*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,32 @@
+#include <odrive_main.h>
+
+
+void Endstop::update() {
+    debounceTimer_.update();
+    last_state_ = endstop_state_;
+    if (config_.enabled) {
+        bool last_pin_state = pin_state_;
+
+        pin_state_ = get_gpio(config_.gpio_num).read();
+
+        // 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::apply_config() {
+    debounceTimer_.reset();
+    if (config_.enabled) {
+        debounceTimer_.start();
+    } else {
+        debounceTimer_.stop();
+    }
+    debounceTimer_.setIncrement(config_.debounce_ms * 0.001f);
+    return true;
+}