*

ODrive-fw-v0.5.6/Firmware/MotorControl/endstop.hpp

@@ -0,0 +1,48 @@
+#ifndef __ENDSTOP_HPP
+#define __ENDSTOP_HPP
+
+#include "timer.hpp"
+class Endstop {
+   public:
+    struct Config_t {
+        float offset = 0;
+        uint32_t debounce_ms = 50;
+        uint16_t gpio_num = 0;
+        bool enabled = false;
+        bool is_active_high = false;
+
+        // custom setters
+        Endstop* parent = nullptr;
+        void set_gpio_num(uint16_t value) { gpio_num = value; parent->apply_config(); }
+        void set_enabled(uint32_t value) { enabled = value; parent->apply_config(); }
+        void set_debounce_ms(uint32_t value) { debounce_ms = value; parent->apply_config(); }
+    };
+
+
+    Endstop::Config_t config_;
+    Axis* axis_ = nullptr;
+
+    bool apply_config();
+
+    void update();
+    constexpr bool get_state(){
+        return endstop_state_;
+    }
+
+    constexpr bool rose(){
+        return (endstop_state_ != last_state_) && endstop_state_;
+    }
+
+    constexpr bool fell(){
+        return (endstop_state_ != last_state_) && !endstop_state_;
+    }
+
+    bool endstop_state_ = false;
+
+   private:
+    bool last_state_ = false;
+    bool pin_state_ = false;
+    float pos_when_pressed_ = 0.0f;
+    Timer<float> debounceTimer_;
+};
+#endif