From 90f08ae581ffe8686182f18ef9502ea6a08ac54b Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 4 Mar 2025 02:32:44 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E7=94=B5=E6=9C=BA=E5=99=AA?=
 =?UTF-8?q?=E5=A3=B0=E9=97=AE=E9=A2=98?=
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---
 tmcdriver/tmc51x0/tmc51x0.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tmcdriver/tmc51x0/tmc51x0.cpp b/tmcdriver/tmc51x0/tmc51x0.cpp
index 5dc0ba7..9193dcc 100644
--- a/tmcdriver/tmc51x0/tmc51x0.cpp
+++ b/tmcdriver/tmc51x0/tmc51x0.cpp
@@ -208,10 +208,12 @@ void TMC51X0::stop() {
   int         mode = readInt(TMC5130_RAMPMODE);
   if (mode == TMC5130_MODE_POSITION) {
     // writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
-    writeInt(TMC5130_VMAX, 0);
-    while (getVACTUAL() > 5) {
+    rotate(0);
+    while (getVACTUAL() > 0) {
       osDelay(2);
     }
+    writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
+    writeInt(TMC5130_VMAX, 1);
     writeInt(TMC5130_XTARGET, readInt(TMC5130_XACTUAL));
   } else {
     rotate(0);