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fix issue Z axis homing cause sharp noise #330

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fix issue Z axis homing cause sharp noise #330

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8 changes: 8 additions & 0 deletions firmware/octopi_firmware_v2/main_controller_teensy41/main_controller_teensy41.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -1339,6 +1339,10 @@ void loop() {
}
break;
case AXIS_Z:
// when homing, set the MICROSTEPPING value to 256, for avoiding to cause sharp noisy during Z axis moving
tmc4361A_tmc2660_config(&tmc4361[z], (Z_MOTOR_RMS_CURRENT_mA / 1000.0)*R_sense_z / 0.2298, Z_MOTOR_I_HOLD, 1, 1, 1, SCREW_PITCH_Z_MM, FULLSTEPS_PER_REV_Z, 256);
tmc4361A_tmc2660_update(&tmc4361[z]);

if (stage_PID_enabled[AXIS_Z] == 1)
tmc4361A_set_PID(&tmc4361[AXIS_Z], PID_DISABLE);
tmc4361A_disableVirtualLimitSwitch(&tmc4361[z], -1);
Expand Down Expand Up @@ -2051,6 +2055,10 @@ void loop() {
Z_commanded_movement_in_progress = false;
Z_commanded_target_position = 0;
mcu_cmd_execution_in_progress = false;

// restore the MICROSTEPPING_Z to setting value
tmc4361A_tmc2660_config(&tmc4361[z], (Z_MOTOR_RMS_CURRENT_mA / 1000.0)*R_sense_z / 0.2298, Z_MOTOR_I_HOLD, 1, 1, 1, SCREW_PITCH_Z_MM, FULLSTEPS_PER_REV_Z, MICROSTEPPING_Z);
tmc4361A_tmc2660_update(&tmc4361[z]);
}

if (is_homing_W && home_W_found && ( tmc4361A_currentPosition(&tmc4361[w]) == tmc4361A_targetPosition(&tmc4361[w]) || us_since_w_home_found > 500 * 1000 ) )
Expand Down
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