add drv conf for motor driver

Opentrons · Dec 4, 2024 · 3be229d · 3be229d
1 parent 46601d6
commit 3be229d
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp
@@ -31,6 +31,7 @@ static constexpr tmc2160::TMC2160RegisterMap motor_z_config{
                    .s2g_level = 0x6,
                    .shortfilter = 1,
                    .shortdelay = 0},
+    .drvconf = {.bbmclks = 4},
     .glob_scale = {.global_scaler = 0x0},
     .ihold_irun = {.hold_current = 10,
                    .run_current = 31,
@@ -58,6 +59,7 @@ static constexpr tmc2160::TMC2160RegisterMap motor_x_config{
                    .s2g_level = 0x6,
                    .shortfilter = 1,
                    .shortdelay = 0},
+    .drvconf = {.bbmclks = 4},
     .glob_scale = {.global_scaler = 0x0},
     .ihold_irun = {.hold_current = 12,
                    .run_current = 31,
@@ -85,6 +87,7 @@ static constexpr tmc2160::TMC2160RegisterMap motor_l_config{
                    .s2g_level = 0x6,
                    .shortfilter = 1,
                    .shortdelay = 0},
+    .drvconf = {.bbmclks = 4},
     .glob_scale = {.global_scaler = 0x0},
     .ihold_irun = {.hold_current = 7,
                    .run_current = 8,