Diff: main.cpp

Revision:

7:51cb60bf3e2d

Parent:

6:6ad7bc10ac20

Child:

8:f44d70665051

--- a/main.cpp	Mon Mar 22 17:46:39 2021 +0000
+++ b/main.cpp	Mon Mar 22 21:38:03 2021 +0000
@@ -93,12 +93,13 @@
     ledCW = 1;
     ledCCW = 1;
     
-    diag.rise(&trigger_diag);
         
     // Initialize Stepper
     printf("connecting to TMC-Module...\r\n");
     stepper.begin();                    // UART: Init SW UART (if selected) with default baudrate
     printf("TMC-Version: %02X\r\n",stepper.version());
+    stepper.push();                     // initialize all registers??? required?
+    
     stepper.toff(3);                    // Enables driver in software - 3, 5 ????
     stepper.rms_current(RMSCURRENT);    // Set motor RMS current in mA / min 500 for 24V/speed:3000
                                         // 1110, 800
@@ -117,6 +118,8 @@
     uint32_t ioin = stepper.IOIN();        
     printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
     
+    diag.rise(&trigger_diag);
+    
     //bool shaft = false;  //direction CW or CCW
     
     while(1) {
@@ -212,6 +215,13 @@
         thisGet = wheel.Get();
         stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value
         printf("actspeed: %i\r\n",thisGet*100);
+        
+        gstat = stepper.GSTAT();
+        printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
+        status = stepper.DRV_STATUS();
+        printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
+        ioin = stepper.IOIN();        
+        printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
 
     }        
     // anything changed?