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Trigger an update to GPIO configuration on property write

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This commit is contained in:
Paul Guenette
2019-05-19 22:49:18 +02:00
parent 5946ef9acd
commit f09b86b262
2 changed files with 29 additions and 20 deletions
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Firmware/MotorControl/endstop.cpp
+22 -16
View File
@@ -1,8 +1,8 @@
#include <odrive_main.h>
Endstop::Endstop(Endstop::Config_t &config)
Endstop::Endstop(Endstop::Config_t& config)
: config_(config) {
set_endstop_enabled(config_.enabled);
set_endstop_enabled(config_.enabled);
}
void Endstop::update() {
@@ -10,14 +10,14 @@ void Endstop::update() {
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){
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
endstop_state_ = config_.is_active_high ? pin_state_ : !pin_state_; // endstop_state is the logical state
debounce_timer_ = now - (config_.debounce_ms * 0.001f); // Ensure timer doesn't have overflow issues
if ((now - debounce_timer_) >= (config_.debounce_ms * 0.001f)) { // 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_ = now - (config_.debounce_ms * 0.001f); // Ensure timer doesn't have overflow issues
} else {
endstop_state_ = endstop_state_; // Do nothing
}
@@ -30,15 +30,21 @@ bool Endstop::getEndstopState() {
return endstop_state_;
}
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);
if(enable){
HAL_GPIO_DeInit(gpio_port, gpio_pin);
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = gpio_pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = config_.is_active_high ? GPIO_PULLDOWN : GPIO_PULLUP;;
HAL_GPIO_Init(gpio_port, &GPIO_InitStruct);
void Endstop::update_endstop_config(){
set_endstop_enabled(config_.enabled);
}
void Endstop::set_endstop_enabled(bool enable) {
if (config_.gpio_num != 0) {
uint16_t gpio_pin = get_gpio_pin_by_pin(config_.gpio_num);
GPIO_TypeDef* gpio_port = get_gpio_port_by_pin(config_.gpio_num);
if (enable) {
HAL_GPIO_DeInit(gpio_port, gpio_pin);
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = gpio_pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = config_.is_active_high ? GPIO_PULLDOWN : GPIO_PULLUP;
HAL_GPIO_Init(gpio_port, &GPIO_InitStruct);
}
}
}
Firmware/MotorControl/endstop.hpp
+7 -4
View File
@@ -16,19 +16,22 @@ class Endstop {
Endstop::Config_t& config_;
Axis* axis_ = nullptr;
void update_endstop_config();
void set_endstop_enabled(bool enable);
void update();
void update();
bool getEndstopState();
bool endstop_state_ = false;
auto make_protocol_definitions() {
return make_protocol_member_list(
make_protocol_ro_property("endstop_state_", &endstop_state_),
make_protocol_ro_property("endstop_state", &endstop_state_),
make_protocol_object("config",
make_protocol_property("gpio_num", &config_.gpio_num),
make_protocol_property("enabled", &config_.enabled),
make_protocol_property("gpio_num", &config_.gpio_num,
[](void* ctx) { static_cast<Endstop*>(ctx)->update_endstop_config(); }, this),
make_protocol_property("enabled", &config_.enabled,
[](void* ctx) { static_cast<Endstop*>(ctx)->update_endstop_config(); }, this),
make_protocol_property("offset", &config_.offset),
make_protocol_property("is_active_high", &config_.is_active_high),
make_protocol_property("debounce_ms", &config_.debounce_ms)));