✨ M919 : Chopper Timing (#23400)

Marlin/Configuration_adv.h

   //#define CHOPPER_TIMING_Z2 CHOPPER_TIMING_Z
   //#define CHOPPER_TIMING_Z3 CHOPPER_TIMING_Z
   //#define CHOPPER_TIMING_Z4 CHOPPER_TIMING_Z
+  //#define CHOPPER_TIMING_I  CHOPPER_TIMING
+  //#define CHOPPER_TIMING_J  CHOPPER_TIMING
+  //#define CHOPPER_TIMING_K  CHOPPER_TIMING
   //#define CHOPPER_TIMING_E  CHOPPER_TIMING        // For Extruders (override below)
   //#define CHOPPER_TIMING_E1 CHOPPER_TIMING_E
   //#define CHOPPER_TIMING_E2 CHOPPER_TIMING_E

Marlin/src/feature/tmc_util.h

       uint8_t otpw_count = 0,
               error_count = 0;
       bool flag_otpw = false;
-      inline bool getOTPW() { return flag_otpw; }
-      inline void clear_otpw() { flag_otpw = 0; }
+      bool getOTPW() { return flag_otpw; }
+      void clear_otpw() { flag_otpw = 0; }
     #endif
 
-    inline uint16_t getMilliamps() { return val_mA; }
+    uint16_t getMilliamps() { return val_mA; }
 
-    inline void printLabel() {
+    void printLabel() {
       SERIAL_CHAR(AXIS_LETTER);
       if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
     }
     TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) :
       TMC(CS, RS, pinMOSI, pinMISO, pinSCK,  axis_chain_index)
       {}
-    inline uint16_t rms_current() { return TMC::rms_current(); }
-    inline void rms_current(uint16_t mA) {
+    uint16_t rms_current() { return TMC::rms_current(); }
+    void rms_current(uint16_t mA) {
       this->val_mA = mA;
       TMC::rms_current(mA);
     }
-    inline void rms_current(const uint16_t mA, const float mult) {
+    void rms_current(const uint16_t mA, const float mult) {
       this->val_mA = mA;
       TMC::rms_current(mA, mult);
     }
-    inline uint16_t get_microstep_counter() { return TMC::MSCNT(); }
+    uint16_t get_microstep_counter() { return TMC::MSCNT(); }
 
     #if HAS_STEALTHCHOP
-      inline bool get_stealthChop()                { return this->en_pwm_mode(); }
-      inline bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
-      inline void refresh_stepping_mode()          { this->en_pwm_mode(this->stored.stealthChop_enabled); }
-      inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
-      inline bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
+      bool get_stealthChop()                { return this->en_pwm_mode(); }
+      bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
+      void refresh_stepping_mode()          { this->en_pwm_mode(this->stored.stealthChop_enabled); }
+      void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
+      bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
     #endif
 
+    void set_chopper_times(const chopper_timing_t &ct) {
+      TMC::toff(ct.toff);
+      TMC::hysteresis_end(ct.hend);
+      TMC::hysteresis_start(ct.hstrt);
+    }
+
     #if ENABLED(HYBRID_THRESHOLD)
       uint32_t get_pwm_thrs() {
         return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
     #endif
 
     #if USE_SENSORLESS
-      inline int16_t homing_threshold() { return TMC::sgt(); }
+      int16_t homing_threshold() { return TMC::sgt(); }
       void homing_threshold(int16_t sgt_val) {
         sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
         TMC::sgt(sgt_val);
     #endif
 
     #if HAS_LCD_MENU
-      inline void refresh_stepper_current() { rms_current(this->val_mA); }
+      void refresh_stepper_current() { rms_current(this->val_mA); }
 
       #if ENABLED(HYBRID_THRESHOLD)
-        inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
+        void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
       #endif
       #if USE_SENSORLESS
-        inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
+        void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
       #endif
     #endif
 
       {}
 
     uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
-    inline void rms_current(const uint16_t mA) {
+    void rms_current(const uint16_t mA) {
       this->val_mA = mA;
       TMC2208Stepper::rms_current(mA);
     }
-    inline void rms_current(const uint16_t mA, const float mult) {
+    void rms_current(const uint16_t mA, const float mult) {
       this->val_mA = mA;
       TMC2208Stepper::rms_current(mA, mult);
     }
-    inline uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); }
+    uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); }
 
     #if HAS_STEALTHCHOP
-      inline bool get_stealthChop()                { return !this->en_spreadCycle(); }
-      inline bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
-      inline void refresh_stepping_mode()          { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
-      inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
-      inline bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
+      bool get_stealthChop()                { return !this->en_spreadCycle(); }
+      bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
+      void refresh_stepping_mode()          { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
+      void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
+      bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
     #endif
 
+    void set_chopper_times(const chopper_timing_t &ct) {
+      TMC2208Stepper::toff(ct.toff);
+      TMC2208Stepper::hysteresis_end(ct.hend);
+      TMC2208Stepper::hysteresis_start(ct.hstrt);
+    }
+
     #if ENABLED(HYBRID_THRESHOLD)
       uint32_t get_pwm_thrs() {
         return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
     #endif
 
     #if HAS_LCD_MENU
-      inline void refresh_stepper_current() { rms_current(this->val_mA); }
+      void refresh_stepper_current() { rms_current(this->val_mA); }
 
       #if ENABLED(HYBRID_THRESHOLD)
-        inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
+        void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
       #endif
     #endif
 };
       {}
     uint8_t get_address() { return slave_address; }
     uint16_t rms_current() { return TMC2209Stepper::rms_current(); }
-    inline void rms_current(const uint16_t mA) {
+    void rms_current(const uint16_t mA) {
       this->val_mA = mA;
       TMC2209Stepper::rms_current(mA);
     }
-    inline void rms_current(const uint16_t mA, const float mult) {
+    void rms_current(const uint16_t mA, const float mult) {
       this->val_mA = mA;
       TMC2209Stepper::rms_current(mA, mult);
     }
-    inline uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); }
+    uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); }
 
     #if HAS_STEALTHCHOP
-      inline bool get_stealthChop()                { return !this->en_spreadCycle(); }
-      inline bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
-      inline void refresh_stepping_mode()          { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
-      inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
-      inline bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
+      bool get_stealthChop()                { return !this->en_spreadCycle(); }
+      bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
+      void refresh_stepping_mode()          { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
+      void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
+      bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
     #endif
 
+    void set_chopper_times(const chopper_timing_t &ct) {
+      TMC2209Stepper::toff(ct.toff);
+      TMC2209Stepper::hysteresis_end(ct.hend);
+      TMC2209Stepper::hysteresis_start(ct.hstrt);
+    }
+
     #if ENABLED(HYBRID_THRESHOLD)
       uint32_t get_pwm_thrs() {
         return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
       }
     #endif
     #if USE_SENSORLESS
-      inline int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
+      int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
       void homing_threshold(int16_t sgt_val) {
         sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
         TMC2209Stepper::SGTHRS(sgt_val);
     #endif
 
     #if HAS_LCD_MENU
-      inline void refresh_stepper_current() { rms_current(this->val_mA); }
+      void refresh_stepper_current() { rms_current(this->val_mA); }
 
       #if ENABLED(HYBRID_THRESHOLD)
-        inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
+        void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
       #endif
       #if USE_SENSORLESS
-        inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
+        void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
       #endif
     #endif
 
     TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t) :
       TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK)
       {}
-    inline uint16_t rms_current() { return TMC2660Stepper::rms_current(); }
-    inline void rms_current(const uint16_t mA) {
+    uint16_t rms_current() { return TMC2660Stepper::rms_current(); }
+    void rms_current(const uint16_t mA) {
       this->val_mA = mA;
       TMC2660Stepper::rms_current(mA);
     }
-    inline uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); }
+    uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); }
+
+    void set_chopper_times(const chopper_timing_t &ct) {
+      TMC2660Stepper::toff(ct.toff);
+      TMC2660Stepper::hysteresis_end(ct.hend);
+      TMC2660Stepper::hysteresis_start(ct.hstrt);
+    }
 
     #if USE_SENSORLESS
-      inline int16_t homing_threshold() { return TMC2660Stepper::sgt(); }
+      int16_t homing_threshold() { return TMC2660Stepper::sgt(); }
       void homing_threshold(int16_t sgt_val) {
         sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
         TMC2660Stepper::sgt(sgt_val);
     #endif
 
     #if HAS_LCD_MENU
-      inline void refresh_stepper_current() { rms_current(this->val_mA); }
+      void refresh_stepper_current() { rms_current(this->val_mA); }
 
       #if USE_SENSORLESS
-        inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
+        void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
       #endif
     #endif
 

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

   LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) {
     report = false;
     switch (i) {
-      case X_AXIS:
-        #if AXIS_IS_TMC(X)
-          if (index < 0 || index == 0) TMC_SET_CURRENT(X);
-        #endif
-        #if AXIS_IS_TMC(X2)
-          if (index < 0 || index == 1) TMC_SET_CURRENT(X2);
-        #endif
-        break;
+      #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2)
+        case X_AXIS:
+          #if AXIS_IS_TMC(X)
+            if (index < 0 || index == 0) TMC_SET_CURRENT(X);
+          #endif
+          #if AXIS_IS_TMC(X2)
+            if (index < 0 || index == 1) TMC_SET_CURRENT(X2);
+          #endif
+          break;
+      #endif
 
-      #if HAS_Y_AXIS
+      #if AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2)
         case Y_AXIS:
           #if AXIS_IS_TMC(Y)
             if (index < 0 || index == 0) TMC_SET_CURRENT(Y);
           break;
       #endif
 
-      #if HAS_Z_AXIS
+      #if AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
         case Z_AXIS:
           #if AXIS_IS_TMC(Z)
             if (index < 0 || index == 0) TMC_SET_CURRENT(Z);
         case K_AXIS: TMC_SET_CURRENT(K); break;
       #endif
 
-      #if E_STEPPERS
+      #if AXIS_IS_TMC(E0) || AXIS_IS_TMC(E1) || AXIS_IS_TMC(E2) || AXIS_IS_TMC(E3) || AXIS_IS_TMC(E4) || AXIS_IS_TMC(E5) || AXIS_IS_TMC(E6) || AXIS_IS_TMC(E7)
         case E_AXIS: {
           const int8_t eindex = get_target_e_stepper_from_command(-2);
           #if AXIS_IS_TMC(E0)

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

     LOOP_LOGICAL_AXES(i) if (int32_t value = parser.longval(axis_codes[i])) {
       report = false;
       switch (i) {
-        case X_AXIS:
-          TERN_(X_HAS_STEALTHCHOP,  if (index < 0 || index == 0) TMC_SET_PWMTHRS(X,X));
-          TERN_(X2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(X,X2));
-          break;
-        case Y_AXIS:
-          TERN_(Y_HAS_STEALTHCHOP,  if (index < 0 || index == 0) TMC_SET_PWMTHRS(Y,Y));
-          TERN_(Y2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(Y,Y2));
-          break;
+        #if X_HAS_STEALTHCHOP || X2_HAS_STEALTHCHOP
+          case X_AXIS:
+            TERN_(X_HAS_STEALTHCHOP,  if (index < 0 || index == 0) TMC_SET_PWMTHRS(X,X));
+            TERN_(X2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(X,X2));
+            break;
+        #endif
+
+        #if Y_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP
+          case Y_AXIS:
+            TERN_(Y_HAS_STEALTHCHOP,  if (index < 0 || index == 0) TMC_SET_PWMTHRS(Y,Y));
+            TERN_(Y2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(Y,Y2));
+            break;
+        #endif
+
+        #if Z_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP || Z3_HAS_STEALTHCHOP || Z4_HAS_STEALTHCHOP
+          case Z_AXIS:
+            TERN_(Z_HAS_STEALTHCHOP,  if (index < 0 || index == 0) TMC_SET_PWMTHRS(Z,Z));
+            TERN_(Z2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(Z,Z2));
+            TERN_(Z3_HAS_STEALTHCHOP, if (index < 0 || index == 2) TMC_SET_PWMTHRS(Z,Z3));
+            TERN_(Z4_HAS_STEALTHCHOP, if (index < 0 || index == 3) TMC_SET_PWMTHRS(Z,Z4));
+            break;
+        #endif
 
         #if I_HAS_STEALTHCHOP
           case I_AXIS: TMC_SET_PWMTHRS(I,I); break;
           case K_AXIS: TMC_SET_PWMTHRS(K,K); break;
         #endif
 
-        case Z_AXIS:
-          TERN_(Z_HAS_STEALTHCHOP,  if (index < 0 || index == 0) TMC_SET_PWMTHRS(Z,Z));
-          TERN_(Z2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(Z,Z2));
-          TERN_(Z3_HAS_STEALTHCHOP, if (index < 0 || index == 2) TMC_SET_PWMTHRS(Z,Z3));
-          TERN_(Z4_HAS_STEALTHCHOP, if (index < 0 || index == 3) TMC_SET_PWMTHRS(Z,Z4));
-          break;
-        #if E_STEPPERS
+        #if E0_HAS_STEALTHCHOP || E1_HAS_STEALTHCHOP || E2_HAS_STEALTHCHOP || E3_HAS_STEALTHCHOP || E4_HAS_STEALTHCHOP || E5_HAS_STEALTHCHOP || E6_HAS_STEALTHCHOP || E7_HAS_STEALTHCHOP
           case E_AXIS: {
             const int8_t eindex = get_target_e_stepper_from_command(-2);
             TERN_(E0_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 0) TMC_SET_PWMTHRS_E(0));

Marlin/src/gcode/feature/trinamic/M919.cpp

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if HAS_TRINAMIC_CONFIG
+
+#if AXIS_COLLISION('I')
+  #error "M919 parameter collision with axis name."
+#endif
+
+#include "../../gcode.h"
+#include "../../../feature/tmc_util.h"
+#include "../../../module/stepper/indirection.h"
+
+#define DEBUG_OUT ENABLED(MARLIN_DEV_MODE)
+#include "../../../core/debug_out.h"
+
+template<typename TMC>
+static void tmc_print_chopper_time(TMC &st) {
+  st.printLabel();
+  SERIAL_ECHOLNPGM(" chopper .toff: ", st.toff(),
+                   " .hend: ", st.hysteresis_end(),
+                   " .hstrt: ", st.hysteresis_start());
+}
+
+/**
+ * M919: Set TMC stepper driver chopper times
+ *
+ * Parameters:
+ *   XYZ...E     - Selected axes
+ *   I[index]    - Axis sub-index (Omit for all XYZ steppers, 1 for X2, Y2, Z2; 2 for Z3; 3 for Z4)
+ *   T[index]    - Extruder index (Zero-based. Omit for all extruders.)
+ *   O           - time-off         [ 1..15]
+ *   P           - hysteresis_end   [-3..12]
+ *   S           - hysteresis_start [ 1...8]
+ *
+ * With no parameters report chopper times for all axes
+ */
+void GcodeSuite::M919() {
+  bool err = false;
+
+  int8_t toff = int8_t(parser.intval('O', -127));
+  if (toff != -127) {
+    if (WITHIN(toff, 1, 15))
+      DEBUG_ECHOLNPGM(".toff: ", toff);
+    else {
+      SERIAL_ECHOLNPGM("?O out of range (1..15)");
+      err = true;
+    }
+  }
+
+  int8_t hend = int8_t(parser.intval('P', -127));
+  if (hend != -127) {
+    if (WITHIN(hend, -3, 12))
+      DEBUG_ECHOLNPGM(".hend: ", hend);
+    else {
+      SERIAL_ECHOLNPGM("?P out of range (-3..12)");
+      err = true;
+    }
+  }
+
+  int8_t hstrt = int8_t(parser.intval('S', -127));
+  if (hstrt != -127) {
+    if (WITHIN(hstrt, 1, 8))
+      DEBUG_ECHOLNPGM(".hstrt: ", hstrt);
+    else {
+      SERIAL_ECHOLNPGM("?S out of range (1..8)");
+      err = true;
+    }
+  }
+
+  if (err) return;
+
+  #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
+    const int8_t index = parser.byteval('I');
+  #else
+    constexpr int8_t index = -1;
+  #endif
+
+  auto make_chopper_timing = [](chopper_timing_t bct, const int8_t toff, const int8_t hend, const int8_t hstrt) {
+    chopper_timing_t uct = bct;
+    if (toff  != -127) uct.toff  = toff;
+    if (hend  != -127) uct.hend  = hend;
+    if (hstrt != -127) uct.hstrt = hstrt;
+    return uct;
+  };
+
+  #define TMC_SET_CHOPPER_TIME(Q) stepper##Q.set_chopper_times(make_chopper_timing(CHOPPER_TIMING_##Q, toff, hend, hstrt))
+
+  #if AXIS_IS_TMC(E0) || AXIS_IS_TMC(E1) || AXIS_IS_TMC(E2) || AXIS_IS_TMC(E3) || AXIS_IS_TMC(E4) || AXIS_IS_TMC(E5) || AXIS_IS_TMC(E6) || AXIS_IS_TMC(E7)
+    #define HAS_E_CHOPPER 1
+    int8_t eindex = -1;
+  #endif
+  bool report = true;
+  LOOP_LOGICAL_AXES(i) if (parser.seen_test(axis_codes[i])) {
+    report = false;
+
+    // Get the chopper timing for the specified axis and index
+    switch (i) {
+      default: // A specified axis isn't Trinamic
+        SERIAL_ECHOLNPGM("?Axis ", AS_CHAR(axis_codes[i]), " has no TMC drivers.");
+        break;
+
+      #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2)
+        case X_AXIS:
+          #if AXIS_IS_TMC(X)
+            if (index <= 0) TMC_SET_CHOPPER_TIME(X);
+          #endif
+          #if AXIS_IS_TMC(X2)
+            if (index < 0 || index == 1) TMC_SET_CHOPPER_TIME(X2);
+          #endif
+          break;
+      #endif
+
+      #if AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2)
+        case Y_AXIS:
+          #if AXIS_IS_TMC(Y)
+            if (index <= 0) TMC_SET_CHOPPER_TIME(Y);
+          #endif
+          #if AXIS_IS_TMC(Y2)
+            if (index < 0 || index == 1) TMC_SET_CHOPPER_TIME(Y2);
+          #endif
+          break;
+      #endif
+
+      #if AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
+        case Z_AXIS:
+          #if AXIS_IS_TMC(Z)
+            if (index <= 0) TMC_SET_CHOPPER_TIME(Z);
+          #endif
+          #if AXIS_IS_TMC(Z2)
+            if (index < 0 || index == 1) TMC_SET_CHOPPER_TIME(Z2);
+          #endif
+          #if AXIS_IS_TMC(Z3)
+            if (index < 0 || index == 2) TMC_SET_CHOPPER_TIME(Z3);
+          #endif
+          #if AXIS_IS_TMC(Z4)
+            if (index < 0 || index == 3) TMC_SET_CHOPPER_TIME(Z4);
+          #endif
+          break;
+      #endif
+
+      #if AXIS_IS_TMC(I)
+        case I_AXIS: TMC_SET_CHOPPER_TIME(I); break;
+      #endif
+      #if AXIS_IS_TMC(J)
+        case J_AXIS: TMC_SET_CHOPPER_TIME(J); break;
+      #endif
+      #if AXIS_IS_TMC(K)
+        case K_AXIS: TMC_SET_CHOPPER_TIME(K); break;
+      #endif
+
+      #if HAS_E_CHOPPER
+        case E_AXIS: {
+          #if AXIS_IS_TMC(E0)
+            if (eindex <= 0) TMC_SET_CHOPPER_TIME(E0);
+          #endif
+          #if AXIS_IS_TMC(E1)
+            if (eindex < 0 || eindex == 1) TMC_SET_CHOPPER_TIME(E1);
+          #endif
+          #if AXIS_IS_TMC(E2)
+            if (eindex < 0 || eindex == 2) TMC_SET_CHOPPER_TIME(E2);
+          #endif
+          #if AXIS_IS_TMC(E3)
+            if (eindex < 0 || eindex == 3) TMC_SET_CHOPPER_TIME(E3);
+          #endif
+          #if AXIS_IS_TMC(E4)
+            if (eindex < 0 || eindex == 4) TMC_SET_CHOPPER_TIME(E4);
+          #endif
+          #if AXIS_IS_TMC(E5)
+            if (eindex < 0 || eindex == 5) TMC_SET_CHOPPER_TIME(E5);
+          #endif
+          #if AXIS_IS_TMC(E6)
+            if (eindex < 0 || eindex == 6) TMC_SET_CHOPPER_TIME(E6);
+          #endif
+          #if AXIS_IS_TMC(E7)
+            if (eindex < 0 || eindex == 7) TMC_SET_CHOPPER_TIME(E7);
+          #endif
+        } break;
+      #endif
+    }
+  }
+
+  if (report) {
+    #define TMC_SAY_CHOPPER_TIME(Q) tmc_print_chopper_time(stepper##Q)
+    #if AXIS_IS_TMC(X)
+      TMC_SAY_CHOPPER_TIME(X);
+    #endif
+    #if AXIS_IS_TMC(X2)
+      TMC_SAY_CHOPPER_TIME(X2);
+    #endif
+    #if AXIS_IS_TMC(Y)
+      TMC_SAY_CHOPPER_TIME(Y);
+    #endif
+    #if AXIS_IS_TMC(Y2)
+      TMC_SAY_CHOPPER_TIME(Y2);
+    #endif
+    #if AXIS_IS_TMC(Z)
+      TMC_SAY_CHOPPER_TIME(Z);
+    #endif
+    #if AXIS_IS_TMC(Z2)
+      TMC_SAY_CHOPPER_TIME(Z2);
+    #endif
+    #if AXIS_IS_TMC(Z3)
+      TMC_SAY_CHOPPER_TIME(Z3);
+    #endif
+    #if AXIS_IS_TMC(Z4)
+      TMC_SAY_CHOPPER_TIME(Z4);
+    #endif
+    #if AXIS_IS_TMC(I)
+      TMC_SAY_CHOPPER_TIME(I);
+    #endif
+    #if AXIS_IS_TMC(J)
+      TMC_SAY_CHOPPER_TIME(J);
+    #endif
+    #if AXIS_IS_TMC(K)
+      TMC_SAY_CHOPPER_TIME(K);
+    #endif
+    #if AXIS_IS_TMC(E0)
+      TMC_SAY_CHOPPER_TIME(E0);
+    #endif
+    #if AXIS_IS_TMC(E1)
+      TMC_SAY_CHOPPER_TIME(E1);
+    #endif
+    #if AXIS_IS_TMC(E2)
+      TMC_SAY_CHOPPER_TIME(E2);
+    #endif
+    #if AXIS_IS_TMC(E3)
+      TMC_SAY_CHOPPER_TIME(E3);
+    #endif
+    #if AXIS_IS_TMC(E4)
+      TMC_SAY_CHOPPER_TIME(E4);
+    #endif
+    #if AXIS_IS_TMC(E5)
+      TMC_SAY_CHOPPER_TIME(E5);
+    #endif
+    #if AXIS_IS_TMC(E6)
+      TMC_SAY_CHOPPER_TIME(E6);
+    #endif
+    #if AXIS_IS_TMC(E7)
+      TMC_SAY_CHOPPER_TIME(E7);
+    #endif
+  }
+}
+
+#endif // HAS_TRINAMIC_CONFIG

Marlin/src/gcode/gcode.cpp

         #if USE_SENSORLESS
           case 914: M914(); break;                                // M914: Set StallGuard sensitivity.
         #endif
+        case 919: M919(); break;                                  // M919: Set stepper Chopper Times
       #endif
 
       #if HAS_L64XX

Marlin/src/gcode/gcode.h

  * M916 - L6470 tuning: Increase KVAL_HOLD until thermal warning. (Requires at least one _DRIVER_TYPE L6470)
  * M917 - L6470 tuning: Find minimum current thresholds. (Requires at least one _DRIVER_TYPE L6470)
  * M918 - L6470 tuning: Increase speed until max or error. (Requires at least one _DRIVER_TYPE L6470)
+ * M919 - Get or Set motor Chopper Times (time_off, hysteresis_end, hysteresis_start) using axis codes XYZE, etc. If no parameters are given, report. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
  * M951 - Set Magnetic Parking Extruder parameters. (Requires MAGNETIC_PARKING_EXTRUDER)
  * M3426 - Read MCP3426 ADC over I2C. (Requires HAS_MCP3426_ADC)
  * M7219 - Control Max7219 Matrix LEDs. (Requires MAX7219_GCODE)
       static void M914();
       static void M914_report(const bool forReplay=true);
     #endif
+    static void M919();
   #endif
 
   #if HAS_L64XX

Marlin/src/inc/Conditionals_post.h

 // ADC Temp Sensors (Thermistor or Thermocouple with amplifier ADC interface)
 //
 #define HAS_ADC_TEST(P) (PIN_EXISTS(TEMP_##P) && TEMP_SENSOR_##P != 0 && NONE(TEMP_SENSOR_##P##_IS_MAX_TC, TEMP_SENSOR_##P##_IS_DUMMY))
-#if HAS_ADC_TEST(0)
+#if HOTENDS > 0 && HAS_ADC_TEST(0)
   #define HAS_TEMP_ADC_0 1
 #endif
-#if HAS_ADC_TEST(1)
+#if HOTENDS > 1 && HAS_ADC_TEST(1)
   #define HAS_TEMP_ADC_1 1
 #endif
-#if HAS_ADC_TEST(2)
+#if HOTENDS > 2 && HAS_ADC_TEST(2)
   #define HAS_TEMP_ADC_2 1
 #endif
-#if HAS_ADC_TEST(3)
+#if HOTENDS > 3 && HAS_ADC_TEST(3)
   #define HAS_TEMP_ADC_3 1
 #endif
-#if HAS_ADC_TEST(4)
+#if HOTENDS > 4 && HAS_ADC_TEST(4)
   #define HAS_TEMP_ADC_4 1
 #endif
-#if HAS_ADC_TEST(5)
+#if HOTENDS > 5 && HAS_ADC_TEST(5)
   #define HAS_TEMP_ADC_5 1
 #endif
-#if HAS_ADC_TEST(6)
+#if HOTENDS > 6 && HAS_ADC_TEST(6)
   #define HAS_TEMP_ADC_6 1
 #endif
-#if HAS_ADC_TEST(7)
+#if HOTENDS > 7 && HAS_ADC_TEST(7)
   #define HAS_TEMP_ADC_7 1
 #endif
 #if HAS_ADC_TEST(BED)

ini/features.ini

                                          build_flags=-funwind-tables
 MKS_WIFI_MODULE                        = QRCode=https://github.com/makerbase-mks/QRCode/archive/master.zip
 HAS_TRINAMIC_CONFIG                    = TMCStepper@~0.7.3
-                                         src_filter=+<src/feature/tmc_util.cpp> +<src/module/stepper/trinamic.cpp> +<src/gcode/feature/trinamic/M122.cpp> +<src/gcode/feature/trinamic/M906.cpp> +<src/gcode/feature/trinamic/M911-M914.cpp>
+                                         src_filter=+<src/feature/tmc_util.cpp> +<src/module/stepper/trinamic.cpp> +<src/gcode/feature/trinamic/M122.cpp> +<src/gcode/feature/trinamic/M906.cpp> +<src/gcode/feature/trinamic/M911-M914.cpp> +<src/gcode/feature/trinamic/M919.cpp>
 HAS_STEALTHCHOP                        = src_filter=+<src/gcode/feature/trinamic/M569.cpp>
 SR_LCD_3W_NL                           = SailfishLCD=https://github.com/mikeshub/SailfishLCD/archive/master.zip
 HAS_MOTOR_CURRENT_I2C                  = SlowSoftI2CMaster

platformio.ini

   -<src/gcode/feature/trinamic/M569.cpp>
   -<src/gcode/feature/trinamic/M906.cpp>
   -<src/gcode/feature/trinamic/M911-M914.cpp>
+  -<src/gcode/feature/trinamic/M919.cpp>
   -<src/gcode/geometry/G17-G19.cpp>
   -<src/gcode/geometry/G53-G59.cpp>
   -<src/gcode/geometry/M206_M428.cpp>