Miscullaneous stuff that really should have already been in here

include/core/io/CANopen.hpp

@@ -96,6 +96,15 @@ void initializeCANopenNode(CO_NODE* canNode, CANDevice* canDevice, CO_IF_DRV* ca
  */
 void processCANopenNode(CO_NODE* canNode);
 
+/**
+ * Alert a canOpen TPDO to send the TPDO's values.
+ * DISCLAIMER: Does not immediately send said TPDO, just flags it for the next time processCANopenNode() runs.
+ *
+ * @param canNode the can node
+ * @param tpdoNum the TPDO number to be sent
+ */
+void alertTPDO(CO_NODE* canNode, uint16_t tpdoNum);
+
 /**
  * This function starts an asynchronous SDO download (write) request to transfer data
  * to the specified object dictionary entry on the target CANopen node.

include/core/io/GPIO.hpp

@@ -155,6 +155,11 @@ class GPIO {
      */
     virtual void writePin(State state) = 0;
 
+    /**
+     * Set the output of this pin to the opposite of the current logic state.
+     */
+    virtual void togglePin() = 0;
+
     /**
      * Read the current logic state of this pin.
      *

include/core/io/platform/f3xx/GPIOf3xx.hpp

@@ -32,6 +32,8 @@ class GPIOf3xx : public GPIO {
 
     void writePin(State state) override;
 
+    void togglePin() override;
+
     State readPin() override;
 
     void registerIRQ(TriggerEdge edge, void (*irqHandler)(GPIO* pin, void* priv), void* priv) override;

include/core/io/platform/f4xx/GPIOf4xx.hpp

@@ -31,6 +31,8 @@ class GPIOf4xx : public GPIO {
 
     void writePin(State state) override;
 
+    void togglePin() override;
+
     State readPin() override;
 
     void registerIRQ(TriggerEdge edge, void (*irqHandler)(GPIO* pin, void* priv), void* priv) override;

src/core/dev/LED.cpp

@@ -7,13 +7,7 @@ LED::LED(core::io::GPIO& gpio, LED::ActiveState activeState) : gpio(gpio) {
 }
 
 void LED::toggle() {
-    core::io::GPIO::State currentState = this->gpio.readPin();
-
-    if (core::io::GPIO::State::LOW == currentState) {
-        this->gpio.writePin(core::io::GPIO::State::HIGH);
-    } else {
-        this->gpio.writePin(core::io::GPIO::State::LOW);
-    }
+    this->gpio.togglePin();
 }
 
 void LED::setState(core::io::GPIO::State state) {

src/core/io/CANopen.cpp

@@ -161,6 +161,10 @@ void processCANopenNode(CO_NODE* canNode) {
     COTmrProcess(&canNode->Tmr);
 }
 
+void alertTPDO(CO_NODE* canNode, uint16_t tpdoNum) {
+    COTPdoTrigPdo(canNode->TPdo, tpdoNum);
+}
+
 CO_ERR SDOTransfer(CO_NODE& node, uint8_t* data, uint8_t size, uint32_t entry, csdo_callback_t transferCallback,
                    void* transferContext) {
     while (state.inProgress == true) {

src/core/io/platform/f3xx/GPIOf3xx.cpp

@@ -105,6 +105,10 @@ void GPIOf3xx::writePin(GPIO::State state) {
     HAL_GPIO_WritePin(this->port, this->halPin, static_cast<GPIO_PinState>(state));
 }
 
+void GPIOf3xx::togglePin() {
+    HAL_GPIO_TogglePin(this->port, this->halPin);
+}
+
 GPIO::State GPIOf3xx::readPin() {
     return static_cast<GPIO::State>(HAL_GPIO_ReadPin(this->port, this->halPin));
 }

src/core/io/platform/f4xx/GPIOf4xx.cpp

@@ -119,6 +119,10 @@ void GPIOf4xx::writePin(GPIO::State state) {
     HAL_GPIO_WritePin(this->port, this->halPin, static_cast<GPIO_PinState>(state));
 }
 
+void GPIOf4xx::togglePin() {
+    HAL_GPIO_TogglePin(this->port, this->halPin);
+}
+
 GPIO::State GPIOf4xx::readPin() {
     return static_cast<GPIO::State>(HAL_GPIO_ReadPin(this->port, this->halPin));
 }