From 537ae09f4287dd27fc94d76663f349c6e3c3f222 Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Wed, 8 Mar 2023 10:17:19 +0100
Subject: [PATCH] Clean-up TMC SG trs setting in COOLCONF register

---
 src/hal/tmc2130.cpp                     | 15 +++++++++++----
 tests/unit/logic/homing/test_homing.cpp |  2 +-
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/src/hal/tmc2130.cpp b/src/hal/tmc2130.cpp
index bff75a1..c517765 100644
--- a/src/hal/tmc2130.cpp
+++ b/src/hal/tmc2130.cpp
@@ -264,15 +264,22 @@ void TMC2130::SetSGTHRS(const MotorParams &params) {
     union SGTHRSU {
         struct __attribute__((packed)) S {
             uint16_t zero;
-            uint16_t sgthrs;
-            constexpr S(uint16_t sgthrs)
+            int8_t sgthrs : 7;
+            uint8_t reserved : 1;
+            uint8_t sfilt : 1;
+            uint8_t reserved1 : 7;
+            constexpr explicit S(int8_t sgthrs)
                 : zero(0)
-                , sgthrs(sgthrs) {}
+                , sgthrs(sgthrs)
+                , reserved(0)
+                , sfilt(0)
+                , reserved1(0) {}
         } s;
         uint32_t dw;
-        constexpr SGTHRSU(uint16_t sgthrs)
+        constexpr explicit SGTHRSU(int8_t sgthrs)
             : s(sgthrs) {}
     };
+    static_assert(sizeof(SGTHRSU) == 4);
     //uint32_t tmc2130_coolConf = (((uint32_t)params.sg_thrs) << 16U);
     WriteRegister(params, Registers::COOLCONF, SGTHRSU(params.sg_thrs).dw);
 }
diff --git a/tests/unit/logic/homing/test_homing.cpp b/tests/unit/logic/homing/test_homing.cpp
index 747caf2..6dacc0e 100644
--- a/tests/unit/logic/homing/test_homing.cpp
+++ b/tests/unit/logic/homing/test_homing.cpp
@@ -207,7 +207,7 @@ void AdaptiveIdlerHoming() {
     main_loop();
     CHECK(mm::motion.CurPosition<mm::Idler>().v == mm::unitToSteps<mm::I_pos_t>(config::IdlerOffsetFromHome) + 1); // magic constant just to tune the motor steps
     CHECK(mi::idler.axisStart == config::IdlerOffsetFromHome.v + 2);
-    CHECK(mm::axes[mm::Idler].sg_thrs == 32767); // @@TODO sg_thrs is int8_t by default
+    CHECK(mm::axes[mm::Idler].sg_thrs == 63);
     // do exact number of steps before triggering SG
     uint32_t idlerSteps = mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght);
     uint32_t sgChange = mm::unitToAxisUnit<mm::I_pos_t>(config::idlerLimits.lenght - 15.0_deg).v;