Initial commit

3 files changed, 1168 insertions, 0 deletions

diff --git a/Marlin/src/libs/L64XX/L64XX_Marlin.cpp b/Marlin/src/libs/L64XX/L64XX_Marlin.cpp
new file mode 100644
index 0000000..7d36a02
--- /dev/null
+++ b/Marlin/src/libs/L64XX/L64XX_Marlin.cpp
@@ -0,0 +1,931 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * The monitor_driver routines are a close copy of the TMC code
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_L64XX
+
+#include "L64XX_Marlin.h"
+
+L64XX_Marlin L64xxManager;
+
+#include "../../module/stepper/indirection.h"
+#include "../../gcode/gcode.h"
+#include "../../module/planner.h"
+#include "../../HAL/shared/Delay.h"
+
+void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); }
+
+static const char str_X[] PROGMEM = "X ",  str_Y[] PROGMEM = "Y ",  str_Z[] PROGMEM = "Z ",
+                 str_X2[] PROGMEM = "X2", str_Y2[] PROGMEM = "Y2",
+                 str_Z2[] PROGMEM = "Z2", str_Z3[] PROGMEM = "Z3", str_Z4[] PROGMEM = "Z4",
+                 str_E0[] PROGMEM = "E0", str_E1[] PROGMEM = "E1",
+                 str_E2[] PROGMEM = "E2", str_E3[] PROGMEM = "E3",
+                 str_E4[] PROGMEM = "E4", str_E5[] PROGMEM = "E5",
+                 str_E6[] PROGMEM = "E6", str_E7[] PROGMEM = "E7"
+                 ;
+
+PGM_P const L64XX_Marlin::index_to_axis[] PROGMEM = {
+  str_X, str_Y, str_Z, str_X2, str_Y2, str_Z2, str_Z3, str_Z4,
+  str_E0, str_E1, str_E2, str_E3, str_E4, str_E5, str_E6, str_E7
+};
+
+#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
+#include "../../core/debug_out.h"
+
+uint8_t L64XX_Marlin::dir_commands[MAX_L64XX];  // array to hold direction command for each driver
+
+const uint8_t L64XX_Marlin::index_to_dir[MAX_L64XX] = {
+  INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR
+  , (INVERT_X_DIR) ^ BOTH(X_DUAL_STEPPER_DRIVERS, INVERT_X2_VS_X_DIR) // X2
+  , (INVERT_Y_DIR) ^ BOTH(Y_DUAL_STEPPER_DRIVERS, INVERT_Y2_VS_Y_DIR) // Y2
+  , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z2_VS_Z_DIR) // Z2
+  , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z3_VS_Z_DIR) // Z3
+  , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z4_VS_Z_DIR) // Z4
+  , INVERT_E0_DIR, INVERT_E1_DIR, INVERT_E2_DIR, INVERT_E3_DIR
+  , INVERT_E4_DIR, INVERT_E5_DIR, INVERT_E6_DIR, INVERT_E7_DIR
+};
+
+volatile uint8_t L64XX_Marlin::spi_abort = false;
+uint8_t L64XX_Marlin::spi_active = false;
+
+L64XX_Marlin::L64XX_shadow_t L64XX_Marlin::shadow;
+
+//uint32_t UVLO_ADC = 0x0400; // ADC undervoltage event
+
+void L6470_populate_chain_array() {
+
+  #define _L6470_INIT_SPI(Q)  do{ stepper##Q.set_chain_info(Q, Q##_CHAIN_POS); }while(0)
+
+  #if AXIS_IS_L64XX(X)
+    _L6470_INIT_SPI(X);
+  #endif
+  #if AXIS_IS_L64XX(X2)
+    _L6470_INIT_SPI(X2);
+  #endif
+  #if AXIS_IS_L64XX(Y)
+    _L6470_INIT_SPI(Y);
+  #endif
+  #if AXIS_IS_L64XX(Y2)
+    _L6470_INIT_SPI(Y2);
+  #endif
+  #if AXIS_IS_L64XX(Z)
+    _L6470_INIT_SPI(Z);
+  #endif
+  #if AXIS_IS_L64XX(Z2)
+    _L6470_INIT_SPI(Z2);
+  #endif
+  #if AXIS_IS_L64XX(Z3)
+    _L6470_INIT_SPI(Z3);
+  #endif
+  #if AXIS_IS_L64XX(Z4)
+    _L6470_INIT_SPI(Z4);
+  #endif
+  #if AXIS_IS_L64XX(E0)
+    _L6470_INIT_SPI(E0);
+  #endif
+  #if AXIS_IS_L64XX(E1)
+    _L6470_INIT_SPI(E1);
+  #endif
+  #if AXIS_IS_L64XX(E2)
+    _L6470_INIT_SPI(E2);
+  #endif
+  #if AXIS_IS_L64XX(E3)
+    _L6470_INIT_SPI(E3);
+  #endif
+  #if AXIS_IS_L64XX(E4)
+    _L6470_INIT_SPI(E4);
+  #endif
+  #if AXIS_IS_L64XX(E5)
+    _L6470_INIT_SPI(E5);
+  #endif
+  #if AXIS_IS_L64XX(E6)
+    _L6470_INIT_SPI(E6);
+  #endif
+  #if AXIS_IS_L64XX(E7)
+    _L6470_INIT_SPI(E7);
+  #endif
+}
+
+
+/**
+ * Some status bit positions & definitions differ per driver.
+ * Copy info to known locations to simplfy check/display logic.
+ *   1. Copy stepper status
+ *   2. Copy status bit definitions
+ *   3. Copy status layout
+ *   4. Make all error bits active low (as needed)
+ */
+uint16_t L64XX_Marlin::get_stepper_status(L64XX &st) {
+  shadow.STATUS_AXIS_RAW           = st.getStatus();
+  shadow.STATUS_AXIS               = shadow.STATUS_AXIS_RAW;
+  shadow.STATUS_AXIS_LAYOUT        = st.L6470_status_layout;
+  shadow.AXIS_OCD_TH_MAX           = st.OCD_TH_MAX;
+  shadow.AXIS_STALL_TH_MAX         = st.STALL_TH_MAX;
+  shadow.AXIS_OCD_CURRENT_CONSTANT_INV   = st.OCD_CURRENT_CONSTANT_INV;
+  shadow.AXIS_STALL_CURRENT_CONSTANT_INV = st.STALL_CURRENT_CONSTANT_INV;
+  shadow.L6470_AXIS_CONFIG         = st.L64XX_CONFIG;
+  shadow.L6470_AXIS_STATUS         = st.L64XX_STATUS;
+  shadow.STATUS_AXIS_OCD           = st.STATUS_OCD;
+  shadow.STATUS_AXIS_SCK_MOD       = st.STATUS_SCK_MOD;
+  shadow.STATUS_AXIS_STEP_LOSS_A   = st.STATUS_STEP_LOSS_A;
+  shadow.STATUS_AXIS_STEP_LOSS_B   = st.STATUS_STEP_LOSS_B;
+  shadow.STATUS_AXIS_TH_SD         = st.STATUS_TH_SD;
+  shadow.STATUS_AXIS_TH_WRN        = st.STATUS_TH_WRN;
+  shadow.STATUS_AXIS_UVLO          = st.STATUS_UVLO;
+  shadow.STATUS_AXIS_WRONG_CMD     = st.STATUS_WRONG_CMD;
+  shadow.STATUS_AXIS_CMD_ERR       = st.STATUS_CMD_ERR;
+  shadow.STATUS_AXIS_NOTPERF_CMD   = st.STATUS_NOTPERF_CMD;
+
+  switch (shadow.STATUS_AXIS_LAYOUT) {
+    case L6470_STATUS_LAYOUT: {   // L6470
+      shadow.L6470_ERROR_MASK      = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD | shadow.STATUS_AXIS_STEP_LOSS_A | shadow.STATUS_AXIS_STEP_LOSS_B;
+      shadow.STATUS_AXIS           ^= (shadow.STATUS_AXIS_WRONG_CMD | shadow.STATUS_AXIS_NOTPERF_CMD);  // invert just error bits that are active high
+      break;
+    }
+    case L6474_STATUS_LAYOUT: {   // L6474
+      shadow.L6470_ERROR_MASK      = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD ;
+      shadow.STATUS_AXIS           ^= (shadow.STATUS_AXIS_WRONG_CMD | shadow.STATUS_AXIS_NOTPERF_CMD);  // invert just error bits that are active high
+      break;
+    }
+    case L6480_STATUS_LAYOUT: {   // L6480 & powerSTEP01
+      shadow.L6470_ERROR_MASK      = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD | shadow.STATUS_AXIS_STEP_LOSS_A | shadow.STATUS_AXIS_STEP_LOSS_B;
+      shadow.STATUS_AXIS           ^= (shadow.STATUS_AXIS_CMD_ERR | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD);  // invert just error bits that are active high
+      break;
+    }
+  }
+  return shadow.STATUS_AXIS;
+}
+
+
+void L64XX_Marlin::init() {               // Set up SPI and then init chips
+  ENABLE_RESET_L64XX_CHIPS(LOW);          // hardware reset of drivers
+  DELAY_US(100);
+  ENABLE_RESET_L64XX_CHIPS(HIGH);
+  DELAY_US(1000);                         // need about 650µs for the chip(s) to fully start up
+  L6470_populate_chain_array();           // Set up array to control where in the SPI transfer sequence a particular stepper's data goes
+
+  spi_init();                             // Since L64XX SPI pins are unset we must init SPI here
+
+  init_to_defaults();                     // init the chips
+}
+
+uint16_t L64XX_Marlin::get_status(const L64XX_axis_t axis) {
+
+  #define STATUS_L6470(Q) get_stepper_status(stepper##Q)
+
+  switch (axis) {
+    default: break;
+    #if AXIS_IS_L64XX(X)
+      case X : return STATUS_L6470(X);
+    #endif
+    #if AXIS_IS_L64XX(Y)
+      case Y : return STATUS_L6470(Y);
+    #endif
+    #if AXIS_IS_L64XX(Z)
+      case Z : return STATUS_L6470(Z);
+    #endif
+    #if AXIS_IS_L64XX(X2)
+      case X2: return STATUS_L6470(X2);
+    #endif
+    #if AXIS_IS_L64XX(Y2)
+      case Y2: return STATUS_L6470(Y2);
+    #endif
+    #if AXIS_IS_L64XX(Z2)
+      case Z2: return STATUS_L6470(Z2);
+    #endif
+    #if AXIS_IS_L64XX(Z3)
+      case Z3: return STATUS_L6470(Z3);
+    #endif
+    #if AXIS_IS_L64XX(Z4)
+      case Z4: return STATUS_L6470(Z4);
+    #endif
+    #if AXIS_IS_L64XX(E0)
+      case E0: return STATUS_L6470(E0);
+    #endif
+    #if AXIS_IS_L64XX(E1)
+      case E1: return STATUS_L6470(E1);
+    #endif
+    #if AXIS_IS_L64XX(E2)
+      case E2: return STATUS_L6470(E2);
+    #endif
+    #if AXIS_IS_L64XX(E3)
+      case E3: return STATUS_L6470(E3);
+    #endif
+    #if AXIS_IS_L64XX(E4)
+      case E4: return STATUS_L6470(E4);
+    #endif
+    #if AXIS_IS_L64XX(E5)
+      case E5: return STATUS_L6470(E5);
+    #endif
+    #if AXIS_IS_L64XX(E6)
+      case E6: return STATUS_L6470(E6);
+    #endif
+    #if AXIS_IS_L64XX(E7)
+      case E7: return STATUS_L6470(E7);
+    #endif
+  }
+
+  return 0; // Not needed but kills a compiler warning
+}
+
+uint32_t L64XX_Marlin::get_param(const L64XX_axis_t axis, const uint8_t param) {
+
+  #define GET_L6470_PARAM(Q) L6470_GETPARAM(param, Q)
+
+  switch (axis) {
+    default: break;
+    #if AXIS_IS_L64XX(X)
+      case X : return GET_L6470_PARAM(X);
+    #endif
+    #if AXIS_IS_L64XX(Y)
+      case Y : return GET_L6470_PARAM(Y);
+    #endif
+    #if AXIS_IS_L64XX(Z)
+      case Z : return GET_L6470_PARAM(Z);
+    #endif
+    #if AXIS_IS_L64XX(X2)
+      case X2: return GET_L6470_PARAM(X2);
+    #endif
+    #if AXIS_IS_L64XX(Y2)
+      case Y2: return GET_L6470_PARAM(Y2);
+    #endif
+    #if AXIS_IS_L64XX(Z2)
+      case Z2: return GET_L6470_PARAM(Z2);
+    #endif
+    #if AXIS_IS_L64XX(Z3)
+      case Z3: return GET_L6470_PARAM(Z3);
+    #endif
+    #if AXIS_IS_L64XX(Z4)
+      case Z4: return GET_L6470_PARAM(Z4);
+    #endif
+    #if AXIS_IS_L64XX(E0)
+      case E0: return GET_L6470_PARAM(E0);
+    #endif
+    #if AXIS_IS_L64XX(E1)
+      case E1: return GET_L6470_PARAM(E1);
+    #endif
+    #if AXIS_IS_L64XX(E2)
+      case E2: return GET_L6470_PARAM(E2);
+    #endif
+    #if AXIS_IS_L64XX(E3)
+      case E3: return GET_L6470_PARAM(E3);
+    #endif
+    #if AXIS_IS_L64XX(E4)
+      case E4: return GET_L6470_PARAM(E4);
+    #endif
+    #if AXIS_IS_L64XX(E5)
+      case E5: return GET_L6470_PARAM(E5);
+    #endif
+    #if AXIS_IS_L64XX(E6)
+      case E6: return GET_L6470_PARAM(E6);
+    #endif
+    #if AXIS_IS_L64XX(E7)
+      case E7: return GET_L6470_PARAM(E7);
+    #endif
+  }
+
+  return 0; // not needed but kills a compiler warning
+}
+
+void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const uint32_t value) {
+
+  #define SET_L6470_PARAM(Q) stepper##Q.SetParam(param, value)
+
+  switch (axis) {
+    default: break;
+    #if AXIS_IS_L64XX(X)
+      case X : SET_L6470_PARAM(X); break;
+    #endif
+    #if AXIS_IS_L64XX(Y)
+      case Y : SET_L6470_PARAM(Y); break;
+    #endif
+    #if AXIS_IS_L64XX(Z)
+      case Z : SET_L6470_PARAM(Z); break;
+    #endif
+    #if AXIS_IS_L64XX(X2)
+      case X2: SET_L6470_PARAM(X2); break;
+    #endif
+    #if AXIS_IS_L64XX(Y2)
+      case Y2: SET_L6470_PARAM(Y2); break;
+    #endif
+    #if AXIS_IS_L64XX(Z2)
+      case Z2: SET_L6470_PARAM(Z2); break;
+    #endif
+    #if AXIS_IS_L64XX(Z3)
+      case Z3: SET_L6470_PARAM(Z3); break;
+    #endif
+    #if AXIS_IS_L64XX(Z4)
+      case Z4: SET_L6470_PARAM(Z4); break;
+    #endif
+    #if AXIS_IS_L64XX(E0)
+      case E0: SET_L6470_PARAM(E0); break;
+    #endif
+    #if AXIS_IS_L64XX(E1)
+      case E1: SET_L6470_PARAM(E1); break;
+    #endif
+    #if AXIS_IS_L64XX(E2)
+      case E2: SET_L6470_PARAM(E2); break;
+    #endif
+    #if AXIS_IS_L64XX(E3)
+      case E3: SET_L6470_PARAM(E3); break;
+    #endif
+    #if AXIS_IS_L64XX(E4)
+      case E4: SET_L6470_PARAM(E4); break;
+    #endif
+    #if AXIS_IS_L64XX(E5)
+      case E5: SET_L6470_PARAM(E5); break;
+    #endif
+    #if AXIS_IS_L64XX(E6)
+      case E6: SET_L6470_PARAM(E6); break;
+    #endif
+    #if AXIS_IS_L64XX(E7)
+      case E7: SET_L6470_PARAM(E7); break;
+    #endif
+  }
+}
+
+inline void echo_min_max(const char a, const float &min, const float &max) {
+  DEBUG_CHAR(' '); DEBUG_CHAR(a);
+  DEBUG_ECHOPAIR(" min = ", min);
+  DEBUG_ECHOLNPAIR("  max = ", max);
+}
+inline void echo_oct_used(const float &oct, const uint8_t stall) {
+  DEBUG_ECHOPAIR("over_current_threshold used     : ", oct);
+  serialprintPGM(stall ? PSTR("  (Stall") : PSTR("  (OCD"));
+  DEBUG_ECHOLNPGM(" threshold)");
+}
+inline void err_out_of_bounds() { DEBUG_ECHOLNPGM("Test aborted - motion out of bounds"); }
+
+uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_index[3],  char axis_mon[3][3],
+                                 float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
+                                 uint8_t over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold
+) {
+  // Return TRUE if the calling routine needs to abort/kill
+
+  uint16_t displacement = 0;  // " = 0" to eliminate compiler warning
+  uint8_t j;   // general purpose counter
+
+  if (!all_axes_homed()) {
+    DEBUG_ECHOLNPGM("Test aborted - home all before running this command");
+    return true;
+  }
+
+  uint8_t found_displacement = false;
+  LOOP_XYZE(i) if (uint16_t _displacement = parser.intval(axis_codes[i])) {
+    found_displacement = true;
+    displacement = _displacement;
+    uint8_t axis_offset = parser.byteval('J');
+    axis_mon[0][0] = axis_codes[i];         // Axis first character, one of XYZE
+    const bool single_or_e = axis_offset >= 2 || axis_mon[0][0] == 'E',
+               one_or_more = !single_or_e && axis_offset == 0;
+    uint8_t driver_count_local = 0;         // Can't use "driver_count" directly as a subscript because it's passed by reference
+    if (single_or_e)                        // Single axis, E0, or E1
+      axis_mon[0][1] = axis_offset + '0';   // Index given by 'J' parameter
+
+    if (single_or_e || one_or_more) {
+      for (j = 0; j < MAX_L64XX; j++) {     // Count up the drivers on this axis
+        PGM_P str = (PGM_P)pgm_read_ptr(&index_to_axis[j]); // Get a PGM_P from progmem
+        const char c = pgm_read_byte(str);                  // Get a char from progmem
+        if (axis_mon[0][0] == c) {          // For each stepper on this axis...
+          char *mon = axis_mon[driver_count_local];
+          *mon++ = c;                        // Copy the 3 letter axis name
+          *mon++ = pgm_read_byte(&str[1]);   //  to the axis_mon array
+          *mon   = pgm_read_byte(&str[2]);
+          axis_index[driver_count_local] = (L64XX_axis_t)j; // And store the L64XX axis index
+          driver_count_local++;
+        }
+      }
+      if (one_or_more) driver_count = driver_count_local;
+    }
+    break; // only take first axis found
+  }
+
+  if (!found_displacement) {
+    DEBUG_ECHOLNPGM("Test aborted - AXIS with displacement is required");
+    return true;
+  }
+
+  //
+  // Position calcs & checks
+  //
+
+  const float X_center = LOGICAL_X_POSITION(current_position.x),
+              Y_center = LOGICAL_Y_POSITION(current_position.y),
+              Z_center = LOGICAL_Z_POSITION(current_position.z),
+              E_center = current_position.e;
+
+  switch (axis_mon[0][0]) {
+    default: position_max = position_min = 0; break;
+
+    case 'X': {
+      position_min = X_center - displacement;
+      position_max = X_center + displacement;
+      echo_min_max('X', position_min, position_max);
+      if (false
+        #ifdef X_MIN_POS
+          || position_min < (X_MIN_POS)
+        #endif
+        #ifdef X_MAX_POS
+          || position_max > (X_MAX_POS)
+        #endif
+      ) {
+        err_out_of_bounds();
+        return true;
+      }
+    } break;
+
+    case 'Y': {
+      position_min = Y_center - displacement;
+      position_max = Y_center + displacement;
+      echo_min_max('Y', position_min, position_max);
+      if (false
+        #ifdef Y_MIN_POS
+          || position_min < (Y_MIN_POS)
+        #endif
+        #ifdef Y_MAX_POS
+          || position_max > (Y_MAX_POS)
+        #endif
+      ) {
+        err_out_of_bounds();
+        return true;
+      }
+    } break;
+
+    case 'Z': {
+      position_min = Z_center - displacement;
+      position_max = Z_center + displacement;
+      echo_min_max('Z', position_min, position_max);
+      if (false
+        #ifdef Z_MIN_POS
+          || position_min < (Z_MIN_POS)
+        #endif
+        #ifdef Z_MAX_POS
+          || position_max > (Z_MAX_POS)
+        #endif
+      ) {
+        err_out_of_bounds();
+        return true;
+      }
+    } break;
+
+    case 'E': {
+      position_min = E_center - displacement;
+      position_max = E_center + displacement;
+      echo_min_max('E', position_min, position_max);
+    } break;
+  }
+
+  //
+  // Work on the drivers
+  //
+
+  LOOP_L_N(k, driver_count) {
+    uint8_t not_found = true;
+    for (j = 1; j <= L64XX::chain[0]; j++) {
+      PGM_P const str = (PGM_P)pgm_read_ptr(&index_to_axis[L64XX::chain[j]]);
+      if (pgm_read_byte(&str[0]) == axis_mon[k][0] && pgm_read_byte(&str[1]) == axis_mon[k][1]) { // See if a L6470 driver
+        not_found = false;
+        break;
+      }
+    }
+    if (not_found) {
+      driver_count = k;
+      axis_mon[k][0] = ' ';  // mark this entry invalid
+      break;
+    }
+  }
+
+  if (driver_count == 0) {
+    DEBUG_ECHOLNPGM("Test aborted - not a L6470 axis");
+    return true;
+  }
+
+  DEBUG_ECHOPGM("Monitoring:");
+  for (j = 0; j < driver_count; j++) DEBUG_ECHOPAIR("  ", axis_mon[j]);
+  DEBUG_EOL();
+
+  // now have a list of driver(s) to monitor
+
+  //
+  // TVAL & kVAL_HOLD checks & settings
+  //
+  const L64XX_shadow_t &sh = shadow;
+  get_status(axis_index[0]); // populate shadow array
+
+  if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // L6474 - use TVAL
+    uint16_t TVAL_current = parser.ushortval('T');
+    if (TVAL_current) {
+      uint8_t TVAL_count = (TVAL_current /  sh.AXIS_STALL_CURRENT_CONSTANT_INV) - 1;
+      LIMIT(TVAL_count, 0, sh.AXIS_STALL_TH_MAX);
+      for (j = 0; j < driver_count; j++)
+        set_param(axis_index[j], L6474_TVAL, TVAL_count);
+    }
+    // only print the tval from one of the drivers
+    kval_hold = get_param(axis_index[0], L6474_TVAL);
+    DEBUG_ECHOLNPAIR("TVAL current (mA) = ", (kval_hold + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV);
+  }
+  else {
+    kval_hold = parser.byteval('K');
+    if (kval_hold) {
+      DEBUG_ECHOLNPAIR("kval_hold = ", kval_hold);
+      for (j = 0; j < driver_count; j++)
+        set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
+    }
+    else {
+      // only print the KVAL_HOLD from one of the drivers
+      kval_hold = get_param(axis_index[0], L6470_KVAL_HOLD);
+      DEBUG_ECHOLNPAIR("KVAL_HOLD = ", kval_hold);
+    }
+  }
+
+  //
+  // Overcurrent checks & settings
+  //
+
+  if (over_current_flag) {
+
+    uint8_t OCD_TH_val_local = 0,       // compiler thinks OCD_TH_val is unused if use it directly
+            STALL_TH_val_local = 0;     // just in case ...
+
+    over_current_threshold = parser.intval('I');
+
+    if (over_current_threshold) {
+
+      OCD_TH_val_local = over_current_threshold/375;
+      LIMIT(OCD_TH_val_local, 0, 15);
+      STALL_TH_val_local = over_current_threshold/31.25;
+      LIMIT(STALL_TH_val_local, 0, 127);
+      uint16_t OCD_TH_actual = (OCD_TH_val_local + 1) * 375,
+               STALL_TH_actual = (STALL_TH_val_local + 1) * 31.25;
+      if (OCD_TH_actual < STALL_TH_actual) {
+        OCD_TH_val_local++;
+        OCD_TH_actual = (OCD_TH_val_local + 1) * 375;
+      }
+
+      DEBUG_ECHOLNPAIR("over_current_threshold specified: ", over_current_threshold);
+      if (!(sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)) echo_oct_used((STALL_TH_val_local + 1) * 31.25, true);
+      echo_oct_used((OCD_TH_val_local + 1) * 375, false);
+
+      #define SET_OVER_CURRENT(Q) do { stepper##Q.SetParam(L6470_STALL_TH, STALL_TH_val_local); stepper##Q.SetParam(L6470_OCD_TH, OCD_TH_val_local);} while (0)
+
+      for (j = 0; j < driver_count; j++) {
+        set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
+        set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
+      }
+    }
+    else {
+      // only get & print the OVER_CURRENT values from one of the drivers
+      STALL_TH_val_local = get_param(axis_index[0], L6470_STALL_TH);
+      OCD_TH_val_local = get_param(axis_index[0], L6470_OCD_TH);
+
+      if (!(sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)) echo_oct_used((STALL_TH_val_local + 1) * 31.25, true);
+      echo_oct_used((OCD_TH_val_local + 1) * 375, false);
+    } // over_current_threshold
+
+    for (j = 0; j < driver_count; j++) {                 // set all drivers on axis the same
+      set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
+      set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
+    }
+
+    OCD_TH_val = OCD_TH_val_local;        // force compiler to update the main routine's copy
+    STALL_TH_val = STALL_TH_val_local;    // force compiler to update the main routine's copy
+  } // end of overcurrent
+
+  //
+  // Feedrate
+  //
+
+  final_feedrate = parser.floatval('F');
+  if (final_feedrate == 0) {
+    static constexpr float default_max_feedrate[] = DEFAULT_MAX_FEEDRATE;
+    const uint8_t num_feedrates = COUNT(default_max_feedrate);
+    for (j = 0; j < num_feedrates; j++) {
+      if (axis_codes[j] == axis_mon[0][0]) {
+        final_feedrate = default_max_feedrate[j];
+        break;
+      }
+    }
+    if (j == 3 && num_feedrates > 4) {   // have more than one extruder feedrate
+      uint8_t extruder_num = axis_mon[0][1] - '0';
+      if (j <= num_feedrates - extruder_num)     // have a feedrate specifically for this extruder
+        final_feedrate = default_max_feedrate[j + extruder_num];
+      else
+        final_feedrate = default_max_feedrate[3];  // use E0 feedrate for this extruder
+    }
+    final_feedrate *= 60;  // convert to mm/minute
+  } // end of feedrate
+
+  return false;   // FALSE indicates no user input problems
+}
+
+void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*/) {
+  if (label) SERIAL_ECHOPGM("AXIS:");
+  const char * const str = L64xxManager.index_to_axis[axis];
+  SERIAL_CHAR(' ', str[0], str[1], ' ');
+}
+
+#if ENABLED(L6470_CHITCHAT)
+
+  // Assumes status bits have been inverted
+  void L64XX_Marlin::error_status_decode(const uint16_t status, const L64XX_axis_t axis,
+        const uint16_t _status_axis_th_sd, const uint16_t _status_axis_th_wrn,
+        const uint16_t _status_axis_step_loss_a, const uint16_t _status_axis_step_loss_b,
+        const uint16_t _status_axis_ocd, const uint8_t _status_axis_layout
+  ) {
+    say_axis(axis);
+    DEBUG_ECHOPGM("  THERMAL: ");
+    serialprintPGM((status & _status_axis_th_sd) ? PSTR("SHUTDOWN") : (status & _status_axis_th_wrn) ? PSTR("WARNING ") : PSTR("OK      "));
+    DEBUG_ECHOPGM("   OVERCURRENT: ");
+    echo_yes_no((status & _status_axis_ocd) != 0);
+    if (!(_status_axis_layout == L6474_STATUS_LAYOUT)) {  // L6474 doesn't have these bits
+      DEBUG_ECHOPGM("   STALL: ");
+      echo_yes_no((status & (_status_axis_step_loss_a | _status_axis_step_loss_b)) != 0);
+    }
+    DEBUG_EOL();
+  }
+
+#endif
+
+//////////////////////////////////////////////////////////////////////////////////////////////////
+////
+////  MONITOR_L6470_DRIVER_STATUS routines
+////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+
+#if ENABLED(MONITOR_L6470_DRIVER_STATUS)
+
+  bool L64XX_Marlin::monitor_paused = false; // Flag to skip monitor during M122, M906, M916, M917, M918, etc.
+
+  struct L6470_driver_data {
+    uint8_t driver_index;
+    uint32_t driver_status;
+    uint8_t is_otw;
+    uint8_t otw_counter;
+    uint8_t is_ot;
+    uint8_t is_hi_Z;
+    uint8_t com_counter;
+  };
+
+  L6470_driver_data driver_L6470_data[] = {
+    #if AXIS_IS_L64XX(X)
+      {  0, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Y)
+      {  1, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Z)
+      {  2, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(X2)
+      {  3, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Y2)
+      {  4, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Z2)
+      {  5, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Z3)
+      {  6, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Z4)
+      {  7, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E0)
+      {  8, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E1)
+      {  9, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E2)
+      { 10, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E3)
+      { 11, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E4)
+      { 12, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E5)
+      { 13, 0, 0, 0, 0, 0, 0 }
+    #endif
+    #if AXIS_IS_L64XX(E6)
+      { 14, 0, 0, 0, 0, 0, 0 }
+    #endif
+    #if AXIS_IS_L64XX(E7)
+      { 16, 0, 0, 0, 0, 0, 0 }
+    #endif
+  };
+
+  void L64XX_Marlin::append_stepper_err(char* &p, const uint8_t stepper_index, const char * const err/*=nullptr*/) {
+    PGM_P const str = (PGM_P)pgm_read_ptr(&index_to_axis[stepper_index]);
+    p += sprintf_P(p, PSTR("Stepper %c%c "), pgm_read_byte(&str[0]), pgm_read_byte(&str[1]));
+    if (err) p += sprintf_P(p, err);
+  }
+
+  void L64XX_Marlin::monitor_update(L64XX_axis_t stepper_index) {
+    if (spi_abort) return;  // don't do anything if set_directions() has occurred
+    const L64XX_shadow_t &sh = shadow;
+    get_status(stepper_index); // get stepper status and details
+    uint16_t status = sh.STATUS_AXIS;
+    uint8_t kval_hold, tval;
+    char temp_buf[120], *p = temp_buf;
+    uint8_t j;
+    for (j = 0; j < L64XX::chain[0]; j++) // find the table for this stepper
+      if (driver_L6470_data[j].driver_index == stepper_index) break;
+
+    driver_L6470_data[j].driver_status = status;
+    uint16_t _status = ~status;     // all error bits are active low
+
+    if (status == 0 || status == 0xFFFF) {              // com problem
+      if (driver_L6470_data[j].com_counter == 0) {      // warn user when it first happens
+        driver_L6470_data[j].com_counter++;
+        append_stepper_err(p, stepper_index, PSTR(" - communications lost\n"));
+        DEBUG_ECHO(temp_buf);
+      }
+      else {
+        driver_L6470_data[j].com_counter++;
+        if (driver_L6470_data[j].com_counter > 240) {  // remind of com problem about every 2 minutes
+          driver_L6470_data[j].com_counter = 1;
+          append_stepper_err(p, stepper_index, PSTR(" - still no communications\n"));
+          DEBUG_ECHO(temp_buf);
+        }
+      }
+    }
+    else {
+      if (driver_L6470_data[j].com_counter) {   // comms re-established
+        driver_L6470_data[j].com_counter = 0;
+        append_stepper_err(p, stepper_index, PSTR(" - communications re-established\n.. setting all drivers to default values\n"));
+        DEBUG_ECHO(temp_buf);
+        init_to_defaults();
+      }
+      else {
+        // no com problems - do the usual checks
+        if (_status & sh.L6470_ERROR_MASK) {
+          append_stepper_err(p, stepper_index);
+
+          if (status & STATUS_HIZ) {                         // The driver has shut down. HiZ is active high
+            driver_L6470_data[j].is_hi_Z = true;
+            p += sprintf_P(p, PSTR("%cIS SHUT DOWN"), ' ');
+            //if (_status & sh.STATUS_AXIS_TH_SD) { // strange - TH_SD never seems to go active, must be implied by the HiZ and TH_WRN
+            if (_status & sh.STATUS_AXIS_TH_WRN) {                    // over current shutdown
+              p += sprintf_P(p, PSTR("%cdue to over temperature"), ' ');
+              driver_L6470_data[j].is_ot = true;
+              if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // L6474
+                tval = get_param(stepper_index, L6474_TVAL) - 2 * KVAL_HOLD_STEP_DOWN;
+              set_param(stepper_index, L6474_TVAL, tval);     // reduce TVAL
+                p += sprintf_P(p, PSTR(" - TVAL reduced by %d to %d mA"), uint16_t (2 * KVAL_HOLD_STEP_DOWN * sh.AXIS_STALL_CURRENT_CONSTANT_INV), uint16_t ((tval + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV));   // let user know
+              }
+              else {
+                kval_hold = get_param(stepper_index, L6470_KVAL_HOLD) - 2 * KVAL_HOLD_STEP_DOWN;
+                set_param(stepper_index, L6470_KVAL_HOLD, kval_hold);     // reduce KVAL_HOLD
+                p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), 2 * KVAL_HOLD_STEP_DOWN, kval_hold);   // let user know
+              }
+            }
+            else
+              driver_L6470_data[j].is_ot = false;
+          }
+          else {
+            driver_L6470_data[j].is_hi_Z = false;
+
+            if (_status & sh.STATUS_AXIS_TH_WRN) {     // have an over temperature warning
+              driver_L6470_data[j].is_otw = true;
+              driver_L6470_data[j].otw_counter++;
+              kval_hold = get_param(stepper_index, L6470_KVAL_HOLD);
+              if (driver_L6470_data[j].otw_counter > 4) {  // otw present for 2 - 2.5 seconds, reduce KVAL_HOLD
+                driver_L6470_data[j].otw_counter = 0;
+                driver_L6470_data[j].is_otw = true;
+                if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // L6474
+                  tval = get_param(stepper_index, L6474_TVAL) - KVAL_HOLD_STEP_DOWN;
+                  set_param(stepper_index, L6474_TVAL, tval);     // reduce TVAL
+                  p += sprintf_P(p, PSTR(" - TVAL reduced by %d to %d mA"), uint16_t (KVAL_HOLD_STEP_DOWN * sh.AXIS_STALL_CURRENT_CONSTANT_INV), uint16_t ((tval + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV));   // let user know
+                }
+                else {
+                  kval_hold = get_param(stepper_index, L6470_KVAL_HOLD) - KVAL_HOLD_STEP_DOWN;
+                  set_param(stepper_index, L6470_KVAL_HOLD, kval_hold);     // reduce KVAL_HOLD
+                  p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), KVAL_HOLD_STEP_DOWN, kval_hold);   // let user know
+                }
+              }
+              else if (driver_L6470_data[j].otw_counter)
+                p += sprintf_P(p, PSTR("%c- thermal warning"), ' ');   // warn user
+            }
+          }
+
+          #if ENABLED(L6470_STOP_ON_ERROR)
+            if (_status & (sh.STATUS_AXIS_UVLO | sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD))
+              kill(temp_buf);
+          #endif
+
+          #if ENABLED(L6470_CHITCHAT)
+            if (_status & sh.STATUS_AXIS_OCD)
+              p += sprintf_P(p, PSTR("%c  over current"), ' ');
+
+            if (_status & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B))
+              p += sprintf_P(p, PSTR("%c  stall"), ' ');
+
+            if (_status & sh.STATUS_AXIS_UVLO)
+              p += sprintf_P(p, PSTR("%c  under voltage lock out"), ' ');
+
+            p += sprintf_P(p, PSTR("%c\n"), ' ');
+          #endif
+
+          DEBUG_ECHOLN(temp_buf);  // print the error message
+        }
+        else {
+          driver_L6470_data[j].is_ot = false;
+          driver_L6470_data[j].otw_counter = 0;   //clear out warning indicators
+          driver_L6470_data[j].is_otw = false;
+        } // end usual checks
+
+      } // comms established but have errors
+    } // comms re-established
+  } // end monitor_update()
+
+
+  void L64XX_Marlin::monitor_driver() {
+    static millis_t next_cOT = 0;
+    if (ELAPSED(millis(), next_cOT)) {
+      next_cOT = millis() + 500;
+
+      if (!monitor_paused) {  // Skip during M122, M906, M916, M917 or M918 (could steal status result from test)
+
+        spi_active = true;    // Tell set_directions() a series of SPI transfers is underway
+
+        #if AXIS_IS_L64XX(X)
+          monitor_update(X);
+        #endif
+        #if AXIS_IS_L64XX(Y)
+          monitor_update(Y);
+        #endif
+        #if AXIS_IS_L64XX(Z)
+          monitor_update(Z);
+        #endif
+        #if AXIS_IS_L64XX(X2)
+          monitor_update(X2);
+        #endif
+        #if AXIS_IS_L64XX(Y2)
+          monitor_update(Y2);
+        #endif
+        #if AXIS_IS_L64XX(Z2)
+          monitor_update(Z2);
+        #endif
+        #if AXIS_IS_L64XX(Z3)
+          monitor_update(Z3);
+        #endif
+        #if AXIS_IS_L64XX(Z4)
+          monitor_update(Z4);
+        #endif
+        #if AXIS_IS_L64XX(E0)
+          monitor_update(E0);
+        #endif
+        #if AXIS_IS_L64XX(E1)
+          monitor_update(E1);
+        #endif
+        #if AXIS_IS_L64XX(E2)
+          monitor_update(E2);
+        #endif
+        #if AXIS_IS_L64XX(E3)
+          monitor_update(E3);
+        #endif
+        #if AXIS_IS_L64XX(E4)
+          monitor_update(E4);
+        #endif
+        #if AXIS_IS_L64XX(E5)
+          monitor_update(E5);
+        #endif
+
+        if (TERN0(L6470_DEBUG, report_L6470_status)) DEBUG_EOL();
+
+        spi_active = false;   // done with all SPI transfers - clear handshake flags
+        spi_abort = false;
+      }
+    }
+  }
+
+#endif // MONITOR_L6470_DRIVER_STATUS
+
+#endif // HAS_L64XX
diff --git a/Marlin/src/libs/L64XX/L64XX_Marlin.h b/Marlin/src/libs/L64XX/L64XX_Marlin.h
new file mode 100644
index 0000000..c8d2739
--- /dev/null
+++ b/Marlin/src/libs/L64XX/L64XX_Marlin.h
@@ -0,0 +1,139 @@
+/**
+ * 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 <L6470.h>
+#if !(L6470_LIBRARY_VERSION >= 0x000800)
+  #error 'L6470_LIBRARY_VERSION 0x000800 or later required'
+#endif
+
+#define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
+
+#define dSPIN_STEP_CLOCK      0x58
+#define dSPIN_STEP_CLOCK_FWD dSPIN_STEP_CLOCK
+#define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
+#define HAS_L64XX_EXTRUDER (AXIS_IS_L64XX(E0) || AXIS_IS_L64XX(E1) || AXIS_IS_L64XX(E2) || AXIS_IS_L64XX(E3) || AXIS_IS_L64XX(E4) || AXIS_IS_L64XX(E5) || AXIS_IS_L64XX(E6) || AXIS_IS_L64XX(E7))
+
+enum L64XX_axis_t : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, MAX_L64XX };
+
+class L64XX_Marlin : public L64XXHelper {
+public:
+  static PGM_P const index_to_axis[MAX_L64XX];
+
+  static const uint8_t index_to_dir[MAX_L64XX];
+
+  static uint8_t dir_commands[MAX_L64XX];
+
+  // Flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
+  static volatile uint8_t spi_abort;
+  static uint8_t spi_active;
+
+  L64XX_Marlin() {}
+
+  static void init();
+  static void init_to_defaults();
+
+  static uint16_t get_stepper_status(L64XX &st);
+
+  static uint16_t get_status(const L64XX_axis_t axis);
+
+  static uint32_t get_param(const L64XX_axis_t axis, const uint8_t param);
+
+  static void set_param(const L64XX_axis_t axis, const uint8_t param, const uint32_t value);
+
+  //static void send_command(const L64XX_axis_t axis, uint8_t command);
+
+  static uint8_t get_user_input(uint8_t &driver_count, L64XX_axis_t axis_index[3], char axis_mon[3][3],
+                            float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
+                            uint8_t over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold);
+
+  static void transfer(uint8_t L6470_buf[], const uint8_t length);
+
+  static void say_axis(const L64XX_axis_t axis, const uint8_t label=true);
+  #if ENABLED(L6470_CHITCHAT)
+    static void error_status_decode(
+      const uint16_t status, const L64XX_axis_t axis,
+      const uint16_t _status_axis_th_sd, const uint16_t _status_axis_th_wrn,
+      const uint16_t _status_axis_step_loss_a, const uint16_t _status_axis_step_loss_b,
+      const uint16_t _status_axis_ocd, const uint8_t _status_axis_layout
+    );
+  #else
+    FORCE_INLINE static void error_status_decode(
+      const uint16_t, const L64XX_axis_t,
+      const uint16_t, const uint16_t,
+      const uint16_t, const uint16_t,
+      const uint16_t, const uint8_t
+    ){}
+  #endif
+
+  // ~40 bytes SRAM to simplify status decode routines
+  typedef struct {
+    uint8_t STATUS_AXIS_LAYOUT;              // Copy of L6470_status_layout
+    uint8_t AXIS_OCD_TH_MAX;              // Size of OCD_TH field
+    uint8_t AXIS_STALL_TH_MAX;            // Size of STALL_TH field
+    float AXIS_OCD_CURRENT_CONSTANT_INV;   // mA per count
+    float AXIS_STALL_CURRENT_CONSTANT_INV; // mA per count
+    uint8_t L6470_AXIS_CONFIG,            // Address of the CONFIG register
+            L6470_AXIS_STATUS;            // Address of the STATUS register
+    uint16_t L6470_ERROR_MASK,            // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD  | STATUS_OCD | STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B
+             L6474_ERROR_MASK,            // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD  | STATUS_OCD
+             STATUS_AXIS_RAW,             // Copy of status register contents
+             STATUS_AXIS,                 // Copy of status register contents but with all error bits active low
+             STATUS_AXIS_OCD,             // Overcurrent detected bit position
+             STATUS_AXIS_SCK_MOD,         // Step clock mode is active bit position
+             STATUS_AXIS_STEP_LOSS_A,     // Stall detected on A bridge bit position
+             STATUS_AXIS_STEP_LOSS_B,     // Stall detected on B bridge bit position
+             STATUS_AXIS_TH_SD,           // Thermal shutdown bit position
+             STATUS_AXIS_TH_WRN,          // Thermal warning bit position
+             STATUS_AXIS_UVLO,            // Undervoltage lockout is active bit position
+             STATUS_AXIS_WRONG_CMD,       // Last command not valid bit position
+             STATUS_AXIS_CMD_ERR,         // Command error bit position
+             STATUS_AXIS_NOTPERF_CMD;     // Last command not performed bit position
+  } L64XX_shadow_t;
+
+  static L64XX_shadow_t shadow;
+
+  #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
+    static bool monitor_paused;
+    static inline void pause_monitor(const bool p) { monitor_paused = p; }
+    static void monitor_update(L64XX_axis_t stepper_index);
+    static void monitor_driver();
+  #else
+    static inline void pause_monitor(const bool) {}
+  #endif
+
+//protected:
+  // L64XXHelper methods
+  static void spi_init();
+  static uint8_t transfer_single(uint8_t data, int16_t ss_pin);
+  static uint8_t transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position);
+
+private:
+  static void append_stepper_err(char* &p, const uint8_t stepper_index, const char * const err=nullptr);
+
+};
+
+void echo_yes_no(const bool yes);
+
+extern L64XX_Marlin L64xxManager;
diff --git a/Marlin/src/libs/L64XX/README.md b/Marlin/src/libs/L64XX/README.md
new file mode 100644
index 0000000..d28bec5
--- /dev/null
+++ b/Marlin/src/libs/L64XX/README.md
@@ -0,0 +1,98 @@
+### L64XX Stepper Driver
+
+*Arduino-L6470* library revision 0.8.0 or above is required.
+
+This software can be used with the L6470, L6474, L6480 and the powerSTEP01 (collectively referred to as "L64xx" from now on). Different drivers can be mixed within a system.
+
+These devices use voltage PWMs to drive the stepper phases. On the L6474 the phase current is controlled by the `TVAL` register. On all the other drivers the phase current is indirectly controlled via the `KVAL_HOLD` register which scales the PWM duty cycle.
+
+This software assumes that all drivers are in one SPI daisy chain.
+
+### Hardware Setup
+
+- MOSI from controller tied to SDI on the first device
+
+- SDO of the first device is tied to SDI of the next device
+
+- SDO of the last device is tied to MISO of the controller
+
+- All devices share the same `SCK_PIN` and `SS_PIN` pins. The user must supply a macro to control the `RESET_PIN`(s).
+
+- Each L6470 passes the data it saw on its SDI to its neighbor on the **NEXT** SPI cycle (8 bit delay).
+
+- Each L6470 acts on the **last** SPI data it saw when the `SS_PIN` **goes high**.
+
+The L6474 uses the standard STEP DIR interface. Phase currents are changed in response to step pulses. The direction is set by the DIR pin. Instead of an ENA pin, stepper power is controlled with SPI commands.
+
+The other drivers operate in `STEP_CLOCK` mode. In this mode the Direction / Enable functions are done with SPI commands and the phase currents are changed in response to STEP pulses.
+
+### Hardware / Software Interaction
+
+Except for the L6474, powering up a stepper and setting the direction are done by the same command. You can't do one without the other.
+
+**All** directions are set **every time** a new block is popped off the queue by the stepper ISR.
+
+When setting direction, SPI transfers are minimized by using arrays and a specialized SPI method. *Arduino-L6470* library calls are not used. For N L64xx drivers, this results in N bytes transferred. If library calls were used then N<sup>2</sup> bytes would be sent.
+
+### Power-up (Reset) Sequence
+
+- Stepper objects are instantiated before the `setup()` entry point is reached.
+
+- In `setup()` (before stepper drivers are initialized) the `L6470_init()` method is called to do the following:
+
+  - If present, pulse the hardware reset pin.
+
+  - Populate the `L6470_chain` array, which maps positions in the SPI stream to commands/data for L64XX stepper drivers.
+
+  - Initialize the L64XX Software SPI pin states.
+
+  - Initialize L64XX drivers. They may be reset later by a call to `L6470_init_to_defaults()`.
+
+The steppers are **NOT** powered up (enabled) during this sequence.
+
+### `L6470_chain` array
+
+This array is used by all routines that transmit SPI data. For a chain with N devices, the array contains:
+
+Index|Value
+-----|-----
+0|Number of drivers in chain
+1|Axis index of the first device in the chain (closest to MOSI)
+...|
+N|Axis index of the last device chain (closest to MISO)
+
+### Set Direction and Enable
+
+The `DIR_WRITE` macros for the L64xx drivers are written so that the standard X, Y, Z and extruder logic used by the `set_directions()` routine is not altered. These macros write the correct forward/reverse command to the corresponding location in the array `L6470_dir_commands`. On the L6474 the array the command used just enables the stepper because direction is set by the DIR pin.
+
+At the end of the `set_directions()` routine, the array `L6470_chain` is used to grab the corresponding direction/enable commands out of the array `L6470_dir_commands` and put them in the correct sequence in the array `L6470_buf`. Array `L6470_buf` is then passed to the **`void`** `L6470_Transfer` function which actually sends the data to the devices.
+
+### Utilities, etc.
+
+The **absolute position** registers should accurately reflect Marlin’s stepper position counts. They are set to zero during initialization. `G28` sets them to the Marlin counts for the corresponding axis after homing. NOTE: These registers are often the negative of the Marlin counts. This is because the Marlin counts reflect the logical direction while the registers reflect the stepper direction. The register contents are displayed via the `M114 D` command.
+
+The `L6470_monitor` feature reads the status of each device every half second. It will report if there are any error conditions present or if communications has been lost/restored. The `KVAL_HOLD` value is reduced every 2 – 2.5 seconds if the thermal warning or thermal shutdown conditions are present.
+
+**M122** displays the settings of most of the bits in the status register plus a couple of other items.
+
+**M906** can be used to set the `KVAL_HOLD` register (`TVAL` on L6474) one driver at a time. If a setting is not included with the command then the contents of the registers that affect the phase current/voltage are displayed.
+
+**M916, M917 & M918**
+
+These utilities are used to tune the system. They can get you in the ballpark for acceptable jerk, acceleration, top speed and `KVAL_HOLD` settings (`TVAL` on L6474). In general they seem to provide an overly optimistic `KVAL_HOLD` (`TVAL`) setting because of the lag between setting `KVAL_HOLD` (`TVAL`) and the driver reaching final temperature. Enabling the `L6470_monitor` feature during prints will provide the **final useful setting**.
+
+The amount of power needed to move the stepper without skipping steps increases as jerk, acceleration, top speed, and micro-steps increase. The power dissipated by the driver increases as the power to the stepper increases. The net result is a balancing act between jerk, acceleration, top speed, micro-steps, and power dissipated by the driver.
+
+**M916** - Increases `KVAL_HOLD` (`TVAL`) while moving one axis until a thermal warning is generated. This routine is also useful for determining the approximate `KVAL_HOLD` (`TVAL`) where the stepper stops losing steps. The sound will get noticeably quieter as it stops losing steps.
+
+**M917** - Find minimum current thresholds. This is accomplished by doing the following steps while moving an axis:
+
+1. Decrease OCD current until overcurrent error.
+
+2. Increase OCD until overcurrent error goes away.
+
+3. Decrease stall threshold until stall error (not available on the L6474).
+
+4. Increase stall until stall error goes away (not available on the L6474).
+
+**M918** - Increase speed until error or max feedrate achieved.