Please help me to find way to switch off stealthChop mode for TMC2209.
Driver working in UART mode.
My code initialization part:
TMCdriver->begin(); // UART: Init SW UART (if selected) with default 115200 baudrate
TMCdriver->toff(5); // off time and driver enable
TMCdriver->rms_current(_params.CURRENT_); // Set motor RMS current
TMCdriver->microsteps(_params.MICROSTEP_); // Set microsteps
TMCdriver->shaft(false); // SET DIRECTION
TMCdriver->en_spreadCycle(false); // SpreadCycle™ - highly dynamic motor control chopper
TMCdriver->pwm_autoscale(true); // two modes of PWM regulation, Needed for stealthChop
struct driverParams {
uint8_t EN_PIN_ = 40;
uint8_t DRIVER_ADDRESS_ = 0b00;
float R_SENSE_ = 0.11; // The current sense resistor
int CURRENT_ = 2000;
uint8_t MICROSTEP_ = 2; // 1/2, 1/4, 1/8, 1/16 - going up - less torque power, more precision
float MAX_RPS_ = 4;
float STEP_RPS_ = 0.05;
int STEP_PAUSE_ = 100;
};
Please help me to find way to switch off stealthChop mode for TMC2209.
Driver working in UART mode.
My code initialization part: