From 99c05b79d0f13781c4b3610725fa840c589137fe Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Wed, 13 Oct 2021 15:41:55 +0200
Subject: [PATCH] Adjust SG filtering threshold

---
 src/hal/tmc2130.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/hal/tmc2130.cpp b/src/hal/tmc2130.cpp
index e11c741..fc162ba 100644
--- a/src/hal/tmc2130.cpp
+++ b/src/hal/tmc2130.cpp
@@ -8,7 +8,7 @@ namespace hal {
 namespace tmc2130 {
 
 bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, MotorMode mode) {
-    sg_filter_threshold = (1 << (8 - params.mRes)) - 1;
+    sg_filter_threshold = (1 << (8 - params.mRes));
 
     gpio::Init(params.csPin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::high));
     gpio::Init(params.sgPin, gpio::GPIO_InitTypeDef(gpio::Mode::input, gpio::Pull::up));