basic hw in the loop - pwm self validation #2028

firmware/development/logic_analyzer.cpp

@@ -233,7 +233,7 @@ void startLogicAnalyzerPins() {
 
 void stopLogicAnalyzerPins() {
 	for (int index = 0; index < LOGIC_ANALYZER_CHANNEL_COUNT; index++) {
-		brain_pin_e brainPin = CONFIG(logicAnalyzerPins)[index];
+		brain_pin_e brainPin = activeConfiguration.logicAnalyzerPins[index];
 
 		if (brainPin != GPIO_UNASSIGNED) {
 			stopDigitalCapture("wave input", brainPin);

firmware/hw_layer/digital_input/digital_input_icu.cpp

@@ -219,7 +219,7 @@ void stopDigitalCapture(const char *msg, brain_pin_e brainPin) {
 	if (driver == NULL) {
 		return;
 	}
-	efiSetPadUnused(brainPin);
+
 	int regSize = registeredIcus.size;
 	for (int i = 0; i < regSize; i++) {
 		if (registeredIcus.elements[i].driver == driver) {

firmware/hw_layer/drivers/can/can_hw.cpp

@@ -151,6 +151,7 @@ void enableFrankensoCan(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engineConfiguration->canReadEnabled = false;
 }
 
+// todo: we usually use 'activeConfiguration' for 'stopPin' why this unusual code here?
 // this is related to #1375
 static brain_pin_e currentTxPin = GPIO_UNASSIGNED;
 static brain_pin_e currentRxPin = GPIO_UNASSIGNED;

firmware/hw_layer/hardware.cpp

@@ -304,8 +304,14 @@ void stopSpi(spi_device_e device) {
  */
 
 void applyNewHardwareSettings(void) {
-    // all 'stop' methods need to go before we begin starting pins
-
+    /**
+     * All 'stop' methods need to go before we begin starting pins.
+     *
+     * We take settings from 'activeConfiguration' not 'engineConfiguration' while stopping hardware.
+     * Some hardware is restart unconditionally on change of parameters while for some systems we make extra effort and restart only
+     * relevant settings were changes.
+     *
+     */
 	ButtonDebounce::stopConfigurationList();
 
 #if EFI_SHAFT_POSITION_INPUT