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diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfig.h"
+#include "../lcd/marlinui.h"
+
+#if HAS_TRINAMIC_CONFIG
+
+#include <TMCStepper.h>
+#include "../module/planner.h"
+
+#define CHOPPER_DEFAULT_12V  { 3, -1, 1 }
+#define CHOPPER_DEFAULT_19V  { 4,  1, 1 }
+#define CHOPPER_DEFAULT_24V  { 4,  2, 1 }
+#define CHOPPER_DEFAULT_36V  { 5,  2, 4 }
+#define CHOPPER_PRUSAMK3_24V { 3, -2, 6 }
+#define CHOPPER_MARLIN_119   { 5,  2, 3 }
+#define CHOPPER_09STEP_24V   { 3, -1, 5 }
+
+#if ENABLED(MONITOR_DRIVER_STATUS) && !defined(MONITOR_DRIVER_STATUS_INTERVAL_MS)
+  #define MONITOR_DRIVER_STATUS_INTERVAL_MS 500U
+#endif
+
+constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const uint32_t spmm) {
+  return 12650000UL * msteps / (256 * thrs * spmm);
+}
+
+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() {}
+
+  public:
+    uint16_t val_mA = 0;
+
+    #if ENABLED(MONITOR_DRIVER_STATUS)
+      uint8_t otpw_count = 0,
+              error_count = 0;
+      bool flag_otpw = false;
+      inline bool getOTPW() { return flag_otpw; }
+      inline void clear_otpw() { flag_otpw = 0; }
+    #endif
+
+    inline uint16_t getMilliamps() { return val_mA; }
+
+    inline void printLabel() {
+      SERIAL_CHAR(AXIS_LETTER);
+      if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
+    }
+
+    struct {
+      TERN_(HAS_STEALTHCHOP, bool stealthChop_enabled = false);
+      TERN_(HYBRID_THRESHOLD, uint8_t hybrid_thrs = 0);
+      TERN_(USE_SENSORLESS, int16_t homing_thrs = 0);
+    } stored;
+};
+
+template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+  public:
+    TMCMarlin(const uint16_t cs_pin, const float RS) :
+      TMC(cs_pin, RS)
+      {}
+    TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t axis_chain_index) :
+      TMC(cs_pin, RS, axis_chain_index)
+      {}
+    TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) :
+      TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
+      {}
+    TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) :
+      TMC(CS, RS, pinMOSI, pinMISO, pinSCK,  axis_chain_index)
+      {}
+    inline uint16_t rms_current() { return TMC::rms_current(); }
+    inline void rms_current(uint16_t mA) {
+      this->val_mA = mA;
+      TMC::rms_current(mA);
+    }
+    inline void rms_current(const uint16_t mA, const float mult) {
+      this->val_mA = mA;
+      TMC::rms_current(mA, mult);
+    }
+    inline uint16_t get_microstep_counter() { return TMC::MSCNT(); }
+
+    #if HAS_STEALTHCHOP
+      inline bool get_stealthChop()                { return this->en_pwm_mode(); }
+      inline bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
+      inline void refresh_stepping_mode()          { this->en_pwm_mode(this->stored.stealthChop_enabled); }
+      inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
+      inline bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
+    #endif
+
+    #if ENABLED(HYBRID_THRESHOLD)
+      uint32_t get_pwm_thrs() {
+        return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
+      }
+      void set_pwm_thrs(const uint32_t thrs) {
+        TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
+        TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
+      }
+    #endif
+
+    #if USE_SENSORLESS
+      inline int16_t homing_threshold() { return TMC::sgt(); }
+      void homing_threshold(int16_t sgt_val) {
+        sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
+        TMC::sgt(sgt_val);
+        TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
+      }
+      #if ENABLED(SPI_ENDSTOPS)
+        bool test_stall_status();
+      #endif
+    #endif
+
+    #if HAS_LCD_MENU
+      inline void refresh_stepper_current() { rms_current(this->val_mA); }
+
+      #if ENABLED(HYBRID_THRESHOLD)
+        inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
+      #endif
+      #if USE_SENSORLESS
+        inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
+      #endif
+    #endif
+
+    static constexpr int8_t sgt_min = -64,
+                            sgt_max =  63;
+};
+
+template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+  public:
+    TMCMarlin(Stream * SerialPort, const float RS, const uint8_t) :
+      TMC2208Stepper(SerialPort, RS)
+      {}
+    TMCMarlin(Stream * SerialPort, const float RS, uint8_t addr, const uint16_t mul_pin1, const uint16_t mul_pin2) :
+      TMC2208Stepper(SerialPort, RS, addr, mul_pin1, mul_pin2)
+     {}
+    TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t) :
+      TMC2208Stepper(RX, TX, RS)
+      {}
+
+    uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
+    inline void rms_current(const uint16_t mA) {
+      this->val_mA = mA;
+      TMC2208Stepper::rms_current(mA);
+    }
+    inline void rms_current(const uint16_t mA, const float mult) {
+      this->val_mA = mA;
+      TMC2208Stepper::rms_current(mA, mult);
+    }
+    inline uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); }
+
+    #if HAS_STEALTHCHOP
+      inline bool get_stealthChop()                { return !this->en_spreadCycle(); }
+      inline bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
+      inline void refresh_stepping_mode()          { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
+      inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
+      inline bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
+    #endif
+
+    #if ENABLED(HYBRID_THRESHOLD)
+      uint32_t get_pwm_thrs() {
+        return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
+      }
+      void set_pwm_thrs(const uint32_t thrs) {
+        TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
+        TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
+      }
+    #endif
+
+    #if HAS_LCD_MENU
+      inline void refresh_stepper_current() { rms_current(this->val_mA); }
+
+      #if ENABLED(HYBRID_THRESHOLD)
+        inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
+      #endif
+    #endif
+};
+
+template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2209Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+  public:
+    TMCMarlin(Stream * SerialPort, const float RS, const uint8_t addr) :
+      TMC2209Stepper(SerialPort, RS, addr)
+      {}
+    TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t addr) :
+      TMC2209Stepper(RX, TX, RS, addr)
+      {}
+    uint8_t get_address() { return slave_address; }
+    uint16_t rms_current() { return TMC2209Stepper::rms_current(); }
+    inline void rms_current(const uint16_t mA) {
+      this->val_mA = mA;
+      TMC2209Stepper::rms_current(mA);
+    }
+    inline void rms_current(const uint16_t mA, const float mult) {
+      this->val_mA = mA;
+      TMC2209Stepper::rms_current(mA, mult);
+    }
+    inline uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); }
+
+    #if HAS_STEALTHCHOP
+      inline bool get_stealthChop()                { return !this->en_spreadCycle(); }
+      inline bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
+      inline void refresh_stepping_mode()          { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
+      inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
+      inline bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
+    #endif
+
+    #if ENABLED(HYBRID_THRESHOLD)
+      uint32_t get_pwm_thrs() {
+        return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
+      }
+      void set_pwm_thrs(const uint32_t thrs) {
+        TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
+        TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
+      }
+    #endif
+    #if USE_SENSORLESS
+      inline int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
+      void homing_threshold(int16_t sgt_val) {
+        sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
+        TMC2209Stepper::SGTHRS(sgt_val);
+        TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
+      }
+    #endif
+
+    #if HAS_LCD_MENU
+      inline void refresh_stepper_current() { rms_current(this->val_mA); }
+
+      #if ENABLED(HYBRID_THRESHOLD)
+        inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
+      #endif
+      #if USE_SENSORLESS
+        inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
+      #endif
+    #endif
+
+    static constexpr uint8_t sgt_min = 0,
+                             sgt_max = 255;
+};
+
+template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+  public:
+    TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t) :
+      TMC2660Stepper(cs_pin, RS)
+      {}
+    TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t) :
+      TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK)
+      {}
+    inline uint16_t rms_current() { return TMC2660Stepper::rms_current(); }
+    inline void rms_current(const uint16_t mA) {
+      this->val_mA = mA;
+      TMC2660Stepper::rms_current(mA);
+    }
+    inline uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); }
+
+    #if USE_SENSORLESS
+      inline int16_t homing_threshold() { return TMC2660Stepper::sgt(); }
+      void homing_threshold(int16_t sgt_val) {
+        sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
+        TMC2660Stepper::sgt(sgt_val);
+        TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
+      }
+    #endif
+
+    #if HAS_LCD_MENU
+      inline void refresh_stepper_current() { rms_current(this->val_mA); }
+
+      #if USE_SENSORLESS
+        inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
+      #endif
+    #endif
+
+    static constexpr int8_t sgt_min = -64,
+                            sgt_max =  63;
+};
+
+template<typename TMC>
+void tmc_print_current(TMC &st) {
+  st.printLabel();
+  SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps());
+}
+
+#if ENABLED(MONITOR_DRIVER_STATUS)
+  template<typename TMC>
+  void tmc_report_otpw(TMC &st) {
+    st.printLabel();
+    SERIAL_ECHOPGM(" temperature prewarn triggered: ");
+    serialprint_truefalse(st.getOTPW());
+    SERIAL_EOL();
+  }
+  template<typename TMC>
+  void tmc_clear_otpw(TMC &st) {
+    st.clear_otpw();
+    st.printLabel();
+    SERIAL_ECHOLNPGM(" prewarn flag cleared");
+  }
+#endif
+#if ENABLED(HYBRID_THRESHOLD)
+  template<typename TMC>
+  void tmc_print_pwmthrs(TMC &st) {
+    st.printLabel();
+    SERIAL_ECHOLNPAIR(" stealthChop max speed: ", st.get_pwm_thrs());
+  }
+#endif
+#if USE_SENSORLESS
+  template<typename TMC>
+  void tmc_print_sgt(TMC &st) {
+    st.printLabel();
+    SERIAL_ECHOPGM(" homing sensitivity: ");
+    SERIAL_PRINTLN(st.homing_threshold(), DEC);
+  }
+#endif
+
+void monitor_tmc_drivers();
+void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z, const bool test_e);
+
+#if ENABLED(TMC_DEBUG)
+  #if ENABLED(MONITOR_DRIVER_STATUS)
+    void tmc_set_report_interval(const uint16_t update_interval);
+  #endif
+  void tmc_report_all(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
+  void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
+#endif
+
+/**
+ * TMC2130-specific sensorless homing using stallGuard2.
+ * stallGuard2 only works when in spreadCycle mode.
+ * spreadCycle and stealthChop are mutually-exclusive.
+ *
+ * Defined here because of limitations with templates and headers.
+ */
+#if USE_SENSORLESS
+
+  // Track enabled status of stealthChop and only re-enable where applicable
+  struct sensorless_t { bool x, y, z, x2, y2, z2, z3, z4; };
+
+  #if ENABLED(IMPROVE_HOMING_RELIABILITY)
+    extern millis_t sg_guard_period;
+    constexpr uint16_t default_sg_guard_duration = 400;
+
+    struct slow_homing_t {
+      xy_ulong_t acceleration;
+      TERN_(HAS_CLASSIC_JERK, xy_float_t jerk_xy);
+    };
+  #endif
+
+  bool tmc_enable_stallguard(TMC2130Stepper &st);
+  void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
+
+  bool tmc_enable_stallguard(TMC2209Stepper &st);
+  void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth);
+
+  bool tmc_enable_stallguard(TMC2660Stepper);
+  void tmc_disable_stallguard(TMC2660Stepper, const bool);
+
+  #if ENABLED(SPI_ENDSTOPS)
+
+    template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+    bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() {
+      this->switchCSpin(LOW);
+
+      // read stallGuard flag from TMC library, will handle HW and SW SPI
+      TMC2130_n::DRV_STATUS_t drv_status{0};
+      drv_status.sr = this->DRV_STATUS();
+
+      this->switchCSpin(HIGH);
+
+      return drv_status.stallGuard;
+    }
+  #endif // SPI_ENDSTOPS
+
+#endif // USE_SENSORLESS
+
+#if HAS_TMC_SPI
+  void tmc_init_cs_pins();
+#endif
+
+#endif // HAS_TRINAMIC_CONFIG