including homing sensor

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;
         }