Ikhee Jo / T-Motor_AK80_BaseCode

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: DRV8323/DRV.cpp

Revision:
52:8e74c22ed89f
Parent:
45:26801179208e
--- a/DRV8323/DRV.cpp	Wed Jul 17 03:40:12 2019 +0000
+++ b/DRV8323/DRV.cpp	Sun Jul 21 21:42:49 2019 +0000
@@ -73,7 +73,11 @@
     uint16_t val2 = read_FSR2();
     wait_us(10);
     
-    if(val1 & (1<<10)){printf("\n\rFAULT\n\r");}
+    if(val1 & (1<<10))
+        {
+            printf("\n\rFAULT\n\r");
+            fault = 1;
+        }
 
     if(val1 & (1<<9)){printf("VDS_OCP\n\r");}
     if(val1 & (1<<8)){printf("GDF\n\r");}
@@ -104,6 +108,7 @@
     uint16_t val = (read_register(DCR)) & (~(0x1<<2));
     write_register(DCR, val);
     }
+
     
 void DRV832x::disable_gd(void)
 {
@@ -115,4 +120,9 @@
 {
     uint16_t val = 0x1<<4 + 0x1<<3 + 0x1<<2;
     write_register(CSACR, val);
-    }
\ No newline at end of file
+    }
+    
+int DRV832x::get_fault(void)
+{
+    return fault;
+}