update

components/tmc/ic/ztmc4361A.cpp

@@ -380,6 +380,12 @@ uint32_t TMC4361A::driverIC_readICVersion() {
 }
 void TMC4361A::driverIC_setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { driverIC_writeInt(TMC2160_IHOLD_IRUN, (iholddelay << TMC2160_IHOLDDELAY_SHIFT) | (irun << TMC2160_IRUN_SHIFT) | (ihold << TMC2160_IHOLD_SHIFT)); }
 
+void TMC4361A::setGLOBAL_SCALER(int32_t value) {
+  if (value > 255) value = 255;
+  if (value != 0 && value < 32) value = 32;
+  driverIC_writeInt(TMC2160_GLOBAL_SCALER, value);
+}
+
 // Left Virtual Limit Switch  XACTUAL ¡Ü VIRT_STOP_LEFT ʱ´¥·¢
 void TMC4361A::setLeftVirtualLimitSwitch(bool enable, int32_t position) {
   PRV_FIELD_WRITE(TMC4361A_REFERENCE_CONF, TMC4361A_VIRTUAL_LEFT_LIMIT_EN_MASK, TMC4361A_VIRTUAL_LEFT_LIMIT_EN_SHIFT, enable ? 1 : 0);

components/tmc/ic/ztmc4361A.hpp

@@ -117,6 +117,9 @@ class TMC4361A : public IStepperMotor {
   virtual void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { driverIC_setIHOLD_IRUN(ihold, irun, iholddelay); }
   virtual void setMotorShaft(bool reverse) { driverIC_setMotorShaft(reverse); }
 
+  //????????????
+  void setGLOBAL_SCALER(int32_t value);
+
   virtual void setScale(int32_t scale);
   virtual void setScaleDenominator(int32_t scale);
 
@@ -148,6 +151,7 @@ class TMC4361A : public IStepperMotor {
   int32_t readInt(uint8_t address);
   void    readWriteCover(uint8_t *data, size_t length);
   void    writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value);
+  // ????????????
 
   int32_t  getENC_POS_DEV();  // ENC_POSºÍXACTUALµÄÆ«²î
   uint32_t readEVENTS();      // ¶Áȡʼþ¼Ä´æ

components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -37,6 +37,8 @@ void XYRobotCtrlModule::initialize(int32_t id, IStepperMotor* stepM1, IStepperMo
     m_cfg = m_default_cfg;
   }
   active_cfg();
+  m_stepM1->setScaleDenominator(10);
+  m_stepM2->setScaleDenominator(10);
   enable(true);
   m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
 }