fix some bug

components/single_axis_motor_control/single_axis_motor_control.cpp

@@ -178,7 +178,10 @@ icps::error_t SingleAxisMotorControler::runToHome() {
    */
   m_step_scheduler.pushActionAction([this](StepActionContext* context) {  //
     ZLOGI(m_name, "runToHome step 2 move away from zero point");
-    regGpioIrqProcesser(nullptr);
+    regGpioIrqProcesser([this](ZGPIO* GPIO_Pin, ZGPIO::IrqTypeEvent_t irqevent) {
+      if (GPIO_Pin != m_homegpio) return;
+      m_motor->stop();
+    });
     motor_moveBy(cfg_runtohome_leave_zero_point_distance->getValue(),  //
                  cfg_runhome_velocity->getValue(),                     //
                  cfg_acc->getValue(),                                  //
@@ -197,10 +200,10 @@ icps::error_t SingleAxisMotorControler::runToHome() {
       m_runToHomeContext.zeroPointPos = m_motor->getXACTUAL();
       m_motor->stop();
     });
-    motor_moveBy(-cfg_runtohome_leave_zero_point_distance->getValue() * 1.5,  //
-                 cfg_runhome_velocity->getValue(),                            //
-                 cfg_acc->getValue(),                                         //
-                 cfg_runtohome_dec->getValue());                              // 此时处于零点位置，先离开原点一定位置
+    motor_moveBy(-cfg_runtohome_leave_zero_point_distance->getValue(),  //
+                 cfg_runhome_velocity->getValue(),                      //
+                 cfg_acc->getValue(),                                   //
+                 cfg_runtohome_dec->getValue());                        // 此时处于零点位置，先离开原点一定位置
   });
   m_step_scheduler.pushActionIsDone([this](StepActionContext* context) {
     if (motorIsStop(context)) {