From 1f27377ce639d72e465bccf2ce9711166aa38eb4 Mon Sep 17 00:00:00 2001
From: bdring <barton.dring@gmail.com>
Date: Wed, 19 Aug 2020 11:32:58 -0600
Subject: [PATCH] Trinamic status (#563)

* Adding extended testing and status

- checks for shorts, opens, temt, p/s issues

* Update

- test function now looks for
  - connectiviy
  - motor power
  - coil shorts
  - temp issues

* Update Machine.h

* Update spi_daisy_4axis_xyyz.h
---
 Grbl_Esp32/src/Grbl.h                    |  2 +-
 Grbl_Esp32/src/Motors/TrinamicDriver.cpp | 34 +++++++++++++++++++++++-
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/Grbl_Esp32/src/Grbl.h b/Grbl_Esp32/src/Grbl.h
index 8218d263..c9bc2753 100644
--- a/Grbl_Esp32/src/Grbl.h
+++ b/Grbl_Esp32/src/Grbl.h
@@ -23,7 +23,7 @@
 // Grbl versioning system
 
 #define GRBL_VERSION "1.3a"
-#define GRBL_VERSION_BUILD "20200813"
+#define GRBL_VERSION_BUILD "20200819"
 
 //#include <sdkconfig.h>
 #include <Arduino.h>
diff --git a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
index 4d5bd043..42c159c7 100644
--- a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
+++ b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
@@ -105,7 +105,39 @@ namespace Motors {
             case 2:
                 grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check motor power", _axis_name);
                 return false;
-            default: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test passed", _axis_name); return true;
+            default:
+                // driver responded, so check for other errors from the DRV_STATUS register
+
+                TMC2130_n ::DRV_STATUS_t status { 0 };  // a useful struct to access the bits.
+                status.sr = tmcstepper->DRV_STATUS();
+
+                bool err = false;
+                // look for open loan or short 2 ground on a and b
+                if (status.s2ga || status.s2gb) {
+                    grbl_msg_sendf(CLIENT_SERIAL,
+                                   MSG_LEVEL_INFO,
+                                   "%s Motor Short Coil a:%s b:%s",
+                                   _axis_name,
+                                   status.s2ga ? "Y" : "N",
+                                   status.s2gb ? "Y" : "N");
+                    err = true;
+                }
+                // check for over temp or pre-warning
+                if (status.ot || status.otpw) {
+                    grbl_msg_sendf(CLIENT_SERIAL,
+                                   MSG_LEVEL_INFO,
+                                   "%s Driver Temp Warning:%s Fault:%s",
+                                   _axis_name,
+                                   status.otpw ? "Y" : "N",
+                                   status.ot ? "Y" : "N");
+                    err = true;
+                }
+
+                if (err)
+                    return false;
+
+                grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test passed", _axis_name);
+                return true;
         }
     }