minor edit

arduino_code/Test/src/motor.cpp

@@ -236,6 +236,19 @@ bool tmcIsCommunicating() {
     return res;
 }
 
+// Функция проверки состояния EN_PIN
+bool checkDriverStatus() {
+    bool en_state = (digitalRead(EN_PIN) == LOW);
+    return en_state;
+}
+
+// Функция проверки программного состояния TMC
+bool checkTmcSoftwareEnable() {
+    TMC2209::Settings s = tmcGetSettings();
+    bool tmc_state = s.software_enabled;
+    return tmc_state;
+}
+
 uint16_t tmcGetMicrostepsSetting() { return current_microsteps; }
 uint8_t tmcGetRunCurrentPercent() { return current_run_percent; }
 

arduino_code/Test/src/motor.h

@@ -36,5 +36,7 @@ TMC2209::Settings tmcGetSettings();
 uint16_t tmcGetStallGuardResult();
 uint32_t tmcGetInterstepDuration();
 uint16_t tmcGetMicrostepCounter();
+bool checkDriverStatus();
+bool checkTmcSoftwareEnable();
 
 #endif

arduino_code/Test/src/mqtt_handler.cpp

@@ -25,6 +25,8 @@ static int last_pub_short_gnd = -1;
 static int last_pub_open_load = -1;
 static int last_pub_stealth_active = -1;
 static int last_pub_standstill = -1;
+static int last_pub_driver_status = -1;
+static int last_pub_tmc_software_enable = -1;
 static uint8_t last_pub_current_scaling = 255;
 
 static void setup_wifi() {
@@ -71,7 +73,7 @@ static void callback(char* topic, byte* payload, unsigned int length) {
     }
     else if (strcmp(topic, "motor/control/driver") == 0) {
         // TMC2209: LOW = Enabled, HIGH = Disabled
-        bool enable = (strcmp(msg, "turnon") == 0);
+        bool enable = (strcmp(msg, "on") == 0);
         digitalWrite(EN_PIN, enable ? LOW : HIGH);
     }
     else if (strcmp(topic, "motor/control/totalsteps/reset") == 0) {
@@ -188,6 +190,17 @@ static void publishTelemetry() {
                 client.publish("motor/feedback/tmc/status/current_scaling", String(status.current_scaling).c_str());
                 last_pub_current_scaling = status.current_scaling;
             }
+
+            int cds = checkDriverStatus() ? 1 : 0;
+            if (cds != last_pub_driver_status) {
+                client.publish("motor/feedback/driver/status", cds ? "on" : "off");
+                last_pub_driver_status = cds;
+            }
+            int tse = checkTmcSoftwareEnable() ? 1 : 0;
+            if (tse != last_pub_tmc_software_enable) {
+                client.publish("motor/feedback/tmc/status", tse ? "on" : "off");
+                last_pub_tmc_software_enable = tse;
+            }
         }
         last_feedback_time = now;
     }