feat(motorgo-mini): Replace use of espp::Button with espp::Interrupt (#403)

Author: finger563

components/motorgo-mini/CMakeLists.txt

@@ -1,5 +1,5 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES base_component button filters led math mt6701 pid task bldc_driver bldc_motor i2c adc
+  REQUIRES base_component interrupt filters led math mt6701 pid task bldc_driver bldc_motor i2c adc
   )

components/motorgo-mini/Kconfig

@@ -0,0 +1,8 @@
+menu "MotorGo Mini Configuration"
+    config MOTORGO_MINI_INTERRUPT_STACK_SIZE
+        int "Interrupt stack size"
+        default 4096
+        help
+            Size of the stack used for the interrupt handler. Used by the
+            button callback.
+endmenu

components/motorgo-mini/example/main/motorgo_mini_example.cpp

@@ -19,7 +19,6 @@ extern "C" void app_main(void) {
   motorgo_mini.init_motor_channel_2();
   auto &motor1 = motorgo_mini.motor1();
   auto &motor2 = motorgo_mini.motor2();
-  auto &button = motorgo_mini.button();
 
   static constexpr uint64_t core_update_period_us = 1000;                   // microseconds
   static constexpr float core_update_period = core_update_period_us / 1e6f; // seconds
@@ -169,30 +168,29 @@ extern "C" void app_main(void) {
   });
   target_task.start();
 
-  bool button_state = false;
-
-  while (true) {
-    bool new_button_state = button.is_pressed();
-    if (new_button_state != button_state) {
-      button_state = new_button_state;
-      if (button_state) {
-        logger.info("Button pressed, changing motion control type");
-        // switch between ANGLE and VELOCITY
-        if (motion_control_type == espp::detail::MotionControlType::ANGLE ||
-            motion_control_type == espp::detail::MotionControlType::ANGLE_OPENLOOP) {
-          motion_control_type = espp::detail::MotionControlType::VELOCITY;
-          target_is_angle = false;
-        } else {
-          motion_control_type = espp::detail::MotionControlType::ANGLE;
-          target_is_angle = true;
-        }
-        initialize_target();
-        motor1.set_motion_control_type(motion_control_type);
-        motor2.set_motion_control_type(motion_control_type);
+  logger.info("Initializing the button");
+  auto on_button_pressed = [&](const auto &event) {
+    if (event.active) {
+      logger.info("Button pressed, changing motion control type");
+      // switch between ANGLE and VELOCITY
+      if (motion_control_type == espp::detail::MotionControlType::ANGLE ||
+          motion_control_type == espp::detail::MotionControlType::ANGLE_OPENLOOP) {
+        motion_control_type = espp::detail::MotionControlType::VELOCITY;
+        target_is_angle = false;
       } else {
-        logger.info("Button released");
+        motion_control_type = espp::detail::MotionControlType::ANGLE;
+        target_is_angle = true;
       }
+      initialize_target();
+      motor1.set_motion_control_type(motion_control_type);
+      motor2.set_motion_control_type(motion_control_type);
+    } else {
+      logger.info("Button released");
     }
+  };
+  motorgo_mini.initialize_button(on_button_pressed);
+
+  while (true) {
     std::this_thread::sleep_for(50ms);
   }
   //! [motorgo-mini example]

components/motorgo-mini/include/motorgo-mini.hpp

@@ -8,9 +8,9 @@
 #include "base_component.hpp"
 #include "bldc_driver.hpp"
 #include "bldc_motor.hpp"
-#include "button.hpp"
 #include "gaussian.hpp"
 #include "i2c.hpp"
+#include "interrupt.hpp"
 #include "led.hpp"
 #include "mt6701.hpp"
 #include "oneshot_adc.hpp"
@@ -40,7 +40,13 @@ namespace espp {
 /// \snippet motorgo_mini_example.cpp motorgo-mini example
 class MotorGoMini : public BaseComponent {
 public:
+  /// Alias for the button callback function
+  using button_callback_t = espp::Interrupt::event_callback_fn;
+
+  /// Alias for the encoder type
   using Encoder = espp::Mt6701<espp::Mt6701Interface::SSI>;
+
+  /// Alias for the BLDC motor type
   using BldcMotor = espp::BldcMotor<espp::BldcDriver, Encoder>;
 
   /// @brief Access the singleton instance of the MotorGoMini class
@@ -59,8 +65,26 @@ class MotorGoMini : public BaseComponent {
   /// \return A reference to the external I2C bus
   I2c &get_external_i2c();
 
-  /// Get a reference to the boot button
-  espp::Button &button();
+  /// Get a reference to the interrupts
+  /// \return A reference to the interrupts
+  espp::Interrupt &interrupts();
+
+  /////////////////////////////////////////////////////////////////////////////
+  // Button
+  /////////////////////////////////////////////////////////////////////////////
+
+  /// Initialize the button
+  /// \param callback The callback function to call when the button is pressed
+  /// \return true if the button was successfully initialized, false otherwise
+  bool initialize_button(const button_callback_t &callback = nullptr);
+
+  /// Get the button state
+  /// \return The button state (true = button pressed, false = button released)
+  bool button_state() const;
+
+  /////////////////////////////////////////////////////////////////////////////
+  // LEDs
+  /////////////////////////////////////////////////////////////////////////////
 
   /// Get a reference to the yellow LED channel (channel 0)
   /// \return A reference to the yellow LED channel (channel 0)
@@ -117,6 +141,22 @@ class MotorGoMini : public BaseComponent {
   ///         effectively turning off the LEDs.
   void stop_breathing();
 
+  /////////////////////////////////////////////////////////////////////////////
+  // ADCs
+  /////////////////////////////////////////////////////////////////////////////
+
+  /// Get a reference to the ADC_UNIT_1 OneshotAdc object
+  /// \return A reference to the ADC_UNIT_1 OneshotAdc object
+  espp::OneshotAdc &adc1();
+
+  /// Get a reference to the ADC_UNIT_2 OneshotAdc object
+  /// \return A reference to the ADC_UNIT_2 OneshotAdc object
+  espp::OneshotAdc &adc2();
+
+  /////////////////////////////////////////////////////////////////////////////
+  // Motors
+  /////////////////////////////////////////////////////////////////////////////
+
   /// Initialize the MotorGo-Mini's components for motor channel 1
   /// \details This function initializes the encoder and motor for motor channel
   ///          1. This consists of initializing encoder1 and motor1.
@@ -127,14 +167,6 @@ class MotorGoMini : public BaseComponent {
   ///          2. This consists of initializing encoder2 and motor2.
   void init_motor_channel_2();
 
-  /// Get a reference to the encoder 1
-  /// \return A reference to the encoder 1
-  Encoder &encoder1();
-
-  /// Get a reference to the encoder 2
-  /// \return A reference to the encoder 2
-  Encoder &encoder2();
-
   /// Get a reference to the motor 1 driver
   /// \return A reference to the motor 1 driver
   espp::BldcDriver &motor1_driver();
@@ -151,13 +183,21 @@ class MotorGoMini : public BaseComponent {
   /// \return A reference to the motor 2
   BldcMotor &motor2();
 
-  /// Get a reference to the ADC_UNIT_1 OneshotAdc object
-  /// \return A reference to the ADC_UNIT_1 OneshotAdc object
-  espp::OneshotAdc &adc1();
+  /////////////////////////////////////////////////////////////////////////////
+  // Encoders
+  /////////////////////////////////////////////////////////////////////////////
 
-  /// Get a reference to the ADC_UNIT_2 OneshotAdc object
-  /// \return A reference to the ADC_UNIT_2 OneshotAdc object
-  espp::OneshotAdc &adc2();
+  /// Get a reference to the encoder 1
+  /// \return A reference to the encoder 1
+  Encoder &encoder1();
+
+  /// Get a reference to the encoder 2
+  /// \return A reference to the encoder 2
+  Encoder &encoder2();
+
+  /////////////////////////////////////////////////////////////////////////////
+  // Motor Current Sense
+  /////////////////////////////////////////////////////////////////////////////
 
   /// Get the current sense value for motor 1 phase U
   /// \return The current sense value for motor 1 phase U in amps
@@ -388,15 +428,28 @@ class MotorGoMini : public BaseComponent {
       .channels = {current_sense_m2_u_},
   }};
 
-  // button
-  espp::Button button_{{
-      .name = "MotorGo Mini Button",
+  // Interrupts
+  espp::Interrupt::PinConfig button_interrupt_pin_{
       .gpio_num = BUTTON_GPIO,
+      .callback =
+          [this](const auto &event) {
+            if (button_callback_) {
+              button_callback_(event);
+            }
+          },
       .active_level = espp::Interrupt::ActiveLevel::LOW,
-      .pullup_enabled = false,
-      .pulldown_enabled = false,
-      .log_level = espp::Logger::Verbosity::WARN,
-  }};
+      .interrupt_type = espp::Interrupt::Type::ANY_EDGE,
+      .pullup_enabled = true};
+
+  // we'll only add each interrupt pin if the initialize method is called
+  espp::Interrupt interrupts_{
+      {.interrupts = {},
+       .task_config = {.name = "motorgo mini interrupts",
+                       .stack_size_bytes = CONFIG_MOTORGO_MINI_INTERRUPT_STACK_SIZE}}};
+
+  // button
+  std::atomic<bool> button_initialized_{false};
+  button_callback_t button_callback_{nullptr};
 
   // led
   std::vector<espp::Led::ChannelConfig> led_channels_{

components/motorgo-mini/src/button.cpp

@@ -0,0 +1,28 @@
+#include "motorgo-mini.hpp"
+
+using namespace espp;
+
+////////////////////////
+// Button Functions   //
+////////////////////////
+
+bool MotorGoMini::initialize_button(const MotorGoMini::button_callback_t &callback) {
+  logger_.info("Initializing button");
+
+  // save the callback
+  button_callback_ = callback;
+
+  // configure the button
+  if (!button_initialized_) {
+    interrupts_.add_interrupt(button_interrupt_pin_);
+  }
+  button_initialized_ = true;
+  return true;
+}
+
+bool MotorGoMini::button_state() const {
+  if (!button_initialized_) {
+    return false;
+  }
+  return interrupts_.is_active(button_interrupt_pin_);
+}

components/motorgo-mini/src/motorgo-mini.cpp

@@ -9,7 +9,7 @@ MotorGoMini::MotorGoMini()
 
 I2c &MotorGoMini::get_external_i2c() { return external_i2c_; }
 
-espp::Button &MotorGoMini::button() { return button_; }
+espp::Interrupt &MotorGoMini::interrupts() { return interrupts_; }
 
 espp::Led::ChannelConfig &MotorGoMini::yellow_led() { return led_channels_[0]; }