From acb0f863c0e4751a6ed8c0588d2f217a2c0155e1 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 1 Apr 2025 20:01:48 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=B8=80=E4=BA=9B=E6=B3=A8?=
 =?UTF-8?q?=E9=87=8A?=
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---
 sdk/components/tmc/ic/ztmc5130.hpp | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/sdk/components/tmc/ic/ztmc5130.hpp b/sdk/components/tmc/ic/ztmc5130.hpp
index 5b07988..6f83490 100644
--- a/sdk/components/tmc/ic/ztmc5130.hpp
+++ b/sdk/components/tmc/ic/ztmc5130.hpp
@@ -21,7 +21,16 @@ namespace iflytop {
  *
  *  1. 6点加速控制只在位置模式下有效，在速度模式下无效
  *  2. 速度模式下只有AMAX有效
- *
+ * 
+ * 
+ * 
+ *  速度的时间基准 t:t=2^24/fclk
+ *  加速度的时间基准:ta^2:ta^2=2^24/(fclk)^2
+ * 
+ * 
+ *  VSTOP  1...(2^18)-1, 1...262144-1, 1...307
+ *  VSTART 1...(2^18)-1, 1...262144-1, 1...307
+ *  VEL    +-(2^23)-1 [µsteps / t]   +-8388608 +-9830.4
  */
 
 class Tmc5130RampStat {