From d8ed0fad92b5ffe1cc3c01d4fcee78c713fb6f76 Mon Sep 17 00:00:00 2001
From: ahiuchingau <20424172+ahiuchingau@users.noreply.github.com>
Date: Wed, 11 Dec 2024 15:34:17 -0500
Subject: [PATCH] update tpowerdown and hold current delay

---
 .../flex-stacker/flex-stacker/motor_driver_task.hpp      | 9 ++++++---
 .../flex-stacker/flex-stacker/tmc2160_registers.hpp      | 4 ++--
 2 files changed, 8 insertions(+), 5 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
index dc156a056..82ca48d81 100644
--- a/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp
+++ b/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp
@@ -35,7 +35,8 @@ static constexpr tmc2160::TMC2160RegisterMap motor_z_config{
     .glob_scale = {.global_scaler = 0x0},
     .ihold_irun = {.hold_current = 10,
                    .run_current = 31,
-                   .hold_current_delay = 15},
+                   .hold_current_delay = 1},
+    .tpowerdown = {.time = tmc2160::PowerDownDelay::seconds_to_reg(0.1)},
     .tpwmthrs = {.threshold = 0x80000},
     .tcoolthrs = {.threshold = 0x2FF},
     .thigh = {.threshold = 0x1},
@@ -63,7 +64,8 @@ static constexpr tmc2160::TMC2160RegisterMap motor_x_config{
     .glob_scale = {.global_scaler = 0x0},
     .ihold_irun = {.hold_current = 12,
                    .run_current = 31,
-                   .hold_current_delay = 7},
+                   .hold_current_delay = 1},
+    .tpowerdown = {.time = tmc2160::PowerDownDelay::seconds_to_reg(0.1)},
     .tpwmthrs = {.threshold = 0x80000},
     .tcoolthrs = {.threshold = 0x2FF},
     .thigh = {.threshold = 0x1},
@@ -91,7 +93,8 @@ static constexpr tmc2160::TMC2160RegisterMap motor_l_config{
     .glob_scale = {.global_scaler = 0x0},
     .ihold_irun = {.hold_current = 7,
                    .run_current = 8,
-                   .hold_current_delay = 7},
+                   .hold_current_delay = 1},
+    .tpowerdown = {.time = tmc2160::PowerDownDelay::seconds_to_reg(0.1)},
     .tpwmthrs = {.threshold = 0x80000},
     .tcoolthrs = {.threshold = 0x2FF},
     .thigh = {.threshold = 0x1},
diff --git a/stm32-modules/include/flex-stacker/flex-stacker/tmc2160_registers.hpp b/stm32-modules/include/flex-stacker/flex-stacker/tmc2160_registers.hpp
index f7bbf885c..a78b85d98 100644
--- a/stm32-modules/include/flex-stacker/flex-stacker/tmc2160_registers.hpp
+++ b/stm32-modules/include/flex-stacker/flex-stacker/tmc2160_registers.hpp
@@ -261,11 +261,11 @@ struct __attribute__((packed, __may_alias__)) PowerDownDelay {
     static constexpr uint32_t max_val = 0xFF;
     static constexpr uint32_t reset = 10;
 
-    [[nodiscard]] static auto reg_to_seconds(uint8_t reg) -> double {
+    [[nodiscard]] static constexpr auto reg_to_seconds(uint8_t reg) -> double {
         return (static_cast<double>(reg) / static_cast<double>(max_val)) *
                max_time;
     }
-    static auto seconds_to_reg(double seconds) -> uint8_t {
+    static constexpr auto seconds_to_reg(double seconds) -> uint8_t {
         if (seconds > max_time) {
             return max_val;
         }