Check for tmc2130 error flags

src/hal/tmc2130.h

@@ -143,7 +143,7 @@ public:
         sg_filter_counter = sg_filter_threshold;
     }
 
-    /// Should be called periodically from main loop. Maybe not all the time. Once every 10 ms is probably enough
+    /// Should be called periodically. Maybe not all the time. Once every 10 ms is probably enough
     bool CheckForErrors(const MotorParams &params);
 
     inline ErrorFlags GetErrorFlags() const {

src/modules/idler.cpp

@@ -142,7 +142,9 @@ bool Idler::Step() {
         return true;
     case TMCFailed:
         dbg_logic_P(PSTR("Idler Failed"));
+        return true;
     default:
+        IdleChecks();
         return true;
     }
 }

src/modules/movable_base.cpp

@@ -36,7 +36,7 @@ MovableBase::OperationResult MovableBase::InitMovement() {
 }
 
 void MovableBase::PerformMove() {
-    if (!mm::motion.DriverForAxis(axis).GetErrorFlags().Good()) { // @@TODO check occasionally, i.e. not every time?
+    if (mm::motion.DriverForAxis(axis).CheckForErrors(axisParams[axis].params)) {
         // TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
         tmcErrorFlags = mm::motion.DriverForAxis(axis).GetErrorFlags(); // save the failed state
         state = TMCFailed;
@@ -86,5 +86,14 @@ void MovableBase::HomeFailed() {
     state = HomingFailed;
 }
 
+void MovableBase::IdleChecks() {
+    // perform maintenance tasks while no motion is happening
+    if (mm::motion.DriverForAxis(axis).CheckForErrors(axisParams[axis].params)) {
+        // TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
+        tmcErrorFlags = mm::motion.DriverForAxis(axis).GetErrorFlags(); // save the failed state
+        state = TMCFailed;
+    }
+}
+
 } // namespace motion
 } // namespace modules

src/modules/movable_base.h

@@ -103,6 +103,8 @@ protected:
     void PerformHomeBack();
 
     void HomeFailed();
+
+    void IdleChecks();
 };
 
 } // namespace motion

src/modules/pulley.cpp

@@ -28,7 +28,9 @@ bool Pulley::Step() {
     case Ready:
         return true;
     case TMCFailed:
+        return true;
     default:
+        IdleChecks();
         return true;
     }
 }

src/modules/selector.cpp

@@ -122,7 +122,9 @@ bool Selector::Step() {
         return true;
     case TMCFailed:
         dbg_logic_P(PSTR("Selector Failed"));
+        return true;
     default:
+        IdleChecks();
         return true;
     }
 }