From a71e8045b15dcab51e5e73eb66f24c833c33e6ec Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Sun, 9 Oct 2022 22:42:22 +0200
Subject: [PATCH] Clear tmc error flags on init

---
 src/hal/tmc2130.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/hal/tmc2130.cpp b/src/hal/tmc2130.cpp
index da281af..8dc4b14 100644
--- a/src/hal/tmc2130.cpp
+++ b/src/hal/tmc2130.cpp
@@ -29,6 +29,9 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
     ///clear reset_flag as we are (re)initializing
     errorFlags.reset_flag = false;
 
+    // clear all error flags if possible ny reading GSTAT
+    ReadRegister(params, Registers::GSTAT);
+
     ///apply chopper parameters
     const uint32_t chopconf = (uint32_t)(TOFF_DEFAULT & TOFF_MASK) << 0U //toff
         | (uint32_t)(5U & 0x07U) << 4U //hstrt