Got homing sequenc to work, ....again

motor-control/core-xy-firmware/include/CoreXY.hpp

@@ -0,0 +1,57 @@
+#pragma once
+#include <stdint.h>
+#include "tmc2209/tmc2209.hpp"
+#include "tmc2209/step.hpp"
+
+// LimitSwitch Pins
+#define LIMIT0_PIN 10
+#define LIMIT1_PIN 11
+#define LIMIT2_PIN 12
+#define LIMIT3_PIN 13
+
+// LimitSwich Physical Wiring
+// DONT TOUCH THIS
+#define LIMIT_X0 LIMIT1_PIN
+#define LIMIT_X1 LIMIT3_PIN
+#define LIMIT_Y0 LIMIT2_PIN
+#define LIMIT_Y1 LIMIT0_PIN
+
+// Motor Directions
+#define X_DIRECTION_TOP    0b01
+#define X_DIRECTION_BOTTOM 0b00
+#define Y_DIRECTION_LEFT   0b10
+#define Y_DIRECTION_RIGHT  0b00
+
+// Motor Mapping
+// DONT TOUCH THIS
+#define MOTOR_X 1
+#define MOTOR_Y 0
+
+// Homing Speeds
+#define HOME_SPEED_FAST 10000
+#define HOME_SPEED_SLOW 2000
+#define HOME_SPEED_VERY_SLOW 500
+
+enum HOME_AXIS_DIRECTION {
+    TOP_LEFT     = X_DIRECTION_TOP | Y_DIRECTION_LEFT,
+    TOP_RIGHT    = X_DIRECTION_TOP | Y_DIRECTION_RIGHT,
+    BOTTOM_RIGHT = X_DIRECTION_BOTTOM | Y_DIRECTION_RIGHT,
+    BOTTOM_LEFT  = X_DIRECTION_BOTTOM | Y_DIRECTION_LEFT
+};
+
+struct MotorPosition {
+    int x;
+    int y;
+};
+
+void homeXY(TMC2209_step_dual * driver, HOME_AXIS_DIRECTION direction, unsigned int speed, unsigned int backupSpace, MotorPosition * last_pos);
+MotorPosition homeSequence(TMC2209_step_dual * driver, MotorPosition * last_pos);
+
+
+void initLimitSwitches();
+void isr_LimitSwitch(unsigned int gpio, uint32_t event_mask);
+
+void waitForSwitch(uint32_t switchPin);
+
+void debugPrintSwitch(uint32_t switchPin);
+void printAllSwitchStates();