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Remove interrupt-based Endstop switching

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2019-01-08 23:22:12 -05:00
parent 01b557122e
commit d90793b788
2 changed files with 5 additions and 18 deletions
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Firmware/MotorControl/endstop.cpp
+5 -17
View File
@@ -5,14 +5,14 @@ Endstop::Endstop(Endstop::Config_t &config)
set_endstop_enabled(config_.enabled);
}
static void endstop_cb_wrapper(void* ctx){
reinterpret_cast<Endstop*>(ctx)->endstop_cb();
}
void Endstop::update() {
uint16_t gpio_pin = get_gpio_pin_by_pin(config_.gpio_num);
GPIO_TypeDef* gpio_port = get_gpio_port_by_pin(config_.gpio_num);
auto last_pin_state = pin_state_;
pin_state_ = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
if(pin_state_ != last_pin_state){
debounce_timer_ = axis_->loop_counter_ * current_meas_period;
}
if (config_.enabled) {
float now = axis_->loop_counter_ * current_meas_period;
if ((now - debounce_timer_) >= (config_.debounce_ms * 0.001f)) { // Debounce timer expired, take the new pin state
@@ -30,10 +30,6 @@ bool Endstop::getEndstopState() {
return endstop_state_;
}
void Endstop::endstop_cb() {
debounce_timer_ = axis_->loop_counter_ * current_meas_period;
}
void Endstop::set_endstop_enabled(bool enable){
uint16_t gpio_pin = get_gpio_pin_by_pin(config_.gpio_num);
GPIO_TypeDef* gpio_port = get_gpio_port_by_pin(config_.gpio_num);
@@ -42,15 +38,7 @@ void Endstop::set_endstop_enabled(bool enable){
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = gpio_pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Pull = config_.is_active_high ? GPIO_PULLDOWN : GPIO_PULLUP;;
HAL_GPIO_Init(gpio_port, &GPIO_InitStruct);
uint32_t pull_up_down = config_.is_active_high ? GPIO_PULLDOWN : GPIO_PULLUP;
uint32_t interrupt_mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_subscribe(gpio_port, gpio_pin, pull_up_down, interrupt_mode,
endstop_cb_wrapper, this);
}
else {
GPIO_unsubscribe(gpio_port, gpio_pin);
}
}
Firmware/MotorControl/endstop.hpp
-1
View File
@@ -17,7 +17,6 @@ class Endstop {
Axis* axis_ = nullptr;
void set_endstop_enabled(bool enable);
void endstop_cb();
void update();
bool getEndstopState();