From 6eac36c66f71fe76856b7acbdc456e2547a31f71 Mon Sep 17 00:00:00 2001
From: Stefan de Bruijn <stefan@nubilosoft.com>
Date: Tue, 25 May 2021 11:07:31 +0200
Subject: [PATCH] Changed ISR registration in ControlPin to class member
 registration.

---
 Grbl_Esp32/src/ControlPin.cpp |  7 ++-----
 Grbl_Esp32/src/ControlPin.h   | 17 +++++++++--------
 2 files changed, 11 insertions(+), 13 deletions(-)

diff --git a/Grbl_Esp32/src/ControlPin.cpp b/Grbl_Esp32/src/ControlPin.cpp
index 7b1fca2f..4665cc35 100644
--- a/Grbl_Esp32/src/ControlPin.cpp
+++ b/Grbl_Esp32/src/ControlPin.cpp
@@ -8,15 +8,12 @@
 void IRAM_ATTR ControlPin::handleISR() {
     bool pinState = _pin.read();
     _value        = pinState;
+
     if (_rtVariable) {
         *_rtVariable = pinState;
     }
 }
 
-void /* IRAM_ATTR */ ControlPin::handle_control_pin(void* arg) {
-    ((ControlPin*)arg)->handleISR();
-}
-
 void ControlPin::init() {
     if (_pin.defined()) {
         grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "%s switch on pin %s", _legend, _pin.name());
@@ -25,6 +22,6 @@ void ControlPin::init() {
             attr = attr | Pin::Attr::PullUp;
         }
         _pin.setAttr(attr);
-        _pin.attachInterrupt(ControlPin::handle_control_pin, CHANGE, (void*)this);
+        _pin.attachInterrupt<ControlPin, &ControlPin::handleISR>(this, CHANGE);
     }
 }
diff --git a/Grbl_Esp32/src/ControlPin.h b/Grbl_Esp32/src/ControlPin.h
index bd18443b..d4f3534d 100644
--- a/Grbl_Esp32/src/ControlPin.h
+++ b/Grbl_Esp32/src/ControlPin.h
@@ -6,19 +6,20 @@ class ControlPin {
 private:
     // invertBitNum refers to a bit in INVERT_CONTROL_PIN_MASK.  It is a
     // short-term hack to reduce the extent of the patch.
-    bool                        _invertBitNum;
-    bool                        _value;
-    const char                  _letter;
-    volatile bool*              _rtVariable;
-    const char*                 _legend;
-    void IRAM_ATTR              handleISR();
-    static void /* IRAM_ATTR */ handle_control_pin(void* arg);
+    bool           _invertBitNum;
+    bool           _value;
+    const char     _letter;
+    volatile bool* _rtVariable;
+    const char*    _legend;
+
+    void IRAM_ATTR handleISR();
 
 public:
     ControlPin(uint8_t bitNum, volatile bool* rtVariable, const char* legend, char letter) :
         _invertBitNum(bitNum), _value(false), _letter(letter), _rtVariable(rtVariable), _legend(legend) {}
 
-    Pin         _pin;
+    Pin _pin;
+
     bool        get() { return _value; }
     const char* legend() { return _legend; }
     //    char        invertBitNum() { return _invertBitNum; }