update

components/tmc/basic/tmc_ic_interface.hpp

@@ -67,4 +67,16 @@ class IStepperMotor {
   virtual void setNoAccLimit(bool enable){};
 };
 
+typedef enum {
+  kmres_256 = 0x00,
+  kmres_128 = 0x01,
+  kmres_64  = 0x02,
+  kmres_32  = 0x03,
+  kmres_16  = 0x04,
+  kmres_8   = 0x05,
+  kmres_4   = 0x06,
+  kmres_2   = 0x07,
+  kmres_1   = 0x08,
+} mres_type_t;
+
 }  // namespace iflytop

components/tmc/ic/ztmc5130.cpp

@@ -62,7 +62,6 @@ void TMC5130::initialize(cfg_t *cfg) {
   writeInt(TMC5130_XACTUAL, 0x00000000);
   writeInt(TMC5130_VACTUAL, 0x00000000);
 
-
   writeInt(TMC5130_VSTART, 100);
   writeInt(TMC5130_A1, 1000);
   writeInt(TMC5130_V1, 0);
@@ -82,6 +81,33 @@ void TMC5130::initialize(cfg_t *cfg) {
   enableIC(true);
 }
 
+void TMC5130::setMRES(mres_type_t value) {
+  PRV_FIELD_WRITE(TMC5130_CHOPCONF, TMC5130_MRES_MASK, TMC5130_MRES_SHIFT, value);
+
+  m_MRES = value;
+  if (m_MRES == kmres_256) {
+    m_onecirclepulse = 51200;
+  } else if (m_MRES == kmres_128) {
+    m_onecirclepulse = 25600;
+  } else if (m_MRES == kmres_64) {
+    m_onecirclepulse = 12800;
+  } else if (m_MRES == kmres_32) {
+    m_onecirclepulse = 6400;
+  } else if (m_MRES == kmres_16) {
+    m_onecirclepulse = 3200;
+  } else if (m_MRES == kmres_8) {
+    m_onecirclepulse = 1600;
+  } else if (m_MRES == kmres_4) {
+    m_onecirclepulse = 800;
+  } else if (m_MRES == kmres_2) {
+    m_onecirclepulse = 400;
+  } else if (m_MRES == kmres_1) {
+    m_onecirclepulse = 200;
+  } else {
+    ZASSERT(false);
+  }
+}
+
 void TMC5130::setNoAccLimit(bool enable) {
   if (!enable) {
     writeInt(TMC5130_VSTART, 100);
@@ -227,25 +253,28 @@ 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;           // 65535
-  // if (val > 65535) val = 65535;
+  int32_t val = acc / 60.0 * m_onecirclepulse;           // 65535
+  if (val > 65535) val = 65535;
   return val;
 }
 int32_t TMC5130::to_motor_vel(int32_t vel) {  //
-  int32_t val = vel / 60.0 * 51200;
+  int32_t val = vel / 60.0 * m_onecirclepulse;
+  if (val > 8388095 /*2^23-512*/) {
+    val = 8388095;
+  }
   return val;
 }  // rpm
 int32_t TMC5130::to_motor_pos(int32_t pos) {  //
-  int32_t val = pos * 1.0 / m_scale * m_scale_deceleration * 51200.0;
+  int32_t val = pos * 1.0 / m_scale * m_scale_deceleration * m_onecirclepulse;
   return val;
 }  //
 
 int32_t TMC5130::to_user_pos(int32_t pos) {  //
-  int32_t val = pos / 51200.0 * m_scale / m_scale_deceleration;
+  int32_t val = pos / m_onecirclepulse * m_scale / m_scale_deceleration;
   return val;
 }  //
 int32_t TMC5130::to_user_vel(int32_t vel) {  //
-  int32_t val = vel * 60.0 / 51200.0;
+  int32_t val = vel * 60.0 / m_onecirclepulse;
   return val;
 }
 #endif

components/tmc/ic/ztmc5130.hpp

@@ -91,7 +91,8 @@ class TMC5130 : public IStepperMotor {
   int32_t m_scale              = 10000;
   int32_t m_scale_deceleration = 1;
 
-  // int32_t m_subdivision = 256;
+  mres_type_t m_MRES           = kmres_256;
+  double      m_onecirclepulse = 51200;
 
  public:
   TMC5130(/* args */);
@@ -154,6 +155,13 @@ class TMC5130 : public IStepperMotor {
 
   void setNoAccLimit(bool enable) override;
 
+  /**
+   * @brief 设置电机细分
+   *
+   * @param value
+   */
+  void setMRES(mres_type_t value);
+
  private:
   uint32_t haspassedms(uint32_t now, uint32_t last);
 

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit 03d55dfe5a8b9fbe0a070211c071e00460e184d0
+Subproject commit 0917377fb1b5afd33c4da50ddbfbfb9bdb574032