TMC updates, capture LCD changes (#14074)

Marlin/src/Marlin.cpp

@@ -1053,10 +1053,6 @@ void setup() {
     fanmux_init();
   #endif
 
-  #if HAS_TRINAMIC && HAS_LCD_MENU
-    init_tmc_section();
-  #endif
-
   #if ENABLED(MIXING_EXTRUDER)
     mixer.init();
   #endif

Marlin/src/feature/tmc_util.cpp

@@ -313,8 +313,6 @@
     #endif
   }
 
-  #define HAS_HW_COMMS(ST) AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160) || (AXIS_DRIVER_TYPE(ST, TMC2208) && defined(ST##_HARDWARE_SERIAL))
-
   void monitor_tmc_driver() {
     static millis_t next_poll = 0;
     const millis_t ms = millis();
@@ -330,43 +328,43 @@
       }
     #endif
     if (need_update_error_counters || need_debug_reporting) {
-      #if HAS_HW_COMMS(X)
+      #if AXIS_IS_TMC(X)
         monitor_tmc_driver(stepperX, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(Y)
+      #if AXIS_IS_TMC(Y)
         monitor_tmc_driver(stepperY, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(Z)
+      #if AXIS_IS_TMC(Z)
         monitor_tmc_driver(stepperZ, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(X2)
+      #if AXIS_IS_TMC(X2)
         monitor_tmc_driver(stepperX2, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(Y2)
+      #if AXIS_IS_TMC(Y2)
         monitor_tmc_driver(stepperY2, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(Z2)
+      #if AXIS_IS_TMC(Z2)
         monitor_tmc_driver(stepperZ2, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(Z3)
+      #if AXIS_IS_TMC(Z3)
         monitor_tmc_driver(stepperZ3, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(E0)
+      #if AXIS_IS_TMC(E0)
         monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(E1)
+      #if AXIS_IS_TMC(E1)
         monitor_tmc_driver(stepperE1, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(E2)
+      #if AXIS_IS_TMC(E2)
         monitor_tmc_driver(stepperE2, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(E3)
+      #if AXIS_IS_TMC(E3)
         monitor_tmc_driver(stepperE3, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(E4)
+      #if AXIS_IS_TMC(E4)
         monitor_tmc_driver(stepperE4, need_update_error_counters, need_debug_reporting);
       #endif
-      #if HAS_HW_COMMS(E5)
+      #if AXIS_IS_TMC(E5)
         monitor_tmc_driver(stepperE5, need_update_error_counters, need_debug_reporting);
       #endif
 
@@ -471,8 +469,8 @@
   template<class TMC>
   static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
 
-  #if HAS_TMCX1X0
-    static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
+  #if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC5130)
+    static void _tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
       switch (i) {
         case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
         case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
@@ -480,6 +478,8 @@
         default: break;
       }
     }
+  #endif
+  #if HAS_TMCX1X0
     static void _tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
       switch (i) {
         case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
@@ -492,10 +492,13 @@
   #endif
 
   #if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160)
-    template<char AXIS_LETTER, char DRIVER_ID> void print_vsense(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID> &st) { UNUSED(st); }
-    template<char AXIS_LETTER, char DRIVER_ID> void print_vsense(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID> &st) { UNUSED(st); }
+    template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+    void print_vsense(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &) { }
+
+    template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+    void print_vsense(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &) { }
 
-    static void tmc_status(TMC2160Stepper &st, const TMC_debug_enum i) {
+    static void _tmc_status(TMC2160Stepper &st, const TMC_debug_enum i) {
       switch (i) {
         case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
         case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
@@ -513,7 +516,7 @@
   #endif
 
   #if HAS_DRIVER(TMC2208)
-    static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
+    static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
       switch (i) {
         case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
         case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break;
@@ -539,7 +542,7 @@
   #endif
 
   template <typename TMC>
-  static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
+  static void tmc_status(TMC &st, const TMC_debug_enum i) {
     SERIAL_CHAR('\t');
     switch (i) {
       case TMC_CODES: st.printLabel(); break;
@@ -573,9 +576,9 @@
         }
         break;
       case TMC_TPWMTHRS_MMS: {
-          uint32_t tpwmthrs_val = st.TPWMTHRS();
+          uint32_t tpwmthrs_val = st.get_pwm_thrs();
           if (tpwmthrs_val)
-            SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm));
+            SERIAL_ECHO(tpwmthrs_val);
           else
             SERIAL_CHAR('-');
         }
@@ -588,13 +591,13 @@
       case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
       case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;
       case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;
-      default: tmc_status(st, i); break;
+      default: _tmc_status(st, i); break;
     }
   }
 
   #if HAS_DRIVER(TMC2660)
-    template<char AXIS_LETTER, char DRIVER_ID>
-    void tmc_status(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const TMC_debug_enum i, const float) {
+    template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+    void tmc_status(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_debug_enum i) {
       SERIAL_CHAR('\t');
       switch (i) {
         case TMC_CODES: st.printLabel(); break;
@@ -649,72 +652,52 @@
   static void tmc_debug_loop(const TMC_debug_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) {
     if (print_x) {
       #if AXIS_IS_TMC(X)
-        tmc_status(stepperX, i, planner.settings.axis_steps_per_mm[X_AXIS]);
+        tmc_status(stepperX, i);
       #endif
       #if AXIS_IS_TMC(X2)
-        tmc_status(stepperX2, i, planner.settings.axis_steps_per_mm[X_AXIS]);
+        tmc_status(stepperX2, i);
       #endif
     }
 
     if (print_y) {
       #if AXIS_IS_TMC(Y)
-        tmc_status(stepperY, i, planner.settings.axis_steps_per_mm[Y_AXIS]);
+        tmc_status(stepperY, i);
       #endif
       #if AXIS_IS_TMC(Y2)
-        tmc_status(stepperY2, i, planner.settings.axis_steps_per_mm[Y_AXIS]);
+        tmc_status(stepperY2, i);
       #endif
     }
 
     if (print_z) {
       #if AXIS_IS_TMC(Z)
-        tmc_status(stepperZ, i, planner.settings.axis_steps_per_mm[Z_AXIS]);
+        tmc_status(stepperZ, i);
       #endif
       #if AXIS_IS_TMC(Z2)
-        tmc_status(stepperZ2, i, planner.settings.axis_steps_per_mm[Z_AXIS]);
+        tmc_status(stepperZ2, i);
       #endif
       #if AXIS_IS_TMC(Z3)
-        tmc_status(stepperZ3, i, planner.settings.axis_steps_per_mm[Z_AXIS]);
+        tmc_status(stepperZ3, i);
       #endif
     }
 
     if (print_e) {
       #if AXIS_IS_TMC(E0)
-        tmc_status(stepperE0, i, planner.settings.axis_steps_per_mm[E_AXIS]);
+        tmc_status(stepperE0, i);
       #endif
       #if AXIS_IS_TMC(E1)
-        tmc_status(stepperE1, i, planner.settings.axis_steps_per_mm[E_AXIS
-          #if ENABLED(DISTINCT_E_FACTORS)
-            + 1
-          #endif
-        ]);
+        tmc_status(stepperE1, i);
       #endif
       #if AXIS_IS_TMC(E2)
-        tmc_status(stepperE2, i, planner.settings.axis_steps_per_mm[E_AXIS
-          #if ENABLED(DISTINCT_E_FACTORS)
-            + 2
-          #endif
-        ]);
+        tmc_status(stepperE2, i);
       #endif
       #if AXIS_IS_TMC(E3)
-        tmc_status(stepperE3, i, planner.settings.axis_steps_per_mm[E_AXIS
-          #if ENABLED(DISTINCT_E_FACTORS)
-            + 3
-          #endif
-        ]);
+        tmc_status(stepperE3, i);
       #endif
       #if AXIS_IS_TMC(E4)
-        tmc_status(stepperE4, i, planner.settings.axis_steps_per_mm[E_AXIS
-          #if ENABLED(DISTINCT_E_FACTORS)
-            + 4
-          #endif
-        ]);
+        tmc_status(stepperE4, i);
       #endif
       #if AXIS_IS_TMC(E5)
-        tmc_status(stepperE5, i, planner.settings.axis_steps_per_mm[E_AXIS
-          #if ENABLED(DISTINCT_E_FACTORS)
-            + 5
-          #endif
-        ]);
+        tmc_status(stepperE5, i);
       #endif
     }
 
@@ -877,8 +860,8 @@
     }
   #endif
   #if HAS_DRIVER(TMC2660)
-    template <char AXIS_LETTER, char DRIVER_ID>
-    static void tmc_get_registers(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const TMC_get_registers_enum i) {
+    template <char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+    static void tmc_get_registers(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_get_registers_enum i) {
       switch (i) {
         case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break;
         PRINT_TMC_REGISTER(DRVCONF);
@@ -1118,49 +1101,4 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
   if (axis_connection) ui.set_status_P(PSTR("TMC CONNECTION ERROR"));
 }
 
-#if HAS_LCD_MENU
-
-  void init_tmc_section() {
-    #if AXIS_IS_TMC(X)
-      stepperX.init_lcd_variables(X_AXIS);
-    #endif
-    #if AXIS_IS_TMC(Y)
-      stepperY.init_lcd_variables(Y_AXIS);
-    #endif
-    #if AXIS_IS_TMC(Z)
-      stepperZ.init_lcd_variables(Z_AXIS);
-    #endif
-    #if AXIS_IS_TMC(X2)
-      stepperX2.init_lcd_variables(X_AXIS);
-    #endif
-    #if AXIS_IS_TMC(Y2)
-      stepperY2.init_lcd_variables(Y_AXIS);
-    #endif
-    #if AXIS_IS_TMC(Z2)
-      stepperZ2.init_lcd_variables(Z_AXIS);
-    #endif
-    #if AXIS_IS_TMC(Z3)
-      stepperZ3.init_lcd_variables(Z_AXIS);
-    #endif
-    #if AXIS_IS_TMC(E0)
-      stepperE0.init_lcd_variables(E_AXIS);
-    #endif
-    #if AXIS_IS_TMC(E1)
-      stepperE1.init_lcd_variables(E_AXIS_N(1));
-    #endif
-    #if AXIS_IS_TMC(E2)
-      stepperE2.init_lcd_variables(E_AXIS_N(2));
-    #endif
-    #if AXIS_IS_TMC(E3)
-      stepperE3.init_lcd_variables(E_AXIS_N(3));
-    #endif
-    #if AXIS_IS_TMC(E4)
-      stepperE4.init_lcd_variables(E_AXIS_N(4));
-    #endif
-    #if AXIS_IS_TMC(E5)
-      stepperE5.init_lcd_variables(E_AXIS_N(5));
-    #endif
-  }
-#endif
-
 #endif // HAS_TRINAMIC

Marlin/src/feature/tmc_util.h

@@ -23,12 +23,11 @@
 
 #include "../inc/MarlinConfig.h"
 #include "../lcd/ultralcd.h"
+
 #if HAS_TRINAMIC
-  #include <TMCStepper.h>
-#endif
-#if HAS_LCD_MENU
-  #include "../module/planner.h"
-#endif
+
+#include <TMCStepper.h>
+#include "../module/planner.h"
 
 #define TMC_X_LABEL 'X', '0'
 #define TMC_Y_LABEL 'Y', '0'
@@ -57,7 +56,7 @@
   #define MONITOR_DRIVER_STATUS_INTERVAL_MS 500u
 #endif
 
-constexpr uint16_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
+constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const uint32_t spmm) {
   return 12650000UL * msteps / (256 * thrs * spmm);
 }
 
@@ -92,13 +91,13 @@ class TMCStorage {
       #if ENABLED(HYBRID_THRESHOLD)
         uint8_t hybrid_thrs = 0;
       #endif
-      #if ENABLED(SENSORLESS_HOMING)
+      #if USE_SENSORLESS
         int8_t homing_thrs = 0;
       #endif
     } stored;
 };
 
-template<class TMC, char AXIS_LETTER, char DRIVER_ID>
+template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
 class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
   public:
     TMCMarlin(uint16_t cs_pin, float RS) :
@@ -121,30 +120,40 @@ class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
       inline void refresh_stepping_mode() { this->en_pwm_mode(this->stored.stealthChop_enabled); }
       inline bool get_stealthChop_status() { return this->en_pwm_mode(); }
     #endif
-
-    #if HAS_LCD_MENU
-
-      inline void init_lcd_variables(const AxisEnum spmm_id) {
-        #if ENABLED(HYBRID_THRESHOLD)
-          this->stored.hybrid_thrs = _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[spmm_id]);
+    #if ENABLED(HYBRID_THRESHOLD)
+      uint32_t get_pwm_thrs() {
+        return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
+      }
+      void set_pwm_thrs(const uint32_t thrs) {
+        TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
+        #if HAS_LCD_MENU
+          this->stored.hybrid_thrs = thrs;
         #endif
-        #if ENABLED(SENSORLESS_HOMING)
-          this->stored.homing_thrs = this->sgt();
+      }
+    #endif
+    #if USE_SENSORLESS
+      inline int8_t sgt() { return TMC::sgt(); }
+      void sgt(const int8_t sgt_val) {
+        TMC::sgt(sgt_val);
+        #if HAS_LCD_MENU
+          this->stored.homing_thrs = sgt_val;
         #endif
       }
+    #endif
 
+    #if HAS_LCD_MENU
       inline void refresh_stepper_current() { rms_current(this->val_mA); }
 
       #if ENABLED(HYBRID_THRESHOLD)
-        inline void refresh_hybrid_thrs(float spmm) { this->TPWMTHRS(_tmc_thrs(this->microsteps(), this->stored.hybrid_thrs, spmm)); }
+        inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
       #endif
-      #if ENABLED(SENSORLESS_HOMING)
-        inline void refresh_homing_thrs() { this->sgt(this->stored.homing_thrs); }
+      #if USE_SENSORLESS
+        inline void refresh_homing_thrs() { sgt(this->stored.homing_thrs); }
       #endif
     #endif
 };
-template<char AXIS_LETTER, char DRIVER_ID>
-class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
   public:
     TMCMarlin(Stream * SerialPort, float RS, bool has_rx=true) :
       TMC2208Stepper(SerialPort, RS, has_rx=true)
@@ -166,24 +175,28 @@ class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> : public TMC2208Stepper,
       inline void refresh_stepping_mode() { en_spreadCycle(!this->stored.stealthChop_enabled); }
       inline bool get_stealthChop_status() { return !this->en_spreadCycle(); }
     #endif
-
-    #if HAS_LCD_MENU
-
-      inline void init_lcd_variables(const AxisEnum spmm_id) {
-        #if ENABLED(HYBRID_THRESHOLD)
-          this->stored.hybrid_thrs = _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[spmm_id]);
+    #if ENABLED(HYBRID_THRESHOLD)
+      uint32_t get_pwm_thrs() {
+        return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
+      }
+      void set_pwm_thrs(const uint32_t thrs) {
+        TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
+        #if HAS_LCD_MENU
+          this->stored.hybrid_thrs = thrs;
         #endif
       }
+    #endif
 
+    #if HAS_LCD_MENU
       inline void refresh_stepper_current() { rms_current(this->val_mA); }
 
       #if ENABLED(HYBRID_THRESHOLD)
-        inline void refresh_hybrid_thrs(float spmm) { this->TPWMTHRS(_tmc_thrs(this->microsteps(), this->stored.hybrid_thrs, spmm)); }
+        inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
       #endif
     #endif
 };
-template<char AXIS_LETTER, char DRIVER_ID>
-class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
   public:
     TMCMarlin(uint16_t cs_pin, float RS) :
       TMC2660Stepper(cs_pin, RS)
@@ -197,30 +210,30 @@ class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> : public TMC2660Stepper,
       TMC2660Stepper::rms_current(mA);
     }
 
-    #if HAS_LCD_MENU
-      inline void init_lcd_variables(const AxisEnum spmm_id) {
-        #if ENABLED(SENSORLESS_HOMING)
-          this->stored.homing_thrs = this->sgt();
+    #if USE_SENSORLESS
+      inline int8_t sgt() { return TMC2660Stepper::sgt(); }
+      void sgt(const int8_t sgt_val) {
+        TMC2660Stepper::sgt(sgt_val);
+        #if HAS_LCD_MENU
+          this->stored.homing_thrs = sgt_val;
         #endif
       }
+    #endif
 
+    #if HAS_LCD_MENU
       inline void refresh_stepper_current() { rms_current(this->val_mA); }
 
-      #if ENABLED(SENSORLESS_HOMING)
-        inline void refresh_homing_thrs() { this->sgt(this->stored.homing_thrs); }
+      #if USE_SENSORLESS
+        inline void refresh_homing_thrs() { sgt(this->stored.homing_thrs); }
       #endif
     #endif
 };
 
 template<typename TMC>
-void tmc_get_current(TMC &st) {
+void tmc_print_current(TMC &st) {
   st.printLabel();
   SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps());
 }
-template<typename TMC>
-void tmc_set_current(TMC &st, const int mA) {
-  st.rms_current(mA);
-}
 
 #if ENABLED(MONITOR_DRIVER_STATUS)
   template<typename TMC>
@@ -237,25 +250,21 @@ void tmc_set_current(TMC &st, const int mA) {
     SERIAL_ECHOLNPGM(" prewarn flag cleared");
   }
 #endif
-template<typename TMC>
-void tmc_get_pwmthrs(TMC &st, const uint16_t spmm) {
-  st.printLabel();
-  SERIAL_ECHOLNPAIR(" stealthChop max speed: ", _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
-}
-template<typename TMC>
-void tmc_set_pwmthrs(TMC &st, const int32_t thrs, const uint32_t spmm) {
-  st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
-}
-template<typename TMC>
-void tmc_get_sgt(TMC &st) {
-  st.printLabel();
-  SERIAL_ECHOPGM(" homing sensitivity: ");
-  SERIAL_PRINTLN(st.sgt(), DEC);
-}
-template<typename TMC>
-void tmc_set_sgt(TMC &st, const int8_t sgt_val) {
-  st.sgt(sgt_val);
-}
+#if ENABLED(HYBRID_THRESHOLD)
+  template<typename TMC>
+  void tmc_print_pwmthrs(TMC &st) {
+    st.printLabel();
+    SERIAL_ECHOLNPAIR(" stealthChop max speed: ", st.get_pwm_thrs());
+  }
+#endif
+#if USE_SENSORLESS
+  template<typename TMC>
+  void tmc_print_sgt(TMC &st) {
+    st.printLabel();
+    SERIAL_ECHOPGM(" homing sensitivity: ");
+    SERIAL_PRINTLN(st.sgt(), DEC);
+  }
+#endif
 
 void monitor_tmc_driver();
 void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z, const bool test_e);
@@ -268,10 +277,6 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
   void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
 #endif
 
-#if HAS_LCD_MENU
-  void init_tmc_section();
-#endif
-
 /**
  * TMC2130 specific sensorless homing using stallGuard2.
  * stallGuard2 only works when in spreadCycle mode.
@@ -295,3 +300,5 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
 #if TMC_HAS_SPI
   void tmc_init_cs_pins();
 #endif
+
+#endif // HAS_TRINAMIC

Marlin/src/gcode/feature/trinamic/M906.cpp

@@ -43,8 +43,8 @@
  * With no parameters report driver currents.
  */
 void GcodeSuite::M906() {
-  #define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q)
-  #define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, value)
+  #define TMC_SAY_CURRENT(Q) tmc_print_current(stepper##Q)
+  #define TMC_SET_CURRENT(Q) stepper##Q.rms_current(value)
 
   bool report = true;
 

Marlin/src/gcode/feature/trinamic/M911-M914.cpp

@@ -192,10 +192,10 @@
  */
 #if ENABLED(HYBRID_THRESHOLD)
   void GcodeSuite::M913() {
-    #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, planner.settings.axis_steps_per_mm[_AXIS(A)])
-    #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.settings.axis_steps_per_mm[_AXIS(A)])
-    #define TMC_SAY_PWMTHRS_E(E) tmc_get_pwmthrs(stepperE##E, planner.settings.axis_steps_per_mm[E_AXIS_N(E)])
-    #define TMC_SET_PWMTHRS_E(E) tmc_set_pwmthrs(stepperE##E, value, planner.settings.axis_steps_per_mm[E_AXIS_N(E)])
+    #define TMC_SAY_PWMTHRS(A,Q) tmc_print_pwmthrs(stepper##Q)
+    #define TMC_SET_PWMTHRS(A,Q) stepper##Q.set_pwm_thrs(value)
+    #define TMC_SAY_PWMTHRS_E(E) tmc_print_pwmthrs(stepperE##E)
+    #define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value)
 
     bool report = true;
     #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3)
@@ -309,8 +309,6 @@
  */
 #if USE_SENSORLESS
   void GcodeSuite::M914() {
-    #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q)
-    #define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)
 
     bool report = true;
     const uint8_t index = parser.byteval('I');
@@ -321,33 +319,33 @@
         #if X_SENSORLESS
           case X_AXIS:
             #if AXIS_HAS_STALLGUARD(X)
-              if (index < 2) TMC_SET_SGT(X);
+              if (index < 2) stepperX.sgt(value);
             #endif
             #if AXIS_HAS_STALLGUARD(X2)
-              if (!(index & 1)) TMC_SET_SGT(X2);
+              if (!(index & 1)) stepperX2.sgt(value);
             #endif
             break;
         #endif
         #if Y_SENSORLESS
           case Y_AXIS:
             #if AXIS_HAS_STALLGUARD(Y)
-              if (index < 2) TMC_SET_SGT(Y);
+              if (index < 2) stepperY.sgt(value);
             #endif
             #if AXIS_HAS_STALLGUARD(Y2)
-              if (!(index & 1)) TMC_SET_SGT(Y2);
+              if (!(index & 1)) stepperY2.sgt(value);
             #endif
             break;
         #endif
         #if Z_SENSORLESS
           case Z_AXIS:
             #if AXIS_HAS_STALLGUARD(Z)
-              if (index < 2) TMC_SET_SGT(Z);
+              if (index < 2) stepperZ.sgt(value);
             #endif
             #if AXIS_HAS_STALLGUARD(Z2)
-              if (index == 0 || index == 2) TMC_SET_SGT(Z2);
+              if (index == 0 || index == 2) stepperZ2.sgt(value);
             #endif
             #if AXIS_HAS_STALLGUARD(Z3)
-              if (index == 0 || index == 3) TMC_SET_SGT(Z3);
+              if (index == 0 || index == 3) stepperZ3.sgt(value);
             #endif
             break;
         #endif
@@ -357,29 +355,29 @@
     if (report) {
       #if X_SENSORLESS
         #if AXIS_HAS_STALLGUARD(X)
-          TMC_SAY_SGT(X);
+          tmc_print_sgt(stepperX);
         #endif
         #if AXIS_HAS_STALLGUARD(X2)
-          TMC_SAY_SGT(X2);
+          tmc_print_sgt(stepperX2);
         #endif
       #endif
       #if Y_SENSORLESS
         #if AXIS_HAS_STALLGUARD(Y)
-          TMC_SAY_SGT(Y);
+          tmc_print_sgt(stepperY);
         #endif
         #if AXIS_HAS_STALLGUARD(Y2)
-          TMC_SAY_SGT(Y2);
+          tmc_print_sgt(stepperY2);
         #endif
       #endif
       #if Z_SENSORLESS
         #if AXIS_HAS_STALLGUARD(Z)
-          TMC_SAY_SGT(Z);
+          tmc_print_sgt(stepperZ);
         #endif
         #if AXIS_HAS_STALLGUARD(Z2)
-          TMC_SAY_SGT(Z2);
+          tmc_print_sgt(stepperZ2);
         #endif
         #if AXIS_HAS_STALLGUARD(Z3)
-          TMC_SAY_SGT(Z3);
+          tmc_print_sgt(stepperZ3);
         #endif
       #endif
     }

Marlin/src/lcd/menu/menu_tmc.cpp

@@ -124,43 +124,43 @@ void menu_tmc_current() {
   #define TMC_EDIT_STORED_HYBRID_THRS(ST, MSG) MENU_ITEM_EDIT_CALLBACK(uint8, MSG, &stepper##ST.stored.hybrid_thrs, 0, 255, refresh_hybrid_thrs_##ST);
 
   #if AXIS_HAS_STEALTHCHOP(X)
-    void refresh_hybrid_thrs_X()  {  stepperX.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[X_AXIS]); }
+    void refresh_hybrid_thrs_X()  {  stepperX.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(Y)
-    void refresh_hybrid_thrs_Y()  {  stepperY.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[Y_AXIS]); }
+    void refresh_hybrid_thrs_Y()  {  stepperY.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(Z)
-    void refresh_hybrid_thrs_Z()  {  stepperZ.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[Z_AXIS]); }
+    void refresh_hybrid_thrs_Z()  {  stepperZ.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(X2)
-    void refresh_hybrid_thrs_X2() { stepperX2.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[X_AXIS]); }
+    void refresh_hybrid_thrs_X2() { stepperX2.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(Y2)
-    void refresh_hybrid_thrs_Y2() { stepperY2.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[Y_AXIS]); }
+    void refresh_hybrid_thrs_Y2() { stepperY2.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(Z2)
-    void refresh_hybrid_thrs_Z2() { stepperZ2.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[Z_AXIS]); }
+    void refresh_hybrid_thrs_Z2() { stepperZ2.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(Z3)
-    void refresh_hybrid_thrs_Z3() { stepperZ3.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[Z_AXIS]); }
+    void refresh_hybrid_thrs_Z3() { stepperZ3.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(E0)
-    void refresh_hybrid_thrs_E0() { stepperE0.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[E_AXIS]); }
+    void refresh_hybrid_thrs_E0() { stepperE0.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(E1)
-    void refresh_hybrid_thrs_E1() { stepperE1.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[E_AXIS_N(1)]); }
+    void refresh_hybrid_thrs_E1() { stepperE1.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(E2)
-    void refresh_hybrid_thrs_E2() { stepperE2.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[E_AXIS_N(2)]); }
+    void refresh_hybrid_thrs_E2() { stepperE2.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(E3)
-    void refresh_hybrid_thrs_E3() { stepperE3.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[E_AXIS_N(3)]); }
+    void refresh_hybrid_thrs_E3() { stepperE3.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(E4)
-    void refresh_hybrid_thrs_E4() { stepperE4.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[E_AXIS_N(4)]); }
+    void refresh_hybrid_thrs_E4() { stepperE4.refresh_hybrid_thrs(); }
   #endif
   #if AXIS_HAS_STEALTHCHOP(E5)
-    void refresh_hybrid_thrs_E5() { stepperE5.refresh_hybrid_thrs(planner.settings.axis_steps_per_mm[E_AXIS_N(5)]); }
+    void refresh_hybrid_thrs_E5() { stepperE5.refresh_hybrid_thrs(); }
   #endif
 
   void menu_tmc_hybrid_thrs() {

Marlin/src/module/configuration_store.cpp

@@ -112,7 +112,6 @@ extern float saved_extruder_advance_K[EXTRUDERS];
 #if HAS_TRINAMIC
   #include "stepper_indirection.h"
   #include "../feature/tmc_util.h"
-  #define TMC_GET_PWMTHRS(A,Q) _tmc_thrs(stepper##Q.microsteps(), stepper##Q.TPWMTHRS(), planner.settings.axis_steps_per_mm[_AXIS(A)])
 #endif
 
 #pragma pack(push, 1) // No padding between variables
@@ -962,49 +961,49 @@ void MarlinSettings::postprocess() {
       #if ENABLED(HYBRID_THRESHOLD)
        tmc_hybrid_threshold_t tmc_hybrid_threshold = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
         #if AXIS_HAS_STEALTHCHOP(X)
-          tmc_hybrid_threshold.X = TMC_GET_PWMTHRS(X, X);
+          tmc_hybrid_threshold.X = stepperX.get_pwm_thrs();
         #endif
         #if AXIS_HAS_STEALTHCHOP(Y)
-          tmc_hybrid_threshold.Y = TMC_GET_PWMTHRS(Y, Y);
+          tmc_hybrid_threshold.Y = stepperY.get_pwm_thrs();
         #endif
         #if AXIS_HAS_STEALTHCHOP(Z)
-          tmc_hybrid_threshold.Z = TMC_GET_PWMTHRS(Z, Z);
+          tmc_hybrid_threshold.Z = stepperZ.get_pwm_thrs();
         #endif
         #if AXIS_HAS_STEALTHCHOP(X2)
-          tmc_hybrid_threshold.X2 = TMC_GET_PWMTHRS(X, X2);
+          tmc_hybrid_threshold.X2 = stepperX2.get_pwm_thrs();
         #endif
         #if AXIS_HAS_STEALTHCHOP(Y2)
-          tmc_hybrid_threshold.Y2 = TMC_GET_PWMTHRS(Y, Y2);
+          tmc_hybrid_threshold.Y2 = stepperY2.get_pwm_thrs();
         #endif
         #if AXIS_HAS_STEALTHCHOP(Z2)
-          tmc_hybrid_threshold.Z2 = TMC_GET_PWMTHRS(Z, Z2);
+          tmc_hybrid_threshold.Z2 = stepperZ2.get_pwm_thrs();
         #endif
         #if AXIS_HAS_STEALTHCHOP(Z3)
-          tmc_hybrid_threshold.Z3 = TMC_GET_PWMTHRS(Z, Z3);
+          tmc_hybrid_threshold.Z3 = stepperZ3.get_pwm_thrs();
         #endif
         #if MAX_EXTRUDERS
           #if AXIS_HAS_STEALTHCHOP(E0)
-            tmc_hybrid_threshold.E0 = TMC_GET_PWMTHRS(E, E0);
+            tmc_hybrid_threshold.E0 = stepperE0.get_pwm_thrs();
           #endif
           #if MAX_EXTRUDERS > 1
             #if AXIS_HAS_STEALTHCHOP(E1)
-              tmc_hybrid_threshold.E1 = TMC_GET_PWMTHRS(E, E1);
+              tmc_hybrid_threshold.E1 = stepperE1.get_pwm_thrs();
             #endif
             #if MAX_EXTRUDERS > 2
               #if AXIS_HAS_STEALTHCHOP(E2)
-                tmc_hybrid_threshold.E2 = TMC_GET_PWMTHRS(E, E2);
+                tmc_hybrid_threshold.E2 = stepperE2.get_pwm_thrs();
               #endif
               #if MAX_EXTRUDERS > 3
                 #if AXIS_HAS_STEALTHCHOP(E3)
-                  tmc_hybrid_threshold.E3 = TMC_GET_PWMTHRS(E, E3);
+                  tmc_hybrid_threshold.E3 = stepperE3.get_pwm_thrs();
                 #endif
                 #if MAX_EXTRUDERS > 4
                   #if AXIS_HAS_STEALTHCHOP(E4)
-                    tmc_hybrid_threshold.E4 = TMC_GET_PWMTHRS(E, E4);
+                    tmc_hybrid_threshold.E4 = stepperE4.get_pwm_thrs();
                   #endif
                   #if MAX_EXTRUDERS > 5
                     #if AXIS_HAS_STEALTHCHOP(E5)
-                      tmc_hybrid_threshold.E5 = TMC_GET_PWMTHRS(E, E5);
+                      tmc_hybrid_threshold.E5 = stepperE5.get_pwm_thrs();
                     #endif
                   #endif // MAX_EXTRUDERS > 5
                 #endif // MAX_EXTRUDERS > 4
@@ -1742,46 +1741,45 @@ void MarlinSettings::postprocess() {
         EEPROM_READ(tmc_hybrid_threshold);
 
         #if ENABLED(HYBRID_THRESHOLD)
-          #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold.Q, planner.settings.axis_steps_per_mm[_AXIS(A)])
           if (!validating) {
             #if AXIS_HAS_STEALTHCHOP(X)
-              TMC_SET_PWMTHRS(X, X);
+              stepperX.set_pwm_thrs(tmc_hybrid_threshold.X);
             #endif
             #if AXIS_HAS_STEALTHCHOP(Y)
-              TMC_SET_PWMTHRS(Y, Y);
+              stepperY.set_pwm_thrs(tmc_hybrid_threshold.Y);
             #endif
             #if AXIS_HAS_STEALTHCHOP(Z)
-              TMC_SET_PWMTHRS(Z, Z);
+              stepperZ.set_pwm_thrs(tmc_hybrid_threshold.Z);
             #endif
             #if AXIS_HAS_STEALTHCHOP(X2)
-              TMC_SET_PWMTHRS(X, X2);
+              stepperX2.set_pwm_thrs(tmc_hybrid_threshold.X2);
             #endif
             #if AXIS_HAS_STEALTHCHOP(Y2)
-              TMC_SET_PWMTHRS(Y, Y2);
+              stepperY2.set_pwm_thrs(tmc_hybrid_threshold.Y2);
             #endif
             #if AXIS_HAS_STEALTHCHOP(Z2)
-              TMC_SET_PWMTHRS(Z, Z2);
+              stepperZ2.set_pwm_thrs(tmc_hybrid_threshold.Z2);
             #endif
             #if AXIS_HAS_STEALTHCHOP(Z3)
-              TMC_SET_PWMTHRS(Z, Z3);
+              stepperZ3.set_pwm_thrs(tmc_hybrid_threshold.Z3);
             #endif
             #if AXIS_HAS_STEALTHCHOP(E0)
-              TMC_SET_PWMTHRS(E, E0);
+              stepperE0.set_pwm_thrs(tmc_hybrid_threshold.E0);
             #endif
             #if AXIS_HAS_STEALTHCHOP(E1)
-              TMC_SET_PWMTHRS(E, E1);
+              stepperE1.set_pwm_thrs(tmc_hybrid_threshold.E1);
             #endif
             #if AXIS_HAS_STEALTHCHOP(E2)
-              TMC_SET_PWMTHRS(E, E2);
+              stepperE2.set_pwm_thrs(tmc_hybrid_threshold.E2);
             #endif
             #if AXIS_HAS_STEALTHCHOP(E3)
-              TMC_SET_PWMTHRS(E, E3);
+              stepperE3.set_pwm_thrs(tmc_hybrid_threshold.E3);
             #endif
             #if AXIS_HAS_STEALTHCHOP(E4)
-              TMC_SET_PWMTHRS(E, E4);
+              stepperE4.set_pwm_thrs(tmc_hybrid_threshold.E4);
             #endif
             #if AXIS_HAS_STEALTHCHOP(E5)
-              TMC_SET_PWMTHRS(E, E5);
+              stepperE5.set_pwm_thrs(tmc_hybrid_threshold.E5);
             #endif
           }
         #endif
@@ -3149,13 +3147,13 @@ void MarlinSettings::reset() {
           say_M913();
         #endif
         #if AXIS_HAS_STEALTHCHOP(X)
-          SERIAL_ECHOPAIR(" X", TMC_GET_PWMTHRS(X, X));
+          SERIAL_ECHOPAIR(" X", stepperX.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(Y)
-          SERIAL_ECHOPAIR(" Y", TMC_GET_PWMTHRS(Y, Y));
+          SERIAL_ECHOPAIR(" Y", stepperY.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(Z)
-          SERIAL_ECHOPAIR(" Z", TMC_GET_PWMTHRS(Z, Z));
+          SERIAL_ECHOPAIR(" Z", stepperZ.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
           SERIAL_EOL();
@@ -3166,13 +3164,13 @@ void MarlinSettings::reset() {
           SERIAL_ECHOPGM(" I1");
         #endif
         #if AXIS_HAS_STEALTHCHOP(X2)
-          SERIAL_ECHOPAIR(" X", TMC_GET_PWMTHRS(X, X2));
+          SERIAL_ECHOPAIR(" X", stepperX2.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(Y2)
-          SERIAL_ECHOPAIR(" Y", TMC_GET_PWMTHRS(Y, Y2));
+          SERIAL_ECHOPAIR(" Y", stepperY2.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(Z2)
-          SERIAL_ECHOPAIR(" Z", TMC_GET_PWMTHRS(Z, Z2));
+          SERIAL_ECHOPAIR(" Z", stepperZ2.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
           SERIAL_EOL();
@@ -3180,32 +3178,32 @@ void MarlinSettings::reset() {
 
         #if AXIS_HAS_STEALTHCHOP(Z3)
           say_M913();
-          SERIAL_ECHOLNPAIR(" I2 Z", TMC_GET_PWMTHRS(Z, Z3));
+          SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.get_pwm_thrs());
         #endif
 
         #if AXIS_HAS_STEALTHCHOP(E0)
           say_M913();
-          SERIAL_ECHOLNPAIR(" T0 E", TMC_GET_PWMTHRS(E, E0));
+          SERIAL_ECHOLNPAIR(" T0 E", stepperE0.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(E1)
           say_M913();
-          SERIAL_ECHOLNPAIR(" T1 E", TMC_GET_PWMTHRS(E, E1));
+          SERIAL_ECHOLNPAIR(" T1 E", stepperE1.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(E2)
           say_M913();
-          SERIAL_ECHOLNPAIR(" T2 E", TMC_GET_PWMTHRS(E, E2));
+          SERIAL_ECHOLNPAIR(" T2 E", stepperE2.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(E3)
           say_M913();
-          SERIAL_ECHOLNPAIR(" T3 E", TMC_GET_PWMTHRS(E, E3));
+          SERIAL_ECHOLNPAIR(" T3 E", stepperE3.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(E4)
           say_M913();
-          SERIAL_ECHOLNPAIR(" T4 E", TMC_GET_PWMTHRS(E, E4));
+          SERIAL_ECHOLNPAIR(" T4 E", stepperE4.get_pwm_thrs());
         #endif
         #if AXIS_HAS_STEALTHCHOP(E5)
           say_M913();
-          SERIAL_ECHOLNPAIR(" T5 E", TMC_GET_PWMTHRS(E, E5));
+          SERIAL_ECHOLNPAIR(" T5 E", stepperE5.get_pwm_thrs());
         #endif
         SERIAL_EOL();
       #endif // HYBRID_THRESHOLD

Marlin/src/module/stepper_indirection.cpp

@@ -144,69 +144,88 @@
 #endif // TMC26X
 
 #if HAS_TRINAMIC
-  enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
-  #define _TMC_INIT(ST, SPMM_INDEX, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, planner.settings.axis_steps_per_mm[SPMM_INDEX], stealthchop_by_axis[STEALTH_INDEX])
-#endif
-
-//
-// TMC2130 Driver objects and inits
-//
-#if HAS_DRIVER(TMC2130)
-
+  #include <HardwareSerial.h>
   #include <SPI.h>
   #include "planner.h"
   #include "../core/enum.h"
 
+  enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
+  #define _TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX])
+
+  //   IC = TMC model number
+  //   ST = Stepper object letter
+  //   L  = Label characters
+  //   AI = Axis Enum Index
+  // SWHW = SW/SH UART selection
   #if ENABLED(TMC_USE_SW_SPI)
-    #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
-    #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
+    #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
   #else
-    #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
-    #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
+    #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
   #endif
-  // Stepper objects of TMC2130 steppers used
-  #if AXIS_DRIVER_TYPE_X(TMC2130)
-    TMC2130_DEFINE(X);
+
+  #define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE)
+  #define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SERIAL_RX_PIN > -1)
+
+  #define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
+  #define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
+
+  #define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
+  #define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
+
+  #if ENABLED(DISTINCT_E_FACTORS) && E_STEPPERS > 1
+    #define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI)
+    #define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E##AI)
+  #else
+    #define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E)
+    #define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E)
   #endif
-  #if AXIS_DRIVER_TYPE_X2(TMC2130)
-    TMC2130_DEFINE(X2);
+
+  // Stepper objects of TMC2130/TMC2160/TMC2660/TMC5130/TMC5160 steppers used
+  #if AXIS_HAS_SPI(X)
+    TMC_SPI_DEFINE(X, X);
   #endif
-  #if AXIS_DRIVER_TYPE_Y(TMC2130)
-    TMC2130_DEFINE(Y);
+  #if AXIS_HAS_SPI(X2)
+    TMC_SPI_DEFINE(X2, X);
   #endif
-  #if AXIS_DRIVER_TYPE_Y2(TMC2130)
-    TMC2130_DEFINE(Y2);
+  #if AXIS_HAS_SPI(Y)
+    TMC_SPI_DEFINE(Y, Y);
   #endif
-  #if AXIS_DRIVER_TYPE_Z(TMC2130)
-    TMC2130_DEFINE(Z);
+  #if AXIS_HAS_SPI(Y2)
+    TMC_SPI_DEFINE(Y2, Y);
   #endif
-  #if AXIS_DRIVER_TYPE_Z2(TMC2130)
-    TMC2130_DEFINE(Z2);
+  #if AXIS_HAS_SPI(Z)
+    TMC_SPI_DEFINE(Z, Z);
   #endif
-  #if AXIS_DRIVER_TYPE_Z3(TMC2130)
-    TMC2130_DEFINE(Z3);
+  #if AXIS_HAS_SPI(Z2)
+    TMC_SPI_DEFINE(Z2, Z);
   #endif
-  #if AXIS_DRIVER_TYPE_E0(TMC2130)
-    TMC2130_DEFINE(E0);
+  #if AXIS_HAS_SPI(Z3)
+    TMC_SPI_DEFINE(Z3, Z);
   #endif
-  #if AXIS_DRIVER_TYPE_E1(TMC2130)
-    TMC2130_DEFINE(E1);
+  #if AXIS_HAS_SPI(E0)
+    TMC_SPI_DEFINE_E(0);
   #endif
-  #if AXIS_DRIVER_TYPE_E2(TMC2130)
-    TMC2130_DEFINE(E2);
+  #if AXIS_HAS_SPI(E1)
+    TMC_SPI_DEFINE_E(1);
   #endif
-  #if AXIS_DRIVER_TYPE_E3(TMC2130)
-    TMC2130_DEFINE(E3);
+  #if AXIS_HAS_SPI(E2)
+    TMC_SPI_DEFINE_E(2);
   #endif
-  #if AXIS_DRIVER_TYPE_E4(TMC2130)
-    TMC2130_DEFINE(E4);
+  #if AXIS_HAS_SPI(E3)
+    TMC_SPI_DEFINE_E(3);
   #endif
-  #if AXIS_DRIVER_TYPE_E5(TMC2130)
-    TMC2130_DEFINE(E5);
+  #if AXIS_HAS_SPI(E4)
+    TMC_SPI_DEFINE_E(4);
   #endif
+  #if AXIS_HAS_SPI(E5)
+    TMC_SPI_DEFINE_E(5);
+  #endif
+
+#endif
 
-  template<char AXIS_LETTER, char DRIVER_ID>
-  void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
+#if HAS_DRIVER(TMC2130)
+  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+  void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
     st.begin();
 
     CHOPCONF_t chopconf{0};
@@ -233,75 +252,18 @@
     st.PWMCONF(pwmconf.sr);
 
     #if ENABLED(HYBRID_THRESHOLD)
-      st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
+      st.set_pwm_thrs(thrs);
     #else
       UNUSED(thrs);
-      UNUSED(spmm);
     #endif
 
     st.GSTAT(); // Clear GSTAT
   }
 #endif // TMC2130
 
-//
-// TMC2160 Driver objects and inits
-//
 #if HAS_DRIVER(TMC2160)
-
-  #include <SPI.h>
-  #include "planner.h"
-  #include "../core/enum.h"
-
-  #if ENABLED(TMC_USE_SW_SPI)
-    #define _TMC2160_DEFINE(ST, L) TMCMarlin<TMC2160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
-    #define TMC2160_DEFINE(ST) _TMC2160_DEFINE(ST, TMC_##ST##_LABEL)
-  #else
-    #define _TMC2160_DEFINE(ST, L) TMCMarlin<TMC2160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
-    #define TMC2160_DEFINE(ST) _TMC2160_DEFINE(ST, TMC_##ST##_LABEL)
-  #endif
-  // Stepper objects of TMC2160 steppers used
-  #if AXIS_DRIVER_TYPE(X, TMC2160)
-    TMC2160_DEFINE(X);
-  #endif
-  #if AXIS_DRIVER_TYPE(X2, TMC2160)
-    TMC2160_DEFINE(X2);
-  #endif
-  #if AXIS_DRIVER_TYPE(Y, TMC2160)
-    TMC2160_DEFINE(Y);
-  #endif
-  #if AXIS_DRIVER_TYPE(Y2, TMC2160)
-    TMC2160_DEFINE(Y2);
-  #endif
-  #if AXIS_DRIVER_TYPE(Z, TMC2160)
-    TMC2160_DEFINE(Z);
-  #endif
-  #if AXIS_DRIVER_TYPE(Z2, TMC2160)
-    TMC2160_DEFINE(Z2);
-  #endif
-  #if AXIS_DRIVER_TYPE(Z3, TMC2160)
-    TMC2160_DEFINE(Z3);
-  #endif
-  #if AXIS_DRIVER_TYPE(E0, TMC2160)
-    TMC2160_DEFINE(E0);
-  #endif
-  #if AXIS_DRIVER_TYPE(E1, TMC2160)
-    TMC2160_DEFINE(E1);
-  #endif
-  #if AXIS_DRIVER_TYPE(E2, TMC2160)
-    TMC2160_DEFINE(E2);
-  #endif
-  #if AXIS_DRIVER_TYPE(E3, TMC2160)
-    TMC2160_DEFINE(E3);
-  #endif
-  #if AXIS_DRIVER_TYPE(E4, TMC2160)
-    TMC2160_DEFINE(E4);
-  #endif
-  #if AXIS_DRIVER_TYPE(E5, TMC2160)
-    TMC2160_DEFINE(E5);
-  #endif
-
-  template<char AXIS_LETTER, char DRIVER_ID>
-  void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
+  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+  void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
     st.begin();
 
     static constexpr int8_t timings[] = CHOPPER_TIMING; // Default 4, -2, 1
@@ -337,10 +299,9 @@
     st.PWMCONF(pwmconf.sr);
 
     #if ENABLED(HYBRID_THRESHOLD)
-      st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
+      st.set_pwm_thrs(thrs);
     #else
       UNUSED(thrs);
-      UNUSED(spmm);
     #endif
 
     st.GSTAT(); // Clear GSTAT
@@ -351,105 +312,96 @@
 // TMC2208 Driver objects and inits
 //
 #if HAS_DRIVER(TMC2208)
-  #include <HardwareSerial.h>
-  #include "planner.h"
-
-  #define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE)
-  #define TMC2208_DEFINE_HARDWARE(ST) _TMC2208_DEFINE_HARDWARE(ST, TMC_##ST##_LABEL)
-
-  #define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SERIAL_RX_PIN > -1)
-  #define TMC2208_DEFINE_SOFTWARE(ST) _TMC2208_DEFINE_SOFTWARE(ST, TMC_##ST##_LABEL)
-
   // Stepper objects of TMC2208 steppers used
   #if AXIS_DRIVER_TYPE_X(TMC2208)
     #ifdef X_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(X);
+      TMC_UART_DEFINE(HW, X, X);
     #else
-      TMC2208_DEFINE_SOFTWARE(X);
+      TMC_UART_DEFINE(SW, X, X);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_X2(TMC2208)
     #ifdef X2_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(X2);
+      TMC_UART_DEFINE(HW, X2, X);
     #else
-      TMC2208_DEFINE_SOFTWARE(X2);
+      TMC_UART_DEFINE(SW, X2, X);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_Y(TMC2208)
     #ifdef Y_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(Y);
+      TMC_UART_DEFINE(HW, Y, Y);
     #else
-      TMC2208_DEFINE_SOFTWARE(Y);
+      TMC_UART_DEFINE(SW, Y, Y);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_Y2(TMC2208)
     #ifdef Y2_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(Y2);
+      TMC_UART_DEFINE(HW, Y2, Y);
     #else
-      TMC2208_DEFINE_SOFTWARE(Y2);
+      TMC_UART_DEFINE(SW, Y2, Y);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_Z(TMC2208)
     #ifdef Z_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(Z);
+      TMC_UART_DEFINE(HW, Z, Z);
     #else
-      TMC2208_DEFINE_SOFTWARE(Z);
+      TMC_UART_DEFINE(SW, Z, Z);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_Z2(TMC2208)
     #ifdef Z2_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(Z2);
+      TMC_UART_DEFINE(HW, Z2, Z);
     #else
-      TMC2208_DEFINE_SOFTWARE(Z2);
+      TMC_UART_DEFINE(SW, Z2, Z);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_Z3(TMC2208)
     #ifdef Z3_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(Z3);
+      TMC_UART_DEFINE(HW, Z3, Z);
     #else
-      TMC2208_DEFINE_SOFTWARE(Z3);
+      TMC_UART_DEFINE(SW, Z3, Z);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_E0(TMC2208)
     #ifdef E0_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(E0);
+      TMC_UART_DEFINE_E(HW, 0);
     #else
-      TMC2208_DEFINE_SOFTWARE(E0);
+      TMC_UART_DEFINE_E(SW, 0);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_E1(TMC2208)
     #ifdef E1_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(E1);
+      TMC_UART_DEFINE_E(HW, 1);
     #else
-      TMC2208_DEFINE_SOFTWARE(E1);
+      TMC_UART_DEFINE_E(SW, 1);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_E2(TMC2208)
     #ifdef E2_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(E2);
+      TMC_UART_DEFINE_E(HW, 2);
     #else
-      TMC2208_DEFINE_SOFTWARE(E2);
+      TMC_UART_DEFINE_E(SW, 2);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_E3(TMC2208)
     #ifdef E3_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(E3);
+      TMC_UART_DEFINE_E(HW, 3);
     #else
-      TMC2208_DEFINE_SOFTWARE(E3);
+      TMC_UART_DEFINE_E(SW, 3);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_E4(TMC2208)
     #ifdef E4_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(E4);
+      TMC_UART_DEFINE_E(HW, 4);
     #else
-      TMC2208_DEFINE_SOFTWARE(E4);
+      TMC_UART_DEFINE_E(SW, 4);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE_E5(TMC2208)
     #ifdef E5_HARDWARE_SERIAL
-      TMC2208_DEFINE_HARDWARE(E5);
+      TMC_UART_DEFINE_E(HW, 5);
     #else
-      TMC2208_DEFINE_SOFTWARE(E5);
+      TMC_UART_DEFINE_E(SW, 5);
     #endif
   #endif
 
@@ -547,8 +499,8 @@
     #endif
   }
 
-  template<char AXIS_LETTER, char DRIVER_ID>
-  void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
+  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+  void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
     TMC2208_n::GCONF_t gconf{0};
     gconf.pdn_disable = true; // Use UART
     gconf.mstep_reg_select = true; // Select microsteps with UART
@@ -581,10 +533,9 @@
     st.PWMCONF(pwmconf.sr);
 
     #if ENABLED(HYBRID_THRESHOLD)
-      st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
+      st.set_pwm_thrs(thrs);
     #else
       UNUSED(thrs);
-      UNUSED(spmm);
     #endif
 
     st.GSTAT(0b111); // Clear
@@ -592,63 +543,9 @@
   }
 #endif // TMC2208
 
-//
-// TMC2660 Driver objects and inits
-//
 #if HAS_DRIVER(TMC2660)
-
-  #include <SPI.h>
-  #include "planner.h"
-  #include "../core/enum.h"
-
-  #if ENABLED(TMC_USE_SW_SPI)
-    #define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
-    #define TMC2660_DEFINE(ST) _TMC2660_DEFINE(ST, TMC_##ST##_LABEL)
-  #else
-    #define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
-    #define TMC2660_DEFINE(ST) _TMC2660_DEFINE(ST, TMC_##ST##_LABEL)
-  #endif
-
-  // Stepper objects of TMC2660 steppers used
-  #if AXIS_DRIVER_TYPE_X(TMC2660)
-    TMC2660_DEFINE(X);
-  #endif
-  #if AXIS_DRIVER_TYPE_X2(TMC2660)
-    TMC2660_DEFINE(X2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Y(TMC2660)
-    TMC2660_DEFINE(Y);
-  #endif
-  #if AXIS_DRIVER_TYPE_Y2(TMC2660)
-    TMC2660_DEFINE(Y2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z(TMC2660)
-    TMC2660_DEFINE(Z);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z2(TMC2660)
-    TMC2660_DEFINE(Z2);
-  #endif
-  #if AXIS_DRIVER_TYPE_E0(TMC2660)
-    TMC2660_DEFINE(E0);
-  #endif
-  #if AXIS_DRIVER_TYPE_E1(TMC2660)
-    TMC2660_DEFINE(E1);
-  #endif
-  #if AXIS_DRIVER_TYPE_E2(TMC2660)
-    TMC2660_DEFINE(E2);
-  #endif
-  #if AXIS_DRIVER_TYPE_E3(TMC2660)
-    TMC2660_DEFINE(E3);
-  #endif
-  #if AXIS_DRIVER_TYPE_E4(TMC2660)
-    TMC2660_DEFINE(E4);
-  #endif
-  #if AXIS_DRIVER_TYPE_E5(TMC2660)
-    TMC2660_DEFINE(E5);
-  #endif
-
-  template<char AXIS_LETTER, char DRIVER_ID>
-  void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const float, const bool) {
+  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+  void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool) {
     st.begin();
 
     TMC2660_n::CHOPCONF_t chopconf{0};
@@ -669,65 +566,9 @@
   }
 #endif // TMC2660
 
-//
-// TMC5130 Driver objects and inits
-//
 #if HAS_DRIVER(TMC5130)
-
-  #include <SPI.h>
-  #include "planner.h"
-  #include "../core/enum.h"
-
-  #if ENABLED(TMC_USE_SW_SPI)
-    #define _TMC5130_DEFINE(ST, L) TMCMarlin<TMC5130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
-    #define TMC5130_DEFINE(ST) _TMC5130_DEFINE(ST, TMC_##ST##_LABEL)
-  #else
-    #define _TMC5130_DEFINE(ST, L) TMCMarlin<TMC5130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
-    #define TMC5130_DEFINE(ST) _TMC5130_DEFINE(ST, TMC_##ST##_LABEL)
-  #endif
-  // Stepper objects of TMC5130 steppers used
-  #if AXIS_DRIVER_TYPE_X(TMC5130)
-    TMC5130_DEFINE(X);
-  #endif
-  #if AXIS_DRIVER_TYPE_X2(TMC5130)
-    TMC5130_DEFINE(X2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Y(TMC5130)
-    TMC5130_DEFINE(Y);
-  #endif
-  #if AXIS_DRIVER_TYPE_Y2(TMC5130)
-    TMC5130_DEFINE(Y2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z(TMC5130)
-    TMC5130_DEFINE(Z);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z2(TMC5130)
-    TMC5130_DEFINE(Z2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z3(TMC5130)
-    TMC5130_DEFINE(Z3);
-  #endif
-  #if AXIS_DRIVER_TYPE_E0(TMC5130)
-    TMC5130_DEFINE(E0);
-  #endif
-  #if AXIS_DRIVER_TYPE_E1(TMC5130)
-    TMC5130_DEFINE(E1);
-  #endif
-  #if AXIS_DRIVER_TYPE_E2(TMC5130)
-    TMC5130_DEFINE(E2);
-  #endif
-  #if AXIS_DRIVER_TYPE_E3(TMC5130)
-    TMC5130_DEFINE(E3);
-  #endif
-  #if AXIS_DRIVER_TYPE_E4(TMC5130)
-    TMC5130_DEFINE(E4);
-  #endif
-  #if AXIS_DRIVER_TYPE_E5(TMC5130)
-    TMC5130_DEFINE(E5);
-  #endif
-
-  template<char AXIS_LETTER, char DRIVER_ID>
-  void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
+  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+  void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
     st.begin();
 
     CHOPCONF_t chopconf{0};
@@ -754,75 +595,18 @@
     st.PWMCONF(pwmconf.sr);
 
     #if ENABLED(HYBRID_THRESHOLD)
-      st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
+      st.set_pwm_thrs(thrs);
     #else
       UNUSED(thrs);
-      UNUSED(spmm);
     #endif
 
     st.GSTAT(); // Clear GSTAT
   }
 #endif // TMC5130
 
-//
-// TMC5160 Driver objects and inits
-//
 #if HAS_DRIVER(TMC5160)
-
-  #include <SPI.h>
-  #include "planner.h"
-  #include "../core/enum.h"
-
-  #if ENABLED(TMC_USE_SW_SPI)
-    #define _TMC5160_DEFINE(ST, L) TMCMarlin<TMC5160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
-    #define TMC5160_DEFINE(ST) _TMC5160_DEFINE(ST, TMC_##ST##_LABEL)
-  #else
-    #define _TMC5160_DEFINE(ST, L) TMCMarlin<TMC5160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
-    #define TMC5160_DEFINE(ST) _TMC5160_DEFINE(ST, TMC_##ST##_LABEL)
-  #endif
-  // Stepper objects of TMC5160 steppers used
-  #if AXIS_DRIVER_TYPE(X, TMC5160)
-    TMC5160_DEFINE(X);
-  #endif
-  #if AXIS_DRIVER_TYPE(X2, TMC5160)
-    TMC5160_DEFINE(X2);
-  #endif
-  #if AXIS_DRIVER_TYPE(Y, TMC5160)
-    TMC5160_DEFINE(Y);
-  #endif
-  #if AXIS_DRIVER_TYPE(Y2, TMC5160)
-    TMC5160_DEFINE(Y2);
-  #endif
-  #if AXIS_DRIVER_TYPE(Z, TMC5160)
-    TMC5160_DEFINE(Z);
-  #endif
-  #if AXIS_DRIVER_TYPE(Z2, TMC5160)
-    TMC5160_DEFINE(Z2);
-  #endif
-  #if AXIS_DRIVER_TYPE(Z3, TMC5160)
-    TMC5160_DEFINE(Z3);
-  #endif
-  #if AXIS_DRIVER_TYPE(E0, TMC5160)
-    TMC5160_DEFINE(E0);
-  #endif
-  #if AXIS_DRIVER_TYPE(E1, TMC5160)
-    TMC5160_DEFINE(E1);
-  #endif
-  #if AXIS_DRIVER_TYPE(E2, TMC5160)
-    TMC5160_DEFINE(E2);
-  #endif
-  #if AXIS_DRIVER_TYPE(E3, TMC5160)
-    TMC5160_DEFINE(E3);
-  #endif
-  #if AXIS_DRIVER_TYPE(E4, TMC5160)
-    TMC5160_DEFINE(E4);
-  #endif
-  #if AXIS_DRIVER_TYPE(E5, TMC5160)
-    TMC5160_DEFINE(E5);
-  #endif
-
-  template<char AXIS_LETTER, char DRIVER_ID>
-  void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
+  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+  void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
     st.begin();
 
     int8_t timings[] = CHOPPER_TIMING; // Default 4, -2, 1
@@ -857,10 +641,9 @@
     st.PWMCONF(pwmconf.sr);
 
     #if ENABLED(HYBRID_THRESHOLD)
-      st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
+      st.set_pwm_thrs(thrs);
     #else
       UNUSED(thrs);
-      UNUSED(spmm);
     #endif
     st.GSTAT(); // Clear GSTAT
   }
@@ -941,43 +724,43 @@ void reset_stepper_drivers() {
   #endif
 
   #if AXIS_IS_TMC(X)
-    _TMC_INIT(X, X_AXIS, STEALTH_AXIS_XY);
+    _TMC_INIT(X, STEALTH_AXIS_XY);
   #endif
   #if AXIS_IS_TMC(X2)
-    _TMC_INIT(X2, X_AXIS, STEALTH_AXIS_XY);
+    _TMC_INIT(X2, STEALTH_AXIS_XY);
   #endif
   #if AXIS_IS_TMC(Y)
-    _TMC_INIT(Y, Y_AXIS, STEALTH_AXIS_XY);
+    _TMC_INIT(Y, STEALTH_AXIS_XY);
   #endif
   #if AXIS_IS_TMC(Y2)
-    _TMC_INIT(Y2, Y_AXIS, STEALTH_AXIS_XY);
+    _TMC_INIT(Y2, STEALTH_AXIS_XY);
   #endif
   #if AXIS_IS_TMC(Z)
-    _TMC_INIT(Z, Z_AXIS, STEALTH_AXIS_Z);
+    _TMC_INIT(Z, STEALTH_AXIS_Z);
   #endif
   #if AXIS_IS_TMC(Z2)
-    _TMC_INIT(Z2, Z_AXIS, STEALTH_AXIS_Z);
+    _TMC_INIT(Z2, STEALTH_AXIS_Z);
   #endif
   #if AXIS_IS_TMC(Z3)
-    _TMC_INIT(Z3, Z_AXIS, STEALTH_AXIS_Z);
+    _TMC_INIT(Z3, STEALTH_AXIS_Z);
   #endif
   #if AXIS_IS_TMC(E0)
-    _TMC_INIT(E0, E_AXIS, STEALTH_AXIS_E);
+    _TMC_INIT(E0, STEALTH_AXIS_E);
   #endif
   #if AXIS_IS_TMC(E1)
-    _TMC_INIT(E1, E_AXIS_N(1), STEALTH_AXIS_E);
+    _TMC_INIT(E1, STEALTH_AXIS_E);
   #endif
   #if AXIS_IS_TMC(E2)
-    _TMC_INIT(E2, E_AXIS_N(2), STEALTH_AXIS_E);
+    _TMC_INIT(E2, STEALTH_AXIS_E);
   #endif
   #if AXIS_IS_TMC(E3)
-    _TMC_INIT(E3, E_AXIS_N(3), STEALTH_AXIS_E);
+    _TMC_INIT(E3, STEALTH_AXIS_E);
   #endif
   #if AXIS_IS_TMC(E4)
-    _TMC_INIT(E4, E_AXIS_N(4), STEALTH_AXIS_E);
+    _TMC_INIT(E4, STEALTH_AXIS_E);
   #endif
   #if AXIS_IS_TMC(E5)
-    _TMC_INIT(E5, E_AXIS_N(5), STEALTH_AXIS_E);
+    _TMC_INIT(E5, STEALTH_AXIS_E);
   #endif
 
   #if USE_SENSORLESS

Marlin/src/module/stepper_indirection.h

@@ -62,11 +62,11 @@
     #error "Update TMCStepper library to 0.2.2 or newer."
   #endif
 
-  #define ____TMC_CLASS(MODEL, A, I) TMCMarlin<TMC##MODEL##Stepper, A, I>
-  #define ___TMC_CLASS(MODEL, A, I) ____TMC_CLASS(MODEL, A, I)
-  #define __TMC_CLASS(MODEL, A, I) ___TMC_CLASS(_##MODEL, A, I)
-  #define _TMC_CLASS(MODEL, L) __TMC_CLASS(MODEL, L)
-  #define TMC_CLASS(ST) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL)
+  #define ____TMC_CLASS(MODEL, A, I, E) TMCMarlin<TMC##MODEL##Stepper, A, I, E>
+  #define ___TMC_CLASS(MODEL, A, I, E) ____TMC_CLASS(MODEL, A, I, E)
+  #define __TMC_CLASS(MODEL, A, I, E) ___TMC_CLASS(_##MODEL, A, I, E)
+  #define _TMC_CLASS(MODEL, L, E) __TMC_CLASS(MODEL, L, E)
+  #define TMC_CLASS(ST) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, ST##_AXIS)
 
   typedef struct {
     uint8_t toff;