Add debouncing for FINDA

CMakeLists.txt

@@ -191,6 +191,7 @@ target_sources(
           src/hal/adc.cpp
           src/modules/protocol.cpp
           src/modules/buttons.cpp
+          src/modules/debouncer.cpp
           src/modules/finda.cpp
           src/modules/leds.cpp
           src/modules/motion.cpp

src/modules/buttons.cpp

@@ -3,43 +3,9 @@
 namespace modules {
 namespace buttons {
 
-uint16_t Buttons::tmpTiming = 0;
+Buttons buttons;
 
-// original idea from: https://www.eeweb.com/debouncing-push-buttons-using-a-state-machine-approach
+uint16_t Buttons::tmpTiming = 0;
-void Button::Step(uint16_t time, bool press) {
-    switch (f.state) {
-    case State::Waiting:
-        if (press) {
-            f.state = State::Detected;
-            timeLastChange = time;
-            f.tmp = press;
-        }
-        break;
-    case State::Detected:
-        if (f.tmp == press) {
-            if (time - timeLastChange > debounce) {
-                f.state = State::WaitForRelease;
-            }
-        } else {
-            f.state = State::Waiting;
-        }
-        break;
-    case State::WaitForRelease:
-        if (!press) {
-            f.state = State::Update;
-        }
-        break;
-    case State::Update:
-        f.state = State::Waiting;
-        timeLastChange = time;
-        f.tmp = false;
-        break;
-    default:
-        f.state = State::Waiting;
-        timeLastChange = time;
-        f.tmp = false;
-    }
-}
 
 int8_t Buttons::Sample(uint16_t rawADC) {
     // decode 3 buttons' levels from one ADC

src/modules/buttons.h

@@ -2,6 +2,7 @@
 
 #include <stdint.h>
 #include "../hal/adc.h"
+#include "debouncer.h"
 
 /// Buttons are built on top of the raw ADC API
 /// This layer should contain debouncing of buttons and their logical interpretation
@@ -9,43 +10,13 @@
 namespace modules {
 namespace buttons {
 
-struct Button {
+struct Button : public debounce::Debouncer {
     inline constexpr Button()
-        : timeLastChange(0) {}
+        : debounce::Debouncer(debounce) {}
-
-    /// @returns true if button is currently considered as pressed
-    inline bool Pressed() const { return f.state == State::WaitForRelease; }
-
-    /// State machine stepping routine
-    void Step(uint16_t time, bool press);
 
 private:
     /// time interval for debouncing @@TODO specify units
     constexpr static const uint16_t debounce = 100;
-
-    /// States of the debouncing automaton
-    /// Intentionally not modeled as an enum class
-    /// as it would impose additional casts which do not play well with the struct Flags
-    /// and would make the code less readable
-    enum State { Waiting = 0,
-        Detected,
-        WaitForRelease,
-        Update };
-
-    /// The sole purpose of this data struct is to save RAM by compressing several flags into one byte on the AVR
-    struct Flags {
-        uint8_t state : 2; ///< state of the button
-        uint8_t tmp : 1; ///< temporary state of button before the debouncing state machine finishes
-        inline constexpr Flags()
-            : state(State::Waiting)
-            , tmp(false) {}
-    };
-
-    /// Flags and state of the debouncing automaton
-    Flags f;
-
-    /// Timestamp of the last change of ADC state for this button
-    uint16_t timeLastChange;
 };
 
 class Buttons {
@@ -71,5 +42,7 @@ private:
     static int8_t Sample(uint16_t rawADC);
 };
 
+extern Buttons buttons;
+
 } // namespace buttons
 } // namespace modules

src/modules/debouncer.cpp

@@ -0,0 +1,43 @@
+#include "debouncer.h"
+
+namespace modules {
+namespace debounce {
+
+// original idea from: https://www.eeweb.com/debouncing-push-buttons-using-a-state-machine-approach
+void Debouncer::Step(uint16_t time, bool press) {
+    switch (f.state) {
+    case State::Waiting:
+        if (press) {
+            f.state = State::Detected;
+            timeLastChange = time;
+            f.tmp = press;
+        }
+        break;
+    case State::Detected:
+        if (f.tmp == press) {
+            if (time - timeLastChange > debounceTimeout) {
+                f.state = State::WaitForRelease;
+            }
+        } else {
+            f.state = State::Waiting;
+        }
+        break;
+    case State::WaitForRelease:
+        if (!press) {
+            f.state = State::Update;
+        }
+        break;
+    case State::Update:
+        f.state = State::Waiting;
+        timeLastChange = time;
+        f.tmp = false;
+        break;
+    default:
+        f.state = State::Waiting;
+        timeLastChange = time;
+        f.tmp = false;
+    }
+}
+
+} // namespace debounce
+} // namespace modules

src/modules/debouncer.h

@@ -0,0 +1,53 @@
+/// A generic debouncing algorithm
+
+#pragma once
+#include <stdint.h>
+
+namespace modules {
+namespace debounce {
+
+/// Implements debouncing on 2-state logic variables (true/false, high/low, on/off, pressed/unpressed)
+/// Intentionally not modelled as a template to avoid code bloat
+class Debouncer {
+public:
+    inline constexpr Debouncer(uint8_t debounceTimeout)
+        : timeLastChange(0)
+        , debounceTimeout(debounceTimeout) {}
+
+    /// @returns true if debounced value is currently considered as pressed
+    inline bool Pressed() const { return f.state == State::WaitForRelease; }
+
+    /// State machine stepping routine
+    void Step(uint16_t time, bool press);
+
+private:
+    /// States of the debouncing automaton
+    /// Intentionally not modeled as an enum class
+    /// as it would impose additional casts which do not play well with the struct Flags
+    /// and would make the code less readable
+    enum State {
+        Waiting = 0,
+        Detected,
+        WaitForRelease,
+        Update
+    };
+
+    /// The sole purpose of this data struct is to save RAM by compressing several flags into one byte on the AVR
+    struct Flags {
+        uint8_t state : 2; ///< state of the debounced variable
+        uint8_t tmp : 1; ///< temporary state of variable before the debouncing state machine finishes
+        inline constexpr Flags()
+            : state(State::Waiting)
+            , tmp(false) {}
+    };
+
+    /// Flags and state of the debouncing automaton
+    Flags f;
+
+    /// Timestamp of the last change of raw input state for this variable
+    uint16_t timeLastChange;
+    uint8_t debounceTimeout;
+};
+
+} // namespace debounce
+} // namespace modules

src/modules/finda.cpp

@@ -6,13 +6,8 @@ namespace finda {
 
 FINDA finda;
 
-uint8_t FINDA::Status() const {
+void FINDA::Step(uint16_t time) {
-    // we can read ADC directly
+    debounce::Debouncer::Step(time, hal::adc::ReadADC(1) > adcDecisionLevel);
-    return hal::adc::ReadADC(1) > 512;
-}
-
-void FINDA::Step() {
-    // in this implementation FINDA doesn't need any stepping
 }
 
 } // namespace finda

src/modules/finda.h

@@ -1,17 +1,22 @@
 #pragma once
 #include <stdint.h>
+#include "debouncer.h"
 
 namespace modules {
 namespace finda {
 
-enum { On,
+class FINDA : protected debounce::Debouncer {
-    Off };
-
-class FINDA {
 public:
-    inline FINDA() = default;
+    inline FINDA()
-    uint8_t Status() const;
+        : debounce::Debouncer(debounce) {};
-    void Step();
+    void Step(uint16_t time);
+    using debounce::Debouncer::Pressed;
+
+private:
+    /// time interval for debouncing @@TODO specify units
+    constexpr static const uint16_t debounce = 100;
+    /// ADC decision level when a FINDA is considered pressed/not pressed
+    constexpr static const uint16_t adcDecisionLevel = 512;
 };
 
 extern FINDA finda;

tests/unit/CMakeLists.txt

@@ -2,9 +2,8 @@
 add_custom_target(tests)
 
 # this had a reason on the Buddy FW, but on the AVR we cannot get close to having 16bit ints and
-# pointers so the unit tests may be compiled 64bit afterall
+# pointers so the unit tests may be compiled 64bit afterall set(CMAKE_C_FLAGS -m32)
-set(CMAKE_C_FLAGS -m32)
+# set(CMAKE_CXX_FLAGS -m32)
-set(CMAKE_CXX_FLAGS -m32)
 
 # include catch_discover_tests function from Catch2
 include(${Catch2_SOURCE_DIR}/contrib/Catch.cmake)

tests/unit/modules/buttons/CMakeLists.txt

@@ -1,5 +1,8 @@
 # define the test executable
-add_executable(buttons_tests ../../../../src/modules/buttons.cpp stub_adc.cpp test_buttons.cpp)
+add_executable(
+  buttons_tests ../../../../src/modules/buttons.cpp ../../../../src/modules/debouncer.cpp
+                stub_adc.cpp test_buttons.cpp
+  )
 
 # define required search paths
 target_include_directories(