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tmc: Error flags

pull/65/head
Alex Voinea 2021-07-27 19:07:38 +03:00 committed by D.R.racer
parent 741adee6df
commit c2a7d7db5d
2 changed files with 26 additions and 4 deletions
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16
src/hal/avr/tmc2130.cpp
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@ -94,6 +94,18 @@ void TMC2130::ClearStallguard(const MotorParams &params) {
sg_counter = 4 * (1 << (8 - params.uSteps)) - 1; /// one electrical full step (4 steps when fullstepping) sg_counter = 4 * (1 << (8 - params.uSteps)) - 1; /// one electrical full step (4 steps when fullstepping)
} }
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 & (1 << 0);
errorFlags.uv_cp = GSTAT & (1 << 2);
errorFlags.s2g = DRV_STATUS & (3ul << 27);
errorFlags.otpw = DRV_STATUS & (1ul << 26);
errorFlags.ot = DRV_STATUS & (1ul << 25);
return GSTAT || errorFlags.reset_flag; //any bit in gstat is an error
}
uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) { uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) {
uint8_t pData[5] = { (uint8_t)reg }; uint8_t pData[5] = { (uint8_t)reg };
_spi_tx_rx(params, pData); _spi_tx_rx(params, pData);
@ -129,8 +141,8 @@ void TMC2130::_spi_tx_rx(const MotorParams &params, uint8_t (&pData)[5]) {
} }
void TMC2130::_handle_spi_status(const MotorParams &params, uint8_t status) { void TMC2130::_handle_spi_status(const MotorParams &params, uint8_t status) {
errorFlags.reset_flag |= status & (1 << 0); // errorFlags.reset_flag |= status & (1 << 0);
errorFlags.driver_error |= status & (1 << 1); // errorFlags.driver_error |= status & (1 << 1);
} }
} // namespace tmc2130 } // namespace tmc2130

14
src/hal/tmc2130.h
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@ -35,9 +35,12 @@ struct MotorCurrents {
class TMC2130 { class TMC2130 {
MotorMode mode; MotorMode mode;
MotorCurrents currents; MotorCurrents currents;
struct __attribute__((packed)) { struct __attribute__((packed)) ErrorFlags {
uint8_t reset_flag : 1; uint8_t reset_flag : 1;
uint8_t driver_error : 1; uint8_t uv_cp : 1;
uint8_t s2g : 1;
uint8_t otpw : 1;
uint8_t ot : 1;
} errorFlags; } errorFlags;
bool enabled = false; bool enabled = false;
uint8_t sg_counter; uint8_t sg_counter;
@ -118,6 +121,13 @@ public:
void ClearStallguard(const MotorParams &params); void ClearStallguard(const MotorParams &params);
/// Should be called periodically from main loop. Maybe not all the time. Once every 10 ms is probably enough
bool CheckForErrors(const MotorParams &params);
inline ErrorFlags GetErrorFlags() const {
return errorFlags;
}
/// Reads a driver register and updates the status flags /// Reads a driver register and updates the status flags
uint32_t ReadRegister(const MotorParams &params, Registers reg); uint32_t ReadRegister(const MotorParams &params, Registers reg);