Migrated button press interrupts to buttons driver

Migrated interrupts from main to drivers

.gitignore

@@ -1,3 +1,4 @@
 Debug
 Startup
-*.launch
+*.launch
+.vscode/settings.json

Src/analog_sensors.c

@@ -3,9 +3,10 @@
 #include "board/gpio.h"
 #include "board/iser.h"
 #include "board/exti.h"
+#include "drive.h"
 #include "pins.h"
 
-void initialize_sensors()
+void init_sensors()
 {
 	ADC_shared->CCR |= (0b1011 << 18);
 	// Enable Clock for GPIO
@@ -95,6 +96,12 @@ void refresh_sensors()
 	ldr_direction = ((LDR_left - LDR_left_calib) - (LDR_right - LDR_right_calib));
 }
 
+void ADC1_2_IRQHandler() {
+	refresh_sensors();
+	drive();
+	SET(ADC1->ISR, ADC_JEOS);
+}
+
 void refresh_ldr_calib()
 {
 	LDR_right_calib = ADC1->JDR3;

Src/analog_sensors.h

@@ -1,8 +1,7 @@
 #ifndef _ANALOG_SENSORS_H
 #define _ANALOG_SENSORS_H
 
-void initialize_sensors();
-void refresh_sensors();
+void init_sensors();
 void refresh_ldr_calib();
 uint16_t get_joystick_x();
 uint16_t get_joystick_y();

Src/buttons.c

@@ -0,0 +1,42 @@
+#include "buttons.h"
+
+#include "board/timer.h"
+#include "board/rcc.h"
+#include "board/gpio.h"
+#include "board/iser.h"
+#include "board/exti.h"
+
+#include "pins.h"
+
+void init_buttons() {
+	SET(RCC_AHB2ENR, GPIOAEN);
+	SET(RCC_AHB2ENR, GPIOCEN);
+
+	SET_BITS(GPIOA->MODER, JOY_BTN * 2, INPUT_MODE, 2);
+	SET_BITS(GPIOA->PUPDR, JOY_BTN * 2, PULLUP, 2);
+
+	SET_BITS(GPIOC->MODER, BLUE_BTN * 2, INPUT_MODE, 2);
+	SET_BITS(GPIOC->PUPDR, BLUE_BTN * 2, PULLDOWN, 2);
+
+	EXTI->EXTISR[JOY_BTN] = 0;
+	SET(EXTI->IMR1, JOY_BTN);
+	SET(EXTI->FTSR1, JOY_BTN);
+	SET(ISER0, 11 + JOY_BTN);
+
+	EXTI->EXTISR[BLUE_BTN] = 2;
+	SET(EXTI->IMR1, BLUE_BTN);
+	SET(EXTI->RTSR1, BLUE_BTN);
+	SET(ISER0, 11 + BLUE_BTN);
+}
+
+//Depends on the value of JOY_BTN
+void EXTI6_IRQHandler() {
+	joystick_button_handler();
+	SET(EXTI->FPR1, JOY_BTN);
+}
+
+//Depends on the value of BLUE_BTN
+void EXTI13_IRQHandler() {
+	blue_button_handler();
+	SET(EXTI->RPR1, BLUE_BTN);
+}

Src/buttons.h

@@ -0,0 +1 @@
+void init_buttons();

Src/drive.c

@@ -109,6 +109,7 @@ void ultrasonic_stop()
 		mode = AUTO_STOP;
 	}
 }
+
 void joystick_button_handler()
 {
 	if (mode == MANUAL_STOP)
@@ -126,9 +127,20 @@ void joystick_button_handler()
 	}
 }
 
+void blue_button_handler(){
+	static int auto_mode = 0;
+	enable();
+	if (auto_mode) {
+		auto_mode = 0;
+		set_mode(MANUAL);
+	} else {
+		init_mode(AUTO_WAIT);
+		auto_mode = 1;
+	}
+}
+
 void drive()
 {
-
 	static uint8_t disarm_manual_counter = 0;
 	if ((get_distance() < 15) && (mode != MANUAL_OVERRIDE))
 	{

Src/drive.h

@@ -20,5 +20,6 @@ void init_mode(uint8_t mode);
 void drive();
 void driver_stop();
 void joystick_button_handler();
+void blue_button_handler();
 uint8_t get_mode();
 #endif

Src/main.c

@@ -22,39 +22,20 @@
 #include "board/rcc.h"
 #include "board/gpio.h"
 #include "board/iser.h"
+#include "board/exti.h"
+
 #include "utils.h"
 #include "motors.h"
 #include "analog_sensors.h"
 #include "leds.h"
 #include "drive.h"
 #include "pins.h"
 #include "indicators.h"
-#include "board/adc.h"
-#include "board/exti.h"
 #include "ultrasonic.h"
+#include "buttons.h"
 
 #define BUSY_WAIT 1
 
-void init_extis() {
-	SET(RCC_AHB2ENR, GPIOAEN);
-	SET(RCC_AHB2ENR, GPIOCEN);
-
-	SET_BITS(GPIOA->MODER, JOY_BTN * 2, INPUT_MODE, 2);
-	SET_BITS(GPIOA->PUPDR, JOY_BTN * 2, PULLUP, 2);
-
-	SET_BITS(GPIOC->MODER, BLUE_BTN * 2, INPUT_MODE, 2);
-	SET_BITS(GPIOC->PUPDR, BLUE_BTN * 2, PULLDOWN, 2);
-
-	EXTI->EXTISR[JOY_BTN] = 0;
-	SET(EXTI->IMR1, JOY_BTN);
-	SET(EXTI->FTSR1, JOY_BTN);
-	SET(ISER0, 11 + JOY_BTN);
-
-	EXTI->EXTISR[BLUE_BTN] = 2;
-	SET(EXTI->IMR1, BLUE_BTN);
-	SET(EXTI->RTSR1, BLUE_BTN);
-	SET(ISER0, 11 + BLUE_BTN);
-}
 void init_TIM7() {
 	SET(RCC_APB1ENR1, TIM7EN); //TIM6x_CLK is enabled, running at 4MHz
 	TIM7->EGR |= 1; //enable UIF to generate an interrupt
@@ -71,45 +52,21 @@ void init_TIM7() {
 
 	enable_interrupts();
 }
+
 void TIM7_IRQHandler(void) {
 	SET(ADC1->CR, ADC_JADSTART);
 	TIM7->SR = 0; //clear UIF
 }
-void ADC1_2_IRQHandler() {
-	refresh_sensors();
-	drive();
-	SET(ADC1->ISR, ADC_JEOS);
-}
-
-//Depends on the value of JOY_BTN
-void EXTI6_IRQHandler() {
-	joystick_button_handler();
-	SET(EXTI->FPR1, JOY_BTN);
-}
-
-//Depends on the value of BLUE_BTN
-void EXTI13_IRQHandler() {
-	static int auto_mode = 0;
-	enable();
-	if (auto_mode) {
-		auto_mode = 0;
-		set_mode(MANUAL);
-	} else {
-		init_mode(AUTO_WAIT);
-		auto_mode = 1;
-	}
-	SET(EXTI->RPR1, BLUE_BTN);
-}
 
 int main(void) {
 	init_mode(MANUAL);
 	init_indicators();
 	init_motors();
-	init_extis();
 	init_leds();
 	set_led_direction(LED_STOP);
-	initialize_sensors();
+	init_sensors();
 	init_ultrasonic();
+	init_buttons();
 	if (BUSY_WAIT) {
 		while (1) {
 			for (int i = 0; i < 33300; i++)