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[homing] make separate control mode

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[endstops] enable in all control modes
[load encoder] use load encoder more consequently
This commit is contained in:
Samuel Sadok
2019-09-23 12:23:27 +02:00
parent 9e782cce7b
commit f8ea7d5684
11 changed files with 242 additions and 166 deletions
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Firmware/MotorControl/endstop.cpp
+8 -8
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@@ -2,19 +2,19 @@
Endstop::Endstop(Endstop::Config_t& config)
: config_(config) {
set_endstop_enabled(config_.enabled);
update_config();
}
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_;
bool last_pin_state = pin_state_;
pin_state_ = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
float now = axis_->loop_counter_ * current_meas_period;
if (pin_state_ != last_pin_state) {
debounce_timer_ = axis_->loop_counter_ * current_meas_period;
debounce_timer_ = now;
}
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
@@ -26,15 +26,15 @@ void Endstop::update() {
}
}
bool Endstop::getEndstopState() {
bool Endstop::get_state() {
return endstop_state_;
}
void Endstop::update_endstop_config(){
set_endstop_enabled(config_.enabled);
void Endstop::update_config(){
set_enabled(config_.enabled);
}
void Endstop::set_endstop_enabled(bool enable) {
void Endstop::set_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);