ESP32 Forum

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gpio_pad_select_gpio(GPIO_NUM_5);
gpio_set_direction(GPIO_NUM_5, static_cast<gpio_mode_t>(GPIO_MODE_INPUT));
gpio_set_pull_mode(GPIO_NUM_5, GPIO_PULLUP_ONLY);
gpio_set_intr_type(GPIO_NUM_5, GPIO_INTR_NEGEDGE);
gpio_intr_enable(GPIO_NUM_5);
gpio_isr_register(inthandler, nullptr, 0, 0);

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void inthandler(void *arg){
	uint32_t gpio_intr_status = READ_PERI_REG(GPIO_STATUS_REG);
	uint32_t gpio_intr_status_h = READ_PERI_REG(GPIO_STATUS1_REG);
	SET_PERI_REG_MASK(GPIO_STATUS_W1TC_REG, gpio_intr_status);
	SET_PERI_REG_MASK(GPIO_STATUS1_W1TC_REG, gpio_intr_status_h);

	if((gpio_intr_status & BIT(GPIO_NUM_5)) == BIT(GPIO_NUM_5)) {

		BaseType_t xHigherPriorityTaskWoken, xResult;

		// xHigherPriorityTaskWoken must be initialised to pdFALSE.
		xHigherPriorityTaskWoken = pdFALSE;

		// Set bit 0 and bit 4 in xEventGroup.
		xResult = xEventGroupSetBitsFromISR(
				interrupt_event_group,	// The event group being updated.
							PIN_BIT,   // The bits being set.
							&xHigherPriorityTaskWoken );

		// Was the message posted successfully?
		if( xResult == pdPASS )
		{
			//ets_printf("xResult==pdPASS\n");
			// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
			// switch should be requested.  The macro used is port specific and
			// will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
			// refer to the documentation page for the port being used.
			//portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
			//portEND_SWITCHING_ISR();
		} else {
			//ets_printf("xResult pdFAIL!\n");
		}
	}
}

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float elapsedSec() {
    timeval tv;
    gettimeofday(&tv, 0);
    return tv.tv_sec + tv.tv_usec * 1.0e-6f;
}

static void i2cTask(void *param) {
	while(1) {
		bool clearOnExit=true, waitForAllBits=true;
		xEventGroupWaitBits(interrupt_event_group, PIN_BIT, clearOnExit, waitForAllBits, portMAX_DELAY);
		float now = elapsedSec();
		float dt = now - past;
		past = now;
		std::cout << "dt: " << dt << std::endl;
	}
}