Unable to reset the DIAG pin output on TMC2209 driver

[antenesh]

The following Arduino sketch is to run a stepper motor for little while from Arduino Nano using TMC2209 driver in UART mode until it detects a stall to come to a complete stop and then run backward for few turns. The motor runs and stops when it detects a stall. but it failed to run backward. because the DIAG pin output stays HIGH once the motor stalled and stopped. (FYI: the DIAG pin output also stays high when the motor stops by itself after it completing the set move distance) . I tried to reset the Driver by toggling the EN pin but no changes. The diag ping output reset only when the VM power cycles.

#include <TMCStepper.h>
#include <SoftwareSerial.h>
#include <AccelStepper.h>
#include <TMC2209.h>

// Define pins
#define EN_PIN 6 // Enable pin (LOW active)
#define DIR_PIN 5 // Direction pin
#define STEP_PIN 4 // Step pin (not used in VACTUAL mode)
#define STALL_PIN_X 3 // Connected to DIAG pin on the TMC2209

// Software Serial pins
#define SW_TX 8
#define SW_RX 10
#define R_SENSE 0.11f // Check your Stepper_A board's sense resistor value

#define STALLA_VALUE 90

SoftwareSerial SoftSerial(SW_RX, SW_TX);
TMC2209Stepper driver_A(&SoftSerial, R_SENSE, 0b00); // Stepper_A address 0b00 (default)

AccelStepper Stepper_A = AccelStepper(Stepper_A.DRIVER, STEP_PIN, DIR_PIN);

bool stalled_A = false;

void stallInterruptX(){ // flag set for motor A when motor stalls
stalled_A = true;
}

void setup() {
Serial.begin(9600); // Hardware serial for debugging
SoftSerial.begin(115200); // Start software serial communication with the Stepper_A

attachInterrupt(digitalPinToInterrupt(STALL_PIN_X), stallInterruptX, CHANGE);

pinMode(EN_PIN, OUTPUT);
pinMode(DIR_PIN, OUTPUT);
pinMode(STEP_PIN, OUTPUT);
pinMode(STALL_PIN_X, INPUT_PULLUP);

digitalWrite(EN_PIN, LOW); // Enable the Stepper_A in hardware

driver_A.begin();             // Initiate pins and registeries
driver_A.rms_current(2200);    // Set stepperA current to 600mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
//driverA.en_pwm_mode(1);      // Enable extremely quiet stepping
driver_A.pwm_autoscale(1);
driver_A.microsteps(16);
driver_A.TCOOLTHRS(0xFFFFF); // 20bit max
driver_A.SGTHRS(STALLA_VALUE);
driver_A.toff(5);
driver_A.en_spreadCycle(false); // Use stealthChop (silent operation)

Serial.println("TMC2209 Initialized via Software Serial");
Serial.println(driver_A.microsteps());
delay(5000);

Stepper_A.setMaxSpeed(4000); // 100mm/s @ 80 steps/mm
Stepper_A.setAcceleration(12000); // 2000mm/s^2
Stepper_A.setEnablePin(EN_PIN);
Stepper_A.setPinsInverted(false, false, true);
Stepper_A.enableOutputs();

Serial.println("now running the motor");
Serial.println(stalled_A);

run_stepper_A();

}

// THE FOLLOWING FUNCTION RUN THE MOTOR UNTIL STALL DETECTED

void run_stepper_A(){

Stepper_A.setSpeed(4000);
Stepper_A.move(50000);
while(1){
Stepper_A.run();
//Serial.println(driver_A.SG_RESULT());
if (stalled_A){
Stepper_A.stop();
Stepper_A.runSpeedToPosition();
Stepper_A.setCurrentPosition(0);

break;}

}

digitalWrite(EN_PIN, HIGH); // RESET THE DRIVER BY TOGGLING THE EN PIN
delay(500);
digitalWrite(EN_PIN, LOW);

Serial.println("now running backward");

Stepper_A.setSpeed(4000); // running the motor backward after the stall detected
Stepper_A.move(-1000);
while (Stepper_A.distanceToGo() != 0) {
Stepper_A.run();
}
Stepper_A.stop();
Stepper_A.runSpeedToPosition();

}

void loop() {

}