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

@ -10,7 +10,7 @@ TMC2130::TMC2130(const MotorParams &params,
// TODO // 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.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.sgPin, gpio::GPIO_InitTypeDef(gpio::Mode::input, gpio::Pull::up));
gpio::Init(params.stepPin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low)); 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) ///check for compatible tmc driver (IOIN version field)
uint32_t IOIN = ReadRegister(params, Registers::IOIN); 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) 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 ///clear reset flag as we are (re)initializing
errorFlags.reset = false; 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. ///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); SetMode(params, mode);
return false;
} }
void TMC2130::SetMode(const MotorParams &params, MotorMode mode) { void TMC2130::SetMode(const MotorParams &params, MotorMode mode) {

2
src/hal/tmc2130.h
View File

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