🎨 Various multi-axis patches (#22823)

Marlin/Configuration.h

@@ -794,18 +794,18 @@
 #define ENDSTOPPULLUPS
 #if DISABLED(ENDSTOPPULLUPS)
   // Disable ENDSTOPPULLUPS to set pullups individually
-  //#define ENDSTOPPULLUP_XMAX
-  //#define ENDSTOPPULLUP_YMAX
-  //#define ENDSTOPPULLUP_ZMAX
-  //#define ENDSTOPPULLUP_IMAX
-  //#define ENDSTOPPULLUP_JMAX
-  //#define ENDSTOPPULLUP_KMAX
   //#define ENDSTOPPULLUP_XMIN
   //#define ENDSTOPPULLUP_YMIN
   //#define ENDSTOPPULLUP_ZMIN
   //#define ENDSTOPPULLUP_IMIN
   //#define ENDSTOPPULLUP_JMIN
   //#define ENDSTOPPULLUP_KMIN
+  //#define ENDSTOPPULLUP_XMAX
+  //#define ENDSTOPPULLUP_YMAX
+  //#define ENDSTOPPULLUP_ZMAX
+  //#define ENDSTOPPULLUP_IMAX
+  //#define ENDSTOPPULLUP_JMAX
+  //#define ENDSTOPPULLUP_KMAX
   //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif
 
@@ -813,18 +813,18 @@
 //#define ENDSTOPPULLDOWNS
 #if DISABLED(ENDSTOPPULLDOWNS)
   // Disable ENDSTOPPULLDOWNS to set pulldowns individually
-  //#define ENDSTOPPULLDOWN_XMAX
-  //#define ENDSTOPPULLDOWN_YMAX
-  //#define ENDSTOPPULLDOWN_ZMAX
-  //#define ENDSTOPPULLDOWN_IMAX
-  //#define ENDSTOPPULLDOWN_JMAX
-  //#define ENDSTOPPULLDOWN_KMAX
   //#define ENDSTOPPULLDOWN_XMIN
   //#define ENDSTOPPULLDOWN_YMIN
   //#define ENDSTOPPULLDOWN_ZMIN
   //#define ENDSTOPPULLDOWN_IMIN
   //#define ENDSTOPPULLDOWN_JMIN
   //#define ENDSTOPPULLDOWN_KMIN
+  //#define ENDSTOPPULLDOWN_XMAX
+  //#define ENDSTOPPULLDOWN_YMAX
+  //#define ENDSTOPPULLDOWN_ZMAX
+  //#define ENDSTOPPULLDOWN_IMAX
+  //#define ENDSTOPPULLDOWN_JMAX
+  //#define ENDSTOPPULLDOWN_KMAX
   //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif
 

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -162,12 +162,14 @@ void setup_endstop_interrupts() {
       #error "Z_MIN_PROBE_PIN has no EXTINT line available."
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
-  #elif HAS_I_MAX
+  #endif
+  #if HAS_I_MAX
     #if !AVAILABLE_EILINE(I_MAX_PIN)
       #error "I_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE);
-  #elif HAS_I_MIN
+  #endif
+  #if HAS_I_MIN
     #if !AVAILABLE_EILINE(I_MIN_PIN)
       #error "I_MIN_PIN has no EXTINT line available."
     #endif
@@ -178,7 +180,8 @@ void setup_endstop_interrupts() {
       #error "J_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
-  #elif HAS_J_MIN
+  #endif
+  #if HAS_J_MIN
     #if !AVAILABLE_EILINE(J_MIN_PIN)
       #error "J_MIN_PIN has no EXTINT line available."
     #endif
@@ -189,7 +192,8 @@ void setup_endstop_interrupts() {
       #error "K_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
-  #elif HAS_K_MIN
+  #endif
+  #if HAS_K_MIN
     #if !AVAILABLE_EILINE(K_MIN_PIN)
       #error "K_MIN_PIN has no EXTINT line available."
     #endif

Marlin/src/core/macros.h

@@ -33,32 +33,32 @@
 
 #define _AXIS(A) (A##_AXIS)
 
-#define _XMIN_   100
+#define _XMIN_   0x11
-#define _YMIN_   200
+#define _YMIN_   0x12
-#define _ZMIN_   300
+#define _ZMIN_   0x13
-#define _IMIN_   500
+#define _IMIN_   0x14
-#define _JMIN_   600
+#define _JMIN_   0x15
-#define _KMIN_   700
+#define _KMIN_   0x16
-#define _XMAX_   101
+#define _XMAX_   0x21
-#define _YMAX_   201
+#define _YMAX_   0x22
-#define _ZMAX_   301
+#define _ZMAX_   0x23
-#define _IMAX_   501
+#define _IMAX_   0x24
-#define _JMAX_   601
+#define _JMAX_   0x25
-#define _KMAX_   701
+#define _KMAX_   0x26
-#define _XDIAG_  102
+#define _XDIAG_  0x31
-#define _YDIAG_  202
+#define _YDIAG_  0x32
-#define _ZDIAG_  302
+#define _ZDIAG_  0x33
-#define _IDIAG_  502
+#define _IDIAG_  0x34
-#define _JDIAG_  602
+#define _JDIAG_  0x35
-#define _KDIAG_  702
+#define _KDIAG_  0x36
-#define _E0DIAG_ 400
+#define _E0DIAG_ 0xE0
-#define _E1DIAG_ 401
+#define _E1DIAG_ 0xE1
-#define _E2DIAG_ 402
+#define _E2DIAG_ 0xE2
-#define _E3DIAG_ 403
+#define _E3DIAG_ 0xE3
-#define _E4DIAG_ 404
+#define _E4DIAG_ 0xE4
-#define _E5DIAG_ 405
+#define _E5DIAG_ 0xE5
-#define _E6DIAG_ 406
+#define _E6DIAG_ 0xE6
-#define _E7DIAG_ 407
+#define _E7DIAG_ 0xE7
 
 #define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__
 #define  FORCE_INLINE  __attribute__((always_inline)) inline
@@ -251,6 +251,8 @@
     memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \
   }while(0)
 
+#define CODE_11( A,B,C,D,E,F,G,H,I,J,K,...) A; B; C; D; E; F; G; H; I; J; K
+#define CODE_10( A,B,C,D,E,F,G,H,I,J,...) A; B; C; D; E; F; G; H; I; J
 #define CODE_9( A,B,C,D,E,F,G,H,I,...) A; B; C; D; E; F; G; H; I
 #define CODE_8( A,B,C,D,E,F,G,H,...) A; B; C; D; E; F; G; H
 #define CODE_7( A,B,C,D,E,F,G,...) A; B; C; D; E; F; G
@@ -286,6 +288,10 @@
 #define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
 
 // Macros for initializing arrays
+#define LIST_20(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T
+#define LIST_19(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S
+#define LIST_18(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R
+#define LIST_17(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q
 #define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P
 #define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O
 #define LIST_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N
@@ -502,6 +508,11 @@
 #define INC_13 14
 #define INC_14 15
 #define INC_15 16
+#define INC_16 17
+#define INC_17 18
+#define INC_18 19
+#define INC_19 20
+#define INC_20 21
 #define INCREMENT_(n) INC_##n
 #define INCREMENT(n) INCREMENT_(n)
 

Marlin/src/feature/backlash.cpp

@@ -60,9 +60,9 @@ Backlash backlash;
  * spread over multiple segments, smoothing out artifacts even more.
  */
 
-void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block) {
+void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block) {
-  static uint8_t last_direction_bits;
+  static axis_bits_t last_direction_bits;
-  uint8_t changed_dir = last_direction_bits ^ dm;
+  axis_bits_t changed_dir = last_direction_bits ^ dm;
   // Ignore direction change unless steps are taken in that direction
   #if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
     if (!da) CBI(changed_dir, X_AXIS);

Marlin/src/feature/backlash.h

@@ -71,7 +71,7 @@ public:
     return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
   }
 
-  void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block);
+  void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block);
 };
 
 extern Backlash backlash;

Marlin/src/gcode/feature/trinamic/M906.cpp

@@ -206,7 +206,8 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
     SERIAL_ECHOPGM("  M906");
   };
 
-  #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
+  #if  AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z) \
+    || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K)
     say_M906(forReplay);
     #if AXIS_IS_TMC(X)
       SERIAL_ECHOPGM_P(SP_X_STR, stepperX.getMilliamps());
@@ -217,6 +218,15 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
     #if AXIS_IS_TMC(Z)
       SERIAL_ECHOPGM_P(SP_Z_STR, stepperZ.getMilliamps());
     #endif
+    #if AXIS_IS_TMC(I)
+      SERIAL_ECHOPGM_P(SP_I_STR, stepperI.getMilliamps());
+    #endif
+    #if AXIS_IS_TMC(J)
+      SERIAL_ECHOPGM_P(SP_J_STR, stepperJ.getMilliamps());
+    #endif
+    #if AXIS_IS_TMC(K)
+      SERIAL_ECHOPGM_P(SP_K_STR, stepperK.getMilliamps());
+    #endif
     SERIAL_EOL();
   #endif
 
@@ -239,25 +249,11 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
     say_M906(forReplay);
     SERIAL_ECHOLNPGM(" I2 Z", stepperZ3.getMilliamps());
   #endif
-
   #if AXIS_IS_TMC(Z4)
     say_M906(forReplay);
     SERIAL_ECHOLNPGM(" I3 Z", stepperZ4.getMilliamps());
   #endif
 
-  #if AXIS_IS_TMC(I)
-    say_M906(forReplay);
-    SERIAL_ECHOLNPGM_P(SP_I_STR, stepperI.getMilliamps());
-  #endif
-  #if AXIS_IS_TMC(J)
-    say_M906(forReplay);
-    SERIAL_ECHOLNPGM_P(SP_J_STR, stepperJ.getMilliamps());
-  #endif
-  #if AXIS_IS_TMC(K)
-    say_M906(forReplay);
-    SERIAL_ECHOLNPGM_P(SP_K_STR, stepperK.getMilliamps());
-  #endif
-
   #if AXIS_IS_TMC(E0)
     say_M906(forReplay);
     SERIAL_ECHOLNPGM(" T0 E", stepperE0.getMilliamps());

Marlin/src/gcode/gcode.cpp

@@ -74,7 +74,7 @@ millis_t GcodeSuite::previous_move_ms = 0,
 
 // Relative motion mode for each logical axis
 static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES;
-uint8_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
+axis_bits_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
   | (ar_init.e << REL_E),
   | (ar_init.x << REL_X),
   | (ar_init.y << REL_Y),

Marlin/src/gcode/gcode.h

@@ -327,7 +327,7 @@ extern const char G28_STR[];
 class GcodeSuite {
 public:
 
-  static uint8_t axis_relative;
+  static axis_bits_t axis_relative;
 
   static inline bool axis_is_relative(const AxisEnum a) {
     #if HAS_EXTRUDERS

Marlin/src/gcode/queue.cpp

@@ -260,8 +260,7 @@ void GCodeQueue::RingBuffer::ok_to_send() {
       while (NUMERIC_SIGNED(*p))
         SERIAL_CHAR(*p++);
     }
-    SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(),
+    SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(), SP_B_STR, BUFSIZE - length);
-                      SP_B_STR, BUFSIZE - length);
   #endif
   SERIAL_EOL();
 }

Marlin/src/inc/Conditionals_post.h

@@ -1922,21 +1922,15 @@
   #ifndef Z4_INTERPOLATE
     #define Z4_INTERPOLATE INTERPOLATE
   #endif
-  #if LINEAR_AXES >= 4
+  #if LINEAR_AXES >= 4 && !defined(I_INTERPOLATE)
-    #ifndef I_INTERPOLATE
     #define I_INTERPOLATE INTERPOLATE
   #endif
-  #endif
+  #if LINEAR_AXES >= 5 && !defined(J_INTERPOLATE)
-  #if LINEAR_AXES >= 5
-    #ifndef J_INTERPOLATE
     #define J_INTERPOLATE INTERPOLATE
   #endif
-  #endif
+  #if LINEAR_AXES >= 6 && !defined(K_INTERPOLATE)
-  #if LINEAR_AXES >= 6
-    #ifndef K_INTERPOLATE
     #define K_INTERPOLATE INTERPOLATE
   #endif
-  #endif
   #ifndef E0_INTERPOLATE
     #define E0_INTERPOLATE INTERPOLATE
   #endif
@@ -2660,7 +2654,7 @@
 #if HAS_EXTRUDERS && PIN_EXISTS(MOTOR_CURRENT_PWM_E)
   #define HAS_MOTOR_CURRENT_PWM_E 1
 #endif
-#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z)
+#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K)
   #define HAS_MOTOR_CURRENT_PWM 1
 #endif
 

Marlin/src/inc/SanityCheck.h

@@ -1404,8 +1404,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   #endif
 #endif
 #if LINEAR_AXES >= 5
-  #if AXIS5_NAME == AXIS4_NAME || AXIS5_NAME == AXIS6_NAME
+  #if AXIS5_NAME == AXIS4_NAME
-    #error "AXIS5_NAME must be different from AXIS4_NAME and AXIS6_NAME"
+    #error "AXIS5_NAME must be unique."
   #elif AXIS5_NAME != 'A' && AXIS5_NAME != 'B' && AXIS5_NAME != 'C' && AXIS5_NAME != 'U' && AXIS5_NAME != 'V' && AXIS5_NAME != 'W'
     #error "AXIS5_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
   #elif !defined(J_MIN_POS) || !defined(J_MAX_POS)
@@ -1418,7 +1418,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #endif
 #if LINEAR_AXES >= 6
   #if AXIS6_NAME == AXIS5_NAME || AXIS6_NAME == AXIS4_NAME
-    #error "AXIS6_NAME must be different from AXIS5_NAME and AXIS4_NAME."
+    #error "AXIS6_NAME must be unique."
   #elif AXIS6_NAME != 'A' && AXIS6_NAME != 'B' && AXIS6_NAME != 'C' && AXIS6_NAME != 'U' && AXIS6_NAME != 'V' && AXIS6_NAME != 'W'
     #error "AXIS6_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
   #elif !defined(K_MIN_POS) || !defined(K_MAX_POS)
@@ -3040,10 +3040,16 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMIN (or ENDSTOPPULLUPS) when homing to Z_MIN."
     #elif Z_SENSORLESS && Z_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_ZMAX)
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMAX (or ENDSTOPPULLUPS) when homing to Z_MAX."
+    #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_IMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMIN (or ENDSTOPPULLUPS) when homing to I_MIN."
     #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_IMAX)
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMAX (or ENDSTOPPULLUPS) when homing to I_MAX."
+    #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_JMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMIN (or ENDSTOPPULLUPS) when homing to J_MIN."
     #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_JMAX)
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMAX (or ENDSTOPPULLUPS) when homing to J_MAX."
+    #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_KMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMIN (or ENDSTOPPULLUPS) when homing to K_MIN."
     #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_KMAX)
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX."
     #endif

Marlin/src/lcd/extui/ui_api.cpp

@@ -423,6 +423,12 @@ namespace ExtUI {
         #if AXIS_IS_TMC(Z2)
           case Z2: return stepperZ2.getMilliamps();
         #endif
+        #if AXIS_IS_TMC(Z3)
+          case Z3: return stepperZ3.getMilliamps();
+        #endif
+        #if AXIS_IS_TMC(Z4)
+          case Z4: return stepperZ4.getMilliamps();
+        #endif
         default: return NAN;
       };
     }
@@ -486,6 +492,12 @@ namespace ExtUI {
         #if AXIS_IS_TMC(Z2)
           case Z2: stepperZ2.rms_current(constrain(mA, 400, 1500)); break;
         #endif
+        #if AXIS_IS_TMC(Z3)
+          case Z3: stepperZ3.rms_current(constrain(mA, 400, 1500)); break;
+        #endif
+        #if AXIS_IS_TMC(Z4)
+          case Z4: stepperZ4.rms_current(constrain(mA, 400, 1500)); break;
+        #endif
         default: break;
       };
     }

Marlin/src/module/planner.cpp

@@ -1310,7 +1310,7 @@ void Planner::recalculate() {
  */
 void Planner::check_axes_activity() {
 
-  #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z , DISABLE_I , DISABLE_J , DISABLE_K, DISABLE_E)
+  #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K, DISABLE_E)
     xyze_bool_t axis_active = { false };
   #endif
 
@@ -1913,7 +1913,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
 
   // Compute direction bit-mask for this block
-  uint8_t dm = 0;
+  axis_bits_t dm = 0;
   #if CORE_IS_XY
     if (da < 0) SBI(dm, X_HEAD);                // Save the toolhead's true direction in X
     if (db < 0) SBI(dm, Y_HEAD);                // ...and Y
@@ -2345,11 +2345,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
 
   #ifdef XY_FREQUENCY_LIMIT
 
-    static uint8_t old_direction_bits; // = 0
+    static axis_bits_t old_direction_bits; // = 0
 
     if (xy_freq_limit_hz) {
       // Check and limit the xy direction change frequency
-      const uint8_t direction_change = block->direction_bits ^ old_direction_bits;
+      const axis_bits_t direction_change = block->direction_bits ^ old_direction_bits;
       old_direction_bits = block->direction_bits;
       segment_time_us = LROUND(float(segment_time_us) / speed_factor);
 

Marlin/src/module/planner.h

@@ -202,7 +202,7 @@ typedef struct block_t {
     uint32_t acceleration_rate;             // The acceleration rate used for acceleration calculation
   #endif
 
-  uint8_t direction_bits;                   // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+  axis_bits_t direction_bits;               // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
 
   // Advance extrusion
   #if ENABLED(LIN_ADVANCE)

Marlin/src/module/stepper.cpp

@@ -149,7 +149,7 @@ Stepper stepper; // Singleton
 
 block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced
 
-uint8_t Stepper::last_direction_bits, // = 0
+axis_bits_t Stepper::last_direction_bits, // = 0
             Stepper::axis_did_move; // = 0
 
 bool Stepper::abort_current_block;
@@ -503,17 +503,14 @@ void Stepper::set_directions() {
   #if HAS_Z_DIR
     SET_STEP_DIR(Z); // C
   #endif
-
   #if HAS_I_DIR
-    SET_STEP_DIR(I); // I
+    SET_STEP_DIR(I);
   #endif
-
   #if HAS_J_DIR
-    SET_STEP_DIR(J); // J
+    SET_STEP_DIR(J);
   #endif
-
   #if HAS_K_DIR
-    SET_STEP_DIR(K); // K
+    SET_STEP_DIR(K);
   #endif
 
   #if DISABLED(LIN_ADVANCE)
@@ -1635,7 +1632,7 @@ void Stepper::pulse_phase_isr() {
             case 0: {
               const uint8_t low = page_step_state.page[page_step_state.segment_idx],
                            high = page_step_state.page[page_step_state.segment_idx + 1];
-              uint8_t dm = last_direction_bits;
+              axis_bits_t dm = last_direction_bits;
 
               PAGE_SEGMENT_UPDATE(X, low >> 4);
               PAGE_SEGMENT_UPDATE(Y, low & 0xF);
@@ -2156,7 +2153,7 @@ uint32_t Stepper::block_phase_isr() {
         #define Z_MOVE_TEST !!current_block->steps.c
       #endif
 
-      uint8_t axis_bits = 0;
+      axis_bits_t axis_bits = 0;
       LINEAR_AXIS_CODE(
         if (X_MOVE_TEST)            SBI(axis_bits, A_AXIS),
         if (Y_MOVE_TEST)            SBI(axis_bits, B_AXIS),
@@ -3003,16 +3000,15 @@ void Stepper::report_positions() {
 
           const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
 
-          ENABLE_AXIS_X();
+          ENABLE_AXIS_X(); ENABLE_AXIS_Y(); ENABLE_AXIS_Z();
-          ENABLE_AXIS_Y();
+          ENABLE_AXIS_I(); ENABLE_AXIS_J(); ENABLE_AXIS_K();
-          ENABLE_AXIS_Z();
-          ENABLE_AXIS_I();
-          ENABLE_AXIS_J();
-          ENABLE_AXIS_K();
 
           DIR_WAIT_BEFORE();
 
-          const xyz_byte_t old_dir = LINEAR_AXIS_ARRAY(X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(), I_DIR_READ(), J_DIR_READ(), K_DIR_READ());
+          const xyz_byte_t old_dir = LINEAR_AXIS_ARRAY(
+            X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(),
+            I_DIR_READ(), J_DIR_READ(), K_DIR_READ()
+          );
 
           X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
           #ifdef Y_DIR_WRITE

Marlin/src/module/stepper.h

@@ -276,7 +276,7 @@ class Stepper {
 
     static block_t* current_block;          // A pointer to the block currently being traced
 
-    static uint8_t last_direction_bits,     // The next stepping-bits to be output
+    static axis_bits_t last_direction_bits, // The next stepping-bits to be output
                        axis_did_move;       // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
 
     static bool abort_current_block;        // Signals to the stepper that current block should be aborted
@@ -523,7 +523,7 @@ class Stepper {
     static void set_directions();
 
     // Set direction bits and update all stepper DIR states
-    static void set_directions(const uint8_t bits) {
+    static void set_directions(const axis_bits_t bits) {
       last_direction_bits = bits;
       set_directions();
     }

Marlin/src/module/stepper/trinamic.cpp

@@ -164,6 +164,15 @@ enum StealthIndex : uint8_t {
 #ifndef TMC_Z4_BAUD_RATE
   #define TMC_Z4_BAUD_RATE TMC_BAUD_RATE
 #endif
+#ifndef TMC_I_BAUD_RATE
+  #define TMC_I_BAUD_RATE TMC_BAUD_RATE
+#endif
+#ifndef TMC_J_BAUD_RATE
+  #define TMC_J_BAUD_RATE TMC_BAUD_RATE
+#endif
+#ifndef TMC_K_BAUD_RATE
+  #define TMC_K_BAUD_RATE TMC_BAUD_RATE
+#endif
 #ifndef TMC_E0_BAUD_RATE
   #define TMC_E0_BAUD_RATE TMC_BAUD_RATE
 #endif
@@ -834,12 +843,8 @@ void restore_trinamic_drivers() {
 void reset_trinamic_drivers() {
   static constexpr bool stealthchop_by_axis[] = LOGICAL_AXIS_ARRAY(
     ENABLED(STEALTHCHOP_E),
-    ENABLED(STEALTHCHOP_XY),
+    ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_Z),
-    ENABLED(STEALTHCHOP_XY),
+    ENABLED(STEALTHCHOP_I), ENABLED(STEALTHCHOP_J), ENABLED(STEALTHCHOP_K)
-    ENABLED(STEALTHCHOP_Z),
-    ENABLED(STEALTHCHOP_I),
-    ENABLED(STEALTHCHOP_J),
-    ENABLED(STEALTHCHOP_K)
   );
 
   #if AXIS_IS_TMC(X)

Marlin/src/pins/pins_postprocess.h

@@ -464,11 +464,19 @@
   #ifdef I_STOP_PIN
     #if I_HOME_TO_MIN
       #define I_MIN_PIN I_STOP_PIN
+      #ifndef I_MAX_PIN
         #define I_MAX_PIN -1
-    #else
-      #define I_MIN_PIN -1
-      #define I_MAX_PIN I_STOP_PIN
       #endif
+    #else
+      #define I_MAX_PIN I_STOP_PIN
+      #ifndef I_MIN_PIN
+        #define I_MIN_PIN -1
+      #endif
+    #endif
+  #elif I_HOME_TO_MIN
+    #define I_STOP_PIN I_MIN_PIN
+  #else
+    #define I_STOP_PIN I_MAX_PIN
   #endif
 #else
   #undef I_MIN_PIN
@@ -479,11 +487,19 @@
   #ifdef J_STOP_PIN
     #if J_HOME_TO_MIN
       #define J_MIN_PIN J_STOP_PIN
+      #ifndef J_MAX_PIN
         #define J_MAX_PIN -1
-    #else
-      #define J_MIN_PIN -1
-      #define J_MAX_PIN J_STOP_PIN
       #endif
+    #else
+      #define J_MAX_PIN J_STOP_PIN
+      #ifndef J_MIN_PIN
+        #define J_MIN_PIN -1
+      #endif
+    #endif
+  #elif J_HOME_TO_MIN
+    #define J_STOP_PIN J_MIN_PIN
+  #else
+    #define J_STOP_PIN J_MAX_PIN
   #endif
 #else
   #undef J_MIN_PIN
@@ -494,11 +510,19 @@
   #ifdef K_STOP_PIN
     #if K_HOME_TO_MIN
       #define K_MIN_PIN K_STOP_PIN
+      #ifndef K_MAX_PIN
         #define K_MAX_PIN -1
-    #else
-      #define K_MIN_PIN -1
-      #define K_MAX_PIN K_STOP_PIN
       #endif
+    #else
+      #define K_MAX_PIN K_STOP_PIN
+      #ifndef K_MIN_PIN
+        #define K_MIN_PIN -1
+      #endif
+    #endif
+  #elif K_HOME_TO_MIN
+    #define K_STOP_PIN K_MIN_PIN
+  #else
+    #define K_STOP_PIN K_MAX_PIN
   #endif
 #else
   #undef K_MIN_PIN