diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 00c58d7..928c782 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 45563fa..be9b1a6 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -75,7 +75,12 @@
"stop_token": "cpp",
"thread": "cpp",
"early_ticket.h": "c",
- "chrono": "cpp"
+ "chrono": "cpp",
+ "charconv": "cpp",
+ "cstring": "cpp",
+ "optional": "cpp",
+ "ranges": "cpp",
+ "span": "cpp"
},
"files.autoGuessEncoding": false,
"files.encoding": "gbk"
diff --git a/sdk b/sdk
index 8cf48f3..9de9f89 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 8cf48f33ade97f6e95c654429722b06f6818ccc3
+Subproject commit 9de9f8940b0013d7a97db35e0acad9a4e072015a
diff --git a/usrc/main.cpp b/usrc/main.cpp
index e747f84..b6efddc 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -11,6 +11,7 @@
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.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;
@@ -54,7 +55,7 @@ static void initsubmodule() {
osDelay(1000);
{
static TMC5130 g_motor;
- static StepMotorCtrlModule g_stepMotorCtrlModule;
+ static TMC51X0Motor g_stepMotorCtrlModule;
TMC5130::cfg_t cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = MOTOR0_CSN, //
@@ -69,8 +70,8 @@ static void initsubmodule() {
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);
- StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
- StepMotorCtrlModule::create_default_cfg(smcm_cfg);
+ TMC51X0Motor::flash_config_t smcm_cfg = {0};
+ TMC51X0Motor::create_default_cfg(smcm_cfg);
smcm_cfg.base_param.motor_one_circle_pulse = 1000;
smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1;
smcm_cfg.base_param.stepmotor_ihold = 1;
diff --git a/电机底层开发要求.md b/电机底层开发要求.md
new file mode 100644
index 0000000..abde013
--- /dev/null
+++ b/电机底层开发要求.md
@@ -0,0 +1,78 @@
+1. ͬĵͬĸأͬٶȣҪòͬIJ
+ ----->
+2. һб
+1. ʱ
+2.
+-------------------------------------------------------------------------------
+
+
+
+ 1. ʼԵŻ
+ 2. ȦãҪڵɡ
+ 3. һָϣlist
+ 4. IJԸĿд
+
+ɺĿ:
+ 1. һȦӦö롣絥λmm,ߵλ0.01
+ 2. ϲ˵ģʹ˱ϱʵλá
+ 3. ײԼ鶪¼¼ʱϱ¼¼ļ ɵײ
+ 4. ϲ㲻ҪԵκãֱʹᣴ룬ʱDzֲ
+ 5. ֻҪϲ·һָ
+ 6. ڹ㳬ʱɵײԼ
+
+ƬҪú:
+ 1. Ĭٶȣ٣٣٣
+ 2. ϲٶȵȼ٣٣٣
+ 3. ÿٶȵȼҪֲ
+ ٶȣٶ........
+ ÿٶʹһIJ
+
+ 4.
+
+λҪֽ֧űء
+
+
+
+ cmdType, regadd regval speedlevel
+ local_reg 0/default
+ subdevice_reg
+
+
+------------------------------------------------------------------------
+ȥֳ汾:
+ 1. λ&
+ 2.
+
+ȥֳ汾:
+ 1. ȡʵλ()
+ 1. ȡλ()
+ 2. ,
+ 3. õıֵúתӣ
+
+
+ 1. ͬǰһ
+ 2. һset_cover_regָ
+ 3. readposȡλDZλãб
+ 4. ײλǷƫƫ
+ 5. ϲԶȡƫֵ
+ 6. ϲñƫֵ
+ 7. յ⣬ҪϲԼ顣ϲӦóָţţԶָ
+ 8. ʱλá
+ 9. ϲԶֵ
+
+
+
+------------------------------------------------------------------------
+
+
+
+setspeedlevel
+ Dz
+
+òֲ()
+
+move_to_zero
+
+
+
+
\ No newline at end of file