fix(stacker): motor driver conf update (#492)

* add drv conf for motor driver * decrease thigh threshold to make sure stallguard is not activated
Opentrons · Dec 5, 2024 · 863df31 · 863df31
1 parent 46601d6
commit 863df31
Showing 1 changed file with 6 additions and 3 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
@@ -31,13 +31,14 @@ 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,
                    .hold_current_delay = 15},
     .tpwmthrs = {.threshold = 0x80000},
     .tcoolthrs = {.threshold = 0x2FF},
-    .thigh = {.threshold = 0x81},
+    .thigh = {.threshold = 0x1},
     .chopconf = {.toff = 0b111,
                  .hstrt = 0b100,
                  .hend = 0b11,
@@ -58,13 +59,14 @@ 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,
                    .hold_current_delay = 7},
     .tpwmthrs = {.threshold = 0x80000},
     .tcoolthrs = {.threshold = 0x2FF},
-    .thigh = {.threshold = 0x81},
+    .thigh = {.threshold = 0x1},
     .chopconf = {.toff = 0b111,
                  .hstrt = 0b111,
                  .hend = 0b1001,
@@ -85,13 +87,14 @@ 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,
                    .hold_current_delay = 7},
     .tpwmthrs = {.threshold = 0x80000},
     .tcoolthrs = {.threshold = 0x2FF},
-    .thigh = {.threshold = 0x81},
+    .thigh = {.threshold = 0x1},
     .chopconf = {.toff = 0b111,
                  .hstrt = 0b111,
                  .hend = 0b1001,