From 677133d85b6e9b5b99c28debf0219087e563a42e Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Wed, 5 Aug 2020 11:54:39 -0700
Subject: [PATCH] fix incorrect step_cb

---
 Firmware/MotorControl/axis.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 04a802c6..f5771cd2 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -118,10 +118,12 @@ bool Axis::wait_for_current_meas() {
 
 // step/direction interface
 void Axis::step_cb() {
-    const bool dir_pin = dir_port_->IDR & dir_pin_;
-    const int32_t dir = (-1 + 2 * dir_pin) * step_dir_active_;
-    controller_.input_pos_ += dir * config_.turns_per_step;
-    controller_.input_pos_updated();
+    if (step_dir_active_) {
+        const bool dir_pin = (dir_port_->IDR & dir_pin_);
+        const float dir = dir_pin ? 1.0f : -1.0f;
+        controller_.input_pos_ += dir * config_.turns_per_step;
+        controller_.input_pos_updated();
+    }
 };
 
 void Axis::load_default_step_dir_pin_config(