Merge pull request #67 from mithkr/master

Migrate to a new TMC library (#11943)
Migrate to a new TMC library (#11943 )
2019-12-28 14:44:14 +01:00 · 2019-12-28 09:35:34 +01:00 · 2019-09-29 22:04:19 +02:00 · 2019-09-29 20:55:04 +02:00 · 2019-04-24 14:58:31 +02:00 · 2019-04-20 13:57:54 +02:00
37 changed files with 9881 additions and 2480 deletions
--- a/.travis.yml
+++ b/.travis.yml
@@ -23,7 +23,7 @@ before_install:
 install:
  #
  # Install arduino 1.8.5
-  - wget http://downloads-02.arduino.cc/arduino-1.8.5-linux64.tar.xz
+  - wget http://downloads.arduino.cc/arduino-1.8.5-linux64.tar.xz
  - tar xf arduino-1.8.5-linux64.tar.xz
  - sudo mv arduino-1.8.5 /usr/local/share/arduino
  - ln -s /usr/local/share/arduino/arduino ${TRAVIS_BUILD_DIR}/buildroot/bin/arduino
@@ -75,315 +75,26 @@ script:
  #
  - cp Marlin/Configuration.h Marlin/Configuration.h.backup
  - cp Marlin/Configuration_adv.h Marlin/Configuration_adv.h.backup
-  - cp Marlin/pins_RAMPS.h Marlin/pins_RAMPS.h.backup
+  - cp Marlin/pins_TRIGORILLA_14.h Marlin/pins_TRIGORILLA_14.h.backup
  #
  # Build with the default configurations
  #
  - build_marlin
  #
-  # Test 2 extruders (one MAX6675) and heated bed on basic RAMPS 1.4
-  # Test a "Fix Mounted" Probe with Safe Homing, some arc options,
-  # linear bed leveling, M48, leveling debug, and firmware retraction.
-  #
-  - opt_set MOTHERBOARD BOARD_RAMPS_14_EEB
-  - opt_set EXTRUDERS 2
-  - opt_set TEMP_SENSOR_0 -2
-  - opt_set TEMP_SENSOR_1 1
-  - opt_set TEMP_SENSOR_BED 1
-  - opt_set POWER_SUPPLY 1
-  - opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING
-  - opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS PINS_DEBUGGING
-  - opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED AUTO_POWER_CONTROL NOZZLE_PARK_FEATURE FILAMENT_RUNOUT_SENSOR
-  - opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE
-  - opt_enable_adv ARC_P_CIRCLES ADVANCED_PAUSE_FEATURE CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS POWER_LOSS_RECOVERY POWER_LOSS_PIN POWER_LOSS_STATE
-  - opt_enable_adv FWRETRACT MAX7219_DEBUG LED_CONTROL_MENU CASE_LIGHT_ENABLE CASE_LIGHT_USE_NEOPIXEL CODEPENDENT_XY_HOMING
-  - opt_set GRID_MAX_POINTS_X 16
-  - opt_set_adv FANMUX0_PIN 53
-  - build_marlin
-  #
-  # Test a probeless build of AUTO_BED_LEVELING_UBL, with lots of extruders
-  #
-  - restore_configs
-  - opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO
-  - opt_set EXTRUDERS 5
-  - opt_set TEMP_SENSOR_1 1
-  - opt_set TEMP_SENSOR_2 5
-  - opt_set TEMP_SENSOR_3 20
-  - opt_set TEMP_SENSOR_4 999
-  - opt_set TEMP_SENSOR_BED 1
-  - opt_enable AUTO_BED_LEVELING_UBL RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_EDITING ENABLE_LEVELING_FADE_HEIGHT SKEW_CORRECTION
-  - opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
-  - opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING BABYSTEP_XY LIN_ADVANCE NANODLP_Z_SYNC QUICK_HOME JUNCTION_DEVIATION MAX7219_DEBUG
-  - opt_set_adv MAX7219_ROTATE 270
-  - build_marlin
-  #
-  # Add a Sled Z Probe, use UBL Cartesian moves, use Japanese language
-  #
-  - opt_enable Z_PROBE_SLED SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE S_CURVE_ACCELERATION
-  - opt_set LCD_LANGUAGE kana_utf8
-  - opt_disable SEGMENT_LEVELED_MOVES
-  - opt_enable_adv BABYSTEP_ZPROBE_OFFSET DOUBLECLICK_FOR_Z_BABYSTEPPING
-  - build_marlin
-  #
-  # Test a Servo Probe
-  # ...with AUTO_BED_LEVELING_3POINT, DEBUG_LEVELING_FEATURE, EEPROM_SETTINGS, EEPROM_CHITCHAT, EXTENDED_CAPABILITIES_REPORT, and AUTO_REPORT_TEMPERATURES
-  #
-  - restore_configs
-  - opt_enable NUM_SERVOS Z_PROBE_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE
-  - opt_set NUM_SERVOS 1
-  - opt_enable AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE EEPROM_SETTINGS EEPROM_CHITCHAT
-  - opt_enable_adv NO_VOLUMETRICS EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES AUTOTEMP G38_PROBE_TARGET
-  - build_marlin
-  #
-  # Test MESH_BED_LEVELING feature, with LCD
-  #
-  - restore_configs
-  - opt_enable MESH_BED_LEVELING G26_MESH_EDITING MESH_G28_REST_ORIGIN LCD_BED_LEVELING ULTIMAKERCONTROLLER
-  - build_marlin
-  #
-  # Test MINIRAMBO for PWM_MOTOR_CURRENT
-  #      PROBE_MANUALLY feature, with LCD support,
-  #      ULTIMAKERCONTROLLER, FILAMENT_LCD_DISPLAY, FILAMENT_WIDTH_SENSOR,
-  #      PRINTCOUNTER, NOZZLE_PARK_FEATURE, NOZZLE_CLEAN_FEATURE, PCA9632,
-  #      Z_DUAL_ENDSTOPS, BEZIER_CURVE_SUPPORT, EXPERIMENTAL_I2CBUS,
-  #      ADVANCED_PAUSE_FEATURE, ADVANCED_PAUSE_CONTINUOUS_PURGE, PARK_HEAD_ON_PAUSE, LCD_INFO_MENU, M114_DETAIL
-  #      EEPROM_SETTINGS, EEPROM_CHITCHAT, M100_FREE_MEMORY_WATCHER,
-  #      INCH_MODE_SUPPORT, TEMPERATURE_UNITS_SUPPORT
-  #
-  - restore_configs
-  - opt_set MOTHERBOARD BOARD_MINIRAMBO
-  - opt_enable PROBE_MANUALLY AUTO_BED_LEVELING_BILINEAR G26_MESH_EDITING LCD_BED_LEVELING ULTIMAKERCONTROLLER
-  - opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT M100_FREE_MEMORY_WATCHER M100_FREE_MEMORY_DUMPER M100_FREE_MEMORY_CORRUPTOR INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT
-  - opt_enable ULTIMAKERCONTROLLER SDSUPPORT
-  - opt_enable PRINTCOUNTER NOZZLE_PARK_FEATURE NOZZLE_CLEAN_FEATURE PCA9632
-  - opt_enable_adv BEZIER_CURVE_SUPPORT EXPERIMENTAL_I2CBUS
-  - opt_enable_adv ADVANCED_PAUSE_FEATURE ADVANCED_PAUSE_CONTINUOUS_PURGE FILAMENT_LOAD_UNLOAD_GCODES PARK_HEAD_ON_PAUSE LCD_INFO_MENU M114_DETAIL
-  - opt_set_adv PWM_MOTOR_CURRENT {1300,1300,1250}
-  - opt_set_adv I2C_SLAVE_ADDRESS 63
-  - build_marlin
-  #
-  # Mixing Extruder with 5 steppers, Cyrillic
-  #
-  - restore_configs
-  - opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO
-  - opt_enable MIXING_EXTRUDER CR10_STOCKDISPLAY
-  - opt_set MIXING_STEPPERS 5
-  - opt_set LCD_LANGUAGE ru
-  - build_marlin
-  #
-  # Test DUAL_X_CARRIAGE
-  #
-  - restore_configs
-  - opt_set MOTHERBOARD BOARD_RUMBA
-  - opt_set EXTRUDERS 2
-  - opt_set TEMP_SENSOR_1 1
-  - opt_enable USE_XMAX_PLUG
-  - opt_enable_adv DUAL_X_CARRIAGE
-  - build_marlin
-  #
-  # Test SPEAKER with BOARD_BQ_ZUM_MEGA_3D and BQ_LCD_SMART_CONTROLLER
-  #
-  #- restore_configs
-  #- opt_set MOTHERBOARD BOARD_BQ_ZUM_MEGA_3D
-  #- opt_set LCD_FEEDBACK_FREQUENCY_DURATION_MS 10
-  #- opt_set LCD_FEEDBACK_FREQUENCY_HZ 100
-  #- opt_enable BQ_LCD_SMART_CONTROLLER SPEAKER
-  #
-  # Test SWITCHING_EXTRUDER
-  #
-  - restore_configs
-  - opt_set MOTHERBOARD BOARD_RUMBA
-  - opt_set EXTRUDERS 2
-  - opt_enable NUM_SERVOS
-  - opt_set NUM_SERVOS 1
-  - opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER
-  - build_marlin
-  #
-  # Enable COREXY
-  #
-  #- restore_configs
-  #- opt_enable COREXY
-  #- build_marlin
-  #
-  # Test many less common options
-  #
-  - restore_configs
-  - opt_enable COREYX
-  - opt_set_adv FAN_MIN_PWM 50
-  - opt_set_adv FAN_KICKSTART_TIME 100
-  - opt_set_adv XY_FREQUENCY_LIMIT  15
-  - opt_enable_adv SHOW_TEMP_ADC_VALUES HOME_Y_BEFORE_X EMERGENCY_PARSER FAN_KICKSTART_TIME
-  - opt_enable_adv ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED ADVANCED_OK
-  - opt_enable_adv VOLUMETRIC_DEFAULT_ON NO_WORKSPACE_OFFSETS ACTION_ON_KILL
-  - opt_enable_adv EXTRA_FAN_SPEED FWERETRACT Z_DUAL_STEPPER_DRIVERS Z_DUAL_ENDSTOPS
-  - opt_enable_adv MENU_ADDAUTOSTART SDCARD_SORT_ALPHA
-  - opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER BABYSTEPPING DAC_MOTOR_CURRENT_DEFAULT
-  - opt_enable FILAMENT_LCD_DISPLAY FILAMENT_WIDTH_SENSOR
-  - opt_enable ENDSTOP_INTERRUPTS_FEATURE FAN_SOFT_PWM SDSUPPORT
-  - opt_enable USE_XMAX_PLUG
-  - build_marlin
-  #
-  ######## Other Standard LCD/Panels ##############
-  #
-  # ULTRA_LCD
-  #
-  #- restore_configs
-  #- opt_enable ULTRA_LCD
-  #- build_marlin
-  #
-  # DOGLCD
-  #
-  #- restore_configs
-  #- opt_enable DOGLCD
-  #- build_marlin
-  #
-  # MAKRPANEL
-  # Needs to use Melzi and Sanguino hardware
-  #
-  #- restore_configs
-  #- opt_enable MAKRPANEL
-  #- build_marlin
-  #
-  # REPRAP_DISCOUNT_SMART_CONTROLLER, SDSUPPORT, BABYSTEPPING, RIGIDBOARD_V2, and DAC_MOTOR_CURRENT_DEFAULT
-  #
-  #- restore_configs
-  #- opt_set MOTHERBOARD BOARD_RIGIDBOARD_V2
-  #- opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT BABYSTEPPING DAC_MOTOR_CURRENT_DEFAULT
-  #- build_marlin
-  # #
-  # G3D_PANEL with SDCARD_SORT_ALPHA and STATUS_MESSAGE_SCROLLING
-  #
-  #- restore_configs
-  #- opt_enable G3D_PANEL SDSUPPORT
-  #- opt_enable_adv SDCARD_SORT_ALPHA STATUS_MESSAGE_SCROLLING SCROLL_LONG_FILENAMES
-  #- opt_set_adv SDSORT_GCODE true
-  #- opt_set_adv SDSORT_USES_RAM true
-  #- opt_set_adv SDSORT_USES_STACK true
-  #- opt_set_adv SDSORT_CACHE_NAMES true
-  #- build_marlin
-  #
-  # REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER with LIGHTWEIGHT_UI
-  #
-  - restore_configs
-  - opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER SDSUPPORT
-  - opt_enable_adv SDCARD_SORT_ALPHA STATUS_MESSAGE_SCROLLING SCROLL_LONG_FILENAMES LIGHTWEIGHT_UI
-  - opt_set_adv SDSORT_GCODE true
-  - opt_set_adv SDSORT_USES_RAM true
-  - opt_set_adv SDSORT_USES_STACK true
-  - opt_set_adv SDSORT_CACHE_NAMES true
-  - build_marlin
-  #
-  # REPRAPWORLD_KEYPAD
-  #
-  # Cant find configuration details to get it to compile
-  #- restore_configs
-  #- opt_enable ULTRA_LCD REPRAPWORLD_KEYPAD REPRAPWORLD_KEYPAD_MOVE_STEP
-  #- build_marlin
-  #
-  # RA_CONTROL_PANEL
-  #
-  #- restore_configs
-  #- opt_enable RA_CONTROL_PANEL PINS_DEBUGGING
-  #- build_marlin
-  #
-  ######## I2C LCD/PANELS ##############
-  #
-  # !!!ATTENTION!!!
-  # Most I2C configurations are failing at the moment because they require
-  # a different Liquid Crystal library "LiquidTWI2".
-  #
-  # LCD_SAINSMART_I2C_1602
-  #
-  #- restore_configs
-  #- opt_enable LCD_SAINSMART_I2C_1602
-  #- build_marlin
-  #
-  # LCD_I2C_PANELOLU2
-  #
-  #- restore_configs
-  #- opt_enable LCD_I2C_PANELOLU2
-  #- build_marlin
-  #
-  # LCD_I2C_VIKI
-  #
-  #- restore_configs
-  #- opt_enable LCD_I2C_VIKI
-  #- build_marlin
-  #
-  # LCM1602
-  #
-  #- restore_configs
-  #- opt_enable LCM1602
-  #- build_marlin
-  #
-  # Language files test with REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
-  #
-  #- restore_configs
-  #- opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER SDSUPPORT
-  #- for lang in an bg ca zh_CN zh_TW cz da de el el-gr en es eu fi fr gl hr it jp-kana nl pl pt pt-br ru sk tr uk test; do opt_set LCD_LANGUAGE $lang; echo "compile with language $lang ..."; build_marlin
-  #
-  #- restore_configs
-  #- opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT
-  #- for lang in an bg ca zh_CN zh_TW cz da de el el-gr en es eu fi fr gl hr it jp-kana nl pl pt pt-br ru sk tr uk test; do opt_set LCD_LANGUAGE $lang; echo "compile with language $lang ..."; build_marlin
-  #
-  #
+
  ######## Example Configurations ##############
  #
-  # BQ Hephestos 2
-  #- restore_configs
-  #- use_example_configs Hephestos_2
-  #- build_marlin
+  # Anycubic i3 Mega with BLtouch
  #
-  # Delta Config (generic) + ABL bilinear + PROBE_MANUALLY
-  - use_example_configs delta/generic
-  - opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER DELTA_CALIBRATION_MENU AUTO_BED_LEVELING_BILINEAR PROBE_MANUALLY
+  #- Test compatibility to https://github.com/MNieddu91/Marlin-AI3M-BLTouch
+  #
+  - use_example_configs Anycubic/Ai3MBLtouch
  - build_marlin
  #
-  # Delta Config (generic) + UBL + ALLEN_KEY + OLED_PANEL_TINYBOY2 + EEPROM_SETTINGS
+  # Anycubic i3 Mega with 12864 display
  #
-  - use_example_configs delta/generic
-  - opt_enable AUTO_BED_LEVELING_UBL RESTORE_LEVELING_AFTER_G28 Z_PROBE_ALLEN_KEY EEPROM_SETTINGS EEPROM_CHITCHAT
-  - opt_enable OLED_PANEL_TINYBOY2 MESH_EDIT_GFX_OVERLAY
+  #- Test compatibility to RepRapDiscount FULL GRAPHIC Smart Controller
+  #
+  - use_example_configs Anycubic/Ai3M12864
  - build_marlin
  #
-  # Delta Config (FLSUN AC because it's complex)
-  #
-  - use_example_configs delta/FLSUN/auto_calibrate
-  - build_marlin
-  #
-  # Makibox Config  need to check board type for Teensy++ 2.0
-  #
-  #- use_example_configs makibox
-  #- build_marlin
-  #
-  # SCARA with TMC2130
-  #
-  - use_example_configs SCARA
-  - opt_enable AUTO_BED_LEVELING_BILINEAR FIX_MOUNTED_PROBE USE_ZMIN_PLUG EEPROM_SETTINGS EEPROM_CHITCHAT ULTIMAKERCONTROLLER
-  - opt_set X_DRIVER_TYPE TMC2130
-  - opt_set Y_DRIVER_TYPE TMC2130
-  - opt_set Z_DRIVER_TYPE TMC2130
-  - opt_set E0_DRIVER_TYPE TMC2130
-  - opt_enable_adv MONITOR_DRIVER_STATUS STEALTHCHOP HYBRID_THRESHOLD SENSORLESS_HOMING
-  - build_marlin
-  #
-  # TMC2208 Config
-  #
-  - restore_configs
-  - opt_set X_DRIVER_TYPE TMC2208
-  - opt_set Y_DRIVER_TYPE TMC2208
-  - opt_set Z_DRIVER_TYPE TMC2208
-  - opt_set E0_DRIVER_TYPE TMC2208
-  - opt_enable_adv MONITOR_DRIVER_STATUS STEALTHCHOP HYBRID_THRESHOLD TMC_DEBUG
-  - build_marlin
-  #
-  # tvrrug Config need to check board type for sanguino atmega644p
-  #
-  #- use_example_configs tvrrug/Round2
-  #- build_marlin
-  #
-  #
-  ######## Board Types #############
-  #
-  # To be added in nightly test branch
-  #
--- a/Marlin/AnycubicTFT.cpp
+++ b/Marlin/AnycubicTFT.cpp
--- a/Marlin/AnycubicTFT.h
+++ b/Marlin/AnycubicTFT.h
@@ -56,8 +56,18 @@ public:
  void FilamentRunout();
  void KillTFT();
  char TFTstate=ANYCUBIC_TFT_STATE_IDLE;
-  bool PausedByRunout=false;
-  bool PausedByFilamentChange=false;
+
+  /**
+  * Anycubic TFT pause states:
+  *
+  * 0 - printing / stopped
+  * 1 - regular pause
+  * 2 - M600 pause
+  * 3 - filament runout pause
+  * 4 - nozzle timeout on M600
+  * 5 - nozzle timeout on filament runout
+  */
+  uint8_t ai3m_pause_state = 0;

 private:
  char TFTcmdbuffer[TFTBUFSIZE][TFT_MAX_CMD_SIZE];
@@ -74,6 +84,7 @@ private:
  uint8_t tmp_extruder=0;
  char LastSDstatus=0;
  uint16_t HeaterCheckCount=0;
+  bool IsParked = false;

  struct OutageDataStruct {
    char OutageDataVersion;
@@ -100,6 +111,8 @@ private:
  void HandleSpecialMenu();
  void FilamentChangePause();
  void FilamentChangeResume();
+  void ReheatNozzle();
+  void ParkAfterStop();

  char     SelectedDirectory[30];
  uint8_t  SpecialMenu=false;
@@ -107,7 +120,8 @@ private:
 #if ENABLED(ANYCUBIC_FILAMENT_RUNOUT_SENSOR)
  char FilamentTestStatus=false;
  char FilamentTestLastStatus=false;
-  long FilamentRunoutCounter=0;
+  bool FilamentSetMillis=true;
+
 #endif
 };

--- a/Marlin/Conditionals_LCD.h
+++ b/Marlin/Conditionals_LCD.h
@@ -479,8 +479,11 @@
  #define Z_SERVO_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW }

  #define BLTOUCH_DEPLOY    10
+  #define BLTOUCH_SW_MODE   60
  #define BLTOUCH_STOW      90
  #define BLTOUCH_SELFTEST 120
+  #define BLTOUCH_5V_MODE  140
+  #define BLTOUCH_OD_MODE  150
  #define BLTOUCH_RESET    160
  #define _TEST_BLTOUCH(P) (READ(P##_PIN) != P##_ENDSTOP_INVERTING)

--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@@ -190,11 +190,17 @@
 * Safe Homing Options
 */
 #if ENABLED(Z_SAFE_HOMING)
+  #if ENABLED(AUTO_BED_LEVELING_UBL)
+    // Home close to center so grid points have z heights very close to 0
+    #define _SAFE_POINT(A) (((GRID_MAX_POINTS_##A) / 2) * (A##_BED_SIZE - 2 * (MESH_INSET)) / (GRID_MAX_POINTS_##A - 1) + MESH_INSET)
+  #else
+    #define _SAFE_POINT(A) A##_CENTER
+  #endif
  #ifndef Z_SAFE_HOMING_X_POINT
-    #define Z_SAFE_HOMING_X_POINT X_CENTER
+    #define Z_SAFE_HOMING_X_POINT _SAFE_POINT(X)
  #endif
  #ifndef Z_SAFE_HOMING_Y_POINT
-    #define Z_SAFE_HOMING_Y_POINT Y_CENTER
+    #define Z_SAFE_HOMING_Y_POINT _SAFE_POINT(Y)
  #endif
  #define X_TILT_FULCRUM Z_SAFE_HOMING_X_POINT
  #define Y_TILT_FULCRUM Z_SAFE_HOMING_Y_POINT
@@ -417,6 +423,9 @@
 * NOTE: Driver timing order is longest-to-shortest duration.
 *       Preserve this ordering when adding new drivers.
 */
+
+#define TRINAMICS (HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE))
+
 #ifndef MINIMUM_STEPPER_DIR_DELAY
  #if HAS_DRIVER(TB6560)
    #define MINIMUM_STEPPER_DIR_DELAY 15000
@@ -428,7 +437,7 @@
    #define MINIMUM_STEPPER_DIR_DELAY   500
  #elif HAS_DRIVER(A4988)
    #define MINIMUM_STEPPER_DIR_DELAY   200
-  #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+  #elif TRINAMICS
    #define MINIMUM_STEPPER_DIR_DELAY    20
  #else
    #define MINIMUM_STEPPER_DIR_DELAY   200   // Expect at least 10µS since one Stepper ISR must transpire
@@ -444,7 +453,7 @@
    #define MINIMUM_STEPPER_PULSE  2
  #elif HAS_DRIVER(A4988) || HAS_DRIVER(LV8729)
    #define MINIMUM_STEPPER_PULSE  1
-  #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+  #elif TRINAMICS
    #define MINIMUM_STEPPER_PULSE  0
  #else
    #define MINIMUM_STEPPER_PULSE  1
@@ -460,7 +469,7 @@
    #define MAXIMUM_STEPPER_RATE 150000
  #elif HAS_DRIVER(DRV8825)
    #define MAXIMUM_STEPPER_RATE 250000
-  #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+  #elif TRINAMICS
    #define MAXIMUM_STEPPER_RATE 400000
  #elif HAS_DRIVER(A4988)
    #define MAXIMUM_STEPPER_RATE 500000
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -81,10 +81,10 @@
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
-#define STRING_CONFIG_H_AUTHOR "(davidramiro, for Anycubic i3 Mega)" // Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "(davidramiro)" // Who made the changes.
 #define SHOW_BOOTSCREEN
-#define STRING_SPLASH_LINE1 SHORT_BUILD_VERSION // will be shown during bootup in line 1
-#define STRING_SPLASH_LINE2 WEBSITE_URL         // will be shown during bootup in line 2
+#define STRING_SPLASH_LINE1 SHORT_BUILD_VERSION   // will be shown during bootup in line 1
+#define STRING_SPLASH_LINE2 CUSTOM_BUILD_VERSION  // will be shown during bootup in line 2

 /**
 * *** VENDORS PLEASE READ ***
@@ -238,7 +238,7 @@
 *
 * :{ 0:'No power switch', 1:'ATX', 2:'X-Box 360' }
 */
-//#define POWER_SUPPLY 1
+#define POWER_SUPPLY 0

 #if POWER_SUPPLY > 0
  // Enable this option to leave the PSU off at startup.
@@ -379,7 +379,7 @@

  // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it

-  // i3 Mega
+  // i3 Mega stock v5 hotend, 40W heater cartridge (3.6Ω @ 22°C)
  #define  DEFAULT_Kp 15.94
  #define  DEFAULT_Ki 1.17
  #define  DEFAULT_Kd 54.19
@@ -436,7 +436,7 @@

  //#define PID_BED_DEBUG // Sends debug data to the serial port.

-  //Anycubic i3 Mega 160W Ultrabase
+  //Anycubic i3 Mega Ultrabase (0.9Ω @ 22°C)
  #define DEFAULT_bedKp 251.78
  #define DEFAULT_bedKi 49.57
  #define DEFAULT_bedKd 319.73
@@ -621,7 +621,7 @@
 * Override with M203
 *                                      X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
 */
-#define DEFAULT_MAX_FEEDRATE          { 500, 120, 6, 60 }
+#define DEFAULT_MAX_FEEDRATE          { 500, 500, 6, 60 }

 /**
 * Default Max Acceleration (change/s) change = mm/s
@@ -629,7 +629,7 @@
 * Override with M201
 *                                      X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
 */
-#define DEFAULT_MAX_ACCELERATION      { 2000, 1200,  60, 10000 }
+#define DEFAULT_MAX_ACCELERATION      { 3000, 2000,  60, 10000 }

 /**
 * Default Acceleration (change/s) change = mm/s
@@ -639,9 +639,9 @@
 *   M204 R    Retract Acceleration
 *   M204 T    Travel Acceleration
 */
-#define DEFAULT_ACCELERATION          1200    // X, Y, Z and E acceleration for printing moves
+#define DEFAULT_ACCELERATION          1500    // X, Y, Z and E acceleration for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000    // E acceleration for retracts
-#define DEFAULT_TRAVEL_ACCELERATION   1500    // X, Y, Z acceleration for travel (non printing) moves
+#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration for travel (non printing) moves

 /**
 * Default Jerk (mm/s)
@@ -651,8 +651,8 @@
 * When changing speed and direction, if the difference is less than the
 * value set here, it may happen instantaneously.
 */
-#define DEFAULT_XJERK                 8.0
-#define DEFAULT_YJERK                 8.0
+#define DEFAULT_XJERK                 10.0
+#define DEFAULT_YJERK                 10.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0

@@ -736,6 +736,17 @@
 //#define BLTOUCH
 #if ENABLED(BLTOUCH)
  //#define BLTOUCH_DELAY 375   // (ms) Enable and increase if needed
+
+  /**
+   * BLTouch V3.0 and newer smart series
+   * For genuine BLTouch 3.0 sensors. Clones may be confused by 3.0 command angles. YMMV.
+   * If the pin trigger is not detected, first try swapping the black and white wires then toggle this.
+   */
+  //#define BLTOUCH_V3
+  #if ENABLED(BLTOUCH_V3)
+    //#define BLTOUCH_FORCE_5V_MODE
+    //#define BLTOUCH_FORCE_OPEN_DRAIN_MODE
+  #endif
 #endif

 /**
@@ -782,8 +793,8 @@
 *      O-- FRONT --+
 *    (0,0)
 */
-#define X_PROBE_OFFSET_FROM_EXTRUDER -9  // X offset: -left  +right  [of the nozzle]
-#define Y_PROBE_OFFSET_FROM_EXTRUDER -22  // Y offset: -front +behind [the nozzle]
+#define X_PROBE_OFFSET_FROM_EXTRUDER 10  // X offset: -left  +right  [of the nozzle]
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 10  // Y offset: -front +behind [the nozzle]
 #define Z_PROBE_OFFSET_FROM_EXTRUDER 0   // Z offset: -below +above  [the nozzle]

 // Certain types of probes need to stay away from edges
@@ -1245,7 +1256,7 @@
 //
 #define HOST_KEEPALIVE_FEATURE        // Disable this if your host doesn't like keepalive messages
 #define DEFAULT_KEEPALIVE_INTERVAL 2  // Number of seconds between "busy" messages. Set with M113.
-//#define BUSY_WHILE_HEATING          // Some hosts require "busy" messages even during heating
+#define BUSY_WHILE_HEATING            // Some hosts require "busy" messages even during heating

 //
 // M100 Free Memory Watcher
@@ -1518,6 +1529,21 @@
 //
 #define SPEAKER

+//
+// STARTUP CHIME
+//
+// Play a (non-earpiercing) startup chime on startup/serial connection
+// of the Trigorilla board
+//
+//#define STARTUP_CHIME
+
+//
+// ENDSTOP BEEP
+//
+// Short 2KHz beep when endstops are hit
+//
+//#define ENDSTOP_BEEP
+
 //
 // The duration and frequency for the UI feedback sound.
 // Set these to 0 to disable audio feedback in the LCD menus.
@@ -1934,6 +1960,20 @@
 // Only power servos during movement, otherwise leave off to prevent jitter
 //#define DEACTIVATE_SERVOS_AFTER_MOVE

+/**
+ * Select your version of the Trigorilla (RAMPS1.4) board here.
+ *
+ * 0 = Default Trigorilla
+ * 1 = Newer Trigorilla v1.1 (first seen late 2018)
+ *
+ * The only major difference is a slight change on the servo pin mapping.
+ * This setting only is relevant if you want to use BLtouch or similar
+ * mods to be used via servo pins.
+ * The new version is to be identified by a "TRIGORILLA1.1" lettering
+ * on the upper left of the PCB silkscreen.
+ */
+#define TRIGORILLA_VERSION 0
+
 // Enable Anycubic TFT
 #define ANYCUBIC_TFT_MODEL
 #define ANYCUBIC_FILAMENT_RUNOUT_SENSOR
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1,4 +1,4 @@
-/**
+/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
@@ -431,7 +431,7 @@
 // @section extras

 // minimum time in microseconds that a movement needs to take if the buffer is emptied.
-#define DEFAULT_MINSEGMENTTIME        50000
+#define DEFAULT_MINSEGMENTTIME        20000

 // If defined the movements slow down when the look ahead buffer is only half full
 #define SLOWDOWN
@@ -879,8 +879,8 @@
 // @section serial

 // The ASCII buffer for serial input
-#define MAX_CMD_SIZE 96
-#define BUFSIZE 4
+#define MAX_CMD_SIZE 128
+#define BUFSIZE 8

 // Transmission to Host Buffer Size
 // To save 386 bytes of PROGMEM (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0.
@@ -889,13 +889,13 @@
 // For debug-echo: 128 bytes for the optimal speed.
 // Other output doesn't need to be that speedy.
 // :[0, 2, 4, 8, 16, 32, 64, 128, 256]
-#define TX_BUFFER_SIZE 0
+#define TX_BUFFER_SIZE 4

 // Host Receive Buffer Size
 // Without XON/XOFF flow control (see SERIAL_XON_XOFF below) 32 bytes should be enough.
 // To use flow control, set this buffer size to at least 1024 bytes.
 // :[0, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048]
-//#define RX_BUFFER_SIZE 32
+#define RX_BUFFER_SIZE 256

 #if RX_BUFFER_SIZE >= 1024
  // Enable to have the controller send XON/XOFF control characters to
@@ -1009,7 +1009,7 @@
  #define FILAMENT_UNLOAD_DELAY             5000  // (ms) Delay for the filament to cool after retract.
  #define FILAMENT_UNLOAD_PURGE_LENGTH         8  // (mm) An unretract is done, then this length is purged.

-  #define PAUSE_PARK_NOZZLE_TIMEOUT          300  // (seconds) Time limit before the nozzle is turned off for safety.
+  #define PAUSE_PARK_NOZZLE_TIMEOUT          600  // (seconds) Time limit before the nozzle is turned off for safety.
  #define FILAMENT_CHANGE_ALERT_BEEPS         10  // Number of alert beeps to play when a response is needed.
  #define PAUSE_PARK_NO_STEPPER_TIMEOUT           // Enable for XYZ steppers to stay powered on during filament change.

--- a/Marlin/G26_Mesh_Validation_Tool.cpp
+++ b/Marlin/G26_Mesh_Validation_Tool.cpp
@@ -44,8 +44,9 @@
  #endif

  #define EXTRUSION_MULTIPLIER 1.0
-  #define RETRACTION_MULTIPLIER 6
-  #define PRIME_LENGTH 25.0
+  #define RETRACTION_LENGTH 1
+  #define UNRETRACTION_LENGTH 1.2
+  #define PRIME_LENGTH 5
  #define OOZE_AMOUNT 2.25

  #define INTERSECTION_CIRCLE_RADIUS 5
@@ -107,8 +108,9 @@
   *                    pliers while holding the LCD Click wheel in a depressed state. If you do not have
   *                    an LCD, you must specify a value if you use P.
   *
-   *   Q #  Multiplier  Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
-   *                    un-retraction is at 1.2mm   These numbers will be scaled by the specified amount
+   *   Q #  Retract     Retraction length. Defaults to 1mm if not specified.
+   *   Z #  Unretract   Unretraction length. Defaults to 1.2mm if not specified.
+   *                    Note: If Q is specified but Z isn't, Z defaults to Q * 1.2.
   *
   *   R #  Repeat      Prints the number of patterns given as a parameter, starting at the current location.
   *                    If a parameter isn't given, every point will be printed unless G26 is interrupted.
@@ -145,7 +147,8 @@
                                     // retracts/recovers won't result in a bad state.

  static float g26_extrusion_multiplier,
-               g26_retraction_multiplier,
+               g26_retraction_length,
+               g26_unretraction_length,
               g26_layer_height,
               g26_prime_length,
               g26_x_pos, g26_y_pos;
@@ -223,13 +226,13 @@
  void retract_filament(const float where[XYZE]) {
    if (!g26_retracted) { // Only retract if we are not already retracted!
      g26_retracted = true;
-      move_to(where, -1.0 * g26_retraction_multiplier);
+      move_to(where, -1.0 * g26_retraction_length);
    }
  }

  void recover_filament(const float where[XYZE]) {
    if (g26_retracted) { // Only un-retract if we are retracted.
-      move_to(where, 1.2 * g26_retraction_multiplier);
+      move_to(where, g26_unretraction_length);
      g26_retracted = false;
    }
  }
@@ -564,7 +567,8 @@
    if (axis_unhomed_error()) return;

    g26_extrusion_multiplier    = EXTRUSION_MULTIPLIER;
-    g26_retraction_multiplier   = RETRACTION_MULTIPLIER;
+    g26_retraction_length       = RETRACTION_LENGTH;
+    g26_unretraction_length     = UNRETRACTION_LENGTH;
    g26_layer_height            = MESH_TEST_LAYER_HEIGHT;
    g26_prime_length            = PRIME_LENGTH;
    g26_bed_temp                = MESH_TEST_BED_TEMP;
@@ -596,14 +600,44 @@

    if (parser.seen('Q')) {
      if (parser.has_value()) {
-        g26_retraction_multiplier = parser.value_float();
-        if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
-          SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
+        g26_retraction_length = parser.value_float();
+        if (!WITHIN(g26_retraction_length, 0.05, 15.0)) {
+          SERIAL_PROTOCOLLNPGM("?Specified Retraction length not plausible.");
          return;
        }
      }
      else {
-        SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
+        SERIAL_PROTOCOLLNPGM("?Retraction length must be specified.");
+        return;
+      }
+    }
+
+    if (parser.seen('Z')) {
+      if (parser.has_value()) {
+        g26_unretraction_length = parser.value_float();
+        if (!WITHIN(g26_unretraction_length, 0.05, 15.0)) {
+          SERIAL_PROTOCOLLNPGM("?Specified Unretraction length not plausible.");
+          return;
+        }
+      }
+      else {
+        SERIAL_PROTOCOLLNPGM("?Unretraction length must be specified.");
+        return;
+      }
+    }
+
+    if (!parser.seen('Z') && parser.seen('Q')) {
+      // retraction without unretraction specified, use 1.2 multiplier (preserve Gcode spec)
+      g26_unretraction_length = g26_retraction_length * 1.2;
+      SERIAL_ECHOPAIR(" Unretraction amount automatically set to ", g26_unretraction_length);
+      SERIAL_EOL();
+    }
+
+    if (parser.seen('Z') && parser.seen('Q')) {
+      // consider typos or unreasonable retract/unretract ratios
+      float g26_retract_unretract_delta = g26_unretraction_length - g26_retraction_length;
+      if (!WITHIN(g26_retract_unretract_delta, -5, 5)) {
+        SERIAL_PROTOCOLLNPGM("?Invalid Retraction/Unretraction ratio. Must be within 5mm.");
        return;
      }
    }
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -271,6 +271,9 @@ FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) ==

 extern volatile bool wait_for_heatup;

+// Making sure this flag can be cleared by the Anycubic display
+extern volatile bool nozzle_timed_out;
+
 #if HAS_RESUME_CONTINUE
  extern volatile bool wait_for_user;
 #endif
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -228,6 +228,7 @@
 * M867 - Enable/disable or toggle error correction for position encoder modules.
 * M868 - Report or set position encoder module error correction threshold.
 * M869 - Report position encoder module error.
+ * M888 - Ultrabase cooldown: Let the parts cooling fan hover above the finished print to cool down the bed. EXPERIMENTAL FEATURE!
 * M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE)
 * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
 * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
@@ -519,6 +520,9 @@ static bool relative_mode; // = false;
 // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
 volatile bool wait_for_heatup = true;

+// Making sure this flag can be cleared by the Anycubic display
+volatile bool nozzle_timed_out = false;
+
 // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
 #if HAS_RESUME_CONTINUE
  volatile bool wait_for_user; // = false;
@@ -605,13 +609,7 @@ uint8_t target_extruder;
 #endif

 #if HAS_POWER_SWITCH
-  bool powersupply_on = (
-    #if ENABLED(PS_DEFAULT_OFF)
-      false
-    #else
-      true
-    #endif
-  );
+  bool powersupply_on;
  #if ENABLED(AUTO_POWER_CONTROL)
    #define PSU_ON()  powerManager.power_on()
    #define PSU_OFF() powerManager.power_off()
@@ -947,9 +945,9 @@ void setup_powerhold() {
  #endif
  #if HAS_POWER_SWITCH
    #if ENABLED(PS_DEFAULT_OFF)
-      PSU_OFF();
+      powersupply_on = true;  PSU_OFF();
    #else
-      PSU_ON();
+      powersupply_on = false; PSU_ON();
    #endif
  #endif
 }
@@ -2102,8 +2100,18 @@ void clean_up_after_endstop_or_probe_move() {
        }
      }

+      #if ENABLED(BLTOUCH_FORCE_5V_MODE)
+        bltouch_command(BLTOUCH_5V_MODE);
+      #elif ENABLED(BLTOUCH_V3)
+        bltouch_command(BLTOUCH_OD_MODE);
+      #endif
+
      bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);

+      #if ENABLED(BLTOUCH_V3)
+        if (deploy) bltouch_command(BLTOUCH_SW_MODE);
+      #endif
+
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
@@ -7213,7 +7221,7 @@ inline void gcode_M17() {
   * Used by M125 and M600
   */
  static void wait_for_filament_reload(const int8_t max_beep_count=0) {
-    bool nozzle_timed_out = false;
+    nozzle_timed_out = false;

    #if ENABLED(ULTIPANEL)
      lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
@@ -7246,6 +7254,20 @@ inline void gcode_M17() {
          nozzle_timed_out |= thermalManager.is_heater_idle(e);

      if (nozzle_timed_out) {
+
+        #ifdef ANYCUBIC_TFT_MODEL
+          if (AnycubicTFT.ai3m_pause_state < 3) {
+            AnycubicTFT.ai3m_pause_state += 2;
+            #ifdef ANYCUBIC_TFT_DEBUG
+              SERIAL_ECHOPAIR(" DEBUG: NTO - AI3M Pause State set to: ", AnycubicTFT.ai3m_pause_state);
+              SERIAL_EOL();
+            #endif
+          }
+          #ifdef ANYCUBIC_TFT_DEBUG
+            SERIAL_ECHOLNPGM("DEBUG: Nozzle timeout flag set");
+          #endif
+        #endif
+
        #if ENABLED(ULTIPANEL)
          lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
        #endif
@@ -7287,6 +7309,15 @@ inline void gcode_M17() {

        wait_for_user = true; // Wait for user to load filament
        nozzle_timed_out = false;
+        #ifdef ANYCUBIC_TFT_MODEL
+          if (AnycubicTFT.ai3m_pause_state > 3) {
+            AnycubicTFT.ai3m_pause_state -= 2;
+            #ifdef ANYCUBIC_TFT_DEBUG
+              SERIAL_ECHOPAIR(" DEBUG: NTO - AI3M Pause State set to: ", AnycubicTFT.ai3m_pause_state);
+              SERIAL_EOL();
+            #endif
+          }
+        #endif

        #if HAS_BUZZER
          filament_change_beep(max_beep_count, true);
@@ -7320,7 +7351,17 @@ inline void gcode_M17() {
    if (!did_pause_print) return;

    // Re-enable the heaters if they timed out
-    bool nozzle_timed_out = false;
+    nozzle_timed_out = false;
+    #ifdef ANYCUBIC_TFT_MODEL
+      if (AnycubicTFT.ai3m_pause_state > 3) {
+        AnycubicTFT.ai3m_pause_state -= 2;
+        #ifdef ANYCUBIC_TFT_DEBUG
+          SERIAL_ECHOPAIR(" DEBUG: NTO - AI3M Pause State set to: ", AnycubicTFT.ai3m_pause_state);
+          SERIAL_EOL();
+        #endif
+      }
+    #endif
+
    HOTEND_LOOP() {
      nozzle_timed_out |= thermalManager.is_heater_idle(e);
      thermalManager.reset_heater_idle_timer(e);
@@ -8508,7 +8549,7 @@ inline void gcode_M109() {
    #ifdef ANYCUBIC_TFT_MODEL
      AnycubicTFT.CommandScan();
    #endif
-    
+
    #if TEMP_RESIDENCY_TIME > 0

      const float temp_diff = ABS(target_temp - temp);
@@ -8547,13 +8588,13 @@ inline void gcode_M109() {
  #ifdef ANYCUBIC_TFT_MODEL
  AnycubicTFT.HeatingDone();
  #endif
-  
+
  #if DISABLED(BUSY_WHILE_HEATING)
    KEEPALIVE_STATE(IN_HANDLER);
  #endif
-  
+
  // flush the serial buffer after heating to prevent lockup by m105
-  SERIAL_FLUSH();
+  //SERIAL_FLUSH();

 }

@@ -8665,11 +8706,11 @@ inline void gcode_M109() {
          }
        }
      #endif
-      
+
      #ifdef ANYCUBIC_TFT_MODEL
      AnycubicTFT.CommandScan();
      #endif
-      
+
      #if TEMP_BED_RESIDENCY_TIME > 0

        const float temp_diff = ABS(target_temp - temp);
@@ -8697,18 +8738,18 @@ inline void gcode_M109() {
      }

    } while (wait_for_heatup && TEMP_BED_CONDITIONS);
-    
+
    #ifdef ANYCUBIC_TFT_MODEL
    AnycubicTFT.BedHeatingDone();
    #endif
-    
+
    if (wait_for_heatup) lcd_reset_status();
    #if DISABLED(BUSY_WHILE_HEATING)
      KEEPALIVE_STATE(IN_HANDLER);
    #endif
-    
+
     // flush the serial buffer after heating to prevent lockup by m105
-     SERIAL_FLUSH();
+     //SERIAL_FLUSH();
  }

 #endif // HAS_HEATED_BED
@@ -8904,7 +8945,7 @@ inline void gcode_M111() {
    #if ENABLED(ULTIPANEL)
      lcd_reset_status();
    #endif
-    
+
    #ifdef ANYCUBIC_TFT_MODEL
    AnycubicTFT.CommandScan();
    #endif
@@ -8940,7 +8981,7 @@ inline void gcode_M81() {
  #if ENABLED(ULTIPANEL)
    LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  #endif
-  
+
  #ifdef ANYCUBIC_TFT_MODEL
  AnycubicTFT.CommandScan();
  #endif
@@ -10115,7 +10156,7 @@ inline void gcode_M226() {
        NOLESS(thermalManager.lpq_len, 0);
      #endif

-      thermalManager.updatePID();
+      thermalManager.update_pid();
      SERIAL_ECHO_START();
      #if ENABLED(PID_PARAMS_PER_HOTEND)
        SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
@@ -10261,7 +10302,7 @@ inline void gcode_M303() {
      KEEPALIVE_STATE(NOT_BUSY);
    #endif

-    thermalManager.PID_autotune(temp, e, c, u);
+    thermalManager.pid_autotune(temp, e, c, u);

    #if DISABLED(BUSY_WHILE_HEATING)
      KEEPALIVE_STATE(IN_HANDLER);
@@ -10992,12 +11033,28 @@ inline void gcode_M502() {
   *  Default values are used for omitted arguments.
   */
  inline void gcode_M600() {
-    #ifdef SDSUPPORT
-        if ((AnycubicTFT.TFTstate==ANYCUBIC_TFT_STATE_SDPRINT)){
-        AnycubicTFT.TFTstate=ANYCUBIC_TFT_STATE_SDPAUSE_REQ;
-        AnycubicTFT.PausedByFilamentChange=true;
+    #ifdef ANYCUBIC_TFT_MODEL
+      #ifdef SDSUPPORT
+        if (card.sdprinting) { // are we printing from sd?
+          if (AnycubicTFT.ai3m_pause_state < 2) {
+            AnycubicTFT.ai3m_pause_state = 2;
+            #ifdef ANYCUBIC_TFT_DEBUG
+              SERIAL_ECHOPAIR(" DEBUG: M600 - AI3M Pause State set to: ", AnycubicTFT.ai3m_pause_state);
+              SERIAL_EOL();
+            #endif
+          }
+          #ifdef ANYCUBIC_TFT_DEBUG
+              SERIAL_ECHOLNPGM("DEBUG: Enter M600 TFTstate routine");
+          #endif
+          AnycubicTFT.TFTstate=ANYCUBIC_TFT_STATE_SDPAUSE_REQ; // enter correct display state to show resume button
+          #ifdef ANYCUBIC_TFT_DEBUG
+              SERIAL_ECHOLNPGM("DEBUG: Set TFTstate to SDPAUSE_REQ");
+          #endif
+          // set flag to ensure correct resume routine gets executed
        }
+      #endif
    #endif
+
    point_t park_point = NOZZLE_PARK_POINT;

    if (get_target_extruder_from_command(600)) return;
@@ -11370,6 +11427,56 @@ inline void gcode_M502() {
  }
 #endif // MAX7219_GCODE

+  /**
+   * M888: Cooldown routine for the Anycubic Ultrabase (EXPERIMENTAL):
+   *       This is meant to be placed at the end Gcode of your slicer.
+   *       It hovers over the print bed and does circular movements while
+   *       running the fan. Works best with custom fan ducts.
+   *
+   *  T<int>   Target bed temperature (min 15°C), 30°C if not specified
+   *  S<int>   Fan speed between 0 and 255, full speed if not specified
+   */
+  inline void gcode_M888() {
+    // don't do this if the machine is not homed
+    if (axis_unhomed_error()) return;
+
+    const float cooldown_arc[2] = { 50, 50 };
+    const uint8_t cooldown_target = MAX((parser.ushortval('T', 30)), 15);
+
+    // set hotbed temperate to zero
+    thermalManager.setTargetBed(0);
+    SERIAL_PROTOCOLLNPGM("Ultrabase cooldown started");
+
+    // set fan to speed <S>, if undefined blast at full speed
+    uint8_t cooldown_fanspeed = parser.ushortval('S', 255);
+    fanSpeeds[0] = MIN(cooldown_fanspeed, 255U);
+
+    // raise z by 2mm and move to X50, Y50
+    do_blocking_move_to_z(MIN(current_position[Z_AXIS] + 2, Z_MAX_POS), 5);
+    do_blocking_move_to_xy(50, 50, 100);
+
+    while ((thermalManager.degBed() > cooldown_target)) {
+      // queue arc movement
+      gcode_get_destination();
+      plan_arc(destination, cooldown_arc, true);
+      SERIAL_PROTOCOLLNPGM("Target not reached, queued an arc");
+
+      // delay while arc is in progress
+      while (planner.movesplanned()) {
+        idle();
+      }
+    idle();
+    }
+    // the bed should be under <T> now
+    fanSpeeds[0]=0;
+    do_blocking_move_to_xy(MAX(X_MIN_POS, 10), MIN(Y_MAX_POS, 190), 100);
+    BUZZ(100, 659);
+    BUZZ(150, 1318);
+    enqueue_and_echo_commands_P(PSTR("M84"));
+    SERIAL_PROTOCOLLNPGM("M888 cooldown routine done");
+  }
+
+
 #if ENABLED(LIN_ADVANCE)
  /**
   * M900: Get or Set Linear Advance K-factor
@@ -11396,9 +11503,11 @@ inline void gcode_M502() {
 #if HAS_TRINAMIC
  #if ENABLED(TMC_DEBUG)
    inline void gcode_M122() {
-      if (parser.seen('S'))
-        tmc_set_report_status(parser.value_bool());
-      else
+      #if ENABLED(MONITOR_DRIVER_STATUS)
+        if (parser.seen('S'))
+          tmc_set_report_status(parser.value_bool());
+        else
+      #endif
        tmc_report_all();
    }
  #endif // TMC_DEBUG
@@ -11409,7 +11518,7 @@ inline void gcode_M502() {
   * Report driver currents when no axis specified
   */
  inline void gcode_M906() {
-    #define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q, TMC_##Q)
+    #define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q)
    #define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, value)

    bool report = true;
@@ -11554,43 +11663,44 @@ inline void gcode_M502() {
  #define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && PIN_EXISTS(ST##_SERIAL_RX)))
  #define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))

+#if ENABLED(MONITOR_DRIVER_STATUS)
  /**
   * M911: Report TMC stepper driver overtemperature pre-warn flag
   *       This flag is held by the library, persisting until cleared by M912
   */
  inline void gcode_M911() {
    #if M91x_USE(X)
-      tmc_report_otpw(stepperX, TMC_X);
+      tmc_report_otpw(stepperX);
    #endif
    #if M91x_USE(X2)
-      tmc_report_otpw(stepperX2, TMC_X2);
+      tmc_report_otpw(stepperX2);
    #endif
    #if M91x_USE(Y)
-      tmc_report_otpw(stepperY, TMC_Y);
+      tmc_report_otpw(stepperY);
    #endif
    #if M91x_USE(Y2)
-      tmc_report_otpw(stepperY2, TMC_Y2);
+      tmc_report_otpw(stepperY2);
    #endif
    #if M91x_USE(Z)
-      tmc_report_otpw(stepperZ, TMC_Z);
+      tmc_report_otpw(stepperZ);
    #endif
    #if M91x_USE(Z2)
-      tmc_report_otpw(stepperZ2, TMC_Z2);
+      tmc_report_otpw(stepperZ2);
    #endif
    #if M91x_USE_E(0)
-      tmc_report_otpw(stepperE0, TMC_E0);
+      tmc_report_otpw(stepperE0);
    #endif
    #if M91x_USE_E(1)
-      tmc_report_otpw(stepperE1, TMC_E1);
+      tmc_report_otpw(stepperE1);
    #endif
    #if M91x_USE_E(2)
-      tmc_report_otpw(stepperE2, TMC_E2);
+      tmc_report_otpw(stepperE2);
    #endif
    #if M91x_USE_E(3)
-      tmc_report_otpw(stepperE3, TMC_E3);
+      tmc_report_otpw(stepperE3);
    #endif
    #if M91x_USE_E(4)
-      tmc_report_otpw(stepperE4, TMC_E4);
+      tmc_report_otpw(stepperE4);
    #endif
  }

@@ -11616,30 +11726,30 @@ inline void gcode_M502() {
    #if M91x_USE(X) || M91x_USE(X2)
      const uint8_t xval = parser.byteval(axis_codes[X_AXIS], 10);
      #if M91x_USE(X)
-        if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX, TMC_X);
+        if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX);
      #endif
      #if M91x_USE(X2)
-        if (hasNone || xval == 2 || (hasX && xval == 10)) tmc_clear_otpw(stepperX2, TMC_X2);
+        if (hasNone || xval == 2 || (hasX && xval == 10)) tmc_clear_otpw(stepperX2);
      #endif
    #endif

    #if M91x_USE(Y) || M91x_USE(Y2)
      const uint8_t yval = parser.byteval(axis_codes[Y_AXIS], 10);
      #if M91x_USE(Y)
-        if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY, TMC_Y);
+        if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY);
      #endif
      #if M91x_USE(Y2)
-        if (hasNone || yval == 2 || (hasY && yval == 10)) tmc_clear_otpw(stepperY2, TMC_Y2);
+        if (hasNone || yval == 2 || (hasY && yval == 10)) tmc_clear_otpw(stepperY2);
      #endif
    #endif

    #if M91x_USE(Z) || M91x_USE(Z2)
      const uint8_t zval = parser.byteval(axis_codes[Z_AXIS], 10);
      #if M91x_USE(Z)
-        if (hasNone || zval == 1 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ, TMC_Z);
+        if (hasNone || zval == 1 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ);
      #endif
      #if M91x_USE(Z2)
-        if (hasNone || zval == 2 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ2, TMC_Z2);
+        if (hasNone || zval == 2 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ2);
      #endif
    #endif

@@ -11647,31 +11757,32 @@ inline void gcode_M502() {
    #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4)
      const uint8_t eval = parser.byteval(axis_codes[E_AXIS], 10);
      #if M91x_USE_E(0)
-        if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0, TMC_E0);
+        if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0);
      #endif
      #if M91x_USE_E(1)
-        if (hasNone || eval == 1 || (hasE && eval == 10)) tmc_clear_otpw(stepperE1, TMC_E1);
+        if (hasNone || eval == 1 || (hasE && eval == 10)) tmc_clear_otpw(stepperE1);
      #endif
      #if M91x_USE_E(2)
-        if (hasNone || eval == 2 || (hasE && eval == 10)) tmc_clear_otpw(stepperE2, TMC_E2);
+        if (hasNone || eval == 2 || (hasE && eval == 10)) tmc_clear_otpw(stepperE2);
      #endif
      #if M91x_USE_E(3)
-        if (hasNone || eval == 3 || (hasE && eval == 10)) tmc_clear_otpw(stepperE3, TMC_E3);
+        if (hasNone || eval == 3 || (hasE && eval == 10)) tmc_clear_otpw(stepperE3);
      #endif
      #if M91x_USE_E(4)
-        if (hasNone || eval == 4 || (hasE && eval == 10)) tmc_clear_otpw(stepperE4, TMC_E4);
+        if (hasNone || eval == 4 || (hasE && eval == 10)) tmc_clear_otpw(stepperE4);
      #endif
    #endif
  }
+#endif

  /**
   * M913: Set HYBRID_THRESHOLD speed.
   */
  #if ENABLED(HYBRID_THRESHOLD)
    inline void gcode_M913() {
-      #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[_AXIS(A)])
+      #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, planner.axis_steps_per_mm[_AXIS(A)])
      #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.axis_steps_per_mm[_AXIS(A)])
-      #define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
+      #define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
      #define TMC_SET_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, value, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)

      bool report = true;
@@ -11769,7 +11880,7 @@ inline void gcode_M502() {
   */
  #if ENABLED(SENSORLESS_HOMING)
    inline void gcode_M914() {
-      #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
+      #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q)
      #define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)

      bool report = true;
@@ -11854,12 +11965,12 @@ inline void gcode_M502() {
      }

      #if AXIS_IS_TMC(Z)
-        const uint16_t Z_current_1 = stepperZ.getCurrent();
-        stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+        const uint16_t Z_current_1 = stepperZ.getMilliamps();
+        stepperZ.rms_current(_rms);
      #endif
      #if AXIS_IS_TMC(Z2)
-        const uint16_t Z2_current_1 = stepperZ2.getCurrent();
-        stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+        const uint16_t Z2_current_1 = stepperZ2.getMilliamps();
+        stepperZ2.rms_current(_rms);
      #endif

      SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
@@ -11869,10 +11980,10 @@ inline void gcode_M502() {
      do_blocking_move_to_z(Z_MAX_POS+_z);

      #if AXIS_IS_TMC(Z)
-        stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
+        stepperZ.rms_current(Z_current_1);
      #endif
      #if AXIS_IS_TMC(Z2)
-        stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
+        stepperZ2.rms_current(Z2_current_1);
      #endif

      do_blocking_move_to_z(Z_MAX_POS);
@@ -13105,6 +13216,8 @@ void process_parsed_command() {
        case 869: gcode_M869(); break;                            // M869: Report axis error
      #endif

+      case 888: gcode_M888(); break;                              // M888: Ultrabase cooldown (EXPERIMENTAL)
+
      #if ENABLED(LIN_ADVANCE)
        case 900: gcode_M900(); break;                            // M900: Set Linear Advance K factor
      #endif
@@ -13124,8 +13237,10 @@ void process_parsed_command() {
          case 122: gcode_M122(); break;                          // M122: Debug TMC steppers
        #endif
        case 906: gcode_M906(); break;                            // M906: Set motor current in milliamps using axis codes X, Y, Z, E
-        case 911: gcode_M911(); break;                            // M911: Report TMC prewarn triggered flags
-        case 912: gcode_M912(); break;                            // M911: Clear TMC prewarn triggered flags
+        #if ENABLED(MONITOR_DRIVER_STATUS)
+          case 911: gcode_M911(); break;                            // M911: Report TMC prewarn triggered flags
+          case 912: gcode_M912(); break;                            // M911: Clear TMC prewarn triggered flags
+        #endif
        #if ENABLED(HYBRID_THRESHOLD)
          case 913: gcode_M913(); break;                          // M913: Set HYBRID_THRESHOLD speed.
        #endif
@@ -14654,7 +14769,7 @@ void prepare_move_to_destination() {

 #if ENABLED(TEMP_STAT_LEDS)

-  static bool red_led = false;
+  static uint8_t red_led = -1;  // Invalid value to force leds initializzation on startup
  static millis_t next_status_led_update_ms = 0;

  void handle_status_leds(void) {
@@ -14662,20 +14777,18 @@ void prepare_move_to_destination() {
      next_status_led_update_ms += 500; // Update every 0.5s
      float max_temp = 0.0;
      #if HAS_HEATED_BED
-        max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
+        max_temp = MAX(thermalManager.degTargetBed(), thermalManager.degBed());
      #endif
      HOTEND_LOOP()
        max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
-      const bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
+      const uint8_t new_led = (max_temp > 55.0) ? HIGH : (max_temp < 54.0 || red_led == -1) ? LOW : red_led;
      if (new_led != red_led) {
        red_led = new_led;
        #if PIN_EXISTS(STAT_LED_RED)
-          WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
-          #if PIN_EXISTS(STAT_LED_BLUE)
-            WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
-          #endif
-        #else
-          WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
+          WRITE(STAT_LED_RED_PIN, new_led);
+        #endif
+        #if PIN_EXISTS(STAT_LED_BLUE)
+          WRITE(STAT_LED_BLUE_PIN, !new_led);
        #endif
      }
    }
@@ -14729,6 +14842,25 @@ void disable_all_steppers() {
  disable_e_steppers();
 }

+#ifdef ENDSTOP_BEEP
+  void EndstopBeep() {
+    static char last_status=((READ(X_MIN_PIN)<<2)|(READ(Y_MIN_PIN)<<1)|READ(X_MAX_PIN));
+    static unsigned char now_status;
+
+    now_status=((READ(X_MIN_PIN)<<2)|(READ(Y_MIN_PIN)<<1)|READ(X_MAX_PIN))&0xff;
+
+    if(now_status<last_status) {
+      static millis_t endstop_ms = millis() + 300UL;
+      if (ELAPSED(millis(), endstop_ms)) {
+        buzzer.tone(60, 2000);
+      }
+    last_status=now_status;
+    } else if(now_status!=last_status) {
+      last_status=now_status;
+    }
+  }
+#endif
+
 /**
 * Manage several activities:
 *  - Check for Filament Runout
@@ -14746,7 +14878,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
  #if ENABLED(FILAMENT_RUNOUT_SENSOR)
    runout.run();
  #endif
-  
+
  #if ENABLED(ANYCUBIC_TFT_MODEL) && ENABLED(ANYCUBIC_FILAMENT_RUNOUT_SENSOR)
  AnycubicTFT.FilamentRunout();
  #endif
@@ -14954,7 +15086,11 @@ void idle(
 #ifdef ANYCUBIC_TFT_MODEL
  AnycubicTFT.CommandScan();
 #endif
-  
+
+#ifdef ENDSTOP_BEEP
+  EndstopBeep();
+#endif
+
  lcd_update();

  host_keepalive();
@@ -15011,7 +15147,7 @@ void kill(const char* lcd_msg) {
  #else
    UNUSED(lcd_msg);
  #endif
-  
+
  #ifdef ANYCUBIC_TFT_MODEL
    // Kill AnycubicTFT
    AnycubicTFT.KillTFT();
@@ -15060,7 +15196,6 @@ void stop() {
  }
 }

-
 /**
 * Marlin entry-point: Set up before the program loop
 *  - Set up the kill pin, filament runout, power hold
@@ -15106,7 +15241,7 @@ void setup() {
  MYSERIAL0.begin(BAUDRATE);
  SERIAL_PROTOCOLLNPGM("start");
  SERIAL_ECHO_START();
-  
+
  #ifdef ANYCUBIC_TFT_MODEL
    // Setup AnycubicTFT
    AnycubicTFT.Setup();
@@ -15114,6 +15249,9 @@ void setup() {

  // Prepare communication for TMC drivers
  #if HAS_DRIVER(TMC2130)
+    #if DISABLED(TMC_USE_SW_SPI)
+      SPI.begin();
+    #endif
    tmc_init_cs_pins();
  #endif
  #if HAS_DRIVER(TMC2208)
@@ -15132,6 +15270,9 @@ void setup() {
  SERIAL_ECHOPGM(MSG_MARLIN);
  SERIAL_CHAR(' ');
  SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
+  SERIAL_ECHOPGM(MSG_MARLIN_AI3M);
+  SERIAL_CHAR(' ');
+  SERIAL_ECHOLNPGM(CUSTOM_BUILD_VERSION);
  SERIAL_EOL();

  #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
@@ -15332,7 +15473,6 @@ void setup() {
  #endif
 }

-
 /**
 * The main Marlin program loop
 *
--- a/Marlin/Version.h
+++ b/Marlin/Version.h
@@ -1,4 +1,4 @@
-/**
+/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
@@ -37,6 +37,12 @@
   */
  #define SHORT_BUILD_VERSION "1.1.9"

+  /**
+   * Defines the version of the Marlin-AI3M build. Not to be confused with
+   * Marlin's own build number, e.g. 1.1.9.
+   */
+  #define CUSTOM_BUILD_VERSION "v1.4.6"
+
  /**
   * Verbose version identifier which should contain a reference to the location
   * from where the binary was downloaded or the source code was compiled.
@@ -48,7 +54,7 @@
   * here we define this default string as the date where the latest release
   * version was tagged.
   */
-  #define STRING_DISTRIBUTION_DATE "2019-02-18"
+  #define STRING_DISTRIBUTION_DATE "2019-04-03"

  /**
   * Required minimum Configuration.h and Configuration_adv.h file versions.
@@ -78,7 +84,7 @@
   * has a distinct Github fork— the Source Code URL should just be the main
   * Marlin repository.
   */
-  #define SOURCE_CODE_URL "https://github.com/MarlinFirmware/Marlin"
+  #define SOURCE_CODE_URL "https://github.com/davidramiro/Marlin-AI3M"

  /**
   * Default generic printer UUID.
--- a/Marlin/boards.h
+++ b/Marlin/boards.h
@@ -156,6 +156,6 @@
 #define BOARD_TEENSY2           84    // Teensy++2.0 (AT90USB1286) - CLI compile: HARDWARE_MOTHERBOARD=84  make
 #define BOARD_5DPRINT           88    // 5DPrint D8 Driver Board

-#define MB(board) (MOTHERBOARD==BOARD_##board)
+#define MB(board) (defined(BOARD_##board) && MOTHERBOARD==BOARD_##board)

 #endif // __BOARDS_H
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -64,6 +64,9 @@
  #include "tmc_util.h"
  #define TMC_GET_PWMTHRS(A,Q) _tmc_thrs(stepper##Q.microsteps(), stepper##Q.TPWMTHRS(), planner.axis_steps_per_mm[_AXIS(A)])
 #endif
+typedef struct { uint16_t X, Y, Z, X2, Y2, Z2, E0, E1, E2, E3, E4; } tmc_stepper_current_t;
+typedef struct { uint32_t X, Y, Z, X2, Y2, Z2, E0, E1, E2, E3, E4; } tmc_hybrid_threshold_t;
+typedef struct {  int16_t X, Y, Z;                                 } tmc_sgt_t;

 #if ENABLED(AUTO_BED_LEVELING_UBL)
  #include "ubl.h"
@@ -79,7 +82,7 @@

 #pragma pack(push, 1) // No padding between variables

-typedef struct PID { float Kp, Ki, Kd; } PID;
+typedef struct PID  { float Kp, Ki, Kd;     } PID;
 typedef struct PIDC { float Kp, Ki, Kd, Kc; } PIDC;

 /**
@@ -241,9 +244,9 @@ typedef struct SettingsDataStruct {
  // HAS_TRINAMIC
  //
  #define TMC_AXES (MAX_EXTRUDERS + 6)
-  uint16_t tmc_stepper_current[TMC_AXES];               // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
-  uint32_t tmc_hybrid_threshold[TMC_AXES];              // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
-  int16_t tmc_sgt[XYZ];                                 // M914 X Y Z
+  tmc_stepper_current_t tmc_stepper_current;            // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
+  tmc_hybrid_threshold_t tmc_hybrid_threshold;          // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
+  tmc_sgt_t tmc_sgt;                                    // M914 X Y Z

  //
  // LIN_ADVANCE
@@ -294,7 +297,7 @@ uint16_t MarlinSettings::datasize() { return sizeof(SettingsData); }
 #endif

 void MarlinSettings::postprocess() {
-  const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
+  const float oldpos[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] };

  // steps per s2 needs to be updated to agree with units per s2
  planner.reset_acceleration_rates();
@@ -308,7 +311,7 @@ void MarlinSettings::postprocess() {
  #endif

  #if ENABLED(PIDTEMP)
-    thermalManager.updatePID();
+    thermalManager.update_pid();
  #endif

  #if DISABLED(NO_VOLUMETRICS)
@@ -452,10 +455,11 @@ void MarlinSettings::postprocess() {
    EEPROM_WRITE(planner.min_travel_feedrate_mm_s);

    #if ENABLED(JUNCTION_DEVIATION)
-      const float planner_max_jerk[] = {
        #if ENABLED(HANGPRINTER)
+          const float planner_max_jerk[ABCDE] = {
          float(DEFAULT_AJERK), float(DEFAULT_BJERK), float(DEFAULT_CJERK), float(DEFAULT_DJERK), float(DEFAULT_EJERK)
        #else
+          const float planner_max_jerk[XYZE] = {
          float(DEFAULT_XJERK), float(DEFAULT_YJERK), float(DEFAULT_ZJERK), float(DEFAULT_EJERK)
        #endif
      };
@@ -484,11 +488,13 @@ void MarlinSettings::postprocess() {
    // Global Leveling
    //

-    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      const float zfh = planner.z_fade_height;
-    #else
-      const float zfh = 10.0;
-    #endif
+    const float zfh = (
+      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+        planner.z_fade_height
+      #else
+        10.0
+      #endif
+    );
    EEPROM_WRITE(zfh);

    //
@@ -498,7 +504,7 @@ void MarlinSettings::postprocess() {
    #if ENABLED(MESH_BED_LEVELING)
      // Compile time test that sizeof(mbl.z_values) is as expected
      static_assert(
-        sizeof(mbl.z_values) == GRID_MAX_POINTS * sizeof(mbl.z_values[0][0]),
+        sizeof(mbl.z_values) == (GRID_MAX_POINTS) * sizeof(mbl.z_values[0][0]),
        "MBL Z array is the wrong size."
      );
      const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y;
@@ -540,7 +546,7 @@ void MarlinSettings::postprocess() {
    #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
      // Compile time test that sizeof(z_values) is as expected
      static_assert(
-        sizeof(z_values) == GRID_MAX_POINTS * sizeof(z_values[0][0]),
+        sizeof(z_values) == (GRID_MAX_POINTS) * sizeof(z_values[0][0]),
        "Bilinear Z array is the wrong size."
      );
      const uint8_t grid_max_x = GRID_MAX_POINTS_X, grid_max_y = GRID_MAX_POINTS_Y;
@@ -731,169 +737,138 @@ void MarlinSettings::postprocess() {
    #endif

    //
-    // Save TMC2130 or TMC2208 Configuration, and placeholder values
+    // Save TMC Configuration, and placeholder values
    //

    _FIELD_TEST(tmc_stepper_current);

-    uint16_t tmc_stepper_current[TMC_AXES] = {
-      #if HAS_TRINAMIC
-        #if AXIS_IS_TMC(X)
-          stepperX.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Y)
-          stepperY.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Z)
-          stepperZ.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(X2)
-          stepperX2.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Y2)
-          stepperY2.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(Z2)
-          stepperZ2.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(E0)
-          stepperE0.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(E1)
-          stepperE1.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(E2)
-          stepperE2.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(E3)
-          stepperE3.getCurrent(),
-        #else
-          0,
-        #endif
-        #if AXIS_IS_TMC(E4)
-          stepperE4.getCurrent()
-        #else
-          0
-        #endif
-      #else
-        0
+    tmc_stepper_current_t tmc_stepper_current = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+
+    #if HAS_TRINAMIC
+      #if AXIS_IS_TMC(X)
+        tmc_stepper_current.X = stepperX.getMilliamps();
      #endif
-    };
+      #if AXIS_IS_TMC(Y)
+        tmc_stepper_current.Y = stepperY.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(Z)
+        tmc_stepper_current.Z = stepperZ.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(X2)
+        tmc_stepper_current.X2 = stepperX2.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(Y2)
+        tmc_stepper_current.Y2 = stepperY2.getMilliamps();
+      #endif
+      #if AXIS_IS_TMC(Z2)
+        tmc_stepper_current.Z2 = stepperZ2.getMilliamps();
+      #endif
+      #if MAX_EXTRUDERS
+        #if AXIS_IS_TMC(E0)
+          tmc_stepper_current.E0 = stepperE0.getMilliamps();
+        #endif
+        #if MAX_EXTRUDERS > 1
+          #if AXIS_IS_TMC(E1)
+            tmc_stepper_current.E1 = stepperE1.getMilliamps();
+          #endif
+          #if MAX_EXTRUDERS > 2
+            #if AXIS_IS_TMC(E2)
+              tmc_stepper_current.E2 = stepperE2.getMilliamps();
+            #endif
+            #if MAX_EXTRUDERS > 3
+              #if AXIS_IS_TMC(E3)
+                tmc_stepper_current.E3 = stepperE3.getMilliamps();
+              #endif
+              #if MAX_EXTRUDERS > 4
+                #if AXIS_IS_TMC(E4)
+                  tmc_stepper_current.E4 = stepperE4.getMilliamps();
+                #endif
+              #endif // MAX_EXTRUDERS > 4
+            #endif // MAX_EXTRUDERS > 3
+          #endif // MAX_EXTRUDERS > 2
+        #endif // MAX_EXTRUDERS > 1
+      #endif // MAX_EXTRUDERS
+    #endif
    EEPROM_WRITE(tmc_stepper_current);

    //
-    // Save TMC2130 or TMC2208 Hybrid Threshold, and placeholder values
+    // Save TMC Hybrid Threshold, and placeholder values
    //

    _FIELD_TEST(tmc_hybrid_threshold);

-    uint32_t tmc_hybrid_threshold[TMC_AXES] = {
-      #if ENABLED(HYBRID_THRESHOLD)
-        #if AXIS_HAS_STEALTHCHOP(X)
-          TMC_GET_PWMTHRS(X, X),
-        #else
-          X_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Y)
-          TMC_GET_PWMTHRS(Y, Y),
-        #else
-          Y_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z)
-          TMC_GET_PWMTHRS(Z, Z),
-        #else
-          Z_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(X2)
-          TMC_GET_PWMTHRS(X, X2),
-        #else
-          X2_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Y2)
-          TMC_GET_PWMTHRS(Y, Y2),
-        #else
-          Y2_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z2)
-          TMC_GET_PWMTHRS(Z, Z2),
-        #else
-          Z2_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E0)
-          TMC_GET_PWMTHRS(E, E0),
-        #else
-          E0_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E1)
-          TMC_GET_PWMTHRS(E, E1),
-        #else
-          E1_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E2)
-          TMC_GET_PWMTHRS(E, E2),
-        #else
-          E2_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E3)
-          TMC_GET_PWMTHRS(E, E3),
-        #else
-          E3_HYBRID_THRESHOLD,
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E4)
-          TMC_GET_PWMTHRS(E, E4)
-        #else
-          E4_HYBRID_THRESHOLD
-        #endif
-      #else
-        100, 100, 3,          // X, Y, Z
-        100, 100, 3,          // X2, Y2, Z2
-        30, 30, 30, 30, 30    // E0, E1, E2, E3, E4
+    #if ENABLED(HYBRID_THRESHOLD)
+     tmc_hybrid_threshold_t tmc_hybrid_threshold = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+     #if AXIS_HAS_STEALTHCHOP(X)
+        tmc_hybrid_threshold.X = TMC_GET_PWMTHRS(X, X);
      #endif
-    };
+      #if AXIS_HAS_STEALTHCHOP(Y)
+        tmc_hybrid_threshold.Y = TMC_GET_PWMTHRS(Y, Y);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z)
+        tmc_hybrid_threshold.Z = TMC_GET_PWMTHRS(Z, Z);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(X2)
+        tmc_hybrid_threshold.X2 = TMC_GET_PWMTHRS(X, X2);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Y2)
+        tmc_hybrid_threshold.Y2 = TMC_GET_PWMTHRS(Y, Y2);
+      #endif
+      #if AXIS_HAS_STEALTHCHOP(Z2)
+        tmc_hybrid_threshold.Z2 = TMC_GET_PWMTHRS(Z, Z2);
+      #endif
+      #if MAX_EXTRUDERS
+        #if AXIS_HAS_STEALTHCHOP(E0)
+          tmc_hybrid_threshold.E0 = TMC_GET_PWMTHRS(E, E0);
+        #endif
+        #if MAX_EXTRUDERS > 1
+          #if AXIS_HAS_STEALTHCHOP(E1)
+            tmc_hybrid_threshold.E1 = TMC_GET_PWMTHRS(E, E1);
+          #endif
+          #if MAX_EXTRUDERS > 2
+            #if AXIS_HAS_STEALTHCHOP(E2)
+              tmc_hybrid_threshold.E2 = TMC_GET_PWMTHRS(E, E2);
+            #endif
+            #if MAX_EXTRUDERS > 3
+              #if AXIS_HAS_STEALTHCHOP(E3)
+                tmc_hybrid_threshold.E3 = TMC_GET_PWMTHRS(E, E3);
+              #endif
+              #if MAX_EXTRUDERS > 4
+                #if AXIS_HAS_STEALTHCHOP(E4)
+                  tmc_hybrid_threshold.E4 = TMC_GET_PWMTHRS(E, E4);
+                #endif
+              #endif // MAX_EXTRUDERS > 4
+            #endif // MAX_EXTRUDERS > 3
+          #endif // MAX_EXTRUDERS > 2
+        #endif // MAX_EXTRUDERS > 1
+      #endif // MAX_EXTRUDERS
+    #else
+      const tmc_hybrid_threshold_t tmc_hybrid_threshold = {
+        .X  = 100, .Y  = 100, .Z  =   3,
+        .X2 = 100, .Y2 = 100, .Z2 =   3,
+        .E0 =  30, .E1 =  30, .E2 =  30,
+        .E3 =  30, .E4 =  30
+      };
+    #endif
    EEPROM_WRITE(tmc_hybrid_threshold);

    //
-    // TMC2130 Sensorless homing threshold
+    // TMC Sensorless homing threshold
    //
-    int16_t tmc_sgt[XYZ] = {
-      #if ENABLED(SENSORLESS_HOMING)
-        #if X_SENSORLESS
-          stepperX.sgt(),
-        #else
-          0,
-        #endif
-        #if Y_SENSORLESS
-          stepperY.sgt(),
-        #else
-          0,
-        #endif
-        #if Z_SENSORLESS
-          stepperZ.sgt()
-        #else
-          0
-        #endif
-      #else
-        0
+
+    tmc_sgt_t tmc_sgt = { 0, 0, 0 };
+
+    #if USE_SENSORLESS
+      #if X_SENSORLESS
+        tmc_sgt.X = stepperX.sgt();
      #endif
-    };
+      #if Y_SENSORLESS
+        tmc_sgt.Y = stepperY.sgt();
+      #endif
+      #if Z_SENSORLESS
+        tmc_sgt.Z = stepperZ.sgt();
+      #endif
+    #endif
    EEPROM_WRITE(tmc_sgt);

    //
@@ -1369,15 +1344,15 @@ void MarlinSettings::postprocess() {
      if (!validating) reset_stepper_drivers();

      //
-      // TMC2130 Stepper Settings
+      // TMC Stepper Settings
      //

      _FIELD_TEST(tmc_stepper_current);

      #if HAS_TRINAMIC

-        #define SET_CURR(Q) stepper##Q.setCurrent(currents[TMC_##Q] ? currents[TMC_##Q] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER)
-        uint16_t currents[TMC_AXES];
+        #define SET_CURR(Q) stepper##Q.rms_current(currents.Q ? currents.Q : Q##_CURRENT)
+        tmc_stepper_current_t currents;
        EEPROM_READ(currents);
        if (!validating) {
          #if AXIS_IS_TMC(X)
@@ -1420,8 +1395,8 @@ void MarlinSettings::postprocess() {
      #endif

      #if ENABLED(HYBRID_THRESHOLD)
-        #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold[TMC_##Q], planner.axis_steps_per_mm[_AXIS(A)])
-        uint32_t tmc_hybrid_threshold[TMC_AXES];
+        #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold.Q, planner.axis_steps_per_mm[_AXIS(A)])
+        tmc_hybrid_threshold_t tmc_hybrid_threshold;
        EEPROM_READ(tmc_hybrid_threshold);
        if (!validating) {
          #if AXIS_HAS_STEALTHCHOP(X)
@@ -1464,37 +1439,37 @@ void MarlinSettings::postprocess() {
      #endif

      /*
-       * TMC2130 Sensorless homing threshold.
+       * TMC Sensorless homing threshold.
       * X and X2 use the same value
       * Y and Y2 use the same value
       * Z and Z2 use the same value
       */
-      int16_t tmc_sgt[XYZ];
+      tmc_sgt_t tmc_sgt;
      EEPROM_READ(tmc_sgt);
      #if ENABLED(SENSORLESS_HOMING)
        if (!validating) {
          #ifdef X_HOMING_SENSITIVITY
            #if AXIS_HAS_STALLGUARD(X)
-              stepperX.sgt(tmc_sgt[0]);
+              stepperX.sgt(tmc_sgt.X);
            #endif
            #if AXIS_HAS_STALLGUARD(X2)
-              stepperX2.sgt(tmc_sgt[0]);
+              stepperX2.sgt(tmc_sgt.X);
            #endif
          #endif
          #ifdef Y_HOMING_SENSITIVITY
            #if AXIS_HAS_STALLGUARD(Y)
-              stepperY.sgt(tmc_sgt[1]);
+              stepperY.sgt(tmc_sgt.Y);
            #endif
            #if AXIS_HAS_STALLGUARD(Y2)
-              stepperY2.sgt(tmc_sgt[1]);
+              stepperY2.sgt(tmc_sgt.Y);
            #endif
          #endif
          #ifdef Z_HOMING_SENSITIVITY
            #if AXIS_HAS_STALLGUARD(Z)
-              stepperZ.sgt(tmc_sgt[2]);
+              stepperZ.sgt(tmc_sgt.Z);
            #endif
            #if AXIS_HAS_STALLGUARD(Z2)
-              stepperZ2.sgt(tmc_sgt[2]);
+              stepperZ2.sgt(tmc_sgt.Z);
            #endif
          #endif
        }
@@ -1838,8 +1813,7 @@ void MarlinSettings::reset() {
  #endif

  #if ENABLED(DELTA)
-    const float adj[ABC] = DELTA_ENDSTOP_ADJ,
-                dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
+    const float adj[ABC] = DELTA_ENDSTOP_ADJ, dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
    delta_height = DELTA_HEIGHT;
    COPY(delta_endstop_adj, adj);
    delta_radius = DELTA_RADIUS;
@@ -2552,7 +2526,7 @@ void MarlinSettings::reset() {
    #if HAS_TRINAMIC

      /**
-       * TMC2130 / TMC2208 stepper driver current
+       * TMC stepper driver current
       */
      if (!forReplay) {
        CONFIG_ECHO_START;
@@ -2563,57 +2537,59 @@ void MarlinSettings::reset() {
        say_M906();
      #endif
      #if AXIS_IS_TMC(X)
-        SERIAL_ECHOPAIR(" X", stepperX.getCurrent());
+        SERIAL_ECHOPAIR(" X", stepperX.getMilliamps());
      #endif
      #if AXIS_IS_TMC(Y)
-        SERIAL_ECHOPAIR(" Y", stepperY.getCurrent());
+        SERIAL_ECHOPAIR(" Y", stepperY.getMilliamps());
      #endif
      #if AXIS_IS_TMC(Z)
-        SERIAL_ECHOPAIR(" Z", stepperZ.getCurrent());
+        SERIAL_ECHOPAIR(" Z", stepperZ.getMilliamps());
      #endif
      #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
        SERIAL_EOL();
      #endif
+
      #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
        say_M906();
        SERIAL_ECHOPGM(" I1");
      #endif
      #if AXIS_IS_TMC(X2)
-        SERIAL_ECHOPAIR(" X", stepperX2.getCurrent());
+        SERIAL_ECHOPAIR(" X", stepperX2.getMilliamps());
      #endif
      #if AXIS_IS_TMC(Y2)
-        SERIAL_ECHOPAIR(" Y", stepperY2.getCurrent());
+        SERIAL_ECHOPAIR(" Y", stepperY2.getMilliamps());
      #endif
      #if AXIS_IS_TMC(Z2)
-        SERIAL_ECHOPAIR(" Z", stepperZ2.getCurrent());
+        SERIAL_ECHOPAIR(" Z", stepperZ2.getMilliamps());
      #endif
      #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
        SERIAL_EOL();
      #endif
+
      #if AXIS_IS_TMC(E0)
        say_M906();
-        SERIAL_ECHOLNPAIR(" T0 E", stepperE0.getCurrent());
+        SERIAL_ECHOLNPAIR(" T0 E", stepperE0.getMilliamps());
      #endif
      #if E_STEPPERS > 1 && AXIS_IS_TMC(E1)
        say_M906();
-        SERIAL_ECHOLNPAIR(" T1 E", stepperE1.getCurrent());
+        SERIAL_ECHOLNPAIR(" T1 E", stepperE1.getMilliamps());
      #endif
      #if E_STEPPERS > 2 && AXIS_IS_TMC(E2)
        say_M906();
-        SERIAL_ECHOLNPAIR(" T2 E", stepperE2.getCurrent());
+        SERIAL_ECHOLNPAIR(" T2 E", stepperE2.getMilliamps());
      #endif
      #if E_STEPPERS > 3 && AXIS_IS_TMC(E3)
        say_M906();
-        SERIAL_ECHOLNPAIR(" T3 E", stepperE3.getCurrent());
+        SERIAL_ECHOLNPAIR(" T3 E", stepperE3.getMilliamps());
      #endif
      #if E_STEPPERS > 4 && AXIS_IS_TMC(E4)
        say_M906();
-        SERIAL_ECHOLNPAIR(" T4 E", stepperE4.getCurrent());
+        SERIAL_ECHOLNPAIR(" T4 E", stepperE4.getMilliamps());
      #endif
      SERIAL_EOL();

      /**
-       * TMC2130 / TMC2208 / TRAMS Hybrid Threshold
+       * TMC Hybrid Threshold
       */
      #if ENABLED(HYBRID_THRESHOLD)
        if (!forReplay) {
@@ -2621,54 +2597,56 @@ void MarlinSettings::reset() {
          SERIAL_ECHOLNPGM("Hybrid Threshold:");
        }
        CONFIG_ECHO_START;
-        #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
+        #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
          say_M913();
        #endif
-        #if AXIS_IS_TMC(X)
+        #if AXIS_HAS_STEALTHCHOP(X)
          SERIAL_ECHOPAIR(" X", TMC_GET_PWMTHRS(X, X));
        #endif
-        #if AXIS_IS_TMC(Y)
+        #if AXIS_HAS_STEALTHCHOP(Y)
          SERIAL_ECHOPAIR(" Y", TMC_GET_PWMTHRS(Y, Y));
        #endif
-        #if AXIS_IS_TMC(Z)
+        #if AXIS_HAS_STEALTHCHOP(Z)
          SERIAL_ECHOPAIR(" Z", TMC_GET_PWMTHRS(Z, Z));
        #endif
-        #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
+        #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
          SERIAL_EOL();
        #endif
-        #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
+
+        #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
          say_M913();
          SERIAL_ECHOPGM(" I1");
        #endif
-        #if AXIS_IS_TMC(X2)
+        #if AXIS_HAS_STEALTHCHOP(X2)
          SERIAL_ECHOPAIR(" X", TMC_GET_PWMTHRS(X, X2));
        #endif
-        #if AXIS_IS_TMC(Y2)
+        #if AXIS_HAS_STEALTHCHOP(Y2)
          SERIAL_ECHOPAIR(" Y", TMC_GET_PWMTHRS(Y, Y2));
        #endif
-        #if AXIS_IS_TMC(Z2)
+        #if AXIS_HAS_STEALTHCHOP(Z2)
          SERIAL_ECHOPAIR(" Z", TMC_GET_PWMTHRS(Z, Z2));
        #endif
-        #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
+        #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
          SERIAL_EOL();
        #endif
-        #if AXIS_IS_TMC(E0)
+
+        #if AXIS_HAS_STEALTHCHOP(E0)
          say_M913();
          SERIAL_ECHOLNPAIR(" T0 E", TMC_GET_PWMTHRS(E, E0));
        #endif
-        #if E_STEPPERS > 1 && AXIS_IS_TMC(E1)
+        #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
          say_M913();
          SERIAL_ECHOLNPAIR(" T1 E", TMC_GET_PWMTHRS(E, E1));
        #endif
-        #if E_STEPPERS > 2 && AXIS_IS_TMC(E2)
+        #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
          say_M913();
          SERIAL_ECHOLNPAIR(" T2 E", TMC_GET_PWMTHRS(E, E2));
        #endif
-        #if E_STEPPERS > 3 && AXIS_IS_TMC(E3)
+        #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
          say_M913();
          SERIAL_ECHOLNPAIR(" T3 E", TMC_GET_PWMTHRS(E, E3));
        #endif
-        #if E_STEPPERS > 4 && AXIS_IS_TMC(E4)
+        #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
          say_M913();
          SERIAL_ECHOLNPAIR(" T4 E", TMC_GET_PWMTHRS(E, E4));
        #endif
@@ -2676,7 +2654,7 @@ void MarlinSettings::reset() {
      #endif // HYBRID_THRESHOLD

      /**
-       * TMC2130 Sensorless homing thresholds
+       * TMC Sensorless homing thresholds
       */
      #if ENABLED(SENSORLESS_HOMING)
        if (!forReplay) {
--- a/Marlin/drivers.h
+++ b/Marlin/drivers.h
@@ -31,9 +31,9 @@
 #define TB6560              0x005
 #define TB6600              0x006
 #define TMC2100             0x007
-#define TMC2130             0x108
+#define TMC2130             2130
 #define TMC2130_STANDALONE  0x008
-#define TMC2208             0x109
+#define TMC2208             2208
 #define TMC2208_STANDALONE  0x009
 #define TMC26X              0x10A
 #define TMC26X_STANDALONE   0x00A
@@ -45,7 +45,7 @@
 #define AXIS_DRIVER_TYPE_X(T) _AXIS_DRIVER_TYPE(X,T)
 #define AXIS_DRIVER_TYPE_Y(T) _AXIS_DRIVER_TYPE(Y,T)
 #define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T)
-#define AXIS_DRIVER_TYPE_X2(T) (ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T)
+#define AXIS_DRIVER_TYPE_X2(T) ((ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T))
 #define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
 #define AXIS_DRIVER_TYPE_Z2(T) (ENABLED(Z_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z2,T))
 #define AXIS_DRIVER_TYPE_E0(T) (E_STEPPERS > 0 && _AXIS_DRIVER_TYPE(E0,T))
--- a/Marlin/example_configurations/Anycubic/Ai3M12864/Configuration.h
+++ b/Marlin/example_configurations/Anycubic/Ai3M12864/Configuration.h
--- a/Marlin/example_configurations/Anycubic/Ai3M12864/Configuration_adv.h
+++ b/Marlin/example_configurations/Anycubic/Ai3M12864/Configuration_adv.h
--- a/Marlin/example_configurations/Anycubic/Ai3MBLtouch/Configuration.h
+++ b/Marlin/example_configurations/Anycubic/Ai3MBLtouch/Configuration.h
--- a/Marlin/example_configurations/Anycubic/Ai3MBLtouch/Configuration_adv.h
+++ b/Marlin/example_configurations/Anycubic/Ai3MBLtouch/Configuration_adv.h
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -137,7 +137,8 @@
 #define MSG_INVALID_EXTRUDER                "Invalid extruder"
 #define MSG_INVALID_SOLENOID                "Invalid solenoid"
 #define MSG_ERR_NO_THERMISTORS              "No thermistors - no temperature"
-#define MSG_M115_REPORT                     "FIRMWARE_NAME:Marlin " DETAILED_BUILD_VERSION " SOURCE_CODE_URL:" SOURCE_CODE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID
+#define MSG_M115_REPORT                     "FIRMWARE_NAME:Marlin " DETAILED_BUILD_VERSION " MARLIN-AI3M_VERSION:" CUSTOM_BUILD_VERSION " SOURCE_CODE_URL:" SOURCE_CODE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID
+#define MSG_MARLIN_AI3M                     "Marlin-AI3M"
 #define MSG_COUNT_X                         " Count X:"
 #define MSG_COUNT_A                         " Count A:"
 #define MSG_ERR_KILLED                      "Printer halted. kill() called!"
@@ -288,6 +289,9 @@
  #define MSG_B "Y"
  #define MSG_C "Z"
 #endif
+#define MSG_X2 "X2"
+#define MSG_Y2 "Y2"
+#define MSG_Z2 "Z2"
 #define MSG_H1 "1"
 #define MSG_H2 "2"
 #define MSG_H3 "3"
@@ -298,6 +302,7 @@
 #define MSG_N3 " 3"
 #define MSG_N4 " 4"
 #define MSG_N5 " 5"
+#define MSG_E0 "E0"
 #define MSG_E1 "E1"
 #define MSG_E2 "E2"
 #define MSG_E3 "E3"
--- a/Marlin/language_de.h
+++ b/Marlin/language_de.h
@@ -41,33 +41,34 @@
 #define MSG_SD_INSERTED                     _UxGT("SD-Karte erkannt")
 #define MSG_SD_REMOVED                      _UxGT("SD-Karte entfernt")
 #define MSG_LCD_ENDSTOPS                    _UxGT("Endstopp") // Max length 8 characters
+#define MSG_LCD_SOFT_ENDSTOPS               _UxGT("Soft-Endstopp")
 #define MSG_MAIN                            _UxGT("Hauptmenü")
 #define MSG_AUTOSTART                       _UxGT("Autostart")
 #define MSG_DISABLE_STEPPERS                _UxGT("Motoren deaktivieren") // M84
-#define MSG_DEBUG_MENU                      _UxGT("Debug Menü")
-#define MSG_PROGRESS_BAR_TEST               _UxGT("Fortschrittsb. Test")
-#define MSG_AUTO_HOME                       _UxGT("Home") // G28
+#define MSG_DEBUG_MENU                      _UxGT("Debug-Menü")
+#define MSG_PROGRESS_BAR_TEST               _UxGT("Statusbalken-Test")
+#define MSG_AUTO_HOME                       _UxGT("Home XYZ") // G28
 #define MSG_AUTO_HOME_X                     _UxGT("Home X")
 #define MSG_AUTO_HOME_Y                     _UxGT("Home Y")
 #define MSG_AUTO_HOME_Z                     _UxGT("Home Z")
 #define MSG_TMC_Z_CALIBRATION               _UxGT("Kalibriere Z")
 #define MSG_LEVEL_BED_HOMING                _UxGT("Home XYZ")
-#define MSG_LEVEL_BED_WAITING               _UxGT("Klick für Start")
+#define MSG_LEVEL_BED_WAITING               _UxGT("Klick zum Starten")
 #define MSG_LEVEL_BED_NEXT_POINT            _UxGT("Nächste Koordinate")
-#define MSG_LEVEL_BED_DONE                  _UxGT("Fertig")
+#define MSG_LEVEL_BED_DONE                  _UxGT("Nivellieren fertig!")
 #define MSG_Z_FADE_HEIGHT                   _UxGT("Ausblendhöhe")
 #define MSG_SET_HOME_OFFSETS                _UxGT("Setze Homeversatz")
 #define MSG_HOME_OFFSETS_APPLIED            _UxGT("Homeversatz aktiv")
-#define MSG_SET_ORIGIN                      _UxGT("Setze Nullpunkt") //"G92 X0 Y0 Z0" commented out in ultralcd.cpp
+#define MSG_SET_ORIGIN                      _UxGT("Setze Nullpunkte") //"G92 X0 Y0 Z0" commented out in ultralcd.cpp
 #define MSG_PREHEAT_1                       _UxGT("Vorwärmen PLA")
 #define MSG_PREHEAT_1_N                     _UxGT("Vorwärmen PLA ")
-#define MSG_PREHEAT_1_ALL                   _UxGT("Vorw. PLA Alle")
+#define MSG_PREHEAT_1_ALL                   _UxGT("Vorw. PLA Alles")
 #define MSG_PREHEAT_1_END                   _UxGT("Vorw. PLA Extr.")
 #define MSG_PREHEAT_1_BEDONLY               _UxGT("Vorw. PLA Bett")
 #define MSG_PREHEAT_1_SETTINGS              _UxGT("Vorw. PLA Einst.")
 #define MSG_PREHEAT_2                       _UxGT("Vorwärmen ABS")
 #define MSG_PREHEAT_2_N                     _UxGT("Vorwärmen ABS ")
-#define MSG_PREHEAT_2_ALL                   _UxGT("Vorw. ABS Alle")
+#define MSG_PREHEAT_2_ALL                   _UxGT("Vorw. ABS Alles")
 #define MSG_PREHEAT_2_END                   _UxGT("Vorw. ABS Extr.")
 #define MSG_PREHEAT_2_BEDONLY               _UxGT("Vorw. ABS Bett")
 #define MSG_PREHEAT_2_SETTINGS              _UxGT("Vorw. ABS Einst.")
@@ -75,20 +76,102 @@
 #define MSG_SWITCH_PS_ON                    _UxGT("Netzteil ein")
 #define MSG_SWITCH_PS_OFF                   _UxGT("Netzteil aus")
 #define MSG_EXTRUDE                         _UxGT("Extrudieren")
-#define MSG_RETRACT                         _UxGT("Retract")
-#define MSG_MOVE_AXIS                       _UxGT("Bewegen")
-#define MSG_BED_LEVELING                    _UxGT("Bett Nivellierung")
+#define MSG_RETRACT                         _UxGT("Rückzug")
+#define MSG_MOVE_AXIS                       _UxGT("Achse Bewegen")
+#define MSG_BED_LEVELING                    _UxGT("Bett-Nivellierung")
 #define MSG_LEVEL_BED                       _UxGT("Bett nivellieren")
 #define MSG_LEVEL_CORNERS                   _UxGT("Ecken nivellieren")
 #define MSG_NEXT_CORNER                     _UxGT("Nächste Ecke")
 #define MSG_EDITING_STOPPED                 _UxGT("Netzbearb. angeh.")
-#define MSG_USER_MENU                       _UxGT("Benutzer Menü")
+#define MSG_USER_MENU                       _UxGT("Benutzer-Menü")
+#define MSG_UBL_DOING_G29                   _UxGT("G29 ausführen")
+#define MSG_UBL_UNHOMED                     _UxGT("Home XYZ zuerst")
+#define MSG_UBL_TOOLS                       _UxGT("UBL-Werkzeuge")
+#define MSG_UBL_LEVEL_BED                   _UxGT("Unified Bed Leveling")
+#define MSG_UBL_MANUAL_MESH                 _UxGT("Netz manuell erst.")
+#define MSG_UBL_BC_INSERT                   _UxGT("Unterlegen & messen")
+#define MSG_UBL_BC_INSERT2                  _UxGT("Messen")
+#define MSG_UBL_BC_REMOVE                   _UxGT("Entfernen & messen")
+#define MSG_UBL_MOVING_TO_NEXT              _UxGT("Nächster Punkt...")
+#define MSG_UBL_ACTIVATE_MESH               _UxGT("UBL aktivieren")
+#define MSG_UBL_DEACTIVATE_MESH             _UxGT("UBL deaktivieren")
+#define MSG_UBL_SET_BED_TEMP                _UxGT("Betttemperatur")
+#define MSG_UBL_CUSTOM_BED_TEMP             MSG_UBL_SET_BED_TEMP
+#define MSG_UBL_SET_HOTEND_TEMP             _UxGT("Hotend-Temp.")
+#define MSG_UBL_CUSTOM_HOTEND_TEMP          MSG_UBL_SET_HOTEND_TEMP
+#define MSG_UBL_MESH_EDIT                   _UxGT("Netz bearbeiten")
+#define MSG_UBL_EDIT_CUSTOM_MESH            _UxGT("Eigenes Netz bearb.")
+#define MSG_UBL_FINE_TUNE_MESH              _UxGT("Feineinstellung...")
+#define MSG_UBL_DONE_EDITING_MESH           _UxGT("Bearbeitung beendet")
+#define MSG_UBL_BUILD_CUSTOM_MESH           _UxGT("Eigenes Netz erst.")
+#define MSG_UBL_BUILD_MESH_MENU             _UxGT("Netz erstellen")
+#define MSG_UBL_BUILD_PLA_MESH              _UxGT("Netz erstellen PLA")
+#define MSG_UBL_BUILD_ABS_MESH              _UxGT("Netz erstellen ABS")
+#define MSG_UBL_BUILD_COLD_MESH             _UxGT("Netz erstellen kalt")
+#define MSG_UBL_MESH_HEIGHT_ADJUST          _UxGT("Netzhöhe einst.")
+#define MSG_UBL_MESH_HEIGHT_AMOUNT          _UxGT("Höhe")
+#define MSG_UBL_VALIDATE_MESH_MENU          _UxGT("Netz validieren")
+#define MSG_UBL_VALIDATE_PLA_MESH           _UxGT("Netz validieren PLA")
+#define MSG_UBL_VALIDATE_ABS_MESH           _UxGT("Netz validieren ABS")
+#define MSG_UBL_VALIDATE_CUSTOM_MESH        _UxGT("Eig. Netz validieren")
+#define MSG_UBL_CONTINUE_MESH               _UxGT("Netzerst. forts.")
+#define MSG_UBL_MESH_LEVELING               _UxGT("Netz-Nivellierung")
+#define MSG_UBL_3POINT_MESH_LEVELING        _UxGT("3-Punkt-Nivell.")
+#define MSG_UBL_GRID_MESH_LEVELING          _UxGT("Gitternetz-Nivell.")
+#define MSG_UBL_MESH_LEVEL                  _UxGT("Netz nivellieren")
+#define MSG_UBL_SIDE_POINTS                 _UxGT("Eckpunkte")
+#define MSG_UBL_MAP_TYPE                    _UxGT("Kartentyp")
+#define MSG_UBL_OUTPUT_MAP                  _UxGT("Karte ausgeben")
+#define MSG_UBL_OUTPUT_MAP_HOST             _UxGT("Ausgabe für Host")
+#define MSG_UBL_OUTPUT_MAP_CSV              _UxGT("Ausgabe für CSV")
+#define MSG_UBL_OUTPUT_MAP_BACKUP           _UxGT("Externe Sicherung")
+#define MSG_UBL_INFO_UBL                    _UxGT("UBL-Info ausgeben")
+#define MSG_UBL_EDIT_MESH_MENU             _UxGT("Netz bearbeiten")
+#define MSG_UBL_FILLIN_AMOUNT               _UxGT("Menge an Füllung")
+#define MSG_UBL_MANUAL_FILLIN               _UxGT("Manuelles Füllung")
+#define MSG_UBL_SMART_FILLIN                _UxGT("Cleveres Füllen")
+#define MSG_UBL_FILLIN_MESH                 _UxGT("Netz Füllen")
+#define MSG_UBL_INVALIDATE_ALL              _UxGT("Alles annullieren")
+#define MSG_UBL_INVALIDATE_CLOSEST          _UxGT("Nächstlieg. ann.")
+#define MSG_UBL_FINE_TUNE_ALL               _UxGT("Feineinst. Alles")
+#define MSG_UBL_FINE_TUNE_CLOSEST           _UxGT("Feineinst. Nächstl.")
+#define MSG_UBL_STORAGE_MESH_MENU           _UxGT("Netz-Speicherplatz")
+#define MSG_UBL_STORAGE_SLOT                _UxGT("Speicherort")
+#define MSG_UBL_LOAD_MESH                   _UxGT("Bettnetz laden")
+#define MSG_UBL_SAVE_MESH                   _UxGT("Bettnetz speichern")
+#define MSG_MESH_LOADED                     _UxGT("Netz %i geladen")
+#define MSG_MESH_SAVED                      _UxGT("Netz %i gespeichert")
+#define MSG_NO_STORAGE                      _UxGT("Kein Speicher")
+#define MSG_UBL_SAVE_ERROR                  _UxGT("ERR:UBL speichern")
+#define MSG_UBL_RESTORE_ERROR               _UxGT("ERR:UBL wiederherst.")
+#define MSG_UBL_Z_OFFSET_STOPPED            _UxGT("Z-Versatz angehalten")
+#define MSG_UBL_STEP_BY_STEP_MENU           _UxGT("Schrittweises UBL")
+
+#define MSG_LED_CONTROL                     _UxGT("LED-Steuerung")
+#define MSG_LEDS                            _UxGT("Licht")
+#define MSG_LED_PRESETS                     _UxGT("Licht-Einstellungen")
+#define MSG_SET_LEDS_RED                    _UxGT("Rot")
+#define MSG_SET_LEDS_ORANGE                 _UxGT("Orange")
+#define MSG_SET_LEDS_YELLOW                 _UxGT("Gelb")
+#define MSG_SET_LEDS_GREEN                  _UxGT("Grün")
+#define MSG_SET_LEDS_BLUE                   _UxGT("Blau")
+#define MSG_SET_LEDS_INDIGO                 _UxGT("Indigo")
+#define MSG_SET_LEDS_VIOLET                 _UxGT("Violett")
+#define MSG_SET_LEDS_WHITE                  _UxGT("Weiß")
+#define MSG_SET_LEDS_DEFAULT                _UxGT("Standard")
+#define MSG_CUSTOM_LEDS                     _UxGT("Benutzerdef.")
+#define MSG_INTENSITY_R                     _UxGT("Intensität Rot")
+#define MSG_INTENSITY_G                     _UxGT("Intensität Grün")
+#define MSG_INTENSITY_B                     _UxGT("Intensität Blau")
+#define MSG_INTENSITY_W                     _UxGT("Intensität Weiß")
+#define MSG_LED_BRIGHTNESS                  _UxGT("Helligkeit")
+
 #define MSG_MOVING                          _UxGT("In Bewegung...")
 #define MSG_FREE_XY                         _UxGT("Abstand XY")
-#define MSG_MOVE_X                          _UxGT("X")
-#define MSG_MOVE_Y                          _UxGT("Y")
-#define MSG_MOVE_Z                          _UxGT("Z")
-#define MSG_MOVE_E                          _UxGT("Extruder ")
+#define MSG_MOVE_X                          _UxGT("Bewege X")
+#define MSG_MOVE_Y                          _UxGT("Bewege Y")
+#define MSG_MOVE_Z                          _UxGT("Bewege Z")
+#define MSG_MOVE_E                          _UxGT("Bewege Extruder")
 #define MSG_MOVE_01MM                       _UxGT(" 0,1 mm")
 #define MSG_MOVE_1MM                        _UxGT(" 1,0 mm")
 #define MSG_MOVE_10MM                       _UxGT("10,0 mm")
@@ -97,13 +180,13 @@
 #define MSG_NOZZLE                          _UxGT("Düse")
 #define MSG_BED                             _UxGT("Bett")
 #define MSG_FAN_SPEED                       _UxGT("Lüfter")
-#define MSG_EXTRA_FAN_SPEED                 _UxGT("Extra Lüfter")
+#define MSG_EXTRA_FAN_SPEED                 _UxGT("Geschw. Extralüfter")
 #define MSG_FLOW                            _UxGT("Flussrate")
 #define MSG_CONTROL                         _UxGT("Einstellungen")
 #define MSG_MIN                             LCD_STR_THERMOMETER _UxGT(" min")
 #define MSG_MAX                             LCD_STR_THERMOMETER _UxGT(" max")
 #define MSG_FACTOR                          LCD_STR_THERMOMETER _UxGT(" Faktor")
-#define MSG_AUTOTEMP                        _UxGT("AutoTemp")
+#define MSG_AUTOTEMP                        _UxGT("Auto Temperatur")
 #define MSG_ON                              _UxGT("Ein")
 #define MSG_OFF                             _UxGT("Aus")
 #define MSG_PID_P                           _UxGT("PID P")
@@ -111,7 +194,7 @@
 #define MSG_PID_D                           _UxGT("PID D")
 #define MSG_PID_C                           _UxGT("PID C")
 #define MSG_SELECT                          _UxGT("Auswählen")
-#define MSG_ACC                             _UxGT("A")
+#define MSG_ACC                             _UxGT("Beschleunigung")
 #define MSG_JERK                            _UxGT("Jerk")
 #if IS_KINEMATIC
  #define MSG_VA_JERK                       _UxGT("V A Jerk")
@@ -123,13 +206,14 @@
  #define MSG_VC_JERK                       _UxGT("V Z Jerk")
 #endif
 #define MSG_VE_JERK                         _UxGT("V E Jerk")
+#define MSG_JUNCTION_DEVIATION              _UxGT("Junction Dev")
 #define MSG_VELOCITY                        _UxGT("Geschwindigkeit")
-#define MSG_VMAX                            _UxGT("V max ") // space by purpose
+#define MSG_VMAX                            _UxGT("V max ") // space intentional
 #define MSG_VMIN                            _UxGT("V min")
 #define MSG_VTRAV_MIN                       _UxGT("V min Leerfahrt")
 #define MSG_ACCELERATION                    _UxGT("Beschleunigung")
-#define MSG_AMAX                            _UxGT("A max ") // space by purpose
-#define MSG_A_RETRACT                       _UxGT("A Retract")
+#define MSG_AMAX                            _UxGT("A max ") // space intentional
+#define MSG_A_RETRACT                       _UxGT("A Rückzug")
 #define MSG_A_TRAVEL                        _UxGT("A Leerfahrt")
 #define MSG_STEPS_PER_MM                    _UxGT("Steps/mm")
 #if IS_KINEMATIC
@@ -151,11 +235,11 @@
 #define MSG_MOTION                          _UxGT("Bewegung")
 #define MSG_FILAMENT                        _UxGT("Filament")
 #define MSG_VOLUMETRIC_ENABLED              _UxGT("E in mm³")
-#define MSG_FILAMENT_DIAM                   _UxGT("D Fil.")
+#define MSG_FILAMENT_DIAM                   _UxGT("Durchm. Filament")
 #define MSG_FILAMENT_UNLOAD                 _UxGT("Entladen mm")
 #define MSG_FILAMENT_LOAD                   _UxGT("Laden mm")
-#define MSG_ADVANCE_K                       _UxGT("Advance Faktor")
-#define MSG_CONTRAST                        _UxGT("LCD Kontrast")
+#define MSG_ADVANCE_K                       _UxGT("Vorschubfaktor")
+#define MSG_CONTRAST                        _UxGT("LCD-Kontrast")
 #define MSG_STORE_EEPROM                    _UxGT("Konfig. speichern")
 #define MSG_LOAD_EEPROM                     _UxGT("Konfig. laden")
 #define MSG_RESTORE_FAILSAFE                _UxGT("Standardwerte laden")
@@ -164,49 +248,52 @@
 #define MSG_WATCH                           _UxGT("Info")
 #define MSG_PREPARE                         _UxGT("Vorbereitung")
 #define MSG_TUNE                            _UxGT("Justierung")
-#define MSG_PAUSE_PRINT                     _UxGT("SD-Druck Pause")
-#define MSG_RESUME_PRINT                    _UxGT("SD-Druck Fortsetzung")
-#define MSG_STOP_PRINT                      _UxGT("SD-Druck Abbruch")
-#define MSG_CARD_MENU                       _UxGT("SD-Karte")
+#define MSG_PAUSE_PRINT                     _UxGT("SD-Druck pausieren")
+#define MSG_RESUME_PRINT                    _UxGT("SD-Druck fortsetzen")
+#define MSG_STOP_PRINT                      _UxGT("SD-Druck abbrechen")
+#define MSG_POWER_LOSS_RECOVERY             _UxGT("Wiederh. n. Stroma.")
+#define MSG_CARD_MENU                       _UxGT("Druck v. SD-Karte")
 #define MSG_NO_CARD                         _UxGT("Keine SD-Karte")
 #define MSG_DWELL                           _UxGT("Warten...")
-#define MSG_USERWAIT                        _UxGT("Warte auf Nutzer")
-#define MSG_PRINT_PAUSED                    _UxGT("Druck pausiert")
+#define MSG_USERWAIT                        _UxGT("Klick zum Fortsetzen")
+#define MSG_PRINT_PAUSED                    _UxGT("Druck pausiert...")
+#define MSG_PRINTING                        _UxGT("Druckt...")
 #define MSG_PRINT_ABORTED                   _UxGT("Druck abgebrochen")
-#define MSG_NO_MOVE                         _UxGT("Motoren eingeschaltet")
+#define MSG_NO_MOVE                         _UxGT("Motoren angeschaltet")
 #define MSG_KILLED                          _UxGT("ABGEBROCHEN")
 #define MSG_STOPPED                         _UxGT("ANGEHALTEN")
-#define MSG_CONTROL_RETRACT                 _UxGT("Retract mm")
-#define MSG_CONTROL_RETRACT_SWAP            _UxGT("Wechs. Retract mm")
-#define MSG_CONTROL_RETRACTF                _UxGT("Retract  V")
-#define MSG_CONTROL_RETRACT_ZLIFT           _UxGT("Z-Hop mm")
+#define MSG_CONTROL_RETRACT                 _UxGT("Rückzug mm")
+#define MSG_CONTROL_RETRACT_SWAP            _UxGT("Wechs. Rückzug mm")
+#define MSG_CONTROL_RETRACTF                _UxGT("Rückzug  V")
+#define MSG_CONTROL_RETRACT_ZLIFT           _UxGT("Z-Sprung mm")
 #define MSG_CONTROL_RETRACT_RECOVER         _UxGT("UnRet mm")
 #define MSG_CONTROL_RETRACT_RECOVER_SWAP    _UxGT("Wechs. UnRet mm")
 #define MSG_CONTROL_RETRACT_RECOVERF        _UxGT("UnRet  V")
 #define MSG_CONTROL_RETRACT_RECOVER_SWAPF   _UxGT("S UnRet V")
-#define MSG_AUTORETRACT                     _UxGT("Autom. Retract")
+#define MSG_AUTORETRACT                     _UxGT("Autom. Rückzug")
 #define MSG_FILAMENTCHANGE                  _UxGT("Filament wechseln")
 #define MSG_FILAMENTLOAD                    _UxGT("Filament laden")
 #define MSG_FILAMENTUNLOAD                  _UxGT("Filament entladen")
 #define MSG_FILAMENTUNLOAD_ALL              _UxGT("Alles entladen")
-#define MSG_INIT_SDCARD                     _UxGT("SD-Karte erkennen")  // Manually initialize the SD-card via user interface
+#define MSG_INIT_SDCARD                     _UxGT("SD-Karte initialisi.")  // Manually initialize the SD-card via user interface
 #define MSG_CNG_SDCARD                      _UxGT("SD-Karte getauscht") // SD-card changed by user. For machines with no autocarddetect. Both send "M21"
-#define MSG_ZPROBE_OUT                      _UxGT("Sensor ausserhalb")
-#define MSG_SKEW_FACTOR                     _UxGT("Skew Faktor")
+#define MSG_ZPROBE_OUT                      _UxGT("Z-Sonde außerhalb")
+#define MSG_SKEW_FACTOR                     _UxGT("Korrekturfaktor")
 #define MSG_BLTOUCH                         _UxGT("BLTouch")
-#define MSG_BLTOUCH_SELFTEST                _UxGT("BLTouch Test")
-#define MSG_BLTOUCH_RESET                   _UxGT("BLTouch Reset")
+#define MSG_BLTOUCH_SELFTEST                _UxGT("BLTouch Selbsttest")
+#define MSG_BLTOUCH_RESET                   _UxGT("BLTouch zurücks.")
 #define MSG_BLTOUCH_DEPLOY                  _UxGT("BLTouch ausfahren")
 #define MSG_BLTOUCH_STOW                    _UxGT("BLTouch einfahren")
-#define MSG_HOME                            _UxGT("Vorher")  // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
+#define MSG_HOME                            _UxGT("Vorher") // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
 #define MSG_FIRST                           _UxGT("homen")
-#define MSG_ZPROBE_ZOFFSET                  _UxGT("Z Versatz")
+#define MSG_ZPROBE_ZOFFSET                  _UxGT("Sondenversatz Z")
 #define MSG_BABYSTEP_X                      _UxGT("Babystep X")
 #define MSG_BABYSTEP_Y                      _UxGT("Babystep Y")
 #define MSG_BABYSTEP_Z                      _UxGT("Babystep Z")
-#define MSG_ENDSTOP_ABORT                   _UxGT("Endstopp-Abbr.")
-#define MSG_HEATING_FAILED_LCD              _UxGT("HEIZEN FEHLGESCHLAGEN")
-#define MSG_ERR_REDUNDANT_TEMP              _UxGT("REDUND. TEMPERATURABWEICHUNG")
+#define MSG_ENDSTOP_ABORT                   _UxGT("Endstopp Abbr.")
+#define MSG_HEATING_FAILED_LCD              _UxGT("HEIZEN ERFOLGLOS")
+#define MSG_HEATING_FAILED_LCD_BED          _UxGT("Bett heizen fehlge.")
+#define MSG_ERR_REDUNDANT_TEMP              _UxGT("REDUND. TEMP-ABWEI.")
 #define MSG_THERMAL_RUNAWAY                 LCD_STR_THERMOMETER _UxGT(" NICHT ERREICHT")
 #define MSG_THERMAL_RUNAWAY_BED             _UxGT("BETT") MSG_THERMAL_RUNAWAY
 #define MSG_ERR_MAXTEMP                     LCD_STR_THERMOMETER _UxGT(" ÜBERSCHRITTEN")
@@ -215,12 +302,14 @@
 #define MSG_ERR_MINTEMP_BED                 _UxGT("BETT ") LCD_STR_THERMOMETER _UxGT(" UNTERSCHRITTEN")
 #define MSG_ERR_Z_HOMING                    MSG_HOME _UxGT(" ") MSG_X MSG_Y _UxGT(" ") MSG_FIRST
 #define MSG_HALTED                          _UxGT("DRUCKER STOPP")
-#define MSG_PLEASE_RESET                    _UxGT("Bitte Resetten")
+#define MSG_PLEASE_RESET                    _UxGT("Bitte neustarten")
 #define MSG_SHORT_DAY                       _UxGT("t") // One character only
 #define MSG_SHORT_HOUR                      _UxGT("h") // One character only
 #define MSG_SHORT_MINUTE                    _UxGT("m") // One character only
 #define MSG_HEATING                         _UxGT("Extr. heizt...")
+#define MSG_COOLING                         _UxGT("Extr. kühlt...")
 #define MSG_BED_HEATING                     _UxGT("Bett heizt...")
+#define MSG_BED_COOLING                     _UxGT("Bett kühlt...")
 #define MSG_DELTA_CALIBRATE                 _UxGT("Delta kalibrieren")
 #define MSG_DELTA_CALIBRATE_X               _UxGT("Kalibriere X")
 #define MSG_DELTA_CALIBRATE_Y               _UxGT("Kalibriere Y")
@@ -229,171 +318,94 @@
 #define MSG_DELTA_SETTINGS                  _UxGT("Delta Einst. anzeig.")
 #define MSG_DELTA_AUTO_CALIBRATE            _UxGT("Autom. Kalibrierung")
 #define MSG_DELTA_HEIGHT_CALIBRATE          _UxGT("Delta Höhe setzen")
+#define MSG_DELTA_Z_OFFSET_CALIBRATE        _UxGT("Sondenversatz Z")
 #define MSG_DELTA_DIAG_ROD                  _UxGT("Diag Rod")
 #define MSG_DELTA_HEIGHT                    _UxGT("Höhe")
 #define MSG_DELTA_RADIUS                    _UxGT("Radius")
 #define MSG_INFO_MENU                       _UxGT("Über den Drucker")
-#define MSG_INFO_PRINTER_MENU               _UxGT("Drucker Info")
-#define MSG_3POINT_LEVELING                 _UxGT("3-Punkt Nivellierung")
+#define MSG_INFO_PRINTER_MENU               _UxGT("Drucker-Info")
+#define MSG_3POINT_LEVELING                 _UxGT("3-Punkt-Nivellierung")
 #define MSG_LINEAR_LEVELING                 _UxGT("Lineare Nivellierung")
 #define MSG_BILINEAR_LEVELING               _UxGT("Bilineare Nivell.")
 #define MSG_UBL_LEVELING                    _UxGT("Unified Bed Leveling")
-#define MSG_MESH_LEVELING                   _UxGT("Netz Nivellierung")
-#define MSG_INFO_STATS_MENU                 _UxGT("Drucker Statistik")
-#define MSG_INFO_BOARD_MENU                 _UxGT("Board Info")
+#define MSG_MESH_LEVELING                   _UxGT("Netz-Nivellierung")
+#define MSG_INFO_STATS_MENU                 _UxGT("Drucker-Statistik")
+#define MSG_INFO_BOARD_MENU                 _UxGT("Board-Info")
 #define MSG_INFO_THERMISTOR_MENU            _UxGT("Thermistoren")
 #define MSG_INFO_EXTRUDERS                  _UxGT("Extruder")
-#define MSG_INFO_BAUDRATE                   _UxGT("Baud")
+#define MSG_INFO_BAUDRATE                   _UxGT("Baudrate")
 #define MSG_INFO_PROTOCOL                   _UxGT("Protokoll")
 #define MSG_CASE_LIGHT                      _UxGT("Beleuchtung")
 #define MSG_CASE_LIGHT_BRIGHTNESS           _UxGT("Helligkeit")

-#define MSG_UBL_DOING_G29                 _UxGT("G29 UBL läuft!")
-#define MSG_UBL_UNHOMED                   _UxGT("Erst XYZ homen")
-#define MSG_UBL_TOOLS                     _UxGT("UBL Werkzeuge")
-#define MSG_UBL_LEVEL_BED                 _UxGT("Unified Bed Leveling")
-#define MSG_UBL_MANUAL_MESH               _UxGT("Netz manuell erst.")
-#define MSG_UBL_BC_INSERT                 _UxGT("Unterlegen & messen")
-#define MSG_UBL_BC_INSERT2                _UxGT("Messen")
-#define MSG_UBL_BC_REMOVE                 _UxGT("Entfernen & messen")
-#define MSG_UBL_MOVING_TO_NEXT            _UxGT("Nächster Punkt...")
-#define MSG_UBL_ACTIVATE_MESH             _UxGT("UBL aktivieren")
-#define MSG_UBL_DEACTIVATE_MESH           _UxGT("UBL deaktivieren")
-#define MSG_UBL_SET_BED_TEMP              _UxGT("Bett Temp.")
-#define MSG_UBL_CUSTOM_BED_TEMP           MSG_UBL_SET_BED_TEMP
-#define MSG_UBL_SET_HOTEND_TEMP           _UxGT("Hotend Temp.")
-#define MSG_UBL_CUSTOM_HOTEND_TEMP        MSG_UBL_SET_HOTEND_TEMP
-#define MSG_UBL_MESH_EDIT                 _UxGT("Netz bearbeiten")
-#define MSG_UBL_EDIT_CUSTOM_MESH          _UxGT("Eigenes Netz bearb.")
-#define MSG_UBL_FINE_TUNE_MESH            _UxGT("Feineinstellung...")
-#define MSG_UBL_DONE_EDITING_MESH         _UxGT("Bearbeitung beendet")
-#define MSG_UBL_BUILD_CUSTOM_MESH         _UxGT("Eigenes Netz erst.")
-#define MSG_UBL_BUILD_MESH_MENU           _UxGT("Netz erstellen")
-#define MSG_UBL_BUILD_PLA_MESH            _UxGT("Netz erstellen PLA")
-#define MSG_UBL_BUILD_ABS_MESH            _UxGT("Netz erstellen ABS")
-#define MSG_UBL_BUILD_COLD_MESH           _UxGT("Netz erstellen kalt")
-#define MSG_UBL_MESH_HEIGHT_ADJUST        _UxGT("Netz Höhe einst.")
-#define MSG_UBL_MESH_HEIGHT_AMOUNT        _UxGT("Höhe")
-#define MSG_UBL_VALIDATE_MESH_MENU        _UxGT("Netz validieren")
-#define MSG_UBL_VALIDATE_PLA_MESH         _UxGT("Netz validieren PLA")
-#define MSG_UBL_VALIDATE_ABS_MESH         _UxGT("Netz validieren ABS")
-#define MSG_UBL_VALIDATE_CUSTOM_MESH      _UxGT("Eig. Netz validieren")
-#define MSG_UBL_CONTINUE_MESH             _UxGT("Netzerst. forts.")
-#define MSG_UBL_MESH_LEVELING             _UxGT("Netz Nivellierung")
-#define MSG_UBL_3POINT_MESH_LEVELING      _UxGT("3-Punkt Nivellierung")
-#define MSG_UBL_GRID_MESH_LEVELING        _UxGT("Gitternetz Nivell.")
-#define MSG_UBL_MESH_LEVEL                _UxGT("Netz nivellieren")
-#define MSG_UBL_SIDE_POINTS               _UxGT("Eckpunkte")
-#define MSG_UBL_MAP_TYPE                  _UxGT("Kartentyp")
-#define MSG_UBL_OUTPUT_MAP                _UxGT("Karte ausgeben")
-#define MSG_UBL_OUTPUT_MAP_HOST           _UxGT("Ausgabe für Host")
-#define MSG_UBL_OUTPUT_MAP_CSV            _UxGT("Ausgabe für CSV")
-#define MSG_UBL_OUTPUT_MAP_BACKUP         _UxGT("Externe Sicherung")
-#define MSG_UBL_INFO_UBL                  _UxGT("UBL Info ausgeben")
-#define MSG_UBL_EDIT_MESH_MENU            _UxGT("Netz bearbeiten")
-#define MSG_UBL_FILLIN_AMOUNT             _UxGT("Menge an Fill-in")
-#define MSG_UBL_MANUAL_FILLIN             _UxGT("Manuelles Fill-in")
-#define MSG_UBL_SMART_FILLIN              _UxGT("Kluges Fill-in")
-#define MSG_UBL_FILLIN_MESH               _UxGT("Fill-in Netz")
-#define MSG_UBL_INVALIDATE_ALL            _UxGT("Alles annullieren")
-#define MSG_UBL_INVALIDATE_CLOSEST        _UxGT("Nächstlieg. ann.")
-#define MSG_UBL_FINE_TUNE_ALL             _UxGT("Feineinstellung Alle")
-#define MSG_UBL_FINE_TUNE_CLOSEST         _UxGT("Feineinst. Nächstl.")
-#define MSG_UBL_STORAGE_MESH_MENU         _UxGT("Netz Speicherplatz")
-#define MSG_UBL_STORAGE_SLOT              _UxGT("Memory Slot")
-#define MSG_UBL_LOAD_MESH                 _UxGT("Bett Netz laden")
-#define MSG_UBL_SAVE_MESH                 _UxGT("Bett Netz speichern")
-#define MSG_MESH_LOADED                   _UxGT("Netz %i geladen")
-#define MSG_MESH_SAVED                    _UxGT("Netz %i gespeichert")
-#define MSG_NO_STORAGE                    _UxGT("Kein Speicher")
-#define MSG_UBL_SAVE_ERROR                _UxGT("ERR:UBL speichern")
-#define MSG_UBL_RESTORE_ERROR             _UxGT("ERR:UBL wiederherst.")
-#define MSG_UBL_Z_OFFSET_STOPPED          _UxGT("Z-Versatz angehalten")
-#define MSG_UBL_STEP_BY_STEP_MENU         _UxGT("Schrittweises UBL")
-
-#define MSG_LED_CONTROL                     _UxGT("LED Kontrolle")
-#define MSG_LEDS                            _UxGT("Licht")
-#define MSG_LED_PRESETS                     _UxGT("Licht Einstellungen")
-#define MSG_SET_LEDS_RED                    _UxGT("Rot")
-#define MSG_SET_LEDS_ORANGE                 _UxGT("Orange")
-#define MSG_SET_LEDS_YELLOW                 _UxGT("Gelb")
-#define MSG_SET_LEDS_GREEN                  _UxGT("Grün")
-#define MSG_SET_LEDS_BLUE                   _UxGT("Blau")
-#define MSG_SET_LEDS_INDIGO                 _UxGT("Indigo")
-#define MSG_SET_LEDS_VIOLET                 _UxGT("Violett")
-#define MSG_SET_LEDS_WHITE                  _UxGT("Weiß")
-#define MSG_SET_LEDS_DEFAULT                _UxGT("Standard")
-#define MSG_CUSTOM_LEDS                     _UxGT("Benutzerdef.")
-#define MSG_INTENSITY_R                     _UxGT("Intensität Rot")
-#define MSG_INTENSITY_G                     _UxGT("Intensität Grün")
-#define MSG_INTENSITY_B                     _UxGT("Intensität Blau")
-#define MSG_INTENSITY_W                     _UxGT("Intensität Weiß")
-#define MSG_LED_BRIGHTNESS                  _UxGT("Helligkeit")
-
 #if LCD_WIDTH >= 20
  #define MSG_INFO_PRINT_COUNT              _UxGT("Gesamte Drucke")
-  #define MSG_INFO_COMPLETED_PRINTS         _UxGT("Beendete Drucke")
+  #define MSG_INFO_COMPLETED_PRINTS         _UxGT("Komplette Drucke")
  #define MSG_INFO_PRINT_TIME               _UxGT("Gesamte Druckzeit")
-  #define MSG_INFO_PRINT_LONGEST            _UxGT("Längster Druckjob")
+  #define MSG_INFO_PRINT_LONGEST            _UxGT("Längste Druckzeit")
  #define MSG_INFO_PRINT_FILAMENT           _UxGT("Gesamt Extrudiert")
 #else
  #define MSG_INFO_PRINT_COUNT              _UxGT("Drucke")
-  #define MSG_INFO_COMPLETED_PRINTS         _UxGT("Komplett")
-  #define MSG_INFO_PRINT_TIME               _UxGT("Gesamt ")
-  #define MSG_INFO_PRINT_LONGEST            _UxGT("Längster")
+  #define MSG_INFO_COMPLETED_PRINTS         _UxGT("Komplette")
+  #define MSG_INFO_PRINT_TIME               _UxGT("Gesamte")
+  #define MSG_INFO_PRINT_LONGEST            _UxGT("Längste")
  #define MSG_INFO_PRINT_FILAMENT           _UxGT("Extrud.")
 #endif

 #define MSG_INFO_MIN_TEMP                   _UxGT("Min Temp")
 #define MSG_INFO_MAX_TEMP                   _UxGT("Max Temp")
 #define MSG_INFO_PSU                        _UxGT("Netzteil")
-
-#define MSG_DRIVE_STRENGTH                  _UxGT("Motorströme")
+#define MSG_DRIVE_STRENGTH                  _UxGT("Motorleistung")
 #define MSG_DAC_PERCENT                     _UxGT("Treiber %")
 #define MSG_DAC_EEPROM_WRITE                _UxGT("Werte speichern")
 #define MSG_FILAMENT_CHANGE_HEADER_PAUSE    _UxGT("DRUCK PAUSIERT")
 #define MSG_FILAMENT_CHANGE_HEADER_LOAD     _UxGT("FILAMENT LADEN")
 #define MSG_FILAMENT_CHANGE_HEADER_UNLOAD   _UxGT("FILAMENT ENTLADEN")
 #define MSG_FILAMENT_CHANGE_OPTION_HEADER   _UxGT("FORTS. OPTIONEN:")
-#define MSG_FILAMENT_CHANGE_OPTION_PURGE    _UxGT("Mehr entleeren")
-#define MSG_FILAMENT_CHANGE_OPTION_RESUME   _UxGT("Drucke weiter")
+#define MSG_FILAMENT_CHANGE_OPTION_PURGE    _UxGT("Mehr entladen")
+#define MSG_FILAMENT_CHANGE_OPTION_RESUME   _UxGT("Druck weiter")
 #define MSG_FILAMENT_CHANGE_NOZZLE          _UxGT("  Düse: ")
 #define MSG_ERR_HOMING_FAILED               _UxGT("Homing gescheitert")
 #define MSG_ERR_PROBING_FAILED              _UxGT("Probing gescheitert")
-#define MSG_M600_TOO_COLD                   _UxGT("M600: Zu kalt")
+#define MSG_M600_TOO_COLD                   _UxGT("M600: zu kalt")
+
+//
+// Die Filament-Change-Bildschirme können bis zu 3 Zeilen auf einem 4-Zeilen-Display anzeigen
+//                                       ...oder 2 Zeilen auf einem 3-Zeilen-Display.
 #if LCD_HEIGHT >= 4
  // Up to 3 lines allowed
-  #define MSG_FILAMENT_CHANGE_INIT_1          _UxGT("Warte auf den")
-  #define MSG_FILAMENT_CHANGE_INIT_2          _UxGT("Start des")
-  #define MSG_FILAMENT_CHANGE_INIT_3          _UxGT("Filamentwechsels")
-  #define MSG_FILAMENT_CHANGE_UNLOAD_1        _UxGT("Warte auf")
-  #define MSG_FILAMENT_CHANGE_UNLOAD_2        _UxGT("Herausnahme")
-  #define MSG_FILAMENT_CHANGE_UNLOAD_3        _UxGT("des Filaments...")
-  #define MSG_FILAMENT_CHANGE_INSERT_1        _UxGT("Filament einlegen")
-  #define MSG_FILAMENT_CHANGE_INSERT_2        _UxGT("und Knopf")
-  #define MSG_FILAMENT_CHANGE_INSERT_3        _UxGT("drücken...")
-  #define MSG_FILAMENT_CHANGE_HEAT_1          _UxGT("Knopf drücken um")
-  #define MSG_FILAMENT_CHANGE_HEAT_2          _UxGT("Düse aufzuheizen.")
-  #define MSG_FILAMENT_CHANGE_HEATING_1       _UxGT("Düse heizt auf...")
-  #define MSG_FILAMENT_CHANGE_HEATING_2       _UxGT("Bitte warten...")
-  #define MSG_FILAMENT_CHANGE_LOAD_1          _UxGT("Warte auf")
-  #define MSG_FILAMENT_CHANGE_LOAD_2          _UxGT("Laden des")
-  #define MSG_FILAMENT_CHANGE_LOAD_3          _UxGT("Filaments")
-  #define MSG_FILAMENT_CHANGE_PURGE_1         _UxGT("Warte auf")
-  #define MSG_FILAMENT_CHANGE_PURGE_2         _UxGT("Entleeren des")
-  #define MSG_FILAMENT_CHANGE_PURGE_3         _UxGT("Filaments")
-  #define MSG_FILAMENT_CHANGE_RESUME_1        _UxGT("Warte auf")
-  #define MSG_FILAMENT_CHANGE_RESUME_2        _UxGT("Fortsetzung des")
-  #define MSG_FILAMENT_CHANGE_RESUME_3        _UxGT("Druckes...")
+  #define MSG_FILAMENT_CHANGE_INIT_1        _UxGT("Warte auf den")
+  #define MSG_FILAMENT_CHANGE_INIT_2        _UxGT("Start des")
+  #define MSG_FILAMENT_CHANGE_INIT_3        _UxGT("Filamentwechsels...")
+  #define MSG_FILAMENT_CHANGE_INSERT_1      _UxGT("Filament einlegen")
+  #define MSG_FILAMENT_CHANGE_INSERT_2      _UxGT("und Knopf drücken")
+  #define MSG_FILAMENT_CHANGE_INSERT_3      _UxGT("um fortzusetzen")
+  #define MSG_FILAMENT_CHANGE_HEAT_1        _UxGT("Knopf drücken um")
+  #define MSG_FILAMENT_CHANGE_HEAT_2        _UxGT("Düse aufzuheizen")
+  #define MSG_FILAMENT_CHANGE_HEATING_1     _UxGT("Düse heizt auf")
+  #define MSG_FILAMENT_CHANGE_HEATING_2     _UxGT("bitte warten...")
+  #define MSG_FILAMENT_CHANGE_UNLOAD_1      _UxGT("Warte auf")
+  #define MSG_FILAMENT_CHANGE_UNLOAD_2      _UxGT("Herausnahme")
+  #define MSG_FILAMENT_CHANGE_UNLOAD_3      _UxGT("des Filaments...")
+  #define MSG_FILAMENT_CHANGE_LOAD_1        _UxGT("Warte auf")
+  #define MSG_FILAMENT_CHANGE_LOAD_2        _UxGT("Laden des")
+  #define MSG_FILAMENT_CHANGE_LOAD_3        _UxGT("Filaments...")
+  #define MSG_FILAMENT_CHANGE_PURGE_1       _UxGT("Warte auf")
+  #define MSG_FILAMENT_CHANGE_PURGE_2       _UxGT("Entladen des")
+  #define MSG_FILAMENT_CHANGE_PURGE_3       _UxGT("Filaments...")
+  #define MSG_FILAMENT_CHANGE_RESUME_1      _UxGT("Warte auf")
+  #define MSG_FILAMENT_CHANGE_RESUME_2      _UxGT("Fortsetzen des")
+  #define MSG_FILAMENT_CHANGE_RESUME_3      _UxGT("Drucks...")
 #else // LCD_HEIGHT < 4
  // Up to 2 lines allowed
-  #define MSG_FILAMENT_CHANGE_INIT_1          _UxGT("Bitte warten...")
-  #define MSG_FILAMENT_CHANGE_UNLOAD_1        _UxGT("Auswerfen...")
-  #define MSG_FILAMENT_CHANGE_INSERT_1        _UxGT("Laden und Klick")
-  #define MSG_FILAMENT_CHANGE_HEATING_1       _UxGT("Heizen...")
-  #define MSG_FILAMENT_CHANGE_LOAD_1          _UxGT("Laden...")
-  #define MSG_FILAMENT_CHANGE_PURGE_1         _UxGT("Entleeren...")
-  #define MSG_FILAMENT_CHANGE_RESUME_1        _UxGT("Fortsetzen...")
+  #define MSG_FILAMENT_CHANGE_INIT_1        _UxGT("Bitte warten...")
+  #define MSG_FILAMENT_CHANGE_INSERT_1      _UxGT("Laden und Klick")
+  #define MSG_FILAMENT_CHANGE_HEAT_1        _UxGT("Klick zum Heizen")
+  #define MSG_FILAMENT_CHANGE_HEATING_1     _UxGT("Heizen...")
+  #define MSG_FILAMENT_CHANGE_UNLOAD_1      _UxGT("Entladen...")
+  #define MSG_FILAMENT_CHANGE_LOAD_1        _UxGT("Laden...")
+  #define MSG_FILAMENT_CHANGE_PURGE_1       _UxGT("Entladen...")
+  #define MSG_FILAMENT_CHANGE_RESUME_1      _UxGT("Fortsetzen...")
 #endif // LCD_HEIGHT < 4

 #endif // LANGUAGE_DE_H
--- a/Marlin/language_en.h
+++ b/Marlin/language_en.h
@@ -756,6 +756,15 @@
 #ifndef MSG_BLTOUCH
  #define MSG_BLTOUCH                         _UxGT("BLTouch")
 #endif
+#ifndef MSG_BLTOUCH_SW_MODE
+  #define MSG_BLTOUCH_SW_MODE                 _UxGT("SW Deploy BLTouch")
+#endif
+#ifndef MSG_BLTOUCH_5V_MODE
+  #define MSG_BLTOUCH_5V_MODE                 _UxGT("BLTouch 5V Mode")
+#endif
+#ifndef MSG_BLTOUCH_OD_MODE
+  #define MSG_BLTOUCH_OD_MODE                 _UxGT("BLTouch OD Mode")
+#endif
 #ifndef MSG_BLTOUCH_SELFTEST
  #define MSG_BLTOUCH_SELFTEST                _UxGT("BLTouch Self-Test")
 #endif
--- a/Marlin/language_es.h
+++ b/Marlin/language_es.h
@@ -251,26 +251,25 @@

 #define MSG_FILAMENT_CHANGE_NOZZLE          _UxGT("  Boquilla: ")

-#define MSG_FILAMENT_CHANGE_INIT_1          _UxGT("Esperando iniciar")
+#define MSG_FILAMENT_CHANGE_INIT_1          _UxGT("Esperando para")

-#define MSG_FILAMENT_CHANGE_INSERT_1        _UxGT("Inserte filamento")
+#define MSG_FILAMENT_CHANGE_INSERT_1        _UxGT("Inserte el filamento")
 #define MSG_FILAMENT_CHANGE_INSERT_2        _UxGT("y presione el boton")

 #if LCD_HEIGHT >= 4
  // Up to 3 lines allowed
-  #define MSG_FILAMENT_CHANGE_INIT_2        _UxGT("del filamento")
-  #define MSG_FILAMENT_CHANGE_INIT_3        _UxGT("cambiar")
+  #define MSG_FILAMENT_CHANGE_INIT_2        _UxGT("iniciar cambio")
+  #define MSG_FILAMENT_CHANGE_INIT_3        _UxGT("de filamento")
  #define MSG_FILAMENT_CHANGE_INSERT_3      _UxGT("para continuar...")
 #else // LCD_HEIGHT < 4
  // Up to 2 lines allowed
-  #define MSG_FILAMENT_CHANGE_INIT_2        _UxGT("del fil. cambiar")
-  #define MSG_FILAMENT_CHANGE_INSERT_1      _UxGT("Inserte filamento")
+  #define MSG_FILAMENT_CHANGE_INIT_2        _UxGT("iniciar cambio fil.")
 #endif // LCD_HEIGHT < 4

-#define MSG_FILAMENT_CHANGE_UNLOAD_1        _UxGT("Esperado por")
-#define MSG_FILAMENT_CHANGE_UNLOAD_2        _UxGT("filamento expulsado")
-#define MSG_FILAMENT_CHANGE_LOAD_1          _UxGT("Esperado por")
-#define MSG_FILAMENT_CHANGE_LOAD_2          _UxGT("Cargar filamento")
+#define MSG_FILAMENT_CHANGE_UNLOAD_1        _UxGT("Esperando para")
+#define MSG_FILAMENT_CHANGE_UNLOAD_2        _UxGT("expulsar filamento")
+#define MSG_FILAMENT_CHANGE_LOAD_1          _UxGT("Esperado para")
+#define MSG_FILAMENT_CHANGE_LOAD_2          _UxGT("cargar el filamento")
 #define MSG_FILAMENT_CHANGE_RESUME_1        _UxGT("Esperando imp.")
 #define MSG_FILAMENT_CHANGE_RESUME_2        _UxGT("para resumir")
 #define MSG_FILAMENT_CHANGE_HEAT_1          _UxGT("Oprima boton para")
--- a/Marlin/language_pt-br.h
+++ b/Marlin/language_pt-br.h
@@ -369,7 +369,7 @@

  #define MSG_FILAMENT_CHANGE_RESUME_1        _UxGT("Esperando impressao")
  #define MSG_FILAMENT_CHANGE_RESUME_2        _UxGT("continuar")
-#else LCD_HEIGHT < 4
+#else // LCD_HEIGHT < 4
  #define MSG_FILAMENT_CHANGE_INIT_1          _UxGT("Aguarde...")
  #define MSG_FILAMENT_CHANGE_UNLOAD_1        _UxGT("Ejetando...")
  #define MSG_FILAMENT_CHANGE_INSERT_1        _UxGT("Insira e Clique")
--- a/Marlin/pins_ANET_10.h
+++ b/Marlin/pins_ANET_10.h
@@ -154,31 +154,32 @@
 */

 #if ENABLED(ULTRA_LCD)
-  #define LCD_SDSS           28
+  #define LCD_SDSS         28
  #if ENABLED(ADC_KEYPAD)
-    #define SERVO0_PIN       27   // free for BLTouch/3D-Touch
-    #define LCD_PINS_RS      28
-    #define LCD_PINS_ENABLE  29
-    #define LCD_PINS_D4      10
-    #define LCD_PINS_D5      11
-    #define LCD_PINS_D6      16
-    #define LCD_PINS_D7      17
-    #define BTN_EN1          -1
-    #define BTN_EN2          -1
-    #define BTN_ENC          -1
-    #define ADC_KEYPAD_PIN    1
+    #define SERVO0_PIN     27   // free for BLTouch/3D-Touch
+    #ifndef LCD_I2C_TYPE_PCF8575
+      #define LCD_PINS_RS  28
+      #define LCD_PINS_ENABLE 29
+      #define LCD_PINS_D4  10
+      #define LCD_PINS_D5  11
+      #define LCD_PINS_D6  16
+      #define LCD_PINS_D7  17
+    #endif
+    #ifndef ADC_KEYPAD_PIN
+      #define ADC_KEYPAD_PIN 1   // Analog Input
+    #endif
  #elif ENABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER) || ENABLED(ANET_FULL_GRAPHICS_LCD)
    // Pin definitions for the Anet A6 Full Graphics display and the RepRapDiscount Full Graphics
    // display using an adapter board  // https://go.aisler.net/benlye/anet-lcd-adapter/pcb
    // See below for alternative pin definitions for use with https://www.thingiverse.com/thing:2103748
-    #define SERVO0_PIN       29   // free for BLTouch/3D-Touch
-    #define BEEPER_PIN       17
-    #define LCD_PINS_RS      27
-    #define LCD_PINS_ENABLE  28
-    #define LCD_PINS_D4      30
-    #define BTN_EN1          11
-    #define BTN_EN2          10
-    #define BTN_ENC          16
+    #define SERVO0_PIN     29   // free for BLTouch/3D-Touch
+    #define BEEPER_PIN     17
+    #define LCD_PINS_RS    27
+    #define LCD_PINS_ENABLE 28
+    #define LCD_PINS_D4    30
+    #define BTN_EN1        11
+    #define BTN_EN2        10
+    #define BTN_ENC        16
    #ifndef ST7920_DELAY_1
      #define ST7920_DELAY_1 DELAY_NS(0)
    #endif
@@ -192,7 +193,7 @@
    #define STD_ENCODER_STEPS_PER_MENU_ITEM 1
  #endif
 #else
-  #define SERVO0_PIN         27
+  #define SERVO0_PIN       27
 #endif

 /**
--- a/Marlin/pins_RAMPS.h
+++ b/Marlin/pins_RAMPS.h
@@ -509,7 +509,7 @@
      #define BTN_ENC           35

      #define SD_DETECT_PIN     49
-      #define KILL_PIN          64
+      #define KILL_PIN          41

    #elif ENABLED(MINIPANEL)

--- a/Marlin/pins_TRIGORILLA_14.h
+++ b/Marlin/pins_TRIGORILLA_14.h
@@ -95,25 +95,46 @@
 #define TEMP_BED_PIN       14

 // Servos
-#ifdef NUM_SERVOS
-	#define SERVO0_PIN      11
+#if TRIGORILLA_VERSION == 0 // Default Trigorilla
+  #ifdef NUM_SERVOS
+  	#define SERVO0_PIN      11

-	#if NUM_SERVOS > 1
-		#define SERVO1_PIN    6
-	#endif
+  	#if NUM_SERVOS > 1
+  		#define SERVO1_PIN    6
+  	#endif

-	#if NUM_SERVOS > 2
-		#define SERVO2_PIN    5
-	#endif
+  	#if NUM_SERVOS > 2
+  		#define SERVO2_PIN    5
+  	#endif

-	#if NUM_SERVOS > 3
-		#define SERVO3_PIN    4
-	#endif
-#endif
+  	#if NUM_SERVOS > 3
+  		#define SERVO3_PIN    4
+  	#endif
+  #endif
+#else // Trigorilla 1.1
+  #ifdef NUM_SERVOS
+    #define SERVO0_PIN 5

-#if defined(ANYCUBIC_TFT_MODEL)
+    #if NUM_SERVOS > 1
+      #define SERVO1_PIN 4
+    #endif
+
+    #if NUM_SERVOS > 2
+      #define SERVO2_PIN 11
+    #endif
+
+    #if NUM_SERVOS > 3
+      #define SERVO3_PIN 6
+    #endif
+  #endif
+#endif // #if TRIGORILLA_VERSION
+
+#if defined(ANYCUBIC_TFT_MODEL) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER)
  #define BEEPER_PIN       31
  #define SD_DETECT_PIN    49
+#else
+  #define BEEPER_PIN       31
+  #define SD_DETECT_PIN    -1
 #endif

 // LCD
@@ -133,13 +154,11 @@
 		#define LCD_PINS_D7 29

 		#ifdef REPRAP_DISCOUNT_SMART_CONTROLLER
-			#define BEEPER_PIN 37

 			#define BTN_EN1 31
 			#define BTN_EN2 33
 			#define BTN_ENC 35

-			#define SD_DETECT_PIN 49
 			#elif defined(LCD_I2C_PANELOLU2)
 				#define BTN_EN1 47  //reverse if the encoder turns the wrong way.
 				#define BTN_EN2 43
--- a/Marlin/stepper_indirection.cpp
+++ b/Marlin/stepper_indirection.cpp
@@ -122,156 +122,98 @@
  }
 #endif // TMC26X

+#if HAS_TRINAMIC
+  #define _TMC_INIT(ST, SPMM) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
+#endif
+
 //
 // TMC2130 Driver objects and inits
 //
 #if HAS_DRIVER(TMC2130)

  #include <SPI.h>
-  #include <TMC2130Stepper.h>
  #include "planner.h"
  #include "enum.h"

-  #if TMC2130STEPPER_VERSION < 0x020201
-    #error "Update TMC2130Stepper library to 2.2.1 or newer."
-  #endif
-
  #if ENABLED(TMC_USE_SW_SPI)
-    #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
+    #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
+    #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
  #else
-    #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
+    #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE)
+    #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
  #endif
-
  // Stepper objects of TMC2130 steppers used
  #if AXIS_DRIVER_TYPE(X, TMC2130)
-    _TMC2130_DEFINE(X);
+    TMC2130_DEFINE(X);
  #endif
  #if AXIS_DRIVER_TYPE(X2, TMC2130)
-    _TMC2130_DEFINE(X2);
+    TMC2130_DEFINE(X2);
  #endif
  #if AXIS_DRIVER_TYPE(Y, TMC2130)
-    _TMC2130_DEFINE(Y);
+    TMC2130_DEFINE(Y);
  #endif
  #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-    _TMC2130_DEFINE(Y2);
+    TMC2130_DEFINE(Y2);
  #endif
  #if AXIS_DRIVER_TYPE(Z, TMC2130)
-    _TMC2130_DEFINE(Z);
+    TMC2130_DEFINE(Z);
  #endif
  #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-    _TMC2130_DEFINE(Z2);
+    TMC2130_DEFINE(Z2);
  #endif
  #if AXIS_DRIVER_TYPE(E0, TMC2130)
-    _TMC2130_DEFINE(E0);
+    TMC2130_DEFINE(E0);
  #endif
  #if AXIS_DRIVER_TYPE(E1, TMC2130)
-    _TMC2130_DEFINE(E1);
+    TMC2130_DEFINE(E1);
  #endif
  #if AXIS_DRIVER_TYPE(E2, TMC2130)
-    _TMC2130_DEFINE(E2);
+    TMC2130_DEFINE(E2);
  #endif
  #if AXIS_DRIVER_TYPE(E3, TMC2130)
-    _TMC2130_DEFINE(E3);
+    TMC2130_DEFINE(E3);
  #endif
  #if AXIS_DRIVER_TYPE(E4, TMC2130)
-    _TMC2130_DEFINE(E4);
+    TMC2130_DEFINE(E4);
  #endif

-  // Use internal reference voltage for current calculations. This is the default.
-  // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
-  // https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
-  void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
+  template<char AXIS_LETTER, char DRIVER_ID>
+  void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
    #if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
      UNUSED(thrs);
      UNUSED(spmm);
    #endif
    st.begin();
-    st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+
+    CHOPCONF_t chopconf{0};
+    chopconf.tbl = 1;
+    chopconf.toff = 3;
+    chopconf.intpol = INTERPOLATE;
+    chopconf.hstrt = 2;
+    chopconf.hend = 5;
+    st.CHOPCONF(chopconf.sr);
+
+    st.rms_current(mA, HOLD_MULTIPLIER);
    st.microsteps(microsteps);
-    st.blank_time(24);
-    st.off_time(5); // Only enables the driver if used with stealthChop
-    st.interpolate(INTERPOLATE);
-    st.power_down_delay(128); // ~2s until driver lowers to hold current
-    st.hysteresis_start(3);
-    st.hysteresis_end(2);
+    st.iholddelay(10);
+    st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
    #if ENABLED(STEALTHCHOP)
-      st.stealth_freq(1); // f_pwm = 2/683 f_clk
-      st.stealth_autoscale(1);
-      st.stealth_gradient(5);
-      st.stealth_amplitude(255);
-      st.stealthChop(1);
-      #if ENABLED(HYBRID_THRESHOLD)
-        st.stealth_max_speed(12650000UL*microsteps/(256*thrs*spmm));
+      st.en_pwm_mode(true);
+
+      PWMCONF_t pwmconf{0};
+      pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
+      pwmconf.pwm_autoscale = true;
+      pwmconf.pwm_grad = 5;
+      pwmconf.pwm_ampl = 180;
+      st.PWMCONF(pwmconf.sr);
+
+     #if ENABLED(HYBRID_THRESHOLD)
+        st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
      #endif
    #endif
    st.GSTAT(); // Clear GSTAT
  }
-
-  #define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
-
-  void tmc2130_init_to_defaults() {
-    #if AXIS_DRIVER_TYPE(X, TMC2130)
-      _TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(X2, TMC2130)
-      _TMC2130_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Y, TMC2130)
-      _TMC2130_INIT( Y, planner.axis_steps_per_mm[Y_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-      _TMC2130_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z, TMC2130)
-      _TMC2130_INIT( Z, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-      _TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(E0, TMC2130)
-      _TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(E1, TMC2130)
-      { constexpr int extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E2, TMC2130)
-      { constexpr int extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E3, TMC2130)
-      { constexpr int extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E4, TMC2130)
-      { constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-
-    #if ENABLED(SENSORLESS_HOMING)
-      #define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
-      #if X_SENSORLESS
-        #if AXIS_DRIVER_TYPE(X, TMC2130)
-          stepperX.sgt(X_HOMING_SENSITIVITY);
-        #endif
-        #if AXIS_DRIVER_TYPE(X2, TMC2130)
-          stepperX2.sgt(X_HOMING_SENSITIVITY);
-        #endif
-      #endif
-      #if Y_SENSORLESS
-        #if AXIS_DRIVER_TYPE(Y, TMC2130)
-          stepperY.sgt(Y_HOMING_SENSITIVITY);
-        #endif
-        #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-          stepperY2.sgt(Y_HOMING_SENSITIVITY);
-        #endif
-      #endif
-      #if Z_SENSORLESS
-        #if AXIS_DRIVER_TYPE(Z, TMC2130)
-          stepperZ.sgt(Z_HOMING_SENSITIVITY);
-        #endif
-        #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-          stepperZ2.sgt(Z_HOMING_SENSITIVITY);
-        #endif
-      #endif
-    #endif
-  }
 #endif // TMC2130

 //
@@ -282,92 +224,90 @@
  #undef HardwareSerial_h // undo Marlin trickery
  #include <SoftwareSerial.h>
  #include <HardwareSerial.h>
-  #include <TMC2208Stepper.h>
  #include "planner.h"

-  #if TMC2208STEPPER_VERSION < 0x000101
-    #error "Update TMC2208Stepper library to 0.1.1 or newer."
-  #endif
+  #define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, R_SENSE)
+  #define TMC2208_DEFINE_HARDWARE(ST) _TMC2208_DEFINE_HARDWARE(ST, TMC_##ST##_LABEL)

-  #define _TMC2208_DEFINE_HARDWARE(ST) TMC2208Stepper stepper##ST(&ST##_HARDWARE_SERIAL)
-  #define _TMC2208_DEFINE_SOFTWARE(ST) TMC2208Stepper stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_SERIAL_RX_PIN > -1)
+  #define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, R_SENSE, ST##_SERIAL_RX_PIN > -1)
+  #define TMC2208_DEFINE_SOFTWARE(ST) _TMC2208_DEFINE_SOFTWARE(ST, TMC_##ST##_LABEL)

  // Stepper objects of TMC2208 steppers used
  #if AXIS_DRIVER_TYPE(X, TMC2208)
    #ifdef X_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(X);
+      TMC2208_DEFINE_HARDWARE(X);
    #else
-      _TMC2208_DEFINE_SOFTWARE(X);
+      TMC2208_DEFINE_SOFTWARE(X);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(X2, TMC2208)
    #ifdef X2_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(X2);
+      TMC2208_DEFINE_HARDWARE(X2);
    #else
-      _TMC2208_DEFINE_SOFTWARE(X2);
+      TMC2208_DEFINE_SOFTWARE(X2);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Y, TMC2208)
    #ifdef Y_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Y);
+      TMC2208_DEFINE_HARDWARE(Y);
    #else
-      _TMC2208_DEFINE_SOFTWARE(Y);
+      TMC2208_DEFINE_SOFTWARE(Y);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Y2, TMC2208)
    #ifdef Y2_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Y2);
+      TMC2208_DEFINE_HARDWARE(Y2);
    #else
-      _TMC2208_DEFINE_SOFTWARE(Y2);
+      TMC2208_DEFINE_SOFTWARE(Y2);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Z, TMC2208)
    #ifdef Z_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Z);
+      TMC2208_DEFINE_HARDWARE(Z);
    #else
-      _TMC2208_DEFINE_SOFTWARE(Z);
+      TMC2208_DEFINE_SOFTWARE(Z);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Z2, TMC2208)
    #ifdef Z2_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(Z2);
+      TMC2208_DEFINE_HARDWARE(Z2);
    #else
-      _TMC2208_DEFINE_SOFTWARE(Z2);
+      TMC2208_DEFINE_SOFTWARE(Z2);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E0, TMC2208)
    #ifdef E0_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E0);
+      TMC2208_DEFINE_HARDWARE(E0);
    #else
-      _TMC2208_DEFINE_SOFTWARE(E0);
+      TMC2208_DEFINE_SOFTWARE(E0);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E1, TMC2208)
    #ifdef E1_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E1);
+      TMC2208_DEFINE_HARDWARE(E1);
    #else
-      _TMC2208_DEFINE_SOFTWARE(E1);
+      TMC2208_DEFINE_SOFTWARE(E1);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E2, TMC2208)
    #ifdef E2_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E2);
+      TMC2208_DEFINE_HARDWARE(E2);
    #else
-      _TMC2208_DEFINE_SOFTWARE(E2);
+      TMC2208_DEFINE_SOFTWARE(E2);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E3, TMC2208)
    #ifdef E3_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E3);
+      TMC2208_DEFINE_HARDWARE(E3);
    #else
-      _TMC2208_DEFINE_SOFTWARE(E3);
+      TMC2208_DEFINE_SOFTWARE(E3);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E4, TMC2208)
    #ifdef E4_HARDWARE_SERIAL
-      _TMC2208_DEFINE_HARDWARE(E4);
+      TMC2208_DEFINE_HARDWARE(E4);
    #else
-      _TMC2208_DEFINE_SOFTWARE(E4);
+      TMC2208_DEFINE_SOFTWARE(E4);
    #endif
  #endif

@@ -451,79 +391,52 @@
    #endif
  }

-  // Use internal reference voltage for current calculations. This is the default.
-  // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
-  void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
-    st.pdn_disable(true); // Use UART
-    st.mstep_reg_select(true); // Select microsteps with UART
-    st.I_scale_analog(false);
-    st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
+  template<char AXIS_LETTER, char DRIVER_ID>
+  void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
+    #if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
+      UNUSED(thrs);
+      UNUSED(spmm);
+    #endif
+
+    TMC2208_n::GCONF_t gconf{0};
+    gconf.pdn_disable = true; // Use UART
+    gconf.mstep_reg_select = true; // Select microsteps with UART
+    gconf.i_scale_analog = false;
+
+    TMC2208_n::CHOPCONF_t chopconf{0};
+    chopconf.tbl = 0b01; // blank_time = 24
+    chopconf.toff = 5;
+    chopconf.intpol = INTERPOLATE;
+    chopconf.hstrt = 2;
+    chopconf.hend = 5;
+    st.CHOPCONF(chopconf.sr);
+
+    st.rms_current(mA, HOLD_MULTIPLIER);
    st.microsteps(microsteps);
-    st.blank_time(24);
-    st.toff(5);
-    st.intpol(INTERPOLATE);
+    st.iholddelay(10);
    st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
-    st.hysteresis_start(3);
-    st.hysteresis_end(2);
    #if ENABLED(STEALTHCHOP)
-      st.pwm_lim(12);
-      st.pwm_reg(8);
-      st.pwm_autograd(1);
-      st.pwm_autoscale(1);
-      st.pwm_freq(1);
-      st.pwm_grad(14);
-      st.pwm_ofs(36);
-      st.en_spreadCycle(false);
+      gconf.en_spreadcycle = false;
+
+      TMC2208_n::PWMCONF_t pwmconf{0};
+      pwmconf.pwm_lim = 12;
+      pwmconf.pwm_reg = 8;
+      pwmconf.pwm_autograd = true;
+      pwmconf.pwm_autoscale = true;
+      pwmconf.pwm_freq = 0b01;
+      pwmconf.pwm_grad = 14;
+      pwmconf.pwm_ofs = 36;
+      st.PWMCONF(pwmconf.sr);
      #if ENABLED(HYBRID_THRESHOLD)
        st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
-      #else
-        UNUSED(thrs);
-        UNUSED(spmm);
      #endif
    #else
-      st.en_spreadCycle(true);
+      gconf.en_spreadcycle = true;
    #endif
+    st.GCONF(gconf.sr);
    st.GSTAT(0b111); // Clear
    delay(200);
  }
-
-  #define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
-
-  void tmc2208_init_to_defaults() {
-    #if AXIS_DRIVER_TYPE(X, TMC2208)
-      _TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(X2, TMC2208)
-      _TMC2208_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Y, TMC2208)
-      _TMC2208_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Y2, TMC2208)
-      _TMC2208_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z, TMC2208)
-      _TMC2208_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(Z2, TMC2208)
-      _TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(E0, TMC2208)
-      _TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
-    #endif
-    #if AXIS_DRIVER_TYPE(E1, TMC2208)
-      { constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E2, TMC2208)
-      { constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E3, TMC2208)
-      { constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-    #if AXIS_DRIVER_TYPE(E4, TMC2208)
-      { constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
-    #endif
-  }
 #endif // TMC2208

 void restore_stepper_drivers() {
@@ -566,20 +479,75 @@ void reset_stepper_drivers() {
  #if HAS_DRIVER(TMC26X)
    tmc26x_init_to_defaults();
  #endif
-  #if HAS_DRIVER(TMC2130)
-    delay(100);
-    tmc2130_init_to_defaults();
+  #if ENABLED(HAVE_L6470DRIVER)
+    L6470_init_to_defaults();
  #endif
-  #if HAS_DRIVER(TMC2208)
-    delay(100);
-    tmc2208_init_to_defaults();
+
+  #if AXIS_IS_TMC(X)
+    _TMC_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
  #endif
+  #if AXIS_IS_TMC(X2)
+    _TMC_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Y)
+    _TMC_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Y2)
+    _TMC_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Z)
+    _TMC_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(Z2)
+    _TMC_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(E0)
+    _TMC_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
+  #endif
+  #if AXIS_IS_TMC(E1)
+    { constexpr uint8_t extruder = 1; _TMC_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+  #endif
+  #if AXIS_IS_TMC(E2)
+    { constexpr uint8_t extruder = 2; _TMC_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+  #endif
+  #if AXIS_IS_TMC(E3)
+    { constexpr uint8_t extruder = 3; _TMC_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+  #endif
+  #if AXIS_IS_TMC(E4)
+    { constexpr uint8_t extruder = 4; _TMC_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+  #endif
+
+  #if ENABLED(SENSORLESS_HOMING)
+    #if X_SENSORLESS
+      #if AXIS_HAS_STALLGUARD(X)
+        stepperX.sgt(X_STALL_SENSITIVITY);
+      #endif
+      #if AXIS_HAS_STALLGUARD(X2)
+        stepperX2.sgt(X_STALL_SENSITIVITY);
+      #endif
+    #endif
+    #if Y_SENSORLESS
+      #if AXIS_HAS_STALLGUARD(Y)
+        stepperY.sgt(Y_STALL_SENSITIVITY);
+      #endif
+      #if AXIS_HAS_STALLGUARD(Y2)
+        stepperY2.sgt(Y_STALL_SENSITIVITY);
+      #endif
+    #endif
+    #if Z_SENSORLESS
+      #if AXIS_HAS_STALLGUARD(Z)
+        stepperZ.sgt(Z_STALL_SENSITIVITY);
+      #endif
+      #if AXIS_HAS_STALLGUARD(Z2)
+        stepperZ2.sgt(Z_STALL_SENSITIVITY);
+      #endif
+    #endif
+  #endif
+
  #ifdef TMC_ADV
    TMC_ADV()
  #endif
-  #if HAS_DRIVER(L6470)
-    L6470_init_to_defaults();
-  #endif
+
  stepper.set_directions();
 }

--- a/Marlin/stepper_indirection.h
+++ b/Marlin/stepper_indirection.h
@@ -53,15 +53,20 @@
  void tmc26x_init_to_defaults();
 #endif

-#if HAS_DRIVER(TMC2130)
-  #include <TMC2130Stepper.h>
-  void tmc2130_init_to_defaults();
-#endif
+#if HAS_TRINAMIC
+  #include <TMCStepper.h>
+  #include "tmc_util.h"
+  #if TMCSTEPPER_VERSION < 0x000001
+    #error "Update TMCStepper library to 0.0.1 or newer."
+  #endif

-#if HAS_DRIVER(TMC2208)
-  #include <TMC2208Stepper.h>
-  void tmc2208_serial_begin();
-  void tmc2208_init_to_defaults();
+  #define __TMC_CLASS(MODEL, A, I) TMCMarlin<TMC##MODEL##Stepper, A, I>
+  #define _TMC_CLASS(MODEL, L) __TMC_CLASS(MODEL, L)
+  #define TMC_CLASS(ST) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL)
+
+  #if HAS_DRIVER(TMC2208)
+    void tmc2208_serial_begin();
+  #endif
 #endif

 // L6470 has STEP on normal pins, but DIR/ENABLE via SPI
@@ -84,17 +89,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
  #define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
  #define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(X)
+    extern TMC_CLASS(X) stepperX;
+  #endif
  #if AXIS_DRIVER_TYPE(X, TMC26X)
    extern TMC26XStepper stepperX;
    #define X_ENABLE_INIT NOOP
    #define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
    #define X_ENABLE_READ stepperX.isEnabled()
  #else
-    #if AXIS_DRIVER_TYPE(X, TMC2130)
-      extern TMC2130Stepper stepperX;
-    #elif AXIS_DRIVER_TYPE(X, TMC2208)
-      extern TMC2208Stepper stepperX;
-    #endif
    #define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
    #define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
    #define X_ENABLE_READ READ(X_ENABLE_PIN)
@@ -117,17 +120,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
  #define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
  #define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(Y)
+    extern TMC_CLASS(Y) stepperY;
+  #endif
  #if AXIS_DRIVER_TYPE(Y, TMC26X)
    extern TMC26XStepper stepperY;
    #define Y_ENABLE_INIT NOOP
    #define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
    #define Y_ENABLE_READ stepperY.isEnabled()
  #else
-    #if AXIS_DRIVER_TYPE(Y, TMC2130)
-      extern TMC2130Stepper stepperY;
-    #elif AXIS_DRIVER_TYPE(Y, TMC2208)
-      extern TMC2208Stepper stepperY;
-    #endif
    #define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
    #define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
    #define Y_ENABLE_READ READ(Y_ENABLE_PIN)
@@ -150,17 +151,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
  #define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
  #define Z_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(Z)
+    extern TMC_CLASS(Z) stepperZ;
+  #endif
  #if AXIS_DRIVER_TYPE(Z, TMC26X)
    extern TMC26XStepper stepperZ;
    #define Z_ENABLE_INIT NOOP
    #define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
    #define Z_ENABLE_READ stepperZ.isEnabled()
  #else
-    #if AXIS_DRIVER_TYPE(Z, TMC2130)
-      extern TMC2130Stepper stepperZ;
-    #elif AXIS_DRIVER_TYPE(Z, TMC2208)
-      extern TMC2208Stepper stepperZ;
-    #endif
    #define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
    #define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
    #define Z_ENABLE_READ READ(Z_ENABLE_PIN)
@@ -184,17 +183,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
    #define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
    #define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
  #else
+    #if AXIS_IS_TMC(X2)
+      extern TMC_CLASS(X2) stepperX2;
+    #endif
    #if AXIS_DRIVER_TYPE(X2, TMC26X)
      extern TMC26XStepper stepperX2;
      #define X2_ENABLE_INIT NOOP
      #define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
      #define X2_ENABLE_READ stepperX2.isEnabled()
    #else
-      #if AXIS_DRIVER_TYPE(X2, TMC2130)
-        extern TMC2130Stepper stepperX2;
-      #elif AXIS_DRIVER_TYPE(X2, TMC2208)
-        extern TMC2208Stepper stepperX2;
-      #endif
      #define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
      #define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
      #define X2_ENABLE_READ READ(X2_ENABLE_PIN)
@@ -219,17 +216,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
    #define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
    #define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
  #else
+    #if AXIS_IS_TMC(Y2)
+      extern TMC_CLASS(Y2) stepperY2;
+    #endif
    #if AXIS_DRIVER_TYPE(Y2, TMC26X)
      extern TMC26XStepper stepperY2;
      #define Y2_ENABLE_INIT NOOP
      #define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
      #define Y2_ENABLE_READ stepperY2.isEnabled()
    #else
-      #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-        extern TMC2130Stepper stepperY2;
-      #elif AXIS_DRIVER_TYPE(Y2, TMC2208)
-        extern TMC2208Stepper stepperY2;
-      #endif
      #define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
      #define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
      #define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
@@ -254,17 +249,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
    #define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
    #define Z2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
  #else
+    #if AXIS_IS_TMC(Z2)
+      extern TMC_CLASS(Z2) stepperZ2;
+    #endif
    #if AXIS_DRIVER_TYPE(Z2, TMC26X)
      extern TMC26XStepper stepperZ2;
      #define Z2_ENABLE_INIT NOOP
      #define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
      #define Z2_ENABLE_READ stepperZ2.isEnabled()
    #else
-      #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-        extern TMC2130Stepper stepperZ2;
-      #elif AXIS_DRIVER_TYPE(Z2, TMC2208)
-        extern TMC2208Stepper stepperZ2;
-      #endif
      #define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
      #define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
      #define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
@@ -288,17 +281,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
  #define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
  #define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E0)
+    extern TMC_CLASS(E0) stepperE0;
+  #endif
  #if AXIS_DRIVER_TYPE(E0, TMC26X)
    extern TMC26XStepper stepperE0;
    #define E0_ENABLE_INIT NOOP
    #define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
    #define E0_ENABLE_READ stepperE0.isEnabled()
  #else
-    #if AXIS_DRIVER_TYPE(E0, TMC2130)
-      extern TMC2130Stepper stepperE0;
-    #elif AXIS_DRIVER_TYPE(E0, TMC2208)
-      extern TMC2208Stepper stepperE0;
-    #endif
    #define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
    #define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
    #define E0_ENABLE_READ READ(E0_ENABLE_PIN)
@@ -321,17 +312,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
  #define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
  #define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E1)
+    extern TMC_CLASS(E1) stepperE1;
+  #endif
  #if AXIS_DRIVER_TYPE(E1, TMC26X)
    extern TMC26XStepper stepperE1;
    #define E1_ENABLE_INIT NOOP
    #define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
    #define E1_ENABLE_READ stepperE1.isEnabled()
  #else
-    #if AXIS_DRIVER_TYPE(E1, TMC2130)
-      extern TMC2130Stepper stepperE1;
-    #elif AXIS_DRIVER_TYPE(E1, TMC2208)
-      extern TMC2208Stepper stepperE1;
-    #endif
    #define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
    #define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
    #define E1_ENABLE_READ READ(E1_ENABLE_PIN)
@@ -354,17 +343,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
  #define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
  #define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E2)
+    extern TMC_CLASS(E2) stepperE2;
+  #endif
  #if AXIS_DRIVER_TYPE(E2, TMC26X)
    extern TMC26XStepper stepperE2;
    #define E2_ENABLE_INIT NOOP
    #define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
    #define E2_ENABLE_READ stepperE2.isEnabled()
  #else
-    #if AXIS_DRIVER_TYPE(E2, TMC2130)
-      extern TMC2130Stepper stepperE2;
-    #elif AXIS_DRIVER_TYPE(E2, TMC2208)
-      extern TMC2208Stepper stepperE2;
-    #endif
    #define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
    #define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
    #define E2_ENABLE_READ READ(E2_ENABLE_PIN)
@@ -387,17 +374,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
  #define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
  #define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E3)
+    extern TMC_CLASS(E3) stepperE3;
+  #endif
  #if AXIS_DRIVER_TYPE(E3, TMC26X)
    extern TMC26XStepper stepperE3;
    #define E3_ENABLE_INIT NOOP
    #define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
    #define E3_ENABLE_READ stepperE3.isEnabled()
  #else
-    #if AXIS_DRIVER_TYPE(E3, TMC2130)
-      extern TMC2130Stepper stepperE3;
-    #elif AXIS_DRIVER_TYPE(E3, TMC2208)
-      extern TMC2208Stepper stepperE3;
-    #endif
    #define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
    #define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
    #define E3_ENABLE_READ READ(E3_ENABLE_PIN)
@@ -420,17 +405,15 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
  #define E4_DIR_WRITE(STATE) stepperE4.Step_Clock(STATE)
  #define E4_DIR_READ (stepperE4.getStatus() & STATUS_DIR)
 #else
+  #if AXIS_IS_TMC(E4)
+    extern TMC_CLASS(E4) stepperE4;
+  #endif
  #if AXIS_DRIVER_TYPE(E4, TMC26X)
    extern TMC26XStepper stepperE4;
    #define E4_ENABLE_INIT NOOP
    #define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
    #define E4_ENABLE_READ stepperE4.isEnabled()
  #else
-    #if AXIS_DRIVER_TYPE(E4, TMC2130)
-      extern TMC2130Stepper stepperE4;
-    #elif AXIS_DRIVER_TYPE(E4, TMC2208)
-      extern TMC2208Stepper stepperE4;
-    #endif
    #define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
    #define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
    #define E4_ENABLE_READ READ(E4_ENABLE_PIN)
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -33,6 +33,7 @@
 #include "printcounter.h"
 #include "delay.h"
 #include "endstops.h"
+#include "buzzer.h"

 #if ENABLED(HEATER_0_USES_MAX6675)
  #include "MarlinSPI.h"
@@ -247,7 +248,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS];
   * Alternately heat and cool the nozzle, observing its behavior to
   * determine the best PID values to achieve a stable temperature.
   */
-  void Temperature::PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result/*=false*/) {
+  void Temperature::pid_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result/*=false*/) {
    float current = 0.0;
    int cycles = 0;
    bool heating = true;
@@ -308,7 +309,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS];
      return;
    }

-    if (target > GHV(BED_MAXTEMP, maxttemp[hotend]) - 10) {
+    if (target > GHV(BED_MAXTEMP, maxttemp[hotend]) - 15) {
      SERIAL_ECHOLNPGM(MSG_PID_TEMP_TOO_HIGH);
      return;
    }
@@ -327,7 +328,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS];
      const millis_t ms = millis();

      if (temp_meas_ready) { // temp sample ready
-        updateTemperaturesFromRawValues();
+        calculate_celsius_temperatures();

        // Get the current temperature and constrain it
        current = GHV(current_temperature_bed, current_temperature[hotend]);
@@ -336,7 +337,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS];

        #if HAS_AUTO_FAN
          if (ELAPSED(ms, next_auto_fan_check_ms)) {
-            checkExtruderAutoFans();
+            check_extruder_auto_fans();
            next_auto_fan_check_ms = ms + 2500UL;
          }
        #endif
@@ -456,6 +457,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS];
      }

      if (cycles > ncycles) {
+        buzzer.tone(105, 1108);
+        buzzer.tone(210, 1661);
        SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);

        #if HAS_PID_FOR_BOTH
@@ -483,7 +486,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS];
          PID_PARAM(Kp, hotend) = workKp; \
          PID_PARAM(Ki, hotend) = scalePID_i(workKi); \
          PID_PARAM(Kd, hotend) = scalePID_d(workKd); \
-          updatePID(); }while(0)
+          update_pid(); }while(0)

        // Use the result? (As with "M303 U1")
        if (set_result) {
@@ -524,7 +527,7 @@ int Temperature::getHeaterPower(const int heater) {

 #if HAS_AUTO_FAN

-  void Temperature::checkExtruderAutoFans() {
+  void Temperature::check_extruder_auto_fans() {
    static const pin_t fanPin[] PROGMEM = { E0_AUTO_FAN_PIN, E1_AUTO_FAN_PIN, E2_AUTO_FAN_PIN, E3_AUTO_FAN_PIN, E4_AUTO_FAN_PIN, CHAMBER_AUTO_FAN_PIN };
    static const uint8_t fanBit[] PROGMEM = {
                    0,
@@ -613,25 +616,20 @@ float Temperature::get_pid_output(const int8_t e) {
      pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX];
      dTerm[HOTEND_INDEX] = PID_K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + float(PID_K1) * dTerm[HOTEND_INDEX];
      temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX];
-      #if HEATER_IDLE_HANDLER
-        if (heater_idle_timeout_exceeded[HOTEND_INDEX]) {
-          pid_output = 0;
-          pid_reset[HOTEND_INDEX] = true;
-        }
-        else
-      #endif
-      if (pid_error[HOTEND_INDEX] > PID_FUNCTIONAL_RANGE) {
-        pid_output = BANG_MAX;
-        pid_reset[HOTEND_INDEX] = true;
-      }
-      else if (pid_error[HOTEND_INDEX] < -(PID_FUNCTIONAL_RANGE) || target_temperature[HOTEND_INDEX] == 0
+
+      if (target_temperature[HOTEND_INDEX] == 0
+        || pid_error[HOTEND_INDEX] < -(PID_FUNCTIONAL_RANGE)
        #if HEATER_IDLE_HANDLER
          || heater_idle_timeout_exceeded[HOTEND_INDEX]
        #endif
-        ) {
+      ) {
        pid_output = 0;
        pid_reset[HOTEND_INDEX] = true;
      }
+      else if (pid_error[HOTEND_INDEX] > PID_FUNCTIONAL_RANGE) {
+        pid_output = BANG_MAX;
+        pid_reset[HOTEND_INDEX] = true;
+      }
      else {
        if (pid_reset[HOTEND_INDEX]) {
          temp_iState[HOTEND_INDEX] = 0.0;
@@ -764,7 +762,7 @@ void Temperature::manage_heater() {

  if (!temp_meas_ready) return;

-  updateTemperaturesFromRawValues(); // also resets the watchdog
+  calculate_celsius_temperatures(); // also resets the watchdog

  #if ENABLED(HEATER_0_USES_MAX6675)
    if (current_temperature[0] > MIN(HEATER_0_MAXTEMP, MAX6675_TMAX - 1.0)) max_temp_error(0);
@@ -809,7 +807,7 @@ void Temperature::manage_heater() {

  #if HAS_AUTO_FAN
    if (ELAPSED(ms, next_auto_fan_check_ms)) { // only need to check fan state very infrequently
-      checkExtruderAutoFans();
+      check_extruder_auto_fans();
      next_auto_fan_check_ms = ms + 2500UL;
    }
  #endif
@@ -919,7 +917,7 @@ void Temperature::manage_heater() {

 // Derived from RepRap FiveD extruder::getTemperature()
 // For hot end temperature measurement.
-float Temperature::analog2temp(const int raw, const uint8_t e) {
+float Temperature::analog_to_celsius_hotend(const int raw, const uint8_t e) {
  #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
    if (e > HOTENDS)
  #else
@@ -991,7 +989,7 @@ float Temperature::analog2temp(const int raw, const uint8_t e) {
 #if HAS_HEATED_BED
  // Derived from RepRap FiveD extruder::getTemperature()
  // For bed temperature measurement.
-  float Temperature::analog2tempBed(const int raw) {
+  float Temperature::analog_to_celsius_bed(const int raw) {
    #if ENABLED(HEATER_BED_USES_THERMISTOR)
      SCAN_THERMISTOR_TABLE(BEDTEMPTABLE, BEDTEMPTABLE_LEN);
    #elif ENABLED(HEATER_BED_USES_AD595)
@@ -1007,7 +1005,7 @@ float Temperature::analog2temp(const int raw, const uint8_t e) {
 #if HAS_TEMP_CHAMBER
  // Derived from RepRap FiveD extruder::getTemperature()
  // For chamber temperature measurement.
-  float Temperature::analog2tempChamber(const int raw) {
+  float Temperature::analog_to_celsius_chamber(const int raw) {
    #if ENABLED(HEATER_CHAMBER_USES_THERMISTOR)
      SCAN_THERMISTOR_TABLE(CHAMBERTEMPTABLE, CHAMBERTEMPTABLE_LEN);
    #elif ENABLED(HEATER_CHAMBER_USES_AD595)
@@ -1026,22 +1024,22 @@ float Temperature::analog2temp(const int raw, const uint8_t e) {
 * and this function is called from normal context
 * as it would block the stepper routine.
 */
-void Temperature::updateTemperaturesFromRawValues() {
+void Temperature::calculate_celsius_temperatures() {
  #if ENABLED(HEATER_0_USES_MAX6675)
    current_temperature_raw[0] = read_max6675();
  #endif
-  HOTEND_LOOP() current_temperature[e] = Temperature::analog2temp(current_temperature_raw[e], e);
+  HOTEND_LOOP() current_temperature[e] = analog_to_celsius_hotend(current_temperature_raw[e], e);
  #if HAS_HEATED_BED
-    current_temperature_bed = Temperature::analog2tempBed(current_temperature_bed_raw);
+    current_temperature_bed = analog_to_celsius_bed(current_temperature_bed_raw);
  #endif
  #if HAS_TEMP_CHAMBER
-    current_temperature_chamber = Temperature::analog2tempChamber(current_temperature_chamber_raw);
+    current_temperature_chamber = analog_to_celsius_chamber(current_temperature_chamber_raw);
  #endif
  #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
-    redundant_temperature = Temperature::analog2temp(redundant_temperature_raw, 1);
+    redundant_temperature = analog_to_celsius_hotend(redundant_temperature_raw, 1);
  #endif
  #if ENABLED(FILAMENT_WIDTH_SENSOR)
-    filament_width_meas = analog2widthFil();
+    filament_width_meas = analog_to_mm_fil_width();
  #endif

  #if ENABLED(USE_WATCHDOG)
@@ -1056,7 +1054,7 @@ void Temperature::updateTemperaturesFromRawValues() {
 #if ENABLED(FILAMENT_WIDTH_SENSOR)

  // Convert raw Filament Width to millimeters
-  float Temperature::analog2widthFil() {
+  float Temperature::analog_to_mm_fil_width() {
    return current_raw_filwidth * 5.0f * (1.0f / 16383.0);
  }

@@ -1256,7 +1254,7 @@ void Temperature::init() {

  #define TEMP_MIN_ROUTINE(NR) \
    minttemp[NR] = HEATER_ ##NR## _MINTEMP; \
-    while (analog2temp(minttemp_raw[NR], NR) < HEATER_ ##NR## _MINTEMP) { \
+    while (analog_to_celsius_hotend(minttemp_raw[NR], NR) < HEATER_ ##NR## _MINTEMP) { \
      if (HEATER_ ##NR## _RAW_LO_TEMP < HEATER_ ##NR## _RAW_HI_TEMP) \
        minttemp_raw[NR] += OVERSAMPLENR; \
      else \
@@ -1264,7 +1262,7 @@ void Temperature::init() {
    }
  #define TEMP_MAX_ROUTINE(NR) \
    maxttemp[NR] = HEATER_ ##NR## _MAXTEMP; \
-    while (analog2temp(maxttemp_raw[NR], NR) > HEATER_ ##NR## _MAXTEMP) { \
+    while (analog_to_celsius_hotend(maxttemp_raw[NR], NR) > HEATER_ ##NR## _MAXTEMP) { \
      if (HEATER_ ##NR## _RAW_LO_TEMP < HEATER_ ##NR## _RAW_HI_TEMP) \
        maxttemp_raw[NR] -= OVERSAMPLENR; \
      else \
@@ -1312,7 +1310,7 @@ void Temperature::init() {

  #if HAS_HEATED_BED
    #ifdef BED_MINTEMP
-      while (analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) {
+      while (analog_to_celsius_bed(bed_minttemp_raw) < BED_MINTEMP) {
        #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP
          bed_minttemp_raw += OVERSAMPLENR;
        #else
@@ -1321,7 +1319,7 @@ void Temperature::init() {
      }
    #endif // BED_MINTEMP
    #ifdef BED_MAXTEMP
-      while (analog2tempBed(bed_maxttemp_raw) > BED_MAXTEMP) {
+      while (analog_to_celsius_bed(bed_maxttemp_raw) > BED_MAXTEMP) {
        #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP
          bed_maxttemp_raw -= OVERSAMPLENR;
        #else
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -318,13 +318,13 @@ class Temperature {
    /**
     * Static (class) methods
     */
-    static float analog2temp(const int raw, const uint8_t e);
+    static float analog_to_celsius_hotend(const int raw, const uint8_t e);

    #if HAS_HEATED_BED
-      static float analog2tempBed(const int raw);
+      static float analog_to_celsius_bed(const int raw);
    #endif
    #if HAS_TEMP_CHAMBER
-      static float analog2tempChamber(const int raw);
+      static float analog_to_celsius_chamber(const int raw);
    #endif

    /**
@@ -365,7 +365,7 @@ class Temperature {
    #endif

    #if ENABLED(FILAMENT_WIDTH_SENSOR)
-      static float analog2widthFil();         // Convert raw Filament Width to millimeters
+      static float analog_to_mm_fil_width();         // Convert raw Filament Width to millimeters
      static int8_t widthFil_to_size_ratio(); // Convert Filament Width (mm) to an extrusion ratio
    #endif

@@ -414,7 +414,7 @@ class Temperature {
      #if ENABLED(AUTO_POWER_CONTROL)
        powerManager.power_on();
      #endif
-      target_temperature[HOTEND_INDEX] = MIN(celsius, maxttemp[HOTEND_INDEX] - 10);
+      target_temperature[HOTEND_INDEX] = MIN(celsius, maxttemp[HOTEND_INDEX] - 15);
      #if WATCH_HOTENDS
        start_watching_heater(HOTEND_INDEX);
      #endif
@@ -449,7 +449,7 @@ class Temperature {
        #endif
        target_temperature_bed =
          #ifdef BED_MAXTEMP
-            MIN(celsius, BED_MAXTEMP - 10)
+            MIN(celsius, BED_MAXTEMP - 15)
          #else
            celsius
          #endif
@@ -489,13 +489,13 @@ class Temperature {
     * Perform auto-tuning for hotend or bed in response to M303
     */
    #if HAS_PID_HEATING
-      static void PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result=false);
+      static void pid_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result=false);

      /**
       * Update the temp manager when PID values change
       */
      #if ENABLED(PIDTEMP)
-        FORCE_INLINE static void updatePID() {
+        FORCE_INLINE static void update_pid() {
          #if ENABLED(PID_EXTRUSION_SCALING)
            last_e_position = 0;
          #endif
@@ -612,13 +612,13 @@ class Temperature {

    static void set_current_temp_raw();

-    static void updateTemperaturesFromRawValues();
+    static void calculate_celsius_temperatures();

    #if ENABLED(HEATER_0_USES_MAX6675)
      static int read_max6675();
    #endif

-    static void checkExtruderAutoFans();
+    static void check_extruder_auto_fans();

    static float get_pid_output(const int8_t e);

--- a/Marlin/tmc_util.cpp
+++ b/Marlin/tmc_util.cpp
@@ -34,8 +34,6 @@
  #include "planner.h"
 #endif

-bool report_tmc_status = false;
-
 /**
 * Check for over temperature or short to ground error flags.
 * Report and log warning of overtemperature condition.
@@ -44,6 +42,8 @@ bool report_tmc_status = false;
 * and so we don't repeatedly report warning before the condition is cleared.
 */
 #if ENABLED(MONITOR_DRIVER_STATUS)
+  static bool report_tmc_status = false;
+
  struct TMC_driver_data {
    uint32_t drv_status;
    bool is_otpw;
@@ -93,13 +93,13 @@ bool report_tmc_status = false;
  #endif

  template<typename TMC>
-  void monitor_tmc_driver(TMC &st, const TMC_AxisEnum axis, uint8_t &otpw_cnt) {
+  void monitor_tmc_driver(TMC &st) {
    TMC_driver_data data = get_driver_data(st);

    #if ENABLED(STOP_ON_ERROR)
      if (data.is_error) {
        SERIAL_EOL();
-        _tmc_say_axis(axis);
+        st.printLabel();
        SERIAL_ECHOLNPGM(" driver error detected:");
        if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
        if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");
@@ -112,7 +112,7 @@ bool report_tmc_status = false;
    #endif

    // Report if a warning was triggered
-    if (data.is_otpw && otpw_cnt == 0) {
+    if (data.is_otpw && st.otpw_count == 0) {
      char timestamp[10];
      duration_t elapsed = print_job_timer.duration();
      const bool has_days = (elapsed.value > 60*60*24L);
@@ -120,38 +120,38 @@ bool report_tmc_status = false;
      SERIAL_EOL();
      SERIAL_ECHO(timestamp);
      SERIAL_ECHOPGM(": ");
-      _tmc_say_axis(axis);
+      st.printLabel();
      SERIAL_ECHOPGM(" driver overtemperature warning! (");
-      SERIAL_ECHO(st.getCurrent());
+      SERIAL_ECHO(st.getMilliamps());
      SERIAL_ECHOLNPGM("mA)");
    }
    #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.isEnabled() && otpw_cnt > 4) {
-        st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);
+      if (data.is_otpw && st.isEnabled() && st.otpw_cnt > 4) {
+        st.rms_current(st.getMilliamps() - (CURRENT_STEP_DOWN));
        #if ENABLED(REPORT_CURRENT_CHANGE)
-          _tmc_say_axis(axis);
-          SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
+          st.printLabel();
+          SERIAL_ECHOLNPAIR(" current decreased to ", st.getMilliamps());
        #endif
      }
    #endif

    if (data.is_otpw) {
-      otpw_cnt++;
+      st.otpw_count++;
      st.flag_otpw = true;
    }
-    else if (otpw_cnt > 0) otpw_cnt = 0;
+    else if (st.otpw_count > 0) st.otpw_count = 0;

    if (report_tmc_status) {
      const uint32_t pwm_scale = get_pwm_scale(st);
-      _tmc_say_axis(axis);
+      st.printLabel();
      SERIAL_ECHOPAIR(":", pwm_scale);
      SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
      SERIAL_ECHOPGM("| ");
      if (data.is_error) SERIAL_CHAR('E');
      else if (data.is_ot) SERIAL_CHAR('O');
      else if (data.is_otpw) SERIAL_CHAR('W');
-      else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
+      else if (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
      else if (st.flag_otpw) SERIAL_CHAR('F');
      SERIAL_CHAR('\t');
    }
@@ -164,48 +164,37 @@ bool report_tmc_status = false;
    if (ELAPSED(millis(), next_cOT)) {
      next_cOT = millis() + 500;
      #if HAS_HW_COMMS(X)
-        static uint8_t x_otpw_cnt = 0;
-        monitor_tmc_driver(stepperX, TMC_X, x_otpw_cnt);
+        monitor_tmc_driver(stepperX);
      #endif
      #if HAS_HW_COMMS(Y)
-        static uint8_t y_otpw_cnt = 0;
-        monitor_tmc_driver(stepperY, TMC_Y, y_otpw_cnt);
+        monitor_tmc_driver(stepperY);
      #endif
      #if HAS_HW_COMMS(Z)
-        static uint8_t z_otpw_cnt = 0;
-        monitor_tmc_driver(stepperZ, TMC_Z, z_otpw_cnt);
+        monitor_tmc_driver(stepperZ);
      #endif
      #if HAS_HW_COMMS(X2)
-        static uint8_t x2_otpw_cnt = 0;
-        monitor_tmc_driver(stepperX2, TMC_X, x2_otpw_cnt);
+        monitor_tmc_driver(stepperX2);
      #endif
      #if HAS_HW_COMMS(Y2)
-        static uint8_t y2_otpw_cnt = 0;
-        monitor_tmc_driver(stepperY2, TMC_Y, y2_otpw_cnt);
+        monitor_tmc_driver(stepperY2);
      #endif
      #if HAS_HW_COMMS(Z2)
-        static uint8_t z2_otpw_cnt = 0;
-        monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);
+        monitor_tmc_driver(stepperZ2);
      #endif
      #if HAS_HW_COMMS(E0)
-        static uint8_t e0_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);
+        monitor_tmc_driver(stepperE0);
      #endif
      #if HAS_HW_COMMS(E1)
-        static uint8_t e1_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE1, TMC_E1, e1_otpw_cnt);
+        monitor_tmc_driver(stepperE1);
      #endif
      #if HAS_HW_COMMS(E2)
-        static uint8_t e2_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE2, TMC_E2, e2_otpw_cnt);
+        monitor_tmc_driver(stepperE2);
      #endif
      #if HAS_HW_COMMS(E3)
-        static uint8_t e3_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE3, TMC_E3, e3_otpw_cnt);
+        monitor_tmc_driver(stepperE3);
      #endif
      #if HAS_HW_COMMS(E4)
-        static uint8_t e4_otpw_cnt = 0;
-        monitor_tmc_driver(stepperE4, TMC_E4, e4_otpw_cnt);
+        monitor_tmc_driver(stepperE4);
      #endif

      if (report_tmc_status) SERIAL_EOL();
@@ -214,40 +203,6 @@ bool report_tmc_status = false;

 #endif // MONITOR_DRIVER_STATUS

-void _tmc_say_axis(const TMC_AxisEnum axis) {
-  static const char ext_X[]  PROGMEM = "X",  ext_Y[]  PROGMEM = "Y",  ext_Z[]  PROGMEM = "Z",
-                    ext_X2[] PROGMEM = "X2", ext_Y2[] PROGMEM = "Y2", ext_Z2[] PROGMEM = "Z2",
-                    ext_E0[] PROGMEM = "E0", ext_E1[] PROGMEM = "E1",
-                    ext_E2[] PROGMEM = "E2", ext_E3[] PROGMEM = "E3",
-                    ext_E4[] PROGMEM = "E4";
-  static const char* const tmc_axes[] PROGMEM = { ext_X, ext_Y, ext_Z, ext_X2, ext_Y2, ext_Z2, ext_E0, ext_E1, ext_E2, ext_E3, ext_E4 };
-  serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));
-}
-
-void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOLNPAIR(" driver current: ", curr);
-}
-void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOPGM(" temperature prewarn triggered: ");
-  serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
-  SERIAL_EOL();
-}
-void _tmc_say_otpw_cleared(const TMC_AxisEnum axis) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOLNPGM(" prewarn flag cleared");
-}
-void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOLNPAIR(" stealthChop max speed: ", thrs);
-}
-void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
-  _tmc_say_axis(axis);
-  SERIAL_ECHOPGM(" homing sensitivity: ");
-  SERIAL_PRINTLN(sgt, DEC);
-}
-
 #if ENABLED(TMC_DEBUG)

  enum TMC_debug_enum : char {
@@ -296,9 +251,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
    TMC_S2VSB,
    TMC_S2VSA
  };
-  static void drv_status_print_hex(const TMC_AxisEnum axis, const uint32_t drv_status) {
-    _tmc_say_axis(axis);
-    SERIAL_ECHOPGM(" = 0x");
+  static void drv_status_print_hex(const uint32_t drv_status) {
    for (int B = 24; B >= 8; B -= 8){
      SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
      SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
@@ -309,17 +262,19 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
    SERIAL_EOL();
  }

+  template<class TMC>
+  static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
+
  #if HAS_DRIVER(TMC2130)
    static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
      switch (i) {
        case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
-        case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
        case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
-        case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
+        case TMC_STEALTHCHOP: serialprintPGM(st.en_pwm_mode() ? PSTR("true") : PSTR("false")); break;
        default: break;
      }
    }
-    static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
+    static void _tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
      switch (i) {
        case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
        case TMC_SG_RESULT:  SERIAL_PRINT(st.sg_result(), DEC);   break;
@@ -332,7 +287,6 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
  #if HAS_DRIVER(TMC2208)
    static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
      switch (i) {
-        case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); SERIAL_PROTOCOL(data); break; }
        case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
        case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
        case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
@@ -340,7 +294,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
        default: break;
      }
    }
-    static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
+    static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
      switch (i) {
        case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
        case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
@@ -352,12 +306,12 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
  #endif

  template <typename TMC>
-  static void tmc_status(TMC &st, const TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
+  static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
    SERIAL_ECHO('\t');
    switch (i) {
-      case TMC_CODES: _tmc_say_axis(axis); break;
+      case TMC_CODES: st.printLabel(); break;
      case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
-      case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
+      case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
      case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;
      case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
      case TMC_IRUN:
@@ -372,10 +326,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
        SERIAL_PRINT(st.cs_actual(), DEC);
        SERIAL_ECHOPGM("/31");
        break;
-
-      case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
-
+      case TMC_VSENSE: print_vsense(st); break;
      case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
+      case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
      case TMC_TPWMTHRS: {
          uint32_t tpwmthrs_val = st.TPWMTHRS();
          SERIAL_ECHO(tpwmthrs_val);
@@ -390,7 +343,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
        }
        break;
      case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
-      case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
+      #if ENABLED(MONITOR_DRIVER_STATUS)
+        case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
+      #endif
      case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
      case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
      case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;
@@ -400,10 +355,10 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
  }

  template <typename TMC>
-  static void tmc_parse_drv_status(TMC &st, const TMC_AxisEnum axis, const TMC_drv_status_enum i) {
+  static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
    SERIAL_CHAR('\t');
    switch (i) {
-      case TMC_DRV_CODES:     _tmc_say_axis(axis);  break;
+      case TMC_DRV_CODES:     st.printLabel();  break;
      case TMC_STST:          if (st.stst())         SERIAL_CHAR('X'); break;
      case TMC_OLB:           if (st.olb())          SERIAL_CHAR('X'); break;
      case TMC_OLA:           if (st.ola())          SERIAL_CHAR('X'); break;
@@ -412,59 +367,63 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
      case TMC_DRV_OTPW:      if (st.otpw())         SERIAL_CHAR('X'); break;
      case TMC_OT:            if (st.ot())           SERIAL_CHAR('X'); break;
      case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC);       break;
-      case TMC_DRV_STATUS_HEX:drv_status_print_hex(axis, st.DRV_STATUS()); break;
-      default: tmc_parse_drv_status(st, i); break;
+      case TMC_DRV_STATUS_HEX:
+        st.printLabel();
+        SERIAL_ECHOPGM("\t0x");
+        drv_status_print_hex(st.DRV_STATUS());
+        break;
+      default: _tmc_parse_drv_status(st, i); break;
    }
  }

  static void tmc_debug_loop(const TMC_debug_enum i) {
    #if AXIS_IS_TMC(X)
-      tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
+      tmc_status(stepperX, i, planner.axis_steps_per_mm[X_AXIS]);
    #endif
    #if AXIS_IS_TMC(X2)
-      tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
+      tmc_status(stepperX2, i, planner.axis_steps_per_mm[X_AXIS]);
    #endif

    #if AXIS_IS_TMC(Y)
-      tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
+      tmc_status(stepperY, i, planner.axis_steps_per_mm[Y_AXIS]);
    #endif
    #if AXIS_IS_TMC(Y2)
-      tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
+      tmc_status(stepperY2, i, planner.axis_steps_per_mm[Y_AXIS]);
    #endif

    #if AXIS_IS_TMC(Z)
-      tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
+      tmc_status(stepperZ, i, planner.axis_steps_per_mm[Z_AXIS]);
    #endif
    #if AXIS_IS_TMC(Z2)
-      tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
+      tmc_status(stepperZ2, i, planner.axis_steps_per_mm[Z_AXIS]);
    #endif

    #if AXIS_IS_TMC(E0)
-      tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
+      tmc_status(stepperE0, i, planner.axis_steps_per_mm[E_AXIS]);
    #endif
    #if AXIS_IS_TMC(E1)
-      tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE1, i, planner.axis_steps_per_mm[E_AXIS
        #if ENABLED(DISTINCT_E_FACTORS)
          + 1
        #endif
      ]);
    #endif
    #if AXIS_IS_TMC(E2)
-      tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE2, i, planner.axis_steps_per_mm[E_AXIS
        #if ENABLED(DISTINCT_E_FACTORS)
          + 2
        #endif
      ]);
    #endif
    #if AXIS_IS_TMC(E3)
-      tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE3, i, planner.axis_steps_per_mm[E_AXIS
        #if ENABLED(DISTINCT_E_FACTORS)
          + 3
        #endif
      ]);
    #endif
    #if AXIS_IS_TMC(E4)
-      tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS
+      tmc_status(stepperE4, i, planner.axis_steps_per_mm[E_AXIS
        #if ENABLED(DISTINCT_E_FACTORS)
          + 4
        #endif
@@ -476,40 +435,40 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {

  static void drv_status_loop(const TMC_drv_status_enum i) {
    #if AXIS_IS_TMC(X)
-      tmc_parse_drv_status(stepperX, TMC_X, i);
+      tmc_parse_drv_status(stepperX, i);
    #endif
    #if AXIS_IS_TMC(X2)
-      tmc_parse_drv_status(stepperX2, TMC_X2, i);
+      tmc_parse_drv_status(stepperX2, i);
    #endif

    #if AXIS_IS_TMC(Y)
-      tmc_parse_drv_status(stepperY, TMC_Y, i);
+      tmc_parse_drv_status(stepperY, i);
    #endif
    #if AXIS_IS_TMC(Y2)
-      tmc_parse_drv_status(stepperY2, TMC_Y2, i);
+      tmc_parse_drv_status(stepperY2, i);
    #endif

    #if AXIS_IS_TMC(Z)
-      tmc_parse_drv_status(stepperZ, TMC_Z, i);
+      tmc_parse_drv_status(stepperZ, i);
    #endif
    #if AXIS_IS_TMC(Z2)
-      tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
+      tmc_parse_drv_status(stepperZ2, i);
    #endif

    #if AXIS_IS_TMC(E0)
-      tmc_parse_drv_status(stepperE0, TMC_E0, i);
+      tmc_parse_drv_status(stepperE0, i);
    #endif
    #if AXIS_IS_TMC(E1)
-      tmc_parse_drv_status(stepperE1, TMC_E1, i);
+      tmc_parse_drv_status(stepperE1, i);
    #endif
    #if AXIS_IS_TMC(E2)
-      tmc_parse_drv_status(stepperE2, TMC_E2, i);
+      tmc_parse_drv_status(stepperE2, i);
    #endif
    #if AXIS_IS_TMC(E3)
-      tmc_parse_drv_status(stepperE3, TMC_E3, i);
+      tmc_parse_drv_status(stepperE3, i);
    #endif
    #if AXIS_IS_TMC(E4)
-      tmc_parse_drv_status(stepperE4, TMC_E4, i);
+      tmc_parse_drv_status(stepperE4, i);
    #endif

    SERIAL_EOL();
@@ -518,10 +477,12 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
  /**
   * M122 report functions
   */
-  void tmc_set_report_status(const bool status) {
-    if ((report_tmc_status = status))
-      SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
-  }
+  #if ENABLED(MONITOR_DRIVER_STATUS)
+    void tmc_set_report_status(const bool status) {
+      if ((report_tmc_status = status))
+        SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
+    }
+  #endif

  void tmc_report_all() {
    #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL);  tmc_debug_loop(ITEM); }while(0)
@@ -534,7 +495,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
    TMC_REPORT("Run current",        TMC_IRUN);
    TMC_REPORT("Hold current",       TMC_IHOLD);
    TMC_REPORT("CS actual\t",        TMC_CS_ACTUAL);
-    TMC_REPORT("PWM scale\t",        TMC_PWM_SCALE);
+    TMC_REPORT("PWM scale",          TMC_PWM_SCALE);
    TMC_REPORT("vsense\t",           TMC_VSENSE);
    TMC_REPORT("stealthChop",        TMC_STEALTHCHOP);
    TMC_REPORT("msteps\t",           TMC_MICROSTEPS);
@@ -571,7 +532,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
      DRV_REPORT("s2vsa\t",          TMC_S2VSA);
      DRV_REPORT("s2vsb\t",          TMC_S2VSB);
    #endif
-    DRV_REPORT("Driver registers:",  TMC_DRV_STATUS_HEX);
+    DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
    SERIAL_EOL();
  }

@@ -580,9 +541,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
 #if ENABLED(SENSORLESS_HOMING)

  void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable/*=true*/) {
-    st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
+    st.TCOOLTHRS(enable ? 0xFFFFF : 0);
    #if ENABLED(STEALTHCHOP)
-      st.stealthChop(!enable);
+      st.en_pwm_mode(!enable);
    #endif
    st.diag1_stall(enable ? 1 : 0);
  }
@@ -590,39 +551,40 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
 #endif // SENSORLESS_HOMING

 #if HAS_DRIVER(TMC2130)
+  #define IS_TMC_SPI(ST) AXIS_DRIVER_TYPE(ST, TMC2130)
  #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
  void tmc_init_cs_pins() {
-    #if AXIS_DRIVER_TYPE(X, TMC2130)
+    #if IS_TMC_SPI(X)
      SET_CS_PIN(X);
    #endif
-    #if AXIS_DRIVER_TYPE(Y, TMC2130)
+    #if IS_TMC_SPI(Y)
      SET_CS_PIN(Y);
    #endif
-    #if AXIS_DRIVER_TYPE(Z, TMC2130)
+    #if IS_TMC_SPI(Z)
      SET_CS_PIN(Z);
    #endif
-    #if AXIS_DRIVER_TYPE(X2, TMC2130)
+    #if IS_TMC_SPI(X2)
      SET_CS_PIN(X2);
    #endif
-    #if AXIS_DRIVER_TYPE(Y2, TMC2130)
+    #if IS_TMC_SPI(Y2)
      SET_CS_PIN(Y2);
    #endif
-    #if AXIS_DRIVER_TYPE(Z2, TMC2130)
+    #if IS_TMC_SPI(Z2)
      SET_CS_PIN(Z2);
    #endif
-    #if AXIS_DRIVER_TYPE(E0, TMC2130)
+    #if IS_TMC_SPI(E0)
      SET_CS_PIN(E0);
    #endif
-    #if AXIS_DRIVER_TYPE(E1, TMC2130)
+    #if IS_TMC_SPI(E1)
      SET_CS_PIN(E1);
    #endif
-    #if AXIS_DRIVER_TYPE(E2, TMC2130)
+    #if IS_TMC_SPI(E2)
      SET_CS_PIN(E2);
    #endif
-    #if AXIS_DRIVER_TYPE(E3, TMC2130)
+    #if IS_TMC_SPI(E3)
      SET_CS_PIN(E3);
    #endif
-    #if AXIS_DRIVER_TYPE(E4, TMC2130)
+    #if IS_TMC_SPI(E4)
      SET_CS_PIN(E4);
    #endif
  }
--- a/Marlin/tmc_util.h
+++ b/Marlin/tmc_util.h
@@ -24,58 +24,129 @@
 #define _TMC_UTIL_H_

 #include "MarlinConfig.h"
-
-#if HAS_DRIVER(TMC2130)
-  #include <TMC2130Stepper.h>
+#if HAS_TRINAMIC
+  #include <TMCStepper.h>
 #endif

-#if HAS_DRIVER(TMC2208)
-  #include <TMC2208Stepper.h>
-#endif
+#define TMC_X_LABEL 'X', '0'
+#define TMC_Y_LABEL 'Y', '0'
+#define TMC_Z_LABEL 'Z', '0'

-extern bool report_tmc_status;
+#define TMC_X2_LABEL 'X', '2'
+#define TMC_Y2_LABEL 'Y', '2'
+#define TMC_Z2_LABEL 'Z', '2'

-enum TMC_AxisEnum : char { TMC_X, TMC_Y, TMC_Z, TMC_X2, TMC_Y2, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 };
+#define TMC_E0_LABEL 'E', '0'
+#define TMC_E1_LABEL 'E', '1'
+#define TMC_E2_LABEL 'E', '2'
+#define TMC_E3_LABEL 'E', '3'
+#define TMC_E4_LABEL 'E', '4'
+
+template<char AXIS_LETTER, char DRIVER_ID>
+class TMCStorage {
+  protected:
+    // Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class"
+    TMCStorage() {}
+
+    uint16_t val_mA = 0;
+
+  public:
+    #if ENABLED(MONITOR_DRIVER_STATUS)
+      uint8_t otpw_count = 0;
+      bool flag_otpw = false;
+      bool getOTPW() { return flag_otpw; }
+      void clear_otpw() { flag_otpw = 0; }
+    #endif
+
+    uint16_t getMilliamps() { return val_mA; }
+
+    void printLabel() {
+      SERIAL_CHAR(AXIS_LETTER);
+      if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
+    }
+};
+
+template<class TMC, char AXIS_LETTER, char DRIVER_ID>
+class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+  public:
+    TMCMarlin(uint16_t cs_pin, float RS) :
+      TMC(cs_pin, RS)
+      {}
+    TMCMarlin(uint16_t CS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
+      TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
+      {}
+    uint16_t rms_current() { return TMC::rms_current(); }
+    void rms_current(uint16_t mA) {
+      this->val_mA = mA;
+      TMC::rms_current(mA);
+    }
+    void rms_current(uint16_t mA, float mult) {
+      this->val_mA = mA;
+      TMC::rms_current(mA, mult);
+    }
+};
+template<char AXIS_LETTER, char DRIVER_ID>
+class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+  public:
+    TMCMarlin(Stream * SerialPort, float RS, bool has_rx=true) :
+      TMC2208Stepper(SerialPort, RS, has_rx=true)
+      {}
+    TMCMarlin(uint16_t RX, uint16_t TX, float RS, bool has_rx=true) :
+      TMC2208Stepper(RX, TX, RS, has_rx=true)
+      {}
+    uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
+    void rms_current(uint16_t mA) {
+      this->val_mA = mA;
+      TMC2208Stepper::rms_current(mA);
+    }
+    void rms_current(uint16_t mA, float mult) {
+      this->val_mA = mA;
+      TMC2208Stepper::rms_current(mA, mult);
+    }
+};

 constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
  return 12650000UL * msteps / (256 * thrs * spmm);
 }

-void _tmc_say_axis(const TMC_AxisEnum axis);
-void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr);
-void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw);
-void _tmc_say_otpw_cleared(const TMC_AxisEnum axis);
-void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs);
-void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt);
-
 template<typename TMC>
-void tmc_get_current(TMC &st, const TMC_AxisEnum axis) {
-  _tmc_say_current(axis, st.getCurrent());
+void tmc_get_current(TMC &st) {
+  st.printLabel();
+  SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps());
 }
 template<typename TMC>
 void tmc_set_current(TMC &st, const int mA) {
-  st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+  st.rms_current(mA);
 }
+#if ENABLED(MONITOR_DRIVER_STATUS)
+  template<typename TMC>
+  void tmc_report_otpw(TMC &st) {
+    st.printLabel();
+    SERIAL_ECHOPGM(" temperature prewarn triggered: ");
+    serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
+    SERIAL_EOL();
+  }
+  template<typename TMC>
+  void tmc_clear_otpw(TMC &st) {
+    st.clear_otpw();
+    st.printLabel();
+    SERIAL_ECHOLNPGM(" prewarn flag cleared");
+  }
+#endif
 template<typename TMC>
-void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) {
-  _tmc_say_otpw(axis, st.getOTPW());
-}
-template<typename TMC>
-void tmc_clear_otpw(TMC &st, const TMC_AxisEnum axis) {
-  st.clear_otpw();
-  _tmc_say_otpw_cleared(axis);
-}
-template<typename TMC>
-void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) {
-  _tmc_say_pwmthrs(axis, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
+void tmc_get_pwmthrs(TMC &st, const uint16_t spmm) {
+  st.printLabel();
+  SERIAL_ECHOLNPAIR(" stealthChop max speed: ", _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
 }
 template<typename TMC>
 void tmc_set_pwmthrs(TMC &st, const int32_t thrs, const uint32_t spmm) {
  st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
 }
 template<typename TMC>
-void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) {
-  _tmc_say_sgt(axis, st.sgt());
+void tmc_get_sgt(TMC &st) {
+  st.printLabel();
+  SERIAL_ECHOPGM(" homing sensitivity: ");
+  SERIAL_PRINTLN(st.sgt(), DEC);
 }
 template<typename TMC>
 void tmc_set_sgt(TMC &st, const int8_t sgt_val) {
--- a/Marlin/ubl.cpp
+++ b/Marlin/ubl.cpp
@@ -210,8 +210,11 @@
      serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
    }

-    const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
-                current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
+    // Add XY_PROBE_OFFSET_FROM_EXTRUDER because probe_pt() subtracts these when
+    // moving to the xy position to be measured. This ensures better agreement between
+    // the current Z position after G28 and the mesh values.
+    const float current_xi = find_closest_x_index(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
+                current_yi = find_closest_y_index(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);

    if (!lcd) SERIAL_EOL();
    for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
--- a/Marlin/ubl_G29.cpp
+++ b/Marlin/ubl_G29.cpp
@@ -1287,8 +1287,8 @@
    out_mesh.distance = -99999.9f;

    // Get our reference position. Either the nozzle or probe location.
-    const float px = rx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
-                py = ry - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
+    const float px = rx + (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
+                py = ry + (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);

    float best_so_far = 99999.99f;

--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -972,6 +972,11 @@ void lcd_quick_feedback(const bool clear_buttons) {
      MENU_ITEM(gcode, MSG_BLTOUCH_SELFTEST, PSTR("M280 P" STRINGIFY(Z_PROBE_SERVO_NR) " S" STRINGIFY(BLTOUCH_SELFTEST)));
      MENU_ITEM(gcode, MSG_BLTOUCH_DEPLOY, PSTR("M280 P" STRINGIFY(Z_PROBE_SERVO_NR) " S" STRINGIFY(BLTOUCH_DEPLOY)));
      MENU_ITEM(gcode, MSG_BLTOUCH_STOW, PSTR("M280 P" STRINGIFY(Z_PROBE_SERVO_NR) " S" STRINGIFY(BLTOUCH_STOW)));
+      #if ENABLED(BLTOUCH_V3)
+        MENU_ITEM(gcode, MSG_BLTOUCH_SW_MODE, PSTR("M280 P" STRINGIFY(Z_PROBE_SERVO_NR) " S" STRINGIFY(BLTOUCH_SW_MODE)));
+        MENU_ITEM(gcode, MSG_BLTOUCH_5V_MODE, PSTR("M280 P" STRINGIFY(Z_PROBE_SERVO_NR) " S" STRINGIFY(BLTOUCH_5V_MODE)));
+        MENU_ITEM(gcode, MSG_BLTOUCH_OD_MODE, PSTR("M280 P" STRINGIFY(Z_PROBE_SERVO_NR) " S" STRINGIFY(BLTOUCH_OD_MODE)));
+      #endif
      END_MENU();
    }

@@ -3414,14 +3419,14 @@ void lcd_quick_feedback(const bool clear_buttons) {
        UNUSED(e);
      #endif
      PID_PARAM(Ki, e) = scalePID_i(raw_Ki);
-      thermalManager.updatePID();
+      thermalManager.update_pid();
    }
    void copy_and_scalePID_d(int16_t e) {
      #if DISABLED(PID_PARAMS_PER_HOTEND) || HOTENDS == 1
        UNUSED(e);
      #endif
      PID_PARAM(Kd, e) = scalePID_d(raw_Kd);
-      thermalManager.updatePID();
+      thermalManager.update_pid();
    }
    #define _DEFINE_PIDTEMP_BASE_FUNCS(N) \
      void copy_and_scalePID_i_E ## N() { copy_and_scalePID_i(N); } \
@@ -3524,7 +3529,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
      MENU_ITEM_EDIT(bool, MSG_AUTOTEMP, &planner.autotemp_enabled);
      MENU_ITEM_EDIT(float3, MSG_MIN, &planner.autotemp_min, 0, float(HEATER_0_MAXTEMP) - 15);
      MENU_ITEM_EDIT(float3, MSG_MAX, &planner.autotemp_max, 0, float(HEATER_0_MAXTEMP) - 15);
-      MENU_ITEM_EDIT(float52, MSG_FACTOR, &planner.autotemp_factor, 0, 1);
+      MENU_ITEM_EDIT(float52, MSG_FACTOR, &planner.autotemp_factor, 0, 10);
    #endif

    //
@@ -5606,15 +5611,14 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }

        #endif // LCD_HAS_DIRECTIONAL_BUTTONS

-        buttons = newbutton;
        #if ENABLED(LCD_HAS_SLOW_BUTTONS)
-          buttons |= slow_buttons;
+          newbutton |= slow_buttons;
        #endif
+        buttons = newbutton;

        #if ENABLED(ADC_KEYPAD)

          uint8_t newbutton_reprapworld_keypad = 0;
-          buttons = 0;
          if (buttons_reprapworld_keypad == 0) {
            newbutton_reprapworld_keypad = get_ADC_keyValue();
            if (WITHIN(newbutton_reprapworld_keypad, 1, 8))
--- a/README.md
+++ b/README.md
@@ -1,38 +1,18 @@
-# Anycubic i3 Mega Marlin 1.1.9 by davidramiro
+# Anycubic i3 Mega / Mega-S Marlin 1.1.9 by davidramiro

-[![Donate](https://img.shields.io/badge/Donate-PayPal-green.svg)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=3MFT8QMP5ZRCE&source=url) [![Downloads](https://img.shields.io/github/downloads/davidramiro/Marlin-AI3M/total.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/releases) [![Open Issues](https://img.shields.io/github/issues-raw/davidramiro/Marlin-AI3M.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/issues?q=is%3Aopen+is%3Aissue) [![Closed Issues](https://img.shields.io/github/issues-closed-raw/davidramiro/Marlin-AI3M.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/issues?q=is%3Aissue+is%3Aclosed) [![License](https://img.shields.io/github/license/davidramiro/Marlin-AI3M.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/blob/master/LICENSE) [![Latest Release](https://img.shields.io/github/release/davidramiro/Marlin-AI3m.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/releases/latest/) ![](https://img.shields.io/github/last-commit/davidramiro/Marlin-AI3m.svg?style=flat)
+[![Donate](https://img.shields.io/badge/Donate-PayPal-green.svg)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=6B6SAL5XRH842&source=url) [![Downloads](https://img.shields.io/github/downloads/davidramiro/Marlin-AI3M/total.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/releases) [![Open Issues](https://img.shields.io/github/issues-raw/davidramiro/Marlin-AI3M.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/issues?q=is%3Aopen+is%3Aissue) [![License](https://img.shields.io/github/license/davidramiro/Marlin-AI3M.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/blob/master/LICENSE) [![Latest Release](https://img.shields.io/github/release/davidramiro/Marlin-AI3m.svg?style=flat)](https://github.com/davidramiro/Marlin-AI3M/releases/latest/) [![Last commit](https://img.shields.io/github/last-commit/davidramiro/Marlin-AI3m.svg?style=flat)](https://github.com/davidramiro/Marlin-Ai3M/commits/)  [![Travis CI](https://api.travis-ci.org/davidramiro/Marlin-Ai3M.svg?branch=master)](https://travis-ci.org/davidramiro/Marlin-Ai3M)  

-This is my slightly customized version of the [Marlin Firmware](https://github.com/MarlinFirmware/Marlin), gratefully based on [derhopp's repo](https://github.com/derhopp/Marlin-with-Anycubic-i3-Mega-TFT) with his remarkable efforts to get the Anycubic i3 Mega TFT screen to work.
+This is a custom version of the [Marlin Firmware](https://github.com/MarlinFirmware/Marlin) for the i3 Mega/Mega-S, gratefully based on [derhopp's repo](https://github.com/derhopp/Marlin-with-Anycubic-i3-Mega-TFT) with his remarkable efforts to get the Anycubic TFT screen to work with the latest versions of Marlin.

-Feel free to discuss issues and work with me further optimizing this firmware!
-
-I am running this version on an i3 Mega Ultrabase V3 (for distinction of the different versions, check [this Thingiverse thread](https://www.thingiverse.com/groups/anycubic-i3-mega/forums/general/topic:27064)).
-Basically, this should work on every Ultrabase version that has two Z-axis endstops.
-
-The new Mega-S should work too, but you will need to enter those two commands to make the new extruder work:
-```
-M92 E384
-M500
-```
-Afterwards, calibration is highly recommended as per the instructions on the [Wiki](https://github.com/davidramiro/Marlin-AI3M/wiki/Extruder-Calibration/).
-
-Note: This is just a firmware, not magic. A big part of print quality still depends on your slicer settings and mechanical condition of your machine.
+Looking for a **BLtouch firmware**? Head [this way](https://github.com/MNieddu91/Marlin-AI3M-BLTouch)! Mounting and configuration instructions are included.

 #### Make sure to take a look at the [Wiki](https://github.com/davidramiro/Marlin-AI3M/wiki/), especially the [FAQ](https://github.com/davidramiro/Marlin-AI3M/wiki/Frequently-Asked-Questions).

-
-## Known issues:
-
- **Cura users: Please turn off jerk and acceleration control in your print settings (not visible by default, select advanced visibility to unlock them). Cura's high default jerk and acceleration might cause shifted layers if you use TMC2208.**
- Estimated print times from your slicer might be slightly off.
- Special characters on any file or folders name on the SD card will cause the file menu to freeze. Simply replace or remove every special character (Chinese, Arabic, Russian, accents, German & Scandinavian umlauts, ...) from the name. Symbols like dashes or underscores are no problem.
-**Important note: On the SD card that comes with the printer there is a folder with Chinese characters in it by default. Please rename or remove it.**
- Cancelling prints via display is buggy sometimes, simply reboot the printer when the menu shows an error. Protip: Switch to OctoPrint.
-
+A German translation of the instructions can be found [here](https://kore.cc/i3mega/download/marlin-ai3m_german.pdf).

 ## Why use this?

-While the i3 Mega is a great printer for its price and produces fantastic results in stock, there are some issues that are easily addressed:
+While the i3 Mega is a great printer for its price and produces fantastic results in stock, there are some improvements and additional features that this firmware provides:

 - Many people have issues getting the Ultrabase leveled perfectly, using Manual Mesh Bed Leveling the printer generates a mesh of the flatness of the bed and compensates for it on the Z-axis for perfect prints without having to level with the screws.
 - Much more efficient bed heating by using PID control. This uses less power and holds the temperature at a steady level. Highly recommended for printing ABS.
@@ -40,9 +20,23 @@ While the i3 Mega is a great printer for its price and produces fantastic result
 - Even better print quality by adding Linear Advance, S-Curve Acceleration and some tweaks on jerk and acceleration.
 - Thermal runaway protection: Reducing fire risk by detecting a faulty or misaligned thermistor.
 - Very loud stock stepper motor drivers, easily replaced by Watterott or FYSETC TMC2208. To do that, you'd usually have to flip the connectors on the board, this is not necessary using this firmware.
- No need to slice and upload custom bed leveling tests, simply start one with a simple G26 command.
+- No need to slice and upload custom bed leveling tests, test it with a single GCode command
 - Easily start an auto PID tune or mesh bed leveling via the special menu (insert SD card, select special menu and press the round arrow)
- Filament change feature enabled: Switch colors/material mid print with `M600` (instructions below)
+- Filament change feature enabled: Switch colors/material mid print (instructions below) and control it via display.
+- The filament runout, pause and stop functionality have been overhauled and improved: The hotend now parks and retracts (on pause or stop) and purges automatically (on resume).
+- Added `M888` cooldown routine for the Anycubic Ultrabase (EXPERIMENTAL): This is meant to be placed at the end Gcode of your slicer. It hovers over the print bed and does circular movements while running the fan. Works best with custom fan ducts.
+  - Optional parameters:
+  - `T<temperature>`:   Target bed temperature (min 15°C), 30°C if not specified (do not set this under room temperature)
+  - `S<fan speed>`:   Fan speed between 0 and 255, full speed if not specified
+  - e.g. `M888 S191 T25`: run the fan at 75% until the bed has cooled down to 25°C
+
+
+## Known issues:
+
+- Power outage support is not included
+- Estimated print times from your slicer might be slightly off.
+- Special characters on any file or folders name on the SD card will cause the file menu to freeze. Simply replace or remove every special character (Chinese, Arabic, Russian, accents, German & Scandinavian umlauts, ...) from the name. Symbols like dashes or underscores are no problem.
+**Important note: On the SD card that comes with the printer there is a folder with Chinese characters in it by default. Please rename or remove it.**

 ## How to flash this?

@@ -52,15 +46,16 @@ I provided three different precompiled hex files: One for no modifications on th

 - Download the precompiled firmware here: [Releases](https://github.com/davidramiro/Marlin-AI3M/releases)
 - Choose the correct hex file:
- For TMC2208 with connectors in original orientation, use `Marlin-AI3M-XXXXXX-TMC2208.hex`
- If you use TMC2208 and already reversed your connectors, use `Marlin-AI3M-XXXXXX-TMC2208_reversed.hex`
- If you use a newer version of the TMC2208 that doesn't require the connector to be reversed (TMC2208 "v2.0" written on the PCB, chip on the top side), please also use `Marlin-AI3M-XXXXXX-TMC2208_reversed.hex`.
- If you use the original stepper motor drivers, use `Marlin-AI3M-XXXXXX-stock_drivers.hex`.
+- For TMC2208 with connectors in original orientation, use `Marlin-AI3M-vx.x.x-TMC2208.hex`
+- If you use TMC2208 and already reversed your connectors, use `Marlin-AI3M-vx.x.x-TMC2208_reversed.hex`
+- If you use a newer version of the TMC2208 that doesn't require the connector to be reversed (TMC2208 "v2.0" written on the PCB, chip on the top side), please also use `Marlin-AI3M-vx.x.x-TMC2208_reversed.hex`.
+- If you use the original stepper motor drivers, use `Marlin-AI3M-vx.x.x-stock_drivers.hex`.

 ### Or compile it yourself:

- Download Arduino IDE
+- Download and install [Arduino IDE](https://www.arduino.cc/en/main/software)
 - Clone or download this repo
+- Browse into the Marlin folder and run `Marlin.ino`
 - In the IDE, under `Tools -> Board` select `Genuino Mega 2560` and `ATmega2560`
 - Open Marlin.ino in the Marlin directory of this repo
 - [Customize if needed](https://github.com/davidramiro/Marlin-AI3M/wiki/Customization-&-Compiling) (e.g. motor directions and type at line `559` to `566` and line `857` to `865` in `Configuration.h`)
@@ -71,12 +66,18 @@ I provided three different precompiled hex files: One for no modifications on th

 - Flash the hex with Cura, OctoPrint or similar
 - Use a tool with a terminal (OctoPrint, Pronterface, Repetier Host, ...) to send commands to your printer.
- Connect to the printer and send the following commands:
+- **Important** Connect to the printer and send the following commands:
 - `M502` - load hard coded default values
 - `M500` - save them to EEPROM

-#### Calibration and other instructions have been moved to the [Wiki](https://github.com/davidramiro/Marlin-AI3M/wiki/Calibration).
+**If you are using this on a Mega-S, those four additional commands are necessary:**
+- `M92 E384` - set correct steps for the new extruder
+- `M203 E30` - limit extruder feedrate
+- `M204 R1500.00` - lower retract acceleration
+- `M500` - save the values
+- I highly recommend calibrating the extruder.

+#### Calibration and other instructions have been moved to the [Wiki](https://github.com/davidramiro/Marlin-AI3M/wiki/Calibration).

 ## Manual Mesh Bed Leveling

@@ -100,7 +101,7 @@ If you have issues with an uneven bed, this is a great feature.
 - Your nozzle will now move to the first calibration position.
 - Don't adjust the bed itself with screws, only use software from here on!
 - Use a paper - I recommend using thermopaper like a receipt or baking paper
- Use the onscreen controls to lower or raise your nozzle until you feel a light resistance: (If you want to send the same command multiple times, select the item again, even though it is still marked red.)
+- Use the onscreen controls to lower or raise your nozzle until you feel a light resistance: (**If you want to send the same command multiple times, select the item again, even though it is still marked red.**)

 ![Z axis controls][control]

@@ -109,7 +110,7 @@ If you have issues with an uneven bed, this is a great feature.
 ![Next mesh point][next]

 - Repeat the last two steps until all 25 points are done.
- Your printer will beep, wait 20 seconds and then save:
+- Your printer will beep, wait 20 seconds and then save (the printer will beep once more to confirm):


 ![Save to EEPROM][save]
@@ -126,15 +127,14 @@ If you have issues with an uneven bed, this is a great feature.

 ### After leveling:

- Reboot the printer.
 - To ensure your mesh gets used on every print from now on, go into your slicer settings and look for the start GCode
 - Look for the Z-homing (either just `G28` or `G28 Z0`) command and insert these two right underneath it:
 ```
 M501
 M420 S1
 ```
- Enjoy never having to worry about an uneven bed again!
-
+- Your printer should now correctly print first layers even on a warped bed.
+- When working on the printer, installing a new hotend or nozzle or the bed warping over time, a new Mesh Leveling procedure is recommended.

 #### Manual commands for use with OctoPrint etc.:

@@ -150,9 +150,11 @@ M420 S1
 - No need to download or create a bed leveling test, simply send those commands to your printer:
 ```
 G28
-G26 C H200 P25 R25
+G26 C H200 P5 R25 Q4.2 Z4
 ```
 - To adjust your filament's needed temperature, change the number of the `H` parameter
+- Default bed temperature is 60°C, if you need another temperature, add e.g. `B80`
+- `Q` parameter sets retraction length in mm, `Z` sets unretraction.
 - If your leveling is good, you will have a complete pattern of your mesh on your bed that you can peel off in one piece
 - Don't worry if the test looks a bit messy, the important thing is just that the line width is the same all over the mesh
 - Optional: Hang it up on a wall to display it as a trophy of how great your leveling skills are.
@@ -164,11 +166,12 @@ G26 C H200 P25 R25

 [m600 demo]: https://kore.cc/i3mega/img/m600demo.jpg "M600 demo"

-**Printing via USB is highly recommended for this.**
+**BETA: This now also works without USB printing, via SD & display.**

-#### Configuration:
+#### Configuration (only needed once):
 - Send `M603 L0 U0` to use manual loading & unloading.
 - Send `M603 L538 U555` to use automatic loading & unloading
+  - The `L` and `U` paramters define the load and unload length in mm. The values above work well on a stock setup, if you modded your extruder, bowden tube or hotend, you might need to adjust those.
 - Save with `M500`

 #### Filament change process (manual loading):
@@ -178,6 +181,9 @@ G26 C H200 P25 R25
  - Place `M600` in your GCode at the desired layer or send it via terminal
  - Alternatively: Use `FilamentChange Pause` in the Special Menu
 - The nozzle will park and your printer will beep
+  - For safety reasons, the printer will turn off the hotend after 10 minutes. If you see the temperature being under the target:
+    - SD printing: Click `CONTINUE` **(only once!)** on the screen and wait for the hotend to heat up again.
+    - USB printing: Send `M108` and wait for the hotend to heat up again.
 - Remove the filament from the bowden tube
 - Insert the new filament right up to the nozzle, just until a bit of plastic oozes out
 - Remove the excess filament from the nozzle with tweezers
@@ -195,6 +201,9 @@ G26 C H200 P25 R25
  - Alternatively: Use `FilamentChange Pause` in the Special Menu
 - The nozzle will park
 - The printer will remove the filament right up to the extruder and beep when finished
+  - For safety reasons, the printer will turn off the hotend after 10 minutes. If you see the temperature being under the target:
+    - SD printing: Click `CONTINUE` **(only once!)** on the screen and wait for the hotend to heat up again.
+    - USB printing: Send `M108` and wait for the hotend to heat up again.
 - Insert the new filament just up to the end of the bowden fitting, as shown here:

 ![Load Filament][m600 load]
@@ -225,10 +234,15 @@ M304

 After flashing the new version, issue a `M502` and `M500`. After that, enter every line you saved before and finish by saving with `M500`.

+## Something went wrong?
+No worries. You can easily go back to the default firmware and restore the default settings.
+- Flash the hex file from the [manufacturer's website](http://www.anycubic3d.com/support/show/594016.html) (in case it's offline, I have uploaded the stock firmwares [here](https://kore.cc/i3mega/download/stockFW/) as well).
+- After flashing, send `M502` and `M500`. Now your machine is exactly as it came out of the box.
+

 ## Detailed changes:

- Thermal runaway protection enabled and tweaked
+- Thermal runaway protection thresholds tweaked
 - Manual mesh bed leveling enabled ([check this link](https://github.com/MarlinFirmware/Marlin/wiki/Manual-Mesh-Bed-Leveling) to learn more about it)
 - Heatbed PID mode enabled
 - TMC2208 configured in standalone mode
@@ -238,8 +252,15 @@ After flashing the new version, issue a `M502` and `M500`. After that, enter eve
 - G26 Mesh Validation enabled
 - Some redundant code removed to save memory
 - Minor tweaks on default jerk and acceleration
- Printcounter enabled (`M78`)
+- Print statistics enabled (send `M78` to read them)
 - `M600` filament change feature enabled
+  - Implemented easy resume via display
+- Filament runout behaviour tweaked
+  - Added purge and retract
+  - Move nozzle to park position on runout
+  - Prevent false positives by adding a small delay to the sensor
+- Pause and stop behaviour tweaked
+- Added `M888` cooldown routine for the Anycubic Ultrabase


 ## Changes by [derhopp](https://github.com/derhopp/):
@@ -319,9 +340,32 @@ Notable contributors include:
 - [[@paulusjacobus](https://github.com/paulusjacobus)]
 - [[@psavva](https://github.com/psavva)]
 - [[@Tannoo](https://github.com/Tannoo)]
- - [[@TheSFReader](https://github.com/TheSFReader)]
+ - [[@teemuatlut](https://github.com/teemuatlut)]
 - ...and many others

 ## License

 Marlin is published under the [GPLv3 license](https://github.com/MarlinFirmware/Marlin/blob/1.0.x/COPYING.md) because we believe in open development. The GPL comes with both rights and obligations. Whether you use Marlin firmware as the driver for your open or closed-source product, you must keep Marlin open, and you must provide your compatible Marlin source code to end users upon request. The most straightforward way to comply with the Marlin license is to make a fork of Marlin on Github, perform your modifications, and direct users to your modified fork.
+
+## Disclaimer
+
+```
+/*
+* Flashing a custom firmware happens at your own risk.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS
+* AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED
+* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+* PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
+* THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+* IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+```
--- a/platformio.ini
+++ b/platformio.ini
@@ -29,8 +29,7 @@ build_flags = -fmax-errors=5
 lib_deps =
  https://github.com/MarlinFirmware/U8glib-HAL/archive/dev.zip
  LiquidCrystal_I2C@1.1.2
-  TMC2130Stepper
-  https://github.com/teemuatlut/TMC2208Stepper/archive/v0.1.1.zip
+  https://github.com/teemuatlut/TMCStepper.git
  Adafruit NeoPixel@1.1.3
  https://github.com/lincomatic/LiquidTWI2/archive/30aa480.zip
  https://github.com/ameyer/Arduino-L6470/archive/master.zip
Author	SHA1	Message	Date
David Ramiro	ff1a8c2246	Merge pull request #67 from mithkr/master Migrate to a new TMC library (#11943)	2019-12-28 14:44:14 +01:00
teemuatlut	a4c9f70878	Migrate to a new TMC library (#11943 ) Backport commit c3229e1b3461b6da8373e7a24a7eeb131912a15b from Marlin 2.0	2019-12-28 09:35:34 +01:00
David Ramiro	2f686a7904	fix arduino url for travis ci	2019-09-29 22:04:19 +02:00
David Ramiro	c6ac78338d	update pp id	2019-09-29 20:55:04 +02:00
David Ramiro	57bb40edd3	Merge BLTOUCH_V3 updates from upstream	2019-04-24 14:58:31 +02:00
David Ramiro	a9dc675395	Add Mega-S extruder settings to readme Close #33	2019-04-20 13:57:54 +02:00
David Ramiro	31551b086b	Allow higher feedrate on Y Note to TMC2208 users: The Y axis might be too heavy to allow high travel speeds.	2019-04-04 12:02:21 +02:00
David Ramiro	425e10c29a	Fix stuttering issues on detailed models - Optimize TFT code for state handling (pause, runout, ...) - Remove multiple state booleans in favour of a single integer - Remove obsolete filament runout code - Increase jerk/accel - Decrease TX buffer size - Revert minimum segment time to factory default	2019-04-03 15:48:11 +02:00
David Ramiro	b18052c0c3	Revert frequency changes Needs more investigation. Suspended for now.	2019-04-03 15:12:29 +02:00
David Ramiro	2b4c936c1a	Add config option for new board revision	2019-04-01 21:24:06 +02:00
David Ramiro	1bd23dfbd8	Tweak PID autotune - Add beep on autotune completion - Raise cycle count on hotend PID tune via TFT from 6 to 15	2019-03-31 18:36:25 +02:00
David Ramiro	b8d783b146	Increase buffer size By default, more than 2K of SRAM are available. Using some of that to increase a few buffer sizes.	2019-03-31 18:10:45 +02:00
David Ramiro	7e29a4d88a	Merge upstream Merging upstream changes up to 35775395d9b5206e584b3734ab7e070e072603f8	2019-03-30 14:14:39 +01:00
David Ramiro	a9274af234	Merge branch 'master' into dev	2019-03-28 12:06:02 +01:00
David Ramiro	625e264dfc	Fix for Travis CI and adjust tests	2019-03-28 11:12:57 +01:00
David Ramiro	6deb88102b	Add optional endstop beeps Enable ENDSTOP_BEEP in Configuration.h to enable a 2KHz beep when endstops are hit. Disabled by default.	2019-03-28 00:59:25 +01:00
David Ramiro	3f19385e03	Add unretraction parameter to G26 G26 Gcode: - Change Q parameter to only specify retraction length - Add Z parameter for unretraction length - Preserve fixed multiplier of 1.2 if Z isn't specified - Add check to avoid implausible retract/unretract ratios - Change default config values Referencing #31. Thanks to @BlackMulch for the feedback!	2019-03-28 00:59:25 +01:00
David Ramiro	589e972102	Raise PWM frequency Adjusting PWM frequencies to better match FDD8780, WSK220N04 and VS40200ATD MOSFET spec. - Heater PWM frequency increased from 7.6294 Hz to 30.5176 Hz – Referencing the Forward Bias Safe Area from the MOSFET's datasheets, this value should be safer. - Use software PWM for fans to reduce whine – The higher PWM frequency works well with the stock parts cooling fan and might allow for better control of third party fans	2019-03-28 00:57:09 +01:00
David Ramiro	a2c47b53c2	Add optional endstop beeps Enable ENDSTOP_BEEP in Configuration.h to enable a 2KHz beep when endstops are hit. Disabled by default.	2019-03-25 19:15:28 +01:00
David Ramiro	9c133f5c05	Add unretraction parameter to G26 G26 Gcode: - Change Q parameter to only specify retraction length - Add Z parameter for unretraction length - Preserve fixed multiplier of 1.2 if Z isn't specified - Add check to avoid implausible retract/unretract ratios - Change default config values Referencing #31. Thanks to @BlackMulch for the feedback!	2019-03-24 21:20:54 +01:00
David Ramiro	fd8f28257f	Raise PWM frequency Adjusting PWM frequencies to better match FDD8780 MOSFET spec. - Hotend PWM frequency increased from 488.28 Hz to 1953.12 Hz – Referencing the Forward Bias Safe Area from the hotend MOSFET's datasheet, this value should be safer. - Hotbed PWM frequency increased from 7.26Hz to 30.48Hz - Use software PWM for fans to reduce whine – The higher PWM frequency works well with the stock parts cooling fan and might allow for better control of third party fans	2019-03-24 18:30:53 +01:00
David Ramiro	bf8b6729b2	Add optional startup chime Enable STARTUP_CHIME in Configuration.h to play a short chime on Trigorilla startup/serial connection, disabled by default	2019-03-24 16:57:31 +01:00
David Ramiro	79f559e9af	Implement heatbed cooldown routine - M888: Cooldown routine for the Anycubic Ultrabase (EXPERIMENTAL): This is meant to be placed at the end Gcode of your slicer. It hovers over the print bed and does circular movements while running the fan. Works best with custom fan ducts. - T<int>: Target bed temperature (min 15°C), 30°C if not specified - S<int>: Fan speed between 0 and 255, full speed if not specified Thanks to @kulfuerst for the suggestion!	2019-03-13 11:40:25 +01:00
David Ramiro	c1c2743452	Rework pause, filament runout & abort - Park head with retract on pause and abort - Use native functions instead of Gcode - Loud beeps to alert user on runout - Fix potential looping issues by using flags - Fix "Stop failed" message on some occasions	2019-03-12 16:23:29 +01:00
David Ramiro	ee6094f39d	Cleanup Improving and adding some comments to the code, updating a few details on the readme	2019-03-10 22:40:35 +01:00
David Ramiro	1a5804f260	Implement nozzle reheating on timeout via display - Raise nozzle timeout to 10 minutes - Use continue button as reheat trigger - Manage nozzle_timed_out variable via display - Add PausedByNozzleTimeout flag to enter correct routine on display - Bump version to 1.4.3	2019-03-08 16:30:56 +01:00
David Ramiro	cea54723e7	Use realtime on filament sensor Instead of incrementing a variable on every iteration on the filament sensor trigger loop, we now use a real time macro that ensure better repeatability and is easier to customize.	2019-03-08 16:05:54 +01:00
David Ramiro	90e27ff21b	Fix indentation Improve readability and fix #ifdef and #endif indentations	2019-03-08 01:25:21 +01:00
David Ramiro	85c32a2bb6	Fix Z movement on abort - Referencing #29 - Adding audio feedback to special menu M500 and M502	2019-03-06 22:59:46 +01:00
David Ramiro	2c53c33d52	Tweak M600 display resume - Add startFileprint(); call to M108 display routine to fix progress and ensure "printing done" gets shown - Add SD printing check in marlin_main.cpp M600 routine to skip TFTstate if not necessary (e.g. USB printing) - Move routine to the top again to ensure immediate execution	2019-02-24 15:48:03 +01:00
David Ramiro	8fc01144f1	Set SDPAUSE state on M600 regardless of prior TFTstate Move the routine to a better position and set the state regardless of SDPRINT status. This ensures that M600 makes the display show a continue button every time. Before, it was only behaving correctly for the first instance of M600.	2019-02-23 11:16:29 +01:00
David Ramiro	8448c67846	Streamline build identification	2019-02-23 00:31:25 +01:00
David Ramiro	e822d53f2f	Merge branch 'master' into dev	2019-02-23 00:26:33 +01:00
David Ramiro	30bbf59cb0	Increase filament rounout trigger delay In some cases, the filament runout was triggered erratically, we are now waiting for the trigger to last a few moments until we start the routine.	2019-02-22 22:26:58 +01:00
David Ramiro	0f5745e281	Update README.md	2019-02-21 10:30:21 +01:00
David Ramiro	d6f2b7dcf2	Update README.md	2019-02-19 19:15:28 +01:00
David Ramiro	b25aa626e7	Update semantic versioning	2019-02-18 20:01:22 +01:00