turning things back on

embedded/mkstepper-v011/mkstepper-v011/main.c

@@ -204,10 +204,6 @@ int main(void)
 	MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM4;
 	uart_init(&up0, 7, SERCOM4_GCLK_ID_CORE, 62675); // baud: 45402 for 921600, 63018 for 115200
 	
-	// CURRENTLY: you dismantled this to unfuck the serial port. result: UP0 broken for reasons not worth investigating
-	
-	/*
-	
 	up1 = uart_new(SERCOM5, &PORT->Group[1], &up1_rbrx, &up1_rbtx, 3, 2, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
 	MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
 	uart_init(&up1, 7, SERCOM5_GCLK_ID_CORE, 62675);
@@ -215,8 +211,6 @@ int main(void)
 	ups[0] = &up0;
 	ups[1] = &up1;
 	
-	/*
-	
 	up0_stlr = pin_new(&PORT->Group[0], 19);
 	pin_output(&up0_stlr);
 	pin_set(&up0_stlr);
@@ -285,6 +279,11 @@ int main(void)
 		apaport_scan(&apap0, 2);
 		apaport_scan(&apap1, 2);
 		
+		/*
+		now: step timer should not accumulate error !
+		*/
+			
+		/*
 		if(stepper.position_ticks_target == stepper.position_ticks){
 			stpcnt ++;
 			//pin_clear(&stlr);
@@ -294,9 +293,9 @@ int main(void)
 		} else {
 			//pin_set(&stlr);
 		}
-    }
 		*/
     }
+}
 
 /*
 next steps (haha)
@@ -314,7 +313,7 @@ minors:
 
 void SysTick_Handler(void){
 	// slow ticker
-	//pin_toggle(&stlb);
+	pin_toggle(&stlb);
 	//pin_toggle(&stlr);
 	
 	//uart_sendchar_buffered(&up0, 120);