update

components/tmc/ic/ztmc4361A.cpp

@@ -235,12 +235,59 @@ uint8_t TMC4361A::reset() {
   zchip_clock_early_delayus(1000);
   SET_PIN(m_resetPin, true);
 
+  tmc4361_writeInt(TMC4361A_RESET_REG, 0x525354);
+  zchip_clock_early_delayus(1000);
+  tmc4361_writeInt(TMC4361A_RESET_REG, 0);
+
+  /**
+   * @brief 重置芯片镜像寄存??
+   *
+   */
+  for (uint32_t add = 0; add < TMC4361A_REGISTER_COUNT; add++) {
+    if (!TMC_IS_RESETTABLE(m_registerAccessTable[add])) {
+      continue;
+    }
+    tmc4361_writeInt(add, m_defaultRegisterResetState[add]);
+  }
+
+  uint8_t  driver, dataLength;
+  uint32_t value;
+  // Setup SPI
+  switch (m_driver_ic_type) {
+    case IC_TMC2130:
+    case IC_TMC2160:
+      driver     = 0x0C;
+      dataLength = 0;
+      break;
+    case IC_TMC2660:
+      driver     = 0x0B;
+      dataLength = 0;
+      break;
+    default:
+      driver     = 0x0F;
+      dataLength = 40;
+      break;
+  }
+  value = 0x44400040 | (dataLength << 13) | (driver << 0);
+  tmc4361_writeInt(TMC4361A_SPIOUT_CONF, value);
+  tmc4361_writeInt(TMC4361A_CURRENT_CONF, 0x00000003);
+  tmc4361_writeInt(TMC4361A_SCALE_VALUES, 0x00000000);
+  return 1;
+#if 0
+
+  // Pulse the low-active hardware reset pin
+  stop();
+  SET_PIN(m_resetPin, false);
+  zchip_clock_early_delayus(1000);
+  SET_PIN(m_resetPin, true);
+
   // 软件复位
   tmc4361_writeInt(TMC4361A_RESET_REG, 0x525354);
   zchip_clock_early_delayus(1000);
   tmc4361_writeInt(TMC4361A_RESET_REG, 0);
 
   init();
+#endif
 
   // 发送 0x4440128C to SPI_OUT_CONF 寄存器 0x04。
   // 发送 0xEC 到 COVER_HIGH 寄存器 0x6D 及 0x000100C3 到 COVER_LOW 寄存器 0x6C。