From a9c9ba6d54ceb52f68fe864974abae31170b9c4d Mon Sep 17 00:00:00 2001
From: Frank Sinapi <frank.sinapi@opentrons.com>
Date: Fri, 10 Jun 2022 14:32:58 -0400
Subject: [PATCH] fix(thermocycler-gen2): disable stallguard by default (#320)

---
 .../include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp b/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp
index ada87d8d8..e0e1b17e4 100644
--- a/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp
+++ b/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp
@@ -210,7 +210,7 @@ static constexpr tmc2130::TMC2130RegisterMap default_tmc_config = {
                    .run_current = SealStepperState::DEFAULT_RUN_CURRENT,
                    .hold_current_delay = 0b0111},
     .tpowerdown = {},
-    .tcoolthrs = {.threshold = SealStepperState::DEFAULT_SG_MIN_VELOCITY},
+    .tcoolthrs = {.threshold = SealStepperState::DISABLED_SG_MIN_VELOCITY},
     .thigh = {.threshold = 0xFFFFF},
     .chopconf = {.toff = 0b101, .hstrt = 0b101, .hend = 0b11, .tbl = 0b10},
     .coolconf = {.sgt = SealStepperState::DEFAULT_STALLGUARD_THRESHOLD}};