Diff: main.cpp

Revision:

6:6ad7bc10ac20

Parent:

5:7f250f463aa2

Child:

7:51cb60bf3e2d

--- a/main.cpp	Sun Mar 21 13:31:53 2021 +0000
+++ b/main.cpp	Mon Mar 22 17:46:39 2021 +0000
@@ -37,9 +37,12 @@
 //RX, TX, RS, Addr 
 TMC2209Stepper stepper(p14, p13, R_SENSE, DRIVER_ADDRESS);
 
+InterruptIn diag(p21);
+
 volatile bool enc_pressed = false;      // Button of rotaryencoder was pressed
 volatile bool enc_rotated = false;      // rotary encoder was totaded left or right
 volatile bool enc_action  = false;      // any change happened
+volatile bool diag_event  = false;      // DIAG-Pin of TMC
 int lastGet;
 int thisGet;
 
@@ -53,6 +56,11 @@
     enc_rotated = true;               // just set the flag, rest is done outside isr
 }
 
+//interrup-Handler for TMC2209-DIAG-Pin
+void trigger_diag() {
+    diag_event = true;               // just set the flag, rest is done outside isr
+}
+
 // Assumes little endian
 void printBits(size_t const size, void const * const ptr)
 {
@@ -79,11 +87,13 @@
     // call trigger_rot() when the shaft is rotaded left or right
     wheel.attachROT(&trigger_rotated);
     lastGet = 0;
-    // set encrotated, so startup
+    // set enc_rotated, so startup
     enc_rotated = true;
     enc_action = true;
     ledCW = 1;
     ledCCW = 1;
+    
+    diag.rise(&trigger_diag);
         
     // Initialize Stepper
     printf("connecting to TMC-Module...\r\n");
@@ -98,9 +108,15 @@
     stepper.en_spreadCycle(true);     // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!!
     stepper.pwm_autoscale(true);      // Needed for stealthChop
     
+    uint8_t gstat = stepper.GSTAT();
+    printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
+    
     uint32_t status = stepper.DRV_STATUS();
     printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
     
+    uint32_t ioin = stepper.IOIN();        
+    printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
+    
     //bool shaft = false;  //direction CW or CCW
     
     while(1) {
@@ -151,6 +167,26 @@
 */
 ////// Control motor-speed by rotary-encoder
     
+    // DIAG-PIN showed Error-Condition?
+    if (diag_event) {
+        diag_event = false;
+        printf("DIAG occured!\r\n");
+        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");
+        //safty turn off friver
+        printf("Shutting Down Motordriver...\r\n");
+        stepper.toff(0);
+        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");
+        printf("stopping programm - manual RESET required!!!!!!\r\n");
+        while (1) {};
+        
+    }
+    
     // shaft has been rotated?
     if (enc_rotated) {
         enc_rotated = false;