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@ -132,9 +132,9 @@ void TMC4361A::setAcceleration(float accelerationpps2) { |
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* AMAX [pps2] = AMAX / 237 ?? fCLK^2 |
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*/ |
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// accelerationpps2 = to_motor_acc(accelerationpps2);
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// int32_t acc = (int32_t)accelerationpps2;
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// tmc4361_writeInt(TMC4361A_AMAX, acc << 2);
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accelerationpps2 = to_motor_acc(accelerationpps2); |
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int32_t acc = (int32_t)accelerationpps2; |
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tmc4361_writeInt(TMC4361A_AMAX, acc << 2); |
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} |
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void TMC4361A::setDeceleration(float accelerationpps2) { |
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/**
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@ -147,9 +147,9 @@ void TMC4361A::setDeceleration(float accelerationpps2) { |
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* a[?v per clk_cycle]= AMAX / 2^37 |
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* AMAX [pps2] = AMAX / 237 ?? fCLK^2 |
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*/ |
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// accelerationpps2 = to_motor_acc(accelerationpps2);
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// int32_t acc = (int32_t)accelerationpps2;
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// tmc4361_writeInt(TMC4361A_DMAX, acc << 2);
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accelerationpps2 = to_motor_acc(accelerationpps2); |
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int32_t acc = (int32_t)accelerationpps2; |
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tmc4361_writeInt(TMC4361A_DMAX, acc << 2); |
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} |
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#define INIT_GPIO(m_pin, pin, ...) \
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if (pin != PinNull) { \ |
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