update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -60,6 +60,15 @@ void StepMotorCtrlModule::create_default_cfg(config_t& cfg) {
 
   cfg.motor_look_zero_edge_speed = 100;
   cfg.motor_look_zero_edge_dec   = 600;
+
+  // cfg.motor_vstart    = 2000;
+  // cfg.motor_a1        = ;
+  // cfg.motor_amax      = 300;
+  // cfg.motor_v1        = ;
+  // cfg.motor_dmax      = 300;
+  // cfg.motor_d1        = ;
+  // cfg.motor_vstop     = 2000;
+  // cfg.motor_tzerowait = ;
 }
 
 /***********************************************************************************************************************

components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -28,6 +28,16 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
     //
     int32_t motor_look_zero_edge_speed;
     int32_t motor_look_zero_edge_dec;
+    //
+    int32_t motor_vstart;
+    int32_t motor_a1;
+    int32_t motor_amax;
+    int32_t motor_v1;
+    int32_t motor_dmax;
+    int32_t motor_d1;
+    int32_t motor_vstop;
+    int32_t motor_tzerowait;
+
   } config_t;
 
   typedef struct {

components/tmc/ic/ztmc5130.cpp

@@ -113,12 +113,13 @@ uint8_t TMC51X0::reset() {
   writeInt(TMC5130_XTARGET, 0);
   writeInt(TMC5130_XACTUAL, 0x00000000);
   writeInt(TMC5130_VACTUAL, 0x00000000);
-  writeInt(TMC5130_VSTART, 100);
-  writeInt(TMC5130_A1, 1000);
+  writeInt(TMC5130_VSTART, 3000);
+  writeInt(TMC5130_A1, 0);
   writeInt(TMC5130_V1, 0);
-  writeInt(TMC5130_D1, 1000);
-  writeInt(TMC5130_VSTOP, 100);
+  writeInt(TMC5130_D1, 0);
+  writeInt(TMC5130_VSTOP, 3000);
   writeInt(TMC5130_TZEROWAIT, 0);
+  // TMC5130_AMAX
   setAcceleration(100);
   setDeceleration(100);
   setIHOLD_IRUN(2, 10, 1);
@@ -151,7 +152,7 @@ void TMC51X0::setGlobalScale(uint8_t globalscale) {  //
 
   if (globalscale == 0) {
     globalscale = 0;
-  } else if (globalscale <= 31 || globalscale >= 1) {
+  } else if (globalscale <= 31 && globalscale >= 1) {
     globalscale = 32;
   } else {
     globalscale = globalscale;