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fix subscribe and unsubscribe to idx pin

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This commit is contained in:
Oskar Weigl
2019-04-24 17:44:23 -07:00
parent 7190e08355
commit 1196026290
2 changed files with 3 additions and 0 deletions
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Firmware/Board/v3/Src/gpio.c
+2
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@@ -236,6 +236,8 @@ bool GPIO_subscribe(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin,
GPIO_InitStruct.Pull = pull_up_down;
HAL_GPIO_Init(GPIO_port, &GPIO_InitStruct);
// Clear any previous triggers
__HAL_GPIO_EXTI_CLEAR_IT(GPIO_pin);
// Enable interrupt
HAL_NVIC_SetPriority(get_irq_number(GPIO_pin), 0, 0);
HAL_NVIC_EnableIRQ(get_irq_number(GPIO_pin));
Firmware/MotorControl/encoder.cpp
+1
View File
@@ -123,6 +123,7 @@ bool Encoder::run_index_search() {
if (!config_.idx_search_unidirectional && axis_->motor_.config_.direction == 0) {
axis_->motor_.config_.direction = 1;
}
set_idx_subscribe();
bool orig_finish_on_enc_idx = axis_->config_.lockin.finish_on_enc_idx;
axis_->config_.lockin.finish_on_enc_idx = true;