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update

master
zhaohe 1 year ago
parent
commit
5f3dbd5452
  1. 12
      components/tmc/ic/ztmc4361A.cpp

12
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) { \

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