From 2dc06e8d79f6216a5143000ffb50414af3b80faf Mon Sep 17 00:00:00 2001
From: Jakob Gegeniger <Jakob.Ger@gmail.com>
Date: Sat, 23 Nov 2024 22:01:01 +0100
Subject: [PATCH] including homing sensor

---
 .vscode/settings.json                        |  2 ++
 CMakeLists.txt                               |  2 +-
 components/movement/include/stepperMotor.hpp | 23 ++++++++++----------
 main/CMakeLists.txt                          |  2 +-
 main/watchMain.cpp                           | 22 ++++++++++++++++---
 5 files changed, 35 insertions(+), 16 deletions(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 8a31c1c..28d34ea 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,4 +1,6 @@
 {
+    "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: LLVM, UseTab: Never, IndentWidth: 4, TabWidth: 4, AllowShortIfStatementsOnASingleLine: false, IndentCaseLabels: false, ColumnLimit: 0, AccessModifierOffset: -2, NamespaceIndentation: All, FixNamespaceComments: false }",
+
     "C_Cpp.intelliSenseEngine": "default",
     "idf.adapterTargetName": "esp32",
     "idf.customExtraPaths": "C:\\Tools\\ESP\\tools\\xtensa-esp-elf-gdb\\14.2_20240403\\xtensa-esp-elf-gdb\\bin;C:\\Tools\\ESP\\tools\\riscv32-esp-elf-gdb\\14.2_20240403\\riscv32-esp-elf-gdb\\bin;C:\\Tools\\ESP\\tools\\xtensa-esp-elf\\esp-13.2.0_20240530\\xtensa-esp-elf\\bin;C:\\Tools\\ESP\\tools\\riscv32-esp-elf\\esp-13.2.0_20240530\\riscv32-esp-elf\\bin;C:\\Tools\\ESP\\tools\\esp32ulp-elf\\2.38_20240113\\esp32ulp-elf\\bin;C:\\Tools\\ESP\\tools\\cmake\\3.24.0\\bin;C:\\Tools\\ESP\\tools\\openocd-esp32\\v0.12.0-esp32-20240318\\openocd-esp32\\bin;C:\\Tools\\ESP\\tools\\ninja\\1.11.1;C:\\Tools\\ESP\\tools\\idf-exe\\1.0.3;C:\\Tools\\ESP\\tools\\ccache\\4.8\\ccache-4.8-windows-x86_64;C:\\Tools\\ESP\\tools\\dfu-util\\0.11\\dfu-util-0.11-win64;C:\\Tools\\ESP\\tools\\esp-rom-elfs\\20240305",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0678268..6a16738 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 3.16)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(X_WatchController-FW)
+project(X_WatchController_FW)
diff --git a/components/movement/include/stepperMotor.hpp b/components/movement/include/stepperMotor.hpp
index a438e07..cdbf965 100644
--- a/components/movement/include/stepperMotor.hpp
+++ b/components/movement/include/stepperMotor.hpp
@@ -128,17 +128,17 @@ class StepperMotor {
 
     void findRef() {
         ESP_LOGI("Stepper", "Homing ...");
-        // if (_initSensor.read()) {
-        //     _mode = Mode::HomingFromSensor;
-        //     ESP_LOGI("Stepper", "First leave HomePos");
-        // } else {
-        //     _mode = Mode::HomingToSensorBegin;
-        //     ESP_LOGI("Stepper", "Find start of HomePos");
-        // }
+        if (_initSensor.read()) {
+            _mode = Mode::HomingFromSensor;
+            ESP_LOGI("Stepper", "First leave HomePos");
+        } else {
+            _mode = Mode::HomingToSensorBegin;
+            ESP_LOGI("Stepper", "Find start of HomePos");
+        }
 
-        // while (_mode != Mode::Idle) {
-        //     fos::Task::delayTicks(1);
-        // }
+        while (_mode != Mode::Idle) {
+            fos::Task::delayTicks(1);
+        }
 
         int fullStep = _config.resolution / 4;
         _driver.setPos(0);
@@ -252,7 +252,7 @@ class StepperMotor {
     Trajectory _trajectory{};
     Position<50, 5> _indexPos{};
 
-    static bool IRAM_ATTR TimerCallParam(HwTimerT<StepperMotor &> &, StepperMotor &stepper) {
+    static bool TimerCallParam(HwTimerT<StepperMotor &> &, StepperMotor &stepper) {
         switch (stepper._mode) {
         case Mode::HomingFromSensor: {
             if (stepper._initSensor.read() == false) {
@@ -302,6 +302,7 @@ class StepperMotor {
         } break;
 
         case Mode::Idle:
+
         default:
             break;
         }
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 0678c5b..4e794bc 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -1,2 +1,2 @@
-idf_component_register(SRCS "watch_main.cpp"
+idf_component_register(SRCS "watchMain.cpp"
                        INCLUDE_DIRS ".")
diff --git a/main/watchMain.cpp b/main/watchMain.cpp
index c2129d0..2548842 100644
--- a/main/watchMain.cpp
+++ b/main/watchMain.cpp
@@ -26,10 +26,12 @@
 #include "ethernet_init.h"
 #include "esp_netif.h"
 #include "esp_eth.h"
+
 // Component header
 #include "Task.hpp"
 #include "PwmExpanderPca9685.hpp"
 #include "StepperDrv8833.hpp"
+#include "stepperMotor.hpp"
 
 static const char *TAG = "Watch";
 static esp_eth_handle_t s_eth_handle = NULL;
@@ -151,17 +153,31 @@ void MovementTask() {
     StepperDriverDrv8833 stepperDriver(stepperPins, MicroSteps);
     stepperDriver.setPos(0);
 
-    while (true) {
+    StepperMotor::Config stepperCfg{1.8F, MicroSteps};
+    InputPort initSens(GPIO_NUM_33);
+    initSens.setLogic(GpioPort::Logic::Inverted);
+    StepperMotor stepper(stepperCfg, stepperDriver, initSens);
+
+    int i = 0;
+    while (i++ < 80) {
         stepperDriver.step(1);
         stepperDriver.getSubPos();
         fos::Task::delayMs(100);
     }
+
+    ESP_LOGI("Stepper", "Find Home");
+    stepper.findRef();
+    ESP_LOGI(TAG, "Fist Position is %f.2", stepper.getScaledPos() * 6);
+    fos::Task::delayMs(1000);
+
+    while (true) {
+        fos::Task::delayMs(100);
+    }
 }
 
 void IoTest() 
 {
     ESP_LOGI(TAG, "Start IO");
-    InputPort in1(GPIO_NUM_33);
     InputPort in2(GPIO_NUM_32);
     InputPort mFault(GPIO_NUM_35);
 
@@ -169,7 +185,7 @@ void IoTest()
     OutputPort nReset(GPIO_NUM_5);
 
     while (true) {
-        ESP_LOGI("Light", "InValues %i %i %i", in1.read(), in2.read(), mFault.read());
+        ESP_LOGI("Light", "InValues %i %i", in2.read(), mFault.read());
         nEnable.write(true);
         nReset.write(true);
         fos::Task::delayMs(500);