Clear tmc error flags on init

2022-10-09 22:42:22 +02:00 · 2022-10-09 22:42:22 +02:00 · a71e8045b1
parent abf25c2b3e
commit a71e8045b1
1 changed files with 3 additions and 0 deletions
--- 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