update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -134,6 +134,7 @@ int32_t StepMotorCtrlModule::step_motor_active_cfg() {
   m_stepM1->setScale(m_cfg.motor_one_circle_pulse);
   m_stepM1->setScaleDenominator(m_cfg.motor_one_circle_pulse_denominator);
   m_stepM1->setMotorShaft(m_cfg.motor_shaft);
+  m_stepM1->setGlobalScale(m_cfg.stepmotor_iglobalscaler);
   // stepmotor_iglobalscaler
   if (m_state.enable) {
     m_stepM1->enable(true);

components/tmc/ic/ztmc4361A.cpp

@@ -249,8 +249,10 @@ void    TMC4361A::enable(bool enable) {
 }
 
 void TMC4361A::setGlobalScale(uint8_t globalscale) {
-  
-}; 
+  if (globalscale > 255) globalscale = 255;
+  if (globalscale != 0 && globalscale < 32) globalscale = 32;
+  driverIC_writeInt(TMC2160_GLOBAL_SCALER, globalscale);
+};
 
 int32_t tmc4361A_discardVelocityDecimals(int32_t value) {
   if (abs(value) > 8000000) {
@@ -297,11 +299,6 @@ bool TMC4361A::isReachTarget() {
   }
 }
 
-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);
-}
 
 /***********************************************************************************************************************
  *                                                 DRIVERIC_OPERATION                                                  *

components/tmc/ic/ztmc4361A.hpp

@@ -96,8 +96,6 @@ class TMC4361A : public IStepperMotor {
   virtual bool isStoped() { return isReachTarget(); }
   virtual void setNoAccLimit(bool enable) { return; };  // TODO:impl it
 
-  void setGLOBAL_SCALER(int32_t value);
-
   /***********************************************************************************************************************
    *                                                      4361Opera                                                      *
    ***********************************************************************************************************************/