kest_footswitch.c

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#include <freertos/FreeRTOS.h>
#include <driver/gpio.h>
 
#include "kest_int.h"
 
#define HW_SWITCH_GPIO_0   22   // n = 0
#define HW_SWITCH_GPIO_1   23   // n = 1
 
#define HW_SWITCH_DEBOUNCE_MS   100
#define HW_SWITCH_TASK_STACK    2048
#define HW_SWITCH_TASK_PRIO     6
 
uint8_t  left_switch_state = 0;
uint8_t right_switch_state = 0;
 
static QueueHandle_t hw_switch_queue = NULL;
 
static void IRAM_ATTR hw_switch_isr(void *arg)
{
    int n = (int)arg;
    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
    xQueueSendFromISR(hw_switch_queue, &n, &xHigherPriorityTaskWoken);
 
    if (xHigherPriorityTaskWoken)
    {
        portYIELD_FROM_ISR();
    }
}
 
void footswitch_task(void *arg)
{
    int n;
    TickType_t last_event_tick[2] = {0, 0};
    const TickType_t debounce_ticks = pdMS_TO_TICKS(HW_SWITCH_DEBOUNCE_MS);
 
    while (true)
    {
        if (xQueueReceive(hw_switch_queue, &n, portMAX_DELAY) == pdTRUE)
        {
            TickType_t now = xTaskGetTickCount();
 
            kest_printf("now = %d, last_event_tick[n] = %d; now - last_event_tick[n] = %d, debounce_ticks = %d\n", now, last_event_tick[n],
                now - last_event_tick[n], debounce_ticks);
            if ((now - last_event_tick[n]) >= debounce_ticks)
            {
                last_event_tick[n] = now;
 
                cxt_handle_hw_switch(&global_cxt, n);
            }
        }
    }
}
 
int init_footswitch_task()
{
    hw_switch_queue = xQueueCreate(8, sizeof(int));
 
    gpio_config_t cfg = {
        .pin_bit_mask =
            (1ULL << HW_SWITCH_GPIO_0) |
            (1ULL << HW_SWITCH_GPIO_1),
        .mode         = GPIO_MODE_INPUT,
        .pull_up_en   = GPIO_PULLUP_ENABLE,
        .pull_down_en = GPIO_PULLDOWN_DISABLE,
        .intr_type    = GPIO_INTR_ANYEDGE
    };
 
    gpio_config(&cfg);
 
    gpio_install_isr_service(0);
 
    gpio_isr_handler_add(HW_SWITCH_GPIO_0, hw_switch_isr, (void *)0);
    gpio_isr_handler_add(HW_SWITCH_GPIO_1, hw_switch_isr, (void *)1);
 
    xTaskCreate(
        footswitch_task,
        "hw_switch_task",
        HW_SWITCH_TASK_STACK,
        NULL,
        HW_SWITCH_TASK_PRIO,
        NULL
    );
    
    return NO_ERROR;
}