From 16ccc17d6d41154562af9294f49c5545cedaea00 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 10 Sep 2024 20:25:54 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=B0=E5=AF=8CmoveToEnd=E7=9B=B8=E5=85=B3?=
 =?UTF-8?q?=E6=8E=A5=E5=8F=A3?=
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---
 tmcdriver/tmc51x0/tmc51x0.cpp |  8 +++++++-
 tmcdriver/tmc51x0/tmc51x0.hpp | 10 ++++++----
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/tmcdriver/tmc51x0/tmc51x0.cpp b/tmcdriver/tmc51x0/tmc51x0.cpp
index 6041775..4131cba 100644
--- a/tmcdriver/tmc51x0/tmc51x0.cpp
+++ b/tmcdriver/tmc51x0/tmc51x0.cpp
@@ -213,7 +213,7 @@ void TMC51X0::stop() {
   } else {
     rotate(0);
   }
-
+  m_isMoveToEnd = false;
   // rotate(0);
 }
 void TMC51X0::rotate(int32_t velocity) {
@@ -222,6 +222,7 @@ void TMC51X0::rotate(int32_t velocity) {
   velocity = to_motor_vel(velocity);
   writeInt(TMC5130_VMAX, abs(velocity));
   writeInt(TMC5130_RAMPMODE, (velocity >= 0) ? TMC5130_MODE_VELPOS : TMC5130_MODE_VELNEG);
+  m_isMoveToEnd = false;
 }
 void TMC51X0::moveTo(int32_t position, uint32_t velocityMax) {
   zlock_guard lkg(m_mutex);
@@ -231,6 +232,7 @@ void TMC51X0::moveTo(int32_t position, uint32_t velocityMax) {
   writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
   writeInt(TMC5130_VMAX, velocityMax);
   writeInt(TMC5130_XTARGET, position);
+  m_isMoveToEnd = false;
 }
 void TMC51X0::moveToEnd(int32_t direction, uint32_t velocityMax) {
   zlock_guard lkg(m_mutex);
@@ -248,8 +250,12 @@ void TMC51X0::moveToEnd(int32_t direction, uint32_t velocityMax) {
     writeInt(TMC5130_VMAX, to_motor_vel(velocityMax));
     writeInt(TMC5130_XTARGET, INT32_MIN / 1.5 + 1000);
   }
+  m_isMoveToEnd = true;
 }
 
+void TMC51X0::refreshMoveToEnd() { setXACTUAL(0); }
+bool TMC51X0::isMoveToEnd() { return m_isMoveToEnd; }
+
 void TMC51X0::moveBy(int32_t relativePosition, uint32_t velocityMax) {  // determine actual position and add numbers of ticks to move
   zlock_guard lkg(m_mutex);
 
diff --git a/tmcdriver/tmc51x0/tmc51x0.hpp b/tmcdriver/tmc51x0/tmc51x0.hpp
index 02aefe2..a862dfa 100644
--- a/tmcdriver/tmc51x0/tmc51x0.hpp
+++ b/tmcdriver/tmc51x0/tmc51x0.hpp
@@ -6,8 +6,8 @@
 #include <string.h>
 
 //
-#include "../tmc/tmc_type.h"
 #include "../tmc/tmc_reg_cache.hpp"
+#include "../tmc/tmc_type.h"
 #include "reg/TMC5130_Type.h"
 #include "stm32basic/stm32basic.hpp"
 namespace iflytop {
@@ -25,7 +25,6 @@ class TMC51X0Cfg {
   TMC51X0Cfg() {}
 };
 
-
 class TMC51X0 {
  protected:
   TMC51X0Cfg  m_cfg;
@@ -42,8 +41,9 @@ class TMC51X0 {
   double      m_onecirclepulse     = 51200;
   int32_t     m_enc_resolution     = 0;  //
 
-  zmutex m_mutex  = {"TMC51X0"};
-  bool   m_driErr = false;
+  zmutex m_mutex       = {"TMC51X0"};
+  bool   m_driErr      = false;
+  bool   m_isMoveToEnd = false;
 
  public:
   void initialize(int mid, TMC51X0Cfg cfg);
@@ -69,6 +69,8 @@ class TMC51X0 {
   void rotate(int32_t velocity);
   void moveTo(int32_t position, uint32_t velocityMax);
   void moveToEnd(int32_t direction, uint32_t velocityMax);
+  void refreshMoveToEnd();
+  bool isMoveToEnd();
   void moveBy(int32_t relativePosition, uint32_t velocityMax);
   void stop();
   /***********************************************************************************************************************