make PWM/analog input work

Firmware/fibre/cpp/endpoints_template.j2

@@ -13,6 +13,8 @@
 #ifndef __FIBRE_INTERFACES_HPP
 #define __FIBRE_INTERFACES_HPP
 
+#include <fibre/introspection.hpp>
+
 namespace fibre {
 
 const unsigned char embedded_json[] = [[embedded_endpoint_definitions | to_c_string]];
@@ -48,22 +50,25 @@ bool is_endpoint_ref_valid(endpoint_ref_t endpoint_ref) {
     }
 }
 
+Introspectable get_property(size_t idx) {
+    switch (idx) {
+[%- for endpoint in endpoints %]
+[%- if endpoint.function.name == 'exchange' and endpoint.in_bindings | list == ['obj'] %][#        //case [[endpoint.id]]: *(decltype([[endpoint.in_bindings['obj']]])*)buf = [[endpoint.in_bindings['obj']]]; break;#]
+        case [[endpoint.id]]: return FibrePropertyTypeInfo<[[endpoint.function.in['obj'].type.c_type]]>::make_introspectable([[endpoint.in_bindings['obj']]]);
+[%- endif %]
+[%- endfor %]
+        default: return {};
+    }
+}
+
 bool set_endpoint_from_float(endpoint_ref_t endpoint_ref, float value) {
     if (endpoint_ref.json_crc != json_crc_) {
         return false;
     }
 
-    return false;
-    // TODO: implement
-    /*cbufptr_t input_buffer{};
-    bufptr_t output_buffer{};
-
-    switch (idx) {
-[%- for endpoint in endpoints %]
-        case [[endpoint.id]]: return [[endpoint.function.fullname | to_snake_case]]([% for k, arg in endpoint.function.in.items() %][% if k in endpoint.in_bindings %]static_cast<[[arg.type.c_type]]>([[endpoint.in_bindings[k]]])[% else %]std::nullopt[% endif %], [% endfor %]&input_buffer, &output_buffer);
-[%- endfor %]
-        default: return false;
-    }*/
+    Introspectable property = get_property(endpoint_ref.endpoint_id);
+    const FloatSettableTypeInfo* type_info = dynamic_cast<const FloatSettableTypeInfo*>(property.get_type_info());
+    return type_info && type_info->set_float(property, value);
 }
 
 }

Firmware/fibre/cpp/include/fibre/introspection.hpp

@@ -62,6 +62,8 @@ private:
 class Introspectable {
     friend class TypeInfo;
 public:
+    Introspectable() {}
+
     /**
      * @brief Returns an Introspectable object for the attribute referenced by
      * the specified attribute name.
@@ -114,9 +116,11 @@ public:
         return type_info_ && type_info_->set_string(*this, buffer, length);
     }
 
-private:
-    Introspectable() {}
+    const TypeInfo* get_type_info() {
+        return type_info_;
+    }
 
+private:
     // We use this storage to hold generic small objects. Usually that's a pointer
     // but sometimes it's an on-demand constructed Property<...>.
     // Caution: only put objects in here which are trivially copyable, movable
@@ -151,6 +155,10 @@ template<typename T> using maybe_underlying_type_t = typename maybe_underlying_t
 
 
 
+struct FloatSettableTypeInfo {
+    virtual bool set_float(const Introspectable& obj, float val) const { return false; }
+};
+
 /* Built-in type infos ********************************************************/
 
 template<typename T>
@@ -175,10 +183,11 @@ const FibrePropertyTypeInfo<Property<const T>> FibrePropertyTypeInfo<Property<co
 
 // readwrite property
 template<typename T>
-struct FibrePropertyTypeInfo<Property<T>> : TypeInfo {
+struct FibrePropertyTypeInfo<Property<T>> : FloatSettableTypeInfo, TypeInfo {
     using TypeInfo::TypeInfo;
     static const PropertyInfo property_table[];
     static const FibrePropertyTypeInfo<Property<T>> singleton;
+    static const Introspectable make_introspectable(Property<T> obj) { return TypeInfo::make_introspectable(obj, &singleton); }
 
     bool get_string(const Introspectable& obj, char* buffer, size_t length) const override {
         return to_string(static_cast<maybe_underlying_type_t<T>>(as<const Property<T>>(obj).read()), buffer, length, 0);
@@ -192,6 +201,15 @@ struct FibrePropertyTypeInfo<Property<T>> : TypeInfo {
         as<const Property<T>>(obj).exchange(static_cast<T>(value));
         return true;
     }
+
+    bool set_float(const Introspectable& obj, float val) const override {
+        maybe_underlying_type_t<T> value;
+        if (!conversion::set_from_float(val, &value)) {
+            return false;
+        }
+        as<const Property<T>>(obj).exchange(static_cast<T>(value));
+        return true;
+    }
 };
 
 template<typename T>

Firmware/fibre/cpp/include/fibre/protocol.hpp

@@ -397,6 +397,17 @@ struct Codec<T, std::enable_if_t<std::is_enum<T>::value>> {
     }
     static bool encode(T value, bufptr_t* buffer) { return SimpleSerializer<int32_t, false>::write(value, &(buffer->begin()), buffer->end()); }
 };
+template<> struct Codec<endpoint_ref_t> {
+    static std::optional<endpoint_ref_t> decode(cbufptr_t* buffer) {
+        std::optional<uint16_t> val0 = SimpleSerializer<uint16_t, false>::read(&(buffer->begin()), buffer->end());
+        std::optional<uint16_t> val1 = SimpleSerializer<uint16_t, false>::read(&(buffer->begin()), buffer->end());
+        return (val0.has_value() && val1.has_value()) ? std::make_optional(endpoint_ref_t{val1.value(), val0.value()}) : std::nullopt;
+    }
+    static bool encode(endpoint_ref_t value, bufptr_t* buffer) {
+        return SimpleSerializer<uint16_t, false>::write(value.endpoint_id, &(buffer->begin()), buffer->end())
+            && SimpleSerializer<uint16_t, false>::write(value.json_crc, &(buffer->begin()), buffer->end());
+    }
+};
 }
 
 

Firmware/interface_generator.py

@@ -142,6 +142,7 @@ value_types = {
     'int16': {'builtin': True, 'fullname': 'int16', 'name': 'int16', 'c_type': 'int16_t'},
     'int32': {'builtin': True, 'fullname': 'int32', 'name': 'int32', 'c_type': 'int32_t'},
     'int64': {'builtin': True, 'fullname': 'int64', 'name': 'int64', 'c_type': 'int64_t'},
+    'endpoint_ref': {'builtin': True, 'fullname': 'endpoint_ref', 'name': 'endpoint_ref', 'c_type': 'endpoint_ref_t'},
 }
 
 enums = {}

Firmware/odrive-interface.yaml

@@ -140,12 +140,12 @@ interfaces:
             unit: A
             doc: Max current the power supply can sink. You most likely want a non-positive value here. Set to -INFINITY to disable.
 
-          #gpio1_pwm_mapping: Endpoint # TODO: disable for ODrive v3.2 and older
-          #gpio2_pwm_mapping: Endpoint # TODO: disable for ODrive v3.2 and older
-          #gpio3_pwm_mapping: Endpoint # TODO: disable for ODrive v3.2 and older
-          #gpio4_pwm_mapping: Endpoint
-          #gpio3_analog_mapping: Endpoint
-          #gpio4_analog_mapping: Endpoint
+          gpio1_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[0]'} # TODO: disable for ODrive v3.2 and older
+          gpio2_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[1]'} # TODO: disable for ODrive v3.2 and older
+          gpio3_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[2]'} # TODO: disable for ODrive v3.2 and older
+          gpio4_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[3]'}
+          gpio3_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[0]'}
+          gpio4_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[1]'}
       user_config_loaded: readonly bool
             
       axis0: {type: Axis, c_name: get_axis(0)}
@@ -176,6 +176,13 @@ interfaces:
     functions:
       set_baud_rate: {in: {baudRate: uint32}}
 
+  Endpoint:
+    c_is_class: False
+    attributes:
+      endpoint: endpoint_ref
+      min: float32
+      max: float32
+
   Axis:
     c_is_class: True
     attributes: