In the process of using drv8889-q1, Turn left and right the feedback TRQ_COUNT is not same。 The following is the configuration content of drv8889. How can we change it to improve the recognition accuracy.
Ctrl3 register
MICROSTEP_ MODE :STEP_ 1_ four
SPI_ STEP : 1
SPI_ DIR :1
Ctrl1 register
TRQ_ DAC:CURRENT_ 87_ POINT_ 5_ PERSENTS
Ctrl2 register
TOFF:1
DECAY:SMART_ TUNE_ RIPPLE_ CONTROL
Ctrl5 register
STL_ REP :0
EN_ STL:1
STL_ LRN:0
Ctrl6 register
STALL_ TH :14
Ctrl4 register
EN_ OL:1
Judge by reading the feedback ctlr7 torque value in real time. When there is no locked rotor and the voltage is 13V, the value of TRQ_COUNT is 0x1f, and when locked rotor is detected, the torque value is about 0x0c. Then judge the locked rotor according to the time when the torque value appears.
