Fix stall detection polarity

2021-07-18 09:13:55 +03:00 · 2021-07-18 09:13:55 +03:00 · 75ea171d8f
parent badd2b8cf9
commit 75ea171d8f
1 changed files with 1 additions and 1 deletions
--- a/src/hal/tmc2130.h
+++ b/src/hal/tmc2130.h
@ -111,7 +111,7 @@ public:

    /// Return SG state
    static inline bool Stall(const MotorParams &params) {
-        return gpio::ReadPin(params.sgPin) == gpio::Level::high;
+        return gpio::ReadPin(params.sgPin) == gpio::Level::low;
    }

    /// Reads a driver register and updates the status flags