Merged i2c-helper in Main

vacum-control/vacum-control-firmware/src/base.cpp

@@ -0,0 +1,101 @@
+#include "vacum.hpp"
+#include "pinConfigNode.hpp"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+#include "pico/stdlib.h"
+
+void vInterruptionTaskFn(void *pvParameters) {
+    VacumControl *vacumControl = (VacumControl *)pvParameters;
+    vacumControl->interruptionTaskFn();
+}
+
+void vButtonTaskFn(void *pvParameters) {
+    VacumControl *vacumControl = (VacumControl *)pvParameters;
+    vacumControl->buttonTaskFn();
+}
+
+VacumControl::VacumControl(uint coreMask) {
+    this->coreMask = coreMask;
+    initVacumPins();
+    state = false;
+    vacumMutex = xSemaphoreCreateMutex();
+    interruptionSemaphore = xSemaphoreCreateBinary();
+    xTaskCreateAffinitySet(vInterruptionTaskFn, "Interruption Task", 1024, this, 3, coreMask, &interruptionTask);
+    xTaskCreateAffinitySet(vButtonTaskFn, "Button Task", 1024, this, 2, coreMask, &buttonTask);
+}
+
+void VacumControl::initVacumPins() {
+    gpio_init(LED1_PIN);
+    gpio_set_dir(LED1_PIN, GPIO_OUT);
+    gpio_put(LED1_PIN, 0);
+
+    gpio_init(LED2_PIN);
+    gpio_set_dir(LED2_PIN, GPIO_OUT);
+    gpio_put(LED2_PIN, 0);
+
+    gpio_init(RELAY_PIN);
+    gpio_set_dir(RELAY_PIN, GPIO_OUT);
+    gpio_put(RELAY_PIN, 0);
+
+    gpio_init(BUTTON_PIN);
+    gpio_set_dir(BUTTON_PIN, GPIO_IN);
+    gpio_pull_up(BUTTON_PIN);
+}
+
+void VacumControl::setState(bool on) {
+    xSemaphoreTake(vacumMutex, portMAX_DELAY);
+    if(on) {
+        gpio_put(RELAY_PIN, 1);
+        gpio_put(LED1_PIN, 1);
+        state = true;
+        xSemaphoreGive(interruptionSemaphore);
+    } else {
+        gpio_put(RELAY_PIN, 0);
+        gpio_put(LED1_PIN, 0);
+        state = false;
+    }
+    xSemaphoreGive(vacumMutex);
+}
+
+void VacumControl::interruptionTaskFn() {
+    while(true) {
+        xSemaphoreTake(interruptionSemaphore, portMAX_DELAY);
+        if(state) {
+            while(state) {
+                vTaskDelay(INTERRUPTION_DELAY / portTICK_PERIOD_MS);               
+                if(state) {
+                    gpio_put(RELAY_PIN, 0);
+                    gpio_put(LED1_PIN, 0);
+                } else
+                    break;
+
+                vTaskDelay(INTERRUPTION_DURATION / portTICK_PERIOD_MS);
+                if(state) {
+                    gpio_put(RELAY_PIN, 1);
+                    gpio_put(LED1_PIN, 1);
+                }
+            }
+        }
+    }
+}
+
+void VacumControl::buttonTaskFn() {
+    bool buttonLastState = gpio_get(BUTTON_PIN);
+
+    while(true) {
+        bool buttonState = gpio_get(BUTTON_PIN);
+
+        if(!buttonState && buttonLastState) {
+            setState(true);
+            vTaskDelay(250 / portTICK_PERIOD_MS);
+        } else if(buttonState && !buttonLastState) {
+            setState(false);
+        }
+
+        buttonLastState = buttonState;
+        vTaskDelay(250 / portTICK_PERIOD_MS);
+    }
+}