update

README.md

@@ -21,6 +21,20 @@ subboard90_optical_module
 ```
 ID地址:
 0x080E0000
+10 :A
+20 :14
+30 :1E
+40 :28
+50 :32
+60 :3C
+70 :46
+80 :50
+90 :5A
+100:64
+110:6E
+200:CB
+
+
 
 ```
 

sdk

@@ -1 +1 @@
-Subproject commit 05b93b8bb6d503d2d6cdacb045cb8bfca995d84f
+Subproject commit 8fc2748774fd16aa3d3f3b53d7b0b5b8cf89dd32

usrc/public_service/instance_init.hpp

@@ -11,11 +11,11 @@
 #define TMC5130_DEFAULT__MOTOR_RUN_TO_ZERO_SPEED            300
 #define TMC5130_DEFAULT__MOTOR_LOOK_ZERO_EDGE_SPEED         200
 #define TMC5130_DEFAULT__MOTOR_VSTART                       100
-#define TMC5130_DEFAULT__MOTOR_A1                           30
+#define TMC5130_DEFAULT__MOTOR_A1                           50
 #define TMC5130_DEFAULT__MOTOR_AMAX                         100
-#define TMC5130_DEFAULT__MOTOR_V1                           200
+#define TMC5130_DEFAULT__MOTOR_V1                           300
 #define TMC5130_DEFAULT__MOTOR_DMAX                         100
-#define TMC5130_DEFAULT__MOTOR_D1                           30
+#define TMC5130_DEFAULT__MOTOR_D1                           50
 #define TMC5130_DEFAULT__MOTOR_VSTOP                        100
 #define TMC5130_DEFAULT__MOTOR_TZEROWAIT                    0
 

usrc/subboards/subboard80_cliptip/pri_board.h

@@ -32,11 +32,11 @@
 #define TMC_MOTOR_SPI hspi1
 
 #define MOTOR1_CSN             PA4
-#define MOTOR1_ENN             PE3
+#define MOTOR1_ENN             PD0
 #define MOTOR1_SPI_MODE_SELECT PinNull
-#define MOTOR1_nFREEZE_IO      PE12
+#define MOTOR1_nFREEZE_IO      PinNull
 #define MOTOR1_nRESET_IO       PinNull
-#define MOTOR1_SUB_IC_ENN_IO   PE11
+#define MOTOR1_SUB_IC_ENN_IO   PinNull
 
 #define MOTOR1_REFL        PD2
 #define MOTOR1_REFR        PD1
@@ -53,8 +53,8 @@
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             500
 #define MOTOR1_MIN_D                              TMC5130_DEFAULT__MIN_D
 #define MOTOR1_MAX_D                              TMC5130_DEFAULT__MAX_D
-#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            100
-#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         50
+#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            200
+#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         100
 #define MOTOR1_MOTOR_VSTART                       TMC5130_DEFAULT__MOTOR_VSTART
 #define MOTOR1_MOTOR_A1                           TMC5130_DEFAULT__MOTOR_A1
 #define MOTOR1_MOTOR_AMAX                         300