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diff --git a/Marlin/src/gcode/feature/trinamic/M122.cpp b/Marlin/src/gcode/feature/trinamic/M122.cpp
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+++ b/Marlin/src/gcode/feature/trinamic/M122.cpp
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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/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if HAS_TRINAMIC_CONFIG
+
+#include "../../gcode.h"
+#include "../../../feature/tmc_util.h"
+#include "../../../module/stepper/indirection.h"
+
+/**
+ * M122: Debug TMC drivers
+ */
+void GcodeSuite::M122() {
+  xyze_bool_t print_axis = { false, false, false, false };
+  bool print_all = true;
+  LOOP_XYZE(i) if (parser.seen(axis_codes[i])) { print_axis[i] = true; print_all = false; }
+
+  if (print_all) LOOP_XYZE(i) print_axis[i] = true;
+
+  if (parser.boolval('I')) restore_stepper_drivers();
+
+  #if ENABLED(TMC_DEBUG)
+    #if ENABLED(MONITOR_DRIVER_STATUS)
+      uint16_t interval = MONITOR_DRIVER_STATUS_INTERVAL_MS;
+      if (parser.seen('S') && !parser.value_bool()) interval = 0;
+      if (parser.seenval('P')) NOMORE(interval, parser.value_ushort());
+      tmc_set_report_interval(interval);
+    #endif
+
+    if (parser.seen('V'))
+      tmc_get_registers(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
+    else
+      tmc_report_all(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
+  #endif
+
+  test_tmc_connection(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
+}
+
+#endif // HAS_TRINAMIC_CONFIG