fix subscribe and unsubscribe to idx pin

odriverobotics · Apr 25, 2019 · 1196026 · 1196026
1 parent 7190e08
commit 1196026
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diff --git a/Firmware/Board/v3/Src/gpio.c b/Firmware/Board/v3/Src/gpio.c
@@ -236,6 +236,8 @@ bool GPIO_subscribe(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin,
   GPIO_InitStruct.Pull = pull_up_down;
   HAL_GPIO_Init(GPIO_port, &GPIO_InitStruct);
 
+  // Clear any previous triggers
+  __HAL_GPIO_EXTI_CLEAR_IT(GPIO_pin);
   // Enable interrupt
   HAL_NVIC_SetPriority(get_irq_number(GPIO_pin), 0, 0);
   HAL_NVIC_EnableIRQ(get_irq_number(GPIO_pin));

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
@@ -123,6 +123,7 @@ bool Encoder::run_index_search() {
     if (!config_.idx_search_unidirectional && axis_->motor_.config_.direction == 0) {
         axis_->motor_.config_.direction = 1;
     }
+    set_idx_subscribe();
 
     bool orig_finish_on_enc_idx = axis_->config_.lockin.finish_on_enc_idx;
     axis_->config_.lockin.finish_on_enc_idx = true;