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Make sure the error flags are turned into bools

pull/212/head
Alex Voinea 2022-10-09 22:13:00 +02:00
parent 5cf84ab98a
commit a61c741a66
1 changed files with 5 additions and 5 deletions
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10
src/hal/tmc2130.cpp
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@ -104,11 +104,11 @@ void TMC2130::SetEnabled(const MotorParams &params, bool enabled) {
bool TMC2130::CheckForErrors(const MotorParams &params) {
uint32_t GSTAT = ReadRegister(params, Registers::GSTAT);
uint32_t DRV_STATUS = ReadRegister(params, Registers::DRV_STATUS);
errorFlags.reset_flag |= GSTAT & (1U << 0U);
errorFlags.uv_cp = GSTAT & (1U << 2U);
errorFlags.s2g = DRV_STATUS & (3UL << 27U);
errorFlags.otpw = DRV_STATUS & (1UL << 26U);
errorFlags.ot = DRV_STATUS & (1UL << 25U);
errorFlags.reset_flag |= !!(GSTAT & (1U << 0U));
errorFlags.uv_cp = !!(GSTAT & (1U << 2U));
errorFlags.s2g = !!(DRV_STATUS & (3UL << 27U));
errorFlags.otpw = !!(DRV_STATUS & (1UL << 26U));
errorFlags.ot = !!(DRV_STATUS & (1UL << 25U));
return GSTAT || errorFlags.reset_flag; //any bit in gstat is an error
}