add getXactualRAW

tmcdriver/tmc51x0/tmc51x0.cpp

@@ -30,7 +30,7 @@ static const uint8_t tmc5130_defaultRegisterAccess[TMC5130_REGISTER_COUNT] = {
 #endif
 
 /***********************************************************************************************************************
- *                                                      撌亙�摰�                                                         *
+ *                                                      撌亙�摰?                                                         *
  ***********************************************************************************************************************/
 
 #define FIELD_SET(data, mask, shift, value) (data = (((data) & (~(mask))) | (((value) << (shift)) & (mask))))
@@ -106,7 +106,7 @@ void TMC51X0::writeField(uint8_t add, uint32_t mask, uint32_t shift, uint32_t va
 int32_t TMC51X0::readInt(uint8_t address) {
   /**
    * @WARNING:
-   *    餈䠷�瘝⊥��斗鱏撖���冽糓�血虾霂鳴��劐�撖���冽糓銝滚虾霂餅�隞伐���隞亙虾�質粉�墧䔉��㺭�澆��坔��啣�潭糓銝滨㮾蝑厩�
+   *    餈䠷�瘝⊥��斗鱏撖���冽糓�血虾霂鳴��劐�撖���冽糓銝滚虾霂餅�隞伐���隞亙虾�質?餃��亦��啣�澆��坔��啣�潭糓銝滨㮾蝑厩�
    */
   address = TMC51x0_ADDRESS(address);
 
@@ -225,6 +225,11 @@ int32_t TMC51X0::getXACTUAL() {
 
   return to_user_pos(readInt(TMC5130_XACTUAL));
 }
+int32_t TMC51X0::getXactualRAW() {
+  zlock_guard lkg(m_mutex);
+  return readInt(TMC5130_XACTUAL);
+}
+
 int32_t TMC51X0::getVACTUAL() {
   zlock_guard lkg(m_mutex);
   return to_user_pos(readInt(TMC5130_VACTUAL));
@@ -259,7 +264,7 @@ bool TMC51X0::isTMC5130() {
   return chipId == kTMC5130;
 }
 
-TMC5130DevStatusReg_t TMC51X0::getDevStatus() {  // R 霂餃�銝齿�
+TMC5130DevStatusReg_t TMC51X0::getDevStatus() {  // R 
   zlock_guard lkg(m_mutex);
   static_assert(sizeof(TMC5130DevStatusReg_t) == 4);
   uint32_t              value = readInt(TMC5130_DRVSTATUS);
@@ -267,7 +272,7 @@ TMC5130DevStatusReg_t TMC51X0::getDevStatus() {  // R 读后不清
   memcpy(&val, &value, sizeof(TMC5130DevStatusReg_t));
   return val;
 }
-TMC5130GState_t TMC51X0::getGState() {  // R+C 霂餃��芸𢆡皜�膄
+TMC5130GState_t TMC51X0::getGState() {  // R+C 
   zlock_guard lkg(m_mutex);
   static_assert(sizeof(TMC5130GState_t) == 4);
   uint32_t        value = readInt(TMC5130_GSTAT);
@@ -365,9 +370,9 @@ bool TMC51X0::setEncResolution(int32_t enc_resolution) {
   /**
    * @brief
    *
-   *      1.��挽�菜㦤��256蝏��
-   *      2.��挽TMC5130_ENC_CONST�臬�餈𥕦�璅∪�
-   *      3.�芣𣈲���摰𡁜�颲函������膥
+   *      1.��?曄㩞�箸糓256蝏��
+   *      2.��?鋁MC5130_ENC_CONST�?����嗆芋撘?
+   *      3.�?�?���摰𡁜�颲函������膥
    */
 
   int32_t enc_resolution_tmp   = enc_resolution * 4;

tmcdriver/tmc51x0/tmc51x0.hpp

@@ -12,10 +12,6 @@
 namespace iflytop {
 /**
  * @brief
- *    瘜冽�鈭钅★
- *
- *  1. 6�孵���綉�嗅蘨�其�蝵?璅∪�銝𧢲�����券�笔漲璅∪�銝𧢲��?
- *  2. �笔漲璅∪�銝见蘨�𡅅MAX�㗇�
  *
  */
 class TMC51X0Cfg {
@@ -40,7 +36,7 @@ class TMC51X0 {
   int32_t     m_scale_deceleration = 1;
   mres_type_t m_MRES               = kmres_256;
   double      m_onecirclepulse     = 51200;
-  int32_t     m_enc_resolution     = 0;  // 蝻𣇉��典�颲函�嚗屸�霈文蘨�匧銁256蝏������萎��㗇�
+  int32_t     m_enc_resolution     = 0;  // 
 
   zmutex m_mutex  = {"TMC51X0"};
   bool   m_driErr = false;
@@ -49,9 +45,7 @@ class TMC51X0 {
   void initialize(TMC51X0Cfg cfg);
 
  private:
-  /*******************************************************************************
-   *                             撽勗𢆡�典�摮睃膥霂餃��寞�                              *
-   *******************************************************************************/
+
   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);
@@ -76,21 +70,23 @@ class TMC51X0 {
   /***********************************************************************************************************************
    *                                                      get state                                                      *
    ***********************************************************************************************************************/
-  int32_t               getXACTUAL();  // 敶枏�雿滨蔭
-  int32_t               getVACTUAL();  // 敶枏��笔漲
+  int32_t               getXACTUAL();  // now pos
+  int32_t               getVACTUAL();  // now vel
   int32_t               getEncVal();   // ENCVAL
   TMC5130RampStat       getRampStat();
-  TMC5130DevStatusReg_t getDevStatus();  // R 霂餃�銝齿�
-  TMC5130GState_t       getGState();     // R+C 霂餃��?�冽��?
+  TMC5130DevStatusReg_t getDevStatus();  // R
+  TMC5130GState_t       getGState();     // R+C read and clear
   int32_t               readICVersion();
 
-  bool isReachTarget(TMC5130RampStat *state);  // �?�血�颲曄𤌍���蝵?
+  int32_t getXactualRAW();// now pos 51200
+
+  bool isReachTarget(TMC5130RampStat *state);  // is reach target
   bool isTMC5130();
 
   /***********************************************************************************************************************
    *                                                      set state                                                      *
    ***********************************************************************************************************************/
-  void setXACTUAL(int32_t value);  // 霈曄蔭敶枏�雿滨蔭
+  void setXACTUAL(int32_t value);  // set pos
   void setMotorShaft(bool reverse);
   void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
   void setGlobalScale(uint8_t globalscale);  // ONLY for 5160