update

components/tmc/ic/ztmc5130.cpp

@@ -40,10 +40,6 @@ void TMC51X0::initialize(cfg_t *cfg) {
     m_ennpin->initAsOutput(cfg->ennPin, ZGPIO::kMode_nopull, false, true);
     ZASSERT(m_ennpin);
   }
-  if (cfg->spi_mode_select != PinNull) {
-    m_spi_mode_select_gpio = new ZGPIO();
-    m_spi_mode_select_gpio->initAsOutput(cfg->spi_mode_select, ZGPIO::kMode_nopull, false, false);
-  }
   m_hspi = cfg->spi;
 
   enable(false);
@@ -131,7 +127,7 @@ uint8_t TMC51X0::reset() {
   // TMC5130_AMAX
   setAcceleration(100);
   setDeceleration(100);
-  setIHOLD_IRUN(2, 10, 1);
+  setIHOLD_IRUN(0, 4, 1);
   enable(false);
   return 0;
 }

components/tmc/ic/ztmc5130.hpp

@@ -80,10 +80,8 @@ class TMC51X0 : public IStepperMotor {
   typedef struct {
     SPI_HandleTypeDef *spi;
     Pin_t              csgpio          = PinNull;  //
-    Pin_t              resetPin        = PinNull;  //
-    Pin_t              fREEZEPin       = PinNull;  //
     Pin_t              ennPin          = PinNull;  //
-    Pin_t              spi_mode_select = PinNull;  //
+
   } cfg_t;
 
  protected:
@@ -91,7 +89,6 @@ class TMC51X0 : public IStepperMotor {
 
   ZGPIO             *m_csnpin               = NULL;
   ZGPIO             *m_ennpin               = NULL;
-  ZGPIO             *m_spi_mode_select_gpio = NULL;
   SPI_HandleTypeDef *m_hspi                 = NULL;
 
   // uint8_t  m_channel;