Merge branch 'devel' into feature/CAN

Firmware/MotorControl/main.cpp

@@ -72,6 +72,8 @@ void load_configuration(void) {
             motor_configs[i] = Motor::Config_t();
             trap_configs[i] = TrapezoidalTrajectory::Config_t();
             axis_configs[i] = Axis::Config_t();
+            // Default step/dir pins are different, so we need to explicitly load them
+            Axis::load_default_step_dir_pin_config(hw_configs[i].axis_config, &axis_configs[i]);
         }
     } else {
         user_config_loaded_ = true;
@@ -187,8 +189,6 @@ int odrive_main(void) {
     // TODO: make dynamically reconfigurable
 #if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
     if (board_config.enable_uart) {
-        axes[0]->config_.enable_step_dir = false;
-        axes[0]->set_step_dir_enabled(false);
         SetGPIO12toUART();
     }
 #endif