diff --git a/components/tmc/ic/ztmc4361A.cpp b/components/tmc/ic/ztmc4361A.cpp index 9e9a338..a4b70b8 100644 --- a/components/tmc/ic/ztmc4361A.cpp +++ b/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() {