ztmc5130 add global scale

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -539,7 +539,6 @@ int32_t StepMotorCtrlModule::motor_move_by(int32_t dx, int32_t motor_velocity, i
 }
 int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity, int32_t acc) {
   zlock_guard lock(m_lock);
-  ZLOGI(TAG, "m%d motor_move_to %d", m_id, tox);
   m_thread.stop();
 
   if (m_param.min_d != 0 && tox < m_param.min_d) {

components/tmc/ic/ztmc5130.cpp

@@ -146,8 +146,23 @@ void    TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX
 void    TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // ÉèÖÃ×î´ó¼õËÙ¶È
 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));
+
+#define TMC5160_GLOBAL_SCALER       0x0B
+#define TMC5160_GLOBAL_SCALER_MASK  0xFF
+#define TMC5160_GLOBAL_SCALER_SHIFT 0
+
+void TMC5130::setGlobalScale(uint8_t globalscale) {  //
+  if (globalscale == 0) {
+    globalscale = 0;
+  } else if (globalscale <= 31 || globalscale >= 1) {
+    globalscale = 32;
+  } else {
+    globalscale = globalscale;
+  }
+  writeInt(TMC5160_GLOBAL_SCALER, (readInt(TMC5160_GLOBAL_SCALER) & ~TMC5160_GLOBAL_SCALER_MASK) | (globalscale << TMC5160_GLOBAL_SCALER_SHIFT));
+}
+uint8_t TMC5130::getGlobalScale() {  //
+  return PRV_FIELD_READ(TMC5160_GLOBAL_SCALER, TMC5160_GLOBAL_SCALER_MASK, TMC5160_GLOBAL_SCALER_SHIFT);
 }
 
 uint32_t TMC5130::readICVersion() {

components/tmc/ic/ztmc5130.hpp

@@ -127,6 +127,7 @@ class TMC5130 : public IStepperMotor {
 
   void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
   void setGlobalScale(uint8_t globalscale);
+  uint8_t getGlobalScale();
   // void setSubdivision(uint8_t subdivision);
 
   void setMotorShaft(bool reverse);  // 设置电机旋转方向