diff options
| -rw-r--r-- | docs/Config_Reference.md | 119 | ||||
| -rw-r--r-- | klippy/extras/angle.py | 3 | ||||
| -rw-r--r-- | klippy/extras/endstop_phase.py | 3 | ||||
| -rw-r--r-- | klippy/extras/tmc2240.py | 397 | ||||
| -rw-r--r-- | test/klippy/tmc.cfg | 11 | ||||
| -rw-r--r-- | test/klippy/tmc.test | 4 |
6 files changed, 535 insertions, 2 deletions
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index dda7266b..494a4733 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -3307,6 +3307,125 @@ run_current: # HDEC) is interpreted as the MSB of HSTRT in this case). ``` +### [tmc2240] + +Configure a TMC2240 stepper motor driver via SPI bus. To use this +feature, define a config section with a "tmc2240" prefix followed by +the name of the corresponding stepper config section (for example, +"[tmc2240 stepper_x]"). + +``` +[tmc2240 stepper_x] +cs_pin: +# The pin corresponding to the TMC2240 chip select line. This pin +# will be set to low at the start of SPI messages and raised to high +# after the message completes. This parameter must be provided. +#spi_speed: +#spi_bus: +#spi_software_sclk_pin: +#spi_software_mosi_pin: +#spi_software_miso_pin: +# See the "common SPI settings" section for a description of the +# above parameters. +#chain_position: +#chain_length: +# These parameters configure an SPI daisy chain. The two parameters +# define the stepper position in the chain and the total chain length. +# Position 1 corresponds to the stepper that connects to the MOSI signal. +# The default is to not use an SPI daisy chain. +#interpolate: True +# If true, enable step interpolation (the driver will internally +# step at a rate of 256 micro-steps). The default is True. +run_current: +# The amount of current (in amps RMS) to configure the driver to use +# during stepper movement. This parameter must be provided. +#hold_current: +# The amount of current (in amps RMS) to configure the driver to use +# when the stepper is not moving. Setting a hold_current is not +# recommended (see TMC_Drivers.md for details). The default is to +# not reduce the current. +#rref: 12000 +# The resistance (in ohms) of the resistor between IREF and GND. The +# default is 12000. +#stealthchop_threshold: 0 +# The velocity (in mm/s) to set the "stealthChop" threshold to. When +# set, "stealthChop" mode will be enabled if the stepper motor +# velocity is below this value. The default is 0, which disables +# "stealthChop" mode. +#driver_MSLUT0: 2863314260 +#driver_MSLUT1: 1251300522 +#driver_MSLUT2: 608774441 +#driver_MSLUT3: 269500962 +#driver_MSLUT4: 4227858431 +#driver_MSLUT5: 3048961917 +#driver_MSLUT6: 1227445590 +#driver_MSLUT7: 4211234 +#driver_W0: 2 +#driver_W1: 1 +#driver_W2: 1 +#driver_W3: 1 +#driver_X1: 128 +#driver_X2: 255 +#driver_X3: 255 +#driver_START_SIN: 0 +#driver_START_SIN90: 247 +#driver_OFFSET_SIN90: 0 +# These fields control the Microstep Table registers directly. The optimal +# wave table is specific to each motor and might vary with current. An +# optimal configuration will have minimal print artifacts caused by +# non-linear stepper movement. The values specified above are the default +# values used by the driver. The value must be specified as a decimal integer +# (hex form is not supported). In order to compute the wave table fields, +# see the tmc2130 "Calculation Sheet" from the Trinamic website. +# Additionally, this driver also has the OFFSET_SIN90 field which can be used +# to tune a motor with unbalanced coils. See the `Sine Wave Lookup Table` +# section in the datasheet for information about this field and how to tune +# it. +#driver_IHOLDDELAY: 6 +#driver_IRUNDELAY: 4 +#driver_TPOWERDOWN: 10 +#driver_TBL: 2 +#driver_TOFF: 3 +#driver_HEND: 2 +#driver_HSTRT: 5 +#driver_FD3: 0 +#driver_TPFD: 4 +#driver_CHM: 0 +#driver_VHIGHFS: 0 +#driver_VHIGHCHM: 0 +#driver_DISS2G: 0 +#driver_DISS2VS: 0 +#driver_PWM_AUTOSCALE: True +#driver_PWM_AUTOGRAD: True +#driver_PWM_FREQ: 0 +#driver_FREEWHEEL: 0 +#driver_PWM_GRAD: 0 +#driver_PWM_OFS: 29 +#driver_PWM_REG: 4 +#driver_PWM_LIM: 12 +#driver_SGT: 0 +#driver_SEMIN: 0 +#driver_SEUP: 0 +#driver_SEMAX: 0 +#driver_SEDN: 0 +#driver_SEIMIN: 0 +#driver_SFILT: 0 +# Set the given register during the configuration of the TMC2240 +# chip. This may be used to set custom motor parameters. The +# defaults for each parameter are next to the parameter name in the +# above list. +#diag0_pin: +#diag1_pin: +# The micro-controller pin attached to one of the DIAG lines of the +# TMC2240 chip. Only a single diag pin should be specified. The pin +# is "active low" and is thus normally prefaced with "^!". Setting +# this creates a "tmc2240_stepper_x:virtual_endstop" virtual pin +# which may be used as the stepper's endstop_pin. Doing this enables +# "sensorless homing". (Be sure to also set driver_SGT to an +# appropriate sensitivity value.) The default is to not enable +# sensorless homing. +``` + ### [tmc5160] Configure a TMC5160 stepper motor driver via SPI bus. To use this diff --git a/klippy/extras/angle.py b/klippy/extras/angle.py index d61a7634..2e17749e 100644 --- a/klippy/extras/angle.py +++ b/klippy/extras/angle.py @@ -9,7 +9,8 @@ from . import bus, motion_report MIN_MSG_TIME = 0.100 TCODE_ERROR = 0xff -TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"] +TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2240", "tmc2660", + "tmc5160"] CALIBRATION_BITS = 6 # 64 entries ANGLE_BITS = 16 # angles range from 0..65535 diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py index bd34ddbe..feb9e8b8 100644 --- a/klippy/extras/endstop_phase.py +++ b/klippy/extras/endstop_phase.py @@ -6,7 +6,8 @@ import math, logging import stepper -TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"] +TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2240", "tmc2660", + "tmc5160"] # Calculate the trigger phase of a stepper motor class PhaseCalc: diff --git a/klippy/extras/tmc2240.py b/klippy/extras/tmc2240.py new file mode 100644 index 00000000..45570625 --- /dev/null +++ b/klippy/extras/tmc2240.py @@ -0,0 +1,397 @@ +# TMC2240 configuration +# +# Copyright (C) 2018-2023 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2023 Alex Voinea <voinea.dragos.alexandru@gmail.com> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import math, logging +from . import bus, tmc, tmc2130 + +TMC_FREQUENCY=12500000. + +Registers = { + "GCONF": 0x00, + "GSTAT": 0x01, + "IFCNT": 0x02, + "NODECONF": 0x03, + "IOIN": 0x04, + "DRV_CONF": 0x0A, + "GLOBALSCALER": 0x0B, + "IHOLD_IRUN": 0x10, + "TPOWERDOWN": 0x11, + "TSTEP": 0x12, + "TPWMTHRS": 0x13, + "TCOOLTHRS": 0x14, + "THIGH": 0x15, + "DIRECT_MODE": 0x2D, + "ENCMODE": 0x38, + "X_ENC": 0x39, + "ENC_CONST": 0x3A, + "ENC_STATUS": 0x3B, + "ENC_LATCH": 0x3C, + "ADC_VSUPPLY_AIN": 0x50, + "ADC_TEMP": 0x51, + "OTW_OV_VTH": 0x52, + "MSLUT0": 0x60, + "MSLUT1": 0x61, + "MSLUT2": 0x62, + "MSLUT3": 0x63, + "MSLUT4": 0x64, + "MSLUT5": 0x65, + "MSLUT6": 0x66, + "MSLUT7": 0x67, + "MSLUTSEL": 0x68, + "MSLUTSTART": 0x69, + "MSCNT": 0x6A, + "MSCURACT": 0x6B, + "CHOPCONF": 0x6C, + "COOLCONF": 0x6D, + "DRV_STATUS": 0x6F, + "PWMCONF": 0x70, + "PWM_SCALE": 0x71, + "PWM_AUTO": 0x72, + "SG4_THRS": 0x74, + "SG4_RESULT": 0x75, + "SG4_IND": 0x76, +} + +ReadRegisters = [ + "GCONF", "GSTAT", "IOIN", "DRV_CONF", "GLOBALSCALER", "IHOLD_IRUN", + "TPOWERDOWN", "TSTEP", "TPWMTHRS", "TCOOLTHRS", "THIGH", "ADC_VSUPPLY_AIN", + "ADC_TEMP", "MSCNT", "MSCURACT", "CHOPCONF", "COOLCONF", "DRV_STATUS", + "PWMCONF", "PWM_SCALE", "PWM_AUTO", "SG4_THRS", "SG4_RESULT", "SG4_IND" +] + +Fields = {} +Fields["COOLCONF"] = { + "semin": 0x0F << 0, + "seup": 0x03 << 5, + "semax": 0x0F << 8, + "sedn": 0x03 << 13, + "seimin": 0x01 << 15, + "sgt": 0x7F << 16, + "sfilt": 0x01 << 24 +} +Fields["CHOPCONF"] = { + "toff": 0x0F << 0, + "hstrt": 0x07 << 4, + "hend": 0x0F << 7, + "fd3": 0x01 << 11, + "disfdcc": 0x01 << 12, + "chm": 0x01 << 14, + "tbl": 0x03 << 15, + "vhighfs": 0x01 << 18, + "vhighchm": 0x01 << 19, + "tpfd": 0x0F << 20, # midrange resonances + "mres": 0x0F << 24, + "intpol": 0x01 << 28, + "dedge": 0x01 << 29, + "diss2g": 0x01 << 30, + "diss2vs": 0x01 << 31 +} +Fields["DRV_STATUS"] = { + "sg_result": 0x3FF << 0, + "s2vsa": 0x01 << 12, + "s2vsb": 0x01 << 13, + "stealth": 0x01 << 14, + "fsactive": 0x01 << 15, + "csactual": 0x1F << 16, + "stallguard": 0x01 << 24, + "ot": 0x01 << 25, + "otpw": 0x01 << 26, + "s2ga": 0x01 << 27, + "s2gb": 0x01 << 28, + "ola": 0x01 << 29, + "olb": 0x01 << 30, + "stst": 0x01 << 31 +} +Fields["GCONF"] = { + "faststandstill": 0x01 << 1, + "en_pwm_mode": 0x01 << 2, + "multistep_filt": 0x01 << 3, + "shaft": 0x01 << 4, + "diag0_error": 0x01 << 5, + "diag0_otpw": 0x01 << 6, + "diag0_stall": 0x01 << 7, + "diag1_stall": 0x01 << 8, + "diag1_index": 0x01 << 9, + "diag1_onstate": 0x01 << 10, + "diag0_pushpull": 0x01 << 12, + "diag1_pushpull": 0x01 << 13, + "small_hysteresis": 0x01 << 14, + "stop_enable": 0x01 << 15, + "direct_mode": 0x01 << 16 +} +Fields["GSTAT"] = { + "reset": 0x01 << 0, + "drv_err": 0x01 << 1, + "uv_cp": 0x01 << 2, + "register_reset": 0x01 << 3, + "vm_uvlo": 0x01 << 4 +} +Fields["GLOBALSCALER"] = { + "globalscaler": 0xFF << 0 +} +Fields["IHOLD_IRUN"] = { + "ihold": 0x1F << 0, + "irun": 0x1F << 8, + "iholddelay": 0x0F << 16, + "irundelay": 0x0F << 24 +} +Fields["IOIN"] = { + "step": 0x01 << 0, + "dir": 0x01 << 1, + "encb": 0x01 << 2, + "enca": 0x01 << 3, + "drv_enn": 0x01 << 4, + "encn": 0x01 << 5, + "uart_en": 0x01 << 6, + "comp_a": 0x01 << 8, + "comp_b": 0x01 << 9, + "comp_a1_a2": 0x01 << 10, + "comp_b1_b2": 0x01 << 11, + "output": 0x01 << 12, + "ext_res_det": 0x01 << 13, + "ext_clk": 0x01 << 14, + "adc_err": 0x01 << 15, + "silicon_rv": 0x07 << 16, + "version": 0xFF << 24 +} +Fields["MSLUT0"] = { "mslut0": 0xffffffff } +Fields["MSLUT1"] = { "mslut1": 0xffffffff } +Fields["MSLUT2"] = { "mslut2": 0xffffffff } +Fields["MSLUT3"] = { "mslut3": 0xffffffff } +Fields["MSLUT4"] = { "mslut4": 0xffffffff } +Fields["MSLUT5"] = { "mslut5": 0xffffffff } +Fields["MSLUT6"] = { "mslut6": 0xffffffff } +Fields["MSLUT7"] = { "mslut7": 0xffffffff } +Fields["MSLUTSEL"] = { + "x3": 0xFF << 24, + "x2": 0xFF << 16, + "x1": 0xFF << 8, + "w3": 0x03 << 6, + "w2": 0x03 << 4, + "w1": 0x03 << 2, + "w0": 0x03 << 0, +} +Fields["MSLUTSTART"] = { + "start_sin": 0xFF << 0, + "start_sin90": 0xFF << 16, + "offset_sin90": 0xFF << 24, +} +Fields["MSCNT"] = { + "mscnt": 0x3ff << 0 +} +Fields["MSCURACT"] = { + "cur_a": 0x1ff << 0, + "cur_b": 0x1ff << 16 +} +Fields["PWM_AUTO"] = { + "pwm_ofs_auto": 0xff << 0, + "pwm_grad_auto": 0xff << 16 +} +Fields["PWMCONF"] = { + "pwm_ofs": 0xFF << 0, + "pwm_grad": 0xFF << 8, + "pwm_freq": 0x03 << 16, + "pwm_autoscale": 0x01 << 18, + "pwm_autograd": 0x01 << 19, + "freewheel": 0x03 << 20, + "pwm_meas_sd_enable": 0x01 << 22, + "pwm_dis_reg_stst": 0x01 << 23, + "pwm_reg": 0x0F << 24, + "pwm_lim": 0x0F << 28 +} +Fields["PWM_SCALE"] = { + "pwm_scale_sum": 0x3ff << 0, + "pwm_scale_auto": 0x1ff << 16 +} +Fields["TPOWERDOWN"] = { + "tpowerdown": 0xff << 0 +} +Fields["TPWMTHRS"] = { + "tpwmthrs": 0xfffff << 0 +} +Fields["TCOOLTHRS"] = { + "tcoolthrs": 0xfffff << 0 +} +Fields["TSTEP"] = { + "tstep": 0xfffff << 0 +} +Fields["THIGH"] = { + "thigh": 0xfffff << 0 +} +Fields["DRV_CONF"] = { + "current_range": 0x03 << 0, + "slope_control": 0x03 << 4 +} +Fields["ADC_VSUPPLY_AIN"] = { + "adc_vsupply": 0x1fff << 0, + "adc_ain": 0x1fff << 16 +} +Fields["ADC_TEMP"] = { + "adc_temp": 0x1fff << 0 +} +Fields["OTW_OV_VTH"] = { + "overvoltage_vth": 0x1fff << 0, + "overtempprewarning_vth": 0x1fff << 16 +} +Fields["SG4_THRS"] = { + "sg4_thrs": 0xFF << 0, + "sg4_filt_en": 0x01 << 8, + "sg4_angle_offset": 0x01 << 9 +} +Fields["SG4_RESULT"] = { + "sg4_result": 0x3FF << 0 +} +Fields["SG4_IND"] = { + "sg4_ind_0": 0xFF << 0, + "sg4_ind_1": 0xFF << 8, + "sg4_ind_2": 0xFF << 16, + "sg4_ind_3": 0xFF << 24 +} + + +SignedFields = ["cur_a", "cur_b", "sgt", "pwm_scale_auto", "offset_sin90"] + +FieldFormatters = dict(tmc2130.FieldFormatters) +FieldFormatters.update({ + "s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""), + "s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""), + "adc_temp": (lambda v: "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))), +}) + + +###################################################################### +# TMC stepper current config helper +###################################################################### + +class TMC2240CurrentHelper: + def __init__(self, config, mcu_tmc): + self.printer = config.get_printer() + self.name = config.get_name().split()[-1] + self.mcu_tmc = mcu_tmc + self.fields = mcu_tmc.get_fields() + self.Rref = config.getfloat('rref', 12000., + minval=12000., maxval=60000.) + max_cur = self._get_ifs_rms(3) + run_current = config.getfloat('run_current', above=0., maxval=max_cur) + hold_current = config.getfloat('hold_current', max_cur, + above=0., maxval=max_cur) + self.req_hold_current = hold_current + current_range = self._calc_current_range(run_current) + self.fields.set_field("current_range", current_range) + gscaler, irun, ihold = self._calc_current(run_current, hold_current) + self.fields.set_field("globalscaler", gscaler) + self.fields.set_field("ihold", ihold) + self.fields.set_field("irun", irun) + def _get_ifs_rms(self, current_range=None): + if current_range is None: + current_range = self.fields.get_field("current_range") + KIFS = [11750., 24000., 36000., 36000.] + return (KIFS[current_range] / self.Rref) / math.sqrt(2.) + def _calc_current_range(self, current): + for current_range in range(4): + if current <= self._get_ifs_rms(current_range): + break + return current_range + def _calc_globalscaler(self, current): + ifs_rms = self._get_ifs_rms() + globalscaler = int(((current * 256.) / ifs_rms) + .5) + globalscaler = max(32, globalscaler) + if globalscaler >= 256: + globalscaler = 0 + return globalscaler + def _calc_current_bits(self, current, globalscaler): + ifs_rms = self._get_ifs_rms() + if not globalscaler: + globalscaler = 256 + cs = int((current * 256. * 32.) / (globalscaler * ifs_rms) - 1. + .5) + return max(0, min(31, cs)) + def _calc_current(self, run_current, hold_current): + gscaler = self._calc_globalscaler(run_current) + irun = self._calc_current_bits(run_current, gscaler) + ihold = self._calc_current_bits(min(hold_current, run_current), gscaler) + return gscaler, irun, ihold + def _calc_current_from_field(self, field_name): + ifs_rms = self._get_ifs_rms() + globalscaler = self.fields.get_field("globalscaler") + if not globalscaler: + globalscaler = 256 + bits = self.fields.get_field(field_name) + return globalscaler * (bits + 1) * ifs_rms / (256. * 32.) + def get_current(self): + ifs_rms = self._get_ifs_rms() + run_current = self._calc_current_from_field("irun") + hold_current = self._calc_current_from_field("ihold") + return (run_current, hold_current, self.req_hold_current, ifs_rms) + def set_current(self, run_current, hold_current, print_time): + self.req_hold_current = hold_current + gscaler, irun, ihold = self._calc_current(run_current, hold_current) + val = self.fields.set_field("globalscaler", gscaler) + self.mcu_tmc.set_register("GLOBALSCALER", val, print_time) + self.fields.set_field("ihold", ihold) + val = self.fields.set_field("irun", irun) + self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time) + + +###################################################################### +# TMC2240 printer object +###################################################################### + +class TMC2240: + def __init__(self, config): + # Setup mcu communication + self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters) + self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields) + # Allow virtual pins to be created + tmc.TMCVirtualPinHelper(config, self.mcu_tmc) + # Register commands + current_helper = TMC2240CurrentHelper(config, self.mcu_tmc) + cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper) + cmdhelper.setup_register_dump(ReadRegisters) + self.get_phase_offset = cmdhelper.get_phase_offset + self.get_status = cmdhelper.get_status + # Setup basic register values + tmc.TMCWaveTableHelper(config, self.mcu_tmc) + self.fields.set_config_field(config, "offset_sin90", 0) + tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY) + # CHOPCONF + set_config_field = self.fields.set_config_field + set_config_field(config, "toff", 3) + set_config_field(config, "hstrt", 5) + set_config_field(config, "hend", 2) + set_config_field(config, "fd3", 0) + set_config_field(config, "disfdcc", 0) + set_config_field(config, "chm", 0) + set_config_field(config, "tbl", 2) + set_config_field(config, "vhighfs", 0) + set_config_field(config, "vhighchm", 0) + set_config_field(config, "tpfd", 4) + set_config_field(config, "diss2g", 0) + set_config_field(config, "diss2vs", 0) + # COOLCONF + set_config_field(config, "semin", 0) + set_config_field(config, "seup", 0) + set_config_field(config, "semax", 0) + set_config_field(config, "sedn", 0) + set_config_field(config, "seimin", 0) + set_config_field(config, "sgt", 0) + set_config_field(config, "sfilt", 0) + # IHOLDIRUN + set_config_field(config, "iholddelay", 6) + set_config_field(config, "irundelay", 4) + # PWMCONF + set_config_field(config, "pwm_ofs", 29) + set_config_field(config, "pwm_grad", 0) + set_config_field(config, "pwm_freq", 0) + set_config_field(config, "pwm_autoscale", True) + set_config_field(config, "pwm_autograd", True) + set_config_field(config, "freewheel", 0) + set_config_field(config, "pwm_reg", 4) + set_config_field(config, "pwm_lim", 12) + # TPOWERDOWN + set_config_field(config, "tpowerdown", 10) + +def load_config_prefix(config): + return TMC2240(config) diff --git a/test/klippy/tmc.cfg b/test/klippy/tmc.cfg index ffdb93f3..4ae85f44 100644 --- a/test/klippy/tmc.cfg +++ b/test/klippy/tmc.cfg @@ -84,6 +84,17 @@ cs_pin: PK1 run_current: .5 sense_resistor: 0.220 +[stepper_z2] +step_pin: PH1 +dir_pin: PA2 +enable_pin: !PA3 +microsteps: 16 +rotation_distance: 8 + +[tmc2240 stepper_z2] +cs_pin: PK3 +run_current: .5 + [mcu] serial: /dev/ttyACM0 diff --git a/test/klippy/tmc.test b/test/klippy/tmc.test index 44053463..d8af0e6a 100644 --- a/test/klippy/tmc.test +++ b/test/klippy/tmc.test @@ -19,6 +19,7 @@ DUMP_TMC STEPPER=stepper_y DUMP_TMC STEPPER=stepper_y1 DUMP_TMC STEPPER=stepper_z DUMP_TMC STEPPER=stepper_z1 +DUMP_TMC STEPPER=stepper_z2 ; Test INIT_TMC commands INIT_TMC STEPPER=stepper_x @@ -27,6 +28,7 @@ INIT_TMC STEPPER=stepper_y INIT_TMC STEPPER=stepper_y1 INIT_TMC STEPPER=stepper_z INIT_TMC STEPPER=stepper_z1 +INIT_TMC STEPPER=stepper_z2 ; Test SET_TMC_CURRENT commands SET_TMC_CURRENT STEPPER=stepper_x CURRENT=.7 @@ -35,6 +37,7 @@ SET_TMC_CURRENT STEPPER=stepper_y CURRENT=.7 SET_TMC_CURRENT STEPPER=stepper_y1 CURRENT=.7 SET_TMC_CURRENT STEPPER=stepper_z CURRENT=.7 SET_TMC_CURRENT STEPPER=stepper_z1 CURRENT=.7 +SET_TMC_CURRENT STEPPER=stepper_z2 CURRENT=.6 ; Test SET_TMC_FIELD commands SET_TMC_FIELD STEPPER=stepper_x FIELD=intpol VALUE=0 @@ -43,3 +46,4 @@ SET_TMC_FIELD STEPPER=stepper_y FIELD=intpol VALUE=0 SET_TMC_FIELD STEPPER=stepper_y1 FIELD=intpol VALUE=0 SET_TMC_FIELD STEPPER=stepper_z FIELD=intpol VALUE=0 SET_TMC_FIELD STEPPER=stepper_z1 FIELD=intpol VALUE=0 +SET_TMC_FIELD STEPPER=stepper_z2 FIELD=intpol VALUE=0 |