRight;
InputQueue * queue;
- static void gpio_handler(uint pin, uint32_t events);
+ std::unique_ptr<Interrupt> interrupt;
};
diff --git a/Inputs/Switch.cpp b/Inputs/Switch.cpp
new file mode 100644
index 0000000..9ddd300
--- /dev/null
+++ b/Inputs/Switch.cpp
@@ -0,0 +1,29 @@
+#include "Switch.h"
+
+Switch::Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue,
+ bool pullUp, bool enableInterrupt, bool invert) :
+ GPIO(pin, true, pullUp, invert),
+ eventType(eventType), inputQueue(queue) {
+ if (enableInterrupt) {
+ uint32_t irq_type;
+ if ((pullUp && invert) || (!pullUp && !invert)) {
+ irq_type = GPIO_IRQ_EDGE_RISE;
+ } else {
+ irq_type = GPIO_IRQ_EDGE_FALL;
+ }
+ interrupt = std::make_unique<Interrupt>(pin, queue, "Switch");
+ interrupt->setSwitch(this);
+
+ gpio_set_irq_enabled(pin, irq_type, true);
+ }
+}
+
+Switch::~Switch() {
+ if (interrupt) {
+ gpio_set_irq_enabled(int(pin), GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL, false);
+ }
+}
+
+bool Switch::isPressed() const {
+ return read();
+}
diff --git a/Switch.h b/Inputs/Switch.h
similarity index 53%
rename from Switch.h
rename to Inputs/Switch.h
index 931c215..aaeccbb 100644
--- a/Switch.h
+++ b/Inputs/Switch.h
@@ -2,33 +2,35 @@
#define SWITCH_H
#include <cstdint>
-#include "InputQueue.h"
+#include "../IOcontrols/InputQueue.h"
#include <hardware/gpio.h>
#include "pico/time.h"
#include <iostream>
#include <map>
+#include <memory>
-#include "gpio.h"
+#include "../IOcontrols/GPIO.h"
+#include "../IOcontrols/Interrupt.h"
class Switch: public GPIO {
public:
Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue, bool pullUp = true,
- bool callback = false, bool invert=false);
+ bool enableInterrupt = false, bool invert=false);
+ ~Switch();
+
bool isPressed() const;
- static void gpio_handler(uint gpio, uint32_t events);
+ InputQueue::InputType getEventType() const { return eventType; }
private:
uint8_t pin;
InputQueue::InputType eventType;
InputQueue* inputQueue;
- bool pullUp;
- bool callback;
-
- static constexpr uint64_t DEBOUNCE_TIME = 100000;
- static uint64_t lastEventTime;
- static std::map<uint, Switch*> switches;
+ /*bool pullUp;
+ bool callback;*/
+ bool useInterrupt;
+ std::unique_ptr<Interrupt> interrupt;
};
diff --git a/Switch.cpp b/Switch.cpp
deleted file mode 100644
index cc48322..0000000
--- a/Switch.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-#include "Switch.h"
-
-uint64_t Switch::lastEventTime = 0;
-std::map<uint, Switch*> Switch::switches;
-
-Switch::Switch(uint8_t pin, InputQueue::InputType eventType, InputQueue* queue, bool pullUp, bool callback, bool invert) :
- GPIO(pin, true, pullUp, invert),
- eventType(eventType), inputQueue(queue), callback(callback) {
- //Switch pin initialization
- switches[pin] = this;
-
- uint32_t irq_type;
-
- if ((pullUp && invert) || (!pullUp && !invert)) {
- irq_type = GPIO_IRQ_EDGE_RISE;
- } else {
- irq_type = GPIO_IRQ_EDGE_FALL;
- }
-
- if (callback) {
- gpio_set_irq_enabled_with_callback(pin, irq_type, true, &Switch::gpio_handler);
- } else {
- gpio_set_irq_enabled(pin, irq_type, true);
- }
-
-}
-
-bool Switch::isPressed() const {
- return read();
-}
-
-void Switch::gpio_handler(uint gpio, uint32_t events) {
- uint64_t current_time = time_us_64();
- uint64_t elapsed_time = current_time - lastEventTime;
-
- if (elapsed_time > DEBOUNCE_TIME) {
- lastEventTime = current_time;
- }
- auto it = switches.find(gpio);
- if (it != switches.end()) {
- Switch* sw = it->second;
-
-
- sw->inputQueue->push(sw->eventType);
- }
-}
-
diff --git a/main.cpp b/main.cpp
index 68c83ab..8a9bf38 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,20 +1,22 @@
#include <iostream>
#include <pico/stdio.h>
-#include "InputQueue.h"
-#include "Switch.h"
-#include "Encoder.h"
+#include "IOcontrols/InputQueue.h"
+#include "Inputs/Switch.h"
+#include "Inputs/Encoder.h"
int main() {
stdio_init_all();
+ Interrupt::initializeInterrupts();
+
InputQueue inputQueue;
Switch sw0 (9, InputQueue::SW0_PRESSED, &inputQueue, true, true, true);
- Switch sw1 (8, InputQueue::SW1_PRESSED, &inputQueue, true, false, true);
- Switch sw2 (7, InputQueue::SW2_PRESSED, &inputQueue, true, false, true);
- Switch upLimit (27, InputQueue::LIMIT_UP_TRIGGERED, &inputQueue, true, false, true);
- Switch downLimit (28, InputQueue::LIMIT_DOWN_TRIGGERED, &inputQueue, true, false, true);
+ Switch sw1 (8, InputQueue::SW1_PRESSED, &inputQueue, true, true, true);
+ Switch sw2 (7, InputQueue::SW2_PRESSED, &inputQueue, true, true, true);
+ Switch upLimit (27, InputQueue::LIMIT_UP_TRIGGERED, &inputQueue, true, true, true);
+ Switch downLimit (28, InputQueue::LIMIT_DOWN_TRIGGERED, &inputQueue, true, true, true);
GPIO led1 (22, false, false, false);
--
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