TMC电机驱动支持多个默认速度

protocol/cmdid.cpp

@@ -23,7 +23,6 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kmodule_get_type),              //
     CMD_ITERM(kmodule_get_status),            //
 
-
     CMD_ITERM(kxymotor_enable),                    //
     CMD_ITERM(kxymotor_move_by),                   //
     CMD_ITERM(kxymotor_move_to),                   //
@@ -58,6 +57,10 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kstep_motor_active_cfg),                     //
     CMD_ITERM(kstep_motor_read_io_state),                  //
     CMD_ITERM(kstep_motor_easy_move_to_end_point),         //
+    CMD_ITERM(kstep_motor_move_by),                        //
+    CMD_ITERM(kstep_motor_move_to),                        //
+    CMD_ITERM(kstep_motor_move_to_zero_point_quick),       //
+    CMD_ITERM(kstep_motor_rotate),                         //
     CMD_ITERM(kstep_motor_read_tmc5130_status),            //
     CMD_ITERM(kstep_motor_read_tmc5130_state),             //
     CMD_ITERM(kstep_motor_read_io_index_in_stm32),         //

protocol/cmdid.hpp

@@ -13,36 +13,21 @@ typedef enum {
 
   kevent_bus_reg_change_report = 0x0064,  //{regindex,oldval,toval}
 
-  kmodule_ping   = 0x0101,
-  kmodule_stop   = 0x0102,
+  kmodule_ping = 0x0101,
+  kmodule_stop = 0x0102,
 
   kmodule_get_error            = 0x0110,
   kmodule_get_detail_errorcode = 0x0111,
   kmodule_clear_error          = 0x0112,
 
-  kmodule_set_reg    = 0x0120,
-  kmodule_get_reg    = 0x0121,
-  kmodule_reset_reg  = 0x0123,
+  kmodule_set_reg   = 0x0120,
+  kmodule_get_reg   = 0x0121,
+  kmodule_reset_reg = 0x0123,
 
   kmodule_get_version = 0x0130,
   kmodule_get_type    = 0x0131,
   kmodule_get_status  = 0x0132,
 
-  // kmodule_ping        = 0x0100,  //
-  // kmodule_stop        = 0x0101,  //
-  // kmodule_enable      = 0x0102,  //
-  // kmodule_clear_error = 0x0103,  //
-  // kmodule_active_cfg  = 0x0104,  //
-  // kmodule_reset_reg   = 0x0105,  //
-  // kmodule_set_reg     = 0x0106,  //(int32_t index,int32_t val)->()
-  // kmodule_get_reg     = 0x0107,  //(int32_t index)->(int32_t val)
-
-  // kmodule_get_version          = 0x0150,  //()->int32_t
-  // kmodule_get_type             = 0x0151,  //()->int32_t
-  // kmodule_get_status           = 0x0153,  //{}{int32_t}
-  // kmodule_get_error            = 0x0154,  //
-  // kmodule_get_detail_errorcode = 0x0155,  //()->int32_t
-
   //
   kxymotor_enable                   = 0x0301,  //
   kxymotor_move_by                  = 0x0302,  //
@@ -81,6 +66,10 @@ typedef enum {
   kstep_motor_active_cfg                    = 0x0229,  //
   kstep_motor_read_io_state                 = 0x022a,  //
   kstep_motor_easy_move_to_end_point        = 0x022c,  //
+  kstep_motor_move_by                       = 0x021d,  // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+  kstep_motor_move_to                       = 0x021e,  // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+  kstep_motor_move_to_zero_point_quick      = 0x021f,  // (speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
+  kstep_motor_rotate                        = 0x0220,  //
   kstep_motor_read_tmc5130_status           = 0x0232,  //
   kstep_motor_read_tmc5130_state            = 0x0233,  //
   kstep_motor_read_io_index_in_stm32        = 0x0238,  //
@@ -88,16 +77,17 @@ typedef enum {
   kstep_motor_get_subdevice_reg             = 0x023a,  //
   kstep_motor_easy_reciprocating_motion     = 0x022d,  //
   kstep_motor_easy_move_to_zero_point_quick = 0x022e,  //
-  kmini_servo_enable                        = 0x6601,  //
-  kmini_servo_read_pos                      = 0x6602,  //
-  kmini_servo_active_cfg                    = 0x6603,  //
-  kmini_servo_stop                          = 0x6604,  //
-  kmini_servo_set_mid_point                 = 0x6607,  //
-  kmini_servo_read_io_state                 = 0x6608,  //
-  kmini_servo_move_to                       = 0x6609,  //
-  kmini_servo_rotate                        = 0x660a,  //
-  kmini_servo_rotate_with_torque            = 0x660b,  //
-  kmini_servo_set_cur_pos                   = 0x660c,  //
+
+  kmini_servo_enable             = 0x6601,  //
+  kmini_servo_read_pos           = 0x6602,  //
+  kmini_servo_active_cfg         = 0x6603,  //
+  kmini_servo_stop               = 0x6604,  //
+  kmini_servo_set_mid_point      = 0x6607,  //
+  kmini_servo_read_io_state      = 0x6608,  //
+  kmini_servo_move_to            = 0x6609,  //
+  kmini_servo_rotate             = 0x660a,  //
+  kmini_servo_rotate_with_torque = 0x660b,  //
+  kmini_servo_set_cur_pos        = 0x660c,  //
 
   kextboard_read_inio                 = 0x6701,  // para:{index}, ack:{state}
   kextboard_write_outio               = 0x6702,  // para:{index,state}, ack:{}

protocol/reg_index.cpp

@@ -147,6 +147,9 @@ static reginfo_t table[] = {
     REG_ITERM(kreg_step_motor_one_circle_pulse),
     REG_ITERM(kreg_step_motor_one_circle_pulse_denominator),
     REG_ITERM(kreg_step_motor_default_velocity),
+    REG_ITERM(kreg_step_motor_low_velocity),
+    REG_ITERM(kreg_step_motor_mid_velocity),
+    REG_ITERM(kreg_step_motor_high_velocity),
     REG_ITERM(kreg_step_motor_ihold),
     REG_ITERM(kreg_step_motor_irun),
     REG_ITERM(kreg_step_motor_iholddelay),

protocol/reg_index.hpp

@@ -166,6 +166,9 @@ typedef enum {
   kreg_step_motor_one_circle_pulse             = 10152,  // x轴一圈脉冲数
   kreg_step_motor_one_circle_pulse_denominator = 10153,  // 设置一圈脉冲数的分母
   kreg_step_motor_default_velocity             = 10154,  // 默认速度
+  kreg_step_motor_low_velocity                 = 10155,  // 低速
+  kreg_step_motor_mid_velocity                 = 10156,  // 中速
+  kreg_step_motor_high_velocity                = 10157,  // 高速
   kreg_step_motor_ihold                        = 10158,  // 步进电机电流配置
   kreg_step_motor_irun                         = 10159,  // 步进电机电流配置
   kreg_step_motor_iholddelay                   = 10160,  // 步进电机电流配置