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tmc2130: Clear reset_flag by reading GSTAT on power-on 

This is required as power-on reset will activate DIAG0, which is
used as a trigger for SG.
pull/170/head
Yuri D'Elia 2022-05-17 16:50:41 +02:00
parent f1d938b57f
commit 50a5f1db4d
1 changed files with 2 additions and 1 deletions
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src/hal/tmc2130.cpp
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@ -22,7 +22,8 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
if (((IOIN >> 24U) != 0x11) | !(IOIN & (1U << 6U))) if (((IOIN >> 24U) != 0x11) | !(IOIN & (1U << 6U)))
return false; // @@TODO return some kind of failure return false; // @@TODO return some kind of failure
///clear reset_flag as we are (re)initializing // read GSTAT to clear reset_flag as we are (re)initializing
CheckForErrors(params);
errorFlags.reset_flag = false; errorFlags.reset_flag = false;
///apply chopper parameters ///apply chopper parameters