From 07b967e5e2638802844a839dc271513310fbd5cf Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Wed, 1 May 2024 17:35:37 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E4=BF=AE=E6=94=B9=E8=BF=90=E5=8A=A8?=
 =?UTF-8?q?=E6=96=B9=E5=90=91?=
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---
 app/by_stepper.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/app/by_stepper.c b/app/by_stepper.c
index abb2150..bfa381a 100644
--- a/app/by_stepper.c
+++ b/app/by_stepper.c
@@ -116,7 +116,7 @@ void by_stepper_init(void)
     DWT_Delay(40U * (uint16_t)by_stepper.speed);
   }
 
-  by_stepper_set_speed(STEPPER_SPEED_DIV1);
+  by_stepper_set_speed(STEPPER_SPEED_DIV4);
 
   while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET) {
     gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE);                    // DIR
@@ -135,7 +135,7 @@ void by_stepper_init(void)
 void by_stepper_loop(void)
 {
   int16_t temp = (int16_t)tmr_counter_value_get(TMR3);
-  position += (int64_t)temp;
+  position -= (int64_t)temp;
   tmr_counter_value_set(TMR3, 0);
 
   if (running_flag) {
@@ -148,10 +148,10 @@ void by_stepper_loop(void)
     } else // 正常模式
     {
       if (position_offset > 0) {
-        by_stepper_set_dir(0);
+        by_stepper_set_dir(1);
         by_stepper_run();
       } else if (position_offset < 0) {
-        by_stepper_set_dir(1);
+        by_stepper_set_dir(0);
         by_stepper_run();
       }
 
@@ -165,7 +165,7 @@ void by_stepper_loop(void)
     }
 
   } else {
-    by_stepper_stop(0);
+    by_stepper_stop(1);
   }
 
   // if (position_offset) {