From f28856b68a9c6fd2b06070a2a10c6f40dfe9896d Mon Sep 17 00:00:00 2001 From: zhaohe Date: Thu, 27 Jul 2023 16:23:24 +0800 Subject: [PATCH] update --- components/tmc/ic/ztmc5130.cpp | 8 ++++---- components/tmc/ic/ztmc5130.hpp | 2 +- hal/zuart.cpp | 3 ++- 3 files changed, 7 insertions(+), 6 deletions(-) diff --git a/components/tmc/ic/ztmc5130.cpp b/components/tmc/ic/ztmc5130.cpp index 885932d..2d0bf5f 100644 --- a/components/tmc/ic/ztmc5130.cpp +++ b/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); diff --git a/components/tmc/ic/ztmc5130.hpp b/components/tmc/ic/ztmc5130.hpp index 592821b..9ee8532 100644 --- a/components/tmc/ic/ztmc5130.hpp +++ b/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); diff --git a/hal/zuart.cpp b/hal/zuart.cpp index 2da0141..b811b85 100644 --- a/hal/zuart.cpp +++ b/hal/zuart.cpp @@ -4,8 +4,8 @@ #include #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); }