From 129a89cf075b55a1024ecaf3659ea0db798f1291 Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Sun, 18 Jul 2021 09:13:55 +0300
Subject: [PATCH] Fix stall detection polarity

---
 src/hal/tmc2130.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/hal/tmc2130.h b/src/hal/tmc2130.h
index 2f57b55..437423c 100644
--- a/src/hal/tmc2130.h
+++ b/src/hal/tmc2130.h
@@ -111,7 +111,7 @@ public:
 
     /// Return SG state
     static inline bool Stall(const MotorParams &params) {
-        return gpio::ReadPin(params.sgPin) == gpio::Level::high;
+        return gpio::ReadPin(params.sgPin) == gpio::Level::low;
     }
 
     /// Reads a driver register and updates the status flags