text: /**
   * 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 "tmc_util.h"
  #include "../MarlinCore.h"
  
  #include "../module/stepper/indirection.h"
  #include "../module/printcounter.h"
  #include "../libs/duration_t.h"
  #include "../gcode/gcode.h"
  
  #if ENABLED(TMC_DEBUG)
    #include "../module/planner.h"
    #include "../libs/hex_print.h"
    #if ENABLED(MONITOR_DRIVER_STATUS)
      static uint16_t report_tmc_status_interval; // = 0
    #endif
  #endif
  
  #if HAS_LCD_MENU
    #include "../module/stepper.h"
  #endif
  
  /**
   * Check for over temperature or short to ground error flags.
   * Report and log warning of overtemperature condition.
   * Reduce driver current in a persistent otpw condition.
   * Keep track of otpw counter so we don't reduce current on a single instance,
   * and so we don't repeatedly report warning before the condition is cleared.
   */
  #if ENABLED(MONITOR_DRIVER_STATUS)
  
    struct TMC_driver_data {
      uint32_t drv_status;
      bool is_otpw:1,
           is_ot:1,
           is_s2g:1,
           is_error:1
           #if ENABLED(TMC_DEBUG)
             , is_stall:1
             , is_stealth:1
             , is_standstill:1
             #if HAS_STALLGUARD
               , sg_result_reasonable:1
             #endif
           #endif
        ;
      #if ENABLED(TMC_DEBUG)
        #if HAS_TMCX1X0 || HAS_TMC220x
          uint8_t cs_actual;
        #endif
        #if HAS_STALLGUARD
          uint16_t sg_result;
        #endif
      #endif
    };
  
    #if HAS_TMCX1X0
  
      #if ENABLED(TMC_DEBUG)
        static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
      #endif
  
      static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
        constexpr uint8_t OT_bp = 25, OTPW_bp = 26;
        constexpr uint32_t S2G_bm = 0x18000000;
        #if ENABLED(TMC_DEBUG)
          constexpr uint16_t SG_RESULT_bm = 0x3FF; // 0:9
          constexpr uint8_t STEALTH_bp = 14;
          constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20
          constexpr uint8_t STALL_GUARD_bp = 24;
          constexpr uint8_t STST_bp = 31;
        #endif
        TMC_driver_data data;
        const auto ds = data.drv_status = st.DRV_STATUS();
        #ifdef __AVR__
  
          // 8-bit optimization saves up to 70 bytes of PROGMEM per axis
          uint8_t spart;
          #if ENABLED(TMC_DEBUG)
            data.sg_result = ds & SG_RESULT_bm;
            spart = ds >> 8;
            data.is_stealth = TEST(spart, STEALTH_bp - 8);
            spart = ds >> 16;
            data.cs_actual = spart & (CS_ACTUAL_bm >> 16);
          #endif
          spart = ds >> 24;
          data.is_ot = TEST(spart, OT_bp - 24);
          data.is_otpw = TEST(spart, OTPW_bp - 24);
          data.is_s2g = !!(spart & (S2G_bm >> 24));
          #if ENABLED(TMC_DEBUG)
            data.is_stall = TEST(spart, STALL_GUARD_bp - 24);
            data.is_standstill = TEST(spart, STST_bp - 24);
            data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
          #endif
  
        #else // !__AVR__
  
          data.is_ot = TEST(ds, OT_bp);
          data.is_otpw = TEST(ds, OTPW_bp);
          data.is_s2g = !!(ds & S2G_bm);
          #if ENABLED(TMC_DEBUG)
            constexpr uint8_t CS_ACTUAL_sb = 16;
            data.sg_result = ds & SG_RESULT_bm;
            data.is_stealth = TEST(ds, STEALTH_bp);
            data.cs_actual = (ds & CS_ACTUAL_bm) >> CS_ACTUAL_sb;
            data.is_stall = TEST(ds, STALL_GUARD_bp);
            data.is_standstill = TEST(ds, STST_bp);
            data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
          #endif
  
        #endif // !__AVR__
  
        return data;
      }
  
    #endif // HAS_TMCX1X0
  
    #if HAS_TMC220x
  
      #if ENABLED(TMC_DEBUG)
        static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
      #endif
  
      static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
        constexpr uint8_t OTPW_bp = 0, OT_bp = 1;
        constexpr uint8_t S2G_bm = 0b111100; // 2..5
        TMC_driver_data data;
        const auto ds = data.drv_status = st.DRV_STATUS();
        data.is_otpw = TEST(ds, OTPW_bp);
        data.is_ot = TEST(ds, OT_bp);
        data.is_s2g = !!(ds & S2G_bm);
        #if ENABLED(TMC_DEBUG)
          constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20
          constexpr uint8_t STEALTH_bp = 30, STST_bp = 31;
          #ifdef __AVR__
            // 8-bit optimization saves up to 12 bytes of PROGMEM per axis
            uint8_t spart = ds >> 16;
            data.cs_actual = spart & (CS_ACTUAL_bm >> 16);
            spart = ds >> 24;
            data.is_stealth = TEST(spart, STEALTH_bp - 24);
            data.is_standstill = TEST(spart, STST_bp - 24);
          #else
            constexpr uint8_t CS_ACTUAL_sb = 16;
            data.cs_actual = (ds & CS_ACTUAL_bm) >> CS_ACTUAL_sb;
            data.is_stealth = TEST(ds, STEALTH_bp);
            data.is_standstill = TEST(ds, STST_bp);
          #endif
          TERN_(HAS_STALLGUARD, data.sg_result_reasonable = false);
        #endif
        return data;
      }
  
    #endif // TMC2208 || TMC2209
  
    #if HAS_DRIVER(TMC2660)
  
      #if ENABLED(TMC_DEBUG)
        static uint32_t get_pwm_scale(TMC2660Stepper) { return 0; }
      #endif
  
      static TMC_driver_data get_driver_data(TMC2660Stepper &st) {
        constexpr uint8_t OT_bp = 1, OTPW_bp = 2;
        constexpr uint8_t S2G_bm = 0b11000;
        TMC_driver_data data;
        const auto ds = data.drv_status = st.DRVSTATUS();
        uint8_t spart = ds & 0xFF;
        data.is_otpw = TEST(spart, OTPW_bp);
        data.is_ot = TEST(spart, OT_bp);
        data.is_s2g = !!(ds & S2G_bm);
        #if ENABLED(TMC_DEBUG)
          constexpr uint8_t STALL_GUARD_bp = 0;
          constexpr uint8_t STST_bp = 7, SG_RESULT_sp = 10;
          constexpr uint32_t SG_RESULT_bm = 0xFFC00; // 10:19
          data.is_stall = TEST(spart, STALL_GUARD_bp);
          data.is_standstill = TEST(spart, STST_bp);
          data.sg_result = (ds & SG_RESULT_bm) >> SG_RESULT_sp;
          data.sg_result_reasonable = true;
        #endif
        return data;
      }
  
    #endif // TMC2660
  
    #if ENABLED(STOP_ON_ERROR)
      void report_driver_error(const TMC_driver_data &data) {
        SERIAL_ECHOPGM(" driver error detected: 0x");
        SERIAL_PRINTLN(data.drv_status, PrintBase::Hex);
        if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
        if (data.is_s2g) SERIAL_ECHOLNPGM("coil short circuit");
        TERN_(TMC_DEBUG, tmc_report_all());
        kill(F("Driver error"));
      }
    #endif
  
    template<typename TMC>
    void report_driver_otpw(TMC &st) {
      char timestamp[14];
      duration_t elapsed = print_job_timer.duration();
      const bool has_days = (elapsed.value > 60*60*24L);
      (void)elapsed.toDigital(timestamp, has_days);
      SERIAL_EOL();
      SERIAL_ECHO(timestamp);
      SERIAL_ECHOPGM(": ");
      st.printLabel();
      SERIAL_ECHOLNPGM(" driver overtemperature warning! (", st.getMilliamps(), "mA)");
    }
  
    template<typename TMC>
    void report_polled_driver_data(TMC &st, const TMC_driver_data &data) {
      const uint32_t pwm_scale = get_pwm_scale(st);
      st.printLabel();
      SERIAL_CHAR(':'); SERIAL_ECHO(pwm_scale);
      #if ENABLED(TMC_DEBUG)
        #if HAS_TMCX1X0 || HAS_TMC220x
          SERIAL_CHAR('/'); SERIAL_ECHO(data.cs_actual);
        #endif
        #if HAS_STALLGUARD
          SERIAL_CHAR('/');
          if (data.sg_result_reasonable)
            SERIAL_ECHO(data.sg_result);
          else
            SERIAL_CHAR('-');
        #endif
      #endif
      SERIAL_CHAR('|');
      if (st.error_count)       SERIAL_CHAR('E'); // Error
      if (data.is_ot)           SERIAL_CHAR('O'); // Over-temperature
      if (data.is_otpw)         SERIAL_CHAR('W'); // over-temperature pre-Warning
      #if ENABLED(TMC_DEBUG)
        if (data.is_stall)      SERIAL_CHAR('G'); // stallGuard
        if (data.is_stealth)    SERIAL_CHAR('T'); // stealthChop
        if (data.is_standstill) SERIAL_CHAR('I'); // standstIll
      #endif
      if (st.flag_otpw)         SERIAL_CHAR('F'); // otpw Flag
      SERIAL_CHAR('|');
      if (st.otpw_count > 0) SERIAL_ECHO(st.otpw_count);
      SERIAL_CHAR('\t');
    }
  
    #if CURRENT_STEP_DOWN > 0
  
      template<typename TMC>
      void step_current_down(TMC &st) {
        if (st.isEnabled()) {
          const uint16_t I_rms = st.getMilliamps() - (CURRENT_STEP_DOWN);
          if (I_rms > 50) {
            st.rms_current(I_rms);
            #if ENABLED(REPORT_CURRENT_CHANGE)
              st.printLabel();
              SERIAL_ECHOLNPGM(" current decreased to ", I_rms);
            #endif
          }
        }
      }
  
    #else
  
      #define step_current_down(...)
  
    #endif
  
    template<typename TMC>
    bool monitor_tmc_driver(TMC &st, const bool need_update_error_counters, const bool need_debug_reporting) {
      TMC_driver_data data = get_driver_data(st);
      if (data.drv_status == 0xFFFFFFFF || data.drv_status == 0x0) return false;
  
      bool should_step_down = false;
  
      if (need_update_error_counters) {
        if (data.is_ot | data.is_s2g) st.error_count++;
        else if (st.error_count > 0) st.error_count--;
  
        #if ENABLED(STOP_ON_ERROR)
          if (st.error_count >= 10) {
            SERIAL_EOL();
            st.printLabel();
            report_driver_error(data);
          }
        #endif
  
        // Report if a warning was triggered
        if (data.is_otpw && st.otpw_count == 0)
          report_driver_otpw(st);
  
        #if CURRENT_STEP_DOWN > 0
          // Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
          if (data.is_otpw && st.otpw_count > 4 && st.isEnabled())
            should_step_down = true;
        #endif
  
        if (data.is_otpw) {
          st.otpw_count++;
          st.flag_otpw = true;
        }
        else if (st.otpw_count > 0) st.otpw_count = 0;
      }
  
      #if ENABLED(TMC_DEBUG)
        if (need_debug_reporting) report_polled_driver_data(st, data);
      #endif
  
      return should_step_down;
    }
  
    void monitor_tmc_drivers() {
      const millis_t ms = millis();
  
      // Poll TMC drivers at the configured interval
      static millis_t next_poll = 0;
      const bool need_update_error_counters = ELAPSED(ms, next_poll);
      if (need_update_error_counters) next_poll = ms + MONITOR_DRIVER_STATUS_INTERVAL_MS;
  
      // Also poll at intervals for debugging
      #if ENABLED(TMC_DEBUG)
        static millis_t next_debug_reporting = 0;
        const bool need_debug_reporting = report_tmc_status_interval && ELAPSED(ms, next_debug_reporting);
        if (need_debug_reporting) next_debug_reporting = ms + report_tmc_status_interval;
      #else
        constexpr bool need_debug_reporting = false;
      #endif
  
      if (need_update_error_counters || need_debug_reporting) {
  
        #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2)
        {
          bool result = false;
          #if AXIS_IS_TMC(X)
            if (monitor_tmc_driver(stepperX, need_update_error_counters, need_debug_reporting)) result = true;
          #endif
          #if AXIS_IS_TMC(X2)
            if (monitor_tmc_driver(stepperX2, need_update_error_counters, need_debug_reporting)) result = true;
          #endif
          if (result) {
            #if AXIS_IS_TMC(X)
              step_current_down(stepperX);
            #endif
            #if AXIS_IS_TMC(X2)
              step_current_down(stepperX2);
            #endif
          }
        }
        #endif
  
        #if AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2)
        {
          bool result = false;
          #if AXIS_IS_TMC(Y)
            if (monitor_tmc_driver(stepperY, need_update_error_counters, need_debug_reporting)) result = true;
          #endif
          #if AXIS_IS_TMC(Y2)
            if (monitor_tmc_driver(stepperY2, need_update_error_counters, need_debug_reporting)) result = true;
          #endif
          if (result) {
            #if AXIS_IS_TMC(Y)
              step_current_down(stepperY);
            #endif
            #if AXIS_IS_TMC(Y2)
              step_current_down(stepperY2);
            #endif
          }
        }
        #endif
  
        #if AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
        {
          bool result = false;
          #if AXIS_IS_TMC(Z)
            if (monitor_tmc_driver(stepperZ, need_update_error_counters, need_debug_reporting)) result = true;
          #endif
          #if AXIS_IS_TMC(Z2)
            if (monitor_tmc_driver(stepperZ2, need_update_error_counters, need_debug_reporting)) result = true;
          #endif
          #if AXIS_IS_TMC(Z3)
            if (monitor_tmc_driver(stepperZ3, need_update_error_counters, need_debug_reporting)) result = true;
          #endif
          #if AXIS_IS_TMC(Z4)
            if (monitor_tmc_driver(stepperZ4, need_update_error_counters, need_debug_reporting)) result = true;
          #endif
          if (result) {
            #if AXIS_IS_TMC(Z)
              step_current_down(stepperZ);
            #endif
            #if AXIS_IS_TMC(Z2)
              step_current_down(stepperZ2);
            #endif
            #if AXIS_IS_TMC(Z3)
              step_current_down(stepperZ3);
            #endif
            #if AXIS_IS_TMC(Z4)
              step_current_down(stepperZ4);
            #endif
          }
        }
        #endif
  
        #if AXIS_IS_TMC(I)
          if (monitor_tmc_driver(stepperI, need_update_error_counters, need_debug_reporting))
            step_current_down(stepperI);
        #endif
  
        #if AXIS_IS_TMC(J)
          if (monitor_tmc_driver(stepperJ, need_update_error_counters, need_debug_reporting))
            step_current_down(stepperJ);
        #endif
  
        #if AXIS_IS_TMC(K)
          if (monitor_tmc_driver(stepperK, need_update_error_counters, need_debug_reporting))
            step_current_down(stepperK);
        #endif
  
        #if AXIS_IS_TMC(E0)
          (void)monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting);
        #endif
        #if AXIS_IS_TMC(E1)
          (void)monitor_tmc_driver(stepperE1, need_update_error_counters, need_debug_reporting);
        #endif
        #if AXIS_IS_TMC(E2)
          (void)monitor_tmc_driver(stepperE2, need_update_error_counters, need_debug_reporting);
        #endif
        #if AXIS_IS_TMC(E3)
          (void)monitor_tmc_driver(stepperE3, need_update_error_counters, need_debug_reporting);
        #endif
        #if AXIS_IS_TMC(E4)
          (void)monitor_tmc_driver(stepperE4, need_update_error_counters, need_debug_reporting);
        #endif
        #if AXIS_IS_TMC(E5)
          (void)monitor_tmc_driver(stepperE5, need_update_error_counters, need_debug_reporting);
        #endif
        #if AXIS_IS_TMC(E6)
          (void)monitor_tmc_driver(stepperE6, need_update_error_counters, need_debug_reporting);
        #endif
        #if AXIS_IS_TMC(E7)
          (void)monitor_tmc_driver(stepperE7, need_update_error_counters, need_debug_reporting);
        #endif
  
        if (TERN0(TMC_DEBUG, need_debug_reporting)) SERIAL_EOL();
      }
    }
  
  #endif // MONITOR_DRIVER_STATUS
  
  #if ENABLED(TMC_DEBUG)
  
    /**
     * M122 [S<0|1>] [Pnnn] Enable periodic status reports
     */
    #if ENABLED(MONITOR_DRIVER_STATUS)
      void tmc_set_report_interval(const uint16_t update_interval) {
        if ((report_tmc_status_interval = update_interval))
          SERIAL_ECHOLNPGM("axis:pwm_scale"
            #if HAS_STEALTHCHOP
              "/curr_scale"
            #endif
            #if HAS_STALLGUARD
              "/mech_load"
            #endif
            "|flags|warncount"
          );
      }
    #endif
  
    enum TMC_debug_enum : char {
      TMC_CODES,
      TMC_UART_ADDR,
      TMC_ENABLED,
      TMC_CURRENT,
      TMC_RMS_CURRENT,
      TMC_MAX_CURRENT,
      TMC_IRUN,
      TMC_IHOLD,
      TMC_GLOBAL_SCALER,
      TMC_CS_ACTUAL,
      TMC_PWM_SCALE,
      TMC_PWM_SCALE_SUM,
      TMC_PWM_SCALE_AUTO,
      TMC_PWM_OFS_AUTO,
      TMC_PWM_GRAD_AUTO,
      TMC_VSENSE,
      TMC_STEALTHCHOP,
      TMC_MICROSTEPS,
      TMC_TSTEP,
      TMC_TPWMTHRS,
      TMC_TPWMTHRS_MMS,
      TMC_OTPW,
      TMC_OTPW_TRIGGERED,
      TMC_TOFF,
      TMC_TBL,
      TMC_HEND,
      TMC_HSTRT,
      TMC_SGT,
      TMC_MSCNT,
      TMC_INTERPOLATE
    };
    enum TMC_drv_status_enum : char {
      TMC_DRV_CODES,
      TMC_STST,
      TMC_OLB,
      TMC_OLA,
      TMC_S2GB,
      TMC_S2GA,
      TMC_DRV_OTPW,
      TMC_OT,
      TMC_STALLGUARD,
      TMC_DRV_CS_ACTUAL,
      TMC_FSACTIVE,
      TMC_SG_RESULT,
      TMC_DRV_STATUS_HEX,
      TMC_T157,
      TMC_T150,
      TMC_T143,
      TMC_T120,
      TMC_STEALTH,
      TMC_S2VSB,
      TMC_S2VSA
    };
    enum TMC_get_registers_enum : char {
      TMC_AXIS_CODES,
      TMC_GET_GCONF,
      TMC_GET_IHOLD_IRUN,
      TMC_GET_GSTAT,
      TMC_GET_IOIN,
      TMC_GET_TPOWERDOWN,
      TMC_GET_TSTEP,
      TMC_GET_TPWMTHRS,
      TMC_GET_TCOOLTHRS,
      TMC_GET_THIGH,
      TMC_GET_CHOPCONF,
      TMC_GET_COOLCONF,
      TMC_GET_PWMCONF,
      TMC_GET_PWM_SCALE,
      TMC_GET_DRV_STATUS,
      TMC_GET_DRVCONF,
      TMC_GET_DRVCTRL,
      TMC_GET_DRVSTATUS,
      TMC_GET_SGCSCONF,
      TMC_GET_SMARTEN
    };
  
    template<class TMC>
    static void print_vsense(TMC &st) { SERIAL_ECHOF(st.vsense() ? F("1=.18") : F("0=.325")); }
  
    #if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC5130)
      static void _tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
        switch (i) {
          case TMC_PWM_SCALE: SERIAL_ECHO(st.PWM_SCALE()); break;
          case TMC_SGT: SERIAL_ECHO(st.sgt()); break;
          case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break;
          case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
          default: break;
        }
      }
    #endif
    #if HAS_TMCX1X0
      static void _tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
        switch (i) {
          case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('*'); break;
          case TMC_SG_RESULT:  SERIAL_ECHO(st.sg_result()); break;
          case TMC_FSACTIVE:   if (st.fsactive())   SERIAL_CHAR('*'); break;
          case TMC_DRV_CS_ACTUAL: SERIAL_ECHO(st.cs_actual()); break;
          default: break;
        }
      }
    #endif
  
    #if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160)
      template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
      void print_vsense(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &) { }
  
      template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
      void print_vsense(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &) { }
  
      static void _tmc_status(TMC2160Stepper &st, const TMC_debug_enum i) {
        switch (i) {
          case TMC_PWM_SCALE: SERIAL_ECHO(st.PWM_SCALE()); break;
          case TMC_SGT: SERIAL_ECHO(st.sgt()); break;
          case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break;
          case TMC_GLOBAL_SCALER:
            {
              uint16_t value = st.GLOBAL_SCALER();
              SERIAL_ECHO(value ? value : 256);
              SERIAL_ECHOPGM("/256");
            }
            break;
          case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
          default: break;
        }
      }
    #endif
  
    #if HAS_TMC220x
      static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
        switch (i) {
          case TMC_PWM_SCALE_SUM: SERIAL_ECHO(st.pwm_scale_sum()); break;
          case TMC_PWM_SCALE_AUTO: SERIAL_ECHO(st.pwm_scale_auto()); break;
          case TMC_PWM_OFS_AUTO: SERIAL_ECHO(st.pwm_ofs_auto()); break;
          case TMC_PWM_GRAD_AUTO: SERIAL_ECHO(st.pwm_grad_auto()); break;
          case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break;
          case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
          default: break;
        }
      }
  
      #if HAS_DRIVER(TMC2209)
        template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
        static void _tmc_status(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_debug_enum i) {
          switch (i) {
            case TMC_SGT:       SERIAL_ECHO(st.SGTHRS()); break;
            case TMC_UART_ADDR: SERIAL_ECHO(st.get_address()); break;
            default:
              TMC2208Stepper *parent = &st;
              _tmc_status(*parent, i);
              break;
          }
        }
      #endif
  
      static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
        switch (i) {
          case TMC_T157: if (st.t157()) SERIAL_CHAR('*'); break;
          case TMC_T150: if (st.t150()) SERIAL_CHAR('*'); break;
          case TMC_T143: if (st.t143()) SERIAL_CHAR('*'); break;
          case TMC_T120: if (st.t120()) SERIAL_CHAR('*'); break;
          case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break;
          case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break;
          case TMC_DRV_CS_ACTUAL: SERIAL_ECHO(st.cs_actual()); break;
          default: break;
        }
      }
  
      #if HAS_DRIVER(TMC2209)
        static void _tmc_parse_drv_status(TMC2209Stepper &st, const TMC_drv_status_enum i) {
          switch (i) {
            case TMC_SG_RESULT: SERIAL_ECHO(st.SG_RESULT()); break;
            default:            _tmc_parse_drv_status(static_cast<TMC2208Stepper &>(st), i); break;
          }
        }
      #endif
    #endif
  
    #if HAS_DRIVER(TMC2660)
      static void _tmc_parse_drv_status(TMC2660Stepper, const TMC_drv_status_enum) { }
      static void _tmc_status(TMC2660Stepper &st, const TMC_debug_enum i) {
        switch (i) {
          case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
          default: break;
        }
      }
    #endif
  
    template <typename TMC>
    static void tmc_status(TMC &st, const TMC_debug_enum i) {
      SERIAL_CHAR('\t');
      switch (i) {
        case TMC_CODES: st.printLabel(); break;
        case TMC_ENABLED: serialprint_truefalse(st.isEnabled()); break;
        case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
        case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break;
        case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
        case TMC_IRUN:
          SERIAL_ECHO(st.irun());
          SERIAL_ECHOPGM("/31");
          break;
        case TMC_IHOLD:
          SERIAL_ECHO(st.ihold());
          SERIAL_ECHOPGM("/31");
          break;
        case TMC_CS_ACTUAL:
          SERIAL_ECHO(st.cs_actual());
          SERIAL_ECHOPGM("/31");
          break;
        case TMC_VSENSE: print_vsense(st); break;
        case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
        case TMC_TSTEP: {
          const uint32_t tstep_value = st.TSTEP();
          if (tstep_value != 0xFFFFF) SERIAL_ECHO(tstep_value); else SERIAL_ECHOPGM("max");
        } break;
        #if ENABLED(HYBRID_THRESHOLD)
          case TMC_TPWMTHRS: SERIAL_ECHO(uint32_t(st.TPWMTHRS())); break;
          case TMC_TPWMTHRS_MMS: {
            const uint32_t tpwmthrs_val = st.get_pwm_thrs();
            if (tpwmthrs_val) SERIAL_ECHO(tpwmthrs_val); else SERIAL_CHAR('-');
          } break;
        #endif
        case TMC_OTPW: serialprint_truefalse(st.otpw()); break;
        #if ENABLED(MONITOR_DRIVER_STATUS)
          case TMC_OTPW_TRIGGERED: serialprint_truefalse(st.getOTPW()); break;
        #endif
        case TMC_TOFF: SERIAL_ECHO(st.toff()); break;
        case TMC_TBL: SERIAL_ECHO(st.blank_time()); break;
        case TMC_HEND: SERIAL_ECHO(st.hysteresis_end()); break;
        case TMC_HSTRT: SERIAL_ECHO(st.hysteresis_start()); break;
        case TMC_MSCNT: SERIAL_ECHO(st.get_microstep_counter()); break;
        default: _tmc_status(st, i); break;
      }
    }
  
    #if HAS_DRIVER(TMC2660)
      template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
      void tmc_status(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_debug_enum i) {
        SERIAL_CHAR('\t');
        switch (i) {
          case TMC_CODES: st.printLabel(); break;
          case TMC_ENABLED: serialprint_truefalse(st.isEnabled()); break;
          case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
          case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break;
          case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
          case TMC_IRUN:
            SERIAL_ECHO(st.cs());
            SERIAL_ECHOPGM("/31");
            break;
          case TMC_VSENSE: SERIAL_ECHOF(st.vsense() ? F("1=.165") : F("0=.310")); break;
          case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
          //case TMC_OTPW: serialprint_truefalse(st.otpw()); break;
          //case TMC_OTPW_TRIGGERED: serialprint_truefalse(st.getOTPW()); break;
          case TMC_SGT: SERIAL_ECHO(st.sgt()); break;
          case TMC_TOFF: SERIAL_ECHO(st.toff()); break;
          case TMC_TBL: SERIAL_ECHO(st.blank_time()); break;
          case TMC_HEND: SERIAL_ECHO(st.hysteresis_end()); break;
          case TMC_HSTRT: SERIAL_ECHO(st.hysteresis_start()); break;
          default: break;
        }
      }
    #endif
  
    template <typename TMC>
    static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
      SERIAL_CHAR('\t');
      switch (i) {
        case TMC_DRV_CODES:     st.printLabel();  break;
        case TMC_STST:          if (!st.stst())   SERIAL_CHAR('*'); break;
        case TMC_OLB:           if (st.olb())     SERIAL_CHAR('*'); break;
        case TMC_OLA:           if (st.ola())     SERIAL_CHAR('*'); break;
        case TMC_S2GB:          if (st.s2gb())    SERIAL_CHAR('*'); break;
        case TMC_S2GA:          if (st.s2ga())    SERIAL_CHAR('*'); break;
        case TMC_DRV_OTPW:      if (st.otpw())    SERIAL_CHAR('*'); break;
        case TMC_OT:            if (st.ot())      SERIAL_CHAR('*'); break;
        case TMC_DRV_STATUS_HEX: {
          const uint32_t drv_status = st.DRV_STATUS();
          SERIAL_CHAR('\t');
          st.printLabel();
          SERIAL_CHAR('\t');
          print_hex_long(drv_status, ':');
          if (drv_status == 0xFFFFFFFF || drv_status == 0) SERIAL_ECHOPGM("\t Bad response!");
          SERIAL_EOL();
          break;
        }
        default: _tmc_parse_drv_status(st, i); break;
      }
    }
  
    static void tmc_debug_loop(const TMC_debug_enum n, LOGICAL_AXIS_ARGS(const bool)) {
      if (x) {
        #if AXIS_IS_TMC(X)
          tmc_status(stepperX, n);
        #endif
        #if AXIS_IS_TMC(X2)
          tmc_status(stepperX2, n);
        #endif
      }
  
      if (TERN0(HAS_Y_AXIS, y)) {
        #if AXIS_IS_TMC(Y)
          tmc_status(stepperY, n);
        #endif
        #if AXIS_IS_TMC(Y2)
          tmc_status(stepperY2, n);
        #endif
      }
  
      if (TERN0(HAS_Z_AXIS, z)) {
        #if AXIS_IS_TMC(Z)
          tmc_status(stepperZ, n);
        #endif
        #if AXIS_IS_TMC(Z2)
          tmc_status(stepperZ2, n);
        #endif
        #if AXIS_IS_TMC(Z3)
          tmc_status(stepperZ3, n);
        #endif
        #if AXIS_IS_TMC(Z4)
          tmc_status(stepperZ4, n);
        #endif
      }
  
      #if AXIS_IS_TMC(I)
        if (i) tmc_status(stepperI, n);
      #endif
      #if AXIS_IS_TMC(J)
        if (j) tmc_status(stepperJ, n);
      #endif
      #if AXIS_IS_TMC(K)
        if (k) tmc_status(stepperK, n);
      #endif
  
      if (TERN0(HAS_EXTRUDERS, e)) {
        #if AXIS_IS_TMC(E0)
          tmc_status(stepperE0, n);
        #endif
        #if AXIS_IS_TMC(E1)
          tmc_status(stepperE1, n);
        #endif
        #if AXIS_IS_TMC(E2)
          tmc_status(stepperE2, n);
        #endif
        #if AXIS_IS_TMC(E3)
          tmc_status(stepperE3, n);
        #endif
        #if AXIS_IS_TMC(E4)
          tmc_status(stepperE4, n);
        #endif
        #if AXIS_IS_TMC(E5)
          tmc_status(stepperE5, n);
        #endif
        #if AXIS_IS_TMC(E6)
          tmc_status(stepperE6, n);
        #endif
        #if AXIS_IS_TMC(E7)
          tmc_status(stepperE7, n);
        #endif
      }
  
      SERIAL_EOL();
    }
  
    static void drv_status_loop(const TMC_drv_status_enum n, LOGICAL_AXIS_ARGS(const bool)) {
      if (x) {
        #if AXIS_IS_TMC(X)
          tmc_parse_drv_status(stepperX, n);
        #endif
        #if AXIS_IS_TMC(X2)
          tmc_parse_drv_status(stepperX2, n);
        #endif
      }
  
      if (TERN0(HAS_Y_AXIS, y)) {
        #if AXIS_IS_TMC(Y)
          tmc_parse_drv_status(stepperY, n);
        #endif
        #if AXIS_IS_TMC(Y2)
          tmc_parse_drv_status(stepperY2, n);
        #endif
      }
  
      if (TERN0(HAS_Z_AXIS, z)) {
        #if AXIS_IS_TMC(Z)
          tmc_parse_drv_status(stepperZ, n);
        #endif
        #if AXIS_IS_TMC(Z2)
          tmc_parse_drv_status(stepperZ2, n);
        #endif
        #if AXIS_IS_TMC(Z3)
          tmc_parse_drv_status(stepperZ3, n);
        #endif
        #if AXIS_IS_TMC(Z4)
          tmc_parse_drv_status(stepperZ4, n);
        #endif
      }
  
      #if AXIS_IS_TMC(I)
        if (i) tmc_parse_drv_status(stepperI, n);
      #endif
      #if AXIS_IS_TMC(J)
        if (j) tmc_parse_drv_status(stepperJ, n);
      #endif
      #if AXIS_IS_TMC(K)
        if (k) tmc_parse_drv_status(stepperK, n);
      #endif
  
      if (TERN0(HAS_EXTRUDERS, e)) {
        #if AXIS_IS_TMC(E0)
          tmc_parse_drv_status(stepperE0, n);
        #endif
        #if AXIS_IS_TMC(E1)
          tmc_parse_drv_status(stepperE1, n);
        #endif
        #if AXIS_IS_TMC(E2)
          tmc_parse_drv_status(stepperE2, n);
        #endif
        #if AXIS_IS_TMC(E3)
          tmc_parse_drv_status(stepperE3, n);
        #endif
        #if AXIS_IS_TMC(E4)
          tmc_parse_drv_status(stepperE4, n);
        #endif
        #if AXIS_IS_TMC(E5)
          tmc_parse_drv_status(stepperE5, n);
        #endif
        #if AXIS_IS_TMC(E6)
          tmc_parse_drv_status(stepperE6, n);
        #endif
        #if AXIS_IS_TMC(E7)
          tmc_parse_drv_status(stepperE7, n);
        #endif
      }
  
      SERIAL_EOL();
    }
  
    /**
     * M122 report functions
     */
  
    void tmc_report_all(LOGICAL_AXIS_ARGS(const bool)) {
      #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0)
      #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0)
  
      TMC_REPORT("\t",                 TMC_CODES);
      #if HAS_DRIVER(TMC2209)
        TMC_REPORT("Address\t",        TMC_UART_ADDR);
      #endif
      TMC_REPORT("Enabled\t",          TMC_ENABLED);
      TMC_REPORT("Set current",        TMC_CURRENT);
      TMC_REPORT("RMS current",        TMC_RMS_CURRENT);
      TMC_REPORT("MAX current",        TMC_MAX_CURRENT);
      TMC_REPORT("Run current",        TMC_IRUN);
      TMC_REPORT("Hold current",       TMC_IHOLD);
      #if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160)
        TMC_REPORT("Global scaler",    TMC_GLOBAL_SCALER);
      #endif
      TMC_REPORT("CS actual",          TMC_CS_ACTUAL);
      TMC_REPORT("PWM scale",          TMC_PWM_SCALE);
      #if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2224) || HAS_DRIVER(TMC2660) || HAS_TMC220x
        TMC_REPORT("vsense\t",         TMC_VSENSE);
      #endif
      TMC_REPORT("stealthChop",        TMC_STEALTHCHOP);
      TMC_REPORT("msteps\t",           TMC_MICROSTEPS);
      TMC_REPORT("interp\t",           TMC_INTERPOLATE);
      TMC_REPORT("tstep\t",            TMC_TSTEP);
      TMC_REPORT("PWM thresh.",        TMC_TPWMTHRS);
      TMC_REPORT("[mm/s]\t",           TMC_TPWMTHRS_MMS);
      TMC_REPORT("OT prewarn",         TMC_OTPW);
      #if ENABLED(MONITOR_DRIVER_STATUS)
        TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED);
      #endif
  
      #if HAS_TMC220x
        TMC_REPORT("pwm scale sum",     TMC_PWM_SCALE_SUM);
        TMC_REPORT("pwm scale auto",    TMC_PWM_SCALE_AUTO);
        TMC_REPORT("pwm offset auto",   TMC_PWM_OFS_AUTO);
        TMC_REPORT("pwm grad auto",     TMC_PWM_GRAD_AUTO);
      #endif
  
      TMC_REPORT("off time",           TMC_TOFF);
      TMC_REPORT("blank time",         TMC_TBL);
      TMC_REPORT("hysteresis\n -end\t", TMC_HEND);
      TMC_REPORT(" -start\t",          TMC_HSTRT);
      TMC_REPORT("Stallguard thrs",    TMC_SGT);
      TMC_REPORT("uStep count",        TMC_MSCNT);
      DRV_REPORT("DRVSTATUS",          TMC_DRV_CODES);
      #if HAS_TMCX1X0 || HAS_TMC220x
        DRV_REPORT("sg_result",        TMC_SG_RESULT);
      #endif
      #if HAS_TMCX1X0
        DRV_REPORT("stallguard",       TMC_STALLGUARD);
        DRV_REPORT("fsactive",         TMC_FSACTIVE);
      #endif
      DRV_REPORT("stst\t",             TMC_STST);
      DRV_REPORT("olb\t",              TMC_OLB);
      DRV_REPORT("ola\t",              TMC_OLA);
      DRV_REPORT("s2gb\t",             TMC_S2GB);
      DRV_REPORT("s2ga\t",             TMC_S2GA);
      DRV_REPORT("otpw\t",             TMC_DRV_OTPW);
      DRV_REPORT("ot\t",               TMC_OT);
      #if HAS_TMC220x
        DRV_REPORT("157C\t",           TMC_T157);
        DRV_REPORT("150C\t",           TMC_T150);
        DRV_REPORT("143C\t",           TMC_T143);
        DRV_REPORT("120C\t",           TMC_T120);
        DRV_REPORT("s2vsa\t",          TMC_S2VSA);
        DRV_REPORT("s2vsb\t",          TMC_S2VSB);
      #endif
      DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
      SERIAL_EOL();
    }
  
    #define PRINT_TMC_REGISTER(REG_CASE) case TMC_GET_##REG_CASE: print_hex_long(st.REG_CASE(), ':'); break
  
    #if HAS_TMCX1X0
      static void tmc_get_ic_registers(TMC2130Stepper &st, const TMC_get_registers_enum i) {
        switch (i) {
          PRINT_TMC_REGISTER(TCOOLTHRS);
          PRINT_TMC_REGISTER(THIGH);
          PRINT_TMC_REGISTER(COOLCONF);
          default: SERIAL_CHAR('\t'); break;
        }
      }
    #endif
    #if HAS_TMC220x
      static void tmc_get_ic_registers(TMC2208Stepper, const TMC_get_registers_enum) { SERIAL_CHAR('\t'); }
    #endif
  
    #if HAS_TRINAMIC_CONFIG
      template<class TMC>
      static void tmc_get_registers(TMC &st, const TMC_get_registers_enum i) {
        switch (i) {
          case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break;
          PRINT_TMC_REGISTER(GCONF);
          PRINT_TMC_REGISTER(IHOLD_IRUN);
          PRINT_TMC_REGISTER(GSTAT);
          PRINT_TMC_REGISTER(IOIN);
          PRINT_TMC_REGISTER(TPOWERDOWN);
          PRINT_TMC_REGISTER(TSTEP);
          PRINT_TMC_REGISTER(TPWMTHRS);
          PRINT_TMC_REGISTER(CHOPCONF);
          PRINT_TMC_REGISTER(PWMCONF);
          PRINT_TMC_REGISTER(PWM_SCALE);
          PRINT_TMC_REGISTER(DRV_STATUS);
          default: tmc_get_ic_registers(st, i); break;
        }
        SERIAL_CHAR('\t');
      }
    #endif
    #if HAS_DRIVER(TMC2660)
      template <char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
      static void tmc_get_registers(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_get_registers_enum i) {
        switch (i) {
          case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break;
          PRINT_TMC_REGISTER(DRVCONF);
          PRINT_TMC_REGISTER(DRVCTRL);
          PRINT_TMC_REGISTER(CHOPCONF);
          PRINT_TMC_REGISTER(DRVSTATUS);
          PRINT_TMC_REGISTER(SGCSCONF);
          PRINT_TMC_REGISTER(SMARTEN);
          default: SERIAL_CHAR('\t'); break;
        }
        SERIAL_CHAR('\t');
      }
    #endif
  
    static void tmc_get_registers(TMC_get_registers_enum n, LOGICAL_AXIS_ARGS(const bool)) {
      if (x) {
        #if AXIS_IS_TMC(X)
          tmc_get_registers(stepperX, n);
        #endif
        #if AXIS_IS_TMC(X2)
          tmc_get_registers(stepperX2, n);
        #endif
      }
  
      if (TERN0(HAS_Y_AXIS, y)) {
        #if AXIS_IS_TMC(Y)
          tmc_get_registers(stepperY, n);
        #endif
        #if AXIS_IS_TMC(Y2)
          tmc_get_registers(stepperY2, n);
        #endif
      }
  
      if (TERN0(HAS_Z_AXIS, z)) {
        #if AXIS_IS_TMC(Z)
          tmc_get_registers(stepperZ, n);
        #endif
        #if AXIS_IS_TMC(Z2)
          tmc_get_registers(stepperZ2, n);
        #endif
        #if AXIS_IS_TMC(Z3)
          tmc_get_registers(stepperZ3, n);
        #endif
        #if AXIS_IS_TMC(Z4)
          tmc_get_registers(stepperZ4, n);
        #endif
      }
  
      #if AXIS_IS_TMC(I)
        if (i) tmc_get_registers(stepperI, n);
      #endif
      #if AXIS_IS_TMC(J)
        if (j) tmc_get_registers(stepperJ, n);
      #endif
      #if AXIS_IS_TMC(K)
        if (k) tmc_get_registers(stepperK, n);
      #endif
  
      if (TERN0(HAS_EXTRUDERS, e)) {
        #if AXIS_IS_TMC(E0)
          tmc_get_registers(stepperE0, n);
        #endif
        #if AXIS_IS_TMC(E1)
          tmc_get_registers(stepperE1, n);
        #endif
        #if AXIS_IS_TMC(E2)
          tmc_get_registers(stepperE2, n);
        #endif
        #if AXIS_IS_TMC(E3)
          tmc_get_registers(stepperE3, n);
        #endif
        #if AXIS_IS_TMC(E4)
          tmc_get_registers(stepperE4, n);
        #endif
        #if AXIS_IS_TMC(E5)
          tmc_get_registers(stepperE5, n);
        #endif
        #if AXIS_IS_TMC(E6)
          tmc_get_registers(stepperE6, n);
        #endif
        #if AXIS_IS_TMC(E7)
          tmc_get_registers(stepperE7, n);
        #endif
      }
  
      SERIAL_EOL();
    }
  
    void tmc_get_registers(LOGICAL_AXIS_ARGS(bool)) {
      #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, LOGICAL_AXIS_ARGS()); }while(0)
      #define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME)
      _TMC_GET_REG("\t", TMC_AXIS_CODES);
      TMC_GET_REG(GCONF, "\t\t");
      TMC_GET_REG(IHOLD_IRUN, "\t");
      TMC_GET_REG(GSTAT, "\t\t");
      TMC_GET_REG(IOIN, "\t\t");
      TMC_GET_REG(TPOWERDOWN, "\t");
      TMC_GET_REG(TSTEP, "\t\t");
      TMC_GET_REG(TPWMTHRS, "\t");
      TMC_GET_REG(TCOOLTHRS, "\t");
      TMC_GET_REG(THIGH, "\t\t");
      TMC_GET_REG(CHOPCONF, "\t");
      TMC_GET_REG(COOLCONF, "\t");
      TMC_GET_REG(PWMCONF, "\t");
      TMC_GET_REG(PWM_SCALE, "\t");
      TMC_GET_REG(DRV_STATUS, "\t");
    }
  
  #endif // TMC_DEBUG
  
  #if USE_SENSORLESS
  
    bool tmc_enable_stallguard(TMC2130Stepper &st) {
      const bool stealthchop_was_enabled = st.en_pwm_mode();
  
      st.TCOOLTHRS(0xFFFFF);
      st.en_pwm_mode(false);
      st.diag1_stall(true);
  
      return stealthchop_was_enabled;
    }
    void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth) {
      st.TCOOLTHRS(0);
      st.en_pwm_mode(restore_stealth);
      st.diag1_stall(false);
    }
  
    bool tmc_enable_stallguard(TMC2209Stepper &st) {
      const bool stealthchop_was_enabled = !st.en_spreadCycle();
  
      st.TCOOLTHRS(0xFFFFF);
      st.en_spreadCycle(false);
      return stealthchop_was_enabled;
    }
    void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth) {
      st.en_spreadCycle(!restore_stealth);
      st.TCOOLTHRS(0);
    }
  
    bool tmc_enable_stallguard(TMC2660Stepper) {
      // TODO
      return false;
    }
    void tmc_disable_stallguard(TMC2660Stepper, const bool) {};
  
  #endif // USE_SENSORLESS
  
  #if HAS_TMC_SPI
    #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
    void tmc_init_cs_pins() {
      #if AXIS_HAS_SPI(X)
        SET_CS_PIN(X);
      #endif
      #if AXIS_HAS_SPI(Y)
        SET_CS_PIN(Y);
      #endif
      #if AXIS_HAS_SPI(Z)
        SET_CS_PIN(Z);
      #endif
      #if AXIS_HAS_SPI(X2)
        SET_CS_PIN(X2);
      #endif
      #if AXIS_HAS_SPI(Y2)
        SET_CS_PIN(Y2);
      #endif
      #if AXIS_HAS_SPI(Z2)
        SET_CS_PIN(Z2);
      #endif
      #if AXIS_HAS_SPI(Z3)
        SET_CS_PIN(Z3);
      #endif
      #if AXIS_HAS_SPI(Z4)
        SET_CS_PIN(Z4);
      #endif
      #if AXIS_HAS_SPI(I)
        SET_CS_PIN(I);
      #endif
      #if AXIS_HAS_SPI(J)
        SET_CS_PIN(J);
      #endif
      #if AXIS_HAS_SPI(K)
        SET_CS_PIN(K);
      #endif
      #if AXIS_HAS_SPI(E0)
        SET_CS_PIN(E0);
      #endif
      #if AXIS_HAS_SPI(E1)
        SET_CS_PIN(E1);
      #endif
      #if AXIS_HAS_SPI(E2)
        SET_CS_PIN(E2);
      #endif
      #if AXIS_HAS_SPI(E3)
        SET_CS_PIN(E3);
      #endif
      #if AXIS_HAS_SPI(E4)
        SET_CS_PIN(E4);
      #endif
      #if AXIS_HAS_SPI(E5)
        SET_CS_PIN(E5);
      #endif
      #if AXIS_HAS_SPI(E6)
        SET_CS_PIN(E6);
      #endif
      #if AXIS_HAS_SPI(E7)
        SET_CS_PIN(E7);
      #endif
    }
  #endif // HAS_TMC_SPI
  
  template<typename TMC>
  static bool test_connection(TMC &st) {
    SERIAL_ECHOPGM("Testing ");
    st.printLabel();
    SERIAL_ECHOPGM(" connection... ");
    const uint8_t test_result = st.test_connection();
  
    if (test_result > 0) SERIAL_ECHOPGM("Error: All ");
  
    FSTR_P stat;
    switch (test_result) {
      default:
      case 0: stat = F("OK"); break;
      case 1: stat = F("HIGH"); break;
      case 2: stat = F("LOW"); break;
    }
    SERIAL_ECHOLNF(stat);
  
    return test_result;
  }
  
  void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) {
    uint8_t axis_connection = 0;
  
    if (x) {
      #if AXIS_IS_TMC(X)
        axis_connection += test_connection(stepperX);
      #endif
      #if AXIS_IS_TMC(X2)
        axis_connection += test_connection(stepperX2);
      #endif
    }
  
    if (TERN0(HAS_Y_AXIS, y)) {
      #if AXIS_IS_TMC(Y)
        axis_connection += test_connection(stepperY);
      #endif
      #if AXIS_IS_TMC(Y2)
        axis_connection += test_connection(stepperY2);
      #endif
    }
  
    if (TERN0(HAS_Z_AXIS, z)) {
      #if AXIS_IS_TMC(Z)
        axis_connection += test_connection(stepperZ);
      #endif
      #if AXIS_IS_TMC(Z2)
        axis_connection += test_connection(stepperZ2);
      #endif
      #if AXIS_IS_TMC(Z3)
        axis_connection += test_connection(stepperZ3);
      #endif
      #if AXIS_IS_TMC(Z4)
        axis_connection += test_connection(stepperZ4);
      #endif
    }
  
    #if AXIS_IS_TMC(I)
      if (i) axis_connection += test_connection(stepperI);
    #endif
    #if AXIS_IS_TMC(J)
      if (j) axis_connection += test_connection(stepperJ);
    #endif
    #if AXIS_IS_TMC(K)
      if (k) axis_connection += test_connection(stepperK);
    #endif
  
    if (TERN0(HAS_EXTRUDERS, e)) {
      #if AXIS_IS_TMC(E0)
        axis_connection += test_connection(stepperE0);
      #endif
      #if AXIS_IS_TMC(E1)
        axis_connection += test_connection(stepperE1);
      #endif
      #if AXIS_IS_TMC(E2)
        axis_connection += test_connection(stepperE2);
      #endif
      #if AXIS_IS_TMC(E3)
        axis_connection += test_connection(stepperE3);
      #endif
      #if AXIS_IS_TMC(E4)
        axis_connection += test_connection(stepperE4);
      #endif
      #if AXIS_IS_TMC(E5)
        axis_connection += test_connection(stepperE5);
      #endif
      #if AXIS_IS_TMC(E6)
        axis_connection += test_connection(stepperE6);
      #endif
      #if AXIS_IS_TMC(E7)
        axis_connection += test_connection(stepperE7);
      #endif
    }
  
    if (axis_connection) LCD_MESSAGE(MSG_ERROR_TMC);
  }
  
  #endif // HAS_TRINAMIC_CONFIG
  