update

components/tmc/ic/ztmc5130.cpp

@@ -141,10 +141,10 @@ bool TMC5130::isReachTarget() {
 /*******************************************************************************
  *                                    basic                                    *
  *******************************************************************************/
-void TMC5130::writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value) {
-  CriticalContext cc;
-  writeInt(address, readInt(address) & ~mask | value << shift);
-}
+// void TMC5130::writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value) {
+//   CriticalContext cc;
+//   writeInt(address, readInt(address) & ~mask | value << shift);
+// }
 void TMC5130::readWriteArray(uint8_t *data, size_t length) {
   CriticalContext cc;
   // m_port->TMC5130Port_readWriteArray(m_channel, data, length);

components/tmc/ic/ztmc5130.hpp

@@ -129,7 +129,7 @@ class TMC5130 : public IStepperMotor {
   /*******************************************************************************
    *                             驱动器寄存器读写方法                              *
    *******************************************************************************/
-  void    writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value);
+  // void    writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value);
   void    readWriteArray(uint8_t *data, size_t length);
   void    writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4);
   void    writeInt(uint8_t address, int32_t value);

hal/zuart.cpp

@@ -4,8 +4,8 @@
 #include <string.h>
 
 #include "critical_context.hpp"
-#include "zhal_core.hpp"
 #include "malloc.h"
+#include "zhal_core.hpp"
 using namespace iflytop;
 
 static ZUART *s_uart_table[10];
@@ -114,6 +114,7 @@ void ZUART::initialize(cfg_t *cfg, callback_t cb) {
   onebyte       = 0;
 
   ZHALCORE::getInstance()->regPeriodJob([this](ZHALCORE::Context &context) { periodicJob(); }, 1);
+  prv_reg_uart(this);
 }
 void ZUART::initialize(cfg_t *cfg) { initialize(cfg, NULL); }