update

components/tmc/ic/ztmc5130.cpp

@@ -28,14 +28,14 @@ void TMC5130::initialize(cfg_t *cfg) {
   if (cfg->csn_pin != PinNull) {
     m_csnpin = new ZGPIO();
     m_csnpin->initAsOutput(cfg->csn_pin, ZGPIO::kMode_nopull, false, true);
+    ZASSERT(m_csnpin);
   }
   if (cfg->enn_pin != PinNull) {
     m_ennpin = new ZGPIO();
     m_ennpin->initAsOutput(cfg->enn_pin, ZGPIO::kMode_nopull, false, true);
+    ZASSERT(m_ennpin);
   }
-
-  ZGPIO *m_csnpin;
-  ZGPIO *m_ennpin;
+  m_hspi = cfg->hspi;
 
   enableIC(false);
   // tmc5130_init(&m_TMC5130, channel, &m_tmc_api_config, &tmc5130_defaultRegisterResetState[0]);
@@ -148,7 +148,10 @@ bool TMC5130::isReachTarget() {
 void TMC5130::readWriteArray(uint8_t *data, size_t length) {
   CriticalContext cc;
   // m_port->TMC5130Port_readWriteArray(m_channel, data, length);
+  // m_csnpin
+  SET_PIN(m_csnpin, false);
   HAL_SPI_TransmitReceive(m_hspi, data, data, length, 100);
+  SET_PIN(m_csnpin, true);
 }
 void TMC5130::writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4) {
   CriticalContext cc;

components/tmc/ic/ztmc5130.hpp

@@ -65,16 +65,15 @@ class TMC5130 : public IStepperMotor {
     Pin_t              csn_pin;
   } cfg_t;
 
-
  protected:
   // TMC5130Port     *m_port;
   // TMC5130Config_t *m_config;
 
   cfg_t m_cfg;
 
-  ZGPIO             *m_csnpin;
-  ZGPIO             *m_ennpin;
-  SPI_HandleTypeDef *m_hspi;
+  ZGPIO             *m_csnpin = NULL;
+  ZGPIO             *m_ennpin = NULL;
+  SPI_HandleTypeDef *m_hspi   = NULL;
 
   // uint8_t  m_channel;
   uint32_t m_lastCallPeriodicJobTick;