From b5b5e81082d1e06465485601c63a9cb92b61dcaa Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 11 Apr 2023 15:47:16 +0800
Subject: [PATCH] append

---
 app/MDK-ARM/app.uvguix.h_zha |  4 ++--
 src/umain.cpp                | 15 +++++++++++++--
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha
index 5b94d17..c48057d 100644
--- a/app/MDK-ARM/app.uvguix.h_zha
+++ b/app/MDK-ARM/app.uvguix.h_zha
@@ -3705,9 +3705,9 @@
       </Doc>
       <Doc>
         <Name>..\..\dep\libtrinamic\src\ic\tmc4361A.hpp</Name>
-        <ColumnNumber>0</ColumnNumber>
+        <ColumnNumber>62</ColumnNumber>
         <TopLine>97</TopLine>
-        <CurrentLine>98</CurrentLine>
+        <CurrentLine>124</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/src/umain.cpp b/src/umain.cpp
index 87d1f11..4c8a608 100644
--- a/src/umain.cpp
+++ b/src/umain.cpp
@@ -48,7 +48,11 @@ int umain(int argc, char const *argv[]) {
   port_tmc_extern_clk_enable();
   // tmc4361motor1.init();
 
-  TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig();
+  TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig       = TMC4361AImpl::createDeafultTMC4361AConfig();
+  tmc4361aconfig->base_config.fs_per_rev               = 200;
+  tmc4361aconfig->encoder_config.diff_enc_in_disable   = false;
+  tmc4361aconfig->encoder_config.enc_in_res            = 4000;
+  tmc4361aconfig->close_loop_config.enable_closed_loop = true;
 
   tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig);
   tmc2160motor1.initialize(MOTOR_1_TMC2160_CHANNEL, &tmc4361motor1);
@@ -61,6 +65,13 @@ int umain(int argc, char const *argv[]) {
   tmc2160motor1.enableIC(true);
 
   /**
+   * @brief 
+   * PPS = 1000000
+   * RPS = 1000000/200/256
+   * RPM = 1000000/200/256*60
+   */
+
+  /**
    * @brief 通过读取Version寄存器来判断芯片是否正常
    */
   int32_t ic4361Version = tmc4361motor1.readICVersion();
@@ -70,7 +81,7 @@ int umain(int argc, char const *argv[]) {
 
   tmc4361motor1.setMaximumAcceleration(300000);
   tmc4361motor1.setMaximumDeceleration(300000);
-  tmc4361motor1.moveTo(41370340, 500000);
+  tmc4361motor1.moveTo(41370340, 1000000);
 
   while (true) {
     port_do_debug_light_state();