I cannot see the effect of the low speed optimization.
I set speed to 1 rpm and watch the phase currents.
With these settings (these values are readbacks):
min_speed: 0x1fdf
config: 0x2c90
step_mode: 0x0007
I get significant distortion around 0 A:
To compare, with min_speed == 0 (so LSPD_OPT off):
As you can see, same distortion around 0.
KVAL_RUN at 0x0f, my motor is specified to 4 A.
What is going on? Why doesn't LSPD_OPT seem to bite? I have seen that the datasheet is a little shady about that bit, it might be that?
