update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -430,7 +430,7 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
   // 如果设备已经在零点，则反向移动一定距离远离零点
   if (gpio->getState()) {
     ZLOGI(TAG, "---------STEP2--------  find edge");
-    _rotate(-direction * lookPointVelocity,  lookPointDec);
+    _rotate(-direction * lookPointVelocity, lookPointDec);
     bool reach_edge = false;
 
     while (!m_thread.getExitFlag()) {
@@ -495,8 +495,11 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
 }
 
 void StepMotorCtrlModule::_rotate(int32_t velocity, int32_t acc) {
-  m_stepM1->set_amax(acc);
-  m_stepM1->rotate(velocity);
+  if (velocity > 0) {
+    m_stepM1->moveToEnd(1, abs(velocity));
+  } else {
+    m_stepM1->moveToEnd(-1, abs(velocity));
+  }
 }
 
 /***********************************************************************************************************************
@@ -625,7 +628,6 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox) {
         befor_motor_move();
 
         {
-          m_stepM1->setAcceleration(m_cfg.motor_amax);
           int32_t motor_pos = 0;
           inter_forward_kinematics(tox, motor_pos);
           m_stepM1->moveTo(motor_pos, m_cfg.motor_default_velocity);

components/tmc/ic/ztmc5130.cpp

@@ -198,6 +198,18 @@ void TMC51X0::moveTo(int32_t position, uint32_t velocityMax) {
   writeInt(TMC5130_VMAX, velocityMax);
   writeInt(TMC5130_XTARGET, position);
 }
+void TMC51X0::moveToEnd(int32_t direction, uint32_t velocityMax) {
+  if (direction > 0) {
+    writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
+    writeInt(TMC5130_VMAX, velocityMax);
+    writeInt(TMC5130_XTARGET, INT32_MAX);
+  } else {
+    writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
+    writeInt(TMC5130_VMAX, velocityMax);
+    writeInt(TMC5130_XTARGET, INT32_MIN);
+  }
+}
+
 void TMC51X0::moveBy(int32_t relativePosition, uint32_t velocityMax) {  // determine actual position and add numbers of ticks to move
   relativePosition += readInt(TMC5130_XACTUAL);
   moveTo(relativePosition, velocityMax);

components/tmc/ic/ztmc5130.hpp

@@ -14,14 +14,13 @@ extern "C" {
 namespace iflytop {
 #define TMC5130_LISTENER_MAX 5
 
-
 /**
- * @brief 
+ * @brief
  *    注意事项
- * 
+ *
  *  1. 6点加速控制只在位置模式下有效，在速度模式下无效
  *  2. 速度模式下只有AMAX有效
- * 
+ *
  */
 
 class Tmc5130RampStat {
@@ -116,6 +115,8 @@ class TMC51X0 : public IStepperMotor {
 
   virtual void rotate(int32_t velocity);
   virtual void moveTo(int32_t position, uint32_t velocityMax);
+  virtual void moveToEnd(int32_t direction, uint32_t velocityMax);
+
   virtual void moveBy(int32_t relativePosition, uint32_t velocityMax);
   virtual void stop();