Initial commit

4 files changed, 848 insertions, 0 deletions

diff --git a/Marlin/src/gcode/feature/trinamic/M122.cpp b/Marlin/src/gcode/feature/trinamic/M122.cpp
new file mode 100644
index 0000000..46e4365
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M122.cpp
@@ -0,0 +1,60 @@
+/**
+ * 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
diff --git a/Marlin/src/gcode/feature/trinamic/M569.cpp b/Marlin/src/gcode/feature/trinamic/M569.cpp
new file mode 100644
index 0000000..6b379f1
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M569.cpp
@@ -0,0 +1,186 @@
+/**
+ * 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_STEALTHCHOP
+
+#include "../../gcode.h"
+#include "../../../feature/tmc_util.h"
+#include "../../../module/stepper/indirection.h"
+
+template<typename TMC>
+void tmc_say_stealth_status(TMC &st) {
+  st.printLabel();
+  SERIAL_ECHOPGM(" driver mode:\t");
+  serialprintPGM(st.get_stealthChop() ? PSTR("stealthChop") : PSTR("spreadCycle"));
+  SERIAL_EOL();
+}
+template<typename TMC>
+void tmc_set_stealthChop(TMC &st, const bool enable) {
+  st.stored.stealthChop_enabled = enable;
+  st.refresh_stepping_mode();
+}
+
+static void set_stealth_status(const bool enable, const int8_t target_extruder) {
+  #define TMC_SET_STEALTH(Q) tmc_set_stealthChop(stepper##Q, enable)
+
+  #if    AXIS_HAS_STEALTHCHOP(X)  || AXIS_HAS_STEALTHCHOP(X2) \
+      || AXIS_HAS_STEALTHCHOP(Y)  || AXIS_HAS_STEALTHCHOP(Y2) \
+      || AXIS_HAS_STEALTHCHOP(Z)  || AXIS_HAS_STEALTHCHOP(Z2) \
+      || AXIS_HAS_STEALTHCHOP(Z3) || AXIS_HAS_STEALTHCHOP(Z4)
+    const uint8_t index = parser.byteval('I');
+  #endif
+
+  LOOP_XYZE(i) if (parser.seen(axis_codes[i])) {
+    switch (i) {
+      case X_AXIS:
+        #if AXIS_HAS_STEALTHCHOP(X)
+          if (index == 0) TMC_SET_STEALTH(X);
+        #endif
+        #if AXIS_HAS_STEALTHCHOP(X2)
+          if (index == 1) TMC_SET_STEALTH(X2);
+        #endif
+        break;
+      case Y_AXIS:
+        #if AXIS_HAS_STEALTHCHOP(Y)
+          if (index == 0) TMC_SET_STEALTH(Y);
+        #endif
+        #if AXIS_HAS_STEALTHCHOP(Y2)
+          if (index == 1) TMC_SET_STEALTH(Y2);
+        #endif
+        break;
+      case Z_AXIS:
+        #if AXIS_HAS_STEALTHCHOP(Z)
+          if (index == 0) TMC_SET_STEALTH(Z);
+        #endif
+        #if AXIS_HAS_STEALTHCHOP(Z2)
+          if (index == 1) TMC_SET_STEALTH(Z2);
+        #endif
+        #if AXIS_HAS_STEALTHCHOP(Z3)
+          if (index == 2) TMC_SET_STEALTH(Z3);
+        #endif
+        #if AXIS_HAS_STEALTHCHOP(Z4)
+          if (index == 3) TMC_SET_STEALTH(Z4);
+        #endif
+        break;
+      case E_AXIS: {
+        if (target_extruder < 0) return;
+        switch (target_extruder) {
+          #if AXIS_HAS_STEALTHCHOP(E0)
+            case 0: TMC_SET_STEALTH(E0); break;
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(E1)
+            case 1: TMC_SET_STEALTH(E1); break;
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(E2)
+            case 2: TMC_SET_STEALTH(E2); break;
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(E3)
+            case 3: TMC_SET_STEALTH(E3); break;
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(E4)
+            case 4: TMC_SET_STEALTH(E4); break;
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(E5)
+            case 5: TMC_SET_STEALTH(E5); break;
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(E6)
+            case 6: TMC_SET_STEALTH(E6); break;
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(E7)
+            case 7: TMC_SET_STEALTH(E7); break;
+          #endif
+        }
+      } break;
+    }
+  }
+}
+
+static void say_stealth_status() {
+  #define TMC_SAY_STEALTH_STATUS(Q) tmc_say_stealth_status(stepper##Q)
+
+  #if AXIS_HAS_STEALTHCHOP(X)
+    TMC_SAY_STEALTH_STATUS(X);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(X2)
+    TMC_SAY_STEALTH_STATUS(X2);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Y)
+    TMC_SAY_STEALTH_STATUS(Y);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Y2)
+    TMC_SAY_STEALTH_STATUS(Y2);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Z)
+    TMC_SAY_STEALTH_STATUS(Z);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Z2)
+    TMC_SAY_STEALTH_STATUS(Z2);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Z3)
+    TMC_SAY_STEALTH_STATUS(Z3);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Z4)
+    TMC_SAY_STEALTH_STATUS(Z4);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(E0)
+    TMC_SAY_STEALTH_STATUS(E0);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(E1)
+    TMC_SAY_STEALTH_STATUS(E1);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(E2)
+    TMC_SAY_STEALTH_STATUS(E2);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(E3)
+    TMC_SAY_STEALTH_STATUS(E3);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(E4)
+    TMC_SAY_STEALTH_STATUS(E4);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(E5)
+    TMC_SAY_STEALTH_STATUS(E5);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(E6)
+    TMC_SAY_STEALTH_STATUS(E6);
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(E7)
+    TMC_SAY_STEALTH_STATUS(E7);
+  #endif
+}
+
+/**
+ * M569: Enable stealthChop on an axis
+ *
+ *   S[1|0] to enable or disable
+ *   XYZE to target an axis
+ *   No arguments reports the stealthChop status of all capable drivers.
+ */
+void GcodeSuite::M569() {
+  if (parser.seen('S'))
+    set_stealth_status(parser.value_bool(), get_target_extruder_from_command());
+  else
+    say_stealth_status();
+}
+
+#endif // HAS_STEALTHCHOP
diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp
new file mode 100644
index 0000000..e834ebd
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M906.cpp
@@ -0,0 +1,173 @@
+/**
+ * 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"
+
+/**
+ * M906: Set motor current in milliamps.
+ *
+ * Parameters:
+ *   X[current]  - Set mA current for X driver(s)
+ *   Y[current]  - Set mA current for Y driver(s)
+ *   Z[current]  - Set mA current for Z driver(s)
+ *   E[current]  - Set mA current for E driver(s)
+ *
+ *   I[index]    - Axis sub-index (Omit or 0 for X, Y, Z; 1 for X2, Y2, Z2; 2 for Z3; 3 for Z4.)
+ *   T[index]    - Extruder index (Zero-based. Omit for E0 only.)
+ *
+ * With no parameters report driver currents.
+ */
+void GcodeSuite::M906() {
+  #define TMC_SAY_CURRENT(Q) tmc_print_current(stepper##Q)
+  #define TMC_SET_CURRENT(Q) stepper##Q.rms_current(value)
+
+  bool report = true;
+
+  #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
+    const uint8_t index = parser.byteval('I');
+  #endif
+
+  LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) {
+    report = false;
+    switch (i) {
+      case X_AXIS:
+        #if AXIS_IS_TMC(X)
+          if (index == 0) TMC_SET_CURRENT(X);
+        #endif
+        #if AXIS_IS_TMC(X2)
+          if (index == 1) TMC_SET_CURRENT(X2);
+        #endif
+        break;
+      case Y_AXIS:
+        #if AXIS_IS_TMC(Y)
+          if (index == 0) TMC_SET_CURRENT(Y);
+        #endif
+        #if AXIS_IS_TMC(Y2)
+          if (index == 1) TMC_SET_CURRENT(Y2);
+        #endif
+        break;
+      case Z_AXIS:
+        #if AXIS_IS_TMC(Z)
+          if (index == 0) TMC_SET_CURRENT(Z);
+        #endif
+        #if AXIS_IS_TMC(Z2)
+          if (index == 1) TMC_SET_CURRENT(Z2);
+        #endif
+        #if AXIS_IS_TMC(Z3)
+          if (index == 2) TMC_SET_CURRENT(Z3);
+        #endif
+        #if AXIS_IS_TMC(Z4)
+          if (index == 3) TMC_SET_CURRENT(Z4);
+        #endif
+        break;
+      case E_AXIS: {
+        const int8_t target_extruder = get_target_extruder_from_command();
+        if (target_extruder < 0) return;
+        switch (target_extruder) {
+          #if AXIS_IS_TMC(E0)
+            case 0: TMC_SET_CURRENT(E0); break;
+          #endif
+          #if AXIS_IS_TMC(E1)
+            case 1: TMC_SET_CURRENT(E1); break;
+          #endif
+          #if AXIS_IS_TMC(E2)
+            case 2: TMC_SET_CURRENT(E2); break;
+          #endif
+          #if AXIS_IS_TMC(E3)
+            case 3: TMC_SET_CURRENT(E3); break;
+          #endif
+          #if AXIS_IS_TMC(E4)
+            case 4: TMC_SET_CURRENT(E4); break;
+          #endif
+          #if AXIS_IS_TMC(E5)
+            case 5: TMC_SET_CURRENT(E5); break;
+          #endif
+          #if AXIS_IS_TMC(E6)
+            case 6: TMC_SET_CURRENT(E6); break;
+          #endif
+          #if AXIS_IS_TMC(E7)
+            case 7: TMC_SET_CURRENT(E7); break;
+          #endif
+        }
+      } break;
+    }
+  }
+
+  if (report) {
+    #if AXIS_IS_TMC(X)
+      TMC_SAY_CURRENT(X);
+    #endif
+    #if AXIS_IS_TMC(X2)
+      TMC_SAY_CURRENT(X2);
+    #endif
+    #if AXIS_IS_TMC(Y)
+      TMC_SAY_CURRENT(Y);
+    #endif
+    #if AXIS_IS_TMC(Y2)
+      TMC_SAY_CURRENT(Y2);
+    #endif
+    #if AXIS_IS_TMC(Z)
+      TMC_SAY_CURRENT(Z);
+    #endif
+    #if AXIS_IS_TMC(Z2)
+      TMC_SAY_CURRENT(Z2);
+    #endif
+    #if AXIS_IS_TMC(Z3)
+      TMC_SAY_CURRENT(Z3);
+    #endif
+    #if AXIS_IS_TMC(Z4)
+      TMC_SAY_CURRENT(Z4);
+    #endif
+    #if AXIS_IS_TMC(E0)
+      TMC_SAY_CURRENT(E0);
+    #endif
+    #if AXIS_IS_TMC(E1)
+      TMC_SAY_CURRENT(E1);
+    #endif
+    #if AXIS_IS_TMC(E2)
+      TMC_SAY_CURRENT(E2);
+    #endif
+    #if AXIS_IS_TMC(E3)
+      TMC_SAY_CURRENT(E3);
+    #endif
+    #if AXIS_IS_TMC(E4)
+      TMC_SAY_CURRENT(E4);
+    #endif
+    #if AXIS_IS_TMC(E5)
+      TMC_SAY_CURRENT(E5);
+    #endif
+    #if AXIS_IS_TMC(E6)
+      TMC_SAY_CURRENT(E6);
+    #endif
+    #if AXIS_IS_TMC(E7)
+      TMC_SAY_CURRENT(E7);
+    #endif
+  }
+}
+
+#endif // HAS_TRINAMIC_CONFIG
diff --git a/Marlin/src/gcode/feature/trinamic/M911-M914.cpp b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp
new file mode 100644
index 0000000..8c840db
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp
@@ -0,0 +1,429 @@
+/**
+ * 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"
+#include "../../../module/planner.h"
+#include "../../queue.h"
+
+#if ENABLED(MONITOR_DRIVER_STATUS)
+
+  #define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2208) || AXIS_DRIVER_TYPE(ST, TMC2209) || AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160))
+  #define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
+
+  #define M91x_SOME_X (M91x_USE(X) || M91x_USE(X2))
+  #define M91x_SOME_Y (M91x_USE(Y) || M91x_USE(Y2))
+  #define M91x_SOME_Z (M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3) || M91x_USE(Z4))
+  #define M91x_SOME_E (M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5) || M91x_USE_E(6) || M91x_USE_E(7))
+
+  #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_SOME_E
+    #error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160."
+  #endif
+
+  /**
+   * 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(Z4)
+      tmc_report_otpw(stepperZ4);
+    #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
+    #if M91x_USE_E(6)
+      tmc_report_otpw(stepperE6);
+    #endif
+    #if M91x_USE_E(7)
+      tmc_report_otpw(stepperE7);
+    #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, Z4 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() {
+    #if M91x_SOME_X
+      const bool hasX = parser.seen(axis_codes.x);
+    #else
+      constexpr bool hasX = false;
+    #endif
+
+    #if M91x_SOME_Y
+      const bool hasY = parser.seen(axis_codes.y);
+    #else
+      constexpr bool hasY = false;
+    #endif
+
+    #if M91x_SOME_Z
+      const bool hasZ = parser.seen(axis_codes.z);
+    #else
+      constexpr bool hasZ = false;
+    #endif
+
+    #if M91x_SOME_E
+      const bool hasE = parser.seen(axis_codes.e);
+    #else
+      constexpr bool hasE = false;
+    #endif
+
+    const bool hasNone = !hasX && !hasY && !hasZ && !hasE;
+
+    #if M91x_SOME_X
+      const int8_t xval = int8_t(parser.byteval(axis_codes.x, 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
+
+    #if M91x_SOME_Y
+      const int8_t yval = int8_t(parser.byteval(axis_codes.y, 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
+
+    #if M91x_SOME_Z
+      const int8_t zval = int8_t(parser.byteval(axis_codes.z, 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
+      #if M91x_USE(Z4)
+        if (hasNone || zval == 4 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ4);
+      #endif
+    #endif
+
+    #if M91x_SOME_E
+      const int8_t eval = int8_t(parser.byteval(axis_codes.e, 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
+      #if M91x_USE_E(6)
+        if (hasNone || eval == 6 || (hasE && eval < 0)) tmc_clear_otpw(stepperE6);
+      #endif
+      #if M91x_USE_E(7)
+        if (hasNone || eval == 7 || (hasE && eval < 0)) tmc_clear_otpw(stepperE7);
+      #endif
+    #endif
+  }
+
+#endif // MONITOR_DRIVER_STATUS
+
+/**
+ * M913: Set HYBRID_THRESHOLD speed.
+ */
+#if ENABLED(HYBRID_THRESHOLD)
+  void GcodeSuite::M913() {
+    #define TMC_SAY_PWMTHRS(A,Q) tmc_print_pwmthrs(stepper##Q)
+    #define TMC_SET_PWMTHRS(A,Q) stepper##Q.set_pwm_thrs(value)
+    #define TMC_SAY_PWMTHRS_E(E) tmc_print_pwmthrs(stepperE##E)
+    #define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value)
+
+    bool report = true;
+    #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
+      const uint8_t index = parser.byteval('I');
+    #endif
+    LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) {
+      report = false;
+      switch (i) {
+        case X_AXIS:
+          #if AXIS_HAS_STEALTHCHOP(X)
+            if (index < 2) TMC_SET_PWMTHRS(X,X);
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(X2)
+            if (!(index & 1)) TMC_SET_PWMTHRS(X,X2);
+          #endif
+          break;
+        case Y_AXIS:
+          #if AXIS_HAS_STEALTHCHOP(Y)
+            if (index < 2) TMC_SET_PWMTHRS(Y,Y);
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(Y2)
+            if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2);
+          #endif
+          break;
+        case Z_AXIS:
+          #if AXIS_HAS_STEALTHCHOP(Z)
+            if (index < 2) TMC_SET_PWMTHRS(Z,Z);
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(Z2)
+            if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2);
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(Z3)
+            if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3);
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(Z4)
+            if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4);
+          #endif
+          break;
+        case E_AXIS: {
+          #if E_STEPPERS
+            const int8_t target_extruder = get_target_extruder_from_command();
+            if (target_extruder < 0) return;
+            switch (target_extruder) {
+              #if AXIS_HAS_STEALTHCHOP(E0)
+                case 0: TMC_SET_PWMTHRS_E(0); break;
+              #endif
+              #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
+                case 1: TMC_SET_PWMTHRS_E(1); break;
+              #endif
+              #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
+                case 2: TMC_SET_PWMTHRS_E(2); break;
+              #endif
+              #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
+                case 3: TMC_SET_PWMTHRS_E(3); break;
+              #endif
+              #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
+                case 4: TMC_SET_PWMTHRS_E(4); break;
+              #endif
+              #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
+                case 5: TMC_SET_PWMTHRS_E(5); break;
+              #endif
+              #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6)
+                case 6: TMC_SET_PWMTHRS_E(6); break;
+              #endif
+              #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7)
+                case 7: TMC_SET_PWMTHRS_E(7); break;
+              #endif
+            }
+          #endif // E_STEPPERS
+        } break;
+      }
+    }
+
+    if (report) {
+      #if AXIS_HAS_STEALTHCHOP(X)
+        TMC_SAY_PWMTHRS(X,X);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(X2)
+        TMC_SAY_PWMTHRS(X,X2);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Y)
+        TMC_SAY_PWMTHRS(Y,Y);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Y2)
+        TMC_SAY_PWMTHRS(Y,Y2);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z)
+        TMC_SAY_PWMTHRS(Z,Z);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z2)
+        TMC_SAY_PWMTHRS(Z,Z2);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z3)
+        TMC_SAY_PWMTHRS(Z,Z3);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z4)
+        TMC_SAY_PWMTHRS(Z,Z4);
+      #endif
+      #if E_STEPPERS && AXIS_HAS_STEALTHCHOP(E0)
+        TMC_SAY_PWMTHRS_E(0);
+      #endif
+      #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
+        TMC_SAY_PWMTHRS_E(1);
+      #endif
+      #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
+        TMC_SAY_PWMTHRS_E(2);
+      #endif
+      #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
+        TMC_SAY_PWMTHRS_E(3);
+      #endif
+      #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
+        TMC_SAY_PWMTHRS_E(4);
+      #endif
+      #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
+        TMC_SAY_PWMTHRS_E(5);
+      #endif
+      #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6)
+        TMC_SAY_PWMTHRS_E(6);
+      #endif
+      #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7)
+        TMC_SAY_PWMTHRS_E(7);
+      #endif
+    }
+  }
+#endif // HYBRID_THRESHOLD
+
+/**
+ * M914: Set StallGuard sensitivity.
+ */
+#if USE_SENSORLESS
+  void GcodeSuite::M914() {
+
+    bool report = true;
+    const uint8_t index = parser.byteval('I');
+    LOOP_XYZ(i) if (parser.seen(XYZ_CHAR(i))) {
+      const int16_t value = parser.value_int();
+      report = false;
+      switch (i) {
+        #if X_SENSORLESS
+          case X_AXIS:
+            #if AXIS_HAS_STALLGUARD(X)
+              if (index < 2) stepperX.homing_threshold(value);
+            #endif
+            #if AXIS_HAS_STALLGUARD(X2)
+              if (!(index & 1)) stepperX2.homing_threshold(value);
+            #endif
+            break;
+        #endif
+        #if Y_SENSORLESS
+          case Y_AXIS:
+            #if AXIS_HAS_STALLGUARD(Y)
+              if (index < 2) stepperY.homing_threshold(value);
+            #endif
+            #if AXIS_HAS_STALLGUARD(Y2)
+              if (!(index & 1)) stepperY2.homing_threshold(value);
+            #endif
+            break;
+        #endif
+        #if Z_SENSORLESS
+          case Z_AXIS:
+            #if AXIS_HAS_STALLGUARD(Z)
+              if (index < 2) stepperZ.homing_threshold(value);
+            #endif
+            #if AXIS_HAS_STALLGUARD(Z2)
+              if (index == 0 || index == 2) stepperZ2.homing_threshold(value);
+            #endif
+            #if AXIS_HAS_STALLGUARD(Z3)
+              if (index == 0 || index == 3) stepperZ3.homing_threshold(value);
+            #endif
+            #if AXIS_HAS_STALLGUARD(Z4)
+              if (index == 0 || index == 4) stepperZ4.homing_threshold(value);
+            #endif
+            break;
+        #endif
+      }
+    }
+
+    if (report) {
+      #if X_SENSORLESS
+        #if AXIS_HAS_STALLGUARD(X)
+          tmc_print_sgt(stepperX);
+        #endif
+        #if AXIS_HAS_STALLGUARD(X2)
+          tmc_print_sgt(stepperX2);
+        #endif
+      #endif
+      #if Y_SENSORLESS
+        #if AXIS_HAS_STALLGUARD(Y)
+          tmc_print_sgt(stepperY);
+        #endif
+        #if AXIS_HAS_STALLGUARD(Y2)
+          tmc_print_sgt(stepperY2);
+        #endif
+      #endif
+      #if Z_SENSORLESS
+        #if AXIS_HAS_STALLGUARD(Z)
+          tmc_print_sgt(stepperZ);
+        #endif
+        #if AXIS_HAS_STALLGUARD(Z2)
+          tmc_print_sgt(stepperZ2);
+        #endif
+        #if AXIS_HAS_STALLGUARD(Z3)
+          tmc_print_sgt(stepperZ3);
+        #endif
+        #if AXIS_HAS_STALLGUARD(Z4)
+          tmc_print_sgt(stepperZ4);
+        #endif
+      #endif
+    }
+  }
+#endif // USE_SENSORLESS
+
+#endif // HAS_TRINAMIC_CONFIG