From 147006090edd19ab50f0d20e887bbe51d80c2453 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 5 Nov 2023 19:11:25 +0800
Subject: [PATCH] update

---
 .../step_motor_ctrl_module.hpp                     |  3 +++
 components/tmc/basic/tmc_ic_interface.hpp          |  2 ++
 components/tmc/ic/ztmc5130.cpp                     | 27 ++++++++++++++++++----
 components/tmc/ic/ztmc5130.hpp                     |  5 ++++
 4 files changed, 32 insertions(+), 5 deletions(-)

diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
index bbfa647..4bdd98f 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -163,6 +163,9 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
   virtual int32_t motor_easy_move_to(int32_t position) override;
   virtual int32_t motor_easy_move_to_zero(int32_t direction) override;
 
+  IStepperMotor* _getStepMotor() { return m_stepM1; }
+  base_param_t&  _get_base_param() { return m_param; }
+
  private:
   void active_cfg();
 
diff --git a/components/tmc/basic/tmc_ic_interface.hpp b/components/tmc/basic/tmc_ic_interface.hpp
index 793ba54..0bf0ba5 100644
--- a/components/tmc/basic/tmc_ic_interface.hpp
+++ b/components/tmc/basic/tmc_ic_interface.hpp
@@ -63,6 +63,8 @@ class IStepperMotor {
   virtual void setScaleDenominator(int32_t scale) = 0;
 
   virtual void enable(bool enable) = 0;
+
+  virtual void setNoAccLimit(bool enable){};
 };
 
 }  // namespace iflytop
\ No newline at end of file
diff --git a/components/tmc/ic/ztmc5130.cpp b/components/tmc/ic/ztmc5130.cpp
index fe91cfa..70aa154 100644
--- a/components/tmc/ic/ztmc5130.cpp
+++ b/components/tmc/ic/ztmc5130.cpp
@@ -10,7 +10,7 @@ using namespace iflytop;
  * @brief 静态方法，创建默认的TMC5130配置参数,使用时只需修改自己需要的参数即可
  *
  *  注意:
- *    1. 该方法内部使用的是一个静态变量，所以每次调用该方法时，返回的都是同一个对象的地址??
+ *    1. 该方法内部使用的是个静态变量，所以每次调用该方法时，返回的都是同一个对象的地址??
  *    2. 该方法返回的数值不需要被释放??
  * @param config
  */
@@ -62,13 +62,19 @@ void TMC5130::initialize(cfg_t *cfg) {
   writeInt(TMC5130_XACTUAL, 0x00000000);
   writeInt(TMC5130_VACTUAL, 0x00000000);
 
-  writeInt(TMC5130_VSTART, 5);
+
+  writeInt(TMC5130_VSTART, 100);
   writeInt(TMC5130_A1, 1000);
   writeInt(TMC5130_V1, 0);
 
   writeInt(TMC5130_D1, 1000);
-  writeInt(TMC5130_VSTOP, 10);
-  writeInt(TMC5130_TZEROWAIT, 1000);
+  writeInt(TMC5130_VSTOP, 100);
+  writeInt(TMC5130_TZEROWAIT, 0);
+
+  // writeInt(TMC5130_VSTART, 100);
+  // writeInt(TMC5130_V1, 0);
+  // writeInt(TMC5130_VSTOP, 100);
+  // writeInt(TMC5130_TZEROWAIT, 0);
 
   setAcceleration(100);
   setDeceleration(100);
@@ -76,6 +82,16 @@ void TMC5130::initialize(cfg_t *cfg) {
   enableIC(true);
 }
 
+void TMC5130::setNoAccLimit(bool enable) {
+  if (!enable) {
+    writeInt(TMC5130_VSTART, 100);
+    writeInt(TMC5130_VSTOP, 100);
+  } else {
+    writeInt(TMC5130_VSTART, 262144 - 1);  // 2^18-1
+    writeInt(TMC5130_VSTOP, 262144 - 1);   // 2^18-1
+  }
+}
+
 void TMC5130::enableIC(bool enable) {
   //  m_port->TMC5130Port_setENNPinState(m_channel, !enable);
   SET_PIN(m_ennpin, !enable);
@@ -211,7 +227,8 @@ int32_t TMC5130::readInt(uint8_t address) {
   return ((uint32_t)data[1] << 24) | ((uint32_t)data[2] << 16) | (data[3] << 8) | data[4];
 }
 int32_t TMC5130::to_motor_acc(int32_t acc) {  //
-  int32_t val = acc / 60.0 * 51200;
+  int32_t val = acc / 60.0 * 51200;           // 65535
+  // if (val > 65535) val = 65535;
   return val;
 }
 int32_t TMC5130::to_motor_vel(int32_t vel) {  //
diff --git a/components/tmc/ic/ztmc5130.hpp b/components/tmc/ic/ztmc5130.hpp
index e5e3dc8..8676311 100644
--- a/components/tmc/ic/ztmc5130.hpp
+++ b/components/tmc/ic/ztmc5130.hpp
@@ -91,6 +91,8 @@ class TMC5130 : public IStepperMotor {
   int32_t m_scale              = 10000;
   int32_t m_scale_deceleration = 1;
 
+  // int32_t m_subdivision = 256;
+
  public:
   TMC5130(/* args */);
 
@@ -123,6 +125,7 @@ class TMC5130 : public IStepperMotor {
   virtual void setDeceleration(float accelerationpps2);
 
   void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
+  // void setSubdivision(uint8_t subdivision);
 
   void setMotorShaft(bool reverse);  // 设置电机旋转方向
 
@@ -149,6 +152,8 @@ class TMC5130 : public IStepperMotor {
   void    writeInt(uint8_t address, int32_t value);
   int32_t readInt(uint8_t address);
 
+  void setNoAccLimit(bool enable) override;
+
  private:
   uint32_t haspassedms(uint32_t now, uint32_t last);