Migrate to a new TMC library (#11943)

Marlin/src/Marlin.cpp

@@ -736,6 +736,9 @@ void setup() {
   SERIAL_ECHO_START();
 
   #if HAS_DRIVER(TMC2130)
+    #if DISABLED(TMC_USE_SW_SPI)
+      SPI.begin();
+    #endif
     tmc_init_cs_pins();
   #endif
   #if HAS_DRIVER(TMC2208)

Marlin/src/core/drivers.h

@@ -31,9 +31,9 @@
 #define TB6560              0x006
 #define TB6600              0x007
 #define TMC2100             0x008
-#define TMC2130             0x109
+#define TMC2130             2130
 #define TMC2130_STANDALONE  0x009
-#define TMC2208             0x10A
+#define TMC2208             2208
 #define TMC2208_STANDALONE  0x00A
 #define TMC26X              0x10B
 #define TMC26X_STANDALONE   0x00B
@@ -45,7 +45,7 @@
 #define AXIS_DRIVER_TYPE_X(T) _AXIS_DRIVER_TYPE(X,T)
 #define AXIS_DRIVER_TYPE_Y(T) _AXIS_DRIVER_TYPE(Y,T)
 #define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T)
-#define AXIS_DRIVER_TYPE_X2(T) (ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T)
+#define AXIS_DRIVER_TYPE_X2(T) ((ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T))
 #define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
 #define AXIS_DRIVER_TYPE_Z2(T) (Z_MULTI_STEPPER_DRIVERS && _AXIS_DRIVER_TYPE(Z2,T))
 #define AXIS_DRIVER_TYPE_Z3(T) (ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z3,T))

Marlin/src/core/language.h

@@ -285,6 +285,10 @@
   #define MSG_B "Y"
   #define MSG_C "Z"
 #endif
+#define MSG_X2 "X2"
+#define MSG_Y2 "Y2"
+#define MSG_Z2 "Z2"
+#define MSG_Z3 "Z3"
 #define MSG_H1 "1"
 #define MSG_H2 "2"
 #define MSG_H3 "3"
@@ -297,6 +301,7 @@
 #define MSG_N4 " 4"
 #define MSG_N5 " 5"
 #define MSG_N6 " 6"
+#define MSG_E0 "E0"
 #define MSG_E1 "E1"
 #define MSG_E2 "E2"
 #define MSG_E3 "E3"

Marlin/src/feature/tmc_util.cpp

@@ -36,8 +36,6 @@
   #include "../module/planner.h"
 #endif
 
-bool report_tmc_status = false;
-
 /**
  * Check for over temperature or short to ground error flags.
  * Report and log warning of overtemperature condition.
@@ -46,6 +44,8 @@ bool report_tmc_status = false;
  * and so we don't repeatedly report warning before the condition is cleared.
  */
 #if ENABLED(MONITOR_DRIVER_STATUS)
+  static bool report_tmc_status = false;
+
   struct TMC_driver_data {
     uint32_t drv_status;
     bool is_otpw;
@@ -95,13 +95,13 @@ bool report_tmc_status = false;
   #endif
 
   template<typename TMC>
-  void monitor_tmc_driver(TMC &st, const TMC_AxisEnum axis, uint8_t &otpw_cnt) {
+  void monitor_tmc_driver(TMC &st) {
     TMC_driver_data data = get_driver_data(st);
 
     #if ENABLED(STOP_ON_ERROR)
       if (data.is_error) {
         SERIAL_EOL();
-        _tmc_say_axis(axis);
+        st.printLabel();
         SERIAL_ECHOLNPGM(" driver error detected:");
         if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
         if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");
@@ -114,7 +114,7 @@ bool report_tmc_status = false;
     #endif
 
     // Report if a warning was triggered
-    if (data.is_otpw && otpw_cnt == 0) {
+    if (data.is_otpw && st.otpw_count == 0) {
       char timestamp[10];
       duration_t elapsed = print_job_timer.duration();
       const bool has_days = (elapsed.value > 60*60*24L);
@@ -122,38 +122,38 @@ bool report_tmc_status = false;
       SERIAL_EOL();
       SERIAL_ECHO(timestamp);
       SERIAL_ECHOPGM(": ");
-      _tmc_say_axis(axis);
+      st.printLabel();
       SERIAL_ECHOPGM(" driver overtemperature warning! (");
-      SERIAL_ECHO(st.getCurrent());
+      SERIAL_ECHO(st.getMilliamps());
       SERIAL_ECHOLNPGM("mA)");
     }
     #if CURRENT_STEP_DOWN > 0
       // Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
-      if (data.is_otpw && st.isEnabled() && otpw_cnt > 4) {
-        st.setCurrent(st.getCurrent() - (CURRENT_STEP_DOWN), R_SENSE, HOLD_MULTIPLIER);
+      if (data.is_otpw && st.isEnabled() && st.otpw_count > 4) {
+        st.rms_current(st.getMilliamps() - (CURRENT_STEP_DOWN));
         #if ENABLED(REPORT_CURRENT_CHANGE)
-          _tmc_say_axis(axis);
-          SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
+          st.printLabel();
+          SERIAL_ECHOLNPAIR(" current decreased to ", st.getMilliamps());
         #endif
       }
     #endif
 
     if (data.is_otpw) {
-      otpw_cnt++;
+      st.otpw_count++;
       st.flag_otpw = true;
     }
-    else if (otpw_cnt > 0) otpw_cnt = 0;
+    else if (st.otpw_count > 0) st.otpw_count = 0;
 
     if (report_tmc_status) {
       const uint32_t pwm_scale = get_pwm_scale(st);
-      _tmc_say_axis(axis);
+      st.printLabel();
       SERIAL_ECHOPAIR(":", pwm_scale);
       SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
       SERIAL_ECHOPGM("| ");
       if (data.is_error) SERIAL_CHAR('E');
       else if (data.is_ot) SERIAL_CHAR('O');
       else if (data.is_otpw) SERIAL_CHAR('W');
-      else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
+      else if (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
       else if (st.flag_otpw) SERIAL_CHAR('F');
       SERIAL_CHAR('\t');
     }
@@ -166,56 +166,43 @@ bool report_tmc_status = false;
     if (ELAPSED(millis(), next_cOT)) {
       next_cOT = millis() + 500;
       #if HAS_HW_COMMS(X)
-        static uint8_t x_otpw_cnt = 0;
-        monitor_tmc_driver(stepperX, TMC_X, x_otpw_cnt);
+        monitor_tmc_driver(stepperX);
       #endif
       #if HAS_HW_COMMS(Y)
-        static uint8_t y_otpw_cnt = 0;
-        monitor_tmc_driver(stepperY, TMC_Y, y_otpw_cnt);
+        monitor_tmc_driver(stepperY);
       #endif
       #if HAS_HW_COMMS(Z)
-        static uint8_t z_otpw_cnt = 0;
-        monitor_tmc_driver(stepperZ, TMC_Z, z_otpw_cnt);
+        monitor_tmc_driver(stepperZ);
       #endif
       #if HAS_HW_COMMS(X2)
-        static uint8_t x2_otpw_cnt = 0;
-        monitor_tmc_driver(stepperX2, TMC_X, x2_otpw_cnt);
+        monitor_tmc_driver(stepperX2);
       #endif
       #if HAS_HW_COMMS(Y2)
-        static uint8_t y2_otpw_cnt = 0;
-        monitor_tmc_driver(stepperY2, TMC_Y, y2_otpw_cnt);
+        monitor_tmc_driver(stepperY2);
       #endif
       #if HAS_HW_COMMS(Z2)
-        static uint8_t z2_otpw_cnt = 0;
-        monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);
+        monitor_tmc_driver(stepperZ2);
       #endif
       #if HAS_HW_COMMS(Z3)
-        static uint8_t z3_otpw_cnt = 0;
-        monitor_tmc_driver(stepperZ3, TMC_Z, z3_otpw_cnt);
+        monitor_tmc_driver(stepperZ3);
       #endif
       #if HAS_HW_COMMS(E0)
-        static uint8_t e0_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);
+        monitor_tmc_driver(stepperE0);
       #endif
       #if HAS_HW_COMMS(E1)
-        static uint8_t e1_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE1, TMC_E1, e1_otpw_cnt);
+        monitor_tmc_driver(stepperE1);
       #endif
       #if HAS_HW_COMMS(E2)
-        static uint8_t e2_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE2, TMC_E2, e2_otpw_cnt);
+        monitor_tmc_driver(stepperE2);
       #endif
       #if HAS_HW_COMMS(E3)
-        static uint8_t e3_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE3, TMC_E3, e3_otpw_cnt);
+        monitor_tmc_driver(stepperE3);
       #endif
       #if HAS_HW_COMMS(E4)
-        static uint8_t e4_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE4, TMC_E4, e4_otpw_cnt);
+        monitor_tmc_driver(stepperE4);
       #endif
       #if HAS_HW_COMMS(E5)
-        static uint8_t e5_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE5, TMC_E5, e5_otpw_cnt);
+        monitor_tmc_driver(stepperE5);
       #endif
 
       if (report_tmc_status) SERIAL_EOL();
@@ -224,100 +211,6 @@ bool report_tmc_status = false;
 
 #endif // MONITOR_DRIVER_STATUS
 
-void _tmc_say_axis(const TMC_AxisEnum axis) {
-  static const char ext_X[] PROGMEM = "X", ext_Y[] PROGMEM = "Y", ext_Z[] PROGMEM = "Z"
-    #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
-      , ext_X2[] PROGMEM = "X2"
-    #endif
-    #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-      , ext_Y2[] PROGMEM = "Y2"
-    #endif
-    #if Z_MULTI_STEPPER_DRIVERS
-      , ext_Z2[] PROGMEM = "Z2"
-      #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
-        , ext_Z3[] PROGMEM = "Z3"
-      #endif
-    #endif
-    #if E_STEPPERS
-      , ext_E0[] PROGMEM = "E0"
-      #if E_STEPPERS > 1
-        , ext_E1[] PROGMEM = "E1"
-        #if E_STEPPERS > 2
-          , ext_E2[] PROGMEM = "E2"
-          #if E_STEPPERS > 3
-            , ext_E3[] PROGMEM = "E3"
-            #if E_STEPPERS > 4
-              , ext_E4[] PROGMEM = "E4"
-              #if E_STEPPERS > 5
-                , ext_E5[] PROGMEM = "E5"
-              #endif
-            #endif
-          #endif
-        #endif
-      #endif
-    #endif
-  ;
-
-  static PGM_P const tmc_axes[] PROGMEM = {
-    ext_X, ext_Y, ext_Z
-    #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
-      , ext_X2
-    #endif
-    #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-      , ext_Y2
-    #endif
-    #if Z_MULTI_STEPPER_DRIVERS
-      , ext_Z2
-      #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
-        , ext_Z3
-      #endif
-    #endif
-    #if E_STEPPERS
-      , ext_E0
-      #if E_STEPPERS > 1
-        , ext_E1
-        #if E_STEPPERS > 2
-          , ext_E2
-          #if E_STEPPERS > 3
-            , ext_E3
-            #if E_STEPPERS > 4
-              , ext_E4
-              #if E_STEPPERS > 5
-                , ext_E5
-              #endif
-            #endif
-          #endif
-        #endif
-      #endif
-    #endif
-  };
-  serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));
-}
-
-void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOLNPAIR(" driver current: ", curr);
-}
-void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOPGM(" temperature prewarn triggered: ");
-  serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
-  SERIAL_EOL();
-}
-void _tmc_say_otpw_cleared(const TMC_AxisEnum axis) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOLNPGM(" prewarn flag cleared");
-}
-void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOLNPAIR(" stealthChop max speed: ", thrs);
-}
-void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOPGM(" homing sensitivity: ");
-  SERIAL_PRINTLN(sgt, DEC);
-}
-
 #if ENABLED(TMC_DEBUG)
 
   enum TMC_debug_enum : char {
@@ -366,9 +259,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
     TMC_S2VSB,
     TMC_S2VSA
   };
-  static void drv_status_print_hex(const TMC_AxisEnum axis, const uint32_t drv_status) {
-    _tmc_say_axis(axis);
-    SERIAL_ECHOPGM(" = 0x");
+  static void drv_status_print_hex(const uint32_t drv_status) {
     for (int B = 24; B >= 8; B -= 8){
       SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
       SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
@@ -379,17 +270,19 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
     SERIAL_EOL();
   }
 
+  template<class TMC>
+  static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
+
   #if HAS_DRIVER(TMC2130)
     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_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
         case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
-        case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
+        case TMC_STEALTHCHOP: serialprintPGM(st.en_pwm_mode() ? PSTR("true") : PSTR("false")); break;
         default: break;
       }
     }
-    static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
+    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;
         case TMC_SG_RESULT:  SERIAL_PRINT(st.sg_result(), DEC);   break;
@@ -402,7 +295,6 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
   #if HAS_DRIVER(TMC2208)
     static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
       switch (i) {
-        case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); SERIAL_PROTOCOL(data); break; }
         case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
         case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
         case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
@@ -410,7 +302,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
         default: break;
       }
     }
-    static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
+    static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
       switch (i) {
         case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
         case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
@@ -422,12 +314,12 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
   #endif
 
   template <typename TMC>
-  static void tmc_status(TMC &st, const TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
+  static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
     SERIAL_ECHO('\t');
     switch (i) {
-      case TMC_CODES: _tmc_say_axis(axis); break;
+      case TMC_CODES: st.printLabel(); break;
       case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
-      case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
+      case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
       case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;
       case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
       case TMC_IRUN:
@@ -442,10 +334,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
         SERIAL_PRINT(st.cs_actual(), DEC);
         SERIAL_ECHOPGM("/31");
         break;
-
-      case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
-
+      case TMC_VSENSE: print_vsense(st); break;
       case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
+      case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
       case TMC_TPWMTHRS: {
           uint32_t tpwmthrs_val = st.TPWMTHRS();
           SERIAL_ECHO(tpwmthrs_val);
@@ -470,10 +361,10 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
   }
 
   template <typename TMC>
-  static void tmc_parse_drv_status(TMC &st, const TMC_AxisEnum axis, const TMC_drv_status_enum i) {
+  static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
     SERIAL_CHAR('\t');
     switch (i) {
-      case TMC_DRV_CODES:     _tmc_say_axis(axis);  break;
+      case TMC_DRV_CODES:     st.printLabel();  break;
       case TMC_STST:          if (st.stst())         SERIAL_CHAR('X'); break;
       case TMC_OLB:           if (st.olb())          SERIAL_CHAR('X'); break;
       case TMC_OLA:           if (st.ola())          SERIAL_CHAR('X'); break;
@@ -482,69 +373,73 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
       case TMC_DRV_OTPW:      if (st.otpw())         SERIAL_CHAR('X'); break;
       case TMC_OT:            if (st.ot())           SERIAL_CHAR('X'); break;
       case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC);       break;
-      case TMC_DRV_STATUS_HEX:drv_status_print_hex(axis, st.DRV_STATUS()); break;
-      default: tmc_parse_drv_status(st, i); break;
+      case TMC_DRV_STATUS_HEX:
+        st.printLabel();
+        SERIAL_ECHOPGM("\t0x");
+        drv_status_print_hex(st.DRV_STATUS());
+        break;
+      default: _tmc_parse_drv_status(st, i); break;
     }
   }
 
   static void tmc_debug_loop(const TMC_debug_enum i) {
     #if AXIS_IS_TMC(X)
-      tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
+      tmc_status(stepperX, i, planner.axis_steps_per_mm[X_AXIS]);
     #endif
     #if AXIS_IS_TMC(X2)
-      tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
+      tmc_status(stepperX2, i, planner.axis_steps_per_mm[X_AXIS]);
     #endif
 
     #if AXIS_IS_TMC(Y)
-      tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
+      tmc_status(stepperY, i, planner.axis_steps_per_mm[Y_AXIS]);
     #endif
     #if AXIS_IS_TMC(Y2)
-      tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
+      tmc_status(stepperY2, i, planner.axis_steps_per_mm[Y_AXIS]);
     #endif
 
     #if AXIS_IS_TMC(Z)
-      tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
+      tmc_status(stepperZ, i, planner.axis_steps_per_mm[Z_AXIS]);
     #endif
     #if AXIS_IS_TMC(Z2)
-      tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
+      tmc_status(stepperZ2, i, planner.axis_steps_per_mm[Z_AXIS]);
     #endif
     #if AXIS_IS_TMC(Z3)
-      tmc_status(stepperZ3, TMC_Z3, i, planner.axis_steps_per_mm[Z_AXIS]);
+      tmc_status(stepperZ3, i, planner.axis_steps_per_mm[Z_AXIS]);
     #endif
 
     #if AXIS_IS_TMC(E0)
-      tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
+      tmc_status(stepperE0, i, planner.axis_steps_per_mm[E_AXIS]);
     #endif
     #if AXIS_IS_TMC(E1)
-      tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE1, i, planner.axis_steps_per_mm[E_AXIS
         #if ENABLED(DISTINCT_E_FACTORS)
           + 1
         #endif
       ]);
     #endif
     #if AXIS_IS_TMC(E2)
-      tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE2, i, planner.axis_steps_per_mm[E_AXIS
         #if ENABLED(DISTINCT_E_FACTORS)
           + 2
         #endif
       ]);
     #endif
     #if AXIS_IS_TMC(E3)
-      tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE3, i, planner.axis_steps_per_mm[E_AXIS
         #if ENABLED(DISTINCT_E_FACTORS)
           + 3
         #endif
       ]);
     #endif
     #if AXIS_IS_TMC(E4)
-      tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE4, i, planner.axis_steps_per_mm[E_AXIS
         #if ENABLED(DISTINCT_E_FACTORS)
           + 4
         #endif
       ]);
     #endif
     #if AXIS_IS_TMC(E5)
-      tmc_status(stepperE5, TMC_E5, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE5, i, planner.axis_steps_per_mm[E_AXIS
         #if ENABLED(DISTINCT_E_FACTORS)
           + 5
         #endif
@@ -556,46 +451,46 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
 
   static void drv_status_loop(const TMC_drv_status_enum i) {
     #if AXIS_IS_TMC(X)
-      tmc_parse_drv_status(stepperX, TMC_X, i);
+      tmc_parse_drv_status(stepperX, i);
     #endif
     #if AXIS_IS_TMC(X2)
-      tmc_parse_drv_status(stepperX2, TMC_X2, i);
+      tmc_parse_drv_status(stepperX2, i);
     #endif
 
     #if AXIS_IS_TMC(Y)
-      tmc_parse_drv_status(stepperY, TMC_Y, i);
+      tmc_parse_drv_status(stepperY, i);
     #endif
     #if AXIS_IS_TMC(Y2)
-      tmc_parse_drv_status(stepperY2, TMC_Y2, i);
+      tmc_parse_drv_status(stepperY2, i);
     #endif
 
     #if AXIS_IS_TMC(Z)
-      tmc_parse_drv_status(stepperZ, TMC_Z, i);
+      tmc_parse_drv_status(stepperZ, i);
     #endif
     #if AXIS_IS_TMC(Z2)
-      tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
+      tmc_parse_drv_status(stepperZ2, i);
     #endif
     #if AXIS_IS_TMC(Z3)
-      tmc_parse_drv_status(stepperZ3, TMC_Z3, i);
+      tmc_parse_drv_status(stepperZ3, i);
     #endif
 
     #if AXIS_IS_TMC(E0)
-      tmc_parse_drv_status(stepperE0, TMC_E0, i);
+      tmc_parse_drv_status(stepperE0, i);
     #endif
     #if AXIS_IS_TMC(E1)
-      tmc_parse_drv_status(stepperE1, TMC_E1, i);
+      tmc_parse_drv_status(stepperE1, i);
     #endif
     #if AXIS_IS_TMC(E2)
-      tmc_parse_drv_status(stepperE2, TMC_E2, i);
+      tmc_parse_drv_status(stepperE2, i);
     #endif
     #if AXIS_IS_TMC(E3)
-      tmc_parse_drv_status(stepperE3, TMC_E3, i);
+      tmc_parse_drv_status(stepperE3, i);
     #endif
     #if AXIS_IS_TMC(E4)
-      tmc_parse_drv_status(stepperE4, TMC_E4, i);
+      tmc_parse_drv_status(stepperE4, i);
     #endif
     #if AXIS_IS_TMC(E5)
-      tmc_parse_drv_status(stepperE5, TMC_E5, i);
+      tmc_parse_drv_status(stepperE5, i);
     #endif
 
     SERIAL_EOL();
@@ -620,7 +515,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
     TMC_REPORT("Run current",        TMC_IRUN);
     TMC_REPORT("Hold current",       TMC_IHOLD);
     TMC_REPORT("CS actual\t",        TMC_CS_ACTUAL);
-    TMC_REPORT("PWM scale\t",        TMC_PWM_SCALE);
+    TMC_REPORT("PWM scale",          TMC_PWM_SCALE);
     TMC_REPORT("vsense\t",           TMC_VSENSE);
     TMC_REPORT("stealthChop",        TMC_STEALTHCHOP);
     TMC_REPORT("msteps\t",           TMC_MICROSTEPS);
@@ -657,7 +552,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
       DRV_REPORT("s2vsa\t",          TMC_S2VSA);
       DRV_REPORT("s2vsb\t",          TMC_S2VSB);
     #endif
-    DRV_REPORT("Driver registers:",  TMC_DRV_STATUS_HEX);
+    DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
     SERIAL_EOL();
   }
 
@@ -666,9 +561,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
 #if USE_SENSORLESS
 
   void tmc_stallguard(TMC2130Stepper &st, const bool enable/*=true*/) {
-    st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
+    st.TCOOLTHRS(enable ? 0xFFFFF : 0);
     #if ENABLED(STEALTHCHOP)
-      st.stealthChop(!enable);
+      st.en_pwm_mode(!enable);
     #endif
     st.diag1_stall(enable ? 1 : 0);
   }
@@ -676,45 +571,46 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
 #endif // USE_SENSORLESS
 
 #if HAS_DRIVER(TMC2130)
+  #define IS_TMC_SPI(ST) AXIS_DRIVER_TYPE(ST, TMC2130)
   #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
   void tmc_init_cs_pins() {
-    #if AXIS_DRIVER_TYPE(X, TMC2130)
+    #if IS_TMC_SPI(X)
       SET_CS_PIN(X);
     #endif
-    #if AXIS_DRIVER_TYPE(Y, TMC2130)
+    #if IS_TMC_SPI(Y)
       SET_CS_PIN(Y);
     #endif
-    #if AXIS_DRIVER_TYPE(Z, TMC2130)
+    #if IS_TMC_SPI(Z)
       SET_CS_PIN(Z);
     #endif
-    #if AXIS_DRIVER_TYPE(X2, TMC2130)
+    #if IS_TMC_SPI(X2)
       SET_CS_PIN(X2);
     #endif
-    #if AXIS_DRIVER_TYPE(Y2, TMC2130)
+    #if IS_TMC_SPI(Y2)
       SET_CS_PIN(Y2);
     #endif
-    #if AXIS_DRIVER_TYPE(Z2, TMC2130)
+    #if IS_TMC_SPI(Z2)
       SET_CS_PIN(Z2);
     #endif
-    #if AXIS_DRIVER_TYPE(Z3, TMC2130)
+    #if IS_TMC_SPI(Z3)
       SET_CS_PIN(Z3);
     #endif
-    #if AXIS_DRIVER_TYPE(E0, TMC2130)
+    #if IS_TMC_SPI(E0)
       SET_CS_PIN(E0);
     #endif
-    #if AXIS_DRIVER_TYPE(E1, TMC2130)
+    #if IS_TMC_SPI(E1)
       SET_CS_PIN(E1);
     #endif
-    #if AXIS_DRIVER_TYPE(E2, TMC2130)
+    #if IS_TMC_SPI(E2)
       SET_CS_PIN(E2);
     #endif
-    #if AXIS_DRIVER_TYPE(E3, TMC2130)
+    #if IS_TMC_SPI(E3)
       SET_CS_PIN(E3);
     #endif
-    #if AXIS_DRIVER_TYPE(E4, TMC2130)
+    #if IS_TMC_SPI(E4)
       SET_CS_PIN(E4);
     #endif
-    #if AXIS_DRIVER_TYPE(E5, TMC2130)
+    #if IS_TMC_SPI(E5)
       SET_CS_PIN(E5);
     #endif
   }

Marlin/src/feature/tmc_util.h

@@ -23,91 +23,132 @@
 #ifndef _TMC_UTIL_H_
 #define _TMC_UTIL_H_
 
-#include "../inc/MarlinConfigPre.h"
-
-#if HAS_DRIVER(TMC2130)
-  #include <TMC2130Stepper.h>
+#include "../inc/MarlinConfig.h"
+#if HAS_TRINAMIC
+  #include <TMCStepper.h>
 #endif
 
-#if HAS_DRIVER(TMC2208)
-  #include <TMC2208Stepper.h>
-#endif
+#define TMC_X_LABEL 'X', '0'
+#define TMC_Y_LABEL 'Y', '0'
+#define TMC_Z_LABEL 'Z', '0'
+
+#define TMC_X2_LABEL 'X', '2'
+#define TMC_Y2_LABEL 'Y', '2'
+#define TMC_Z2_LABEL 'Z', '2'
+#define TMC_Z3_LABEL 'Z', '3'
+
+#define TMC_E0_LABEL 'E', '0'
+#define TMC_E1_LABEL 'E', '1'
+#define TMC_E2_LABEL 'E', '2'
+#define TMC_E3_LABEL 'E', '3'
+#define TMC_E4_LABEL 'E', '4'
+#define TMC_E5_LABEL 'E', '5'
+
+template<char AXIS_LETTER, char DRIVER_ID>
+class TMCStorage {
+  protected:
+    // Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class"
+    TMCStorage() {}
+
+    uint16_t val_mA = 0;
+
+  public:
+    #if ENABLED(MONITOR_DRIVER_STATUS)
+      uint8_t otpw_count = 0;
+      bool flag_otpw = false;
+      bool getOTPW() { return flag_otpw; }
+      void clear_otpw() { flag_otpw = 0; }
+    #endif
+
+    uint16_t getMilliamps() { return val_mA; }
 
-extern bool report_tmc_status;
-
-enum TMC_AxisEnum : char {
-  TMC_X, TMC_Y, TMC_Z
-  #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
-    , TMC_X2
-  #endif
-  #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-    , TMC_Y2
-  #endif
-  #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
-    , TMC_Z2
-  #endif
-  #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
-    , TMC_Z3
-  #endif
-  #if E_STEPPERS
-    , TMC_E0
-    #if E_STEPPERS > 1
-      , TMC_E1
-      #if E_STEPPERS > 2
-        , TMC_E2
-        #if E_STEPPERS > 3
-          , TMC_E3
-          #if E_STEPPERS > 4
-            , TMC_E4
-            #if E_STEPPERS > 5
-              , TMC_E5
-            #endif // E_STEPPERS > 5
-          #endif // E_STEPPERS > 4
-        #endif // E_STEPPERS > 3
-      #endif // E_STEPPERS > 2
-    #endif // E_STEPPERS > 1
-  #endif // E_STEPPERS
+    void printLabel() {
+      SERIAL_CHAR(AXIS_LETTER);
+      if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
+    }
+};
+
+template<class TMC, char AXIS_LETTER, char DRIVER_ID>
+class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+  public:
+    TMCMarlin(uint16_t cs_pin, float RS) :
+      TMC(cs_pin, RS)
+      {}
+    TMCMarlin(uint16_t CS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
+      TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
+      {}
+    uint16_t rms_current() { return TMC::rms_current(); }
+    void rms_current(uint16_t mA) {
+      this->val_mA = mA;
+      TMC::rms_current(mA);
+    }
+    void rms_current(uint16_t mA, float mult) {
+      this->val_mA = mA;
+      TMC::rms_current(mA, mult);
+    }
+};
+template<char AXIS_LETTER, char DRIVER_ID>
+class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_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)
+      {}
+    TMCMarlin(uint16_t RX, uint16_t TX, float RS, bool has_rx=true) :
+      TMC2208Stepper(RX, TX, RS, has_rx=true)
+      {}
+    uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
+    void rms_current(uint16_t mA) {
+      this->val_mA = mA;
+      TMC2208Stepper::rms_current(mA);
+    }
+    void rms_current(uint16_t mA, float mult) {
+      this->val_mA = mA;
+      TMC2208Stepper::rms_current(mA, mult);
+    }
 };
 
 constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
   return 12650000UL * msteps / (256 * thrs * spmm);
 }
 
-void _tmc_say_axis(const TMC_AxisEnum axis);
-void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr);
-void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw);
-void _tmc_say_otpw_cleared(const TMC_AxisEnum axis);
-void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs);
-void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt);
-
 template<typename TMC>
-void tmc_get_current(TMC &st, const TMC_AxisEnum axis) {
-  _tmc_say_current(axis, st.getCurrent());
+void tmc_get_current(TMC &st) {
+  st.printLabel();
+  SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps());
 }
 template<typename TMC>
 void tmc_set_current(TMC &st, const int mA) {
-  st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
-}
-template<typename TMC>
-void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) {
-  _tmc_say_otpw(axis, st.getOTPW());
-}
-template<typename TMC>
-void tmc_clear_otpw(TMC &st, const TMC_AxisEnum axis) {
-  st.clear_otpw();
-  _tmc_say_otpw_cleared(axis);
+  st.rms_current(mA);
 }
+#if ENABLED(MONITOR_DRIVER_STATUS)
+  template<typename TMC>
+  void tmc_report_otpw(TMC &st) {
+    st.printLabel();
+    SERIAL_ECHOPGM(" temperature prewarn triggered: ");
+    serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
+    SERIAL_EOL();
+  }
+  template<typename TMC>
+  void tmc_clear_otpw(TMC &st) {
+    st.clear_otpw();
+    st.printLabel();
+    SERIAL_ECHOLNPGM(" prewarn flag cleared");
+  }
+#endif
 template<typename TMC>
-void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) {
-  _tmc_say_pwmthrs(axis, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
+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, const TMC_AxisEnum axis) {
-  _tmc_say_sgt(axis, st.sgt());
+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) {

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

@@ -33,7 +33,7 @@
  * Report driver currents when no axis specified
  */
 void GcodeSuite::M906() {
-  #define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q, TMC_##Q)
+  #define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q)
   #define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, value)
 
   bool report = true;

Marlin/src/gcode/feature/trinamic/M911-M915.cpp

@@ -33,135 +33,137 @@
 #define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && PIN_EXISTS(ST##_SERIAL_RX)))
 #define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
 
-/**
- * M911: Report TMC stepper driver overtemperature pre-warn flag
- *       This flag is held by the library, persisting until cleared by M912
- */
-void GcodeSuite::M911() {
-  #if M91x_USE(X)
-    tmc_report_otpw(stepperX, TMC_X);
-  #endif
-  #if M91x_USE(X2)
-    tmc_report_otpw(stepperX2, TMC_X2);
-  #endif
-  #if M91x_USE(Y)
-    tmc_report_otpw(stepperY, TMC_Y);
-  #endif
-  #if M91x_USE(Y2)
-    tmc_report_otpw(stepperY2, TMC_Y2);
-  #endif
-  #if M91x_USE(Z)
-    tmc_report_otpw(stepperZ, TMC_Z);
-  #endif
-  #if M91x_USE(Z2)
-    tmc_report_otpw(stepperZ2, TMC_Z2);
-  #endif
-  #if M91x_USE(Z3)
-    tmc_report_otpw(stepperZ3, TMC_Z3);
-  #endif
-  #if M91x_USE_E(0)
-    tmc_report_otpw(stepperE0, TMC_E0);
-  #endif
-  #if M91x_USE_E(1)
-    tmc_report_otpw(stepperE1, TMC_E1);
-  #endif
-  #if M91x_USE_E(2)
-    tmc_report_otpw(stepperE2, TMC_E2);
-  #endif
-  #if M91x_USE_E(3)
-    tmc_report_otpw(stepperE3, TMC_E3);
-  #endif
-  #if M91x_USE_E(4)
-    tmc_report_otpw(stepperE4, TMC_E4);
-  #endif
-  #if M91x_USE_E(5)
-    tmc_report_otpw(stepperE5, TMC_E5);
-  #endif
-}
+#if ENABLED(MONITOR_DRIVER_STATUS)
+  /**
+   * M911: Report TMC stepper driver overtemperature pre-warn flag
+   *       This flag is held by the library, persisting until cleared by M912
+   */
+  void GcodeSuite::M911() {
+    #if M91x_USE(X)
+      tmc_report_otpw(stepperX);
+    #endif
+    #if M91x_USE(X2)
+      tmc_report_otpw(stepperX2);
+    #endif
+    #if M91x_USE(Y)
+      tmc_report_otpw(stepperY);
+    #endif
+    #if M91x_USE(Y2)
+      tmc_report_otpw(stepperY2);
+    #endif
+    #if M91x_USE(Z)
+      tmc_report_otpw(stepperZ);
+    #endif
+    #if M91x_USE(Z2)
+      tmc_report_otpw(stepperZ2);
+    #endif
+    #if M91x_USE(Z3)
+      tmc_report_otpw(stepperZ3);
+    #endif
+    #if M91x_USE_E(0)
+      tmc_report_otpw(stepperE0);
+    #endif
+    #if M91x_USE_E(1)
+      tmc_report_otpw(stepperE1);
+    #endif
+    #if M91x_USE_E(2)
+      tmc_report_otpw(stepperE2);
+    #endif
+    #if M91x_USE_E(3)
+      tmc_report_otpw(stepperE3);
+    #endif
+    #if M91x_USE_E(4)
+      tmc_report_otpw(stepperE4);
+    #endif
+    #if M91x_USE_E(5)
+      tmc_report_otpw(stepperE5);
+    #endif
+  }
 
-/**
- * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
- *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3 and E[index].
- *       If no axes are given, clear all.
- *
- * Examples:
- *       M912 X   ; clear X and X2
- *       M912 X1  ; clear X1 only
- *       M912 X2  ; clear X2 only
- *       M912 X E ; clear X, X2, and all E
- *       M912 E1  ; clear E1 only
- */
-void GcodeSuite::M912() {
-    const bool hasX = parser.seen(axis_codes[X_AXIS]),
-               hasY = parser.seen(axis_codes[Y_AXIS]),
-               hasZ = parser.seen(axis_codes[Z_AXIS]),
-               hasE = parser.seen(axis_codes[E_AXIS]),
-               hasNone = !hasX && !hasY && !hasZ && !hasE;
+  /**
+   * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
+   *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3 and E[index].
+   *       If no axes are given, clear all.
+   *
+   * Examples:
+   *       M912 X   ; clear X and X2
+   *       M912 X1  ; clear X1 only
+   *       M912 X2  ; clear X2 only
+   *       M912 X E ; clear X, X2, and all E
+   *       M912 E1  ; clear E1 only
+   */
+  void GcodeSuite::M912() {
+      const bool hasX = parser.seen(axis_codes[X_AXIS]),
+                 hasY = parser.seen(axis_codes[Y_AXIS]),
+                 hasZ = parser.seen(axis_codes[Z_AXIS]),
+                 hasE = parser.seen(axis_codes[E_AXIS]),
+                 hasNone = !hasX && !hasY && !hasZ && !hasE;
 
-    #if M91x_USE(X) || M91x_USE(X2)
-      const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
-      #if M91x_USE(X)
-        if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX, TMC_X);
-      #endif
-      #if M91x_USE(X2)
-        if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2, TMC_X2);
+      #if M91x_USE(X) || M91x_USE(X2)
+        const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
+        #if M91x_USE(X)
+          if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX);
+        #endif
+        #if M91x_USE(X2)
+          if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2);
+        #endif
       #endif
-    #endif
 
-    #if M91x_USE(Y) || M91x_USE(Y2)
-      const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
-      #if M91x_USE(Y)
-        if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY, TMC_Y);
-      #endif
-      #if M91x_USE(Y2)
-        if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2, TMC_Y2);
+      #if M91x_USE(Y) || M91x_USE(Y2)
+        const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
+        #if M91x_USE(Y)
+          if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY);
+        #endif
+        #if M91x_USE(Y2)
+          if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2);
+        #endif
       #endif
-    #endif
 
-    #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3)
-      const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
-      #if M91x_USE(Z)
-        if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ, TMC_Z);
-      #endif
-      #if M91x_USE(Z2)
-        if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2, TMC_Z2);
-      #endif
-      #if M91x_USE(Z3)
-        if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3, TMC_Z3);
+      #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3)
+        const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
+        #if M91x_USE(Z)
+          if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ);
+        #endif
+        #if M91x_USE(Z2)
+          if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2);
+        #endif
+        #if M91x_USE(Z3)
+          if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3);
+        #endif
       #endif
-    #endif
 
-    #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5)
-      const uint8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
-      #if M91x_USE_E(0)
-        if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0, TMC_E0);
-      #endif
-      #if M91x_USE_E(1)
-        if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1, TMC_E1);
-      #endif
-      #if M91x_USE_E(2)
-        if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2, TMC_E2);
-      #endif
-      #if M91x_USE_E(3)
-        if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3, TMC_E3);
-      #endif
-      #if M91x_USE_E(4)
-        if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4, TMC_E4);
-      #endif
-      #if M91x_USE_E(5)
-        if (hasNone || eval == 5 || (hasE && eval < 0)) tmc_clear_otpw(stepperE5, TMC_E5);
+      #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5)
+        const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
+        #if M91x_USE_E(0)
+          if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0);
+        #endif
+        #if M91x_USE_E(1)
+          if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1);
+        #endif
+        #if M91x_USE_E(2)
+          if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2);
+        #endif
+        #if M91x_USE_E(3)
+          if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3);
+        #endif
+        #if M91x_USE_E(4)
+          if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4);
+        #endif
+        #if M91x_USE_E(5)
+          if (hasNone || eval == 5 || (hasE && eval < 0)) tmc_clear_otpw(stepperE5);
+        #endif
       #endif
-    #endif
-}
+  }
+#endif
 
 /**
  * M913: Set HYBRID_THRESHOLD speed.
  */
 #if ENABLED(HYBRID_THRESHOLD)
   void GcodeSuite::M913() {
-    #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[_AXIS(A)])
+    #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, planner.axis_steps_per_mm[_AXIS(A)])
     #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.axis_steps_per_mm[_AXIS(A)])
-    #define TMC_SAY_PWMTHRS_E(E) do{ constexpr uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }while(0)
+    #define TMC_SAY_PWMTHRS_E(E) do{ constexpr uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }while(0)
     #define TMC_SET_PWMTHRS_E(E) do{ constexpr uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, value, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }while(0)
 
     bool report = true;
@@ -271,7 +273,7 @@ void GcodeSuite::M912() {
  */
 #if USE_SENSORLESS
   void GcodeSuite::M914() {
-    #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
+    #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q)
     #define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)
 
     bool report = true;
@@ -362,16 +364,16 @@ void GcodeSuite::M912() {
     }
 
     #if AXIS_IS_TMC(Z)
-      const uint16_t Z_current_1 = stepperZ.getCurrent();
-      stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+      const uint16_t Z_current_1 = stepperZ.getMilliamps();
+      stepperZ.rms_current(_rms);
     #endif
     #if AXIS_IS_TMC(Z2)
-      const uint16_t Z2_current_1 = stepperZ2.getCurrent();
-      stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+      const uint16_t Z2_current_1 = stepperZ2.getMilliamps();
+      stepperZ2.rms_current(_rms);
     #endif
-    #if Z3_IS_TRINAMIC
-      const uint16_t Z3_current_1 = stepperZ3.getCurrent();
-      stepperZ3.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+    #if AXIS_IS_TMC(Z3)
+      const uint16_t Z3_current_1 = stepperZ3.getMilliamps();
+      stepperZ3.rms_current(_rms);
     #endif
 
     SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
@@ -381,13 +383,13 @@ void GcodeSuite::M912() {
     do_blocking_move_to_z(Z_MAX_POS+_z);
 
     #if AXIS_IS_TMC(Z)
-      stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
+      stepperZ.rms_current(Z_current_1);
     #endif
     #if AXIS_IS_TMC(Z2)
-      stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
+      stepperZ2.rms_current(Z2_current_1);
     #endif
     #if AXIS_IS_TMC(Z3)
-      stepperZ3.setCurrent(Z3_current_1, R_SENSE, HOLD_MULTIPLIER);
+      stepperZ3.rms_current(Z3_current_1);
     #endif
 
     do_blocking_move_to_z(Z_MAX_POS);

Marlin/src/gcode/gcode.cpp

@@ -632,8 +632,10 @@ void GcodeSuite::process_parsed_command(
           case 122: M122(); break;
         #endif
         case 906: M906(); break;                                  // M906: Set motor current in milliamps using axis codes X, Y, Z, E
-        case 911: M911(); break;                                  // M911: Report TMC2130 prewarn triggered flags
-        case 912: M912(); break;                                  // M912: Clear TMC2130 prewarn triggered flags
+        #if ENABLED(MONITOR_DRIVER_STATUS)
+          case 911: M911(); break;                                  // M911: Report TMC2130 prewarn triggered flags
+          case 912: M912(); break;                                  // M912: Clear TMC2130 prewarn triggered flags
+        #endif
         #if ENABLED(HYBRID_THRESHOLD)
           case 913: M913(); break;                                // M913: Set HYBRID_THRESHOLD speed.
         #endif

Marlin/src/gcode/gcode.h

@@ -775,8 +775,10 @@ private:
       static void M122();
     #endif
     static void M906();
-    static void M911();
-    static void M912();
+    #if ENABLED(MONITOR_DRIVER_STATUS)
+        static void M911();
+        static void M912();
+    #endif
     #if ENABLED(HYBRID_THRESHOLD)
       static void M913();
     #endif

Marlin/src/inc/Conditionals_post.h

@@ -460,6 +460,9 @@
  * NOTE: Driver timing order is longest-to-shortest duration.
  *       Preserve this ordering when adding new drivers.
  */
+
+#define TRINAMICS (HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE))
+
 #ifndef MINIMUM_STEPPER_DIR_DELAY
   #if HAS_DRIVER(TB6560)
     #define MINIMUM_STEPPER_DIR_DELAY 15000
@@ -473,7 +476,7 @@
     #define MINIMUM_STEPPER_DIR_DELAY 400
   #elif HAS_DRIVER(A4988)
     #define MINIMUM_STEPPER_DIR_DELAY 200
-  #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+  #elif TRINAMICS
     #define MINIMUM_STEPPER_DIR_DELAY 20
   #else
     #define MINIMUM_STEPPER_DIR_DELAY 0   // Expect at least 10µS since one Stepper ISR must transpire
@@ -489,7 +492,7 @@
     #define MINIMUM_STEPPER_PULSE 2
   #elif HAS_DRIVER(A4988) || HAS_DRIVER(LV8729) || HAS_DRIVER(A5984)
     #define MINIMUM_STEPPER_PULSE 1
-  #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+  #elif TRINAMICS
     #define MINIMUM_STEPPER_PULSE 0
   #else
     #define MINIMUM_STEPPER_PULSE 2
@@ -505,7 +508,7 @@
     #define MAXIMUM_STEPPER_RATE 150000
   #elif HAS_DRIVER(DRV8825)
     #define MAXIMUM_STEPPER_RATE 250000
-  #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+  #elif TRINAMICS
     #define MAXIMUM_STEPPER_RATE 400000
   #elif HAS_DRIVER(A4988)
     #define MAXIMUM_STEPPER_RATE 500000

Marlin/src/module/configuration_store.cpp

@@ -83,6 +83,9 @@
   #include "../feature/tmc_util.h"
   #define TMC_GET_PWMTHRS(A,Q) _tmc_thrs(stepper##Q.microsteps(), stepper##Q.TPWMTHRS(), planner.axis_steps_per_mm[_AXIS(A)])
 #endif
+typedef struct { uint16_t X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5; } tmc_stepper_current_t;
+typedef struct { uint32_t X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5; } tmc_hybrid_threshold_t;
+typedef struct {  int16_t X, Y, Z;                                         } tmc_sgt_t;
 
 #if ENABLED(FWRETRACT)
   #include "../feature/fwretract.h"
@@ -98,7 +101,7 @@
 
 #pragma pack(push, 1) // No padding between variables
 
-typedef struct PID { float Kp, Ki, Kd; } PID;
+typedef struct PID  { float Kp, Ki, Kd;     } PID;
 typedef struct PIDC { float Kp, Ki, Kd, Kc; } PIDC;
 
 /**
@@ -251,9 +254,9 @@ typedef struct SettingsDataStruct {
   // HAS_TRINAMIC
   //
   #define TMC_AXES (MAX_EXTRUDERS + 7)
-  uint16_t tmc_stepper_current[TMC_AXES];               // M906 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
-  uint32_t tmc_hybrid_threshold[TMC_AXES];              // M913 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
-  int16_t tmc_sgt[XYZ];                                 // M914 X Y Z
+  tmc_stepper_current_t tmc_stepper_current;            // M906 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
+  tmc_hybrid_threshold_t tmc_hybrid_threshold;          // M913 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
+  tmc_sgt_t tmc_sgt;                                    // M914 X Y Z
 
   //
   // LIN_ADVANCE
@@ -300,7 +303,7 @@ uint16_t MarlinSettings::datasize() { return sizeof(SettingsData); }
 #endif
 
 void MarlinSettings::postprocess() {
-  const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
+  const float oldpos[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] };
 
   // steps per s2 needs to be updated to agree with units per s2
   planner.reset_acceleration_rates();
@@ -436,7 +439,7 @@ void MarlinSettings::postprocess() {
         EEPROM_WRITE(dummy);
       #endif
     #else
-      const float planner_max_jerk[] = { float(DEFAULT_XJERK), float(DEFAULT_YJERK), float(DEFAULT_ZJERK), float(DEFAULT_EJERK) };
+      const float planner_max_jerk[XYZE] = { float(DEFAULT_XJERK), float(DEFAULT_YJERK), float(DEFAULT_ZJERK), float(DEFAULT_EJERK) };
       EEPROM_WRITE(planner_max_jerk);
     #endif
 
@@ -464,11 +467,13 @@ void MarlinSettings::postprocess() {
     // Global Leveling
     //
 
-    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      const float zfh = planner.z_fade_height;
-    #else
-      const float zfh = 10.0;
-    #endif
+    const float zfh = (
+      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+        planner.z_fade_height
+      #else
+        10.0
+      #endif
+    );
     EEPROM_WRITE(zfh);
 
     //
@@ -478,7 +483,7 @@ void MarlinSettings::postprocess() {
     #if ENABLED(MESH_BED_LEVELING)
       // Compile time test that sizeof(mbl.z_values) is as expected
       static_assert(
-        sizeof(mbl.z_values) == GRID_MAX_POINTS * sizeof(mbl.z_values[0][0]),
+        sizeof(mbl.z_values) == (GRID_MAX_POINTS) * sizeof(mbl.z_values[0][0]),
         "MBL Z array is the wrong size."
       );
       const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y;
@@ -520,7 +525,7 @@ void MarlinSettings::postprocess() {
     #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
       // Compile time test that sizeof(z_values) is as expected
       static_assert(
-        sizeof(z_values) == GRID_MAX_POINTS * sizeof(z_values[0][0]),
+        sizeof(z_values) == (GRID_MAX_POINTS) * sizeof(z_values[0][0]),
         "Bilinear Z array is the wrong size."
       );
       const uint8_t grid_max_x = GRID_MAX_POINTS_X, grid_max_y = GRID_MAX_POINTS_Y;
@@ -719,230 +724,154 @@ void MarlinSettings::postprocess() {
     #endif
 
     //
-    // Save TMC2130 or TMC2208 Configuration, and placeholder values
+    // Save TMC Configuration, and placeholder values
     //
 
     _FIELD_TEST(tmc_stepper_current);
 
-    uint16_t tmc_stepper_current[TMC_AXES] = {
-      #if HAS_TRINAMIC
-        #if AXIS_IS_TMC(X)
-          stepperX.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Y)
-          stepperY.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Z)
-          stepperZ.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(X2)
-          stepperX2.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Y2)
-          stepperY2.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Z2)
-          stepperZ2.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Z3)
-          stepperZ3.getCurrent(),
-        #else
-          0,
+    tmc_stepper_current_t tmc_stepper_current = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+
+    #if HAS_TRINAMIC
+      #if AXIS_IS_TMC(X)
+        tmc_stepper_current.X = stepperX.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(Y)
+        tmc_stepper_current.Y = stepperY.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(Z)
+        tmc_stepper_current.Z = stepperZ.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(X2)
+        tmc_stepper_current.X2 = stepperX2.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(Y2)
+        tmc_stepper_current.Y2 = stepperY2.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(Z2)
+        tmc_stepper_current.Z2 = stepperZ2.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(Z3)
+        tmc_stepper_current.Z3 = stepperZ3.getMilliamps();
+      #endif
+      #if MAX_EXTRUDERS
+        #if AXIS_IS_TMC(E0)
+          tmc_stepper_current.E0 = stepperE0.getMilliamps();
         #endif
-        #if MAX_EXTRUDERS
-          #if AXIS_IS_TMC(E0)
-            stepperE0.getCurrent(),
-          #else
-            0,
+        #if MAX_EXTRUDERS > 1
+          #if AXIS_IS_TMC(E1)
+            tmc_stepper_current.E1 = stepperE1.getMilliamps();
           #endif
-          #if MAX_EXTRUDERS > 1
-            #if AXIS_IS_TMC(E1)
-              stepperE1.getCurrent(),
-            #else
-              0,
+          #if MAX_EXTRUDERS > 2
+            #if AXIS_IS_TMC(E2)
+              tmc_stepper_current.E2 = stepperE2.getMilliamps();
             #endif
-            #if MAX_EXTRUDERS > 2
-              #if AXIS_IS_TMC(E2)
-                stepperE2.getCurrent(),
-              #else
-                0,
+            #if MAX_EXTRUDERS > 3
+              #if AXIS_IS_TMC(E3)
+                tmc_stepper_current.E3 = stepperE3.getMilliamps();
               #endif
-              #if MAX_EXTRUDERS > 3
-                #if AXIS_IS_TMC(E3)
-                  stepperE3.getCurrent(),
-                #else
-                  0,
+              #if MAX_EXTRUDERS > 4
+                #if AXIS_IS_TMC(E4)
+                  tmc_stepper_current.E4 = stepperE4.getMilliamps();
                 #endif
-                #if MAX_EXTRUDERS > 4
-                  #if AXIS_IS_TMC(E4)
-                    stepperE4.getCurrent()
-                  #else
-                    0
+                #if MAX_EXTRUDERS > 5
+                  #if AXIS_IS_TMC(E5)
+                    tmc_stepper_current.E5 = stepperE5.getMilliamps();
                   #endif
-                  #if MAX_EXTRUDERS > 5
-                    #if AXIS_IS_TMC(E5)
-                      stepperE5.getCurrent()
-                    #else
-                      0
-                    #endif
-                  #endif // MAX_EXTRUDERS > 5
-                #endif // MAX_EXTRUDERS > 4
-              #endif // MAX_EXTRUDERS > 3
-            #endif // MAX_EXTRUDERS > 2
-          #endif // MAX_EXTRUDERS > 1
-        #endif // MAX_EXTRUDERS
-      #else
-        0
-      #endif
-    };
+                #endif // MAX_EXTRUDERS > 5
+              #endif // MAX_EXTRUDERS > 4
+            #endif // MAX_EXTRUDERS > 3
+          #endif // MAX_EXTRUDERS > 2
+        #endif // MAX_EXTRUDERS > 1
+      #endif // MAX_EXTRUDERS
+    #endif
     EEPROM_WRITE(tmc_stepper_current);
 
     //
-    // Save TMC2130 or TMC2208 Hybrid Threshold, and placeholder values
+    // Save TMC Hybrid Threshold, and placeholder values
     //
 
     _FIELD_TEST(tmc_hybrid_threshold);
 
-    uint32_t tmc_hybrid_threshold[TMC_AXES] = {
-      #if ENABLED(HYBRID_THRESHOLD)
-        #if AXIS_HAS_STEALTHCHOP(X)
-          TMC_GET_PWMTHRS(X, X),
-        #else
-          X_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Y)
-          TMC_GET_PWMTHRS(Y, Y),
-        #else
-          Y_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z)
-          TMC_GET_PWMTHRS(Z, Z),
-        #else
-          Z_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(X2)
-          TMC_GET_PWMTHRS(X, X2),
-        #else
-          X2_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Y2)
-          TMC_GET_PWMTHRS(Y, Y2),
-        #else
-          Y2_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z2)
-          TMC_GET_PWMTHRS(Z, Z2),
-        #else
-          Z2_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z3)
-          TMC_GET_PWMTHRS(Z, Z3),
-        #else
-          Z3_HYBRID_THRESHOLD,
+    #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);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Y)
+        tmc_hybrid_threshold.Y = TMC_GET_PWMTHRS(Y, Y);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z)
+        tmc_hybrid_threshold.Z = TMC_GET_PWMTHRS(Z, Z);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(X2)
+        tmc_hybrid_threshold.X2 = TMC_GET_PWMTHRS(X, X2);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Y2)
+        tmc_hybrid_threshold.Y2 = TMC_GET_PWMTHRS(Y, Y2);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z2)
+        tmc_hybrid_threshold.Z2 = TMC_GET_PWMTHRS(Z, Z2);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z3)
+        tmc_hybrid_threshold.Z3 = TMC_GET_PWMTHRS(Z, Z3);
+      #endif
+      #if MAX_EXTRUDERS
+        #if AXIS_HAS_STEALTHCHOP(E0)
+          tmc_hybrid_threshold.E0 = TMC_GET_PWMTHRS(E, E0);
         #endif
-        #if MAX_EXTRUDERS
-          #if AXIS_HAS_STEALTHCHOP(E0)
-            TMC_GET_PWMTHRS(E, E0),
-          #else
-            E0_HYBRID_THRESHOLD,
+        #if MAX_EXTRUDERS > 1
+          #if AXIS_HAS_STEALTHCHOP(E1)
+            tmc_hybrid_threshold.E1 = TMC_GET_PWMTHRS(E, E1);
           #endif
-          #if MAX_EXTRUDERS > 1
-            #if AXIS_HAS_STEALTHCHOP(E1)
-              TMC_GET_PWMTHRS(E, E1),
-            #else
-              E1_HYBRID_THRESHOLD,
+          #if MAX_EXTRUDERS > 2
+            #if AXIS_HAS_STEALTHCHOP(E2)
+              tmc_hybrid_threshold.E2 = TMC_GET_PWMTHRS(E, E2);
             #endif
-            #if MAX_EXTRUDERS > 2
-              #if AXIS_HAS_STEALTHCHOP(E2)
-                TMC_GET_PWMTHRS(E, E2),
-              #else
-                E2_HYBRID_THRESHOLD,
+            #if MAX_EXTRUDERS > 3
+              #if AXIS_HAS_STEALTHCHOP(E3)
+                tmc_hybrid_threshold.E3 = TMC_GET_PWMTHRS(E, E3);
               #endif
-              #if MAX_EXTRUDERS > 3
-                #if AXIS_HAS_STEALTHCHOP(E3)
-                  TMC_GET_PWMTHRS(E, E3),
-                #else
-                  E3_HYBRID_THRESHOLD,
+              #if MAX_EXTRUDERS > 4
+                #if AXIS_HAS_STEALTHCHOP(E4)
+                  tmc_hybrid_threshold.E4 = TMC_GET_PWMTHRS(E, E4);
                 #endif
-                #if MAX_EXTRUDERS > 4
-                  #if AXIS_HAS_STEALTHCHOP(E4)
-                    TMC_GET_PWMTHRS(E, E4)
-                  #else
-                    E4_HYBRID_THRESHOLD
-                  #endif
-                  #if MAX_EXTRUDERS > 5
-                    #if AXIS_HAS_STEALTHCHOP(E5)
-                      TMC_GET_PWMTHRS(E, E5)
-                    #else
-                      E5_HYBRID_THRESHOLD
-                    #endif
-                  #endif // MAX_EXTRUDERS > 5
-                #endif // MAX_EXTRUDERS > 4
-              #endif // MAX_EXTRUDERS > 3
-            #endif // MAX_EXTRUDERS > 2
-          #endif // MAX_EXTRUDERS > 1
-        #endif // MAX_EXTRUDERS
-      #else
-        100, 100, 3,            // X, Y, Z
-        100, 100, 3, 3          // X2, Y2, Z2, Z3
-        #if MAX_EXTRUDERS
-          , 30                  // E0
-          #if MAX_EXTRUDERS > 1
-            , 30                // E1
-            #if MAX_EXTRUDERS > 2
-              , 30              // E2
-              #if MAX_EXTRUDERS > 3
-                , 30            // E3
-                #if MAX_EXTRUDERS > 4
-                  , 30          // E4
-                  #if MAX_EXTRUDERS > 5
-                    , 30        // E5
+                #if MAX_EXTRUDERS > 5
+                  #if AXIS_HAS_STEALTHCHOP(E5)
+                    tmc_hybrid_threshold.E5 = TMC_GET_PWMTHRS(E, E5);
                   #endif
-                #endif
-              #endif
-            #endif
-          #endif
-        #endif
-      #endif
-    };
+                #endif // MAX_EXTRUDERS > 5
+              #endif // MAX_EXTRUDERS > 4
+            #endif // MAX_EXTRUDERS > 3
+          #endif // MAX_EXTRUDERS > 2
+        #endif // MAX_EXTRUDERS > 1
+      #endif // MAX_EXTRUDERS
+    #else
+      const tmc_hybrid_threshold_t tmc_hybrid_threshold = {
+        .X  = 100, .Y  = 100, .Z  =   3,
+        .X2 = 100, .Y2 = 100, .Z2 =   3, .Z3 =   3,
+        .E0 =  30, .E1 =  30, .E2 =  30,
+        .E3 =  30, .E4 =  30, .E5 =  30
+      };
+    #endif
     EEPROM_WRITE(tmc_hybrid_threshold);
 
     //
-    // TMC2130 StallGuard threshold
+    // TMC StallGuard threshold
     //
-    int16_t tmc_sgt[XYZ] = {
-      #if USE_SENSORLESS
-        #if X_SENSORLESS
-          stepperX.sgt(),
-        #else
-          0,
-        #endif
-        #if Y_SENSORLESS
-          stepperY.sgt(),
-        #else
-          0,
-        #endif
-        #if Z_SENSORLESS
-          stepperZ.sgt()
-        #else
-          0
-        #endif
-      #else
-        0
+
+    tmc_sgt_t tmc_sgt = { 0, 0, 0 };
+
+    #if USE_SENSORLESS
+      #if X_SENSORLESS
+        tmc_sgt.X = stepperX.sgt();
       #endif
-    };
+      #if Y_SENSORLESS
+        tmc_sgt.Y = stepperY.sgt();
+      #endif
+      #if Z_SENSORLESS
+        tmc_sgt.Z = stepperZ.sgt();
+      #endif
+    #endif
     EEPROM_WRITE(tmc_sgt);
 
     //
@@ -1423,15 +1352,15 @@ void MarlinSettings::postprocess() {
       if (!validating) reset_stepper_drivers();
 
       //
-      // TMC2130 Stepper Settings
+      // TMC Stepper Settings
       //
 
       _FIELD_TEST(tmc_stepper_current);
 
       #if HAS_TRINAMIC
 
-        #define SET_CURR(Q) stepper##Q.setCurrent(currents[TMC_##Q] ? currents[TMC_##Q] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER)
-        uint16_t currents[TMC_AXES];
+        #define SET_CURR(Q) stepper##Q.rms_current(currents.Q ? currents.Q : Q##_CURRENT)
+        tmc_stepper_current_t currents;
         EEPROM_READ(currents);
         if (!validating) {
           #if AXIS_IS_TMC(X)
@@ -1480,8 +1409,8 @@ void MarlinSettings::postprocess() {
       #endif
 
       #if ENABLED(HYBRID_THRESHOLD)
-        #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold[TMC_##Q], planner.axis_steps_per_mm[_AXIS(A)])
-        uint32_t tmc_hybrid_threshold[TMC_AXES];
+        #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold.Q, planner.axis_steps_per_mm[_AXIS(A)])
+        tmc_hybrid_threshold_t tmc_hybrid_threshold;
         EEPROM_READ(tmc_hybrid_threshold);
         if (!validating) {
           #if AXIS_HAS_STEALTHCHOP(X)
@@ -1530,40 +1459,40 @@ void MarlinSettings::postprocess() {
       #endif
 
       /*
-       * TMC2130 StallGuard threshold.
+       * TMC StallGuard threshold.
        * X and X2 use the same value
        * Y and Y2 use the same value
        * Z, Z2 and Z3 use the same value
        */
-      int16_t tmc_sgt[XYZ];
+      tmc_sgt_t tmc_sgt;
       EEPROM_READ(tmc_sgt);
       #if USE_SENSORLESS
         if (!validating) {
           #ifdef X_STALL_SENSITIVITY
             #if AXIS_HAS_STALLGUARD(X)
-              stepperX.sgt(tmc_sgt[0]);
+              stepperX.sgt(tmc_sgt.X);
             #endif
             #if AXIS_HAS_STALLGUARD(X2)
-              stepperX2.sgt(tmc_sgt[0]);
+              stepperX2.sgt(tmc_sgt.X);
             #endif
           #endif
           #ifdef Y_STALL_SENSITIVITY
             #if AXIS_HAS_STALLGUARD(Y)
-              stepperY.sgt(tmc_sgt[1]);
+              stepperY.sgt(tmc_sgt.Y);
             #endif
             #if AXIS_HAS_STALLGUARD(Y2)
-              stepperY2.sgt(tmc_sgt[1]);
+              stepperY2.sgt(tmc_sgt.Y);
             #endif
           #endif
           #ifdef Z_STALL_SENSITIVITY
             #if AXIS_HAS_STALLGUARD(Z)
-              stepperZ.sgt(tmc_sgt[2]);
+              stepperZ.sgt(tmc_sgt.Z);
             #endif
             #if AXIS_HAS_STALLGUARD(Z2)
-              stepperZ2.sgt(tmc_sgt[2]);
+              stepperZ2.sgt(tmc_sgt.Z);
             #endif
             #if AXIS_HAS_STALLGUARD(Z3)
-              stepperZ3.sgt(tmc_sgt[2]);
+              stepperZ3.sgt(tmc_sgt.Z);
             #endif
           #endif
         }
@@ -1957,8 +1886,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
   #endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES
 
   #if ENABLED(DELTA)
-    const float adj[ABC] = DELTA_ENDSTOP_ADJ,
-                dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
+    const float adj[ABC] = DELTA_ENDSTOP_ADJ, dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
     delta_height = DELTA_HEIGHT;
     COPY(delta_endstop_adj, adj);
     delta_radius = DELTA_RADIUS;
@@ -2683,7 +2611,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
     #if HAS_TRINAMIC
 
       /**
-       * TMC2130 / TMC2208 stepper driver current
+       * TMC stepper driver current
        */
       if (!forReplay) {
         CONFIG_ECHO_START;
@@ -2694,65 +2622,68 @@ void MarlinSettings::reset(PORTARG_SOLO) {
         say_M906(PORTVAR_SOLO);
       #endif
       #if AXIS_IS_TMC(X)
-        SERIAL_ECHOPAIR_P(port, " X", stepperX.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " X", stepperX.getMilliamps());
       #endif
       #if AXIS_IS_TMC(Y)
-        SERIAL_ECHOPAIR_P(port, " Y", stepperY.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " Y", stepperY.getMilliamps());
       #endif
       #if AXIS_IS_TMC(Z)
-        SERIAL_ECHOPAIR_P(port, " Z", stepperZ.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " Z", stepperZ.getMilliamps());
       #endif
       #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
         SERIAL_EOL_P(port);
       #endif
+
       #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
         say_M906(PORTVAR_SOLO);
         SERIAL_ECHOPGM_P(port, " I1");
       #endif
       #if AXIS_IS_TMC(X2)
-        SERIAL_ECHOPAIR_P(port, " X", stepperX2.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " X", stepperX2.getMilliamps());
       #endif
       #if AXIS_IS_TMC(Y2)
-        SERIAL_ECHOPAIR_P(port, " Y", stepperY2.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " Y", stepperY2.getMilliamps());
       #endif
       #if AXIS_IS_TMC(Z2)
-        SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.getMilliamps());
       #endif
       #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
         SERIAL_EOL_P(port);
       #endif
+
       #if AXIS_IS_TMC(Z3)
         say_M906(PORTVAR_SOLO);
-        SERIAL_ECHOLNPAIR_P(port, " I2 Z", stepperZ3.getCurrent());
+        SERIAL_ECHOLNPAIR_P(port, " I2 Z", stepperZ3.getMilliamps());
       #endif
+
       #if AXIS_IS_TMC(E0)
         say_M906(PORTVAR_SOLO);
-        SERIAL_ECHOLNPAIR_P(port, " T0 E", stepperE0.getCurrent());
+        SERIAL_ECHOLNPAIR_P(port, " T0 E", stepperE0.getMilliamps());
       #endif
       #if AXIS_IS_TMC(E1)
         say_M906(PORTVAR_SOLO);
-        SERIAL_ECHOLNPAIR_P(port, " T1 E", stepperE1.getCurrent());
+        SERIAL_ECHOLNPAIR_P(port, " T1 E", stepperE1.getMilliamps());
       #endif
       #if AXIS_IS_TMC(E2)
         say_M906(PORTVAR_SOLO);
-        SERIAL_ECHOLNPAIR_P(port, " T2 E", stepperE2.getCurrent());
+        SERIAL_ECHOLNPAIR_P(port, " T2 E", stepperE2.getMilliamps());
       #endif
       #if AXIS_IS_TMC(E3)
         say_M906(PORTVAR_SOLO);
-        SERIAL_ECHOLNPAIR_P(port, " T3 E", stepperE3.getCurrent());
+        SERIAL_ECHOLNPAIR_P(port, " T3 E", stepperE3.getMilliamps());
       #endif
       #if AXIS_IS_TMC(E4)
         say_M906(PORTVAR_SOLO);
-        SERIAL_ECHOLNPAIR_P(port, " T4 E", stepperE4.getCurrent());
+        SERIAL_ECHOLNPAIR_P(port, " T4 E", stepperE4.getMilliamps());
       #endif
       #if AXIS_IS_TMC(E5)
         say_M906(PORTVAR_SOLO);
-        SERIAL_ECHOLNPAIR_P(port, " T5 E", stepperE5.getCurrent());
+        SERIAL_ECHOLNPAIR_P(port, " T5 E", stepperE5.getMilliamps());
       #endif
       SERIAL_EOL_P(port);
 
       /**
-       * TMC2130 / TMC2208 / TRAMS Hybrid Threshold
+       * TMC Hybrid Threshold
        */
       #if ENABLED(HYBRID_THRESHOLD)
         if (!forReplay) {
@@ -2760,63 +2691,66 @@ void MarlinSettings::reset(PORTARG_SOLO) {
           SERIAL_ECHOLNPGM_P(port, "Hybrid Threshold:");
         }
         CONFIG_ECHO_START;
-        #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
+        #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
           say_M913(PORTVAR_SOLO);
         #endif
-        #if AXIS_IS_TMC(X)
+        #if AXIS_HAS_STEALTHCHOP(X)
           SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X));
         #endif
-        #if AXIS_IS_TMC(Y)
+        #if AXIS_HAS_STEALTHCHOP(Y)
           SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y));
         #endif
-        #if AXIS_IS_TMC(Z)
+        #if AXIS_HAS_STEALTHCHOP(Z)
           SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z));
         #endif
-        #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
+        #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
           SERIAL_EOL_P(port);
         #endif
-        #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
+
+        #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOPGM_P(port, " I1");
         #endif
-        #if AXIS_IS_TMC(X2)
+        #if AXIS_HAS_STEALTHCHOP(X2)
           SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X2));
         #endif
-        #if AXIS_IS_TMC(Y2)
+        #if AXIS_HAS_STEALTHCHOP(Y2)
           SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y2));
         #endif
-        #if AXIS_IS_TMC(Z2)
+        #if AXIS_HAS_STEALTHCHOP(Z2)
           SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z2));
         #endif
-        #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
+        #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
           SERIAL_EOL_P(port);
         #endif
-        #if AXIS_IS_TMC(Z3)
+
+        #if AXIS_HAS_STEALTHCHOP(Z3)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOPGM_P(port, " I2");
           SERIAL_ECHOLNPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z3));
         #endif
-        #if AXIS_IS_TMC(E0)
+
+        #if AXIS_HAS_STEALTHCHOP(E0)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOLNPAIR_P(port, " T0 E", TMC_GET_PWMTHRS(E, E0));
         #endif
-        #if AXIS_IS_TMC(E1)
+        #if AXIS_HAS_STEALTHCHOP(E1)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOLNPAIR_P(port, " T1 E", TMC_GET_PWMTHRS(E, E1));
         #endif
-        #if AXIS_IS_TMC(E2)
+        #if AXIS_HAS_STEALTHCHOP(E2)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOLNPAIR_P(port, " T2 E", TMC_GET_PWMTHRS(E, E2));
         #endif
-        #if AXIS_IS_TMC(E3)
+        #if AXIS_HAS_STEALTHCHOP(E3)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOLNPAIR_P(port, " T3 E", TMC_GET_PWMTHRS(E, E3));
         #endif
-        #if AXIS_IS_TMC(E4)
+        #if AXIS_HAS_STEALTHCHOP(E4)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOLNPAIR_P(port, " T4 E", TMC_GET_PWMTHRS(E, E4));
         #endif
-        #if AXIS_IS_TMC(E5)
+        #if AXIS_HAS_STEALTHCHOP(E5)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOLNPAIR_P(port, " T5 E", TMC_GET_PWMTHRS(E, E5));
         #endif
@@ -2824,7 +2758,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       #endif // HYBRID_THRESHOLD
 
       /**
-     * TMC2130 Sensorless homing thresholds
+       * TMC Sensorless homing thresholds
        */
       #if USE_SENSORLESS
         if (!forReplay) {

Marlin/src/module/stepper_indirection.cpp

@@ -139,170 +139,103 @@
   }
 #endif // TMC26X
 
+#if HAS_TRINAMIC
+  #define _TMC_INIT(ST, SPMM) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
+#endif
+
 //
 // TMC2130 Driver objects and inits
 //
 #if HAS_DRIVER(TMC2130)
 
   #include <SPI.h>
-  #include <TMC2130Stepper.h>
   #include "planner.h"
   #include "../core/enum.h"
 
-  #if TMC2130STEPPER_VERSION < 0x020201
-    #error "Update TMC2130Stepper library to 2.2.1 or newer."
-  #endif
-
   #if ENABLED(TMC_USE_SW_SPI)
-    #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
+    #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
+    #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
   #else
-    #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
+    #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE)
+    #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
   #endif
-
   // Stepper objects of TMC2130 steppers used
   #if AXIS_DRIVER_TYPE(X, TMC2130)
-    _TMC2130_DEFINE(X);
+    TMC2130_DEFINE(X);
   #endif
   #if AXIS_DRIVER_TYPE(X2, TMC2130)
-    _TMC2130_DEFINE(X2);
+    TMC2130_DEFINE(X2);
   #endif
   #if AXIS_DRIVER_TYPE(Y, TMC2130)
-    _TMC2130_DEFINE(Y);
+    TMC2130_DEFINE(Y);
   #endif
   #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-    _TMC2130_DEFINE(Y2);
+    TMC2130_DEFINE(Y2);
   #endif
   #if AXIS_DRIVER_TYPE(Z, TMC2130)
-    _TMC2130_DEFINE(Z);
+    TMC2130_DEFINE(Z);
   #endif
   #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-    _TMC2130_DEFINE(Z2);
+    TMC2130_DEFINE(Z2);
   #endif
   #if AXIS_DRIVER_TYPE(Z3, TMC2130)
-    _TMC2130_DEFINE(Z3);
+    TMC2130_DEFINE(Z3);
   #endif
   #if AXIS_DRIVER_TYPE(E0, TMC2130)
-    _TMC2130_DEFINE(E0);
+    TMC2130_DEFINE(E0);
   #endif
   #if AXIS_DRIVER_TYPE(E1, TMC2130)
-    _TMC2130_DEFINE(E1);
+    TMC2130_DEFINE(E1);
   #endif
   #if AXIS_DRIVER_TYPE(E2, TMC2130)
-    _TMC2130_DEFINE(E2);
+    TMC2130_DEFINE(E2);
   #endif
   #if AXIS_DRIVER_TYPE(E3, TMC2130)
-    _TMC2130_DEFINE(E3);
+    TMC2130_DEFINE(E3);
   #endif
   #if AXIS_DRIVER_TYPE(E4, TMC2130)
-    _TMC2130_DEFINE(E4);
+    TMC2130_DEFINE(E4);
   #endif
   #if AXIS_DRIVER_TYPE(E5, TMC2130)
-    _TMC2130_DEFINE(E5);
+    TMC2130_DEFINE(E5);
   #endif
 
-  // Use internal reference voltage for current calculations. This is the default.
-  // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
-  // https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
-  void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
+  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) {
     #if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
       UNUSED(thrs);
       UNUSED(spmm);
     #endif
     st.begin();
-    st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+
+    CHOPCONF_t chopconf{0};
+    chopconf.tbl = 1;
+    chopconf.toff = 3;
+    chopconf.intpol = INTERPOLATE;
+    chopconf.hstrt = 2;
+    chopconf.hend = 5;
+    st.CHOPCONF(chopconf.sr);
+
+    st.rms_current(mA, HOLD_MULTIPLIER);
     st.microsteps(microsteps);
-    st.blank_time(24);
-    st.off_time(5); // Only enables the driver if used with stealthChop
-    st.interpolate(INTERPOLATE);
-    st.power_down_delay(128); // ~2s until driver lowers to hold current
-    st.hysteresis_start(3);
-    st.hysteresis_end(2);
+    st.iholddelay(10);
+    st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
     #if ENABLED(STEALTHCHOP)
-      st.stealth_freq(1); // f_pwm = 2/683 f_clk
-      st.stealth_autoscale(1);
-      st.stealth_gradient(5);
-      st.stealth_amplitude(255);
-      st.stealthChop(1);
-      #if ENABLED(HYBRID_THRESHOLD)
-        st.stealth_max_speed(12650000UL*microsteps/(256*thrs*spmm));
-      #endif
-    #endif
-    st.GSTAT(); // Clear GSTAT
-  }
+      st.en_pwm_mode(true);
 
-  #define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
+      PWMCONF_t pwmconf{0};
+      pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
+      pwmconf.pwm_autoscale = true;
+      pwmconf.pwm_grad = 5;
+      pwmconf.pwm_ampl = 180;
+      st.PWMCONF(pwmconf.sr);
 
-  void tmc2130_init_to_defaults() {
-    #if AXIS_DRIVER_TYPE(X, TMC2130)
-      _TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(X2, TMC2130)
-      _TMC2130_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Y, TMC2130)
-      _TMC2130_INIT( Y, planner.axis_steps_per_mm[Y_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-      _TMC2130_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z, TMC2130)
-      _TMC2130_INIT( Z, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-      _TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z3, TMC2130)
-      _TMC2130_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(E0, TMC2130)
-      _TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(E1, TMC2130)
-      { constexpr uint8_t extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E2, TMC2130)
-      { constexpr uint8_t extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E3, TMC2130)
-      { constexpr uint8_t extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E4, TMC2130)
-      { constexpr uint8_t extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E5, TMC2130)
-      { constexpr uint8_t extruder = 5; _TMC2130_INIT(E5, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
-    #endif
-
-    #if USE_SENSORLESS
-      #define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_STALL_SENSITIVITY);
-      #if X_SENSORLESS
-        #if AXIS_DRIVER_TYPE(X, TMC2130)
-          stepperX.sgt(X_STALL_SENSITIVITY);
-        #endif
-        #if AXIS_DRIVER_TYPE(X2, TMC2130)
-          stepperX2.sgt(X_STALL_SENSITIVITY);
-        #endif
-      #endif
-      #if Y_SENSORLESS
-        #if AXIS_DRIVER_TYPE(Y, TMC2130)
-          stepperY.sgt(Y_STALL_SENSITIVITY);
-        #endif
-        #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-          stepperY2.sgt(Y_STALL_SENSITIVITY);
-        #endif
-      #endif
-      #if Z_SENSORLESS
-        #if AXIS_DRIVER_TYPE(Z, TMC2130)
-          stepperZ.sgt(Z_STALL_SENSITIVITY);
-        #endif
-        #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-          stepperZ2.sgt(Z_STALL_SENSITIVITY);
-        #endif
-        #if ENABLED(Z3_IS_TMC2130)
-          stepperZ3.sgt(Z_STALL_SENSITIVITY);
-        #endif
+      #if ENABLED(HYBRID_THRESHOLD)
+        st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
       #endif
     #endif
+    st.GSTAT(); // Clear GSTAT
   }
 #endif // TMC2130
 
@@ -311,106 +244,104 @@
 //
 #if HAS_DRIVER(TMC2208)
   #include <HardwareSerial.h>
-  #include <TMC2208Stepper.h>
   #include "planner.h"
 
-  #if TMC2208STEPPER_VERSION < 0x000101
-    #error "Update TMC2208Stepper library to 0.1.1 or newer."
-  #endif
+  #define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, R_SENSE)
+  #define TMC2208_DEFINE_HARDWARE(ST) _TMC2208_DEFINE_HARDWARE(ST, TMC_##ST##_LABEL)
 
-  #define _TMC2208_DEFINE_HARDWARE(ST) TMC2208Stepper stepper##ST(&ST##_HARDWARE_SERIAL)
-  #define _TMC2208_DEFINE_SOFTWARE(ST) TMC2208Stepper stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_SERIAL_RX_PIN > -1)
+  #define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, R_SENSE, 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);
+      TMC2208_DEFINE_HARDWARE(X);
     #else
-      _TMC2208_DEFINE_SOFTWARE(X);
+      TMC2208_DEFINE_SOFTWARE(X);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(X2, TMC2208)
     #ifdef X2_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(X2);
+      TMC2208_DEFINE_HARDWARE(X2);
     #else
-      _TMC2208_DEFINE_SOFTWARE(X2);
+      TMC2208_DEFINE_SOFTWARE(X2);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(Y, TMC2208)
     #ifdef Y_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Y);
+      TMC2208_DEFINE_HARDWARE(Y);
     #else
-      _TMC2208_DEFINE_SOFTWARE(Y);
+      TMC2208_DEFINE_SOFTWARE(Y);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(Y2, TMC2208)
     #ifdef Y2_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Y2);
+      TMC2208_DEFINE_HARDWARE(Y2);
     #else
-      _TMC2208_DEFINE_SOFTWARE(Y2);
+      TMC2208_DEFINE_SOFTWARE(Y2);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(Z, TMC2208)
     #ifdef Z_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Z);
+      TMC2208_DEFINE_HARDWARE(Z);
     #else
-      _TMC2208_DEFINE_SOFTWARE(Z);
+      TMC2208_DEFINE_SOFTWARE(Z);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(Z2, TMC2208)
     #ifdef Z2_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Z2);
+      TMC2208_DEFINE_HARDWARE(Z2);
     #else
-      _TMC2208_DEFINE_SOFTWARE(Z2);
+      TMC2208_DEFINE_SOFTWARE(Z2);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(Z3, TMC2208)
     #ifdef Z3_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Z3);
+      TMC2208_DEFINE_HARDWARE(Z3);
     #else
-      _TMC2208_DEFINE_SOFTWARE(Z3);
+      TMC2208_DEFINE_SOFTWARE(Z3);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(E0, TMC2208)
     #ifdef E0_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E0);
+      TMC2208_DEFINE_HARDWARE(E0);
     #else
-      _TMC2208_DEFINE_SOFTWARE(E0);
+      TMC2208_DEFINE_SOFTWARE(E0);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(E1, TMC2208)
     #ifdef E1_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E1);
+      TMC2208_DEFINE_HARDWARE(E1);
     #else
-      _TMC2208_DEFINE_SOFTWARE(E1);
+      TMC2208_DEFINE_SOFTWARE(E1);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(E2, TMC2208)
     #ifdef E2_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E2);
+      TMC2208_DEFINE_HARDWARE(E2);
     #else
-      _TMC2208_DEFINE_SOFTWARE(E2);
+      TMC2208_DEFINE_SOFTWARE(E2);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(E3, TMC2208)
     #ifdef E3_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E3);
+      TMC2208_DEFINE_HARDWARE(E3);
     #else
-      _TMC2208_DEFINE_SOFTWARE(E3);
+      TMC2208_DEFINE_SOFTWARE(E3);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(E4, TMC2208)
     #ifdef E4_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E4);
+      TMC2208_DEFINE_HARDWARE(E4);
     #else
-      _TMC2208_DEFINE_SOFTWARE(E4);
+      TMC2208_DEFINE_SOFTWARE(E4);
     #endif
   #endif
   #if AXIS_DRIVER_TYPE(E5, TMC2208)
     #ifdef E5_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E5);
+      TMC2208_DEFINE_HARDWARE(E5);
     #else
-      _TMC2208_DEFINE_SOFTWARE(E5);
+      TMC2208_DEFINE_SOFTWARE(E5);
     #endif
   #endif
 
@@ -508,85 +439,52 @@
     #endif
   }
 
-  // Use internal reference voltage for current calculations. This is the default.
-  // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
-  void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
-    st.pdn_disable(true); // Use UART
-    st.mstep_reg_select(true); // Select microsteps with UART
-    st.I_scale_analog(false);
-    st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
+  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) {
+    #if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
+      UNUSED(thrs);
+      UNUSED(spmm);
+    #endif
+
+    TMC2208_n::GCONF_t gconf{0};
+    gconf.pdn_disable = true; // Use UART
+    gconf.mstep_reg_select = true; // Select microsteps with UART
+    gconf.i_scale_analog = false;
+
+    TMC2208_n::CHOPCONF_t chopconf{0};
+    chopconf.tbl = 0b01; // blank_time = 24
+    chopconf.toff = 5;
+    chopconf.intpol = INTERPOLATE;
+    chopconf.hstrt = 2;
+    chopconf.hend = 5;
+    st.CHOPCONF(chopconf.sr);
+
+    st.rms_current(mA, HOLD_MULTIPLIER);
     st.microsteps(microsteps);
-    st.blank_time(24);
-    st.toff(5);
-    st.intpol(INTERPOLATE);
+    st.iholddelay(10);
     st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
-    st.hysteresis_start(3);
-    st.hysteresis_end(2);
     #if ENABLED(STEALTHCHOP)
-      st.pwm_lim(12);
-      st.pwm_reg(8);
-      st.pwm_autograd(1);
-      st.pwm_autoscale(1);
-      st.pwm_freq(1);
-      st.pwm_grad(14);
-      st.pwm_ofs(36);
-      st.en_spreadCycle(false);
+      gconf.en_spreadcycle = false;
+
+      TMC2208_n::PWMCONF_t pwmconf{0};
+      pwmconf.pwm_lim = 12;
+      pwmconf.pwm_reg = 8;
+      pwmconf.pwm_autograd = true;
+      pwmconf.pwm_autoscale = true;
+      pwmconf.pwm_freq = 0b01;
+      pwmconf.pwm_grad = 14;
+      pwmconf.pwm_ofs = 36;
+      st.PWMCONF(pwmconf.sr);
       #if ENABLED(HYBRID_THRESHOLD)
         st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
-      #else
-        UNUSED(thrs);
-        UNUSED(spmm);
       #endif
     #else
-      st.en_spreadCycle(true);
+      gconf.en_spreadcycle = true;
     #endif
+    st.GCONF(gconf.sr);
     st.GSTAT(0b111); // Clear
     delay(200);
   }
-
-  #define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
-
-  void tmc2208_init_to_defaults() {
-    #if AXIS_DRIVER_TYPE(X, TMC2208)
-      _TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(X2, TMC2208)
-      _TMC2208_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Y, TMC2208)
-      _TMC2208_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Y2, TMC2208)
-      _TMC2208_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z, TMC2208)
-      _TMC2208_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z2, TMC2208)
-      _TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z3, TMC2208)
-      _TMC2208_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(E0, TMC2208)
-      _TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(E1, TMC2208)
-      { constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E2, TMC2208)
-      { constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E3, TMC2208)
-      { constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E4, TMC2208)
-      { constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E5, TMC2208)
-      { constexpr int extruder = 5; _TMC2208_INIT(E5, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-  }
 #endif // TMC2208
 
 void restore_stepper_drivers() {
@@ -635,20 +533,84 @@ void reset_stepper_drivers() {
   #if HAS_DRIVER(TMC26X)
     tmc26x_init_to_defaults();
   #endif
-  #if HAS_DRIVER(TMC2130)
-    delay(100);
-    tmc2130_init_to_defaults();
+  #if ENABLED(HAVE_L6470DRIVER)
+    L6470_init_to_defaults();
+  #endif
+
+  #if AXIS_IS_TMC(X)
+    _TMC_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(X2)
+    _TMC_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Y)
+    _TMC_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Y2)
+    _TMC_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Z)
+    _TMC_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Z2)
+    _TMC_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Z3)
+    _TMC_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(E0)
+    _TMC_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(E1)
+    { constexpr uint8_t extruder = 1; _TMC_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+  #endif
+  #if AXIS_IS_TMC(E2)
+    { constexpr uint8_t extruder = 2; _TMC_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
   #endif
-  #if HAS_DRIVER(TMC2208)
-    delay(100);
-    tmc2208_init_to_defaults();
+  #if AXIS_IS_TMC(E3)
+    { constexpr uint8_t extruder = 3; _TMC_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+  #endif
+  #if AXIS_IS_TMC(E4)
+    { constexpr uint8_t extruder = 4; _TMC_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+  #endif
+  #if AXIS_IS_TMC(E5)
+    { constexpr uint8_t extruder = 5; _TMC_INIT(E5, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+  #endif
+
+  #if ENABLED(SENSORLESS_HOMING)
+    #if X_SENSORLESS
+      #if AXIS_HAS_STALLGUARD(X)
+        stepperX.sgt(X_STALL_SENSITIVITY);
+      #endif
+      #if AXIS_HAS_STALLGUARD(X2)
+        stepperX2.sgt(X_STALL_SENSITIVITY);
+      #endif
+    #endif
+    #if Y_SENSORLESS
+      #if AXIS_HAS_STALLGUARD(Y)
+        stepperY.sgt(Y_STALL_SENSITIVITY);
+      #endif
+      #if AXIS_HAS_STALLGUARD(Y2)
+        stepperY2.sgt(Y_STALL_SENSITIVITY);
+      #endif
+    #endif
+    #if Z_SENSORLESS
+      #if AXIS_HAS_STALLGUARD(Z)
+        stepperZ.sgt(Z_STALL_SENSITIVITY);
+      #endif
+      #if AXIS_HAS_STALLGUARD(Z2)
+        stepperZ2.sgt(Z_STALL_SENSITIVITY);
+      #endif
+      #if AXIS_HAS_STALLGUARD(Z3)
+        stepperZ3.sgt(Z_STALL_SENSITIVITY);
+      #endif
+    #endif
   #endif
+
   #ifdef TMC_ADV
     TMC_ADV()
   #endif
-  #if HAS_DRIVER(L6470)
-    L6470_init_to_defaults();
-  #endif
+
   stepper.set_directions();
 }
 

Marlin/src/module/stepper_indirection.h

@@ -57,15 +57,20 @@
   void tmc26x_init_to_defaults();
 #endif
 
-#if HAS_DRIVER(TMC2130)
-  #include <TMC2130Stepper.h>
-  void tmc2130_init_to_defaults();
-#endif
+#if HAS_TRINAMIC
+  #include <TMCStepper.h>
+  #include "../feature/tmc_util.h"
+  #if TMCSTEPPER_VERSION < 0x000001
+    #error "Update TMCStepper library to 0.0.1 or newer."
+  #endif
 
-#if HAS_DRIVER(TMC2208)
-  #include <TMC2208Stepper.h>
-  void tmc2208_serial_begin();
-  void tmc2208_init_to_defaults();
+  #define __TMC_CLASS(MODEL, A, I) TMCMarlin<TMC##MODEL##Stepper, A, I>
+  #define _TMC_CLASS(MODEL, L) __TMC_CLASS(MODEL, L)
+  #define TMC_CLASS(ST) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL)
+
+  #if HAS_DRIVER(TMC2208)
+    void tmc2208_serial_begin();
+  #endif
 #endif
 
 // L6470 has STEP on normal pins, but DIR/ENABLE via SPI
@@ -88,17 +93,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
   #define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(X)
+    extern TMC_CLASS(X) stepperX;
+  #endif
   #if AXIS_DRIVER_TYPE(X, TMC26X)
     extern TMC26XStepper stepperX;
     #define X_ENABLE_INIT NOOP
     #define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
     #define X_ENABLE_READ stepperX.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(X, TMC2130)
-      extern TMC2130Stepper stepperX;
-    #elif AXIS_DRIVER_TYPE(X, TMC2208)
-      extern TMC2208Stepper stepperX;
-    #endif
     #define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
     #define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
     #define X_ENABLE_READ READ(X_ENABLE_PIN)
@@ -121,17 +124,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
   #define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(Y)
+    extern TMC_CLASS(Y) stepperY;
+  #endif
   #if AXIS_DRIVER_TYPE(Y, TMC26X)
     extern TMC26XStepper stepperY;
     #define Y_ENABLE_INIT NOOP
     #define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
     #define Y_ENABLE_READ stepperY.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(Y, TMC2130)
-      extern TMC2130Stepper stepperY;
-    #elif AXIS_DRIVER_TYPE(Y, TMC2208)
-      extern TMC2208Stepper stepperY;
-    #endif
     #define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
     #define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
     #define Y_ENABLE_READ READ(Y_ENABLE_PIN)
@@ -154,17 +155,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
   #define Z_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(Z)
+    extern TMC_CLASS(Z) stepperZ;
+  #endif
   #if AXIS_DRIVER_TYPE(Z, TMC26X)
     extern TMC26XStepper stepperZ;
     #define Z_ENABLE_INIT NOOP
     #define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
     #define Z_ENABLE_READ stepperZ.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(Z, TMC2130)
-      extern TMC2130Stepper stepperZ;
-    #elif AXIS_DRIVER_TYPE(Z, TMC2208)
-      extern TMC2208Stepper stepperZ;
-    #endif
     #define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
     #define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
     #define Z_ENABLE_READ READ(Z_ENABLE_PIN)
@@ -188,17 +187,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
     #define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
     #define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
   #else
+    #if AXIS_IS_TMC(X2)
+      extern TMC_CLASS(X2) stepperX2;
+    #endif
     #if AXIS_DRIVER_TYPE(X2, TMC26X)
       extern TMC26XStepper stepperX2;
       #define X2_ENABLE_INIT NOOP
       #define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
       #define X2_ENABLE_READ stepperX2.isEnabled()
     #else
-      #if AXIS_DRIVER_TYPE(X2, TMC2130)
-        extern TMC2130Stepper stepperX2;
-      #elif AXIS_DRIVER_TYPE(X2, TMC2208)
-        extern TMC2208Stepper stepperX2;
-      #endif
       #define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
       #define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
       #define X2_ENABLE_READ READ(X2_ENABLE_PIN)
@@ -223,17 +220,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
     #define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
     #define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
   #else
+    #if AXIS_IS_TMC(Y2)
+      extern TMC_CLASS(Y2) stepperY2;
+    #endif
     #if AXIS_DRIVER_TYPE(Y2, TMC26X)
       extern TMC26XStepper stepperY2;
       #define Y2_ENABLE_INIT NOOP
       #define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
       #define Y2_ENABLE_READ stepperY2.isEnabled()
     #else
-      #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-        extern TMC2130Stepper stepperY2;
-      #elif AXIS_DRIVER_TYPE(Y2, TMC2208)
-        extern TMC2208Stepper stepperY2;
-      #endif
       #define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
       #define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
       #define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
@@ -258,17 +253,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
     #define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
     #define Z2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
   #else
+    #if AXIS_IS_TMC(Z2)
+      extern TMC_CLASS(Z2) stepperZ2;
+    #endif
     #if AXIS_DRIVER_TYPE(Z2, TMC26X)
       extern TMC26XStepper stepperZ2;
       #define Z2_ENABLE_INIT NOOP
       #define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
       #define Z2_ENABLE_READ stepperZ2.isEnabled()
     #else
-      #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-        extern TMC2130Stepper stepperZ2;
-      #elif AXIS_DRIVER_TYPE(Z2, TMC2208)
-        extern TMC2208Stepper stepperZ2;
-      #endif
       #define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
       #define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
       #define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
@@ -293,17 +286,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
     #define Z3_DIR_WRITE(STATE) stepperZ3.Step_Clock(STATE)
     #define Z3_DIR_READ (stepperZ3.getStatus() & STATUS_DIR)
   #else
+    #if AXIS_IS_TMC(Z3)
+      extern TMC_CLASS(Z3) stepperZ3;
+    #endif
     #if ENABLED(Z3_IS_TMC26X)
       extern TMC26XStepper stepperZ3;
       #define Z3_ENABLE_INIT NOOP
       #define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
       #define Z3_ENABLE_READ stepperZ3.isEnabled()
     #else
-      #if ENABLED(Z3_IS_TMC2130)
-        extern TMC2130Stepper stepperZ3;
-      #elif ENABLED(Z3_IS_TMC2208)
-        extern TMC2208Stepper stepperZ3;
-      #endif
       #define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
       #define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
       #define Z3_ENABLE_READ READ(Z3_ENABLE_PIN)
@@ -327,17 +318,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
   #define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E0)
+    extern TMC_CLASS(E0) stepperE0;
+  #endif
   #if AXIS_DRIVER_TYPE(E0, TMC26X)
     extern TMC26XStepper stepperE0;
     #define E0_ENABLE_INIT NOOP
     #define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
     #define E0_ENABLE_READ stepperE0.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(E0, TMC2130)
-      extern TMC2130Stepper stepperE0;
-    #elif AXIS_DRIVER_TYPE(E0, TMC2208)
-      extern TMC2208Stepper stepperE0;
-    #endif
     #define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
     #define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
     #define E0_ENABLE_READ READ(E0_ENABLE_PIN)
@@ -360,17 +349,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
   #define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E1)
+    extern TMC_CLASS(E1) stepperE1;
+  #endif
   #if AXIS_DRIVER_TYPE(E1, TMC26X)
     extern TMC26XStepper stepperE1;
     #define E1_ENABLE_INIT NOOP
     #define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
     #define E1_ENABLE_READ stepperE1.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(E1, TMC2130)
-      extern TMC2130Stepper stepperE1;
-    #elif AXIS_DRIVER_TYPE(E1, TMC2208)
-      extern TMC2208Stepper stepperE1;
-    #endif
     #define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
     #define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
     #define E1_ENABLE_READ READ(E1_ENABLE_PIN)
@@ -393,17 +380,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
   #define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E2)
+    extern TMC_CLASS(E2) stepperE2;
+  #endif
   #if AXIS_DRIVER_TYPE(E2, TMC26X)
     extern TMC26XStepper stepperE2;
     #define E2_ENABLE_INIT NOOP
     #define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
     #define E2_ENABLE_READ stepperE2.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(E2, TMC2130)
-      extern TMC2130Stepper stepperE2;
-    #elif AXIS_DRIVER_TYPE(E2, TMC2208)
-      extern TMC2208Stepper stepperE2;
-    #endif
     #define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
     #define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
     #define E2_ENABLE_READ READ(E2_ENABLE_PIN)
@@ -426,17 +411,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
   #define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E3)
+    extern TMC_CLASS(E3) stepperE3;
+  #endif
   #if AXIS_DRIVER_TYPE(E3, TMC26X)
     extern TMC26XStepper stepperE3;
     #define E3_ENABLE_INIT NOOP
     #define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
     #define E3_ENABLE_READ stepperE3.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(E3, TMC2130)
-      extern TMC2130Stepper stepperE3;
-    #elif AXIS_DRIVER_TYPE(E3, TMC2208)
-      extern TMC2208Stepper stepperE3;
-    #endif
     #define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
     #define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
     #define E3_ENABLE_READ READ(E3_ENABLE_PIN)
@@ -459,17 +442,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define E4_DIR_WRITE(STATE) stepperE4.Step_Clock(STATE)
   #define E4_DIR_READ (stepperE4.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E4)
+    extern TMC_CLASS(E4) stepperE4;
+  #endif
   #if AXIS_DRIVER_TYPE(E4, TMC26X)
     extern TMC26XStepper stepperE4;
     #define E4_ENABLE_INIT NOOP
     #define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
     #define E4_ENABLE_READ stepperE4.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(E4, TMC2130)
-      extern TMC2130Stepper stepperE4;
-    #elif AXIS_DRIVER_TYPE(E4, TMC2208)
-      extern TMC2208Stepper stepperE4;
-    #endif
     #define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
     #define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
     #define E4_ENABLE_READ READ(E4_ENABLE_PIN)
@@ -492,17 +473,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define E5_DIR_WRITE(STATE) stepperE5.Step_Clock(STATE)
   #define E5_DIR_READ (stepperE5.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E5)
+    extern TMC_CLASS(E5) stepperE5;
+  #endif
   #if AXIS_DRIVER_TYPE(E5, TMC26X)
     extern TMC26XStepper stepperE5;
     #define E5_ENABLE_INIT NOOP
     #define E5_ENABLE_WRITE(STATE) stepperE5.setEnabled(STATE)
     #define E5_ENABLE_READ stepperE5.isEnabled()
   #else
-    #if AXIS_DRIVER_TYPE(E5, TMC2130)
-      extern TMC2130Stepper stepperE5;
-    #elif AXIS_DRIVER_TYPE(E5, TMC2208)
-      extern TMC2208Stepper stepperE5;
-    #endif
     #define E5_ENABLE_INIT SET_OUTPUT(E5_ENABLE_PIN)
     #define E5_ENABLE_WRITE(STATE) WRITE(E5_ENABLE_PIN,STATE)
     #define E5_ENABLE_READ READ(E5_ENABLE_PIN)

platformio.ini

@@ -31,8 +31,7 @@ build_flags = -fmax-errors=5
 lib_deps =
   https://github.com/MarlinFirmware/U8glib-HAL/archive/dev.zip
   LiquidCrystal@1.3.4
-  TMC2130Stepper
-  https://github.com/teemuatlut/TMC2208Stepper/archive/v0.2.5.zip
+  https://github.com/teemuatlut/TMCStepper.git
   Adafruit NeoPixel@1.1.3
   https://github.com/lincomatic/LiquidTWI2/archive/30aa480.zip
   https://github.com/ameyer/Arduino-L6470/archive/master.zip
@@ -162,7 +161,7 @@ lib_ldf_mode      = off
 lib_extra_dirs    = frameworks
 lib_deps          = CMSIS-LPC1768
   https://github.com/MarlinFirmware/U8glib-HAL/archive/dev.zip
-  TMC2130Stepper@>=2.2.1
+  https://github.com/teemuatlut/TMCStepper.git
 extra_scripts     = Marlin/src/HAL/HAL_LPC1768/debug_extra_script.py, Marlin/src/HAL/HAL_LPC1768/lpc1768_flag_script.py, Marlin/src/HAL/HAL_LPC1768/upload_extra_script.py
 src_filter        = ${common.default_src_filter} +<src/HAL/HAL_LPC1768>
 monitor_speed     = 250000
@@ -270,7 +269,7 @@ framework     = arduino
 board         = disco_f407vg
 build_flags   = ${common.build_flags} -DUSE_STM32GENERIC -DSTM32GENERIC -DMENU_USB_SERIAL -DMENU_SERIAL=SerialUSB
 lib_deps      = ${common.lib_deps}
-lib_ignore    = Adafruit NeoPixel, c1921b4, TMC2130Stepper
+lib_ignore    = Adafruit NeoPixel, c1921b4, TMCStepper
 src_filter    = ${common.default_src_filter} +<src/HAL/HAL_STM32F4>
 monitor_speed = 250000
 
@@ -301,11 +300,10 @@ lib_ignore  =
   NewliquidCrystal
   LiquidTWI2
   Adafruit NeoPixel
-  TMC2130Stepper
+  TMCStepper
   Servo(STM32F1)
   TMC26XStepper
   U8glib-HAL
-  TMC2208Stepper
   c1921b4
 
 #