From 1d465c1412f2d6ce5a95880b8715a1b7f06473b6 Mon Sep 17 00:00:00 2001
From: ahiuchingau <20424172+ahiuchingau@users.noreply.github.com>
Date: Wed, 7 Aug 2024 18:15:52 -0400
Subject: [PATCH] well two out of three motors are now stepping

---
 .../firmware/motor_control/motor_hardware.c            |  4 ++--
 .../flex-stacker/firmware/ui/freertos_ui_task.cpp      |  2 +-
 stm32-modules/flex-stacker/firmware/ui/ui_hardware.c   |  4 ++--
 .../include/flex-stacker/firmware/motor_interrupt.hpp  | 10 +++++-----
 .../flex-stacker/flex-stacker/motor_driver_task.hpp    |  2 +-
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c b/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c
index 4cee69446..3f3dc4eab 100644
--- a/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c
+++ b/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c
@@ -219,8 +219,8 @@ void MX_TIM3_Init(void) {
 
 void motor_hardware_interrupt_init(void){
     MX_TIM17_Init();
-//    MX_TIM20_Init();
-//    MX_TIM3_Init();
+    MX_TIM20_Init();
+    MX_TIM3_Init();
 }
 
 void motor_hardware_init(void){
diff --git a/stm32-modules/flex-stacker/firmware/ui/freertos_ui_task.cpp b/stm32-modules/flex-stacker/firmware/ui/freertos_ui_task.cpp
index 9f2f3513a..a69376669 100644
--- a/stm32-modules/flex-stacker/firmware/ui/freertos_ui_task.cpp
+++ b/stm32-modules/flex-stacker/firmware/ui/freertos_ui_task.cpp
@@ -1,7 +1,7 @@
 #include "firmware/freertos_tasks.hpp"
 #include "firmware/ui_hardware.h"
 
-static constexpr uint32_t HALF_SECOND = 100;
+static constexpr uint32_t HALF_SECOND = 500;
 
 namespace ui_control_task {
 
diff --git a/stm32-modules/flex-stacker/firmware/ui/ui_hardware.c b/stm32-modules/flex-stacker/firmware/ui/ui_hardware.c
index f9f01ebaa..cf57bde44 100644
--- a/stm32-modules/flex-stacker/firmware/ui/ui_hardware.c
+++ b/stm32-modules/flex-stacker/firmware/ui/ui_hardware.c
@@ -13,6 +13,6 @@ void ui_hardware_set_heartbeat_led(bool setting) {
     HAL_GPIO_WritePin(nSTATUS_LED_GPIO_Port, nSTATUS_LED_Pin,
         setting ? GPIO_PIN_SET : GPIO_PIN_RESET);
 
-    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_2,
-                      setting ? GPIO_PIN_SET : GPIO_PIN_RESET);
+//    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_2,
+//                      setting ? GPIO_PIN_SET : GPIO_PIN_RESET);
 }
diff --git a/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp b/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp
index e30e80e39..f6a09f85d 100644
--- a/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp
+++ b/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp
@@ -9,11 +9,11 @@ class MotorInterruptController {
   public:
     MotorInterruptController(MotorID m_id): m_id(m_id) {}
     void tick() {
-//        unstep_motor(m_id);
-//        step_count = (step_count + 1) % 20000;
-//        if (step_count == 0) {
-//            step_motor(m_id);
-//        }
+        unstep_motor(m_id);
+        step_count = (step_count + 1) % 20000;
+        if (step_count == 0) {
+            step_motor(m_id);
+        }
     }
   private:
     MotorID m_id;
diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp
index 5a000d7a0..1c5640e6f 100644
--- a/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp
+++ b/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp
@@ -67,7 +67,7 @@ static constexpr tmc2160::TMC2160RegisterMap motor_x_config{
                  .hstrt = 0b111,
                  .hend = 0b1001,
                  .tbl = 0b1,
-                 .mres = 0b100},
+                 .mres = 0b1000},
     .coolconf = {.semin = 0b11, .semax = 0b100},
     .pwmconf = {.pwm_ofs = 0x1F,
                 .pwm_grad = 0x18,