From 9a9cbfa8f51eecbb6671d47b15c8f827abd4b2ba Mon Sep 17 00:00:00 2001
From: doudar <anthonydoud97@gmail.com>
Date: Wed, 7 Aug 2024 08:31:47 -0500
Subject: [PATCH] fixed bug with stepper speed not updating

---
 CHANGELOG.md |  6 +++---
 src/Main.cpp | 29 ++++++++++++++---------------
 2 files changed, 17 insertions(+), 18 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index ff20c240..e886e7e1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -35,9 +35,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Fixed bug in CPS service for Wahoo app (and probably others).
 - Depreciated the SPIFFS->LittleFS upgrader.
 - Increased ERG mode sensitivity.
-- removed extra logging when loading table.
-- prevent table returns from going in the wrong direction.
-- many small bug fixes.
+- Removed extra logging when loading table.
+- Prevent table returns from going in the wrong direction.
+- Fixed bug with stepper speed not updating.
 
 ### Hardware
 - added Yesoul S3.
diff --git a/src/Main.cpp b/src/Main.cpp
index 5fee390e..f662a821 100644
--- a/src/Main.cpp
+++ b/src/Main.cpp
@@ -372,15 +372,7 @@ void SS2K::restartWifi() {
 }
 
 void SS2K::moveStepper(void *pvParameters) {
-  engine.init();
   bool _stepperDir = userConfig->getStepperDir();
-  stepper          = engine.stepperConnectToPin(currentBoard.stepPin);
-  stepper->setDirectionPin(currentBoard.dirPin, _stepperDir);
-  stepper->setEnablePin(currentBoard.enablePin);
-  stepper->setAutoEnable(true);
-  stepper->setSpeedInHz(DEFAULT_STEPPER_SPEED);
-  stepper->setAcceleration(STEPPER_ACCELERATION);
-  stepper->setDelayToDisable(1000);
 
   while (1) {
     if (stepper) {
@@ -494,23 +486,30 @@ void SS2K::resetIfShiftersHeld() {
 }
 
 void SS2K::setupTMCStepperDriver() {
+  // FastAccel setup
+  engine.init();
+  stepper = engine.stepperConnectToPin(currentBoard.stepPin);
+  stepper->setDirectionPin(currentBoard.dirPin, userConfig->getStepperDir());
+  stepper->setEnablePin(currentBoard.enablePin);
+  stepper->setAutoEnable(true);
+  stepper->setSpeedInHz(DEFAULT_STEPPER_SPEED);
+  stepper->setAcceleration(STEPPER_ACCELERATION);
+  stepper->setDelayToDisable(1000);
+
+  // TMC Driver Setup
   driver.begin();
   driver.pdn_disable(true);
   driver.mstep_reg_select(true);
-
+  ss2k->updateStepperSpeed();
   ss2k->updateStepperPower();
   driver.microsteps(4);  // Set microsteps to 1/8th
   driver.irun(currentBoard.pwrScaler);
   driver.ihold((uint8_t)(currentBoard.pwrScaler * .5));  // hold current % 0-DRIVER_MAX_PWR_SCALER
   driver.iholddelay(10);                                 // Controls the number of clock cycles for motor
-                                                         // power down after standstill is detected
+  // power down after standstill is detected
   driver.TPOWERDOWN(128);
-
   driver.toff(5);
-  bool t_bool = userConfig->getStealthChop();
-  driver.en_spreadCycle(!t_bool);
-  driver.pwm_autoscale(t_bool);
-  driver.pwm_autograd(t_bool);
+  ss2k->updateStealthChop();
 }
 
 // Applies current power to driver