sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. 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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