Almost working

external/nrf52x-base/make/Configuration.mk

@@ -269,6 +269,9 @@ override CXXFLAGS += \
 	-DETL_NO_STL \
     -Wall \
     -Wextra \
+	-fno-exceptions \
+	-fno-unwind-tables \
+	-fno-asynchronous-unwind-tables \
     -Wno-date-time \
     -Wno-unused-parameter \
     -Werror=return-type \

include/drivers/capsense_driver.hpp

@@ -1,9 +1,12 @@
-# pragma once
+#pragma once
 
 #include "config.hpp"
 #include "drivers/driver_enums.hpp"
 #include "drivers/gpio_pin.hpp"
+#include "drivers/gpio_pin_event.hpp"
 #include "microbit_v2.h"
+#include "app_timer.h"
+#include "nrfx_timer.h"
 #include "nrf_gpio.h"
 #include "util.hpp"
 
@@ -13,7 +16,10 @@ class CapsenseController {
     GPIOPin touch_logo{TOUCH_LOGO, GPIOConfiguration::IN_NORES};
 
     etl::array<ProcessCallbackPtr, MAX_PROCESSES> subscriptions;
-    bool touched = false;
+
+    bool touched;
+
+    GPIOPinEvent event;
 
     CapsenseController();
     ~CapsenseController() = default;
@@ -30,9 +36,7 @@ class CapsenseController {
 
     bool get_captouch_pressed();
 
-    void handle_gpio_interrupt(nrf_gpio_pin_sense_t sense);
-
-    void handle_timer_interrupt(nrf_timer_event_t event, void* context);
+    void handle_gpio_interrupt(nrf_gpio_pin_sense_t sense, int pin);
 
 };
 

include/drivers/gpio_pin_event.hpp

@@ -15,7 +15,7 @@ class GPIOPinEvent {
     {
         // TODO: add resistance
         aidan::GPIOEventController::get().set_gpio_callback(
-            pin, aidan::PinPullMode::PUR, callback
+            pin, aidan::PinPullMode::NONE, callback
         );
     }
 

include/userlib/syscalls.hpp

@@ -20,6 +20,8 @@ void get_button_pressed(
     void (*callback)(drivers::ButtonType, drivers::ButtonState)
 );
 
+bool get_captouch_pressed();
+
 void send_ipc(const char* name, uint32_t message);
 
 void subscribe_ipc(const char* name, void (*callback)(int message));

src/drivers/captouch_driver.cpp

@@ -1,9 +1,25 @@
 #include "drivers/driver_enums.hpp"
 #include "drivers/driver_enums.hpp"
 #include "drivers/capsense_driver.hpp"
+#include "drivers/gpio_pin_event.hpp"
+#include "hal/gpio_wrapper.hpp"
+#include "hal/hal_enums.hpp"
+#include "microbit_v2.h"
+#include "userlib/syscalls.hpp"
 
 namespace edge::drivers {
 
+CapsenseController::CapsenseController() : 
+    touched(false),
+    event{
+        TOUCH_LOGO, GPIOConfiguration::IN_NORES,
+        aidan::GPIOEventController::GPIOEventCallback::create<
+            CapsenseController, &CapsenseController::handle_gpio_interrupt>(*this)
+    }
+    {
+        aidan::clear_gpio_pin(TOUCH_LOGO);
+    };
+
 CapsenseController& CapsenseController::get()
 {
     static CapsenseController capsenseController;
@@ -21,13 +37,9 @@ bool CapsenseController::get_captouch_pressed()
     return touched;
 }
 
-void CapsenseController::handle_gpio_interrupt(nrf_gpio_pin_sense_t sense)
-{
-    touched = true;
-}
-
-void CapsenseController::handle_timer_interrupt(nrf_timer_event_t event, void* context)
+void CapsenseController::handle_gpio_interrupt(nrf_gpio_pin_sense_t sense, int pin)
 {
+    printf("interrupt?");
     touched = false;
 }
 

src/drivers/driver_commands.cpp

@@ -1,6 +1,7 @@
 #include "drivers/driver_commands.hpp"
 
 #include "drivers/button_driver.hpp"
+#include "drivers/capsense_driver.hpp"
 #include "drivers/driver_enums.hpp"
 #include "drivers/led_display.hpp"
 #include "drivers/timer.hpp"
@@ -31,7 +32,7 @@ etl::optional<int> handle_command(DriverCommand type, int arg1, int arg2, int ar
                 static_cast<ButtonType>(arg1)
             );
         case DriverCommand::CAPTOUCH:
-            break;
+            return CapsenseController::get().get_captouch_pressed();
     }
     return etl::nullopt;
 }

src/entrypoint.cpp

@@ -9,17 +9,19 @@
 extern void ipc_part1(void);
 extern void ipc_part2(void);
 extern void exception_task(void);
+extern void captouch_task(void);
 
 int main(void)
 {
     printf("Starting EdgeOS\n");
 
     edge::FaultHandler::get();
 
-    edge::scheduler.add_task(exception_task);
+    /* edge::scheduler.add_task(exception_task); */
+    edge::scheduler.add_task(captouch_task);
 
-    edge::scheduler.add_task(ipc_part1);
-    edge::scheduler.add_task(ipc_part2);
+    /* edge::scheduler.add_task(ipc_part1); */
+    /* edge::scheduler.add_task(ipc_part2); */
 
     edge::scheduler.start_scheduler();
 }

src/user_programs/user_program_captouch.cpp

@@ -0,0 +1,22 @@
+#include "drivers/driver_enums.hpp"
+#include "hal/gpio_wrapper.hpp"
+#include "userlib/syscalls.hpp"
+
+void captouch_task(void)
+{
+    while (1)
+    {
+        if (edge::userlib::get_captouch_pressed())
+        {
+            /* edge::userlib::debug_print("pressed\n"); */
+        }
+        else 
+        {
+            /* edge::userlib::debug_print("not pressed"); */
+        }
+
+
+    }
+
+
+}

src/userlib/syscalls.cpp

@@ -78,6 +78,13 @@ bool USER_CODE get_button_pressed(drivers::ButtonType button_type)
     RETURN_REGISTER(r0);
 }
 
+bool USER_CODE get_captouch_pressed()
+{
+    SET_REGISTER(r0, (int)drivers::DriverCommand::CAPTOUCH);
+    TRIGGER_SVC(SystemCallType::COMMAND);
+    RETURN_REGISTER(r0);
+}
+
 int USER_CODE get_time_us()
 {
     SET_REGISTER(r0, (int)drivers::DriverCommand::GET_TIME);

timer2.cpp

@@ -0,0 +1,27 @@
+#include "drivers/timer2.hpp"
+
+extern "C" {
+void TIMER3_IRQHandler(void)
+{
+    printf("Interrupt!\n");
+    using edge::timer3_controller;
+
+    switch (timer3_controller.event_triggered_()) {
+        case timer3_controller.GET_TIME:
+            printf("FATAL: GET_TIME register incorrectly triggered callback\n");
+            timer3_controller.clear_event_(timer3_controller.GET_TIME);
+            break;
+        case timer3_controller.CLOCK_OVERFLOW:
+            printf(
+                "Clock overflow detected. Count: %lu\n", timer3_controller.clock_wraps_
+            );
+            timer3_controller.mark_clock_wrapped();
+            timer3_controller.clear_event_(timer3_controller.CLOCK_OVERFLOW);
+            break;
+    }
+}
+}
+
+namespace edge {
+Timer3Controller timer3_controller;
+}

timer2.hpp

@@ -0,0 +1,77 @@
+#pragma once
+
+#include "nrf52833.h"
+#include "nrf_timer.h"
+
+extern "C" {
+void TIMER3_IRQHandler(void);
+}
+
+namespace edge {
+
+// Reserves timer 4
+class Timer3Controller {
+    enum CallbackType : uint8_t { GET_TIME = 0, CLOCK_OVERFLOW = 1 };
+
+    inline static NRF_TIMER_Type* const TIMER = NRF_TIMER4;
+    static constexpr nrf_timer_frequency_t TIMER_FREQUENCY = NRF_TIMER_FREQ_16MHz;
+    static constexpr auto OVERFLOW_CYCLES = UINT_MAX;
+
+    uint32_t clock_wraps_;
+
+public:
+    uint32_t get_time_us()
+    {
+        nrf_timer_task_trigger(TIMER, NRF_TIMER_TASK_CAPTURE0);
+        return nrf_timer_cc_read(TIMER, NRF_TIMER_CC_CHANNEL0) / 16;
+    }
+
+    Timer3Controller() { initialize_timer_(); }
+
+private:
+    static CallbackType event_triggered_()
+    {
+        if (nrf_timer_event_check(TIMER, NRF_TIMER_EVENT_COMPARE0)) [[unlikely]] {
+            return GET_TIME;
+        }
+        else if (nrf_timer_event_check(TIMER, NRF_TIMER_EVENT_COMPARE1)) {
+            return CLOCK_OVERFLOW;
+        }
+        else {
+            printf("FATAL: event_triggered called but no event detected");
+            NVIC_SystemReset();
+        }
+    }
+
+    static void clear_event_(CallbackType type)
+    {
+        switch (type) {
+            case GET_TIME:
+                nrf_timer_event_clear(TIMER, NRF_TIMER_EVENT_COMPARE0);
+                break;
+            case CLOCK_OVERFLOW:
+                nrf_timer_event_clear(TIMER, NRF_TIMER_EVENT_COMPARE1);
+                break;
+        }
+    }
+
+    static void initialize_timer_()
+    {
+        // High frequency timer
+        nrf_timer_frequency_set(TIMER, TIMER_FREQUENCY);
+        nrf_timer_mode_set(TIMER, NRF_TIMER_MODE_TIMER);
+        nrf_timer_bit_width_set(TIMER, NRF_TIMER_BIT_WIDTH_32);
+        nrf_timer_task_trigger(TIMER, NRF_TIMER_TASK_START);
+
+        NVIC_EnableIRQ(TIMER4_IRQn);
+        nrf_timer_cc_write(TIMER, NRF_TIMER_CC_CHANNEL1, OVERFLOW_CYCLES);
+        nrf_timer_int_enable(TIMER, NRF_TIMER_INT_COMPARE1_MASK);
+    }
+
+    void mark_clock_wrapped() { clock_wraps_++; }
+
+    friend void ::TIMER3_IRQHandler(void);
+};
+
+extern Timer3Controller timer4_controller;
+} // namespace edge