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Clear tmc error flags on init

pull/216/head
Alex Voinea 2022-10-09 22:42:22 +02:00 committed by DRracer
parent abf25c2b3e
commit a71e8045b1
1 changed files with 3 additions and 0 deletions
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3
src/hal/tmc2130.cpp
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@ -29,6 +29,9 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
///clear reset_flag as we are (re)initializing ///clear reset_flag as we are (re)initializing
errorFlags.reset_flag = false; errorFlags.reset_flag = false;
// clear all error flags if possible ny reading GSTAT
ReadRegister(params, Registers::GSTAT);
///apply chopper parameters ///apply chopper parameters
const uint32_t chopconf = (uint32_t)(TOFF_DEFAULT & TOFF_MASK) << 0U //toff const uint32_t chopconf = (uint32_t)(TOFF_DEFAULT & TOFF_MASK) << 0U //toff
| (uint32_t)(5U & 0x07U) << 4U //hstrt | (uint32_t)(5U & 0x07U) << 4U //hstrt