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Debounce BBC limit switch #212

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Debounce BBC limit switch #212

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40 changes: 30 additions & 10 deletions components/bbc/src/bbc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@
#define SLP_PIN GPIO_NUM_3
#define FLT_PIN GPIO_NUM_2

#define LIMIT_SWITCH_DEBOUNCE 10

#define PWM_FREQUENCY 10000
#define PWM_INIT_DUTY_CYCLE 0
#define PWM_RESOLUTION 10
Expand All @@ -42,6 +44,11 @@ enum adc_channel_index {
ADC_CHANNELS,
};

enum limit_switch_state {
LIMIT_SWITCH_PRESSED,
LIMIT_SWITCH_RELEASED,
};

#define SAMPLING_RATE_HZ 20000
#define SAMPLES 20

Expand Down Expand Up @@ -181,6 +188,11 @@ static void bbc_init(void)

static void bbc_1kHz(void)
{
static unsigned limit_switch_debounce;
static enum limit_switch_state limit_switch_state;

limit_switch_debounce = MIN(0, limit_switch_debounce - 1);

bool bbc_authorized = CANRX_is_message_SUP_Authorization_ok()
&& CANRX_get_SUP_bbcAuthorized()
&& CANRX_is_message_CTRL_VelocityCommand_ok();
Expand Down Expand Up @@ -226,18 +238,26 @@ static void bbc_1kHz(void)
min_limit_switch_status = gpio_get_level(LIM_SW_MIN);
max_limit_switch_status = gpio_get_level(LIM_SW_MAX);

if (motor_direction) {
if (gpio_get_level(LIM_SW_MAX)) {
gpio_set_level(SLP_PIN, 0);
controller_output = 0.0;
}
} else {
if (gpio_get_level(LIM_SW_MIN)) {
gpio_set_level(SLP_PIN, 0);
controller_output = 0.0;
}
if (!limit_switch_debounce) {
limit_switch_state
= (min_limit_switch_status || max_limit_switch_status)
? LIMIT_SWITCH_PRESSED
: LIMIT_SWITCH_RELEASED;

limit_switch_debounce = LIMIT_SWITCH_DEBOUNCE;
}

if (limit_switch_state == LIMIT_SWITCH_PRESSED) {
if (min_limit_switch_status && (controller_output >= 0.0))
goto skip_disable;

if (max_limit_switch_status && (controller_output <= 0.0))
goto skip_disable;

controller_output = 0.0;
}

skip_disable:
gpio_set_level(DIR_PIN, !motor_direction);

if (controller_output < 0) {
Expand Down
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