From d90793b788e707372d4cc4749739f201f229450c Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Tue, 8 Jan 2019 23:22:12 -0500
Subject: [PATCH] Remove interrupt-based Endstop switching

---
 Firmware/MotorControl/endstop.cpp | 22 +++++-----------------
 Firmware/MotorControl/endstop.hpp |  1 -
 2 files changed, 5 insertions(+), 18 deletions(-)

diff --git a/Firmware/MotorControl/endstop.cpp b/Firmware/MotorControl/endstop.cpp
index 4443fdd6..d01c361b 100644
--- a/Firmware/MotorControl/endstop.cpp
+++ b/Firmware/MotorControl/endstop.cpp
@@ -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);
     }
 }
\ No newline at end of file
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 92ff10d7..9ff3f079 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -17,7 +17,6 @@ class Endstop {
     Axis* axis_ = nullptr;
 
     void set_endstop_enabled(bool enable);
-    void endstop_cb();
     void update();
 
     bool getEndstopState();