From 364f1bcb0ddedb58513a8e0d3e54321a1687ee93 Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Sun, 25 Jul 2021 20:59:44 +0300
Subject: [PATCH] tmc2130: error handling stack overflow fix

---
 src/hal/avr/tmc2130.cpp | 25 ++++---------------------
 src/hal/tmc2130.h       |  8 ++------
 2 files changed, 6 insertions(+), 27 deletions(-)

diff --git a/src/hal/avr/tmc2130.cpp b/src/hal/avr/tmc2130.cpp
index 2a9af4b..22a140a 100644
--- a/src/hal/avr/tmc2130.cpp
+++ b/src/hal/avr/tmc2130.cpp
@@ -20,8 +20,8 @@ bool TMC2130::Init(const MotorParams &params) {
     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 true; // @todo return some kind of failure
 
-    ///clear reset flag as we are (re)initializing
-    errorFlags.reset = false;
+    ///clear reset_flag as we are (re)initializing
+    errorFlags.reset_flag = false;
 
     ///apply chopper parameters
     uint32_t chopconf = 0;
@@ -110,25 +110,8 @@ void TMC2130::_spi_tx_rx(const MotorParams &params, uint8_t (&pData)[5]) {
 }
 
 void TMC2130::_handle_spi_status(const MotorParams &params, uint8_t status) {
-    status &= 0x03;
-    if (status) {
-        uint32_t GSTAT = ReadRegister(params, Registers::GSTAT);
-        if (GSTAT & (1 << 0))
-            errorFlags.reset |= true;
-        if (GSTAT & (1 << 1)) {
-            uint32_t DRV_STATUS = ReadRegister(params, Registers::DRV_STATUS);
-            if (DRV_STATUS & (1ul << 25))
-                errorFlags.ot |= true;
-            if (DRV_STATUS & (1ul << 26))
-                errorFlags.otpw |= true;
-            if (DRV_STATUS & (1ul << 27))
-                errorFlags.s2ga |= true;
-            if (DRV_STATUS & (1ul << 28))
-                errorFlags.s2gb |= true;
-        }
-        if (GSTAT & (1 << 2))
-            errorFlags.uv_cp |= true;
-    }
+    errorFlags.reset_flag |= status & (1 << 0);
+    errorFlags.driver_error |= status & (1 << 1);
 }
 
 } // namespace tmc2130
diff --git a/src/hal/tmc2130.h b/src/hal/tmc2130.h
index ca26333..2e845c5 100644
--- a/src/hal/tmc2130.h
+++ b/src/hal/tmc2130.h
@@ -36,12 +36,8 @@ class TMC2130 {
     MotorMode mode;
     MotorCurrents currents;
     struct __attribute__((packed)) {
-        uint8_t reset : 1;
-        uint8_t uv_cp : 1;
-        uint8_t s2ga : 1;
-        uint8_t s2gb : 1;
-        uint8_t otpw : 1;
-        uint8_t ot : 1;
+        uint8_t reset_flag : 1;
+        uint8_t driver_error : 1;
     } errorFlags;
     bool enabled = false;