*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,55 @@
+#include <odrive_main.h>
+
+Endstop::Endstop(Endstop::Config_t& config)
+    : config_(config) {
+    update_config();
+    debounceTimer_.setIncrement(current_meas_period);
+}
+
+
+void Endstop::update() {
+    debounceTimer_.update();
+    if (config_.enabled) {
+        bool last_pin_state = pin_state_;
+
+        uint16_t gpio_pin = get_gpio_pin_by_pin(config_.gpio_num);
+        GPIO_TypeDef* gpio_port = get_gpio_port_by_pin(config_.gpio_num);
+        pin_state_ = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
+
+        // If the pin state has changed, reset the timer
+        if (pin_state_ != last_pin_state)
+            debounceTimer_.reset();
+
+        if (debounceTimer_.expired())
+            endstop_state_ = config_.is_active_high ? pin_state_ : !pin_state_;  // endstop_state is the logical state
+    } else {
+        endstop_state_ = false;
+    }
+}
+
+bool Endstop::get_state() {
+    return endstop_state_;
+}
+
+void Endstop::update_config() {
+    set_enabled(config_.enabled);
+    debounceTimer_.setIncrement(config_.debounce_ms * 0.001f);
+}
+
+void Endstop::set_enabled(bool enable) {
+    debounceTimer_.reset();
+    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_.pullup ? GPIO_PULLUP : GPIO_PULLDOWN;
+            HAL_GPIO_Init(gpio_port, &GPIO_InitStruct);
+            debounceTimer_.start();
+        } else
+            debounceTimer_.stop();
+    }
+}