update

sdk

@@ -1 +1 @@
-Subproject commit 9de9f8940b0013d7a97db35e0acad9a4e072015a
+Subproject commit e2554e9bad20de9474f430bf46571d6082ae50c1

usrc/main.cpp

@@ -1,5 +1,7 @@
 #include <stddef.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
 
 #include "board.h"
 #include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
@@ -9,9 +11,9 @@
 #include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
 #include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
 #include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
+#include "sdk\components\step_motor_ctrl_module\tmc51x0_motor.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
-#include "sdk\components\step_motor_ctrl_module\tmc51x0_motor.hpp"
 
 #define TAG "main"
 using namespace iflytop;
@@ -54,18 +56,50 @@ void        nvs_init_cb() {}
 static void initsubmodule() {
   osDelay(1000);
   {
-    static TMC5130             g_motor;
+    static TMC5130      g_motor;
     static TMC51X0Motor g_stepMotorCtrlModule;
-    TMC5130::cfg_t             cfg = {
-                    .spi             = &TMC_MOTOR_SPI,          //
-                    .csgpio          = MOTOR0_CSN,              //
-                    .ennPin          = MOTOR0_ENN,              //
-                    .spi_mode_select = MOTOR0_SPI_MODE_SELECT,  //
+    TMC5130::cfg_t      cfg = {
+             .spi             = &TMC_MOTOR_SPI,          //
+             .csgpio          = MOTOR0_CSN,              //
+             .ennPin          = MOTOR0_ENN,              //
+             .spi_mode_select = MOTOR0_SPI_MODE_SELECT,  //
     };
     g_motor.initialize(&cfg);
     ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
-    g_motor.enable(true);
+    g_motor.enable(false);
     g_motor.setMotorShaft(false);
+
+#if 0
+    // g_motor.setMotorShaft(true);
+
+    // void    writeInt(uint8_t address, int32_t value);
+    // int32_t readInt(uint8_t address);
+
+    int32_t enc_const_integral   = 12;
+    float   enc_const_fractional = 0.8;
+
+    int32_t setval = (enc_const_integral << 16) + enc_const_fractional * 10000;
+     setval = -setval;
+    ZLOGI(TAG, "setval:%d", setval);
+    g_motor.writeInt(TMC5130_ENC_CONST, setval);
+    g_motor.writeInt(TMC5130_ENCMODE, 0x1 << 10);
+
+    g_motor.setIHOLD_IRUN(2, 6, 1000);
+    g_motor.setENCVAL(0);
+    g_motor.enable(true);
+      osDelay(100);
+    g_motor.setENCVAL(0);
+    // g_motor.moveBy(51200, 100000);
+    g_motor.moveBy(51200, 100000);
+
+    while (true) {
+      int32_t enc     = g_motor.readInt(TMC5130_XENC);
+      int32_t xactual = g_motor.readInt(TMC5130_XACTUAL);
+      ZLOGI(TAG, "enc:%d %d %d", enc, xactual, enc - xactual);
+      osDelay(1000);
+    }
+#endif
+
     static ZGPIO input[10];
     input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
     input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);