From 6156dc3466f94a912cb4041907b5fb69381975b2 Mon Sep 17 00:00:00 2001
From: maddiebaka <madeline@cray.lgbt>
Date: Tue, 25 Nov 2025 17:31:28 -0500
Subject: [PATCH] Add GPIO input configuration

---
 main/CMakeLists.txt             |  2 +-
 main/spincoat-plater-firmware.c | 26 ++++++++++++++++++++++----
 2 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index c716685..59c70d2 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -1,3 +1,3 @@
 idf_component_register(SRCS "spincoat-plater-firmware.c" "dshot_esc_encoder.c"
-                    PRIV_REQUIRES esp_driver_rmt
+                    PRIV_REQUIRES esp_driver_rmt esp_driver_gpio
                     INCLUDE_DIRS ".")
diff --git a/main/spincoat-plater-firmware.c b/main/spincoat-plater-firmware.c
index 8c71e90..45e665c 100644
--- a/main/spincoat-plater-firmware.c
+++ b/main/spincoat-plater-firmware.c
@@ -8,6 +8,7 @@
 #include "freertos/task.h"
 #include "esp_log.h"
 #include "driver/rmt_tx.h"
+#include "driver/gpio.h"
 #include "dshot_esc_encoder.h"
 
 #if CONFIG_IDF_TARGET_ESP32H2
@@ -15,7 +16,8 @@
 #else
 #define DSHOT_ESC_RESOLUTION_HZ 40000000 // 40MHz resolution, DSHot protocol needs a relative high resolution
 #endif
-#define DSHOT_ESC_GPIO_NUM      22
+#define DSHOT_ESC_GPIO_NUM           22
+#define DSHOT_ESC_TELEMETRY_GPIO_NUM 27
 
 static const char *TAG = "spincoat-plater-firmware";
 
@@ -61,7 +63,7 @@ void initialize_esc_throttle(void) {
     xTaskCreate(&v_initialize_esc_throttle_func, "v_init_throttle_func", 2048, NULL, 5, &v_init_throttle_handle);
     vTaskDelay(pdMS_TO_TICKS(5000));
     vTaskDelete(v_init_throttle_handle);
-    vTaskDelay(pdMS_TO_TICKS(1000));
+    //vTaskDelay(pdMS_TO_TICKS(1000));
 }
 
 /**
@@ -102,16 +104,32 @@ void send_dshot_packet(void) {
     
     if(throttle.telemetry_req == true) {
         throttle.telemetry_req = false;
-        printf("Set telemetry to false.\n");
     }
 }
 
 void app_main(void) {
     init_rmt_esc_tx();
     
-    throttle.throttle = 100;
+    throttle.throttle = 200;
     xTaskCreate(&v_telemetry_packet_func, "v_telemetry_packet_func", 2048, NULL, 5, NULL);
     
+    gpio_dump_io_configuration(stdout, (1ULL << 27));
+
+    printf("==============================\n\n");
+    
+    // Testing gpio setup
+    gpio_config_t io_conf = {};
+    
+    io_conf.intr_type = GPIO_INTR_DISABLE;
+    io_conf.mode = GPIO_MODE_INPUT_OUTPUT;
+    io_conf.pin_bit_mask = (1ULL<<DSHOT_ESC_TELEMETRY_GPIO_NUM);
+    io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
+    
+    gpio_config(&io_conf);
+    
+    gpio_dump_io_configuration(stdout, (1ULL << 27));
+
     while(1) {
         send_dshot_packet();
     }