From f09b86b26227e860a7705f62cc0ef5c4cb532c33 Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Sun, 19 May 2019 22:49:18 +0200
Subject: [PATCH] Trigger an update to GPIO configuration on property write

---
 Firmware/MotorControl/endstop.cpp | 38 ++++++++++++++++++-------------
 Firmware/MotorControl/endstop.hpp | 11 +++++----
 2 files changed, 29 insertions(+), 20 deletions(-)

diff --git a/Firmware/MotorControl/endstop.cpp b/Firmware/MotorControl/endstop.cpp
index d01c361b..809e52f1 100644
--- a/Firmware/MotorControl/endstop.cpp
+++ b/Firmware/MotorControl/endstop.cpp
@@ -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);
+        }
     }
 }
\ No newline at end of file
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 9ff3f079..cdca3fdc 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -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)));