TMC4671 fix ext encoder timer not starting

Ultrawipf · Ultrawipf · commit eea5ab1c02a1 · 2025-11-11T11:38:17.000+01:00
diff --git a/Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp b/Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp
@@ -1856,7 +1856,9 @@ Encoder* TMC4671::getEncoder(){
 void TMC4671::setEncoder(std::shared_ptr<Encoder>& encoder){
 	MotorDriver::drvEncoder = encoder;
 	if(conf.motconf.enctype == EncoderType_TMC::ext && externalEncoderTimer){
-		// TODO Calibrate and align external encoder
+		if(!extEncUpdater){ // If updater has not been set up because the encoder mode was changed before the external encoder passed force it now
+			setUpExtEncTimer();
+		}
 		changeState(TMC_ControlState::ExternalEncoderInit);
 	}
 }

Original file line number	Diff line number	Diff line change
`@@ -1856,7 +1856,9 @@ Encoder* TMC4671::getEncoder(){`
`1856`	`1856`	`void TMC4671::setEncoder(std::shared_ptr<Encoder>& encoder){`
`1857`	`1857`	`MotorDriver::drvEncoder = encoder;`
`1858`	`1858`	`if(conf.motconf.enctype == EncoderType_TMC::ext && externalEncoderTimer){`
`1859`		`- // TODO Calibrate and align external encoder`
	`1859`	`+ if(!extEncUpdater){ // If updater has not been set up because the encoder mode was changed before the external encoder passed force it now`
	`1860`	`+ setUpExtEncTimer();`
	`1861`	`+ }`
`1860`	`1862`	`changeState(TMC_ControlState::ExternalEncoderInit);`
`1861`	`1863`	`}`
`1862`	`1864`	`}`