From 52ac4c19562ed75861ed28fff4d2f3e1748cf950 Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Mon, 10 Jun 2024 17:42:53 +0800
Subject: [PATCH] =?UTF-8?q?pref:=20=E4=B8=8A=E7=94=B5=E5=A4=8D=E4=BD=8D?=
 =?UTF-8?q?=E5=88=B0=E6=8C=87=E5=AE=9A=E4=BD=8D=E7=BD=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 BC3D.ATWP           |  1 -
 BC3D.code-workspace |  2 +-
 app/by_stepper.c    | 17 ++++++++++-------
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/BC3D.ATWP b/BC3D.ATWP
index 8caf8f4..0f70aa2 100644
--- a/BC3D.ATWP
+++ b/BC3D.ATWP
@@ -18,7 +18,6 @@
             <ParametersSub name="RSAW" value="CAN_RSAW_1TQ"/>
             <ParametersSub name="Filter_0_Mode" value="CAN_FILTER_MODE_ID_LIST"/>
             <ParametersSub name="Filter_0_ID1" value="006"/>
-            <ParametersSub name="Filter_0_ID2" value="000"/>
             <ParametersSub name="Filter_0_ID3" value="007"/>
         </Parameters>
     </CAN1>
diff --git a/BC3D.code-workspace b/BC3D.code-workspace
index 362d592..a4f1757 100644
--- a/BC3D.code-workspace
+++ b/BC3D.code-workspace
@@ -30,7 +30,7 @@
             "titleBar.activeBackground": "#3B3485",
             "titleBar.activeForeground": "#FCFCFE"
         },
-        "EIDE.OpenOCD.ExePath": "C:/toolchains/openocd-arterytek/bin/openocd.exe",
+        "EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe",
         "cortex-debug.variableUseNaturalFormat": true
     }
 }
\ No newline at end of file
diff --git a/app/by_stepper.c b/app/by_stepper.c
index abb2150..6e71b91 100644
--- a/app/by_stepper.c
+++ b/app/by_stepper.c
@@ -108,13 +108,13 @@ void by_stepper_init(void)
   gpio_bits_write(GPIOB, GPIO_PINS_15, FALSE); // CLK
 
   by_stepper_set_dir(0);
-  by_stepper_set_speed(STEPPER_SPEED_DIV2);
+  // by_stepper_set_speed(STEPPER_SPEED_DIV2);
 
-  while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET && slow_start_cnt--) {
-    gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE);                    // DIR
-    gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
-    DWT_Delay(40U * (uint16_t)by_stepper.speed);
-  }
+  // while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET && slow_start_cnt--) {
+  //   gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE);                    // DIR
+  //   gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
+  //   DWT_Delay(40U * (uint16_t)by_stepper.speed);
+  // }
 
   by_stepper_set_speed(STEPPER_SPEED_DIV1);
 
@@ -130,6 +130,9 @@ void by_stepper_init(void)
   tmr_counter_value_set(TMR3, 0);
 
   LOGD("by_stepper init ok");
+
+  by_stepper_set_dir(1);
+  by_stepper_set_position_millimeter(-160.0f);
 }
 
 void by_stepper_loop(void)
@@ -165,7 +168,7 @@ void by_stepper_loop(void)
     }
 
   } else {
-    by_stepper_stop(0);
+    by_stepper_stop(1);
   }
 
   // if (position_offset) {