fix some bug

chip/zgpio.cpp

@@ -119,9 +119,6 @@ bool ZGPIO::enableClock() {
   return false;
 }
 
-
-
-
 void regIRQGPIO(ZGPIO *gpio) {
   for (int i = 0; i < s_irqGPIO_num; i++) {
     if (s_irqGPIO[i] == gpio) {
@@ -144,27 +141,36 @@ void ZGPIO::initAsInput(Pin_t pin, GPIOMode_t mode, GPIOIrqType_t irqtype, bool
   m_gpio   = chip_get_gpio(pin);
   m_pinoff = chip_get_pinoff(pin);
 
+  uint32_t pulluptype = 0;
+  if (mode == kMode_nopull) {
+    pulluptype = GPIO_NOPULL;
+  } else if (mode == kMode_pullup) {
+    pulluptype = GPIO_PULLUP;
+  } else if (mode == kMode_pulldown) {
+    pulluptype = GPIO_PULLDOWN;
+  }
+
   enableClock();
   GPIO_InitTypeDef m_GPIO_InitStruct = {0};
   if (m_irqtype == kIRQ_noIrq) {
     m_GPIO_InitStruct.Pin   = m_pinoff;
     m_GPIO_InitStruct.Mode  = GPIO_MODE_INPUT;
-    m_GPIO_InitStruct.Pull  = 0;
+    m_GPIO_InitStruct.Pull  = pulluptype;
     m_GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   } else if (m_irqtype == kIRQ_risingIrq) {
     m_GPIO_InitStruct.Pin   = m_pinoff;
     m_GPIO_InitStruct.Mode  = m_mirror ? GPIO_MODE_IT_FALLING : GPIO_MODE_IT_RISING;
-    m_GPIO_InitStruct.Pull  = 0;
+    m_GPIO_InitStruct.Pull  = pulluptype;
     m_GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   } else if (m_irqtype == kIRQ_fallingIrq) {
     m_GPIO_InitStruct.Pin   = m_pinoff;
     m_GPIO_InitStruct.Mode  = !m_mirror ? GPIO_MODE_IT_FALLING : GPIO_MODE_IT_RISING;
-    m_GPIO_InitStruct.Pull  = 0;
+    m_GPIO_InitStruct.Pull  = pulluptype;
     m_GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   } else if (m_irqtype == kIRQ_risingAndFallingIrq) {
     m_GPIO_InitStruct.Pin   = m_pinoff;
     m_GPIO_InitStruct.Mode  = GPIO_MODE_IT_RISING_FALLING;
-    m_GPIO_InitStruct.Pull  = 0;
+    m_GPIO_InitStruct.Pull  = pulluptype;
     m_GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   }
 

components/step_motor_45/step_motor_45.cpp

@@ -83,11 +83,14 @@ int32_t StepMotor45::stop() {
 }
 int32_t StepMotor45::zero_calibration() {
   CriticalContext cc;
+  ZLOGI(TAG, "zero_calibration1 %d", getzeropinstate());
   if (getzeropinstate()) {
+    ZLOGI(TAG, "zero_calibration2");
     m_calibration = true;
     m_pos         = 0;
     return (int32_t)0;
   }
+  ZLOGI(TAG, "zero_calibration");
   m_exec_zero_calibration_task = true;
   m_state                      = krollback;
   return (int32_t)0;
@@ -96,14 +99,18 @@ int32_t StepMotor45::zero_calibration() {
 void StepMotor45::onTimIRQ1ms() {
   CriticalContext cc;
   if (m_state == kstop) {
+    m_lastzeropinstate = getzeropinstate();
     return;
+  } else {
+    schedule();
   }
-  schedule();
 }
 
 int32_t StepMotor45::get_zero_pin_state(int32_t& state) {
   CriticalContext cc;
   state = getzeropinstate();
+  // ZLOGI(TAG, "zero_calibration1 %d", getzeropinstate());
+
   return (int32_t)0;
 }