update

components/tmc/basic/tmc_ic_interface.hpp

@@ -59,6 +59,8 @@ class IStepperMotor {
 
   virtual void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) = 0;
 
+  virtual void setGlobalScale(uint8_t globalscale) = 0;
+
   virtual void setScale(int32_t scale)            = 0;
   virtual void setScaleDenominator(int32_t scale) = 0;
 

components/tmc/ic/ztmc5130.cpp

@@ -139,13 +139,17 @@ uint8_t TMC5130::reset() {
   }
   return 0;
 }
-int32_t  TMC5130::getXACTUAL() { return to_user_pos(readInt(TMC5130_XACTUAL)); }
-void     TMC5130::setXACTUAL(int32_t value) { writeInt(TMC5130_XACTUAL, to_motor_pos(value)); }
-int32_t  TMC5130::getVACTUAL() { return to_user_pos(readInt(TMC5130_VACTUAL)); }
-void     TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // 设置最大加速度
-void     TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // 设置最大减速度
-void     TMC5130::setMotorShaft(bool reverse) { PRV_FIELD_WRITE(TMC5130_GCONF, TMC5130_SHAFT_MASK, TMC5130_SHAFT_SHIFT, reverse); }
-void     TMC5130::setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { writeInt(TMC5130_IHOLD_IRUN, (iholddelay << TMC5130_IHOLDDELAY_SHIFT) | (irun << TMC5130_IRUN_SHIFT) | (ihold << TMC5130_IHOLD_SHIFT)); }
+int32_t TMC5130::getXACTUAL() { return to_user_pos(readInt(TMC5130_XACTUAL)); }
+void    TMC5130::setXACTUAL(int32_t value) { writeInt(TMC5130_XACTUAL, to_motor_pos(value)); }
+int32_t TMC5130::getVACTUAL() { return to_user_pos(readInt(TMC5130_VACTUAL)); }
+void    TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // 设置最大加速度
+void    TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // 设置最大减速度
+void    TMC5130::setMotorShaft(bool reverse) { PRV_FIELD_WRITE(TMC5130_GCONF, TMC5130_SHAFT_MASK, TMC5130_SHAFT_SHIFT, reverse); }
+void    TMC5130::setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { writeInt(TMC5130_IHOLD_IRUN, (iholddelay << TMC5130_IHOLDDELAY_SHIFT) | (irun << TMC5130_IRUN_SHIFT) | (ihold << TMC5130_IHOLD_SHIFT)); }
+void    TMC5130::setGlobalScale(uint8_t globalscale) {
+  // writeInt(TMC5130_GCONF, (readInt(TMC5130_GCONF) & ~TMC5130_SCALE_MASK) | (globalscale << TMC5130_SCALE_SHIFT));
+}
+
 uint32_t TMC5130::readICVersion() {
   uint32_t chipID = PRV_FIELD_READ(TMC5130_IOIN, TMC5130_VERSION_MASK, TMC5130_VERSION_SHIFT);
   return chipID;
@@ -252,8 +256,8 @@ int32_t TMC5130::readInt(uint8_t address) {
 
   return ((uint32_t)data[1] << 24) | ((uint32_t)data[2] << 16) | (data[3] << 8) | data[4];
 }
-int32_t TMC5130::to_motor_acc(int32_t acc) {  //
-  int32_t val = acc / 60.0 * m_onecirclepulse;           // 65535
+int32_t TMC5130::to_motor_acc(int32_t acc) {    //
+  int32_t val = acc / 60.0 * m_onecirclepulse;  // 65535
   if (val > 65535) val = 65535;
   return val;
 }

components/tmc/ic/ztmc5130.hpp

@@ -126,6 +126,7 @@ class TMC5130 : public IStepperMotor {
   virtual void setDeceleration(float accelerationpps2);
 
   void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
+  void setGlobalScale(uint8_t globalscale);
   // void setSubdivision(uint8_t subdivision);
 
   void setMotorShaft(bool reverse);  // 设置电机旋转方向