From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Thu, 15 Mar 2018 08:55:40 +0000 (-0700)
Subject: Init I/O later
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=825b69d982cce5113a88eda43c69a628b077f8ae;p=bbctrl-firmware

Init I/O later
---

diff --git a/src/avr/src/motor.c b/src/avr/src/motor.c
index 90d1f9d..d06eb61 100644
--- a/src/avr/src/motor.c
+++ b/src/avr/src/motor.c
@@ -141,11 +141,6 @@ void motor_init() {
 
     _update_config(motor);
 
-    // IO pins
-    PINCTRL_PIN(m->step_pin) = PORT_INVEN_bm; // Inverted output
-    DIRSET_PIN(m->step_pin); // Output
-    DIRSET_PIN(m->dir_pin);  // Output
-
     // Setup motor timer
     m->timer->CTRLB = TC_WGMODE_SINGLESLOPE_gc | TC1_CCAEN_bm;
     m->timer->CCA = F_CPU * 0.000002 / 2; // Step pulse width, 2uS w/ clk/2
@@ -167,6 +162,11 @@ void motor_init() {
     m->dma->REPCNT = 0;
     m->dma->CTRLB = 0;
     m->dma->CTRLA = DMA_CH_SINGLE_bm | DMA_CH_BURSTLEN_1BYTE_gc;
+
+    // IO pins
+    PINCTRL_PIN(m->step_pin) = PORT_INVEN_bm; // Inverted output
+    DIRSET_PIN(m->step_pin); // Output
+    DIRSET_PIN(m->dir_pin);  // Output
   }
 
   axis_map_motors();