Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-22 16:14:37 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Improve debounce resolution

Browse Source
This commit is contained in:
Unknown
2020-03-09 21:15:45 -04:00
parent b992628a61
commit 17bcb43dd6
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/endstop.cpp
+2 -2
View File
@@ -10,12 +10,12 @@ void Endstop::update() {
GPIO_TypeDef* gpio_port = get_gpio_port_by_pin(config_.gpio_num);
bool last_pin_state = pin_state_;
pin_state_ = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
uint32_t now = static_cast<uint32_t>(axis_->loop_counter_ * current_meas_period);
uint32_t now = static_cast<uint32_t>(axis_->loop_counter_ * current_meas_period * 1000);
if (pin_state_ != last_pin_state) {
debounce_timer_ = now;
}
if (config_.enabled) {
if ((now - debounce_timer_) >= (config_.debounce_ms * 0.001f)) { // Debounce timer expired, take the new pin state
if ((now - debounce_timer_) >= config_.debounce_ms) { // Debounce timer expired, take the new pin state
endstop_state_ = config_.is_active_high ? pin_state_ : !pin_state_; // endstop_state is the logical state
debounce_timer_ = config_.debounce_ms; // Ensure timer doesn't have overflow issues
} else {