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Tighter TPWMTHRS at standstill

pull/120/head
Alex Voinea 2021-09-02 13:24:36 +03:00 committed by DRracer
parent e0babfa4ba
commit 91f622fcdc
1 changed files with 1 additions and 1 deletions
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src/hal/tmc2130.cpp
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@ -64,7 +64,7 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
void TMC2130::SetMode(const MotorParams &params, MotorMode mode) { void TMC2130::SetMode(const MotorParams &params, MotorMode mode) {
///0xFFF00 is used as a "Normal" mode threshold since stealthchop will be used at standstill. ///0xFFF00 is used as a "Normal" mode threshold since stealthchop will be used at standstill.
WriteRegister(params, Registers::TPWMTHRS, (mode == Stealth) ? 70 : 0xFFF00); // @@TODO should be configurable WriteRegister(params, Registers::TPWMTHRS, (mode == Stealth) ? 70 : 0xFFFF0); // @@TODO should be configurable
} }
void TMC2130::SetCurrents(const MotorParams &params, const MotorCurrents &currents) { void TMC2130::SetCurrents(const MotorParams &params, const MotorCurrents &currents) {