feat(hepa-uv): Add external IRQ handling and HEPA fan task to drive …

…the HEPA fan. (#742)

* Added GPIO EXTI interrupt configuration.
* Added irq router for door_open, reed_switch, hepa_push_button, and uv_push_button
* Added HepaTask that is responsible for handling irq events received on its message queue to turn the HEPA fan on/off
* Fixed up GPIO init settings for door_open, reed_switch, and others
* The hepa/uv simulator is broken right now, add a todo to fix this later in RET-1408

hepa-uv/core/tasks.cpp

@@ -3,26 +3,46 @@
 #include "common/core/freertos_task.hpp"
 #include "common/core/freertos_timer.hpp"
 #include "hepa-uv/core/can_task.hpp"
+#include "hepa-uv/firmware/gpio_drive_hardware.hpp"
+#include "hepa-uv/firmware/utility_gpio.h"
 
 #pragma GCC diagnostic push
 // NOLINTNEXTLINE(clang-diagnostic-unknown-warning-option)
+#pragma GCC diagnostic ignored "-Wvolatile"
+#pragma GCC diagnostic pop
 
 static auto tasks = hepauv_tasks::AllTask{};
 static auto queues = hepauv_tasks::QueueClient{can::ids::NodeId::hepa_uv};
 
+static auto hepa_task_builder =
+    freertos_task::TaskStarter<512, hepa_task::HepaTask>{};
+
 /**
  * Start hepa_uv tasks.
  */
-void hepauv_tasks::start_tasks(can::bus::CanBus& can_bus) {
+void hepauv_tasks::start_tasks(
+    can::bus::CanBus& can_bus,
+    gpio_drive_hardware::GpioDrivePins& gpio_drive_pins) {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
+
+    auto& hepa_task = hepa_task_builder.start(5, "hepa_fan", gpio_drive_pins);
+
+    tasks.hepa_task_handler = &hepa_task;
     tasks.can_writer = &can_writer;
+
     queues.set_queue(&can_writer.get_queue());
+    queues.hepa_queue = &hepa_task.get_queue();
 }
 
 hepauv_tasks::QueueClient::QueueClient(can::ids::NodeId this_fw)
     : can::message_writer::MessageWriter{this_fw} {}
 
+void hepauv_tasks::QueueClient::send_interrupt_message(
+    const hepa_task::TaskMessage& m) {
+    hepa_queue->try_write(m);
+}
+
 /**
  * Access to the tasks singleton
  * @return

hepa-uv/firmware/main_rev1.cpp

@@ -20,6 +20,7 @@
 #include "common/firmware/gpio.hpp"
 #include "common/firmware/iwdg.hpp"
 #include "common/firmware/utility_gpio.h"
+#include "hepa-uv/core/messages.hpp"
 #include "hepa-uv/core/tasks.hpp"
 #include "hepa-uv/firmware/utility_gpio.h"
 
@@ -53,6 +54,63 @@ static constexpr auto can_bit_timings =
     can::bit_timings::BitTimings<170 * can::bit_timings::MHZ, 100,
                                  500 * can::bit_timings::KHZ, 800>{};
 
+static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins{
+    .door_open =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = DOOR_OPEN_MCU_PORT,
+            .pin = DOOR_OPEN_MCU_PIN,
+            .active_setting = DOOR_OPEN_MCU_AS},
+    .reed_switch =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = REED_SW_MCU_PORT,
+            .pin = REED_SW_MCU_PIN,
+            .active_setting = REED_SW_MCU_AS},
+    .hepa_push_button =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = HEPA_NO_MCU_PORT,
+            .pin = HEPA_NO_MCU_PIN,
+        },
+    .uv_push_button =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = UV_NO_MCU_PORT,
+            .pin = UV_NO_MCU_PIN,
+        },
+    .hepa_on_off =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = HEPA_ON_OFF_PORT,
+            .pin = HEPA_ON_OFF_PIN,
+            .active_setting = HEPA_ON_OFF_AS},
+    .uv_on_off = gpio::PinConfig{
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+        .port = UV_ON_OFF_MCU_PORT,
+        .pin = UV_ON_OFF_MCU_PIN,
+        .active_setting = UV_ON_OFF_AS}};
+
+static auto& hepa_queue_client = hepauv_tasks::get_main_queues();
+
+extern "C" void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+    switch (GPIO_Pin) {
+        case DOOR_OPEN_MCU_PIN:
+        case REED_SW_MCU_PIN:
+        case HEPA_NO_MCU_PIN:
+        case UV_NO_MCU_PIN:
+            if (hepa_queue_client.hepa_queue != nullptr) {
+                static_cast<void>(hepa_queue_client.hepa_queue->try_write_isr(
+                    interrupt_task_messages::GPIOInterruptChanged{
+                        .pin = GPIO_Pin}));
+            }
+            // send to uv queue here
+            break;
+        default:
+            break;
+    }
+}
+
 auto main() -> int {
     HardwareInit();
     RCC_Peripheral_Clock_Select();
@@ -62,7 +120,7 @@ auto main() -> int {
 
     canbus.start(can_bit_timings);
 
-    hepauv_tasks::start_tasks(canbus);
+    hepauv_tasks::start_tasks(canbus, gpio_drive_pins);
 
     iWatchdog.start(6);
 

hepa-uv/firmware/stm32g4xx_it.c

@@ -115,14 +115,26 @@ void DebugMon_Handler(void) {}
 /*  file (startup_stm32g4xxxx.s).                                             */
 /******************************************************************************/
 
-/**
- * @brief  This function handles PPP interrupt request.
- * @param  None
- * @retval None
- */
-/*void PPP_IRQHandler(void)
-{
-}*/
+void EXTI2_IRQHandler(void) {
+    if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_2)) {
+        HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
+    }
+}
+
+void EXTI9_5_IRQHandler(void) {
+    if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_7)) {
+        HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_7);
+    }
+}
+
+void EXTI15_10_IRQHandler(void) {
+    if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_10)) {
+        HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_10);
+    } else if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_11)) {
+        HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_11);
+    }
+}
+
 /**
  * @brief This function handles DMA1 channel2 global interrupt.
  */

hepa-uv/firmware/stm32g4xx_it.h

@@ -43,6 +43,9 @@ void SysTick_Handler(void);
 void DMA1_Channel2_IRQHandler(void);
 void DMA1_Channel3_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
+void EXTI2_IRQHandler(void);
+void EXTI9_5_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
 
 #ifdef __cplusplus
 }

hepa-uv/firmware/utility_gpio.c

@@ -31,7 +31,7 @@ void door_open_input_gpio_init() {
     /*Configure GPIO pin DOOR_OPEN_MCU : PC7 */
     GPIO_InitTypeDef GPIO_InitStruct = {0};
     GPIO_InitStruct.Pin = DOOR_OPEN_MCU_PIN;
-    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(DOOR_OPEN_MCU_PORT, &GPIO_InitStruct);
 }
@@ -44,10 +44,10 @@ void door_open_input_gpio_init() {
 void reed_switch_input_gpio_init() {
     /* GPIO Ports Clock Enable */
     __HAL_RCC_GPIOC_CLK_ENABLE();
-    /*Configure GPIO pin DOOR_OPEN_MCU : PC11 */
+    /*Configure GPIO pin REED_SW_MCU : PC11 */
     GPIO_InitTypeDef GPIO_InitStruct = {0};
     GPIO_InitStruct.Pin = REED_SW_MCU_PIN;
-    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(REED_SW_MCU_PORT, &GPIO_InitStruct);
 }
@@ -59,7 +59,7 @@ void reed_switch_input_gpio_init() {
 */
 void aux_input_gpio_init(void) {
     /* GPIO Ports Clock Enable */
-    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
     /*Configure GPIO pin AUX_ID_MCU : PC12 */
     GPIO_InitTypeDef GPIO_InitStruct = {0};
     GPIO_InitStruct.Pin = AUX_ID_MCU_PIN;
@@ -79,7 +79,7 @@ void hepa_push_button_input_gpio_init(void) {
     /*Configure GPIO pin HEPA_NO_MCU : PB10 */
     GPIO_InitTypeDef GPIO_InitStruct = {0};
     GPIO_InitStruct.Pin = HEPA_NO_MCU_PIN;
-    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(HEPA_NO_MCU_PORT, &GPIO_InitStruct);
 }
@@ -89,9 +89,9 @@ void hepa_push_button_input_gpio_init(void) {
  * @param None
  * @retval None
 */
-void uv_push_button_gpio_init(void) {
+void uv_push_button_input_gpio_init(void) {
     /*Configure Ports Clock Enable*/
-    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
     /*Configure GPIO pin UV_NO_MCU : PC2 */
     GPIO_InitTypeDef GPIO_InitStruct = {0};
     GPIO_InitStruct.Pin = UV_NO_MCU_PIN;
@@ -100,11 +100,72 @@ void uv_push_button_gpio_init(void) {
     HAL_GPIO_Init(UV_NO_MCU_PORT, &GPIO_InitStruct);
 }
 
+/**
+ * @brief HEPA ON/OFF GPIO Initialization Function
+ * @param None
+ * @retval None
+*/
+void hepa_on_off_output_init() {
+    /* GPIO Ports Clock Enable */
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /*Configure GPIO pin LED_DRIVE : PA7 */
+    GPIO_InitTypeDef GPIO_InitStruct = {0};
+    GPIO_InitStruct.Pin = HEPA_ON_OFF_PIN;
+    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(HEPA_ON_OFF_PORT, &GPIO_InitStruct);
+}
+
+/**
+ * @brief UV ON/OFF GPIO Initialization Function
+ * @param None
+ * @retval None
+*/
+void uv_on_off_output_init() {
+    /* GPIO Ports Clock Enable */
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /*Configure GPIO pin LED_DRIVE : PA4 */
+    GPIO_InitTypeDef GPIO_InitStruct = {0};
+    GPIO_InitStruct.Pin = UV_ON_OFF_MCU_PIN;
+    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(UV_ON_OFF_MCU_PORT, &GPIO_InitStruct);
+}
+
+/**
+ * @brief NVIC EXTI interrupt priority Initialization
+ * @param None
+ * @retval None
+ */
+static void nvic_priority_enable_init() {
+    /* EXTI interrupt init DOOR_OPEN_MCU : PC7*/
+    // PC7 -> GPIO_EXTI6 (EXTI9_5_IRQn)
+    HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+
+    /* EXTI interrupt init REED_SW_MCU : PC11*/
+    /* EXTI interrupt init HEPA_NO_MCU : PB10*/
+    // PC11 -> GPIO_EXTI11 (EXTI15_10_IRQn)
+    // PB11 -> GPIO_EXTI11 (EXTI15_10_IRQn)
+    HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
+    /* EXTI interrupt init UV_NO_MCU : PC2*/
+    // PC2 -> GPIO_EXTI2 (EXTI2_IRQn)
+    HAL_NVIC_SetPriority(EXTI2_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+}
+
 void utility_gpio_init(void) {
     LED_drive_gpio_init();
+    nvic_priority_enable_init();
     door_open_input_gpio_init();
     reed_switch_input_gpio_init();
     aux_input_gpio_init();
     hepa_push_button_input_gpio_init();
-    uv_push_button_gpio_init();
+    uv_push_button_input_gpio_init();
+    hepa_on_off_output_init();
+    uv_on_off_output_init();
 }

hepa-uv/simulator/CMakeLists.txt

@@ -49,10 +49,6 @@ target_can_simlib(hepa-uv-simulator)
 
 target_hepa_uv_core(hepa-uv-simulator)
 
-target_ot_motor_control(hepa-uv-simulator)
-
-target_i2c_simlib(hepa-uv-simulator)
-
 target_link_libraries(hepa-uv-simulator PRIVATE can-core common-simulation freertos-hepa-uv pthread Boost::boost Boost::program_options state_manager)
 
 set_target_properties(hepa-uv-simulator

hepa-uv/simulator/main.cpp

@@ -11,6 +11,7 @@
 #include "common/core/freertos_task.hpp"
 #include "common/simulation/state_manager.hpp"
 #include "hepa-uv/core/tasks.hpp"
+#include "hepa-uv/firmware/gpio_drive_hardware.hpp"
 #include "task.h"
 
 namespace po = boost::program_options;
@@ -65,7 +66,10 @@ auto handle_options(int argc, char** argv) -> po::variables_map {
     return vm;
 }
 
+static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins{};
+
 int main(int argc, char** argv) {
+    // TODO: (ba, 2024-01-18): Fix the simulator later on
     signal(SIGINT, signal_handler);
 
     LOG_INIT("HEPA/UV", []() -> const char* {
@@ -80,7 +84,7 @@ int main(int argc, char** argv) {
 
     static auto canbus =
         can::sim::bus::SimCANBus(can::sim::transport::create(options));
-    hepauv_tasks::start_tasks(canbus);
+    hepauv_tasks::start_tasks(canbus, gpio_drive_pins);
 
     vTaskStartScheduler();
 }