sl-firmware
4affd6d0cb
Add hw_button driver (PC2 active-low, 20ms debounce) with gesture detection: - Single short press + 500ms quiet -> BTN_EVENT_PARK - SHORT+SHORT+LONG combo (within 3s) -> BTN_EVENT_REARM_COMBO New BALANCE_PARKED state: PID frozen, motors off, quick re-arm via button combo without the 3-second arm interlock required from DISARMED. FC_BTN (0x404) CAN frame sent to Orin on each event: event_id 1=PARKED, 2=UNPARKED, 3=UNPARK_FAILED (pitch > 20 deg) Includes 11 unit tests (1016 assertions) exercising debounce, bounce rejection, short/long classification, sequence detection, and timeout. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
62 lines
1.9 KiB
C
62 lines
1.9 KiB
C
#ifndef HW_BUTTON_H
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#define HW_BUTTON_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* hw_button — hardware button debounce + gesture detection (Issue #682).
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*
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* Debounce FSM:
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* IDLE → (raw press detected) → DEBOUNCING
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* DEBOUNCING → (still pressed after BTN_DEBOUNCE_MS) → HELD
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* HELD → (released) → classify press type, back to IDLE
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*
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* Press types:
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* SHORT held < BTN_LONG_MIN_MS from confirmed start
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* LONG held >= BTN_LONG_MIN_MS
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*
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* Sequence detection:
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* [SHORT, SHORT, LONG] -> BTN_EVENT_REARM_COMBO (fires on LONG release)
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* [SHORT] + BTN_COMMIT_MS quiet timeout -> BTN_EVENT_PARK
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*
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* Config constants (can be overridden in config.h):
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* BTN_DEBOUNCE_MS 20 ms debounce window
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* BTN_LONG_MIN_MS 1500 ms threshold for LONG press
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* BTN_COMMIT_MS 500 ms quiet after lone SHORT -> PARK
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* BTN_SEQ_TIMEOUT_MS 3000 ms sequence window; expired sequence is abandoned
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* BTN_PORT GPIOC
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* BTN_PIN GPIO_PIN_2
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*/
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typedef enum {
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BTN_EVENT_NONE = 0,
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BTN_EVENT_PARK = 1, /* single short press + quiet */
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BTN_EVENT_REARM_COMBO = 2, /* SHORT + SHORT + LONG */
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} hw_btn_event_t;
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/*
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* hw_button_init() — configure GPIO (active-low pull-up), zero FSM state.
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* Call once at startup.
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*/
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void hw_button_init(void);
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/*
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* hw_button_tick(now_ms) — advance debounce FSM and sequence detector.
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* Call every ms from the main loop. Returns BTN_EVENT_NONE unless a
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* complete gesture was recognised this tick.
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*/
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hw_btn_event_t hw_button_tick(uint32_t now_ms);
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/*
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* hw_button_is_pressed() — true while button is confirmed held (post-debounce).
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*/
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bool hw_button_is_pressed(void);
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#ifdef TEST_HOST
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/* Inject a simulated raw pin state for host-side unit tests. */
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void hw_button_inject(bool pressed);
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#endif
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#endif /* HW_BUTTON_H */
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