update

components/tmc/ic/ztmc4361A.cpp

@@ -132,9 +132,9 @@ void TMC4361A::setAcceleration(float accelerationpps2) {
    *      AMAX [pps2] = AMAX / 237 ?? fCLK^2
    */
 
-  accelerationpps2 = to_motor_acc(accelerationpps2);
-  int32_t acc      = (int32_t)accelerationpps2;
-  tmc4361_writeInt(TMC4361A_AMAX, acc << 2);
+  // accelerationpps2 = to_motor_acc(accelerationpps2);
+  // int32_t acc      = (int32_t)accelerationpps2;
+  // tmc4361_writeInt(TMC4361A_AMAX, acc << 2);
 }
 void TMC4361A::setDeceleration(float accelerationpps2) {
   /**
@@ -147,9 +147,9 @@ void TMC4361A::setDeceleration(float accelerationpps2) {
    *      a[?v per clk_cycle]= AMAX / 2^37
    *      AMAX [pps2] = AMAX / 237 ?? fCLK^2
    */
-  accelerationpps2 = to_motor_acc(accelerationpps2);
-  int32_t acc      = (int32_t)accelerationpps2;
-  tmc4361_writeInt(TMC4361A_DMAX, acc << 2);
+  // accelerationpps2 = to_motor_acc(accelerationpps2);
+  // int32_t acc      = (int32_t)accelerationpps2;
+  // tmc4361_writeInt(TMC4361A_DMAX, acc << 2);
 }
 #define INIT_GPIO(m_pin, pin, ...)         \
   if (pin != PinNull) {                    \
@@ -219,13 +219,13 @@ void TMC4361A::init() {
   tmc4361_writeInt(0x6D, 0x80);  // GCONF
   tmc4361_writeInt(0x6C, 0x00);  // 0x12200 diag1=index, pushpull, direct_mode = off --> SD mode
 
-  tmc4361_writeInt(0x20, 0x06);            //	s-ramp + pos mode
-  tmc4361_writeInt(0x2D, 0x100);           // bow1
-  tmc4361_writeInt(0x2E, 0x100);           // bow2
-  tmc4361_writeInt(0x2F, 0x100);           // bow3
-  tmc4361_writeInt(0x30, 0x100);           // bow4
-  tmc4361_writeInt(TMC4361A_AMAX, 10000);  // amax
-  tmc4361_writeInt(TMC4361A_DMAX, 10000);  // dmax
+  tmc4361_writeInt(0x20, 0x06);           //	s-ramp + pos mode
+  tmc4361_writeInt(0x2D, 0x80);           // bow1
+  tmc4361_writeInt(0x2E, 0x100);          // bow2
+  tmc4361_writeInt(0x2F, 0x80);           // bow3
+  tmc4361_writeInt(0x30, 0x100);          // bow4
+  tmc4361_writeInt(TMC4361A_AMAX, 1000);  // amax
+  tmc4361_writeInt(TMC4361A_DMAX, 1000);  // dmax
 }
 
 uint8_t TMC4361A::reset() {