increase the sampling rate

Opentrons · Oct 7, 2024 · b68fc85 · b68fc85
1 parent 5b80425
commit b68fc85
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_driver_task.cpp b/stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_driver_task.cpp
@@ -27,7 +27,7 @@ static constexpr uint32_t STREAM_TASK_DEPTH = 200;
 static StaticTask_t stream_task_buffer;
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static std::array<StackType_t, STREAM_TASK_DEPTH> stream_task_stack;
-static constexpr uint32_t FREQ_MS = 10;
+static constexpr uint32_t FREQ_MS = 1;
 
 static void run_stallguard_task(void* arg) {
     auto* interface = static_cast<

diff --git a/stm32-modules/flex-stacker/firmware/motor_control/motor_spi_hardware.c b/stm32-modules/flex-stacker/firmware/motor_control/motor_spi_hardware.c
@@ -279,7 +279,7 @@ void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi)
 bool motor_spi_sendreceive(
     MotorID motor_id, uint8_t *txData, uint8_t *rxData, uint16_t size
 ) {
-    const TickType_t max_block_time = pdMS_TO_TICKS(10);
+    const TickType_t max_block_time = pdMS_TO_TICKS(1);
     uint32_t notification_val = 0;
 
     if (!_spi.initialized || (_spi.task_to_notify != NULL) || (size > MOTOR_MAX_SPI_LEN)) {