Michal
/
Prusa-Firmware-MMU
mirror of https://github.com/prusa3d/Prusa-Firmware-MMU
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

tmc2130: report error during init

pull/76/head
Alex Voinea 2021-07-25 20:15:27 +03:00 committed by DRracer
parent 3f20ff88ee
commit 2cdc3bfbc4
2 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/hal/avr/tmc2130.cpp
View File

@ -10,7 +10,7 @@ TMC2130::TMC2130(const MotorParams &params,
// TODO
}
void TMC2130::Init(const MotorParams &params) {
bool TMC2130::Init(const MotorParams &params) {
gpio::Init(params.csPin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::high));
gpio::Init(params.sgPin, gpio::GPIO_InitTypeDef(gpio::Mode::input, gpio::Pull::up));
gpio::Init(params.stepPin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
@ -18,7 +18,7 @@ void TMC2130::Init(const MotorParams &params) {
///check for compatible tmc driver (IOIN version field)
uint32_t IOIN = ReadRegister(params, Registers::IOIN);
if (((IOIN >> 24) != 0x11) | !(IOIN & (1 << 6))) ///if the version is incorrect or an always 1 bit is 0 (the supposed SD_MODE pin that doesn't exist on this driver variant)
return; // @todo return some kind of failure
return true; // @todo return some kind of failure
///clear reset flag as we are (re)initializing
errorFlags.reset = false;
@ -62,6 +62,7 @@ void TMC2130::Init(const MotorParams &params) {
///TPWMTHRS: switching velocity between stealthChop and spreadCycle. Stallguard is also disabled if the velocity falls below this. Should be set as high as possible when homing.
SetMode(params, mode);
return false;
}
void TMC2130::SetMode(const MotorParams &params, MotorMode mode) {

2
src/hal/tmc2130.h
View File

@ -74,7 +74,7 @@ public:
MotorMode mode);
/// (re)initialization of the chip
void Init(const MotorParams &params);
bool Init(const MotorParams &params);
/// Get the current motor mode
MotorMode Mode() const {