Make the diag pins open collector with pullup.

Solves random crash detected on startup

Firmware/Marlin_main.cpp

@@ -2201,7 +2201,7 @@ bool calibrate_z_auto()
 #ifdef TMC2130
 static void check_Z_crash(void)
 {
-	if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
+	if (!READ(Z_TMC2130_DIAG)) { //Z crash
 		FORCE_HIGH_POWER_END;
 		current_position[Z_AXIS] = 0;
 		plan_set_position_curposXYZE();

Firmware/mesh_bed_calibration.cpp

@@ -974,7 +974,7 @@ bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, int
 		goto error;
 	}
 #ifdef TMC2130
-	if (READ(Z_TMC2130_DIAG) != 0)
+	if (!READ(Z_TMC2130_DIAG))
 	{
 		//printf_P(PSTR("crash detected 1, current_pos[Z]: %f \n"), current_position[Z_AXIS]);
 		goto error; //crash Z detected
@@ -1011,7 +1011,7 @@ bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, int
 			goto error;
 		}
 #ifdef TMC2130
-		if (READ(Z_TMC2130_DIAG) != 0) {
+		if (!READ(Z_TMC2130_DIAG)) {
 			//printf_P(PSTR("crash detected 2, current_pos[Z]: %f \n"), current_position[Z_AXIS]);
 			goto error; //crash Z detected
 		}
@@ -2857,7 +2857,7 @@ bool sample_mesh_and_store_reference()
         homeaxis(Z_AXIS);
 
 #ifdef TMC2130
-		if (!axis_known_position[Z_AXIS] && (READ(Z_TMC2130_DIAG) != 0)) //Z crash
+		if (!axis_known_position[Z_AXIS] && (!READ(Z_TMC2130_DIAG))) //Z crash
 		{
 			kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
 			return false;

Firmware/stepper.cpp

@@ -495,7 +495,7 @@ FORCE_INLINE void stepper_check_endstops()
       #if ( (defined(X_MIN_PIN) && (X_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMINLIMIT)
       #ifdef TMC2130_SG_HOMING
         // Stall guard homing turned on
-        SET_BIT_TO(_endstop, X_AXIS, (READ(X_TMC2130_DIAG) != 0));
+        SET_BIT_TO(_endstop, X_AXIS, (!READ(X_TMC2130_DIAG)));
       #else
         // Normal homing
         SET_BIT_TO(_endstop, X_AXIS, (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING));
@@ -512,7 +512,7 @@ FORCE_INLINE void stepper_check_endstops()
       #if ( (defined(X_MAX_PIN) && (X_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMAXLIMIT)          
         #ifdef TMC2130_SG_HOMING
         // Stall guard homing turned on
-          SET_BIT_TO(_endstop, X_AXIS + 4, (READ(X_TMC2130_DIAG) != 0));
+          SET_BIT_TO(_endstop, X_AXIS + 4, (!READ(X_TMC2130_DIAG)));
         #else
         // Normal homing
           SET_BIT_TO(_endstop, X_AXIS + 4, (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING));
@@ -536,7 +536,7 @@ FORCE_INLINE void stepper_check_endstops()
       #if ( (defined(Y_MIN_PIN) && (Y_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMINLIMIT)          
       #ifdef TMC2130_SG_HOMING
       // Stall guard homing turned on
-        SET_BIT_TO(_endstop, Y_AXIS, (READ(Y_TMC2130_DIAG) != 0));
+        SET_BIT_TO(_endstop, Y_AXIS, (!READ(Y_TMC2130_DIAG)));
       #else
       // Normal homing
         SET_BIT_TO(_endstop, Y_AXIS, (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING));
@@ -553,7 +553,7 @@ FORCE_INLINE void stepper_check_endstops()
       #if ( (defined(Y_MAX_PIN) && (Y_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMAXLIMIT)                
         #ifdef TMC2130_SG_HOMING
         // Stall guard homing turned on
-          SET_BIT_TO(_endstop, Y_AXIS + 4, (READ(Y_TMC2130_DIAG) != 0));
+          SET_BIT_TO(_endstop, Y_AXIS + 4, (!READ(Y_TMC2130_DIAG)));
         #else
         // Normal homing
           SET_BIT_TO(_endstop, Y_AXIS + 4, (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING));
@@ -579,7 +579,7 @@ FORCE_INLINE void stepper_check_endstops()
             SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
           else
 #endif //TMC2130_STEALTH_Z
-            SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0));
+            SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (!READ(Z_TMC2130_DIAG)));
         #else
           SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
         #endif //TMC2130_SG_HOMING
@@ -601,7 +601,7 @@ FORCE_INLINE void stepper_check_endstops()
           SET_BIT_TO(_endstop, Z_AXIS + 4, 0);
         else
 #endif //TMC2130_STEALTH_Z
-          SET_BIT_TO(_endstop, Z_AXIS + 4, (READ(Z_TMC2130_DIAG) != 0));
+          SET_BIT_TO(_endstop, Z_AXIS + 4, (!READ(Z_TMC2130_DIAG)));
         #else
         SET_BIT_TO(_endstop, Z_AXIS + 4, (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING));
         #endif //TMC2130_SG_HOMING
@@ -634,7 +634,7 @@ FORCE_INLINE void stepper_check_endstops()
         SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
       else
 #endif //TMC2130_STEALTH_Z
-        SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0));
+        SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (!READ(Z_TMC2130_DIAG)));
       #else
       SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
       #endif //TMC2130_SG_HOMING
@@ -1179,22 +1179,6 @@ void st_init()
   #endif
 
   //endstops and pullups
-
-  #ifdef TMC2130_SG_HOMING
-    SET_INPUT(X_TMC2130_DIAG);
-    WRITE(X_TMC2130_DIAG,HIGH);
-    
-    SET_INPUT(Y_TMC2130_DIAG);
-    WRITE(Y_TMC2130_DIAG,HIGH);
-    
-    SET_INPUT(Z_TMC2130_DIAG);
-    WRITE(Z_TMC2130_DIAG,HIGH);
-
-	SET_INPUT(E0_TMC2130_DIAG);
-    WRITE(E0_TMC2130_DIAG,HIGH);
-    
-  #endif
-    
   #if defined(X_MIN_PIN) && X_MIN_PIN > -1
     SET_INPUT(X_MIN_PIN);
     #ifdef ENDSTOPPULLUP_XMIN

Firmware/tmc2130.cpp

@@ -11,7 +11,7 @@
 #include "Timer.h"
 
 #define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
-#define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
+#define TMC2130_GCONF_SGSENS 0x00000180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [open collector])
 #define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
 
 
@@ -152,10 +152,16 @@ void tmc2130_init(TMCInitParams params)
 	SET_OUTPUT(Y_TMC2130_CS);
 	SET_OUTPUT(Z_TMC2130_CS);
 	SET_OUTPUT(E0_TMC2130_CS);
+	
 	SET_INPUT(X_TMC2130_DIAG);
 	SET_INPUT(Y_TMC2130_DIAG);
 	SET_INPUT(Z_TMC2130_DIAG);
 	SET_INPUT(E0_TMC2130_DIAG);
+	WRITE(X_TMC2130_DIAG,HIGH);
+	WRITE(Y_TMC2130_DIAG,HIGH);
+	WRITE(Z_TMC2130_DIAG,HIGH);
+	WRITE(E0_TMC2130_DIAG,HIGH);
+	
 	for (uint_least8_t axis = 0; axis < 2; axis++) // X Y axes
 	{
 		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
@@ -224,10 +230,10 @@ void tmc2130_init(TMCInitParams params)
 uint8_t tmc2130_sample_diag()
 {
 	uint8_t mask = 0;
-	if (READ(X_TMC2130_DIAG)) mask |= X_AXIS_MASK;
-	if (READ(Y_TMC2130_DIAG)) mask |= Y_AXIS_MASK;
-//	if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
-//	if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
+	if (!READ(X_TMC2130_DIAG)) mask |= X_AXIS_MASK;
+	if (!READ(Y_TMC2130_DIAG)) mask |= Y_AXIS_MASK;
+//	if (!READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
+//	if (!READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
 	return mask;
 }