@@ -12,6 +12,6 @@ This is a variant based on the DRV8428P which is a dual H-bridge chip in the DRV
## Microstepping
Microstepping involves applying PWM on the H-bridges inputs. This is still under development and might require manual PWM in a timer ISR, as a high frequency is needed. The default is 732Hz with the Arduino Core using a 16-bit timer.
Microstepping involves applying PWM on the H-bridges inputs, this is still under development. A quick test showed 732Hz is too slow; the motor vibrates when any sort of load is applied. A higher frequency should be feasible by decreasing TCC0's counter. For 20kHz, a counter of 2400 (instead of 0xFFFF) should be ok with TCC0 in 16-bit mode. Pins PA8, PA9, PA14 and PA15 can all be MUXed to TCC0's outputs with proper settings.
