First implementation of digital input interrupt

servo_controller/src/command_message.h

@@ -22,6 +22,7 @@ typedef enum {
 	ADC_READ,
 	ADC_READ_ALL,
 	ADC_SET_READ,
+	DIGITAL_IN,
 
 	// Keep last
 	NUM_COMMANDS,

servo_controller/src/digital_in.c

@@ -0,0 +1,64 @@
+#include "digital_in.h"
+#include "usb.h"
+
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/drivers/gpio.h>
+
+LOG_MODULE_REGISTER(digital_in, LOG_LEVEL_INF);
+
+
+#define DIGITAL_IN_MACRO(node_id) GPIO_DT_SPEC_GET(node_id, gpios),
+
+static const struct gpio_dt_spec digital_inputs[] = {
+    DT_FOREACH_CHILD(DT_NODELABEL(digital_inputs), DIGITAL_IN_MACRO)
+};
+static struct gpio_callback digital_in_cb_data;
+
+
+void digital_in_irq_handler(const struct device *dev, struct gpio_callback *cb, uint32_t pins) {
+	// TODO: what happens
+	struct command_message_t *msg = usb_get_next_tx_buf();
+	command_create_message(msg, sizeof(pins), DIGITAL_IN, (uint8_t *)&pins);
+	usb_send_command(msg);
+}
+
+int digital_in_pin_init(const struct gpio_dt_spec *gpio, uint32_t *bitmask) {
+	int ret;
+
+	if (!gpio_is_ready_dt(gpio)) {
+		LOG_ERR("GPIO device %s is not ready\n", gpio->port->name);
+		return -EBUSY;
+	}
+
+	ret = gpio_pin_configure_dt(gpio, GPIO_INPUT);
+	if (ret != 0) {
+		LOG_ERR("Failed to configure %s pin %d\n", gpio->port->name, gpio->pin);
+		return ret;
+	}
+
+	ret = gpio_pin_interrupt_configure_dt(gpio, GPIO_INT_EDGE_TO_ACTIVE);
+	if (ret != 0) {
+		LOG_ERR("Failed to configure interrupt on %s pin %d\n", gpio->port->name, gpio->pin);
+		return ret;
+	}
+
+	*bitmask |= BIT(gpio->pin);
+
+	return ret;
+}
+
+int digital_in_init() {
+	uint32_t bitmask = 0;
+
+	for (int i = 0; i < DIGITAL_IN_CHANNELS; i++) {
+		digital_in_pin_init(&digital_inputs[i], &bitmask);
+	}
+
+	gpio_init_callback(&digital_in_cb_data, digital_in_irq_handler, bitmask);
+	gpio_add_callback(digital_inputs[0].port, &digital_in_cb_data);
+
+	return 0;
+}

servo_controller/src/digital_in.h

@@ -0,0 +1,10 @@
+#ifndef DIGITAL_IN_H
+#define DIGITAL_IN_H
+
+
+#define DIGITAL_IN_CHANNELS 6
+
+int digital_in_init();
+
+
+#endif // DIGITAL_IN_H

servo_controller/src/main.c

@@ -2,6 +2,7 @@
 #include "usb.h"
 #include "servo.h"
 #include "adc.h"
+#include "digital_in.h"
 
 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
@@ -38,5 +39,12 @@ int main(void) {
 		return 0;
 	}
 
+	// DIGITAL IN init
+	ret = digital_in_init();
+	if (ret != 0) {
+		LOG_ERR("Failed to enable DIGITAL IN");
+		return 0;
+	}
+
 	return 0;
 }