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Fix typo 

typo
pull/120/head
Alex Voinea 2021-09-03 17:50:03 +03:00 committed by DRracer
parent 91f622fcdc
commit bec3f73864
2 changed files with 4 additions and 4 deletions
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6
src/config/config.h
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@ -154,9 +154,9 @@ static_assert(tmc2130_PWM_AUTOSCALE <= 1, "tmc2130_PWM_AUTOSCALE out of range");
/// Freewheel options for standstill: /// Freewheel options for standstill:
/// 0: Normal operation (IHOLD is supplied to the motor at standstill) /// 0: Normal operation (IHOLD is supplied to the motor at standstill)
/// 1: Freewheeling (as if the driver was disabled, no breaking except for detent torque) /// 1: Freewheeling (as if the driver was disabled, no braking except for detent torque)
/// 2: Coil shorted using LS drivers (stronger passive breaking) /// 2: Coil shorted using LS drivers (stronger passive braking)
/// 3: Coil shorted using HS drivers (weaker passive breaking) /// 3: Coil shorted using HS drivers (weaker passive braking)
static constexpr uint32_t tmc2130_freewheel = 1; static constexpr uint32_t tmc2130_freewheel = 1;
static_assert(tmc2130_PWM_AUTOSCALE <= 3, "tmc2130_freewheel out of range"); static_assert(tmc2130_PWM_AUTOSCALE <= 3, "tmc2130_freewheel out of range");

2
src/hal/tmc2130.cpp
View File

@ -63,7 +63,7 @@ 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. ///0xFFFF0 is used as a "Normal" mode threshold since stealthchop will be used at standstill.
WriteRegister(params, Registers::TPWMTHRS, (mode == Stealth) ? 70 : 0xFFFF0); // @@TODO should be configurable WriteRegister(params, Registers::TPWMTHRS, (mode == Stealth) ? 70 : 0xFFFF0); // @@TODO should be configurable
} }