🏗️ Support for up to 6 linear axes (#19112)

Co-authored-by: Scott Lahteine <github@thinkyhead.com>

Marlin/Configuration.h

@@ -35,7 +35,7 @@
  *
  * Advanced settings can be found in Configuration_adv.h
  */
-#define CONFIGURATION_H_VERSION 02000801
+#define CONFIGURATION_H_VERSION 02000900
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -66,6 +66,14 @@
 //
 //===========================================================================
 
+//===========================================================================
+//=========================== FOAMCUTTER_XYUV ==============================
+//===========================================================================
+// For a hot wire cutter with parallel horizontal axes X, I where the hights
+// of the two wire ends are controlled by parallel axes Y, J.
+//
+//#define FOAMCUTTER_XYUV
+
 // @section info
 
 // Author info of this build printed to the host during boot and M115
@@ -149,6 +157,45 @@
 // Choose your own or use a service like https://www.uuidgenerator.net/version4
 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 
+/**
+ * Define the number of coordinated linear axes.
+ * See https://github.com/DerAndere1/Marlin/wiki
+ * Each linear axis gets its own stepper control and endstop:
+ *
+ *   Steppers: *_STEP_PIN, *_ENABLE_PIN, *_DIR_PIN, *_ENABLE_ON
+ *   Endstops: *_STOP_PIN, USE_*MIN_PLUG, USE_*MAX_PLUG
+ *       Axes: *_MIN_POS, *_MAX_POS, INVERT_*_DIR
+ *    Planner: DEFAULT_AXIS_STEPS_PER_UNIT, DEFAULT_MAX_FEEDRATE
+ *             DEFAULT_MAX_ACCELERATION, AXIS_RELATIVE_MODES,
+ *             MICROSTEP_MODES, MANUAL_FEEDRATE
+ *
+ * :[3, 4, 5, 6]
+ */
+//#define LINEAR_AXES 3
+
+/**
+ * Axis codes for additional axes:
+ * This defines the axis code that is used in G-code commands to
+ * reference a specific axis.
+ * 'A' for rotational axis parallel to X
+ * 'B' for rotational axis parallel to Y
+ * 'C' for rotational axis parallel to Z
+ * 'U' for secondary linear axis parallel to X
+ * 'V' for secondary linear axis parallel to Y
+ * 'W' for secondary linear axis parallel to Z
+ * Regardless of the settings, firmware-internal axis IDs are
+ * I (AXIS4), J (AXIS5), K (AXIS6).
+ */
+#if LINEAR_AXES >= 4
+  #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
+#endif
+#if LINEAR_AXES >= 5
+  #define AXIS5_NAME 'B' // :['A', 'B', 'C', 'U', 'V', 'W']
+#endif
+#if LINEAR_AXES >= 6
+  #define AXIS6_NAME 'C' // :['A', 'B', 'C', 'U', 'V', 'W']
+#endif
+
 // @section extruder
 
 // This defines the number of extruders
@@ -691,9 +738,15 @@
 #define USE_XMIN_PLUG
 #define USE_YMIN_PLUG
 #define USE_ZMIN_PLUG
+//#define USE_IMIN_PLUG
+//#define USE_JMIN_PLUG
+//#define USE_KMIN_PLUG
 //#define USE_XMAX_PLUG
 //#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
+//#define USE_IMAX_PLUG
+//#define USE_JMAX_PLUG
+//#define USE_KMAX_PLUG
 
 // Enable pullup for all endstops to prevent a floating state
 #define ENDSTOPPULLUPS
@@ -702,9 +755,15 @@
   //#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_ZMIN_PROBE
 #endif
 
@@ -715,9 +774,15 @@
   //#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_ZMIN_PROBE
 #endif
 
@@ -725,9 +790,15 @@
 #define X_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.
 
 /**
@@ -756,6 +827,9 @@
 //#define Z2_DRIVER_TYPE A4988
 //#define Z3_DRIVER_TYPE A4988
 //#define Z4_DRIVER_TYPE A4988
+//#define I_DRIVER_TYPE  A4988
+//#define J_DRIVER_TYPE  A4988
+//#define K_DRIVER_TYPE  A4988
 #define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988
@@ -809,14 +883,14 @@
 /**
  * Default Axis Steps Per Unit (steps/mm)
  * Override with M92
- *                                      X, Y, Z, E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
 
 /**
  * Default Max Feed Rate (mm/s)
  * Override with M203
- *                                      X, Y, Z, E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
 
@@ -829,7 +903,7 @@
  * Default Max Acceleration (change/s) change = mm/s
  * (Maximum start speed for accelerated moves)
  * Override with M201
- *                                      X, Y, Z, E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
 
@@ -863,6 +937,9 @@
   #define DEFAULT_XJERK 10.0
   #define DEFAULT_YJERK 10.0
   #define DEFAULT_ZJERK  0.3
+  //#define DEFAULT_IJERK  0.3
+  //#define DEFAULT_JJERK  0.3
+  //#define DEFAULT_KJERK  0.3
 
   //#define TRAVEL_EXTRA_XYJERK 0.0     // Additional jerk allowance for all travel moves
 
@@ -1177,12 +1254,18 @@
 #define Y_ENABLE_ON 0
 #define Z_ENABLE_ON 0
 #define E_ENABLE_ON 0 // For all extruders
+//#define I_ENABLE_ON 0
+//#define J_ENABLE_ON 0
+//#define K_ENABLE_ON 0
 
 // Disable axis steppers immediately when they're not being stepped.
 // WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
+//#define DISABLE_I false
+//#define DISABLE_J false
+//#define DISABLE_K false
 
 // Turn off the display blinking that warns about possible accuracy reduction
 //#define DISABLE_REDUCED_ACCURACY_WARNING
@@ -1198,6 +1281,9 @@
 #define INVERT_X_DIR false
 #define INVERT_Y_DIR true
 #define INVERT_Z_DIR false
+//#define INVERT_I_DIR false
+//#define INVERT_J_DIR false
+//#define INVERT_K_DIR false
 
 // @section extruder
 
@@ -1233,6 +1319,9 @@
 #define X_HOME_DIR -1
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1
+//#define I_HOME_DIR -1
+//#define J_HOME_DIR -1
+//#define K_HOME_DIR -1
 
 // @section machine
 
@@ -1247,6 +1336,12 @@
 #define X_MAX_POS X_BED_SIZE
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 200
+//#define I_MIN_POS 0
+//#define I_MAX_POS 50
+//#define J_MIN_POS 0
+//#define J_MAX_POS 50
+//#define K_MIN_POS 0
+//#define K_MAX_POS 50
 
 /**
  * Software Endstops
@@ -1263,6 +1358,9 @@
   #define MIN_SOFTWARE_ENDSTOP_X
   #define MIN_SOFTWARE_ENDSTOP_Y
   #define MIN_SOFTWARE_ENDSTOP_Z
+  #define MIN_SOFTWARE_ENDSTOP_I
+  #define MIN_SOFTWARE_ENDSTOP_J
+  #define MIN_SOFTWARE_ENDSTOP_K
 #endif
 
 // Max software endstops constrain movement within maximum coordinate bounds
@@ -1271,6 +1369,9 @@
   #define MAX_SOFTWARE_ENDSTOP_X
   #define MAX_SOFTWARE_ENDSTOP_Y
   #define MAX_SOFTWARE_ENDSTOP_Z
+  #define MAX_SOFTWARE_ENDSTOP_I
+  #define MAX_SOFTWARE_ENDSTOP_J
+  #define MAX_SOFTWARE_ENDSTOP_K
 #endif
 
 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
@@ -1582,6 +1683,9 @@
 //#define MANUAL_X_HOME_POS 0
 //#define MANUAL_Y_HOME_POS 0
 //#define MANUAL_Z_HOME_POS 0
+//#define MANUAL_I_HOME_POS 0
+//#define MANUAL_J_HOME_POS 0
+//#define MANUAL_K_HOME_POS 0
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
 //

Marlin/Configuration_adv.h

@@ -30,7 +30,7 @@
  *
  * Basic settings can be found in Configuration.h
  */
-#define CONFIGURATION_ADV_H_VERSION 02000801
+#define CONFIGURATION_ADV_H_VERSION 02000900
 
 //===========================================================================
 //============================= Thermal Settings ============================
@@ -918,6 +918,9 @@
 #define INVERT_X_STEP_PIN false
 #define INVERT_Y_STEP_PIN false
 #define INVERT_Z_STEP_PIN false
+#define INVERT_I_STEP_PIN false
+#define INVERT_J_STEP_PIN false
+#define INVERT_K_STEP_PIN false
 #define INVERT_E_STEP_PIN false
 
 /**
@@ -929,6 +932,9 @@
 #define DISABLE_INACTIVE_X true
 #define DISABLE_INACTIVE_Y true
 #define DISABLE_INACTIVE_Z true  // Set 'false' if the nozzle could fall onto your printed part!
+#define DISABLE_INACTIVE_I true
+#define DISABLE_INACTIVE_J true
+#define DISABLE_INACTIVE_K true
 #define DISABLE_INACTIVE_E true
 
 // Default Minimum Feedrates for printing and travel moves
@@ -969,7 +975,7 @@
 #if ENABLED(BACKLASH_COMPENSATION)
   // Define values for backlash distance and correction.
   // If BACKLASH_GCODE is enabled these values are the defaults.
-  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) One value for each linear axis
   #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
 
   // Add steps for motor direction changes on CORE kinematics
@@ -1040,6 +1046,13 @@
   #define CALIBRATION_MEASURE_LEFT
   #define CALIBRATION_MEASURE_BACK
 
+  //#define CALIBRATION_MEASURE_IMIN
+  //#define CALIBRATION_MEASURE_IMAX
+  //#define CALIBRATION_MEASURE_JMIN
+  //#define CALIBRATION_MEASURE_JMAX
+  //#define CALIBRATION_MEASURE_KMIN
+  //#define CALIBRATION_MEASURE_KMAX
+
   // Probing at the exact top center only works if the center is flat. If
   // probing on a screwhead or hollow washer, probe near the edges.
   //#define CALIBRATION_MEASURE_AT_TOP_EDGES
@@ -2236,6 +2249,13 @@
     //#define EVENT_GCODE_AFTER_TOOLCHANGE "G12X"   // Extra G-code to run after tool-change
   #endif
 
+  /**
+   * Extra G-code to run while executing tool-change commands. Can be used to use an additional
+   * stepper motor (I axis, see option LINEAR_AXES in Configuration.h) to drive the tool-changer.
+   */
+  //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 I0" // Extra G-code to run while executing tool-change command T0
+  //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10"       // Extra G-code to run while executing tool-change command T1
+
   /**
    * Tool Sensors detect when tools have been picked up or dropped.
    * Requires the pins TOOL_SENSOR1_PIN, TOOL_SENSOR2_PIN, etc.
@@ -2413,6 +2433,24 @@
     #define Z4_MICROSTEPS       Z_MICROSTEPS
   #endif
 
+  #if AXIS_DRIVER_TYPE_I(TMC26X)
+    #define I_MAX_CURRENT    1000
+    #define I_SENSE_RESISTOR   91
+    #define I_MICROSTEPS       16
+  #endif
+
+  #if AXIS_DRIVER_TYPE_J(TMC26X)
+    #define J_MAX_CURRENT    1000
+    #define J_SENSE_RESISTOR   91
+    #define J_MICROSTEPS       16
+  #endif
+
+  #if AXIS_DRIVER_TYPE_K(TMC26X)
+    #define K_MAX_CURRENT    1000
+    #define K_SENSE_RESISTOR   91
+    #define K_MICROSTEPS       16
+  #endif
+
   #if AXIS_DRIVER_TYPE_E0(TMC26X)
     #define E0_MAX_CURRENT    1000
     #define E0_SENSE_RESISTOR   91
@@ -2563,6 +2601,33 @@
     //#define Z4_INTERPOLATE true
   #endif
 
+  #if AXIS_IS_TMC(I)
+    #define I_CURRENT      800
+    #define I_CURRENT_HOME I_CURRENT
+    #define I_MICROSTEPS    16
+    #define I_RSENSE         0.11
+    #define I_CHAIN_POS     -1
+    //#define I_INTERPOLATE  true
+  #endif
+
+  #if AXIS_IS_TMC(J)
+    #define J_CURRENT      800
+    #define J_CURRENT_HOME J_CURRENT
+    #define J_MICROSTEPS    16
+    #define J_RSENSE         0.11
+    #define J_CHAIN_POS     -1
+    //#define J_INTERPOLATE  true
+  #endif
+
+  #if AXIS_IS_TMC(K)
+    #define K_CURRENT      800
+    #define K_CURRENT_HOME K_CURRENT
+    #define K_MICROSTEPS    16
+    #define K_RSENSE         0.11
+    #define K_CHAIN_POS     -1
+    //#define K_INTERPOLATE  true
+  #endif
+
   #if AXIS_IS_TMC(E0)
     #define E0_CURRENT      800
     #define E0_MICROSTEPS    16
@@ -2638,6 +2703,10 @@
   //#define Y2_CS_PIN         -1
   //#define Z2_CS_PIN         -1
   //#define Z3_CS_PIN         -1
+  //#define Z4_CS_PIN         -1
+  //#define I_CS_PIN          -1
+  //#define J_CS_PIN          -1
+  //#define K_CS_PIN          -1
   //#define E0_CS_PIN         -1
   //#define E1_CS_PIN         -1
   //#define E2_CS_PIN         -1
@@ -2677,6 +2746,9 @@
   //#define Z2_SLAVE_ADDRESS 0
   //#define Z3_SLAVE_ADDRESS 0
   //#define Z4_SLAVE_ADDRESS 0
+  //#define  I_SLAVE_ADDRESS 0
+  //#define  J_SLAVE_ADDRESS 0
+  //#define  K_SLAVE_ADDRESS 0
   //#define E0_SLAVE_ADDRESS 0
   //#define E1_SLAVE_ADDRESS 0
   //#define E2_SLAVE_ADDRESS 0
@@ -2701,6 +2773,9 @@
    */
   #define STEALTHCHOP_XY
   #define STEALTHCHOP_Z
+  #define STEALTHCHOP_I
+  #define STEALTHCHOP_J
+  #define STEALTHCHOP_K
   #define STEALTHCHOP_E
 
   /**
@@ -2772,6 +2847,9 @@
   #define Z2_HYBRID_THRESHOLD      3
   #define Z3_HYBRID_THRESHOLD      3
   #define Z4_HYBRID_THRESHOLD      3
+  #define I_HYBRID_THRESHOLD       3
+  #define J_HYBRID_THRESHOLD       3
+  #define K_HYBRID_THRESHOLD       3
   #define E0_HYBRID_THRESHOLD     30
   #define E1_HYBRID_THRESHOLD     30
   #define E2_HYBRID_THRESHOLD     30
@@ -2818,6 +2896,9 @@
     //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY
     //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY
     //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY
+    //#define I_STALL_SENSITIVITY  8
+    //#define J_STALL_SENSITIVITY  8
+    //#define K_STALL_SENSITIVITY  8
     //#define SPI_ENDSTOPS              // TMC2130 only
     //#define IMPROVE_HOMING_RELIABILITY
   #endif
@@ -2958,6 +3039,33 @@
     #define Z4_SLEW_RATE                 1
   #endif
 
+  #if AXIS_DRIVER_TYPE_I(L6470)
+    #define I_MICROSTEPS      128
+    #define I_OVERCURRENT    2000
+    #define I_STALLCURRENT   1500
+    #define I_MAX_VOLTAGE     127
+    #define I_CHAIN_POS        -1
+    #define I_SLEW_RATE         1
+  #endif
+
+  #if AXIS_DRIVER_TYPE_J(L6470)
+    #define J_MICROSTEPS      128
+    #define J_OVERCURRENT    2000
+    #define J_STALLCURRENT   1500
+    #define J_MAX_VOLTAGE     127
+    #define J_CHAIN_POS        -1
+    #define J_SLEW_RATE         1
+  #endif
+
+  #if AXIS_DRIVER_TYPE_K(L6470)
+    #define K_MICROSTEPS      128
+    #define K_OVERCURRENT    2000
+    #define K_STALLCURRENT   1500
+    #define K_MAX_VOLTAGE     127
+    #define K_CHAIN_POS        -1
+    #define K_SLEW_RATE         1
+  #endif
+
   #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS              128
     #define E0_OVERCURRENT            2000

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -168,6 +168,51 @@ void setup_endstop_interrupts() {
       pciSetup(Z_MIN_PIN);
     #endif
   #endif
+  #if HAS_I_MAX
+    #if (digitalPinToInterrupt(I_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(I_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable");
+      pciSetup(I_MAX_PIN);
+    #endif
+  #elif HAS_I_MIN
+    #if (digitalPinToInterrupt(I_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(I_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable");
+      pciSetup(I_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_J_MAX
+    #if (digitalPinToInterrupt(J_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(J_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable");
+      pciSetup(J_MAX_PIN);
+    #endif
+  #elif HAS_J_MIN
+    #if (digitalPinToInterrupt(J_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(J_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable");
+      pciSetup(J_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_K_MAX
+    #if (digitalPinToInterrupt(K_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(K_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable");
+      pciSetup(K_MAX_PIN);
+    #endif
+  #elif HAS_K_MIN
+    #if (digitalPinToInterrupt(K_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(K_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable");
+      pciSetup(K_MIN_PIN);
+    #endif
+  #endif
   #if HAS_X2_MAX
     #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(X2_MAX_PIN);
@@ -256,6 +301,5 @@ void setup_endstop_interrupts() {
       pciSetup(Z_MIN_PROBE_PIN);
     #endif
   #endif
-
   // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
 }

Marlin/src/HAL/DUE/endstop_interrupts.h

@@ -64,4 +64,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
 }

Marlin/src/HAL/ESP32/endstop_interrupts.h

@@ -59,4 +59,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
 }

Marlin/src/HAL/LPC1768/endstop_interrupts.h

@@ -122,4 +122,37 @@ void setup_endstop_interrupts() {
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
   #endif
+  #if HAS_I_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(I_MAX_PIN)
+      #error "I_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(I_MAX_PIN);
+  #elif HAS_I_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(I_MIN_PIN)
+      #error "I_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(I_MIN_PIN);
+  #endif
+  #if HAS_J_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(J_MAX_PIN)
+      #error "J_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(J_MAX_PIN);
+  #elif HAS_J_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(J_MIN_PIN)
+      #error "J_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(J_MIN_PIN);
+  #endif
+  #if HAS_K_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(K_MAX_PIN)
+      #error "K_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(K_MAX_PIN);
+  #elif HAS_K_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(K_MIN_PIN)
+      #error "K_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(K_MIN_PIN);
+  #endif
 }

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -48,79 +48,37 @@
 #include "../../module/endstops.h"
 
 #define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2))
-#if HAS_X_MAX
+#define MATCH_X_MAX_EILINE(P)   TERN0(HAS_X_MAX,  DEFER4(MATCH_EILINE)(P, X_MAX_PIN))
-  #define MATCH_X_MAX_EILINE(P) MATCH_EILINE(P, X_MAX_PIN)
+#define MATCH_X_MIN_EILINE(P)   TERN0(HAS_X_MIN,  DEFER4(MATCH_EILINE)(P, X_MIN_PIN))
-#else
+#define MATCH_Y_MAX_EILINE(P)   TERN0(HAS_Y_MAX,  DEFER4(MATCH_EILINE)(P, Y_MAX_PIN))
-  #define MATCH_X_MAX_EILINE(P) false
+#define MATCH_Y_MIN_EILINE(P)   TERN0(HAS_Y_MIN,  DEFER4(MATCH_EILINE)(P, Y_MIN_PIN))
-#endif
+#define MATCH_Z_MAX_EILINE(P)   TERN0(HAS_Z_MAX,  DEFER4(MATCH_EILINE)(P, Z_MAX_PIN))
-#if HAS_X_MIN
+#define MATCH_Z_MIN_EILINE(P)   TERN0(HAS_Z_MIN,  DEFER4(MATCH_EILINE)(P, Z_MIN_PIN))
-  #define MATCH_X_MIN_EILINE(P) MATCH_EILINE(P, X_MIN_PIN)
+#define MATCH_I_MAX_EILINE(P)   TERN0(HAS_I_MAX,  DEFER4(MATCH_EILINE)(P, I_MAX_PIN))
-#else
+#define MATCH_I_MIN_EILINE(P)   TERN0(HAS_I_MIN,  DEFER4(MATCH_EILINE)(P, I_MIN_PIN))
-  #define MATCH_X_MIN_EILINE(P) false
+#define MATCH_J_MAX_EILINE(P)   TERN0(HAS_J_MAX,  DEFER4(MATCH_EILINE)(P, J_MAX_PIN))
-#endif
+#define MATCH_J_MIN_EILINE(P)   TERN0(HAS_J_MIN,  DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
-#if HAS_Y_MAX
+#define MATCH_K_MAX_EILINE(P)   TERN0(HAS_K_MAX,  DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
-   #define MATCH_Y_MAX_EILINE(P) MATCH_EILINE(P, Y_MAX_PIN)
+#define MATCH_K_MIN_EILINE(P)   TERN0(HAS_K_MIN,  DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
-#else
+#define MATCH_Z2_MAX_EILINE(P)  TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN))
-   #define MATCH_Y_MAX_EILINE(P) false
+#define MATCH_Z2_MIN_EILINE(P)  TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN))
-#endif
+#define MATCH_Z3_MAX_EILINE(P)  TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN))
-#if HAS_Y_MIN
+#define MATCH_Z3_MIN_EILINE(P)  TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN))
-  #define MATCH_Y_MIN_EILINE(P) MATCH_EILINE(P, Y_MIN_PIN)
+#define MATCH_Z4_MAX_EILINE(P)  TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN))
-#else
+#define MATCH_Z4_MIN_EILINE(P)  TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN))
-  #define MATCH_Y_MIN_EILINE(P) false
+#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN))
-#endif
+
-#if HAS_Z_MAX
+#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1    \
-   #define MATCH_Z_MAX_EILINE(P) MATCH_EILINE(P, Z_MAX_PIN)
-#else
-  #define MATCH_Z_MAX_EILINE(P) false
-#endif
-#if HAS_Z_MIN
-  #define MATCH_Z_MIN_EILINE(P) MATCH_EILINE(P, Z_MIN_PIN)
-#else
-  #define MATCH_Z_MIN_EILINE(P) false
-#endif
-#if HAS_Z2_MAX
-  #define MATCH_Z2_MAX_EILINE(P) MATCH_EILINE(P, Z2_MAX_PIN)
-#else
-  #define MATCH_Z2_MAX_EILINE(P) false
-#endif
-#if HAS_Z2_MIN
-  #define MATCH_Z2_MIN_EILINE(P) MATCH_EILINE(P, Z2_MIN_PIN)
-#else
-  #define MATCH_Z2_MIN_EILINE(P) false
-#endif
-#if HAS_Z3_MAX
-  #define MATCH_Z3_MAX_EILINE(P) MATCH_EILINE(P, Z3_MAX_PIN)
-#else
-  #define MATCH_Z3_MAX_EILINE(P) false
-#endif
-#if HAS_Z3_MIN
-  #define MATCH_Z3_MIN_EILINE(P) MATCH_EILINE(P, Z3_MIN_PIN)
-#else
-  #define MATCH_Z3_MIN_EILINE(P) false
-#endif
-#if HAS_Z4_MAX
-  #define MATCH_Z4_MAX_EILINE(P) MATCH_EILINE(P, Z4_MAX_PIN)
-#else
-  #define MATCH_Z4_MAX_EILINE(P) false
-#endif
-#if HAS_Z4_MIN
-  #define MATCH_Z4_MIN_EILINE(P) MATCH_EILINE(P, Z4_MIN_PIN)
-#else
-  #define MATCH_Z4_MIN_EILINE(P) false
-#endif
-#if HAS_Z_MIN_PROBE_PIN
-  #define MATCH_Z_MIN_PROBE_EILINE(P)   MATCH_EILINE(P, Z_MIN_PROBE_PIN)
-#else
-  #define MATCH_Z_MIN_PROBE_EILINE(P) false
-#endif
-#define AVAILABLE_EILINE(P)     (PIN_TO_EILINE(P) != -1                                 \
   && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P)   \
   && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P)   \
   && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P)   \
+  && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P)   \
+  && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P)   \
+  && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P)   \
   && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
   && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
   && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
-                                 && !MATCH_Z_MIN_PROBE_EILINE(P))
+  && !MATCH_Z_MIN_PROBE_EILINE(P) )
 
 // One ISR for all EXT-Interrupts
 void endstop_ISR() { endstops.update(); }
@@ -204,5 +162,37 @@ void setup_endstop_interrupts() {
       #error "Z_MIN_PROBE_PIN has no EXTINT line available."
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
+  #elif 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
+    #if !AVAILABLE_EILINE(I_MIN_PIN)
+      #error "I_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_J_MAX
+    #if !AVAILABLE_EILINE(J_MAX_PIN)
+      #error "J_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
+  #elif HAS_J_MIN
+    #if !AVAILABLE_EILINE(J_MIN_PIN)
+      #error "J_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_K_MAX
+    #if !AVAILABLE_EILINE(K_MAX_PIN)
+      #error "K_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
+  #elif HAS_K_MIN
+    #if !AVAILABLE_EILINE(K_MIN_PIN)
+      #error "K_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
   #endif
 }

Marlin/src/HAL/STM32/endstop_interrupts.h

@@ -46,4 +46,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
 }

Marlin/src/HAL/STM32F1/MarlinSerial.cpp

@@ -167,6 +167,15 @@ constexpr bool IsSerialClassAllowed(const HardwareSerial&) { return false; }
 #if AXIS_HAS_HW_SERIAL(Z4)
   CHECK_AXIS_SERIAL(Z4);
 #endif
+#if AXIS_HAS_HW_SERIAL(I)
+  CHECK_AXIS_SERIAL(I);
+#endif
+#if AXIS_HAS_HW_SERIAL(J)
+  CHECK_AXIS_SERIAL(J);
+#endif
+#if AXIS_HAS_HW_SERIAL(K)
+  CHECK_AXIS_SERIAL(K);
+#endif
 #if AXIS_HAS_HW_SERIAL(E0)
   CHECK_AXIS_SERIAL(E0);
 #endif

Marlin/src/HAL/STM32F1/endstop_interrupts.h

@@ -71,4 +71,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
 }

Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h

@@ -64,4 +64,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
 }

Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h

@@ -63,4 +63,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
 }

Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h

@@ -63,4 +63,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
 }

Marlin/src/MarlinCore.cpp

@@ -304,6 +304,9 @@ void enable_all_steppers() {
   ENABLE_AXIS_X();
   ENABLE_AXIS_Y();
   ENABLE_AXIS_Z();
+  ENABLE_AXIS_I(); // Marlin 6-axis support by DerAndere (https://github.com/DerAndere1/Marlin/wiki)
+  ENABLE_AXIS_J();
+  ENABLE_AXIS_K();
   enable_e_steppers();
 
   TERN_(EXTENSIBLE_UI, ExtUI::onSteppersEnabled());
@@ -325,6 +328,9 @@ void disable_all_steppers() {
   DISABLE_AXIS_X();
   DISABLE_AXIS_Y();
   DISABLE_AXIS_Z();
+  DISABLE_AXIS_I();
+  DISABLE_AXIS_J();
+  DISABLE_AXIS_K();
   disable_e_steppers();
 
   TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled());
@@ -444,6 +450,9 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
         if (ENABLED(DISABLE_INACTIVE_X)) DISABLE_AXIS_X();
         if (ENABLED(DISABLE_INACTIVE_Y)) DISABLE_AXIS_Y();
         if (ENABLED(DISABLE_INACTIVE_Z)) DISABLE_AXIS_Z();
+        if (ENABLED(DISABLE_INACTIVE_I)) DISABLE_AXIS_I();
+        if (ENABLED(DISABLE_INACTIVE_J)) DISABLE_AXIS_J();
+        if (ENABLED(DISABLE_INACTIVE_K)) DISABLE_AXIS_K();
         if (ENABLED(DISABLE_INACTIVE_E)) disable_e_steppers();
 
         TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled());
@@ -935,6 +944,15 @@ inline void tmc_standby_setup() {
   #if PIN_EXISTS(Z4_STDBY)
     SET_INPUT_PULLDOWN(Z4_STDBY_PIN);
   #endif
+  #if PIN_EXISTS(I_STDBY)
+    SET_INPUT_PULLDOWN(I_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(J_STDBY)
+    SET_INPUT_PULLDOWN(J_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(K_STDBY)
+    SET_INPUT_PULLDOWN(K_STDBY_PIN);
+  #endif
   #if PIN_EXISTS(E0_STDBY)
     SET_INPUT_PULLDOWN(E0_STDBY_PIN);
   #endif

Marlin/src/core/drivers.h

@@ -60,6 +60,9 @@
 #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_I(T) _AXIS_DRIVER_TYPE(I,T)
+#define AXIS_DRIVER_TYPE_J(T) _AXIS_DRIVER_TYPE(J,T)
+#define AXIS_DRIVER_TYPE_K(T) _AXIS_DRIVER_TYPE(K,T)
 
 #define AXIS_DRIVER_TYPE_X2(T) (EITHER(X_DUAL_STEPPER_DRIVERS, DUAL_X_CARRIAGE) && _AXIS_DRIVER_TYPE(X2,T))
 #define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
@@ -83,6 +86,7 @@
 #define HAS_E_DRIVER(T) (0 RREPEAT2(E_STEPPERS, _OR_ADTE, T))
 
 #define HAS_DRIVER(T) (  AXIS_DRIVER_TYPE_X(T)  || AXIS_DRIVER_TYPE_Y(T)  || AXIS_DRIVER_TYPE_Z(T)  \
+                      || AXIS_DRIVER_TYPE_I(T)  || AXIS_DRIVER_TYPE_J(T)  || AXIS_DRIVER_TYPE_K(T)  \
                       || AXIS_DRIVER_TYPE_X2(T) || AXIS_DRIVER_TYPE_Y2(T) || AXIS_DRIVER_TYPE_Z2(T) \
                       || AXIS_DRIVER_TYPE_Z3(T) || AXIS_DRIVER_TYPE_Z4(T) || HAS_E_DRIVER(T) )
 
@@ -153,9 +157,11 @@
 #define _OR_EAH(N,T)    || AXIS_HAS_##T(E##N)
 #define E_AXIS_HAS(T)   (0 _OR_EAH(0,T) _OR_EAH(1,T) _OR_EAH(2,T) _OR_EAH(3,T) _OR_EAH(4,T) _OR_EAH(5,T) _OR_EAH(6,T) _OR_EAH(7,T))
 
-#define ANY_AXIS_HAS(T) (    AXIS_HAS_##T(X)  || AXIS_HAS_##T(Y)  || AXIS_HAS_##T(Z)  \
+#define ANY_AXIS_HAS(T) (    AXIS_HAS_##T(X) || AXIS_HAS_##T(X2) \
-                          || AXIS_HAS_##T(X2) || AXIS_HAS_##T(Y2) || AXIS_HAS_##T(Z2) \
+                          || AXIS_HAS_##T(Y) || AXIS_HAS_##T(Y2) \
-                          || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) || E_AXIS_HAS(T) )
+                          || AXIS_HAS_##T(Z) || AXIS_HAS_##T(Z2) || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) \
+                          || AXIS_HAS_##T(I) || AXIS_HAS_##T(J)  || AXIS_HAS_##T(K) \
+                          || E_AXIS_HAS(T) )
 
 #if ANY_AXIS_HAS(STEALTHCHOP)
   #define HAS_STEALTHCHOP 1

Marlin/src/core/language.h

@@ -266,18 +266,25 @@
 #define STR_X_MAX                           "x_max"
 #define STR_X2_MIN                          "x2_min"
 #define STR_X2_MAX                          "x2_max"
-#define STR_Y_MIN                           "y_min"
+
-#define STR_Y_MAX                           "y_max"
+#if HAS_Y_AXIS
-#define STR_Y2_MIN                          "y2_min"
+  #define STR_Y_MIN                         "y_min"
-#define STR_Y2_MAX                          "y2_max"
+  #define STR_Y_MAX                         "y_max"
-#define STR_Z_MIN                           "z_min"
+  #define STR_Y2_MIN                        "y2_min"
-#define STR_Z_MAX                           "z_max"
+  #define STR_Y2_MAX                        "y2_max"
-#define STR_Z2_MIN                          "z2_min"
+#endif
-#define STR_Z2_MAX                          "z2_max"
+
-#define STR_Z3_MIN                          "z3_min"
+#if HAS_Z_AXIS
-#define STR_Z3_MAX                          "z3_max"
+  #define STR_Z_MIN                         "z_min"
-#define STR_Z4_MIN                          "z4_min"
+  #define STR_Z_MAX                         "z_max"
-#define STR_Z4_MAX                          "z4_max"
+  #define STR_Z2_MIN                        "z2_min"
+  #define STR_Z2_MAX                        "z2_max"
+  #define STR_Z3_MIN                        "z3_min"
+  #define STR_Z3_MAX                        "z3_max"
+  #define STR_Z4_MIN                        "z4_min"
+  #define STR_Z4_MAX                        "z4_max"
+#endif
+
 #define STR_Z_PROBE                         "z_probe"
 #define STR_PROBE_EN                        "probe_en"
 #define STR_FILAMENT_RUNOUT_SENSOR          "filament"
@@ -286,6 +293,9 @@
 #define STR_X "X"
 #define STR_Y "Y"
 #define STR_Z "Z"
+#define STR_I AXIS4_STR
+#define STR_J AXIS5_STR
+#define STR_K AXIS6_STR
 #define STR_E "E"
 #if IS_KINEMATIC
   #define STR_A "A"
@@ -305,8 +315,114 @@
 #define LCD_STR_A STR_A
 #define LCD_STR_B STR_B
 #define LCD_STR_C STR_C
+#define LCD_STR_I STR_I
+#define LCD_STR_J STR_J
+#define LCD_STR_K STR_K
 #define LCD_STR_E STR_E
 
+// Extra Axis and Endstop Names
+#if LINEAR_AXES >= 4
+  #if AXIS4_NAME == 'A'
+    #define AXIS4_STR "A"
+    #define STR_I_MIN "a_min"
+    #define STR_I_MAX "a_max"
+  #elif AXIS4_NAME == 'B'
+    #define AXIS4_STR "B"
+    #define STR_I_MIN "b_min"
+    #define STR_I_MAX "b_max"
+  #elif AXIS4_NAME == 'C'
+    #define AXIS4_STR "C"
+    #define STR_I_MIN "c_min"
+    #define STR_I_MAX "c_max"
+  #elif AXIS4_NAME == 'U'
+    #define AXIS4_STR "U"
+    #define STR_I_MIN "u_min"
+    #define STR_I_MAX "u_max"
+  #elif AXIS4_NAME == 'V'
+    #define AXIS4_STR "V"
+    #define STR_I_MIN "v_min"
+    #define STR_I_MAX "v_max"
+  #elif AXIS4_NAME == 'W'
+    #define AXIS4_STR "W"
+    #define STR_I_MIN "w_min"
+    #define STR_I_MAX "w_max"
+  #else
+    #define AXIS4_STR "A"
+    #define STR_I_MIN "a_min"
+    #define STR_I_MAX "a_max"
+  #endif
+#else
+  #define AXIS4_STR   ""
+#endif
+
+#if LINEAR_AXES >= 5
+  #if AXIS5_NAME == 'A'
+    #define AXIS5_STR "A"
+    #define STR_J_MIN "a_min"
+    #define STR_J_MAX "a_max"
+  #elif AXIS5_NAME == 'B'
+    #define AXIS5_STR "B"
+    #define STR_J_MIN "b_min"
+    #define STR_J_MAX "b_max"
+  #elif AXIS5_NAME == 'C'
+    #define AXIS5_STR "C"
+    #define STR_J_MIN "c_min"
+    #define STR_J_MAX "c_max"
+  #elif AXIS5_NAME == 'U'
+    #define AXIS5_STR "U"
+    #define STR_J_MIN "u_min"
+    #define STR_J_MAX "u_max"
+  #elif AXIS5_NAME == 'V'
+    #define AXIS5_STR "V"
+    #define STR_J_MIN "v_min"
+    #define STR_J_MAX "v_max"
+  #elif AXIS5_NAME == 'W'
+    #define AXIS5_STR "W"
+    #define STR_J_MIN "w_min"
+    #define STR_J_MAX "w_max"
+  #else
+    #define AXIS5_STR "B"
+    #define STR_J_MIN "b_min"
+    #define STR_J_MAX "b_max"
+  #endif
+#else
+  #define AXIS5_STR   ""
+#endif
+
+#if LINEAR_AXES >= 6
+  #if AXIS6_NAME == 'A'
+    #define AXIS6_STR "A"
+    #define STR_K_MIN "a_min"
+    #define STR_K_MAX "a_max"
+  #elif AXIS6_NAME == 'B'
+    #define AXIS6_STR "B"
+    #define STR_K_MIN "b_min"
+    #define STR_K_MAX "b_max"
+  #elif AXIS6_NAME == 'C'
+    #define AXIS6_STR "C"
+    #define STR_K_MIN "c_min"
+    #define STR_K_MAX "c_max"
+  #elif AXIS6_NAME == 'U'
+    #define AXIS6_STR "U"
+    #define STR_K_MIN "u_min"
+    #define STR_K_MAX "u_max"
+  #elif AXIS6_NAME == 'V'
+    #define AXIS6_STR "V"
+    #define STR_K_MIN "v_min"
+    #define STR_K_MAX "v_max"
+  #elif AXIS6_NAME == 'W'
+    #define AXIS6_STR "W"
+    #define STR_K_MIN "w_min"
+    #define STR_K_MAX "w_max"
+  #else
+    #define AXIS6_STR "C"
+    #define STR_K_MIN "c_min"
+    #define STR_K_MAX "c_max"
+  #endif
+#else
+  #define AXIS6_STR   ""
+#endif
+
 #if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL)
 
   // Custom characters defined in the first 8 characters of the LCD

Marlin/src/core/macros.h

@@ -36,12 +36,21 @@
 #define _XMIN_   100
 #define _YMIN_   200
 #define _ZMIN_   300
+#define _IMIN_   400
+#define _JMIN_   500
+#define _KMIN_   600
 #define _XMAX_   101
 #define _YMAX_   201
 #define _ZMAX_   301
+#define _IMAX_   401
+#define _JMAX_   501
+#define _KMAX_   601
 #define _XDIAG_  102
 #define _YDIAG_  202
 #define _ZDIAG_  302
+#define _IDIAG_  502
+#define _JDIAG_  602
+#define _KDIAG_  702
 #define _E0DIAG_ 400
 #define _E1DIAG_ 401
 #define _E2DIAG_ 402

Marlin/src/core/serial.cpp

@@ -36,6 +36,10 @@ PGMSTR(X_LBL,     "X:"); PGMSTR(Y_LBL,     "Y:"); PGMSTR(Z_LBL,     "Z:"); PGMST
 PGMSTR(SP_A_STR, " A");  PGMSTR(SP_B_STR, " B");  PGMSTR(SP_C_STR, " C");
 PGMSTR(SP_X_STR, " X");  PGMSTR(SP_Y_STR, " Y");  PGMSTR(SP_Z_STR, " Z");  PGMSTR(SP_E_STR, " E");
 PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMSTR(SP_E_LBL, " E:");
+PGMSTR(I_STR, AXIS4_STR);     PGMSTR(J_STR, AXIS5_STR);     PGMSTR(K_STR, AXIS6_STR);
+PGMSTR(I_LBL, AXIS4_STR ":"); PGMSTR(J_LBL, AXIS5_STR ":"); PGMSTR(K_LBL, AXIS6_STR ":");
+PGMSTR(SP_I_STR, " " AXIS4_STR);     PGMSTR(SP_J_STR, " " AXIS5_STR);     PGMSTR(SP_K_STR, " " AXIS6_STR);
+PGMSTR(SP_I_LBL, " " AXIS4_STR ":"); PGMSTR(SP_J_LBL, " " AXIS5_STR ":"); PGMSTR(SP_K_LBL, " " AXIS6_STR ":");
 
 // Hook Meatpack if it's enabled on the first leaf
 #if ENABLED(MEATPACK_ON_SERIAL_PORT_1)
@@ -101,11 +105,10 @@ void print_bin(uint16_t val) {
   }
 }
 
-void print_pos(
+void print_pos(LINEAR_AXIS_ARGS(const_float_t), PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
-  LINEAR_AXIS_LIST(const_float_t x, const_float_t y, const_float_t z)
-  , PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/
-) {
   if (prefix) serialprintPGM(prefix);
-  SERIAL_ECHOPAIR_P(LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z));
+  SERIAL_ECHOPAIR_P(
+    LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k)
+  );
   if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
 }

Marlin/src/core/serial.h

@@ -29,12 +29,16 @@
 #endif
 
 // Commonly-used strings in serial output
-extern const char NUL_STR[], SP_P_STR[], SP_T_STR[],
+extern const char NUL_STR[],
+                  SP_X_STR[], SP_Y_STR[], SP_Z_STR[],
+                  SP_A_STR[], SP_B_STR[], SP_C_STR[], SP_E_STR[],
+                  SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_E_LBL[],
+                  SP_I_STR[], SP_J_STR[], SP_K_STR[],
+                  SP_I_LBL[], SP_J_LBL[], SP_K_LBL[],
+                  SP_P_STR[], SP_T_STR[],
                   X_STR[], Y_STR[], Z_STR[], E_STR[],
                   X_LBL[], Y_LBL[], Z_LBL[], E_LBL[],
-                  SP_A_STR[], SP_B_STR[], SP_C_STR[],
+                  I_LBL[], J_LBL[], K_LBL[];
-                  SP_X_STR[], SP_Y_STR[], SP_Z_STR[], SP_E_STR[],
-                  SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_E_LBL[];
 
 //
 // Debugging flags for use by M111
@@ -310,13 +314,10 @@ void serialprint_truefalse(const bool tf);
 void serial_spaces(uint8_t count);
 
 void print_bin(const uint16_t val);
-void print_pos(
+void print_pos(LINEAR_AXIS_ARGS(const_float_t), PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
-  LINEAR_AXIS_LIST(const_float_t x, const_float_t y, const_float_t z),
-  PGM_P const prefix=nullptr, PGM_P const suffix=nullptr
-);
 
 inline void print_pos(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
-  print_pos(LINEAR_AXIS_LIST(xyz.x, xyz.y, xyz.z), prefix, suffix);
+  print_pos(LINEAR_AXIS_ELEM(xyz), prefix, suffix);
 }
 
 #define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)

Marlin/src/core/types.h

@@ -43,11 +43,17 @@ struct IF<true, L, R> { typedef L type; };
 #define LINEAR_AXIS_CODE(V...) CODE_N(LINEAR_AXES, V)
 #define LINEAR_AXIS_LIST(V...) LIST_N(LINEAR_AXES, V)
 #define LINEAR_AXIS_ARRAY(V...) { LINEAR_AXIS_LIST(V) }
+#define LINEAR_AXIS_ARGS(T...) LINEAR_AXIS_LIST(T x, T y, T z, T i, T j, T k)
+#define LINEAR_AXIS_ELEM(O)    LINEAR_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k)
+#define LINEAR_AXIS_DEFS(T,V)  LINEAR_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V)
 
 #define LOGICAL_AXIS_GANG(E,V...) LINEAR_AXIS_GANG(V) GANG_ITEM_E(E)
 #define LOGICAL_AXIS_CODE(E,V...) LINEAR_AXIS_CODE(V) CODE_ITEM_E(E)
 #define LOGICAL_AXIS_LIST(E,V...) LINEAR_AXIS_LIST(V) LIST_ITEM_E(E)
 #define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) }
+#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k)
+#define LOGICAL_AXIS_ELEM(O)    LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k)
+#define LOGICAL_AXIS_DECL(T,V)  LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V)
 
 #if HAS_EXTRUDERS
   #define LIST_ITEM_E(N) , N
@@ -69,37 +75,37 @@ struct IF<true, L, R> { typedef L type; };
 enum AxisEnum : uint8_t {
 
   // Linear axes may be controlled directly or indirectly
-  LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS),
+  LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS)
 
   // Extruder axes may be considered distinctly
-  #define _EN_ITEM(N) E##N##_AXIS,
+  #define _EN_ITEM(N) , E##N##_AXIS
   REPEAT(EXTRUDERS, _EN_ITEM)
   #undef _EN_ITEM
 
   // Core also keeps toolhead directions
   #if IS_CORE
-    X_HEAD, Y_HEAD, Z_HEAD,
+    , X_HEAD, Y_HEAD, Z_HEAD
   #endif
 
   // Distinct axes, including all E and Core
-  NUM_AXIS_ENUMS,
+  , NUM_AXIS_ENUMS
 
   // Most of the time we refer only to the single E_AXIS
   #if HAS_EXTRUDERS
-    E_AXIS = E0_AXIS,
+    , E_AXIS = E0_AXIS
   #endif
 
   // A, B, and C are for DELTA, SCARA, etc.
-  A_AXIS = X_AXIS,
+  , A_AXIS = X_AXIS
   #if LINEAR_AXES >= 2
-    B_AXIS = Y_AXIS,
+    , B_AXIS = Y_AXIS
   #endif
   #if LINEAR_AXES >= 3
-    C_AXIS = Z_AXIS,
+    , C_AXIS = Z_AXIS
   #endif
 
   // To refer to all or none
-  ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF
+  , ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF
 };
 
 typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t;
@@ -241,9 +247,16 @@ struct XYval {
     struct { T a, b; };
     T pos[2];
   };
+
+  // Set all to 0
+  FI void reset()                                       { x = y = 0; }
+
+  // Setters taking struct types and arrays
   FI void set(const T px)                               { x = px; }
+  #if HAS_Y_AXIS
     FI void set(const T px, const T py)                 { x = px; y = py; }
     FI void set(const T (&arr)[XY])                     { x = arr[0]; y = arr[1]; }
+  #endif
   #if LINEAR_AXES > XY
     FI void set(const T (&arr)[LINEAR_AXES])            { x = arr[0]; y = arr[1]; }
   #endif
@@ -253,10 +266,15 @@ struct XYval {
       FI void set(const T (&arr)[DISTINCT_AXES])        { x = arr[0]; y = arr[1]; }
     #endif
   #endif
-  FI void reset()                                       { x = y = 0; }
+
+  // Length reduced to one dimension
   FI T magnitude()                                const { return (T)sqrtf(x*x + y*y); }
+  // Pointer to the data as a simple array
   FI operator T* ()                                     { return pos; }
+  // If any element is true then it's true
   FI operator bool()                                    { return x || y; }
+
+  // Explicit copy and copies with conversion
   FI XYval<T>           copy()                    const { return *this; }
   FI XYval<T>            ABS()                    const { return { T(_ABS(x)), T(_ABS(y)) }; }
   FI XYval<int16_t>    asInt()                          { return { int16_t(x), int16_t(y) }; }
@@ -268,17 +286,27 @@ struct XYval {
   FI XYval<float>    asFloat()                          { return { static_cast<float>(x), static_cast<float>(y) }; }
   FI XYval<float>    asFloat()                    const { return { static_cast<float>(x), static_cast<float>(y) }; }
   FI XYval<float> reciprocal()                    const { return {  _RECIP(x),  _RECIP(y) }; }
+
+  // Marlin workspace shifting is done with G92 and M206
   FI XYval<float>  asLogical()                    const { XYval<float> o = asFloat(); toLogical(o); return o; }
   FI XYval<float>   asNative()                    const { XYval<float> o = asFloat(); toNative(o);  return o; }
+
+  // Cast to a type with more fields by making a new object
   FI operator XYZval<T>()                               { return { x, y }; }
   FI operator XYZval<T>()                         const { return { x, y }; }
   FI operator XYZEval<T>()                              { return { x, y }; }
   FI operator XYZEval<T>()                        const { return { x, y }; }
+
+  // Accessor via an AxisEnum (or any integer) [index]
   FI       T&  operator[](const int n)                  { return pos[n]; }
   FI const T&  operator[](const int n)            const { return pos[n]; }
+
+  // Assignment operator overrides do the expected thing
   FI XYval<T>& operator= (const T v)                    { set(v,    v   ); return *this; }
   FI XYval<T>& operator= (const XYZval<T>  &rs)         { set(rs.x, rs.y); return *this; }
   FI XYval<T>& operator= (const XYZEval<T> &rs)         { set(rs.x, rs.y); return *this; }
+
+  // Override other operators to get intuitive behaviors
   FI XYval<T>  operator+ (const XYval<T>   &rs)   const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
   FI XYval<T>  operator+ (const XYval<T>   &rs)         { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
   FI XYval<T>  operator- (const XYval<T>   &rs)   const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
@@ -315,6 +343,10 @@ struct XYval {
   FI XYval<T>  operator>>(const int &v)                 { XYval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    return ls; }
   FI XYval<T>  operator<<(const int &v)           const { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
   FI XYval<T>  operator<<(const int &v)                 { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
+  FI const XYval<T> operator-()                   const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
+  FI XYval<T>       operator-()                         { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
+
+  // Modifier operators
   FI XYval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
   FI XYval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
   FI XYval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
@@ -328,6 +360,8 @@ struct XYval {
   FI XYval<T>& operator*=(const int &v)                 { x *= v;    y *= v;    return *this; }
   FI XYval<T>& operator>>=(const int &v)                { _RS(x);    _RS(y);    return *this; }
   FI XYval<T>& operator<<=(const int &v)                { _LS(x);    _LS(y);    return *this; }
+
+  // Exact comparisons. For floats a "NEAR" operation may be better.
   FI bool      operator==(const XYval<T>   &rs)         { return x == rs.x && y == rs.y; }
   FI bool      operator==(const XYZval<T>  &rs)         { return x == rs.x && y == rs.y; }
   FI bool      operator==(const XYZEval<T> &rs)         { return x == rs.x && y == rs.y; }
@@ -340,8 +374,6 @@ struct XYval {
   FI bool      operator!=(const XYval<T>   &rs)   const { return !operator==(rs); }
   FI bool      operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
   FI bool      operator!=(const XYZEval<T> &rs)   const { return !operator==(rs); }
-  FI XYval<T>       operator-()                         { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
-  FI const XYval<T> operator-()                   const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
 };
 
 //
@@ -350,111 +382,144 @@ struct XYval {
 template<typename T>
 struct XYZval {
   union {
-    struct { T LINEAR_AXIS_LIST(x, y, z); };
+    struct { T LINEAR_AXIS_ARGS(); };
-    struct { T LINEAR_AXIS_LIST(a, b, c); };
+    struct { T LINEAR_AXIS_LIST(a, b, c, u, v, w); };
     T pos[LINEAR_AXES];
   };
+
+  // Set all to 0
+  FI void reset()                                      { LINEAR_AXIS_GANG(x =, y =, z =, i =, j =, k =) 0; }
+
+  // Setters taking struct types and arrays
   FI void set(const T px)                              { x = px; }
   FI void set(const T px, const T py)                  { x = px; y = py; }
   FI void set(const XYval<T> pxy)                      { x = pxy.x; y = pxy.y; }
-  FI void set(const XYval<T> pxy, const T pz)          { x = pxy.x; y = pxy.y; z = pz; }
+  FI void set(const XYval<T> pxy, const T pz)          { LINEAR_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP); }
   FI void set(const T (&arr)[XY])                      { x = arr[0]; y = arr[1]; }
-  FI void set(const T (&arr)[LINEAR_AXES])             { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); }
   #if HAS_Z_AXIS
-    FI void set(LINEAR_AXIS_LIST(const T px, const T py, const T pz))
+    FI void set(const T (&arr)[LINEAR_AXES])           { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
-                                                       { LINEAR_AXIS_CODE(x = px, y = py, z = pz); }
+    FI void set(LINEAR_AXIS_ARGS(const T))             { LINEAR_AXIS_CODE(a = x,      b = y,      c = z,      u = i,      v = j,      w = k    ); }
   #endif
   #if LOGICAL_AXES > LINEAR_AXES
-    FI void set(const T (&arr)[LOGICAL_AXES])          { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); }
+    FI void set(const T (&arr)[LOGICAL_AXES])          { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
-    FI void set(LOGICAL_AXIS_LIST(const T, const T px, const T py, const T pz))
+    FI void set(LOGICAL_AXIS_ARGS(const T))            { LINEAR_AXIS_CODE(a = x,      b = y,      c = z,      u = i,      v = j,      w = k    ); }
-                                                       { LINEAR_AXIS_CODE(x = px, y = py, z = pz); }
     #if DISTINCT_AXES > LOGICAL_AXES
-      FI void set(const T (&arr)[DISTINCT_AXES])       { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); }
+      FI void set(const T (&arr)[DISTINCT_AXES])       { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
     #endif
   #endif
-  FI void reset()                                      { LINEAR_AXIS_GANG(x =, y =, z =) 0; }
+  #if LINEAR_AXES >= 4
-  FI T magnitude()                               const { return (T)sqrtf(LINEAR_AXIS_GANG(x*x, + y*y, + z*z)); }
+    FI void set(const T px, const T py, const T pz)                         { x = px; y = py; z = pz; }
+  #endif
+  #if LINEAR_AXES >= 5
+    FI void set(const T px, const T py, const T pz, const T pi)             { x = px; y = py; z = pz; i = pi; }
+  #endif
+  #if LINEAR_AXES >= 6
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; }
+  #endif
+
+  // Length reduced to one dimension
+  FI T magnitude()                               const { return (T)sqrtf(LINEAR_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); }
+  // Pointer to the data as a simple array
   FI operator T* ()                                    { return pos; }
-  FI operator bool()                                   { return LINEAR_AXIS_GANG(z, || x, || y); }
+  // If any element is true then it's true
+  FI operator bool()                                   { return LINEAR_AXIS_GANG(x, || y, || z, || i, || j, || k); }
+
+  // Explicit copy and copies with conversion
   FI XYZval<T>          copy()                   const { XYZval<T> o = *this; return o; }
-  FI XYZval<T>           ABS()                   const { return LINEAR_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z))); }
+  FI XYZval<T>           ABS()                   const { return LINEAR_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); }
-  FI XYZval<int16_t>   asInt()                         { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z)); }
+  FI XYZval<int16_t>   asInt()                         { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZval<int16_t>   asInt()                   const { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z)); }
+  FI XYZval<int16_t>   asInt()                   const { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZval<int32_t>  asLong()                         { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z)); }
+  FI XYZval<int32_t>  asLong()                         { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZval<int32_t>  asLong()                   const { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z)); }
+  FI XYZval<int32_t>  asLong()                   const { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZval<int32_t>  ROUNDL()                         { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); }
+  FI XYZval<int32_t>  ROUNDL()                         { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZval<int32_t>  ROUNDL()                   const { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); }
+  FI XYZval<int32_t>  ROUNDL()                   const { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZval<float>   asFloat()                         { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z)); }
+  FI XYZval<float>   asFloat()                         { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZval<float>   asFloat()                   const { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z)); }
+  FI XYZval<float>   asFloat()                   const { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZval<float> reciprocal()                  const { return LINEAR_AXIS_ARRAY(_RECIP(x),  _RECIP(y),  _RECIP(z)); }
+  FI XYZval<float> reciprocal()                  const { return LINEAR_AXIS_ARRAY(_RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k)); }
+
+  // Marlin workspace shifting is done with G92 and M206
   FI XYZval<float> asLogical()                   const { XYZval<float> o = asFloat(); toLogical(o); return o; }
   FI XYZval<float>  asNative()                   const { XYZval<float> o = asFloat(); toNative(o);  return o; }
+
+  // In-place cast to types having fewer fields
   FI operator       XYval<T>&()                        { return *(XYval<T>*)this; }
   FI operator const XYval<T>&()                  const { return *(const XYval<T>*)this; }
-  FI operator       XYZEval<T>()                 const { return LINEAR_AXIS_ARRAY(x, y, z); }
+
+  // Cast to a type with more fields by making a new object
+  FI operator       XYZEval<T>()                 const { return LINEAR_AXIS_ARRAY(x, y, z, i, j, k); }
+
+  // Accessor via an AxisEnum (or any integer) [index]
   FI       T&   operator[](const int n)                { return pos[n]; }
   FI const T&   operator[](const int n)          const { return pos[n]; }
+
+  // Assignment operator overrides do the expected thing
   FI XYZval<T>& operator= (const T v)                  { set(ARRAY_N_1(LINEAR_AXES, v)); return *this; }
   FI XYZval<T>& operator= (const XYval<T>   &rs)       { set(rs.x, rs.y      ); return *this; }
-  FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(LINEAR_AXIS_LIST(rs.x, rs.y, rs.z)); return *this; }
+  FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(LINEAR_AXIS_ELEM(rs)); return *this; }
-  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        ); return ls; }
+
-  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        ); return ls; }
+  // Override other operators to get intuitive behaviors
-  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v   ); return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v   ); return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v   ); return ls; }
+  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v   ); return ls; }
+  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v   ); return ls; }
+  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v   ); return ls; }
+  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z)   ); return ls; }
+  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z)   ); return ls; }
+  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z)   ); return ls; }
+  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z)   ); return ls; }
+  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, NOOP      ); return *this; }
+  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP      ); return *this; }
+  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP      ); return *this; }
+  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; }
-  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP      ); return *this; }
+  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; }
-  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z ); return *this; }
+
-  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z ); return *this; }
+  // Modifier operators
-  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z ); return *this; }
+  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z ); return *this; }
+  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z ); return *this; }
+  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z ); return *this; }
+  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z ); return *this; }
+  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z ); return *this; }
+  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZval<T>& operator*=(const float &v)             { LINEAR_AXIS_CODE(x *= v,    y *= v,    z *= v    ); return *this; }
+  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZval<T>& operator*=(const int &v)               { LINEAR_AXIS_CODE(x *= v,    y *= v,    z *= v    ); return *this; }
+  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZval<T>& operator>>=(const int &v)              { LINEAR_AXIS_CODE(_RS(x),    _RS(y),    _RS(z)    ); return *this; }
+  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZval<T>& operator<<=(const int &v)              { LINEAR_AXIS_CODE(_LS(x),    _LS(y),    _LS(z)    ); return *this; }
+  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI bool       operator==(const XYZEval<T> &rs)       { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); }
+  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI bool       operator==(const XYZEval<T> &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); }
+  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
+  FI XYZval<T>& operator*=(const float &v)             { LINEAR_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
+  FI XYZval<T>& operator*=(const int &v)               { LINEAR_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
+  FI XYZval<T>& operator>>=(const int &v)              { LINEAR_AXIS_CODE(_RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k));    return *this; }
+  FI XYZval<T>& operator<<=(const int &v)              { LINEAR_AXIS_CODE(_LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k));    return *this; }
+
+  // Exact comparisons. For floats a "NEAR" operation may be better.
+  FI bool       operator==(const XYZEval<T> &rs)       { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool       operator==(const XYZEval<T> &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
   FI bool       operator!=(const XYZEval<T> &rs)       { return !operator==(rs); }
   FI bool       operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
-  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z); return o; }
-  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z); return o; }
 };
 
 //
@@ -463,52 +528,76 @@ struct XYZval {
 template<typename T>
 struct XYZEval {
   union {
-    struct{ T LOGICAL_AXIS_LIST(e, x, y, z); };
+    struct { T LOGICAL_AXIS_ARGS(); };
-    struct{ T LINEAR_AXIS_LIST(a, b, c); };
+    struct { T LOGICAL_AXIS_LIST(_e, a, b, c, u, v, w); };
     T pos[LOGICAL_AXES];
   };
-  FI void reset()                                             { LOGICAL_AXIS_GANG(e =, x =, y =, z =) 0; }
+  // Reset all to 0
-  FI T magnitude()                                      const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z)); }
+  FI void reset()                     { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =) 0; }
-  FI operator T* ()                                           { return pos; }
+
-  FI operator bool()                                          { return false LOGICAL_AXIS_GANG(|| e, || x, || y, || z); }
+  // Setters taking struct types and arrays
   FI void set(const T px)             { x = px;               }
   FI void set(const T px, const T py) { x = px;    y = py;    }
   FI void set(const XYval<T> pxy)     { x = pxy.x; y = pxy.y; }
-  FI void set(const XYZval<T> pxyz)                           { set(LINEAR_AXIS_LIST(pxyz.x, pxyz.y, pxyz.z)); }
+  FI void set(const XYZval<T> pxyz)   { set(LINEAR_AXIS_ELEM(pxyz)); }
   #if HAS_Z_AXIS
-    FI void set(LINEAR_AXIS_LIST(const T px, const T py, const T pz)) {
+    FI void set(LINEAR_AXIS_ARGS(const T))         { LINEAR_AXIS_CODE(a = x, b = y, c = z, u = i, v = j, w = k); }
-      LINEAR_AXIS_CODE(x = px, y = py, z = pz);
-    }
   #endif
   #if LOGICAL_AXES > LINEAR_AXES
-    FI void set(LOGICAL_AXIS_LIST(const T pe, const T px, const T py, const T pz)) {
-      LOGICAL_AXIS_CODE(e = pe, x = px, y = py, z = pz);
-    }
     FI void set(const XYval<T> pxy, const T pe)    { set(pxy); e = pe; }
     FI void set(const XYZval<T> pxyz, const T pe)  { set(pxyz); e = pe; }
+    FI void set(LOGICAL_AXIS_ARGS(const T))        { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, u = i, v = j, w = k); }
   #endif
+  #if LINEAR_AXES >= 4
+    FI void set(const T px, const T py, const T pz)                         { x = px; y = py; z = pz; }
+  #endif
+  #if LINEAR_AXES >= 5
+    FI void set(const T px, const T py, const T pz, const T pi)             { x = px; y = py; z = pz; i = pi; }
+  #endif
+  #if LINEAR_AXES >= 6
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; }
+  #endif
+
+  // Length reduced to one dimension
+  FI T magnitude()                                 const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); }
+  // Pointer to the data as a simple array
+  FI operator T* ()                                      { return pos; }
+  // If any element is true then it's true
+  FI operator bool()                                     { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k); }
+
+  // Explicit copy and copies with conversion
   FI XYZEval<T>          copy()  const { XYZEval<T> o = *this; return o; }
-  FI XYZEval<T>           ABS()                         const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z))); }
+  FI XYZEval<T>           ABS()  const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); }
-  FI XYZEval<int16_t>   asInt()                               { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z)); }
+  FI XYZEval<int16_t>   asInt()        { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZEval<int16_t>   asInt()                         const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z)); }
+  FI XYZEval<int16_t>   asInt()  const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZEval<int32_t>  asLong()                               { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z)); }
+  FI XYZEval<int32_t>  asLong()        { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZEval<int32_t>  asLong()                         const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z)); }
+  FI XYZEval<int32_t>  asLong()  const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZEval<int32_t>  ROUNDL()                               { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); }
+  FI XYZEval<int32_t>  ROUNDL()        { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZEval<int32_t>  ROUNDL()                         const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); }
+  FI XYZEval<int32_t>  ROUNDL()  const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZEval<float>   asFloat()                               { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z)); }
+  FI XYZEval<float>   asFloat()        { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZEval<float>   asFloat()                         const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z)); }
+  FI XYZEval<float>   asFloat()  const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZEval<float> reciprocal()                        const { return LOGICAL_AXIS_ARRAY(_RECIP(e),  _RECIP(x),  _RECIP(y),  _RECIP(z)); }
+  FI XYZEval<float> reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e),  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k)); }
+
+  // Marlin workspace shifting is done with G92 and M206
   FI XYZEval<float> asLogical()  const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
   FI XYZEval<float>  asNative()  const { XYZEval<float> o = asFloat(); toNative(o);  return o; }
+
+  // In-place cast to types having fewer fields
   FI operator       XYval<T>&()        { return *(XYval<T>*)this; }
   FI operator const XYval<T>&()  const { return *(const XYval<T>*)this; }
   FI operator       XYZval<T>&()       { return *(XYZval<T>*)this; }
   FI operator const XYZval<T>&() const { return *(const XYZval<T>*)this; }
+
+  // Accessor via an AxisEnum (or any integer) [index]
   FI       T&    operator[](const int n)                  { return pos[n]; }
   FI const T&    operator[](const int n)            const { return pos[n]; }
+
+  // Assignment operator overrides do the expected thing
   FI XYZEval<T>& operator= (const T v)                    { set(LIST_N_1(LINEAR_AXES, v)); return *this; }
   FI XYZEval<T>& operator= (const XYval<T>   &rs)         { set(rs.x, rs.y); return *this; }
-  FI XYZEval<T>& operator= (const XYZval<T>  &rs)             { set(LINEAR_AXIS_LIST(rs.x, rs.y, rs.z)); return *this; }
+  FI XYZEval<T>& operator= (const XYZval<T>  &rs)         { set(LINEAR_AXIS_ELEM(rs)); return *this; }
+
+  // Override other operators to get intuitive behaviors
   FI XYZEval<T>  operator+ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
   FI XYZEval<T>  operator+ (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
   FI XYZEval<T>  operator- (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
@@ -517,55 +606,59 @@ struct XYZEval {
   FI XYZEval<T>  operator* (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
   FI XYZEval<T>  operator/ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
   FI XYZEval<T>  operator/ (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)       const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)             { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)       const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)             { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)       const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)             { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)       const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)             { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z ); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z ); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z ); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z ); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z ); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z ); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z ); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z ); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const float &v)             const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v    ); return ls; }
+  FI XYZEval<T>  operator* (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const float &v)                   { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v    ); return ls; }
+  FI XYZEval<T>  operator* (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const int &v)               const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v    ); return ls; }
+  FI XYZEval<T>  operator* (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const int &v)                     { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v    ); return ls; }
+  FI XYZEval<T>  operator* (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const float &v)             const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v    ); return ls; }
+  FI XYZEval<T>  operator/ (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const float &v)                   { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v    ); return ls; }
+  FI XYZEval<T>  operator/ (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const int &v)               const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v    ); return ls; }
+  FI XYZEval<T>  operator/ (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const int &v)                     { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v    ); return ls; }
+  FI XYZEval<T>  operator/ (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator>>(const int &v)               const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z)    ); return ls; }
+  FI XYZEval<T>  operator>>(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator>>(const int &v)                     { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z)    ); return ls; }
+  FI XYZEval<T>  operator>>(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator<<(const int &v)               const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z)    ); return ls; }
+  FI XYZEval<T>  operator<<(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator<<(const int &v)                     { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z)    ); return ls; }
+  FI XYZEval<T>  operator<<(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
+  FI const XYZEval<T> operator-()                   const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); }
+  FI       XYZEval<T> operator-()                         { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); }
+
+  // Modifier operators
   FI XYZEval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
   FI XYZEval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
   FI XYZEval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
   FI XYZEval<T>& operator/=(const XYval<T>   &rs)         { x /= rs.x; y /= rs.y; return *this; }
-  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)             { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z); return *this; }
+  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)             { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z); return *this; }
+  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)             { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z); return *this; }
+  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)             { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z); return *this; }
+  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)             { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z); return *this; }
+  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)             { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z); return *this; }
+  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)             { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z); return *this; }
+  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)             { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z); return *this; }
+  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const T &v)                       { LOGICAL_AXIS_CODE(e *= v,    x *= v,    y *= v,    z *= v);    return *this; }
+  FI XYZEval<T>& operator*=(const T &v)                   { LOGICAL_AXIS_CODE(e *= v,    x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
-  FI XYZEval<T>& operator>>=(const int &v)                    { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z));    return *this; }
+  FI XYZEval<T>& operator>>=(const int &v)                { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k));    return *this; }
-  FI XYZEval<T>& operator<<=(const int &v)                    { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z));    return *this; }
+  FI XYZEval<T>& operator<<=(const int &v)                { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k));    return *this; }
-  FI bool        operator==(const XYZval<T>  &rs)             { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); }
+
-  FI bool        operator==(const XYZval<T>  &rs)       const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); }
+  // Exact comparisons. For floats a "NEAR" operation may be better.
+  FI bool        operator==(const XYZval<T>  &rs)         { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool        operator==(const XYZval<T>  &rs)   const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
   FI bool        operator!=(const XYZval<T>  &rs)         { return !operator==(rs); }
   FI bool        operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
-  FI       XYZEval<T> operator-()                             { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z); }
-  FI const XYZEval<T> operator-()                       const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z); }
 };
 
 #undef _RECIP

Marlin/src/core/utility.cpp

@@ -122,7 +122,7 @@ void safe_delay(millis_t ms) {
             SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
         #endif
         #if ABL_PLANAR
-          SERIAL_ECHOPGM("ABL Adjustment X");
+          SERIAL_ECHOPGM("ABL Adjustment");
           LOOP_LINEAR_AXES(a) {
             const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
             SERIAL_CHAR(' ', AXIS_CHAR(a));

Marlin/src/core/utility.h

@@ -77,7 +77,7 @@ public:
 // in the range 0-100 while avoiding rounding artifacts
 constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; }
 
-const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z');
+const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME);
 
 #if LINEAR_AXES <= XYZ
   #define AXIS_CHAR(A) ((char)('X' + A))

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -113,20 +113,22 @@
     const xy_float_t ad = sign * dist;
     const bool use_x_dist = ad.x > ad.y;
 
-    float on_axis_distance = use_x_dist ? dist.x : dist.y,
+    float on_axis_distance = use_x_dist ? dist.x : dist.y;
-          e_position = end.e - start.e,
-          z_position = end.z - start.z;
 
-    const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero
+    const float z_normalized_dist = (end.z - start.z) / on_axis_distance; // Allow divide by zero
-                z_normalized_dist = z_position / on_axis_distance;
+    #if HAS_EXTRUDERS
+      const float e_normalized_dist = (end.e - start.e) / on_axis_distance;
+      const bool inf_normalized_flag = isinf(e_normalized_dist);
+    #endif
 
     xy_int8_t icell = istart;
 
     const float ratio = dist.y / dist.x,        // Allow divide by zero
                 c = start.y - ratio * start.x;
 
-    const bool inf_normalized_flag = isinf(e_normalized_dist),
+    const bool inf_ratio_flag = isinf(ratio);
-               inf_ratio_flag = isinf(ratio);
+
+    xyze_pos_t dest; // Stores XYZE for segmented moves
 
     /**
      * Handle vertical lines that stay within one column.
@@ -143,34 +145,36 @@
          * For others the next X is the same so this can continue.
          * Calculate X at the next Y mesh line.
          */
-        const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
+        dest.x = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
 
-        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y)
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x, icell.y)
                    * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
-        const float ry = mesh_index_to_ypos(icell.y);
+        dest.y = mesh_index_to_ypos(icell.y);
 
         /**
          * Without this check, it's possible to generate a zero length move, as in the case where
          * the line is heading down, starting exactly on a mesh line boundary. Since this is rare
          * it might be fine to remove this check and let planner.buffer_segment() filter it out.
          */
-        if (ry != start.y) {
+        if (dest.y != start.y) {
           if (!inf_normalized_flag) { // fall-through faster than branch
-            on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
+            on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
-            e_position = start.e + on_axis_distance * e_normalized_dist;
+            TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
-            z_position = start.z + on_axis_distance * z_normalized_dist;
+            dest.z = start.z + on_axis_distance * z_normalized_dist;
           }
           else {
-            e_position = end.e;
+            TERN_(HAS_EXTRUDERS, dest.e = end.e);
-            z_position = end.z;
+            dest.z = end.z;
           }
 
-          planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder);
+          dest.z += z0;
+          planner.buffer_segment(dest, scaled_fr_mm_s, extruder);
+
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
@@ -188,12 +192,13 @@
      */
     if (iadd.y == 0) {      // Horizontal line?
       icell.x += ineg.x;     // Heading left? Just go to the left edge of the cell for the first move.
+
       while (icell.x != iend.x + ineg.x) {
         icell.x += iadd.x;
-        const float rx = mesh_index_to_xpos(icell.x);
+        dest.x = mesh_index_to_xpos(icell.x);
-        const float ry = ratio * rx + c;    // Calculate Y at the next X mesh line
+        dest.y = ratio * dest.x + c;    // Calculate Y at the next X mesh line
 
-        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y)
+        float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x, icell.y)
                      * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
@@ -205,19 +210,20 @@
          * the line is heading left, starting exactly on a mesh line boundary. Since this is rare
          * it might be fine to remove this check and let planner.buffer_segment() filter it out.
          */
-        if (rx != start.x) {
+        if (dest.x != start.x) {
           if (!inf_normalized_flag) {
-            on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
+            on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
-            e_position = start.e + on_axis_distance * e_normalized_dist;  // is based on X or Y because this is a horizontal move
+            TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); // Based on X or Y because the move is horizontal
-            z_position = start.z + on_axis_distance * z_normalized_dist;
+            dest.z = start.z + on_axis_distance * z_normalized_dist;
           }
           else {
-            e_position = end.e;
+            TERN_(HAS_EXTRUDERS, dest.e = end.e);
-            z_position = end.z;
+            dest.z = end.z;
           }
 
-          if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
+          dest.z += z0;
-            break;
+          if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
+
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
@@ -239,57 +245,65 @@
     while (cnt) {
 
       const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x),
-                  next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y),
+                  next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y);
-                  ry = ratio * next_mesh_line_x + c,    // Calculate Y at the next X mesh line
+
-                  rx = (next_mesh_line_y - c) / ratio;  // Calculate X at the next Y mesh line
+      dest.y = ratio * next_mesh_line_x + c;    // Calculate Y at the next X mesh line
+      dest.x = (next_mesh_line_y - c) / ratio;  // Calculate X at the next Y mesh line
                                                 // (No need to worry about ratio == 0.
                                                 //  In that case, it was already detected
                                                 //  as a vertical line move above.)
 
-      if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
+      if (neg.x == (dest.x > next_mesh_line_x)) { // Check if we hit the Y line first
         // Yes!  Crossing a Y Mesh Line next
-        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x - ineg.x, icell.y + iadd.y)
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x - ineg.x, icell.y + iadd.y)
                    * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
+        dest.y = next_mesh_line_y;
+
         if (!inf_normalized_flag) {
-          on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y;
+          on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
-          e_position = start.e + on_axis_distance * e_normalized_dist;
+          TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
-          z_position = start.z + on_axis_distance * z_normalized_dist;
+          dest.z = start.z + on_axis_distance * z_normalized_dist;
         }
         else {
-          e_position = end.e;
+          TERN_(HAS_EXTRUDERS, dest.e = end.e);
-          z_position = end.z;
+          dest.z = end.z;
         }
-        if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
+
-          break;
+        dest.z += z0;
+        if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
+
         icell.y += iadd.y;
         cnt.y--;
       }
       else {
         // Yes!  Crossing a X Mesh Line next
-        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x + iadd.x, icell.y - ineg.y)
+        float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x + iadd.x, icell.y - ineg.y)
                    * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
+        dest.x = next_mesh_line_x;
+
         if (!inf_normalized_flag) {
-          on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y;
+          on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
-          e_position = start.e + on_axis_distance * e_normalized_dist;
+          TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
-          z_position = start.z + on_axis_distance * z_normalized_dist;
+          dest.z = start.z + on_axis_distance * z_normalized_dist;
         }
         else {
-          e_position = end.e;
+          TERN_(HAS_EXTRUDERS, dest.e = end.e);
-          z_position = end.z;
+          dest.z = end.z;
         }
 
-        if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
+        dest.z += z0;
-          break;
+        if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
+
         icell.x += iadd.x;
         cnt.x--;
       }
@@ -438,11 +452,9 @@
           #endif
         ;
 
-        planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm
+        const float oldz = raw.z; raw.z += z_cxcy;
-          #if ENABLED(SCARA_FEEDRATE_SCALING)
+        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) );
-            , inv_duration
+        raw.z = oldz;
-          #endif
-        );
 
         if (segments == 0)                        // done with last segment
           return false;                           // didn't set current from destination

Marlin/src/feature/tmc_util.cpp

@@ -417,6 +417,21 @@
       }
       #endif
 
+      #if AXIS_IS_TMC(I)
+        if (monitor_tmc_driver(stepperI, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperI);
+      #endif
+
+      #if AXIS_IS_TMC(J)
+        if (monitor_tmc_driver(stepperJ, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperJ);
+      #endif
+
+      #if AXIS_IS_TMC(K)
+        if (monitor_tmc_driver(stepperK, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperK);
+      #endif
+
       #if AXIS_IS_TMC(E0)
         (void)monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting);
       #endif
@@ -757,138 +772,148 @@
     }
   }
 
-  static void tmc_debug_loop(
+  static void tmc_debug_loop(const TMC_debug_enum n, LOGICAL_AXIS_ARGS(const bool)) {
-    const TMC_debug_enum i,
+    if (x) {
-    LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z)
-  ) {
-    if (print_x) {
       #if AXIS_IS_TMC(X)
-        tmc_status(stepperX, i);
+        tmc_status(stepperX, n);
       #endif
       #if AXIS_IS_TMC(X2)
-        tmc_status(stepperX2, i);
+        tmc_status(stepperX2, n);
       #endif
     }
 
-    #if LINEAR_AXES >= XY
+    if (TERN0(HAS_Y_AXIS, y)) {
-      if (print_y) {
       #if AXIS_IS_TMC(Y)
-          tmc_status(stepperY, i);
+        tmc_status(stepperY, n);
       #endif
       #if AXIS_IS_TMC(Y2)
-          tmc_status(stepperY2, i);
+        tmc_status(stepperY2, n);
       #endif
     }
-    #endif
 
-    if (TERN0(HAS_Z_AXIS, print_z)) {
+    if (TERN0(HAS_Z_AXIS, z)) {
       #if AXIS_IS_TMC(Z)
-        tmc_status(stepperZ, i);
+        tmc_status(stepperZ, n);
       #endif
       #if AXIS_IS_TMC(Z2)
-        tmc_status(stepperZ2, i);
+        tmc_status(stepperZ2, n);
       #endif
       #if AXIS_IS_TMC(Z3)
-        tmc_status(stepperZ3, i);
+        tmc_status(stepperZ3, n);
       #endif
       #if AXIS_IS_TMC(Z4)
-        tmc_status(stepperZ4, i);
+        tmc_status(stepperZ4, n);
       #endif
     }
 
-    if (TERN0(HAS_EXTRUDERS, print_e)) {
+    #if AXIS_IS_TMC(I)
+      if (i) tmc_status(stepperI, n);
+    #endif
+    #if AXIS_IS_TMC(J)
+      if (j) tmc_status(stepperJ, n);
+    #endif
+    #if AXIS_IS_TMC(K)
+      if (k) tmc_status(stepperK, n);
+    #endif
+
+    if (TERN0(HAS_EXTRUDERS, e)) {
       #if AXIS_IS_TMC(E0)
-        tmc_status(stepperE0, i);
+        tmc_status(stepperE0, n);
       #endif
       #if AXIS_IS_TMC(E1)
-        tmc_status(stepperE1, i);
+        tmc_status(stepperE1, n);
       #endif
       #if AXIS_IS_TMC(E2)
-        tmc_status(stepperE2, i);
+        tmc_status(stepperE2, n);
       #endif
       #if AXIS_IS_TMC(E3)
-        tmc_status(stepperE3, i);
+        tmc_status(stepperE3, n);
       #endif
       #if AXIS_IS_TMC(E4)
-        tmc_status(stepperE4, i);
+        tmc_status(stepperE4, n);
       #endif
       #if AXIS_IS_TMC(E5)
-        tmc_status(stepperE5, i);
+        tmc_status(stepperE5, n);
       #endif
       #if AXIS_IS_TMC(E6)
-        tmc_status(stepperE6, i);
+        tmc_status(stepperE6, n);
       #endif
       #if AXIS_IS_TMC(E7)
-        tmc_status(stepperE7, i);
+        tmc_status(stepperE7, n);
       #endif
     }
 
     SERIAL_EOL();
   }
 
-  static void drv_status_loop(
+  static void drv_status_loop(const TMC_drv_status_enum n, LOGICAL_AXIS_ARGS(const bool)) {
-    const TMC_drv_status_enum i,
+    if (x) {
-    LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z)
-  ) {
-    if (print_x) {
       #if AXIS_IS_TMC(X)
-        tmc_parse_drv_status(stepperX, i);
+        tmc_parse_drv_status(stepperX, n);
       #endif
       #if AXIS_IS_TMC(X2)
-        tmc_parse_drv_status(stepperX2, i);
+        tmc_parse_drv_status(stepperX2, n);
       #endif
     }
 
-    #if LINEAR_AXES >= XY
+    if (TERN0(HAS_Y_AXIS, y)) {
-      if (print_y) {
       #if AXIS_IS_TMC(Y)
-          tmc_parse_drv_status(stepperY, i);
+        tmc_parse_drv_status(stepperY, n);
       #endif
       #if AXIS_IS_TMC(Y2)
-          tmc_parse_drv_status(stepperY2, i);
+        tmc_parse_drv_status(stepperY2, n);
       #endif
     }
-    #endif
 
-    if (TERN0(HAS_Z_AXIS, print_z)) {
+    if (TERN0(HAS_Z_AXIS, z)) {
       #if AXIS_IS_TMC(Z)
-        tmc_parse_drv_status(stepperZ, i);
+        tmc_parse_drv_status(stepperZ, n);
       #endif
       #if AXIS_IS_TMC(Z2)
-        tmc_parse_drv_status(stepperZ2, i);
+        tmc_parse_drv_status(stepperZ2, n);
       #endif
       #if AXIS_IS_TMC(Z3)
-        tmc_parse_drv_status(stepperZ3, i);
+        tmc_parse_drv_status(stepperZ3, n);
       #endif
       #if AXIS_IS_TMC(Z4)
-        tmc_parse_drv_status(stepperZ4, i);
+        tmc_parse_drv_status(stepperZ4, n);
       #endif
     }
 
-    if (TERN0(HAS_EXTRUDERS, print_e)) {
+    #if AXIS_IS_TMC(I)
+      if (i) tmc_parse_drv_status(stepperI, n);
+    #endif
+    #if AXIS_IS_TMC(J)
+      if (j) tmc_parse_drv_status(stepperJ, n);
+    #endif
+    #if AXIS_IS_TMC(K)
+      if (k) tmc_parse_drv_status(stepperK, n);
+    #endif
+
+    if (TERN0(HAS_EXTRUDERS, e)) {
       #if AXIS_IS_TMC(E0)
-        tmc_parse_drv_status(stepperE0, i);
+        tmc_parse_drv_status(stepperE0, n);
       #endif
       #if AXIS_IS_TMC(E1)
-        tmc_parse_drv_status(stepperE1, i);
+        tmc_parse_drv_status(stepperE1, n);
       #endif
       #if AXIS_IS_TMC(E2)
-        tmc_parse_drv_status(stepperE2, i);
+        tmc_parse_drv_status(stepperE2, n);
       #endif
       #if AXIS_IS_TMC(E3)
-        tmc_parse_drv_status(stepperE3, i);
+        tmc_parse_drv_status(stepperE3, n);
       #endif
       #if AXIS_IS_TMC(E4)
-        tmc_parse_drv_status(stepperE4, i);
+        tmc_parse_drv_status(stepperE4, n);
       #endif
       #if AXIS_IS_TMC(E5)
-        tmc_parse_drv_status(stepperE5, i);
+        tmc_parse_drv_status(stepperE5, n);
       #endif
       #if AXIS_IS_TMC(E6)
-        tmc_parse_drv_status(stepperE6, i);
+        tmc_parse_drv_status(stepperE6, n);
       #endif
       #if AXIS_IS_TMC(E7)
-        tmc_parse_drv_status(stepperE7, i);
+        tmc_parse_drv_status(stepperE7, n);
       #endif
     }
 
@@ -899,11 +924,9 @@
    * M122 report functions
    */
 
-  void tmc_report_all(
+  void tmc_report_all(LOGICAL_AXIS_ARGS(const bool)) {
-    LOGICAL_AXIS_LIST(const bool print_e/*=true*/, const bool print_x/*=true*/, const bool print_y/*=true*/, const bool print_z/*=true*/)
+    #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0)
-  ) {
+    #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0)
-    #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL);  tmc_debug_loop(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0)
-    #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0)
 
     TMC_REPORT("\t",                 TMC_CODES);
     #if HAS_DRIVER(TMC2209)
@@ -1028,79 +1051,82 @@
     }
   #endif
 
-  static void tmc_get_registers(
+  static void tmc_get_registers(TMC_get_registers_enum n, LOGICAL_AXIS_ARGS(const bool)) {
-    TMC_get_registers_enum i,
+    if (x) {
-    LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z)
-  ) {
-    if (print_x) {
       #if AXIS_IS_TMC(X)
-        tmc_get_registers(stepperX, i);
+        tmc_get_registers(stepperX, n);
       #endif
       #if AXIS_IS_TMC(X2)
-        tmc_get_registers(stepperX2, i);
+        tmc_get_registers(stepperX2, n);
       #endif
     }
 
-    #if LINEAR_AXES >= XY
+    if (TERN0(HAS_Y_AXIS, y)) {
-      if (print_y) {
       #if AXIS_IS_TMC(Y)
-          tmc_get_registers(stepperY, i);
+        tmc_get_registers(stepperY, n);
       #endif
       #if AXIS_IS_TMC(Y2)
-          tmc_get_registers(stepperY2, i);
+        tmc_get_registers(stepperY2, n);
       #endif
     }
-    #endif
 
-    if (TERN0(HAS_Z_AXIS, print_z)) {
+    if (TERN0(HAS_Z_AXIS, z)) {
       #if AXIS_IS_TMC(Z)
-        tmc_get_registers(stepperZ, i);
+        tmc_get_registers(stepperZ, n);
       #endif
       #if AXIS_IS_TMC(Z2)
-        tmc_get_registers(stepperZ2, i);
+        tmc_get_registers(stepperZ2, n);
       #endif
       #if AXIS_IS_TMC(Z3)
-        tmc_get_registers(stepperZ3, i);
+        tmc_get_registers(stepperZ3, n);
       #endif
       #if AXIS_IS_TMC(Z4)
-        tmc_get_registers(stepperZ4, i);
+        tmc_get_registers(stepperZ4, n);
       #endif
     }
 
-    if (TERN0(HAS_EXTRUDERS, print_e)) {
+    #if AXIS_IS_TMC(I)
+      if (i) tmc_get_registers(stepperI, n);
+    #endif
+    #if AXIS_IS_TMC(J)
+      if (j) tmc_get_registers(stepperJ, n);
+    #endif
+    #if AXIS_IS_TMC(K)
+      if (k) tmc_get_registers(stepperK, n);
+    #endif
+
+    if (TERN0(HAS_EXTRUDERS, e)) {
       #if AXIS_IS_TMC(E0)
-        tmc_get_registers(stepperE0, i);
+        tmc_get_registers(stepperE0, n);
       #endif
       #if AXIS_IS_TMC(E1)
-        tmc_get_registers(stepperE1, i);
+        tmc_get_registers(stepperE1, n);
       #endif
       #if AXIS_IS_TMC(E2)
-        tmc_get_registers(stepperE2, i);
+        tmc_get_registers(stepperE2, n);
       #endif
       #if AXIS_IS_TMC(E3)
-        tmc_get_registers(stepperE3, i);
+        tmc_get_registers(stepperE3, n);
       #endif
       #if AXIS_IS_TMC(E4)
-        tmc_get_registers(stepperE4, i);
+        tmc_get_registers(stepperE4, n);
       #endif
       #if AXIS_IS_TMC(E5)
-        tmc_get_registers(stepperE5, i);
+        tmc_get_registers(stepperE5, n);
       #endif
       #if AXIS_IS_TMC(E6)
-        tmc_get_registers(stepperE6, i);
+        tmc_get_registers(stepperE6, n);
       #endif
       #if AXIS_IS_TMC(E7)
-        tmc_get_registers(stepperE7, i);
+        tmc_get_registers(stepperE7, n);
       #endif
     }
 
     SERIAL_EOL();
   }
 
-  void tmc_get_registers(
+  void tmc_get_registers(LOGICAL_AXIS_ARGS(bool)) {
-    LOGICAL_AXIS_LIST(bool print_e, bool print_x, bool print_y, bool print_z)
+    #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, LOGICAL_AXIS_ARGS()); }while(0)
-  ) {
-    #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0)
     #define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME)
     _TMC_GET_REG("\t", TMC_AXIS_CODES);
     TMC_GET_REG(GCONF, "\t\t");
@@ -1185,6 +1211,15 @@
     #if AXIS_HAS_SPI(Z4)
       SET_CS_PIN(Z4);
     #endif
+    #if AXIS_HAS_SPI(I)
+      SET_CS_PIN(I);
+    #endif
+    #if AXIS_HAS_SPI(J)
+      SET_CS_PIN(J);
+    #endif
+    #if AXIS_HAS_SPI(K)
+      SET_CS_PIN(K);
+    #endif
     #if AXIS_HAS_SPI(E0)
       SET_CS_PIN(E0);
     #endif
@@ -1234,12 +1269,10 @@ static bool test_connection(TMC &st) {
   return test_result;
 }
 
-void test_tmc_connection(
+void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) {
-  LOGICAL_AXIS_LIST(const bool test_e/*=true*/, const bool test_x/*=true*/, const bool test_y/*=true*/, const bool test_z/*=true*/)
-) {
   uint8_t axis_connection = 0;
 
-  if (test_x) {
+  if (x) {
     #if AXIS_IS_TMC(X)
       axis_connection += test_connection(stepperX);
     #endif
@@ -1248,8 +1281,7 @@ void test_tmc_connection(
     #endif
   }
 
-  #if LINEAR_AXES >= XY
+  if (TERN0(HAS_Y_AXIS, y)) {
-    if (test_y) {
     #if AXIS_IS_TMC(Y)
       axis_connection += test_connection(stepperY);
     #endif
@@ -1257,9 +1289,8 @@ void test_tmc_connection(
       axis_connection += test_connection(stepperY2);
     #endif
   }
-  #endif
 
-  if (TERN0(HAS_Z_AXIS, test_z)) {
+  if (TERN0(HAS_Z_AXIS, z)) {
     #if AXIS_IS_TMC(Z)
       axis_connection += test_connection(stepperZ);
     #endif
@@ -1274,7 +1305,17 @@ void test_tmc_connection(
     #endif
   }
 
-  if (TERN0(HAS_EXTRUDERS, test_e)) {
+  #if AXIS_IS_TMC(I)
+    if (i) axis_connection += test_connection(stepperI);
+  #endif
+  #if AXIS_IS_TMC(J)
+    if (j) axis_connection += test_connection(stepperJ);
+  #endif
+  #if AXIS_IS_TMC(K)
+    if (k) axis_connection += test_connection(stepperK);
+  #endif
+
+  if (TERN0(HAS_EXTRUDERS, e)) {
     #if AXIS_IS_TMC(E0)
       axis_connection += test_connection(stepperE0);
     #endif

Marlin/src/feature/tmc_util.h

@@ -335,20 +335,14 @@ void tmc_print_current(TMC &st) {
 #endif
 
 void monitor_tmc_drivers();
-void test_tmc_connection(
+void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));
-  LOGICAL_AXIS_LIST(const bool test_e=true, const bool test_x=true, const bool test_y=true, const bool test_z=true)
-);
 
 #if ENABLED(TMC_DEBUG)
   #if ENABLED(MONITOR_DRIVER_STATUS)
     void tmc_set_report_interval(const uint16_t update_interval);
   #endif
-  void tmc_report_all(
+  void tmc_report_all(LOGICAL_AXIS_DECL(const bool, true));
-    LOGICAL_AXIS_LIST(const bool print_e=true, const bool print_x=true, const bool print_y=true, const bool print_z=true)
+  void tmc_get_registers(LOGICAL_AXIS_ARGS(const bool));
-  );
-  void tmc_get_registers(
-    LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z)
-  );
 #endif
 
 /**
@@ -361,7 +355,7 @@ void test_tmc_connection(
 #if USE_SENSORLESS
 
   // Track enabled status of stealthChop and only re-enable where applicable
-  struct sensorless_t { bool LINEAR_AXIS_LIST(x, y, z), x2, y2, z2, z3, z4; };
+  struct sensorless_t { bool LINEAR_AXIS_ARGS(), x2, y2, z2, z3, z4; };
 
   #if ENABLED(IMPROVE_HOMING_RELIABILITY)
     extern millis_t sg_guard_period;

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -689,7 +689,7 @@ G29_TYPE GcodeSuite::G29() {
         TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/3"), GET_TEXT(MSG_PROBING_MESH), int(i + 1)));
 
         // Retain the last probe position
-        abl.probePos = points[i];
+        abl.probePos = xy_pos_t(points[i]);
         abl.measured_z = faux ? 0.001 * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
         if (isnan(abl.measured_z)) {
           set_bed_leveling_enabled(abl.reenable);
@@ -795,7 +795,7 @@ G29_TYPE GcodeSuite::G29() {
               const int ind = abl.indexIntoAB[xx][yy];
               xyz_float_t tmp = { abl.eqnAMatrix[ind + 0 * abl.abl_points],
                                   abl.eqnAMatrix[ind + 1 * abl.abl_points], 0 };
-              planner.bed_level_matrix.apply_rotation_xyz(tmp);
+              planner.bed_level_matrix.apply_rotation_xyz(tmp.x, tmp.y, tmp.z);
               if (get_min) NOMORE(min_diff, abl.eqnBVector[ind] - tmp.z);
               const float subval = get_min ? abl.mean : tmp.z + min_diff,
                             diff = abl.eqnBVector[ind] - subval;

Marlin/src/gcode/calibrate/G28.cpp

@@ -323,42 +323,44 @@ void GcodeSuite::G28() {
 
     #define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS))))
 
-    const bool homeZ = parser.seen_test('Z'),
+    const bool homeZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')),
                LINEAR_AXIS_LIST(              // Other axes should be homed before Z safe-homing
-                 needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false // UNUSED
+                 needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false, // UNUSED
+                 needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K)
                ),
                LINEAR_AXIS_LIST(              // Home each axis if needed or flagged
                  homeX = needX || parser.seen_test('X'),
                  homeY = needY || parser.seen_test('Y'),
-                 homeZZ = homeZ // UNUSED
+                 homeZZ = homeZ,
+                 homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), homeK = needK || parser.seen_test(AXIS6_NAME),
                ),
-               // Home-all if all or none are flagged
+               home_all = LINEAR_AXIS_GANG(   // Home-all if all or none are flagged
-               home_all = true LINEAR_AXIS_GANG(&& homeX == homeX, && homeX == homeY, && homeX == homeZ),
+                    homeX == homeX, && homeY == homeX, && homeZ == homeX,
-               LINEAR_AXIS_LIST(doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ);
+                 && homeI == homeX, && homeJ == homeX, && homeK == homeX
-
+               ),
-   UNUSED(needZ);
+               LINEAR_AXIS_LIST(
-   UNUSED(homeZZ);
+                 doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ,
-
+                 doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK
-    #if ENABLED(HOME_Z_FIRST)
+               );
-
-      if (doZ) homeaxis(Z_AXIS);
 
+    #if HAS_Z_AXIS
+      UNUSED(needZ); UNUSED(homeZZ);
+    #else
+      constexpr bool doZ = false;
     #endif
 
+    TERN_(HOME_Z_FIRST, if (doZ) homeaxis(Z_AXIS));
+
     const float z_homing_height = parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT;
 
-    if (z_homing_height && (0 LINEAR_AXIS_GANG(|| doX, || doY, || TERN0(Z_SAFE_HOMING, doZ)))) {
+    if (z_homing_height && (0 LINEAR_AXIS_GANG(|| doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK))) {
       // Raise Z before homing any other axes and z is not already high enough (never lower z)
       if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height);
       do_z_clearance(z_homing_height);
       TERN_(BLTOUCH, bltouch.init());
     }
 
-    #if ENABLED(QUICK_HOME)
+    TERN_(QUICK_HOME, if (doX && doY) quick_home_xy());
-
-      if (doX && doY) quick_home_xy();
-
-    #endif
 
     // Home Y (before X)
     if (ENABLED(HOME_Y_BEFORE_X) && (doY || TERN0(CODEPENDENT_XY_HOMING, doX)))
@@ -397,7 +399,7 @@ void GcodeSuite::G28() {
     TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing));
 
     // Home Z last if homing towards the bed
-    #if DISABLED(HOME_Z_FIRST)
+    #if HAS_Z_AXIS && DISABLED(HOME_Z_FIRST)
       if (doZ) {
         #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
           stepper.set_all_z_lock(false);
@@ -409,6 +411,16 @@ void GcodeSuite::G28() {
       }
     #endif
 
+    #if LINEAR_AXES >= 4
+      if (doI) homeaxis(I_AXIS);
+    #endif
+    #if LINEAR_AXES >= 5
+      if (doJ) homeaxis(J_AXIS);
+    #endif
+    #if LINEAR_AXES >= 6
+      if (doK) homeaxis(K_AXIS);
+    #endif
+
     sync_plan_position();
 
   #endif
@@ -480,6 +492,15 @@ void GcodeSuite::G28() {
     #if HAS_CURRENT_HOME(Y2)
       stepperY2.rms_current(tmc_save_current_Y2);
     #endif
+    #if HAS_CURRENT_HOME(I)
+      stepperI.rms_current(tmc_save_current_I);
+    #endif
+    #if HAS_CURRENT_HOME(J)
+      stepperJ.rms_current(tmc_save_current_J);
+    #endif
+    #if HAS_CURRENT_HOME(K)
+      stepperK.rms_current(tmc_save_current_K);
+    #endif
   #endif // HAS_HOMING_CURRENT
 
   ui.refresh();
@@ -498,11 +519,13 @@ void GcodeSuite::G28() {
     // Set L6470 absolute position registers to counts
     // constexpr *might* move this to PROGMEM.
     // If not, this will need a PROGMEM directive and an accessor.
+    #define _EN_ITEM(N) , E_AXIS
     static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = {
-      X_AXIS, Y_AXIS, Z_AXIS,
+      LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS),
-      X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS,
+      X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS, Z_AXIS
-      E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS
+      REPEAT(E_STEPPERS, _EN_ITEM)
     };
+    #undef _EN_ITEM
     for (uint8_t j = 1; j <= L64XX::chain[0]; j++) {
       const uint8_t cv = L64XX::chain[j];
       L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L64XX_axis_xref[cv]));

Marlin/src/gcode/calibrate/G425.cpp

@@ -73,11 +73,23 @@
 #if BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT)
   #define HAS_X_CENTER 1
 #endif
-#if BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK)
+#if HAS_Y_AXIS && BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK)
   #define HAS_Y_CENTER 1
 #endif
+#if LINEAR_AXES >= 4 && BOTH(CALIBRATION_MEASURE_IMIN, CALIBRATION_MEASURE_IMAX)
+  #define HAS_I_CENTER 1
+#endif
+#if LINEAR_AXES >= 5 && BOTH(CALIBRATION_MEASURE_JMIN, CALIBRATION_MEASURE_JMAX)
+  #define HAS_J_CENTER 1
+#endif
+#if LINEAR_AXES >= 6 && BOTH(CALIBRATION_MEASURE_KMIN, CALIBRATION_MEASURE_KMAX)
+  #define HAS_K_CENTER 1
+#endif
 
-enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
+enum side_t : uint8_t {
+  TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES,
+  LIST_N(DOUBLE(SUB3(LINEAR_AXES)), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM)
+};
 
 static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;
 static constexpr xyz_float_t dimensions CALIBRATION_OBJECT_DIMENSIONS;
@@ -105,7 +117,7 @@ struct measurements_t {
 #endif
 
 inline void calibration_move() {
-  do_blocking_move_to(current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
+  do_blocking_move_to((xyz_pos_t)current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
 }
 
 /**
@@ -174,7 +186,7 @@ float measuring_movement(const AxisEnum axis, const int dir, const bool stop_sta
   destination = current_position;
   for (float travel = 0; travel < limit; travel += step) {
     destination[axis] += dir * step;
-    do_blocking_move_to(destination, mms);
+    do_blocking_move_to((xyz_pos_t)destination, mms);
     planner.synchronize();
     if (read_calibration_pin() == stop_state) break;
   }
@@ -209,7 +221,7 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state,
   // Move back to the starting position
   destination = current_position;
   destination[axis] = start_pos;
-  do_blocking_move_to(destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
+  do_blocking_move_to((xyz_pos_t)destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
   return measured_pos;
 }
 
@@ -230,7 +242,15 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
   park_above_object(m, uncertainty);
 
   switch (side) {
-    #if AXIS_CAN_CALIBRATE(Z)
+    #if AXIS_CAN_CALIBRATE(X)
+      case RIGHT: dir = -1;
+      case LEFT:  axis = X_AXIS; break;
+    #endif
+    #if LINEAR_AXES >= 2 && AXIS_CAN_CALIBRATE(Y)
+      case BACK:  dir = -1;
+      case FRONT: axis = Y_AXIS; break;
+    #endif
+    #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
       case TOP: {
         const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
         m.obj_center.z = measurement - dimensions.z / 2;
@@ -238,13 +258,17 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
         return;
       }
     #endif
-    #if AXIS_CAN_CALIBRATE(X)
+    #if LINEAR_AXES >= 4 && AXIS_CAN_CALIBRATE(I)
-      case RIGHT: dir = -1;
+      case IMINIMUM: dir = -1;
-      case LEFT:  axis = X_AXIS; break;
+      case IMAXIMUM: axis = I_AXIS; break;
     #endif
-    #if AXIS_CAN_CALIBRATE(Y)
+    #if LINEAR_AXES >= 5 && AXIS_CAN_CALIBRATE(J)
-      case BACK:  dir = -1;
+      case JMINIMUM: dir = -1;
-      case FRONT: axis = Y_AXIS; break;
+      case JMAXIMUM: axis = J_AXIS; break;
+    #endif
+    #if LINEAR_AXES >= 6 && AXIS_CAN_CALIBRATE(K)
+      case KMINIMUM: dir = -1;
+      case KMAXIMUM: axis = K_AXIS; break;
     #endif
     default: return;
   }
@@ -293,10 +317,19 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
   TERN_(CALIBRATION_MEASURE_FRONT, probe_side(m, uncertainty, FRONT,    probe_top_at_edge));
   TERN_(CALIBRATION_MEASURE_LEFT,  probe_side(m, uncertainty, LEFT,     probe_top_at_edge));
   TERN_(CALIBRATION_MEASURE_BACK,  probe_side(m, uncertainty, BACK,     probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_IMIN,  probe_side(m, uncertainty, IMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_IMAX,  probe_side(m, uncertainty, IMAXIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_JMIN,  probe_side(m, uncertainty, JMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_JMAX,  probe_side(m, uncertainty, JMAXIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_KMIN,  probe_side(m, uncertainty, KMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_KMAX,  probe_side(m, uncertainty, KMAXIMUM, probe_top_at_edge));
 
   // Compute the measured center of the calibration object.
   TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT]     + m.obj_side[RIGHT])    / 2);
   TERN_(HAS_Y_CENTER, m.obj_center.y = (m.obj_side[FRONT]    + m.obj_side[BACK])     / 2);
+  TERN_(HAS_I_CENTER, m.obj_center.i = (m.obj_side[IMINIMUM] + m.obj_side[IMAXIMUM]) / 2);
+  TERN_(HAS_J_CENTER, m.obj_center.j = (m.obj_side[JMINIMUM] + m.obj_side[JMAXIMUM]) / 2);
+  TERN_(HAS_K_CENTER, m.obj_center.k = (m.obj_side[KMINIMUM] + m.obj_side[KMAXIMUM]) / 2);
 
   // Compute the outside diameter of the nozzle at the height
   // at which it makes contact with the calibration object
@@ -310,14 +343,17 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
   LINEAR_AXIS_CODE(
     m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x),
     m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y),
-    m.pos_error.z = true_center.z - m.obj_center.z
+    m.pos_error.z = true_center.z - m.obj_center.z,
+    m.pos_error.i = TERN0(HAS_I_CENTER, true_center.i - m.obj_center.i),
+    m.pos_error.j = TERN0(HAS_J_CENTER, true_center.j - m.obj_center.j),
+    m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k)
   );
 }
 
 #if ENABLED(CALIBRATION_REPORTING)
   inline void report_measured_faces(const measurements_t &m) {
     SERIAL_ECHOLNPGM("Sides:");
-    #if AXIS_CAN_CALIBRATE(Z)
+    #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
       SERIAL_ECHOLNPAIR("  Top: ", m.obj_side[TOP]);
     #endif
     #if ENABLED(CALIBRATION_MEASURE_LEFT)
@@ -326,12 +362,38 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
     #if ENABLED(CALIBRATION_MEASURE_RIGHT)
       SERIAL_ECHOLNPAIR("  Right: ", m.obj_side[RIGHT]);
     #endif
+    #if HAS_Y_AXIS
       #if ENABLED(CALIBRATION_MEASURE_FRONT)
         SERIAL_ECHOLNPAIR("  Front: ", m.obj_side[FRONT]);
       #endif
       #if ENABLED(CALIBRATION_MEASURE_BACK)
         SERIAL_ECHOLNPAIR("  Back: ", m.obj_side[BACK]);
       #endif
+    #endif
+    #if LINEAR_AXES >= 4
+      #if ENABLED(CALIBRATION_MEASURE_IMIN)
+        SERIAL_ECHOLNPAIR("  " STR_I_MIN ": ", m.obj_side[IMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_IMAX)
+        SERIAL_ECHOLNPAIR("  " STR_I_MAX ": ", m.obj_side[IMAXIMUM]);
+      #endif
+    #endif
+    #if LINEAR_AXES >= 5
+      #if ENABLED(CALIBRATION_MEASURE_JMIN)
+        SERIAL_ECHOLNPAIR("  " STR_J_MIN ": ", m.obj_side[JMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_JMAX)
+        SERIAL_ECHOLNPAIR("  " STR_J_MAX ": ", m.obj_side[JMAXIMUM]);
+      #endif
+    #endif
+    #if LINEAR_AXES >= 6
+      #if ENABLED(CALIBRATION_MEASURE_KMIN)
+        SERIAL_ECHOLNPAIR("  " STR_K_MIN ": ", m.obj_side[KMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_KMAX)
+        SERIAL_ECHOLNPAIR("  " STR_K_MAX ": ", m.obj_side[KMAXIMUM]);
+      #endif
+    #endif
     SERIAL_EOL();
   }
 
@@ -344,6 +406,15 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
       SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.obj_center.y);
     #endif
     SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.obj_center.z);
+    #if HAS_I_CENTER
+      SERIAL_ECHOLNPAIR_P(SP_I_STR, m.obj_center.i);
+    #endif
+    #if HAS_J_CENTER
+      SERIAL_ECHOLNPAIR_P(SP_J_STR, m.obj_center.j);
+    #endif
+    #if HAS_K_CENTER
+      SERIAL_ECHOLNPAIR_P(SP_K_STR, m.obj_center.k);
+    #endif
     SERIAL_EOL();
   }
 
@@ -357,7 +428,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
         SERIAL_ECHOLNPAIR("  Right: ", m.backlash[RIGHT]);
       #endif
     #endif
-    #if AXIS_CAN_CALIBRATE(Y)
+    #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y)
       #if ENABLED(CALIBRATION_MEASURE_FRONT)
         SERIAL_ECHOLNPAIR("  Front: ", m.backlash[FRONT]);
       #endif
@@ -365,9 +436,33 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
         SERIAL_ECHOLNPAIR("  Back: ", m.backlash[BACK]);
       #endif
     #endif
-    #if AXIS_CAN_CALIBRATE(Z)
+    #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
       SERIAL_ECHOLNPAIR("  Top: ", m.backlash[TOP]);
     #endif
+    #if LINEAR_AXES >= 4 AXIS_CAN_CALIBRATE(I)
+      #if ENABLED(CALIBRATION_MEASURE_IMIN)
+        SERIAL_ECHOLNPAIR("  " STR_I_MIN ": ", m.backlash[IMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_IMAX)
+        SERIAL_ECHOLNPAIR("  " STR_I_MAX ": ", m.backlash[IMAXIMUM]);
+      #endif
+    #endif
+    #if LINEAR_AXES >= 5 AXIS_CAN_CALIBRATE(J)
+      #if ENABLED(CALIBRATION_MEASURE_JMIN)
+        SERIAL_ECHOLNPAIR("  " STR_J_MIN ": ", m.backlash[JMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_JMAX)
+        SERIAL_ECHOLNPAIR("  " STR_J_MAX ": ", m.backlash[JMAXIMUM]);
+      #endif
+    #endif
+    #if LINEAR_AXES >= 6 AXIS_CAN_CALIBRATE(K)
+      #if ENABLED(CALIBRATION_MEASURE_KMIN)
+        SERIAL_ECHOLNPAIR("  " STR_K_MIN ": ", m.backlash[KMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_KMAX)
+        SERIAL_ECHOLNPAIR("  " STR_K_MAX ": ", m.backlash[KMAXIMUM]);
+      #endif
+    #endif
     SERIAL_EOL();
   }
 
@@ -375,29 +470,37 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
     SERIAL_CHAR('T');
     SERIAL_ECHO(active_extruder);
     SERIAL_ECHOLNPGM(" Positional Error:");
-    #if HAS_X_CENTER
+    #if HAS_X_CENTER && AXIS_CAN_CALIBRATE(X)
       SERIAL_ECHOLNPAIR_P(SP_X_STR, m.pos_error.x);
     #endif
-    #if HAS_Y_CENTER
+    #if HAS_Y_CENTER && AXIS_CAN_CALIBRATE(Y)
       SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.pos_error.y);
     #endif
-    if (AXIS_CAN_CALIBRATE(Z)) SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
+    #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
+      SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
+    #endif
+    #if HAS_I_CENTER && AXIS_CAN_CALIBRATE(I)
+      SERIAL_ECHOLNPAIR_P(SP_I_STR, m.pos_error.i);
+    #endif
+    #if HAS_J_CENTER && AXIS_CAN_CALIBRATE(J)
+      SERIAL_ECHOLNPAIR_P(SP_J_STR, m.pos_error.j);
+    #endif
+    #if HAS_K_CENTER && AXIS_CAN_CALIBRATE(K)
+      SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
+    #endif
     SERIAL_EOL();
   }
 
   inline void report_measured_nozzle_dimensions(const measurements_t &m) {
     SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:");
-    #if HAS_X_CENTER || HAS_Y_CENTER
     #if HAS_X_CENTER
       SERIAL_ECHOLNPAIR_P(SP_X_STR, m.nozzle_outer_dimension.x);
     #endif
     #if HAS_Y_CENTER
       SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.nozzle_outer_dimension.y);
     #endif
-    #else
-      UNUSED(m);
-    #endif
     SERIAL_EOL();
+    UNUSED(m);
   }
 
   #if HAS_HOTEND_OFFSET
@@ -446,8 +549,33 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
         backlash.distance_mm.y = m.backlash[BACK];
       #endif
 
-      if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP];
+      TERN_(HAS_Z_AXIS, if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP]);
+
+      #if HAS_I_CENTER
+        backlash.distance_mm.i = (m.backlash[IMINIMUM] + m.backlash[IMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_IMIN)
+        backlash.distance_mm.i = m.backlash[IMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_IMAX)
+        backlash.distance_mm.i = m.backlash[IMAXIMUM];
       #endif
+
+      #if HAS_J_CENTER
+        backlash.distance_mm.j = (m.backlash[JMINIMUM] + m.backlash[JMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_JMIN)
+        backlash.distance_mm.j = m.backlash[JMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_JMAX)
+        backlash.distance_mm.j = m.backlash[JMAXIMUM];
+      #endif
+
+      #if HAS_K_CENTER
+        backlash.distance_mm.k = (m.backlash[KMINIMUM] + m.backlash[KMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_KMIN)
+        backlash.distance_mm.k = m.backlash[KMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_KMAX)
+        backlash.distance_mm.k = m.backlash[KMAXIMUM];
+      #endif
+
+    #endif // BACKLASH_GCODE
   }
 
   #if ENABLED(BACKLASH_GCODE)
@@ -458,7 +586,8 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
       TEMPORARY_BACKLASH_CORRECTION(all_on);
       TEMPORARY_BACKLASH_SMOOTHING(0.0f);
       const xyz_float_t move = LINEAR_AXIS_ARRAY(
-        AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3
+        AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3,
+        AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3
       );
       current_position += move; calibration_move();
       current_position -= move; calibration_move();
@@ -487,11 +616,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
   TEMPORARY_BACKLASH_CORRECTION(all_on);
   TEMPORARY_BACKLASH_SMOOTHING(0.0f);
 
-  #if HAS_MULTI_HOTEND
+  TERN(HAS_MULTI_HOTEND, set_nozzle(m, extruder), UNUSED(extruder));
-    set_nozzle(m, extruder);
-  #else
-    UNUSED(extruder);
-  #endif
 
   probe_sides(m, uncertainty);
 
@@ -510,6 +635,10 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
   if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) update_measurements(m, Y_AXIS);
                            if (AXIS_CAN_CALIBRATE(Z)) update_measurements(m, Z_AXIS);
 
+  TERN_(HAS_I_CENTER, update_measurements(m, I_AXIS));
+  TERN_(HAS_J_CENTER, update_measurements(m, J_AXIS));
+  TERN_(HAS_K_CENTER, update_measurements(m, K_AXIS));
+
   sync_plan_position();
 }
 

Marlin/src/gcode/calibrate/M425.cpp

@@ -52,7 +52,10 @@ void GcodeSuite::M425() {
       LINEAR_AXIS_CODE(
         case X_AXIS: return AXIS_CAN_CALIBRATE(X),
         case Y_AXIS: return AXIS_CAN_CALIBRATE(Y),
-        case Z_AXIS: return AXIS_CAN_CALIBRATE(Z)
+        case Z_AXIS: return AXIS_CAN_CALIBRATE(Z),
+        case I_AXIS: return AXIS_CAN_CALIBRATE(I),
+        case J_AXIS: return AXIS_CAN_CALIBRATE(J),
+        case K_AXIS: return AXIS_CAN_CALIBRATE(K),
       );
     }
   };

Marlin/src/gcode/config/M200-M205.cpp

@@ -154,6 +154,9 @@ void GcodeSuite::M205() {
   if (parser.seenval('S')) planner.settings.min_feedrate_mm_s = parser.value_linear_units();
   if (parser.seenval('T')) planner.settings.min_travel_feedrate_mm_s = parser.value_linear_units();
   #if HAS_JUNCTION_DEVIATION
+    #if HAS_CLASSIC_JERK && (AXIS4_NAME == 'J' || AXIS5_NAME == 'J' || AXIS6_NAME == 'J')
+      #error "Can't set_max_jerk for 'J' axis because 'J' is used for Junction Deviation."
+    #endif
     if (parser.seenval('J')) {
       const float junc_dev = parser.value_linear_units();
       if (WITHIN(junc_dev, 0.01f, 0.3f)) {
@@ -170,7 +173,10 @@ void GcodeSuite::M205() {
       if (parser.seenval('E')) planner.set_max_jerk(E_AXIS, parser.value_linear_units()),
       if (parser.seenval('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units()),
       if (parser.seenval('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units()),
-      if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units())
+      if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units()),
+      if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.value_linear_units()),
+      if (parser.seenval(AXIS5_NAME)) planner.set_max_jerk(J_AXIS, parser.value_linear_units()),
+      if (parser.seenval(AXIS6_NAME)) planner.set_max_jerk(K_AXIS, parser.value_linear_units())
     );
     #if HAS_MESH && DISABLED(LIMITED_JERK_EDITING)
       if (seenZ && planner.max_jerk.z <= 0.1f)

Marlin/src/gcode/config/M92.cpp

@@ -28,8 +28,11 @@ void report_M92(const bool echo=true, const int8_t e=-1) {
   SERIAL_ECHOPAIR_P(LIST_N(DOUBLE(LINEAR_AXES),
     PSTR(" M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]),
     SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]),
-    SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS])
+    SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS]),
-  ));
+    SP_I_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[I_AXIS]),
+    SP_J_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[J_AXIS]),
+    SP_K_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[K_AXIS]))
+  );
   #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
     SERIAL_ECHOPAIR_P(SP_E_STR, VOLUMETRIC_UNIT(planner.settings.axis_steps_per_mm[E_AXIS]));
   #endif
@@ -67,7 +70,7 @@ void GcodeSuite::M92() {
 
   // No arguments? Show M92 report.
   if (!parser.seen(
-    LOGICAL_AXIS_GANG("E", "X", "Y", "Z")
+    LOGICAL_AXIS_GANG("E", "X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR)
     TERN_(MAGIC_NUMBERS_GCODE, "HL")
   )) return report_M92(true, target_extruder);
 

Marlin/src/gcode/control/M17_M18_M84.cpp

@@ -33,12 +33,15 @@
  * M17: Enable stepper motors
  */
 void GcodeSuite::M17() {
-  if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z"))) {
+  if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR))) {
     LOGICAL_AXIS_CODE(
       if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen_test('E'))) enable_e_steppers(),
       if (parser.seen_test('X'))        ENABLE_AXIS_X(),
       if (parser.seen_test('Y'))        ENABLE_AXIS_Y(),
-      if (parser.seen_test('Z'))        ENABLE_AXIS_Z()
+      if (parser.seen_test('Z'))        ENABLE_AXIS_Z(),
+      if (parser.seen_test(AXIS4_NAME)) ENABLE_AXIS_I(),
+      if (parser.seen_test(AXIS5_NAME)) ENABLE_AXIS_J(),
+      if (parser.seen_test(AXIS6_NAME)) ENABLE_AXIS_K()
     );
   }
   else {
@@ -56,13 +59,16 @@ void GcodeSuite::M18_M84() {
     stepper_inactive_time = parser.value_millis_from_seconds();
   }
   else {
-    if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z"))) {
+    if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR))) {
       planner.synchronize();
       LOGICAL_AXIS_CODE(
         if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen_test('E'))) disable_e_steppers(),
         if (parser.seen_test('X'))        DISABLE_AXIS_X(),
         if (parser.seen_test('Y'))        DISABLE_AXIS_Y(),
-        if (parser.seen_test('Z'))        DISABLE_AXIS_Z()
+        if (parser.seen_test('Z'))        DISABLE_AXIS_Z(),
+        if (parser.seen_test(AXIS4_NAME)) DISABLE_AXIS_I(),
+        if (parser.seen_test(AXIS5_NAME)) DISABLE_AXIS_J(),
+        if (parser.seen_test(AXIS6_NAME)) DISABLE_AXIS_K()
       );
     }
     else

Marlin/src/gcode/control/M605.cpp

@@ -70,26 +70,12 @@
       dual_x_carriage_mode = (DualXMode)parser.value_byte();
       idex_set_mirrored_mode(false);
 
-      if (dual_x_carriage_mode == DXC_MIRRORED_MODE) {
-        if (previous_mode != DXC_DUPLICATION_MODE) {
-          SERIAL_ECHOLNPGM("Printer must be in DXC_DUPLICATION_MODE prior to ");
-          SERIAL_ECHOLNPGM("specifying DXC_MIRRORED_MODE.");
-          dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
-          return;
-        }
-        idex_set_mirrored_mode(true);
-        float x_jog = current_position.x - .1;
-        for (uint8_t i = 2; --i;) {
-          planner.buffer_line(x_jog, current_position.y, current_position.z, current_position.e, feedrate_mm_s, 0);
-          x_jog += .1;
-        }
-        return;
-      }
-
       switch (dual_x_carriage_mode) {
+
         case DXC_FULL_CONTROL_MODE:
         case DXC_AUTO_PARK_MODE:
           break;
+
         case DXC_DUPLICATION_MODE:
           // Set the X offset, but no less than the safety gap
           if (parser.seen('X')) duplicate_extruder_x_offset = _MAX(parser.value_linear_units(), (X2_MIN_POS) - (X1_MIN_POS));
@@ -97,10 +83,29 @@
           // Always switch back to tool 0
           if (active_extruder != 0) tool_change(0);
           break;
+
+        case DXC_MIRRORED_MODE: {
+          if (previous_mode != DXC_DUPLICATION_MODE) {
+            SERIAL_ECHOLNPGM("Printer must be in DXC_DUPLICATION_MODE prior to ");
+            SERIAL_ECHOLNPGM("specifying DXC_MIRRORED_MODE.");
+            dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
+            return;
+          }
+          idex_set_mirrored_mode(true);
+
+          // Do a small 'jog' motion in the X axis
+          xyze_pos_t dest = current_position; dest.x -= 0.1f;
+          for (uint8_t i = 2; --i;) {
+            planner.buffer_line(dest, feedrate_mm_s, 0);
+            dest.x += 0.1f;
+          }
+        } return;
+
         default:
           dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
           break;
       }
+
       idex_set_parked(false);
       set_duplication_enabled(false);
 

Marlin/src/gcode/feature/L6470/M906.cpp

@@ -253,7 +253,7 @@ void GcodeSuite::M906() {
         #endif
         break;
 
-      #if LINEAR_AXES >= XY
+      #if HAS_Y_AXIS
         case Y_AXIS:
           #if AXIS_IS_L64XX(Y)
             if (index == 0) L6470_SET_KVAL_HOLD(Y);

Marlin/src/gcode/feature/pause/G60.cpp

@@ -47,12 +47,13 @@ void GcodeSuite::G60() {
   SBI(saved_slots[slot >> 3], slot & 0x07);
 
   #if ENABLED(SAVED_POSITIONS_DEBUG)
-    const xyze_pos_t &pos = stored_position[slot];
     DEBUG_ECHOPAIR(STR_SAVED_POS " S", slot);
-    DEBUG_ECHOPAIR_F(" : X", pos.x);
+    const xyze_pos_t &pos = stored_position[slot];
-    DEBUG_ECHOPAIR_F_P(SP_Y_STR, pos.y);
+    DEBUG_ECHOLNPAIR_F_P(
-    DEBUG_ECHOPAIR_F_P(SP_Z_STR, pos.z);
+      LIST_N(DOUBLE(LOGICAL_AXES), SP_E_STR, pos.e,
-    DEBUG_ECHOLNPAIR_F_P(SP_E_STR, pos.e);
+      PSTR(" : X"), pos.x, SP_Y_STR, pos.y, SP_Z_STR, pos.z,
+      SP_I_STR, pos.i, SP_J_STR, pos.j, SP_K_STR, pos.k)
+    );
   #endif
 }
 

Marlin/src/gcode/feature/pause/G61.cpp

@@ -45,7 +45,7 @@ void GcodeSuite::G61(void) {
 
   const uint8_t slot = parser.byteval('S');
 
-  #define SYNC_E(POINT) planner.set_e_position_mm((destination.e = current_position.e = (POINT)))
+  #define SYNC_E(POINT) TERN_(HAS_EXTRUDERS, planner.set_e_position_mm((destination.e = current_position.e = (POINT))))
 
   #if SAVED_POSITIONS < 256
     if (slot >= SAVED_POSITIONS) {
@@ -68,7 +68,7 @@ void GcodeSuite::G61(void) {
     SYNC_E(stored_position[slot].e);
   }
   else {
-    if (parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z"))) {
+    if (parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR))) {
       DEBUG_ECHOPAIR(STR_RESTORING_POS " S", slot);
       LOOP_LINEAR_AXES(i) {
         destination[i] = parser.seen(AXIS_CHAR(i))

Marlin/src/gcode/feature/trinamic/M122.cpp

@@ -35,7 +35,7 @@ void GcodeSuite::M122() {
   xyze_bool_t print_axis = ARRAY_N_1(LOGICAL_AXES, false);
 
   bool print_all = true;
-  LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) { print_axis[i] = true; print_all = false; }
+  LOOP_LOGICAL_AXES(i) if (parser.seen_test(axis_codes[i])) { print_axis[i] = true; print_all = false; }
 
   if (print_all) LOOP_LOGICAL_AXES(i) print_axis[i] = true;
 
@@ -49,21 +49,13 @@ void GcodeSuite::M122() {
       tmc_set_report_interval(interval);
     #endif
 
-    if (parser.seen_test('V')) {
+    if (parser.seen_test('V'))
-      tmc_get_registers(
+      tmc_get_registers(LOGICAL_AXIS_ELEM(print_axis));
-        LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z)
+    else
-      );
+      tmc_report_all(LOGICAL_AXIS_ELEM(print_axis));
-    }
-    else {
-      tmc_report_all(
-        LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z)
-      );
-    }
   #endif
 
-  test_tmc_connection(
+  test_tmc_connection(LOGICAL_AXIS_ELEM(print_axis));
-    LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z)
-  );
 }
 
 #endif // HAS_TRINAMIC_CONFIG

Marlin/src/gcode/feature/trinamic/M569.cpp

@@ -43,81 +43,56 @@ void tmc_set_stealthChop(TMC &st, const bool enable) {
 static void set_stealth_status(const bool enable, const int8_t target_extruder) {
   #define TMC_SET_STEALTH(Q) tmc_set_stealthChop(stepper##Q, enable)
 
-  #if    AXIS_HAS_STEALTHCHOP(X)  || AXIS_HAS_STEALTHCHOP(X2) \
+  #if    X_HAS_STEALTHCHOP  || Y_HAS_STEALTHCHOP  || Z_HAS_STEALTHCHOP \
-      || AXIS_HAS_STEALTHCHOP(Y)  || AXIS_HAS_STEALTHCHOP(Y2) \
+      || I_HAS_STEALTHCHOP  || J_HAS_STEALTHCHOP  || K_HAS_STEALTHCHOP \
-      || AXIS_HAS_STEALTHCHOP(Z)  || AXIS_HAS_STEALTHCHOP(Z2) \
+      || X2_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP || Z3_HAS_STEALTHCHOP || Z4_HAS_STEALTHCHOP
-      || AXIS_HAS_STEALTHCHOP(Z3) || AXIS_HAS_STEALTHCHOP(Z4)
     const uint8_t index = parser.byteval('I');
   #endif
 
   LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) {
     switch (i) {
       case X_AXIS:
-        #if AXIS_HAS_STEALTHCHOP(X)
+        TERN_(X_HAS_STEALTHCHOP,  if (index == 0) TMC_SET_STEALTH(X));
-          if (index == 0) TMC_SET_STEALTH(X);
+        TERN_(X2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(X2));
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(X2)
-          if (index == 1) TMC_SET_STEALTH(X2);
-        #endif
         break;
 
-      #if LINEAR_AXES >= XY
+      #if HAS_Y_AXIS
         case Y_AXIS:
-          #if AXIS_HAS_STEALTHCHOP(Y)
+          TERN_(Y_HAS_STEALTHCHOP,  if (index == 0) TMC_SET_STEALTH(Y));
-            if (index == 0) TMC_SET_STEALTH(Y);
+          TERN_(Y2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(Y2));
-          #endif
-          #if AXIS_HAS_STEALTHCHOP(Y2)
-            if (index == 1) TMC_SET_STEALTH(Y2);
-          #endif
           break;
       #endif
 
       #if HAS_Z_AXIS
         case Z_AXIS:
-          #if AXIS_HAS_STEALTHCHOP(Z)
+          TERN_(Z_HAS_STEALTHCHOP,  if (index == 0) TMC_SET_STEALTH(Z));
-            if (index == 0) TMC_SET_STEALTH(Z);
+          TERN_(Z2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(Z2));
-          #endif
+          TERN_(Z3_HAS_STEALTHCHOP, if (index == 2) TMC_SET_STEALTH(Z3));
-          #if AXIS_HAS_STEALTHCHOP(Z2)
+          TERN_(Z4_HAS_STEALTHCHOP, if (index == 3) TMC_SET_STEALTH(Z4));
-            if (index == 1) TMC_SET_STEALTH(Z2);
-          #endif
-          #if AXIS_HAS_STEALTHCHOP(Z3)
-            if (index == 2) TMC_SET_STEALTH(Z3);
-          #endif
-          #if AXIS_HAS_STEALTHCHOP(Z4)
-            if (index == 3) TMC_SET_STEALTH(Z4);
-          #endif
           break;
       #endif
 
+      #if I_HAS_STEALTHCHOP
+        case I_AXIS: TMC_SET_STEALTH(I); break;
+      #endif
+      #if J_HAS_STEALTHCHOP
+        case J_AXIS: TMC_SET_STEALTH(J); break;
+      #endif
+      #if K_HAS_STEALTHCHOP
+        case K_AXIS: TMC_SET_STEALTH(K); break;
+      #endif
+
       #if HAS_EXTRUDERS
         case E_AXIS: {
           if (target_extruder < 0) return;
-          switch (target_extruder) {
+          OPTCODE(E0_HAS_STEALTHCHOP, else if (target_extruder == 0) TMC_SET_STEALTH(E0))
-            #if AXIS_HAS_STEALTHCHOP(E0)
+          OPTCODE(E1_HAS_STEALTHCHOP, else if (target_extruder == 1) TMC_SET_STEALTH(E1))
-              case 0: TMC_SET_STEALTH(E0); break;
+          OPTCODE(E2_HAS_STEALTHCHOP, else if (target_extruder == 2) TMC_SET_STEALTH(E2))
-            #endif
+          OPTCODE(E3_HAS_STEALTHCHOP, else if (target_extruder == 3) TMC_SET_STEALTH(E3))
-            #if AXIS_HAS_STEALTHCHOP(E1)
+          OPTCODE(E4_HAS_STEALTHCHOP, else if (target_extruder == 4) TMC_SET_STEALTH(E4))
-              case 1: TMC_SET_STEALTH(E1); break;
+          OPTCODE(E5_HAS_STEALTHCHOP, else if (target_extruder == 5) TMC_SET_STEALTH(E5))
-            #endif
+          OPTCODE(E6_HAS_STEALTHCHOP, else if (target_extruder == 6) TMC_SET_STEALTH(E6))
-            #if AXIS_HAS_STEALTHCHOP(E2)
+          OPTCODE(E7_HAS_STEALTHCHOP, else if (target_extruder == 7) TMC_SET_STEALTH(E7))
-              case 2: TMC_SET_STEALTH(E2); break;
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E3)
-              case 3: TMC_SET_STEALTH(E3); break;
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E4)
-              case 4: TMC_SET_STEALTH(E4); break;
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E5)
-              case 5: TMC_SET_STEALTH(E5); break;
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E6)
-              case 6: TMC_SET_STEALTH(E6); break;
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E7)
-              case 7: TMC_SET_STEALTH(E7); break;
-            #endif
-          }
         } break;
       #endif
     }
@@ -126,55 +101,25 @@ static void set_stealth_status(const bool enable, const int8_t target_extruder)
 
 static void say_stealth_status() {
   #define TMC_SAY_STEALTH_STATUS(Q) tmc_say_stealth_status(stepper##Q)
-
+  OPTCODE( X_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(X))
-  #if AXIS_HAS_STEALTHCHOP(X)
+  OPTCODE(X2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(X2))
-    TMC_SAY_STEALTH_STATUS(X);
+  OPTCODE( Y_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Y))
-  #endif
+  OPTCODE(Y2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Y2))
-  #if AXIS_HAS_STEALTHCHOP(X2)
+  OPTCODE( Z_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Z))
-    TMC_SAY_STEALTH_STATUS(X2);
+  OPTCODE(Z2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Z2))
-  #endif
+  OPTCODE(Z3_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Z3))
-  #if AXIS_HAS_STEALTHCHOP(Y)
+  OPTCODE(Z4_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Z4))
-    TMC_SAY_STEALTH_STATUS(Y);
+  OPTCODE( I_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(I))
-  #endif
+  OPTCODE( J_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(J))
-  #if AXIS_HAS_STEALTHCHOP(Y2)
+  OPTCODE( K_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(K))
-    TMC_SAY_STEALTH_STATUS(Y2);
+  OPTCODE(E0_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E0))
-  #endif
+  OPTCODE(E1_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E1))
-  #if AXIS_HAS_STEALTHCHOP(Z)
+  OPTCODE(E2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E2))
-    TMC_SAY_STEALTH_STATUS(Z);
+  OPTCODE(E3_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E3))
-  #endif
+  OPTCODE(E4_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E4))
-  #if AXIS_HAS_STEALTHCHOP(Z2)
+  OPTCODE(E5_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E5))
-    TMC_SAY_STEALTH_STATUS(Z2);
+  OPTCODE(E6_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E6))
-  #endif
+  OPTCODE(E7_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E7))
-  #if AXIS_HAS_STEALTHCHOP(Z3)
-    TMC_SAY_STEALTH_STATUS(Z3);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(Z4)
-    TMC_SAY_STEALTH_STATUS(Z4);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E0)
-    TMC_SAY_STEALTH_STATUS(E0);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E1)
-    TMC_SAY_STEALTH_STATUS(E1);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E2)
-    TMC_SAY_STEALTH_STATUS(E2);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E3)
-    TMC_SAY_STEALTH_STATUS(E3);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E4)
-    TMC_SAY_STEALTH_STATUS(E4);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E5)
-    TMC_SAY_STEALTH_STATUS(E5);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E6)
-    TMC_SAY_STEALTH_STATUS(E6);
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E7)
-    TMC_SAY_STEALTH_STATUS(E7);
-  #endif
 }
 
 /**

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

@@ -48,7 +48,7 @@ void GcodeSuite::M906() {
 
   bool report = true;
 
-  #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
+  #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K)
     const uint8_t index = parser.byteval('I');
   #endif
 
@@ -64,7 +64,7 @@ void GcodeSuite::M906() {
         #endif
         break;
 
-      #if LINEAR_AXES >= XY
+      #if HAS_Y_AXIS
         case Y_AXIS:
           #if AXIS_IS_TMC(Y)
             if (index == 0) TMC_SET_CURRENT(Y);
@@ -92,6 +92,16 @@ void GcodeSuite::M906() {
           break;
       #endif
 
+      #if AXIS_IS_TMC(I)
+        case I_AXIS: TMC_SET_CURRENT(I); break;
+      #endif
+      #if AXIS_IS_TMC(J)
+        case J_AXIS: TMC_SET_CURRENT(J); break;
+      #endif
+      #if AXIS_IS_TMC(K)
+        case K_AXIS: TMC_SET_CURRENT(K); break;
+      #endif
+
       #if HAS_EXTRUDERS
         case E_AXIS: {
           const int8_t target_extruder = get_target_extruder_from_command();
@@ -152,6 +162,15 @@ void GcodeSuite::M906() {
     #if AXIS_IS_TMC(Z4)
       TMC_SAY_CURRENT(Z4);
     #endif
+    #if AXIS_IS_TMC(I)
+      TMC_SAY_CURRENT(I);
+    #endif
+    #if AXIS_IS_TMC(J)
+      TMC_SAY_CURRENT(J);
+    #endif
+    #if AXIS_IS_TMC(K)
+      TMC_SAY_CURRENT(K);
+    #endif
     #if AXIS_IS_TMC(E0)
       TMC_SAY_CURRENT(E0);
     #endif

Marlin/src/gcode/feature/trinamic/M911-M914.cpp

@@ -38,18 +38,27 @@
   #if M91x_USE(X) || M91x_USE(X2)
     #define M91x_SOME_X 1
   #endif
-  #if M91x_USE(Y) || M91x_USE(Y2)
+  #if LINEAR_AXES >= 2 && (M91x_USE(Y) || M91x_USE(Y2))
     #define M91x_SOME_Y 1
   #endif
-  #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3) || M91x_USE(Z4)
+  #if HAS_Z_AXIS && (M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3) || M91x_USE(Z4))
     #define M91x_SOME_Z 1
   #endif
+  #if LINEAR_AXES >= 4 && M91x_USE(I)
+    #define M91x_USE_I 1
+  #endif
+  #if LINEAR_AXES >= 5 && M91x_USE(J)
+    #define M91x_USE_J 1
+  #endif
+  #if LINEAR_AXES >= 6 && M91x_USE(K)
+    #define M91x_USE_K 1
+  #endif
 
   #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5) || M91x_USE_E(6) || M91x_USE_E(7)
     #define M91x_SOME_E 1
   #endif
 
-  #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_SOME_E
+  #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_USE_I && !M91x_USE_J && !M91x_USE_K && !M91x_SOME_E
     #error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160."
   #endif
 
@@ -82,6 +91,9 @@
     #if M91x_USE(Z4)
       tmc_report_otpw(stepperZ4);
     #endif
+    TERN_(M91x_USE_I, tmc_report_otpw(stepperI));
+    TERN_(M91x_USE_J, tmc_report_otpw(stepperJ));
+    TERN_(M91x_USE_K, tmc_report_otpw(stepperK));
     #if M91x_USE_E(0)
       tmc_report_otpw(stepperE0);
     #endif
@@ -124,9 +136,12 @@
     const bool hasX = TERN0(M91x_SOME_X, parser.seen(axis_codes.x)),
                hasY = TERN0(M91x_SOME_Y, parser.seen(axis_codes.y)),
                hasZ = TERN0(M91x_SOME_Z, parser.seen(axis_codes.z)),
+               hasI = TERN0(M91x_USE_I,  parser.seen(axis_codes.i)),
+               hasJ = TERN0(M91x_USE_J,  parser.seen(axis_codes.j)),
+               hasK = TERN0(M91x_USE_K,  parser.seen(axis_codes.k)),
                hasE = TERN0(M91x_SOME_E, parser.seen(axis_codes.e));
 
-    const bool hasNone = !hasE && !hasX && !hasY && !hasZ;
+    const bool hasNone = !hasE && !hasX && !hasY && !hasZ && !hasI && !hasJ && !hasK;
 
     #if M91x_SOME_X
       const int8_t xval = int8_t(parser.byteval(axis_codes.x, 0xFF));
@@ -164,6 +179,19 @@
       #endif
     #endif
 
+    #if M91x_USE_I
+      const int8_t ival = int8_t(parser.byteval(axis_codes.i, 0xFF));
+      if (hasNone || ival == 1 || (hasI && ival < 0)) tmc_clear_otpw(stepperI);
+    #endif
+    #if M91x_USE_J
+      const int8_t jval = int8_t(parser.byteval(axis_codes.j, 0xFF));
+      if (hasNone || jval == 1 || (hasJ && jval < 0)) tmc_clear_otpw(stepperJ);
+    #endif
+    #if M91x_USE_K
+      const int8_t kval = int8_t(parser.byteval(axis_codes.k, 0xFF));
+      if (hasNone || kval == 1 || (hasK && kval < 0)) tmc_clear_otpw(stepperK);
+    #endif
+
     #if M91x_SOME_E
       const int8_t eval = int8_t(parser.byteval(axis_codes.e, 0xFF));
       #if M91x_USE_E(0)
@@ -206,126 +234,76 @@
     #define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value)
 
     bool report = true;
-    #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
+    #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K)
       const uint8_t index = parser.byteval('I');
     #endif
     LOOP_LOGICAL_AXES(i) if (int32_t value = parser.longval(axis_codes[i])) {
       report = false;
       switch (i) {
         case X_AXIS:
-          #if AXIS_HAS_STEALTHCHOP(X)
+          TERN_(X_HAS_STEALTHCHOP,  if (index < 2) TMC_SET_PWMTHRS(X,X));
-            if (index < 2) TMC_SET_PWMTHRS(X,X);
+          TERN_(X2_HAS_STEALTHCHOP, if (!(index & 1)) TMC_SET_PWMTHRS(X,X2));
-          #endif
-          #if AXIS_HAS_STEALTHCHOP(X2)
-            if (!(index & 1)) TMC_SET_PWMTHRS(X,X2);
-          #endif
           break;
         case Y_AXIS:
-          #if AXIS_HAS_STEALTHCHOP(Y)
+          TERN_(Y_HAS_STEALTHCHOP,  if (index < 2) TMC_SET_PWMTHRS(Y,Y));
-            if (index < 2) TMC_SET_PWMTHRS(Y,Y);
+          TERN_(Y2_HAS_STEALTHCHOP, if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2));
-          #endif
-          #if AXIS_HAS_STEALTHCHOP(Y2)
-            if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2);
-          #endif
           break;
+
+        #if I_HAS_STEALTHCHOP
+          case I_AXIS: TMC_SET_PWMTHRS(I,I); break;
+        #endif
+        #if J_HAS_STEALTHCHOP
+          case J_AXIS: TMC_SET_PWMTHRS(J,J); break;
+        #endif
+        #if K_HAS_STEALTHCHOP
+          case K_AXIS: TMC_SET_PWMTHRS(K,K); break;
+        #endif
+
         case Z_AXIS:
-          #if AXIS_HAS_STEALTHCHOP(Z)
+          TERN_(Z_HAS_STEALTCHOP, if (index < 2) TMC_SET_PWMTHRS(Z,Z));
-            if (index < 2) TMC_SET_PWMTHRS(Z,Z);
+          TERN_(Z2_HAS_STEALTCHOP, if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2));
-          #endif
+          TERN_(Z3_HAS_STEALTCHOP, if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3));
-          #if AXIS_HAS_STEALTHCHOP(Z2)
+          TERN_(Z4_HAS_STEALTCHOP, if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4));
-            if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2);
-          #endif
-          #if AXIS_HAS_STEALTHCHOP(Z3)
-            if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3);
-          #endif
-          #if AXIS_HAS_STEALTHCHOP(Z4)
-            if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4);
-          #endif
           break;
         case E_AXIS: {
           #if E_STEPPERS
             const int8_t target_extruder = get_target_extruder_from_command();
             if (target_extruder < 0) return;
-            switch (target_extruder) {
+            TERN_(E0_HAS_STEALTHCHOP, else if (target_extruder == 0) TMC_SET_PWMTHRS_E(0));
-              #if AXIS_HAS_STEALTHCHOP(E0)
+            TERN_(E1_HAS_STEALTHCHOP, else if (target_extruder == 1) TMC_SET_PWMTHRS_E(1));
-                case 0: TMC_SET_PWMTHRS_E(0); break;
+            TERN_(E2_HAS_STEALTHCHOP, else if (target_extruder == 2) TMC_SET_PWMTHRS_E(2));
-              #endif
+            TERN_(E3_HAS_STEALTHCHOP, else if (target_extruder == 3) TMC_SET_PWMTHRS_E(3));
-              #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
+            TERN_(E4_HAS_STEALTHCHOP, else if (target_extruder == 4) TMC_SET_PWMTHRS_E(4));
-                case 1: TMC_SET_PWMTHRS_E(1); break;
+            TERN_(E5_HAS_STEALTHCHOP, else if (target_extruder == 5) TMC_SET_PWMTHRS_E(5));
-              #endif
+            TERN_(E6_HAS_STEALTHCHOP, else if (target_extruder == 6) TMC_SET_PWMTHRS_E(6));
-              #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
+            TERN_(E7_HAS_STEALTHCHOP, else if (target_extruder == 7) TMC_SET_PWMTHRS_E(7));
-                case 2: TMC_SET_PWMTHRS_E(2); break;
-              #endif
-              #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
-                case 3: TMC_SET_PWMTHRS_E(3); break;
-              #endif
-              #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
-                case 4: TMC_SET_PWMTHRS_E(4); break;
-              #endif
-              #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
-                case 5: TMC_SET_PWMTHRS_E(5); break;
-              #endif
-              #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6)
-                case 6: TMC_SET_PWMTHRS_E(6); break;
-              #endif
-              #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7)
-                case 7: TMC_SET_PWMTHRS_E(7); break;
-              #endif
-            }
           #endif // E_STEPPERS
         } break;
       }
     }
 
     if (report) {
-      #if AXIS_HAS_STEALTHCHOP(X)
+      TERN_( X_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(X,X));
-        TMC_SAY_PWMTHRS(X,X);
+      TERN_(X2_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(X,X2));
-      #endif
+      TERN_( Y_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Y,Y));
-      #if AXIS_HAS_STEALTHCHOP(X2)
+      TERN_(Y2_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Y,Y2));
-        TMC_SAY_PWMTHRS(X,X2);
+      TERN_( Z_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Z,Z));
-      #endif
+      TERN_(Z2_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Z,Z2));
-      #if AXIS_HAS_STEALTHCHOP(Y)
+      TERN_(Z3_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Z,Z3));
-        TMC_SAY_PWMTHRS(Y,Y);
+      TERN_(Z4_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Z,Z4));
-      #endif
+
-      #if AXIS_HAS_STEALTHCHOP(Y2)
+      TERN_( I_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(I,I));
-        TMC_SAY_PWMTHRS(Y,Y2);
+      TERN_( J_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(J,J));
-      #endif
+      TERN_( K_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(K,K));
-      #if AXIS_HAS_STEALTHCHOP(Z)
+
-        TMC_SAY_PWMTHRS(Z,Z);
+      TERN_(E0_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(0));
-      #endif
+      TERN_(E1_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(1));
-      #if AXIS_HAS_STEALTHCHOP(Z2)
+      TERN_(E2_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(2));
-        TMC_SAY_PWMTHRS(Z,Z2);
+      TERN_(E3_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(3));
-      #endif
+      TERN_(E4_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(4));
-      #if AXIS_HAS_STEALTHCHOP(Z3)
+      TERN_(E5_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(5));
-        TMC_SAY_PWMTHRS(Z,Z3);
+      TERN_(E6_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(6));
-      #endif
+      TERN_(E7_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(7));
-      #if AXIS_HAS_STEALTHCHOP(Z4)
-        TMC_SAY_PWMTHRS(Z,Z4);
-      #endif
-      #if E_STEPPERS && AXIS_HAS_STEALTHCHOP(E0)
-        TMC_SAY_PWMTHRS_E(0);
-      #endif
-      #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
-        TMC_SAY_PWMTHRS_E(1);
-      #endif
-      #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
-        TMC_SAY_PWMTHRS_E(2);
-      #endif
-      #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
-        TMC_SAY_PWMTHRS_E(3);
-      #endif
-      #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
-        TMC_SAY_PWMTHRS_E(4);
-      #endif
-      #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
-        TMC_SAY_PWMTHRS_E(5);
-      #endif
-      #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6)
-        TMC_SAY_PWMTHRS_E(6);
-      #endif
-      #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7)
-        TMC_SAY_PWMTHRS_E(7);
-      #endif
     }
   }
 #endif // HYBRID_THRESHOLD
@@ -378,6 +356,15 @@
             #endif
             break;
         #endif
+        #if I_SENSORLESS && AXIS_HAS_STALLGUARD(I)
+          case I_AXIS: stepperI.homing_threshold(value); break;
+        #endif
+        #if J_SENSORLESS && AXIS_HAS_STALLGUARD(J)
+          case J_AXIS: stepperJ.homing_threshold(value); break;
+        #endif
+        #if K_SENSORLESS && AXIS_HAS_STALLGUARD(K)
+          case K_AXIS: stepperK.homing_threshold(value); break;
+        #endif
       }
     }
 
@@ -412,6 +399,15 @@
           tmc_print_sgt(stepperZ4);
         #endif
       #endif
+      #if I_SENSORLESS && AXIS_HAS_STALLGUARD(I)
+        tmc_print_sgt(stepperI);
+      #endif
+      #if J_SENSORLESS && AXIS_HAS_STALLGUARD(J)
+        tmc_print_sgt(stepperJ);
+      #endif
+      #if K_SENSORLESS && AXIS_HAS_STALLGUARD(K)
+        tmc_print_sgt(stepperK);
+      #endif
     }
   }
 #endif // USE_SENSORLESS

Marlin/src/gcode/gcode.cpp

@@ -78,7 +78,10 @@ uint8_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
   | (ar_init.e << REL_E),
   | (ar_init.x << REL_X),
   | (ar_init.y << REL_Y),
-  | (ar_init.z << REL_Z)
+  | (ar_init.z << REL_Z),
+  | (ar_init.i << REL_I),
+  | (ar_init.j << REL_J),
+  | (ar_init.k << REL_K)
 );
 
 #if EITHER(HAS_AUTO_REPORTING, HOST_KEEPALIVE_FEATURE)

Marlin/src/gcode/gcode.h

@@ -315,7 +315,7 @@
 #endif
 
 enum AxisRelative : uint8_t {
-  LOGICAL_AXIS_LIST(REL_E, REL_X, REL_Y, REL_Z)
+  LOGICAL_AXIS_LIST(REL_E, REL_X, REL_Y, REL_Z, REL_I, REL_J, REL_K)
   #if HAS_EXTRUDERS
     , E_MODE_ABS, E_MODE_REL
   #endif
@@ -338,7 +338,11 @@ public:
     return TEST(axis_relative, a);
   }
   static inline void set_relative_mode(const bool rel) {
-    axis_relative = rel ? (0 LOGICAL_AXIS_GANG(| _BV(REL_E), | _BV(REL_X), | _BV(REL_Y), | _BV(REL_Z))) : 0;
+    axis_relative = rel ? (0 LOGICAL_AXIS_GANG(
+      | _BV(REL_E),
+      | _BV(REL_X), | _BV(REL_Y), | _BV(REL_Z),
+      | _BV(REL_I), | _BV(REL_J), | _BV(REL_K)
+    )) : 0;
   }
   #if HAS_EXTRUDERS
     static inline void set_e_relative() {

Marlin/src/gcode/geometry/M206_M428.cpp

@@ -31,7 +31,16 @@
 #include "../../MarlinCore.h"
 
 void M206_report() {
-  SERIAL_ECHOLNPAIR_P(PSTR("M206 X"), home_offset.x, SP_Y_STR, home_offset.y, SP_Z_STR, home_offset.z);
+  SERIAL_ECHOLNPAIR_P(
+    LIST_N(DOUBLE(LINEAR_AXES),
+      PSTR("M206 X"), home_offset.x,
+      SP_Y_STR, home_offset.y,
+      SP_Z_STR, home_offset.z,
+      SP_I_STR, home_offset.i,
+      SP_J_STR, home_offset.j,
+      SP_K_STR, home_offset.k,
+    )
+  );
 }
 
 /**
@@ -51,7 +60,7 @@ void GcodeSuite::M206() {
     if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
   #endif
 
-  if (!parser.seen("XYZ"))
+  if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", "I", "J", "K")))
     M206_report();
   else
     report_current_position();

Marlin/src/gcode/host/M114.cpp

@@ -125,6 +125,15 @@
       #if AXIS_IS_L64XX(Z4)
         REPORT_ABSOLUTE_POS(Z4);
       #endif
+      #if AXIS_IS_L64XX(I)
+        REPORT_ABSOLUTE_POS(I);
+      #endif
+      #if AXIS_IS_L64XX(J)
+        REPORT_ABSOLUTE_POS(J);
+      #endif
+      #if AXIS_IS_L64XX(K)
+        REPORT_ABSOLUTE_POS(K);
+      #endif
       #if AXIS_IS_L64XX(E0)
         REPORT_ABSOLUTE_POS(E0);
       #endif
@@ -170,7 +179,13 @@
 
     SERIAL_ECHOPGM("FromStp:");
     get_cartesian_from_steppers();  // writes 'cartes' (with forward kinematics)
-    xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(planner.get_axis_position_mm(E_AXIS), cartes.x, cartes.y, cartes.z);
+    xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(
+      planner.get_axis_position_mm(E_AXIS),
+      cartes.x, cartes.y, cartes.z,
+      planner.get_axis_position_mm(I_AXIS),
+      planner.get_axis_position_mm(J_AXIS),
+      planner.get_axis_position_mm(K_AXIS)
+    );
     report_all_axis_pos(from_steppers);
 
     const xyze_float_t diff = from_steppers - leveled;

Marlin/src/gcode/motion/G0_G1.cpp

@@ -52,7 +52,10 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
         LINEAR_AXIS_GANG(
             (parser.seen_test('X') ? _BV(X_AXIS) : 0),
           | (parser.seen_test('Y') ? _BV(Y_AXIS) : 0),
-          | (parser.seen_test('Z') ? _BV(Z_AXIS) : 0))
+          | (parser.seen_test('Z') ? _BV(Z_AXIS) : 0),
+          | (parser.seen_test(AXIS4_NAME) ? _BV(I_AXIS) : 0),
+          | (parser.seen_test(AXIS5_NAME) ? _BV(J_AXIS) : 0),
+          | (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0))
       )
     #endif
   ) {
@@ -85,7 +88,9 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
 
       if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
         // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
-        if (fwretract.autoretract_enabled && parser.seen_test('E') && !parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z"))) {
+        if (fwretract.autoretract_enabled && parser.seen_test('E')
+          && !parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR))
+        ) {
           const float echange = destination.e - current_position.e;
           // Is this a retract or recover move?
           if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {

Marlin/src/gcode/motion/G2_G3.cpp

@@ -63,7 +63,7 @@ void plan_arc(
       case GcodeSuite::PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
     }
   #else
-    constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
+    constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS OPTARG(HAS_Z_AXIS, l_axis = Z_AXIS);
   #endif
 
   // Radius vector from center to current location
@@ -73,8 +73,8 @@ void plan_arc(
               center_P = current_position[p_axis] - rvec.a,
               center_Q = current_position[q_axis] - rvec.b,
               rt_X = cart[p_axis] - center_P,
-              rt_Y = cart[q_axis] - center_Q,
+              rt_Y = cart[q_axis] - center_Q
-              start_L = current_position[l_axis];
+              OPTARG(HAS_Z_AXIS, start_L = current_position[l_axis]);
 
   #ifdef MIN_ARC_SEGMENTS
     uint16_t min_segments = MIN_ARC_SEGMENTS;
@@ -109,8 +109,9 @@ void plan_arc(
     #endif
   }
 
+  #if HAS_Z_AXIS
     float linear_travel = cart[l_axis] - start_L;
-
+  #endif
   #if HAS_EXTRUDERS
     float extruder_travel = cart.e - current_position.e;
   #endif
@@ -118,9 +119,11 @@ void plan_arc(
   // If circling around...
   if (ENABLED(ARC_P_CIRCLES) && circles) {
     const float total_angular = angular_travel + circles * RADIANS(360),  // Total rotation with all circles and remainder
-              part_per_circle = RADIANS(360) / total_angular,             // Each circle's part of the total
+              part_per_circle = RADIANS(360) / total_angular;             // Each circle's part of the total
-                 l_per_circle = linear_travel * part_per_circle;          // L movement per circle
 
+    #if HAS_Z_AXIS
+      const float l_per_circle = linear_travel * part_per_circle;         // L movement per circle
+    #endif
     #if HAS_EXTRUDERS
       const float e_per_circle = extruder_travel * part_per_circle;       // E movement per circle
     #endif
@@ -128,17 +131,15 @@ void plan_arc(
     xyze_pos_t temp_position = current_position;                          // for plan_arc to compare to current_position
     for (uint16_t n = circles; n--;) {
       TERN_(HAS_EXTRUDERS, temp_position.e += e_per_circle);              // Destination E axis
-      temp_position[l_axis] += l_per_circle;                              // Destination L axis
+      TERN_(HAS_Z_AXIS, temp_position[l_axis] += l_per_circle);           // Destination L axis
       plan_arc(temp_position, offset, clockwise, 0);                      // Plan a single whole circle
     }
-    linear_travel = cart[l_axis] - current_position[l_axis];
+    TERN_(HAS_Z_AXIS, linear_travel = cart[l_axis] - current_position[l_axis]);
-    #if HAS_EXTRUDERS
+    TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e);
-      extruder_travel = cart.e - current_position.e;
-    #endif
   }
 
   const float flat_mm = radius * angular_travel,
-              mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
+              mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) ABS(flat_mm);
   if (mm_of_travel < 0.001f) return;
 
   const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
@@ -187,17 +188,19 @@ void plan_arc(
   // Vector rotation matrix values
   xyze_pos_t raw;
   const float theta_per_segment = angular_travel / segments,
-              linear_per_segment = linear_travel / segments,
               sq_theta_per_segment = sq(theta_per_segment),
               sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
               cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
 
+  #if HAS_Z_AXIS && DISABLED(AUTO_BED_LEVELING_UBL)
+    const float linear_per_segment = linear_travel / segments;
+  #endif
   #if HAS_EXTRUDERS
     const float extruder_per_segment = extruder_travel / segments;
   #endif
 
   // Initialize the linear axis
-  raw[l_axis] = current_position[l_axis];
+  TERN_(HAS_Z_AXIS, raw[l_axis] = current_position[l_axis]);
 
   // Initialize the extruder axis
   TERN_(HAS_EXTRUDERS, raw.e = current_position.e);
@@ -246,11 +249,8 @@ void plan_arc(
     // Update raw location
     raw[p_axis] = center_P + rvec.a;
     raw[q_axis] = center_Q + rvec.b;
-    #if ENABLED(AUTO_BED_LEVELING_UBL)
+    #if HAS_Z_AXIS
-      raw[l_axis] = start_L;
+      raw[l_axis] = TERN(AUTO_BED_LEVELING_UBL, start_L, raw[l_axis] + linear_per_segment);
-      UNUSED(linear_per_segment);
-    #else
-      raw[l_axis] += linear_per_segment;
     #endif
 
     TERN_(HAS_EXTRUDERS, raw.e += extruder_per_segment);
@@ -268,7 +268,7 @@ void plan_arc(
 
   // Ensure last segment arrives at target location.
   raw = cart;
-  TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
+  TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L));
 
   apply_motion_limits(raw);
 
@@ -280,7 +280,7 @@ void plan_arc(
     OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
   );
 
-  TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
+  TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L));
   current_position = raw;
 
 } // plan_arc

Marlin/src/gcode/motion/M290.cpp

@@ -87,7 +87,7 @@ void GcodeSuite::M290() {
     }
   #endif
 
-  if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z")) || parser.seen('R')) {
+  if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR)) || parser.seen('R')) {
     SERIAL_ECHO_START();
 
     #if ENABLED(BABYSTEP_ZPROBE_OFFSET)

Marlin/src/gcode/parser.cpp

@@ -248,7 +248,7 @@ void GCodeParser::parse(char *p) {
         case 'R': if (!WITHIN(motion_mode_codenum, 2, 3)) return;
       #endif
 
-      LOGICAL_AXIS_GANG(case 'E':, case 'X':, case 'Y':, case 'Z':)
+      LOGICAL_AXIS_GANG(case 'E':, case 'X':, case 'Y':, case 'Z':, case AXIS4_NAME:, case AXIS5_NAME:, case AXIS6_NAME:)
       case 'F':
         if (motion_mode_codenum < 0) return;
         command_letter = 'G';

Marlin/src/gcode/parser.h

@@ -226,7 +226,7 @@ public:
 
   // Seen any axis parameter
   static inline bool seen_axis() {
-    return seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z"));
+    return seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR));
   }
 
   #if ENABLED(GCODE_QUOTED_STRINGS)

Marlin/src/gcode/temp/M106_M107.cpp

@@ -83,6 +83,8 @@ void GcodeSuite::M106() {
     if (!got_preset && parser.seenval('S'))
       speed = parser.value_ushort();
 
+    TERN_(FOAMCUTTER_XYUV, speed *= 2.55); // Get command in % of max heat
+
     // Set speed, with constraint
     thermalManager.set_fan_speed(pfan, speed);
 

Marlin/src/inc/Conditionals_LCD.h

@@ -612,6 +612,12 @@
 #ifndef LINEAR_AXES
   #define LINEAR_AXES XYZ
 #endif
+#if LINEAR_AXES >= XY
+  #define HAS_Y_AXIS 1
+  #if LINEAR_AXES >= XYZ
+    #define HAS_Z_AXIS 1
+  #endif
+#endif
 
 /**
  * Number of Logical Axes (e.g., XYZE)
@@ -624,10 +630,6 @@
   #define LOGICAL_AXES LINEAR_AXES
 #endif
 
-#if LINEAR_AXES >= XYZ
-  #define HAS_Z_AXIS 1
-#endif
-
 /**
  * DISTINCT_E_FACTORS is set to give extruders (some) individual settings.
  *
@@ -852,6 +854,21 @@
 #elif Z_HOME_DIR < 0
   #define Z_HOME_TO_MIN 1
 #endif
+#if I_HOME_DIR > 0
+  #define I_HOME_TO_MAX 1
+#elif I_HOME_DIR < 0
+  #define I_HOME_TO_MIN 1
+#endif
+#if J_HOME_DIR > 0
+  #define J_HOME_TO_MAX 1
+#elif J_HOME_DIR < 0
+  #define J_HOME_TO_MIN 1
+#endif
+#if K_HOME_DIR > 0
+  #define K_HOME_TO_MAX 1
+#elif K_HOME_DIR < 0
+  #define K_HOME_TO_MIN 1
+#endif
 
 /**
  * Conditionals based on the type of Bed Probe
@@ -1110,13 +1127,22 @@
 #ifndef INVERT_X_DIR
   #define INVERT_X_DIR false
 #endif
-#ifndef INVERT_Y_DIR
+#if HAS_Y_AXIS && !defined(INVERT_Y_DIR)
   #define INVERT_Y_DIR false
 #endif
-#ifndef INVERT_Z_DIR
+#if HAS_Z_AXIS && !defined(INVERT_Z_DIR)
   #define INVERT_Z_DIR false
 #endif
-#ifndef INVERT_E_DIR
+#if LINEAR_AXES >= 4 && !defined(INVERT_I_DIR)
+  #define INVERT_I_DIR false
+#endif
+#if LINEAR_AXES >= 5 && !defined(INVERT_J_DIR)
+  #define INVERT_J_DIR false
+#endif
+#if LINEAR_AXES >= 6 && !defined(INVERT_K_DIR)
+  #define INVERT_K_DIR false
+#endif
+#if HAS_EXTRUDERS && !defined(INVERT_E_DIR)
   #define INVERT_E_DIR false
 #endif
 

Marlin/src/inc/Conditionals_adv.h

@@ -26,6 +26,10 @@
  * Defines that depend on advanced configuration.
  */
 
+#ifndef AXIS_RELATIVE_MODES
+  #define AXIS_RELATIVE_MODES {}
+#endif
+
 #ifdef SWITCHING_NOZZLE_E1_SERVO_NR
   #define SWITCHING_NOZZLE_TWO_SERVOS 1
 #endif
@@ -488,12 +492,26 @@
 // Remove unused STEALTHCHOP flags
 #if LINEAR_AXES < 6
   #undef STEALTHCHOP_K
+  #undef CALIBRATION_MEASURE_KMIN
+  #undef CALIBRATION_MEASURE_KMAX
   #if LINEAR_AXES < 5
     #undef STEALTHCHOP_J
+    #undef CALIBRATION_MEASURE_JMIN
+    #undef CALIBRATION_MEASURE_JMAX
     #if LINEAR_AXES < 4
       #undef STEALTHCHOP_I
+      #undef CALIBRATION_MEASURE_IMIN
+      #undef CALIBRATION_MEASURE_IMAX
       #if LINEAR_AXES < 3
+        #undef Z_IDLE_HEIGHT
         #undef STEALTHCHOP_Z
+        #undef Z_PROBE_SLED
+        #undef Z_SAFE_HOMING
+        #undef HOME_Z_FIRST
+        #undef HOMING_Z_WITH_PROBE
+        #undef ENABLE_LEVELING_FADE_HEIGHT
+        #undef NUM_Z_STEPPER_DRIVERS
+        #undef CNC_WORKSPACE_PLANES
         #if LINEAR_AXES < 2
           #undef STEALTHCHOP_Y
         #endif

Marlin/src/inc/Conditionals_post.h

@@ -78,17 +78,49 @@
 /**
  * Axis lengths and center
  */
+#ifndef AXIS4_NAME
+  #define AXIS4_NAME 'A'
+#endif
+#ifndef AXIS5_NAME
+  #define AXIS5_NAME 'B'
+#endif
+#ifndef AXIS6_NAME
+  #define AXIS6_NAME 'C'
+#endif
+
 #define X_MAX_LENGTH (X_MAX_POS - (X_MIN_POS))
-#define Y_MAX_LENGTH (Y_MAX_POS - (Y_MIN_POS))
+#if HAS_Y_AXIS
-#define Z_MAX_LENGTH (Z_MAX_POS - (Z_MIN_POS))
+  #define Y_MAX_LENGTH (Y_MAX_POS - (Y_MIN_POS))
+#endif
+#if HAS_Z_AXIS
+  #define Z_MAX_LENGTH (Z_MAX_POS - (Z_MIN_POS))
+#endif
+#if LINEAR_AXES >= 4
+  #define I_MAX_LENGTH (I_MAX_POS - (I_MIN_POS))
+#endif
+#if LINEAR_AXES >= 5
+  #define J_MAX_LENGTH (J_MAX_POS - (J_MIN_POS))
+#endif
+#if LINEAR_AXES >= 6
+  #define K_MAX_LENGTH (K_MAX_POS - (K_MIN_POS))
+#endif
 
 // Defined only if the sanity-check is bypassed
 #ifndef X_BED_SIZE
   #define X_BED_SIZE X_MAX_LENGTH
 #endif
-#ifndef Y_BED_SIZE
+#if HAS_Y_AXIS && !defined(Y_BED_SIZE)
   #define Y_BED_SIZE Y_MAX_LENGTH
 #endif
+#if LINEAR_AXES >= 4 && !defined(I_BED_SIZE)
+  #define I_BED_SIZE I_MAX_LENGTH
+#endif
+#if LINEAR_AXES >= 5 && !defined(J_BED_SIZE)
+  #define J_BED_SIZE J_MAX_LENGTH
+#endif
+#if LINEAR_AXES >= 6 && !defined(K_BED_SIZE)
+  #define K_BED_SIZE K_MAX_LENGTH
+#endif
 
 // Require 0,0 bed center for Delta and SCARA
 #if IS_KINEMATIC
@@ -97,16 +129,53 @@
 
 // Define center values for future use
 #define _X_HALF_BED ((X_BED_SIZE) / 2)
-#define _Y_HALF_BED ((Y_BED_SIZE) / 2)
+#if HAS_Y_AXIS
+  #define _Y_HALF_BED ((Y_BED_SIZE) / 2)
+#endif
+#if LINEAR_AXES >= 4
+  #define _I_HALF_IMAX ((I_BED_SIZE) / 2)
+#endif
+#if LINEAR_AXES >= 5
+  #define _J_HALF_JMAX ((J_BED_SIZE) / 2)
+#endif
+#if LINEAR_AXES >= 6
+  #define _K_HALF_KMAX ((K_BED_SIZE) / 2)
+#endif
+
 #define X_CENTER TERN(BED_CENTER_AT_0_0, 0, _X_HALF_BED)
-#define Y_CENTER TERN(BED_CENTER_AT_0_0, 0, _Y_HALF_BED)
+#if HAS_Y_AXIS
-#define XY_CENTER { X_CENTER, Y_CENTER }
+  #define Y_CENTER TERN(BED_CENTER_AT_0_0, 0, _Y_HALF_BED)
+  #define XY_CENTER { X_CENTER, Y_CENTER }
+#endif
+#if LINEAR_AXES >= 4
+  #define I_CENTER TERN(BED_CENTER_AT_0_0, 0, _I_HALF_BED)
+#endif
+#if LINEAR_AXES >= 5
+  #define J_CENTER TERN(BED_CENTER_AT_0_0, 0, _J_HALF_BED)
+#endif
+#if LINEAR_AXES >= 6
+  #define K_CENTER TERN(BED_CENTER_AT_0_0, 0, _K_HALF_BED)
+#endif
 
 // Get the linear boundaries of the bed
 #define X_MIN_BED (X_CENTER - _X_HALF_BED)
 #define X_MAX_BED (X_MIN_BED + X_BED_SIZE)
-#define Y_MIN_BED (Y_CENTER - _Y_HALF_BED)
+#if HAS_Y_AXIS
-#define Y_MAX_BED (Y_MIN_BED + Y_BED_SIZE)
+  #define Y_MIN_BED (Y_CENTER - _Y_HALF_BED)
+  #define Y_MAX_BED (Y_MIN_BED + Y_BED_SIZE)
+#endif
+#if LINEAR_AXES >= 4
+  #define I_MINIM (I_CENTER - _I_HALF_BED_SIZE)
+  #define I_MAXIM (I_MINIM + I_BED_SIZE)
+#endif
+#if LINEAR_AXES >= 5
+  #define J_MINIM (J_CENTER - _J_HALF_BED_SIZE)
+  #define J_MAXIM (J_MINIM + J_BED_SIZE)
+#endif
+#if LINEAR_AXES >= 6
+  #define K_MINIM (K_CENTER - _K_HALF_BED_SIZE)
+  #define K_MAXIM (K_MINIM + K_BED_SIZE)
+#endif
 
 /**
  * Dual X Carriage
@@ -163,15 +232,17 @@
   #endif
 #endif
 
-#ifdef MANUAL_Y_HOME_POS
+#if HAS_Y_AXIS
+  #ifdef MANUAL_Y_HOME_POS
     #define Y_HOME_POS MANUAL_Y_HOME_POS
-#else
+  #else
     #define Y_END_POS TERN(Y_HOME_TO_MIN, Y_MIN_POS, Y_MAX_POS)
     #if ENABLED(BED_CENTER_AT_0_0)
       #define Y_HOME_POS TERN(DELTA, 0, Y_END_POS)
     #else
       #define Y_HOME_POS TERN(DELTA, Y_MIN_POS + (Y_BED_SIZE) * 0.5, Y_END_POS)
     #endif
+  #endif
 #endif
 
 #ifdef MANUAL_Z_HOME_POS
@@ -180,6 +251,28 @@
   #define Z_HOME_POS TERN(Z_HOME_TO_MIN, Z_MIN_POS, Z_MAX_POS)
 #endif
 
+#if LINEAR_AXES >= 4
+  #ifdef MANUAL_I_HOME_POS
+    #define I_HOME_POS MANUAL_I_HOME_POS
+  #else
+    #define I_HOME_POS TERN(I_HOME_TO_MIN, I_MIN_POS, I_MAX_POS)
+  #endif
+#endif
+#if LINEAR_AXES >= 5
+  #ifdef MANUAL_J_HOME_POS
+    #define J_HOME_POS MANUAL_J_HOME_POS
+  #else
+    #define J_HOME_POS TERN(J_HOME_TO_MIN, J_MIN_POS, J_MAX_POS)
+  #endif
+#endif
+#if LINEAR_AXES >= 6
+  #ifdef MANUAL_K_HOME_POS
+    #define K_HOME_POS MANUAL_K_HOME_POS
+  #else
+    #define K_HOME_POS TERN(K_HOME_TO_MIN, K_MIN_POS, K_MAX_POS)
+  #endif
+#endif
+
 /**
  * If DELTA_HEIGHT isn't defined use the old setting
  */
@@ -374,15 +467,24 @@
 #ifndef DISABLE_INACTIVE_X
   #define DISABLE_INACTIVE_X DISABLE_X
 #endif
-#ifndef DISABLE_INACTIVE_Y
+#if HAS_Y_AXIS && !defined(DISABLE_INACTIVE_Y)
   #define DISABLE_INACTIVE_Y DISABLE_Y
 #endif
-#ifndef DISABLE_INACTIVE_Z
+#if HAS_Z_AXIS && !defined(DISABLE_INACTIVE_Z)
   #define DISABLE_INACTIVE_Z DISABLE_Z
 #endif
 #ifndef DISABLE_INACTIVE_E
   #define DISABLE_INACTIVE_E DISABLE_E
 #endif
+#if LINEAR_AXES >= 4 && !defined(DISABLE_INACTIVE_I)
+  #define DISABLE_INACTIVE_I DISABLE_I
+#endif
+#if LINEAR_AXES >= 5 && !defined(DISABLE_INACTIVE_J)
+  #define DISABLE_INACTIVE_J DISABLE_J
+#endif
+#if LINEAR_AXES >= 6 && !defined(DISABLE_INACTIVE_K)
+  #define DISABLE_INACTIVE_K DISABLE_K
+#endif
 
 /**
  * Power Supply
@@ -1418,6 +1520,15 @@
   #if ENABLED(USE_ZMAX_PLUG)
     #define ENDSTOPPULLUP_ZMAX
   #endif
+  #if ENABLED(USE_IMAX_PLUG)
+    #define ENDSTOPPULLUP_IMAX
+  #endif
+  #if ENABLED(USE_JMAX_PLUG)
+    #define ENDSTOPPULLUP_JMAX
+  #endif
+  #if ENABLED(USE_KMAX_PLUG)
+    #define ENDSTOPPULLUP_KMAX
+  #endif
   #if ENABLED(USE_XMIN_PLUG)
     #define ENDSTOPPULLUP_XMIN
   #endif
@@ -1427,6 +1538,15 @@
   #if ENABLED(USE_ZMIN_PLUG)
     #define ENDSTOPPULLUP_ZMIN
   #endif
+  #if ENABLED(USE_IMIN_PLUG)
+    #define ENDSTOPPULLUP_IMIN
+  #endif
+  #if ENABLED(USE_JMIN_PLUG)
+    #define ENDSTOPPULLUP_JMIN
+  #endif
+  #if ENABLED(USE_KMIN_PLUG)
+    #define ENDSTOPPULLUP_KMIN
+  #endif
 #endif
 
 /**
@@ -1484,82 +1604,137 @@
   #define HAS_X2_MS_PINS 1
 #endif
 
-#if PIN_EXISTS(Y_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y))
+#if HAS_Y_AXIS
+  #if PIN_EXISTS(Y_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y))
     #define HAS_Y_ENABLE 1
-#endif
+  #endif
-#if PIN_EXISTS(Y_DIR)
+  #if PIN_EXISTS(Y_DIR)
     #define HAS_Y_DIR 1
-#endif
+  #endif
-#if PIN_EXISTS(Y_STEP)
+  #if PIN_EXISTS(Y_STEP)
     #define HAS_Y_STEP 1
-#endif
+  #endif
-#if PIN_EXISTS(Y_MS1)
+  #if PIN_EXISTS(Y_MS1)
     #define HAS_Y_MS_PINS 1
-#endif
+  #endif
 
-#if PIN_EXISTS(Y2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2))
+  #if PIN_EXISTS(Y2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2))
     #define HAS_Y2_ENABLE 1
-#endif
+  #endif
-#if PIN_EXISTS(Y2_DIR)
+  #if PIN_EXISTS(Y2_DIR)
     #define HAS_Y2_DIR 1
-#endif
+  #endif
-#if PIN_EXISTS(Y2_STEP)
+  #if PIN_EXISTS(Y2_STEP)
     #define HAS_Y2_STEP 1
-#endif
+  #endif
-#if PIN_EXISTS(Y2_MS1)
+  #if PIN_EXISTS(Y2_MS1)
     #define HAS_Y2_MS_PINS 1
+  #endif
 #endif
 
-#if PIN_EXISTS(Z_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z))
+#if HAS_Z_AXIS
+  #if PIN_EXISTS(Z_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z))
     #define HAS_Z_ENABLE 1
-#endif
+  #endif
-#if PIN_EXISTS(Z_DIR)
+  #if PIN_EXISTS(Z_DIR)
     #define HAS_Z_DIR 1
-#endif
+  #endif
-#if PIN_EXISTS(Z_STEP)
+  #if PIN_EXISTS(Z_STEP)
     #define HAS_Z_STEP 1
-#endif
+  #endif
-#if PIN_EXISTS(Z_MS1)
+  #if PIN_EXISTS(Z_MS1)
     #define HAS_Z_MS_PINS 1
+  #endif
 #endif
 
-#if PIN_EXISTS(Z2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2))
+#if NUM_Z_STEPPER_DRIVERS >= 2
+  #if PIN_EXISTS(Z2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2))
     #define HAS_Z2_ENABLE 1
-#endif
+  #endif
-#if PIN_EXISTS(Z2_DIR)
+  #if PIN_EXISTS(Z2_DIR)
     #define HAS_Z2_DIR 1
-#endif
+  #endif
-#if PIN_EXISTS(Z2_STEP)
+  #if PIN_EXISTS(Z2_STEP)
     #define HAS_Z2_STEP 1
-#endif
+  #endif
-#if PIN_EXISTS(Z2_MS1)
+  #if PIN_EXISTS(Z2_MS1)
     #define HAS_Z2_MS_PINS 1
+  #endif
 #endif
 
-#if PIN_EXISTS(Z3_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3))
+#if NUM_Z_STEPPER_DRIVERS >= 3
+  #if PIN_EXISTS(Z3_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3))
     #define HAS_Z3_ENABLE 1
-#endif
+  #endif
-#if PIN_EXISTS(Z3_DIR)
+  #if PIN_EXISTS(Z3_DIR)
     #define HAS_Z3_DIR 1
-#endif
+  #endif
-#if PIN_EXISTS(Z3_STEP)
+  #if PIN_EXISTS(Z3_STEP)
     #define HAS_Z3_STEP 1
-#endif
+  #endif
-#if PIN_EXISTS(Z3_MS1)
+  #if PIN_EXISTS(Z3_MS1)
     #define HAS_Z3_MS_PINS 1
+  #endif
 #endif
 
-#if PIN_EXISTS(Z4_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z4))
+#if NUM_Z_STEPPER_DRIVERS >= 4
+  #if PIN_EXISTS(Z4_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z4))
     #define HAS_Z4_ENABLE 1
-#endif
+  #endif
-#if PIN_EXISTS(Z4_DIR)
+  #if PIN_EXISTS(Z4_DIR)
     #define HAS_Z4_DIR 1
-#endif
+  #endif
-#if PIN_EXISTS(Z4_STEP)
+  #if PIN_EXISTS(Z4_STEP)
     #define HAS_Z4_STEP 1
-#endif
+  #endif
-#if PIN_EXISTS(Z4_MS1)
+  #if PIN_EXISTS(Z4_MS1)
     #define HAS_Z4_MS_PINS 1
+  #endif
+#endif
+
+#if LINEAR_AXES >= 4
+  #if PIN_EXISTS(I_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(I))
+    #define HAS_I_ENABLE 1
+  #endif
+  #if PIN_EXISTS(I_DIR)
+    #define HAS_I_DIR 1
+  #endif
+  #if PIN_EXISTS(I_STEP)
+    #define HAS_I_STEP 1
+  #endif
+  #if PIN_EXISTS(I_MS1)
+    #define HAS_I_MS_PINS 1
+  #endif
+#endif
+
+#if LINEAR_AXES >= 5
+  #if PIN_EXISTS(J_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(J))
+    #define HAS_J_ENABLE 1
+  #endif
+  #if PIN_EXISTS(J_DIR)
+    #define HAS_J_DIR 1
+  #endif
+  #if PIN_EXISTS(J_STEP)
+    #define HAS_J_STEP 1
+  #endif
+  #if PIN_EXISTS(J_MS1)
+    #define HAS_J_MS_PINS 1
+  #endif
+#endif
+
+#if LINEAR_AXES >= 6
+  #if PIN_EXISTS(K_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(K))
+    #define HAS_K_ENABLE 1
+  #endif
+  #if PIN_EXISTS(K_DIR)
+    #define HAS_K_DIR 1
+  #endif
+  #if PIN_EXISTS(K_STEP)
+    #define HAS_K_STEP 1
+  #endif
+  #if PIN_EXISTS(K_MS1)
+    #define HAS_K_MS_PINS 1
+  #endif
 #endif
 
 // Extruder steppers and solenoids
@@ -1700,7 +1875,7 @@
 //
 
 #if HAS_TRINAMIC_CONFIG
-  #if ANY(STEALTHCHOP_XY, STEALTHCHOP_Z, STEALTHCHOP_E)
+  #if ANY(STEALTHCHOP_E, STEALTHCHOP_XY, STEALTHCHOP_Z, STEALTHCHOP_I, STEALTHCHOP_J, STEALTHCHOP_K)
     #define STEALTHCHOP_ENABLED 1
   #endif
   #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
@@ -1737,6 +1912,65 @@
   #if defined(Z4_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z4)
     #define Z4_SENSORLESS 1
   #endif
+
+  #if AXIS_HAS_STEALTHCHOP(X)
+    #define X_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(X2)
+    #define X2_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Y)
+    #define Y_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Y2)
+    #define Y2_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Z)
+    #define Z_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Z2)
+    #define Z2_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Z3)
+    #define Z3_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(Z4)
+    #define Z4_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(I)
+    #define I_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(J)
+    #define J_HAS_STEALTHCHOP 1
+  #endif
+  #if AXIS_HAS_STEALTHCHOP(K)
+    #define K_HAS_STEALTHCHOP 1
+  #endif
+  #if E_STEPPERS > 0 && AXIS_HAS_STEALTHCHOP(E0)
+    #define E0_HAS_STEALTHCHOP 1
+  #endif
+  #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
+    #define E1_HAS_STEALTHCHOP 1
+  #endif
+  #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
+    #define E2_HAS_STEALTHCHOP 1
+  #endif
+  #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
+    #define E3_HAS_STEALTHCHOP 1
+  #endif
+  #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
+    #define E4_HAS_STEALTHCHOP 1
+  #endif
+  #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
+    #define E5_HAS_STEALTHCHOP 1
+  #endif
+  #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6)
+    #define E6_HAS_STEALTHCHOP 1
+  #endif
+  #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7)
+    #define E7_HAS_STEALTHCHOP 1
+  #endif
+
   #if ENABLED(SPI_ENDSTOPS)
     #define X_SPI_SENSORLESS X_SENSORLESS
     #define Y_SPI_SENSORLESS Y_SENSORLESS
@@ -1766,6 +2000,21 @@
   #ifndef Z4_INTERPOLATE
     #define Z4_INTERPOLATE INTERPOLATE
   #endif
+  #if LINEAR_AXES >= 4
+    #ifndef I_INTERPOLATE
+      #define I_INTERPOLATE INTERPOLATE
+    #endif
+  #endif
+  #if LINEAR_AXES >= 5
+    #ifndef J_INTERPOLATE
+      #define J_INTERPOLATE INTERPOLATE
+    #endif
+  #endif
+  #if LINEAR_AXES >= 6
+    #ifndef K_INTERPOLATE
+      #define K_INTERPOLATE INTERPOLATE
+    #endif
+  #endif
   #ifndef E0_INTERPOLATE
     #define E0_INTERPOLATE INTERPOLATE
   #endif
@@ -1799,6 +2048,15 @@
   #ifndef Z_SLAVE_ADDRESS
     #define Z_SLAVE_ADDRESS  0
   #endif
+  #ifndef I_SLAVE_ADDRESS
+    #define I_SLAVE_ADDRESS 0
+  #endif
+  #ifndef J_SLAVE_ADDRESS
+    #define J_SLAVE_ADDRESS 0
+  #endif
+  #ifndef K_SLAVE_ADDRESS
+    #define K_SLAVE_ADDRESS 0
+  #endif
   #ifndef X2_SLAVE_ADDRESS
     #define X2_SLAVE_ADDRESS 0
   #endif
@@ -1853,6 +2111,10 @@
   #define HAS_TMC_SW_SERIAL 1
 #endif
 
+#if !USE_SENSORLESS
+  #undef SENSORLESS_BACKOFF_MM
+#endif
+
 //
 // Set USING_HW_SERIALn flags for used Serial Ports
 //
@@ -1972,18 +2234,36 @@
 #if _HAS_STOP(X,MAX)
   #define HAS_X_MAX 1
 #endif
-#if _HAS_STOP(Y,MIN)
+#if HAS_Y_AXIS && _HAS_STOP(Y,MIN)
   #define HAS_Y_MIN 1
 #endif
-#if _HAS_STOP(Y,MAX)
+#if HAS_Y_AXIS && _HAS_STOP(Y,MAX)
   #define HAS_Y_MAX 1
 #endif
-#if _HAS_STOP(Z,MIN)
+#if BOTH(HAS_Z_AXIS, USE_ZMIN_PLUG) && _HAS_STOP(Z,MIN)
   #define HAS_Z_MIN 1
 #endif
-#if _HAS_STOP(Z,MAX)
+#if BOTH(HAS_Z_AXIS, USE_ZMAX_PLUG) && _HAS_STOP(Z,MAX)
   #define HAS_Z_MAX 1
 #endif
+#if _HAS_STOP(I,MIN)
+  #define HAS_I_MIN 1
+#endif
+#if _HAS_STOP(I,MAX)
+  #define HAS_I_MAX 1
+#endif
+#if _HAS_STOP(J,MIN)
+  #define HAS_J_MIN 1
+#endif
+#if _HAS_STOP(J,MAX)
+  #define HAS_J_MAX 1
+#endif
+#if _HAS_STOP(K,MIN)
+  #define HAS_K_MIN 1
+#endif
+#if _HAS_STOP(K,MAX)
+  #define HAS_K_MAX 1
+#endif
 #if PIN_EXISTS(X2_MIN)
   #define HAS_X2_MIN 1
 #endif
@@ -2365,7 +2645,7 @@
 #if ANY(HAS_E0_MS_PINS, HAS_E1_MS_PINS, HAS_E2_MS_PINS, HAS_E3_MS_PINS, HAS_E4_MS_PINS, HAS_E5_MS_PINS, HAS_E6_MS_PINS, HAS_E7_MS_PINS)
   #define HAS_SOME_E_MS_PINS 1
 #endif
-#if ANY(HAS_X_MS_PINS, HAS_X2_MS_PINS, HAS_Y_MS_PINS, HAS_Y2_MS_PINS, HAS_SOME_Z_MS_PINS, HAS_SOME_E_MS_PINS)
+#if ANY(HAS_X_MS_PINS, HAS_X2_MS_PINS, HAS_Y_MS_PINS, HAS_Y2_MS_PINS, HAS_SOME_Z_MS_PINS, HAS_I_MS_PINS, HAS_J_MS_PINS, HAS_K_MS_PINS, HAS_SOME_E_MS_PINS)
   #define HAS_MICROSTEPS 1
 #endif
 

Marlin/src/inc/SanityCheck.h

@@ -34,6 +34,10 @@
   #error "Marlin requires C++11 support (gcc >= 4.7, Arduino IDE >= 1.6.8). Please upgrade your toolchain."
 #endif
 
+// Strings for sanity check messages
+#define _LINEAR_AXES_STR LINEAR_AXIS_GANG("X ", "Y ", "Z ", "I ", "J ", "K ")
+#define _LOGICAL_AXES_STR LOGICAL_AXIS_GANG("E ", "X ", "Y ", "Z ", "I ", "J ", "K ")
+
 // Make sure macros aren't borked
 #define TEST1
 #define TEST2 1
@@ -566,6 +570,9 @@
   #error "NEOPIXEL_BKGD_LED_INDEX is now NEOPIXEL_BKGD_INDEX_FIRST."
 #endif
 
+constexpr float sbm[] = AXIS_RELATIVE_MODES;
+static_assert(COUNT(sbm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _LOGICAL_AXES_STR "elements.");
+
 /**
  * Probe temp compensation requirements
  */
@@ -644,14 +651,18 @@
 
 #if ENABLED(Y_DUAL_STEPPER_DRIVERS) && !GOOD_AXIS_PINS(Y)
   #error "Y_DUAL_STEPPER_DRIVERS requires Y2 pins to be defined."
-#elif !WITHIN(NUM_Z_STEPPER_DRIVERS, 1, 4)
+#endif
+
+#if HAS_Z_AXIS
+  #if !WITHIN(NUM_Z_STEPPER_DRIVERS, 1, 4)
     #error "NUM_Z_STEPPER_DRIVERS must be an integer from 1 to 4."
-#elif NUM_Z_STEPPER_DRIVERS == 2 && !GOOD_AXIS_PINS(Z2)
+  #elif NUM_Z_STEPPER_DRIVERS == 2 && !GOOD_AXIS_PINS(Z2)
     #error "If NUM_Z_STEPPER_DRIVERS is 2, you must define stepper pins for Z2."
-#elif NUM_Z_STEPPER_DRIVERS == 3 && !(GOOD_AXIS_PINS(Z2) && GOOD_AXIS_PINS(Z3))
+  #elif NUM_Z_STEPPER_DRIVERS == 3 && !(GOOD_AXIS_PINS(Z2) && GOOD_AXIS_PINS(Z3))
     #error "If NUM_Z_STEPPER_DRIVERS is 3, you must define stepper pins for Z2 and Z3."
-#elif NUM_Z_STEPPER_DRIVERS == 4 && !(GOOD_AXIS_PINS(Z2) && GOOD_AXIS_PINS(Z3) && GOOD_AXIS_PINS(Z4))
+  #elif NUM_Z_STEPPER_DRIVERS == 4 && !(GOOD_AXIS_PINS(Z2) && GOOD_AXIS_PINS(Z3) && GOOD_AXIS_PINS(Z4))
     #error "If NUM_Z_STEPPER_DRIVERS is 4, you must define stepper pins for Z2, Z3, and Z4."
+  #endif
 #endif
 
 /**
@@ -704,6 +715,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   #error "Enable only one of ENDSTOPPULLUP_Y_MIN or ENDSTOPPULLDOWN_Y_MIN."
 #elif BOTH(ENDSTOPPULLUP_ZMIN, ENDSTOPPULLDOWN_ZMIN)
   #error "Enable only one of ENDSTOPPULLUP_Z_MIN or ENDSTOPPULLDOWN_Z_MIN."
+#elif BOTH(ENDSTOPPULLUP_IMIN, ENDSTOPPULLDOWN_IMIN)
+  #error "Enable only one of ENDSTOPPULLUP_I_MIN or ENDSTOPPULLDOWN_I_MIN."
+#elif BOTH(ENDSTOPPULLUP_JMIN, ENDSTOPPULLDOWN_JMIN)
+  #error "Enable only one of ENDSTOPPULLUP_J_MIN or ENDSTOPPULLDOWN_J_MIN."
+#elif BOTH(ENDSTOPPULLUP_KMIN, ENDSTOPPULLDOWN_KMIN)
+  #error "Enable only one of ENDSTOPPULLUP_K_MIN or ENDSTOPPULLDOWN_K_MIN."
 #endif
 
 /**
@@ -926,6 +943,13 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   static_assert(WITHIN(npp_xyz.z, Z_MIN_POS, Z_MAX_POS), "NOZZLE_PARK_POINT.Z is out of bounds (Z_MIN_POS, Z_MAX_POS).");
 #endif
 
+/**
+ * Instant Freeze
+ */
+#if ENABLED(FREEZE_FEATURE) && !PIN_EXISTS(FREEZE)
+  #error "FREEZE_FEATURE requires a FREEZE_PIN to be defined."
+#endif
+
 /**
  * Individual axis homing is useless for DELTAS
  */
@@ -1266,6 +1290,42 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   #error "To use CHAMBER_LIMIT_SWITCHING you must disable PIDTEMPCHAMBER."
 #endif
 
+/**
+ * Features that require a min/max/specific LINEAR_AXES
+ */
+#if HAS_LEVELING && !HAS_Z_AXIS
+  #error "Leveling in Marlin requires three or more axes, with Z as the vertical axis."
+#elif ENABLED(CNC_WORKSPACE_PLANES) && !HAS_Z_AXIS
+  #error "CNC_WORKSPACE_PLANES currently requires LINEAR_AXES >= 3"
+#elif ENABLED(DIRECT_STEPPING) && LINEAR_AXES > XYZ
+  #error "DIRECT_STEPPING currently requires LINEAR_AXES 3"
+#elif ENABLED(FOAMCUTTER_XYUV) && LINEAR_AXES < 5
+  #error "FOAMCUTTER_XYUV requires LINEAR_AXES >= 5."
+#endif
+
+/**
+ * Allow only extra axis codes that do not conflict with G-code parameter names
+ */
+#if LINEAR_AXES >= 4
+  #if AXIS4_NAME != 'A' && AXIS4_NAME != 'B' && AXIS4_NAME != 'C' && AXIS4_NAME != 'U' && AXIS4_NAME != 'V' && AXIS4_NAME != 'W'
+    #error "AXIS4_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
+  #endif
+#endif
+#if LINEAR_AXES >= 5
+  #if AXIS5_NAME == AXIS4_NAME || AXIS5_NAME == AXIS6_NAME
+    #error "AXIS5_NAME must be different from AXIS4_NAME and AXIS6_NAME"
+  #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'."
+  #endif
+#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."
+  #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'."
+  #endif
+#endif
+
 /**
  * Kinematics
  */
@@ -1273,8 +1333,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
  * Allow only one kinematic type to be defined
  */
-#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY)
+#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, FOAMCUTTER_XYUV)
-  #error "Please enable only one of DELTA, MORGAN_SCARA, AXEL_TPARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY."
+  #error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, or FOAMCUTTER_XYUV."
 #endif
 
 /**
@@ -1597,15 +1657,60 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #endif
 
 /**
- * Homing
+ * Homing checks
  */
-constexpr float hbm[] = HOMING_BUMP_MM;
+#ifndef HOMING_BUMP_MM
-static_assert(COUNT(hbm) == LINEAR_AXES, "HOMING_BUMP_MM requires one element per linear axis.");
+  #error "Required setting HOMING_BUMP_MM is missing!"
-LINEAR_AXIS_CODE(
+#elif !defined(HOMING_BUMP_DIVISOR)
+  #error "Required setting HOMING_BUMP_DIVISOR is missing!"
+#else
+  constexpr float hbm[] = HOMING_BUMP_MM, hbd[] = HOMING_BUMP_DIVISOR;
+  static_assert(COUNT(hbm) == LINEAR_AXES, "HOMING_BUMP_MM must have " _LINEAR_AXES_STR "elements (and no others).");
+  LINEAR_AXIS_CODE(
     static_assert(hbm[X_AXIS] >= 0, "HOMING_BUMP_MM.X must be greater than or equal to 0."),
     static_assert(hbm[Y_AXIS] >= 0, "HOMING_BUMP_MM.Y must be greater than or equal to 0."),
-  static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal to 0.")
+    static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal to 0."),
-);
+    static_assert(hbm[I_AXIS] >= 0, "HOMING_BUMP_MM.I must be greater than or equal to 0."),
+    static_assert(hbm[J_AXIS] >= 0, "HOMING_BUMP_MM.J must be greater than or equal to 0."),
+    static_assert(hbm[K_AXIS] >= 0, "HOMING_BUMP_MM.K must be greater than or equal to 0.")
+  );
+  static_assert(COUNT(hbd) == LINEAR_AXES, "HOMING_BUMP_DIVISOR must have " _LINEAR_AXES_STR "elements (and no others).");
+  LINEAR_AXIS_CODE(
+    static_assert(hbd[X_AXIS] >= 1, "HOMING_BUMP_DIVISOR.X must be greater than or equal to 1."),
+    static_assert(hbd[Y_AXIS] >= 1, "HOMING_BUMP_DIVISOR.Y must be greater than or equal to 1."),
+    static_assert(hbd[Z_AXIS] >= 1, "HOMING_BUMP_DIVISOR.Z must be greater than or equal to 1."),
+    static_assert(hbd[I_AXIS] >= 1, "HOMING_BUMP_DIVISOR.I must be greater than or equal to 1."),
+    static_assert(hbd[J_AXIS] >= 1, "HOMING_BUMP_DIVISOR.J must be greater than or equal to 1."),
+    static_assert(hbd[K_AXIS] >= 1, "HOMING_BUMP_DIVISOR.K must be greater than or equal to 1.")
+  );
+#endif
+
+#ifdef HOMING_BACKOFF_POST_MM
+  constexpr float hbp[] = HOMING_BACKOFF_POST_MM;
+  static_assert(COUNT(hbp) == LINEAR_AXES, "HOMING_BACKOFF_POST_MM must have " _LINEAR_AXES_STR "elements (and no others).");
+  LINEAR_AXIS_CODE(
+    static_assert(hbp[X_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.X must be greater than or equal to 0."),
+    static_assert(hbp[Y_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.Y must be greater than or equal to 0."),
+    static_assert(hbp[Z_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.Z must be greater than or equal to 0."),
+    static_assert(hbp[I_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.I must be greater than or equal to 0."),
+    static_assert(hbp[J_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.J must be greater than or equal to 0."),
+    static_assert(hbp[K_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.K must be greater than or equal to 0.")
+  );
+#endif
+
+#ifdef SENSORLESS_BACKOFF_MM
+  constexpr float sbm[] = SENSORLESS_BACKOFF_MM;
+  static_assert(COUNT(sbm) == LINEAR_AXES, "SENSORLESS_BACKOFF_MM must have " _LINEAR_AXES_STR "elements (and no others).");
+  LINEAR_AXIS_CODE(
+    static_assert(sbm[X_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.X must be greater than or equal to 0."),
+    static_assert(sbm[Y_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.Y must be greater than or equal to 0."),
+    static_assert(sbm[Z_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.Z must be greater than or equal to 0."),
+    static_assert(sbm[I_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.I must be greater than or equal to 0."),
+    static_assert(sbm[J_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.J must be greater than or equal to 0."),
+    static_assert(sbm[K_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.K must be greater than or equal to 0.")
+  );
+#endif
+
 #if ENABLED(CODEPENDENT_XY_HOMING)
   #if ENABLED(QUICK_HOME)
     #error "QUICK_HOME is incompatible with CODEPENDENT_XY_HOMING."
@@ -1625,9 +1730,9 @@ LINEAR_AXIS_CODE(
 /**
  * Make sure DISABLE_[XYZ] compatible with selected homing options
  */
-#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z)
+#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K)
   #if EITHER(HOME_AFTER_DEACTIVATE, Z_SAFE_HOMING)
-    #error "DISABLE_[XYZ] is not compatible with HOME_AFTER_DEACTIVATE or Z_SAFE_HOMING."
+    #error "DISABLE_[XYZIJK] is not compatible with HOME_AFTER_DEACTIVATE or Z_SAFE_HOMING."
   #endif
 #endif
 
@@ -2085,7 +2190,7 @@ LINEAR_AXIS_CODE(
 #define _PLUG_UNUSED_TEST(A,P) (DISABLED(USE_##P##MIN_PLUG, USE_##P##MAX_PLUG) \
   && !(ENABLED(A##_DUAL_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) \
   && !(ENABLED(A##_MULTI_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) )
-#define _AXIS_PLUG_UNUSED_TEST(A) (_PLUG_UNUSED_TEST(A,X) && _PLUG_UNUSED_TEST(A,Y) && _PLUG_UNUSED_TEST(A,Z))
+#define _AXIS_PLUG_UNUSED_TEST(A) (1 LINEAR_AXIS_GANG(&& _PLUG_UNUSED_TEST(A,X), && _PLUG_UNUSED_TEST(A,Y), && _PLUG_UNUSED_TEST(A,Z), && _PLUG_UNUSED_TEST(A,I), && _PLUG_UNUSED_TEST(A,J), && _PLUG_UNUSED_TEST(A,K) ) )
 
 // A machine with endstops must have a minimum of 3
 #if HAS_ENDSTOPS
@@ -2098,6 +2203,15 @@ LINEAR_AXIS_CODE(
   #if _AXIS_PLUG_UNUSED_TEST(Z)
     #error "You must enable USE_ZMIN_PLUG or USE_ZMAX_PLUG."
   #endif
+  #if LINEAR_AXES >= 4 && _AXIS_PLUG_UNUSED_TEST(I)
+    #error "You must enable USE_IMIN_PLUG or USE_IMAX_PLUG."
+  #endif
+  #if LINEAR_AXES >= 5 && _AXIS_PLUG_UNUSED_TEST(J)
+    #error "You must enable USE_JMIN_PLUG or USE_JMAX_PLUG."
+  #endif
+  #if LINEAR_AXES >= 6 && _AXIS_PLUG_UNUSED_TEST(K)
+    #error "You must enable USE_KMIN_PLUG or USE_KMAX_PLUG."
+  #endif
 
   // Delta and Cartesian use 3 homing endstops
   #if NONE(IS_SCARA, SPI_ENDSTOPS)
@@ -2109,6 +2223,18 @@ LINEAR_AXIS_CODE(
       #error "Enable USE_YMIN_PLUG when homing Y to MIN."
     #elif Y_HOME_TO_MAX && DISABLED(USE_YMAX_PLUG)
       #error "Enable USE_YMAX_PLUG when homing Y to MAX."
+    #elif LINEAR_AXES >= 4 && I_HOME_TO_MIN && DISABLED(USE_IMIN_PLUG)
+      #error "Enable USE_IMIN_PLUG when homing I to MIN."
+    #elif LINEAR_AXES >= 4 && I_HOME_TO_MAX && DISABLED(USE_IMAX_PLUG)
+      #error "Enable USE_IMAX_PLUG when homing I to MAX."
+    #elif LINEAR_AXES >= 5 && J_HOME_TO_MIN && DISABLED(USE_JMIN_PLUG)
+      #error "Enable USE_JMIN_PLUG when homing J to MIN."
+    #elif LINEAR_AXES >= 5 && J_HOME_TO_MAX && DISABLED(USE_JMAX_PLUG)
+      #error "Enable USE_JMAX_PLUG when homing J to MAX."
+    #elif LINEAR_AXES >= 6 && K_HOME_TO_MIN && DISABLED(USE_KMIN_PLUG)
+      #error "Enable USE_KMIN_PLUG when homing K to MIN."
+    #elif LINEAR_AXES >= 6 && K_HOME_TO_MAX && DISABLED(USE_KMAX_PLUG)
+      #error "Enable USE_KMAX_PLUG when homing K to MAX."
     #endif
   #endif
 
@@ -2503,6 +2629,12 @@ LINEAR_AXIS_CODE(
   #error "An SPI driven TMC driver on E6 requires E6_CS_PIN."
 #elif INVALID_TMC_SPI(E7)
   #error "An SPI driven TMC driver on E7 requires E7_CS_PIN."
+#elif INVALID_TMC_SPI(I)
+  #error "An SPI driven TMC on I requires I_CS_PIN."
+#elif INVALID_TMC_SPI(J)
+  #error "An SPI driven TMC on J requires J_CS_PIN."
+#elif INVALID_TMC_SPI(K)
+  #error "An SPI driven TMC on K requires K_CS_PIN."
 #endif
 #undef INVALID_TMC_SPI
 
@@ -2542,6 +2674,12 @@ LINEAR_AXIS_CODE(
   #error "TMC2208 or TMC2209 on E6 requires E6_HARDWARE_SERIAL or E6_SERIAL_(RX|TX)_PIN."
 #elif INVALID_TMC_UART(E7)
   #error "TMC2208 or TMC2209 on E7 requires E7_HARDWARE_SERIAL or E7_SERIAL_(RX|TX)_PIN."
+#elif LINEAR_AXES >= 4 && INVALID_TMC_UART(I)
+  #error "TMC2208 or TMC2209 on I requires I_HARDWARE_SERIAL or I_SERIAL_(RX|TX)_PIN."
+#elif LINEAR_AXES >= 5 && INVALID_TMC_UART(J)
+  #error "TMC2208 or TMC2209 on J requires J_HARDWARE_SERIAL or J_SERIAL_(RX|TX)_PIN."
+#elif LINEAR_AXES >= 6 && INVALID_TMC_UART(K)
+  #error "TMC2208 or TMC2209 on K requires K_HARDWARE_SERIAL or K_SERIAL_(RX|TX)_PIN."
 #endif
 #undef INVALID_TMC_UART
 
@@ -2565,6 +2703,12 @@ LINEAR_AXIS_CODE(
   INVALID_TMC_ADDRESS(Z3);
 #elif AXIS_DRIVER_TYPE_Z4(TMC2209)
   INVALID_TMC_ADDRESS(Z4);
+#elif AXIS_DRIVER_TYPE_I(TMC2209)
+  INVALID_TMC_ADDRESS(I);
+#elif AXIS_DRIVER_TYPE_J(TMC2209)
+  INVALID_TMC_ADDRESS(J);
+#elif AXIS_DRIVER_TYPE_K(TMC2209)
+  INVALID_TMC_ADDRESS(K);
 #elif AXIS_DRIVER_TYPE_E0(TMC2209)
   INVALID_TMC_ADDRESS(E0);
 #elif AXIS_DRIVER_TYPE_E1(TMC2209)
@@ -2620,6 +2764,12 @@ LINEAR_AXIS_CODE(
   INVALID_TMC_MS(E6)
 #elif !TMC_MICROSTEP_IS_VALID(E7)
   INVALID_TMC_MS(E7)
+#elif LINEAR_AXES >= 4 && !TMC_MICROSTEP_IS_VALID(I)
+  INVALID_TMC_MS(I)
+#elif LINEAR_AXES >= 5 && !TMC_MICROSTEP_IS_VALID(J)
+  INVALID_TMC_MS(J)
+#elif LINEAR_AXES >= 6 && !TMC_MICROSTEP_IS_VALID(K)
+  INVALID_TMC_MS(K)
 #endif
 #undef INVALID_TMC_MS
 #undef TMC_MICROSTEP_IS_VALID
@@ -2640,6 +2790,15 @@ LINEAR_AXIS_CODE(
   #define X_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(X,TMC2209)
   #define Y_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(Y,TMC2209)
   #define Z_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(Z,TMC2209)
+  #if LINEAR_AXES >= 4
+    #define I_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(I,TMC2209)
+  #endif
+  #if LINEAR_AXES >= 5
+    #define J_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(J,TMC2209)
+  #endif
+  #if LINEAR_AXES >= 6
+    #define K_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(K,TMC2209)
+  #endif
 
   #if NONE(SPI_ENDSTOPS, ONBOARD_ENDSTOPPULLUPS, ENDSTOPPULLUPS)
     #if   X_SENSORLESS && X_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_XMIN)
@@ -2654,6 +2813,12 @@ LINEAR_AXIS_CODE(
       #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_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_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_MAX && DISABLED(ENDSTOPPULLUP_KMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX."
     #endif
   #endif
 
@@ -2698,6 +2863,42 @@ LINEAR_AXIS_CODE(
       #else
         #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to Z_MAX."
       #endif
+    #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MIN && I_MIN_ENDSTOP_INVERTING != I_ENDSTOP_INVERTING
+      #if I_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_INVERTING = true when homing to I_MIN."
+      #else
+        #error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to I_MIN."
+      #endif
+    #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MAX && I_MAX_ENDSTOP_INVERTING != I_ENDSTOP_INVERTING
+      #if I_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_INVERTING = true when homing to I_MAX."
+      #else
+        #error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to I_MAX."
+      #endif
+    #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MIN && J_MIN_ENDSTOP_INVERTING != J_ENDSTOP_INVERTING
+      #if J_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_INVERTING = true when homing to J_MIN."
+      #else
+        #error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to J_MIN."
+      #endif
+    #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MAX && J_MAX_ENDSTOP_INVERTING != J_ENDSTOP_INVERTING
+      #if J_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_INVERTING = true when homing to J_MAX."
+      #else
+        #error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to J_MAX."
+      #endif
+    #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MIN && K_MIN_ENDSTOP_INVERTING != K_ENDSTOP_INVERTING
+      #if K_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_INVERTING = true when homing to K_MIN."
+      #else
+        #error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to K_MIN."
+      #endif
+    #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MAX && K_MAX_ENDSTOP_INVERTING != K_ENDSTOP_INVERTING
+      #if K_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_INVERTING = true when homing to K_MAX."
+      #else
+        #error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to K_MAX."
+      #endif
     #endif
   #endif
 
@@ -2712,6 +2913,9 @@ LINEAR_AXIS_CODE(
   #undef X_ENDSTOP_INVERTING
   #undef Y_ENDSTOP_INVERTING
   #undef Z_ENDSTOP_INVERTING
+  #undef I_ENDSTOP_INVERTING
+  #undef J_ENDSTOP_INVERTING
+  #undef K_ENDSTOP_INVERTING
 #endif
 
 // Sensorless probing requirements
@@ -2774,6 +2978,12 @@ LINEAR_AXIS_CODE(
       #define CS_COMPARE Z2_CS_PIN
     #elif IN_CHAIN(Z3)
       #define CS_COMPARE Z3_CS_PIN
+    #elif IN_CHAIN(I)
+      #define CS_COMPARE I_CS_PIN
+    #elif IN_CHAIN(J)
+      #define CS_COMPARE J_CS_PIN
+    #elif IN_CHAIN(K)
+      #define CS_COMPARE K_CS_PIN
     #elif IN_CHAIN(E0)
       #define CS_COMPARE E0_CS_PIN
     #elif IN_CHAIN(E1)
@@ -2793,6 +3003,7 @@ LINEAR_AXIS_CODE(
     #endif
     #define BAD_CS_PIN(A) (IN_CHAIN(A) && A##_CS_PIN != CS_COMPARE)
     #if  BAD_CS_PIN(X ) || BAD_CS_PIN(Y ) || BAD_CS_PIN(Z ) || BAD_CS_PIN(X2) || BAD_CS_PIN(Y2) || BAD_CS_PIN(Z2) || BAD_CS_PIN(Z3) || BAD_CS_PIN(Z4) \
+      || BAD_CS_PIN(I) || BAD_CS_PIN(J) || BAD_CS_PIN(K) \
       || BAD_CS_PIN(E0) || BAD_CS_PIN(E1) || BAD_CS_PIN(E2) || BAD_CS_PIN(E3) || BAD_CS_PIN(E4) || BAD_CS_PIN(E5) || BAD_CS_PIN(E6) || BAD_CS_PIN(E7)
       #error "All chained TMC drivers must use the same CS pin."
     #endif
@@ -2803,6 +3014,13 @@ LINEAR_AXIS_CODE(
 #endif
 #undef IN_CHAIN
 
+/**
+ * L64XX requirement
+ */
+#if HAS_L64XX && LINEAR_AXES >= 4
+  #error "L64XX requires LINEAR_AXES 3. Homing with L64XX is not yet implemented for LINEAR_AXES > 3."
+#endif
+
 /**
  * Digipot requirement
  */
@@ -2820,43 +3038,48 @@ LINEAR_AXIS_CODE(
  */
 constexpr float sanity_arr_1[] = DEFAULT_AXIS_STEPS_PER_UNIT,
                 sanity_arr_2[] = DEFAULT_MAX_FEEDRATE,
-                sanity_arr_3[] = DEFAULT_MAX_ACCELERATION;
+                sanity_arr_3[] = DEFAULT_MAX_ACCELERATION,
+                sanity_arr_7[] = HOMING_FEEDRATE_MM_M;
 
 #define _ARR_TEST(N,I) (sanity_arr_##N[_MIN(I,int(COUNT(sanity_arr_##N))-1)] > 0)
 #if HAS_MULTI_EXTRUDER
   #define _EXTRA_NOTE " (Did you forget to enable DISTINCT_E_FACTORS?)"
-#elif EXTRUDERS == 0
-  #define _EXTRA_NOTE " (Note: EXTRUDERS is set to 0.)"
 #else
-  #define _EXTRA_NOTE ""
+  #define _EXTRA_NOTE " (Should be " STRINGIFY(LINEAR_AXES) "+" STRINGIFY(E_STEPPERS) ")"
 #endif
 
-static_assert(COUNT(sanity_arr_1) >= LOGICAL_AXES,  "DEFAULT_AXIS_STEPS_PER_UNIT requires X, Y, Z and E elements.");
+static_assert(COUNT(sanity_arr_1) >= LOGICAL_AXES,  "DEFAULT_AXIS_STEPS_PER_UNIT requires " _LOGICAL_AXES_STR "elements.");
 static_assert(COUNT(sanity_arr_1) <= DISTINCT_AXES, "DEFAULT_AXIS_STEPS_PER_UNIT has too many elements." _EXTRA_NOTE);
 static_assert(   _ARR_TEST(1,0) && _ARR_TEST(1,1) && _ARR_TEST(1,2)
               && _ARR_TEST(1,3) && _ARR_TEST(1,4) && _ARR_TEST(1,5)
               && _ARR_TEST(1,6) && _ARR_TEST(1,7) && _ARR_TEST(1,8),
               "DEFAULT_AXIS_STEPS_PER_UNIT values must be positive.");
 
-static_assert(COUNT(sanity_arr_2) >= LOGICAL_AXES,  "DEFAULT_MAX_FEEDRATE requires X, Y, Z and E elements.");
+static_assert(COUNT(sanity_arr_2) >= LOGICAL_AXES,  "DEFAULT_MAX_FEEDRATE requires " _LOGICAL_AXES_STR "elements.");
 static_assert(COUNT(sanity_arr_2) <= DISTINCT_AXES, "DEFAULT_MAX_FEEDRATE has too many elements." _EXTRA_NOTE);
 static_assert(   _ARR_TEST(2,0) && _ARR_TEST(2,1) && _ARR_TEST(2,2)
               && _ARR_TEST(2,3) && _ARR_TEST(2,4) && _ARR_TEST(2,5)
               && _ARR_TEST(2,6) && _ARR_TEST(2,7) && _ARR_TEST(2,8),
               "DEFAULT_MAX_FEEDRATE values must be positive.");
 
-static_assert(COUNT(sanity_arr_3) >= LOGICAL_AXES,  "DEFAULT_MAX_ACCELERATION requires X, Y, Z and E elements.");
+static_assert(COUNT(sanity_arr_3) >= LOGICAL_AXES,  "DEFAULT_MAX_ACCELERATION requires " _LOGICAL_AXES_STR "elements.");
 static_assert(COUNT(sanity_arr_3) <= DISTINCT_AXES, "DEFAULT_MAX_ACCELERATION has too many elements." _EXTRA_NOTE);
 static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
               && _ARR_TEST(3,3) && _ARR_TEST(3,4) && _ARR_TEST(3,5)
               && _ARR_TEST(3,6) && _ARR_TEST(3,7) && _ARR_TEST(3,8),
               "DEFAULT_MAX_ACCELERATION values must be positive.");
 
+static_assert(COUNT(sanity_arr_7) == LINEAR_AXES,  "HOMING_FEEDRATE_MM_M requires " _LINEAR_AXES_STR "elements (and no others).");
+static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
+              && _ARR_TEST(3,3) && _ARR_TEST(3,4) && _ARR_TEST(3,5)
+              && _ARR_TEST(3,6) && _ARR_TEST(3,7) && _ARR_TEST(3,8),
+              "HOMING_FEEDRATE_MM_M values must be positive.");
+
 #if ENABLED(LIMITED_MAX_ACCEL_EDITING)
   #ifdef MAX_ACCEL_EDIT_VALUES
     constexpr float sanity_arr_4[] = MAX_ACCEL_EDIT_VALUES;
-    static_assert(COUNT(sanity_arr_4) >= LOGICAL_AXES, "MAX_ACCEL_EDIT_VALUES requires X, Y, Z and E elements.");
+    static_assert(COUNT(sanity_arr_4) >= LOGICAL_AXES, "MAX_ACCEL_EDIT_VALUES requires " _LOGICAL_AXES_STR "elements.");
-    static_assert(COUNT(sanity_arr_4) <= LOGICAL_AXES, "MAX_ACCEL_EDIT_VALUES has too many elements. X, Y, Z and E elements only.");
+    static_assert(COUNT(sanity_arr_4) <= LOGICAL_AXES, "MAX_ACCEL_EDIT_VALUES has too many elements. " _LOGICAL_AXES_STR "elements only.");
     static_assert(   _ARR_TEST(4,0) && _ARR_TEST(4,1) && _ARR_TEST(4,2)
                   && _ARR_TEST(4,3) && _ARR_TEST(4,4) && _ARR_TEST(4,5)
                   && _ARR_TEST(4,6) && _ARR_TEST(4,7) && _ARR_TEST(4,8),
@@ -2867,8 +3090,8 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
 #if ENABLED(LIMITED_MAX_FR_EDITING)
   #ifdef MAX_FEEDRATE_EDIT_VALUES
     constexpr float sanity_arr_5[] = MAX_FEEDRATE_EDIT_VALUES;
-    static_assert(COUNT(sanity_arr_5) >= LOGICAL_AXES, "MAX_FEEDRATE_EDIT_VALUES requires X, Y, Z and E elements.");
+    static_assert(COUNT(sanity_arr_5) >= LOGICAL_AXES, "MAX_FEEDRATE_EDIT_VALUES requires " _LOGICAL_AXES_STR "elements.");
-    static_assert(COUNT(sanity_arr_5) <= LOGICAL_AXES, "MAX_FEEDRATE_EDIT_VALUES has too many elements. X, Y, Z and E elements only.");
+    static_assert(COUNT(sanity_arr_5) <= LOGICAL_AXES, "MAX_FEEDRATE_EDIT_VALUES has too many elements. " _LOGICAL_AXES_STR "elements only.");
     static_assert(   _ARR_TEST(5,0) && _ARR_TEST(5,1) && _ARR_TEST(5,2)
                   && _ARR_TEST(5,3) && _ARR_TEST(5,4) && _ARR_TEST(5,5)
                   && _ARR_TEST(5,6) && _ARR_TEST(5,7) && _ARR_TEST(5,8),
@@ -2879,8 +3102,8 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
 #if ENABLED(LIMITED_JERK_EDITING)
   #ifdef MAX_JERK_EDIT_VALUES
     constexpr float sanity_arr_6[] = MAX_JERK_EDIT_VALUES;
-    static_assert(COUNT(sanity_arr_6) >= LOGICAL_AXES, "MAX_JERK_EDIT_VALUES requires X, Y, Z and E elements.");
+    static_assert(COUNT(sanity_arr_6) >= LOGICAL_AXES, "MAX_JERK_EDIT_VALUES requires " _LOGICAL_AXES_STR "elements.");
-    static_assert(COUNT(sanity_arr_6) <= LOGICAL_AXES, "MAX_JERK_EDIT_VALUES has too many elements. X, Y, Z and E elements only.");
+    static_assert(COUNT(sanity_arr_6) <= LOGICAL_AXES, "MAX_JERK_EDIT_VALUES has too many elements. " _LOGICAL_AXES_STR "elements only.");
     static_assert(   _ARR_TEST(6,0) && _ARR_TEST(6,1) && _ARR_TEST(6,2)
                   && _ARR_TEST(6,3) && _ARR_TEST(6,4) && _ARR_TEST(6,5)
                   && _ARR_TEST(6,6) && _ARR_TEST(6,7) && _ARR_TEST(6,8),
@@ -3280,6 +3503,22 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
 #if _BAD_DRIVER(Z)
   #error "Z_DRIVER_TYPE is not recognized."
 #endif
+#if LINEAR_AXES >= 4
+  #if _BAD_DRIVER(I)
+    #error "I_DRIVER_TYPE is not recognized."
+  #endif
+#endif
+#if LINEAR_AXES >= 5
+  #if _BAD_DRIVER(J)
+    #error "J_DRIVER_TYPE is not recognized."
+  #endif
+#endif
+#if LINEAR_AXES >= 6
+  #if _BAD_DRIVER(K)
+    #error "K_DRIVER_TYPE is not recognized."
+  #endif
+#endif
+
 #if _BAD_DRIVER(X2)
   #error "X2_DRIVER_TYPE is not recognized."
 #endif
@@ -3323,7 +3562,5 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
 
 // Misc. Cleanup
 #undef _TEST_PWM
-
+#undef _LINEAR_AXES_STR
-#if ENABLED(FREEZE_FEATURE) && !PIN_EXISTS(FREEZE)
+#undef _LOGICAL_AXES_STR
-  #error "FREEZE_FEATURE requires a FREEZE_PIN to be defined."
-#endif

Marlin/src/inc/Version.h

@@ -52,7 +52,7 @@
  * to alert users to major changes.
  */
 
-#define MARLIN_HEX_VERSION 02000801
+#define MARLIN_HEX_VERSION 02000900
 #ifndef REQUIRED_CONFIGURATION_H_VERSION
   #define REQUIRED_CONFIGURATION_H_VERSION MARLIN_HEX_VERSION
 #endif

Marlin/src/lcd/dwin/e3v2/dwin.cpp

@@ -1235,7 +1235,7 @@ inline ENCODER_DiffState get_encoder_state() {
 void HMI_Plan_Move(const feedRate_t fr_mm_s) {
   if (!planner.is_full()) {
     planner.synchronize();
-    planner.buffer_line(current_position, fr_mm_s, active_extruder);
+    planner.buffer_line(current_position, fr_mm_s);
     DWIN_UpdateLCD();
   }
 }

Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.cpp

@@ -697,13 +697,13 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
   #endif
 
   #if ENABLED(SENSORLESS_HOMING)  // TMC SENSORLESS Setting
-    #if AXIS_HAS_STEALTHCHOP(X)
+    #if X_HAS_STEALTHCHOP
       VPHELPER(VP_TMC_X_STEP, &tmc_step.x, ScreenHandler.TMC_ChangeConfig, ScreenHandler.DGUSLCD_SendTMCStepValue),
     #endif
-    #if AXIS_HAS_STEALTHCHOP(Y)
+    #if Y_HAS_STEALTHCHOP
       VPHELPER(VP_TMC_Y_STEP, &tmc_step.y, ScreenHandler.TMC_ChangeConfig, ScreenHandler.DGUSLCD_SendTMCStepValue),
     #endif
-    #if AXIS_HAS_STEALTHCHOP(Z)
+    #if Z_HAS_STEALTHCHOP
       VPHELPER(VP_TMC_Z_STEP, &tmc_step.z, ScreenHandler.TMC_ChangeConfig, ScreenHandler.DGUSLCD_SendTMCStepValue),
     #endif
   #endif

Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.h

@@ -59,19 +59,19 @@ extern xyz_int_t tmc_step;
 
 extern uint16_t lcd_default_light;
 
-#if AXIS_HAS_STEALTHCHOP(X)
+#if X_HAS_STEALTHCHOP
   extern uint16_t tmc_x_current;
 #endif
-#if AXIS_HAS_STEALTHCHOP(Y)
+#if Y_HAS_STEALTHCHOP
   extern uint16_t tmc_y_current;
 #endif
-#if AXIS_HAS_STEALTHCHOP(Z)
+#if Z_HAS_STEALTHCHOP
   extern uint16_t tmc_z_current;
 #endif
-#if AXIS_HAS_STEALTHCHOP(E0)
+#if E0_HAS_STEALTHCHOP
   extern uint16_t tmc_e0_current;
 #endif
-#if AXIS_HAS_STEALTHCHOP(E1)
+#if E1_HAS_STEALTHCHOP
   extern uint16_t tmc_e1_current;
 #endif
 

Marlin/src/lcd/extui/dgus/mks/DGUSScreenHandler.cpp

@@ -134,15 +134,15 @@ void DGUSScreenHandler::DGUSLCD_SendStringToDisplay_Language_MKS(DGUS_VP_Variabl
 
 void DGUSScreenHandler::DGUSLCD_SendTMCStepValue(DGUS_VP_Variable &var) {
   #if ENABLED(SENSORLESS_HOMING)
-    #if AXIS_HAS_STEALTHCHOP(X)
+    #if X_HAS_STEALTHCHOP
       tmc_step.x = stepperX.homing_threshold();
       dgusdisplay.WriteVariable(var.VP, *(int16_t*)var.memadr);
     #endif
-    #if AXIS_HAS_STEALTHCHOP(Y)
+    #if Y_HAS_STEALTHCHOP
       tmc_step.y = stepperY.homing_threshold();
       dgusdisplay.WriteVariable(var.VP, *(int16_t*)var.memadr);
     #endif
-    #if AXIS_HAS_STEALTHCHOP(Z)
+    #if Z_HAS_STEALTHCHOP
       tmc_step.z = stepperZ.homing_threshold();
       dgusdisplay.WriteVariable(var.VP, *(int16_t*)var.memadr);
     #endif
@@ -659,7 +659,7 @@ void DGUSScreenHandler::TMC_ChangeConfig(DGUS_VP_Variable &var, void *val_ptr) {
   switch (var.VP) {
     case VP_TMC_X_STEP:
       #if USE_SENSORLESS
-        #if AXIS_HAS_STEALTHCHOP(X)
+        #if X_HAS_STEALTHCHOP
           stepperX.homing_threshold(mks_min(tmc_value, 255));
           settings.save();
           //tmc_step.x = stepperX.homing_threshold();
@@ -668,7 +668,7 @@ void DGUSScreenHandler::TMC_ChangeConfig(DGUS_VP_Variable &var, void *val_ptr) {
       break;
     case VP_TMC_Y_STEP:
       #if USE_SENSORLESS
-        #if AXIS_HAS_STEALTHCHOP(Y)
+        #if Y_HAS_STEALTHCHOP
           stepperY.homing_threshold(mks_min(tmc_value, 255));
           settings.save();
           //tmc_step.y = stepperY.homing_threshold();
@@ -677,7 +677,7 @@ void DGUSScreenHandler::TMC_ChangeConfig(DGUS_VP_Variable &var, void *val_ptr) {
       break;
     case VP_TMC_Z_STEP:
       #if USE_SENSORLESS
-        #if AXIS_HAS_STEALTHCHOP(Z)
+        #if Z_HAS_STEALTHCHOP
           stepperZ.homing_threshold(mks_min(tmc_value, 255));
           settings.save();
           //tmc_step.z = stepperZ.homing_threshold();
@@ -737,15 +737,9 @@ void DGUSScreenHandler::TMC_ChangeConfig(DGUS_VP_Variable &var, void *val_ptr) {
       break;
   }
   #if USE_SENSORLESS
-    #if AXIS_HAS_STEALTHCHOP(X)
+    TERN_(X_HAS_STEALTHCHOP, tmc_step.x = stepperX.homing_threshold());
-      tmc_step.x = stepperX.homing_threshold();
+    TERN_(Y_HAS_STEALTHCHOP, tmc_step.y = stepperY.homing_threshold());
-    #endif
+    TERN_(Z_HAS_STEALTHCHOP, tmc_step.z = stepperZ.homing_threshold());
-    #if AXIS_HAS_STEALTHCHOP(Y)
-      tmc_step.y = stepperY.homing_threshold();
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(Z)
-      tmc_step.z = stepperZ.homing_threshold();
-    #endif
   #endif
 }
 
@@ -1419,15 +1413,9 @@ bool DGUSScreenHandler::loop() {
     if (!booted && ELAPSED(ms, TERN(USE_MKS_GREEN_UI, 1000, BOOTSCREEN_TIMEOUT))) {
       booted = true;
       #if USE_SENSORLESS
-        #if AXIS_HAS_STEALTHCHOP(X)
+        TERN_(X_HAS_STEALTHCHOP, tmc_step.x = stepperX.homing_threshold());
-          tmc_step.x = stepperX.homing_threshold();
+        TERN_(Y_HAS_STEALTHCHOP, tmc_step.y = stepperY.homing_threshold());
-        #endif
+        TERN_(Z_HAS_STEALTHCHOP, tmc_step.z = stepperZ.homing_threshold());
-        #if AXIS_HAS_STEALTHCHOP(Y)
-          tmc_step.y = stepperY.homing_threshold();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z)
-          tmc_step.z = stepperZ.homing_threshold();
-        #endif
       #endif
 
       #if ENABLED(PREVENT_COLD_EXTRUSION)

Marlin/src/lcd/extui/ftdi_eve_touch_ui/screens/endstop_state_screen.cpp

@@ -60,32 +60,32 @@ void EndstopStatesScreen::onRedraw(draw_mode_t) {
   )
   .text(BTN_POS(1,1), BTN_SIZE(6,1), GET_TEXT_F(MSG_LCD_ENDSTOPS))
   .font(font_tiny);
-  #if PIN_EXISTS(X_MAX)
+  #if HAS_X_MAX
     PIN_ENABLED (1, 2, PSTR(STR_X_MAX), X_MAX, X_MAX_ENDSTOP_INVERTING)
   #else
     PIN_DISABLED(1, 2, PSTR(STR_X_MAX), X_MAX)
   #endif
-  #if PIN_EXISTS(Y_MAX)
+  #if HAS_Y_MAX
     PIN_ENABLED (3, 2, PSTR(STR_Y_MAX), Y_MAX, Y_MAX_ENDSTOP_INVERTING)
   #else
     PIN_DISABLED(3, 2, PSTR(STR_Y_MAX), Y_MAX)
   #endif
-  #if PIN_EXISTS(Z_MAX)
+  #if HAS_Z_MAX
     PIN_ENABLED (5, 2, PSTR(STR_Z_MAX), Z_MAX, Z_MAX_ENDSTOP_INVERTING)
   #else
     PIN_DISABLED(5, 2, PSTR(STR_Z_MAX), Z_MAX)
   #endif
-  #if PIN_EXISTS(X_MIN)
+  #if HAS_X_MIN
     PIN_ENABLED (1, 3, PSTR(STR_X_MIN), X_MIN, X_MIN_ENDSTOP_INVERTING)
   #else
     PIN_DISABLED(1, 3, PSTR(STR_X_MIN), X_MIN)
   #endif
-  #if PIN_EXISTS(Y_MIN)
+  #if HAS_Y_MIN
     PIN_ENABLED (3, 3, PSTR(STR_Y_MIN), Y_MIN, Y_MIN_ENDSTOP_INVERTING)
   #else
     PIN_DISABLED(3, 3, PSTR(STR_Y_MIN), Y_MIN)
   #endif
-  #if PIN_EXISTS(Z_MIN)
+  #if HAS_Z_MIN
     PIN_ENABLED (5, 3, PSTR(STR_Z_MIN), Z_MIN, Z_MIN_ENDSTOP_INVERTING)
   #else
     PIN_DISABLED(5, 3, PSTR(STR_Z_MIN), Z_MIN)

Marlin/src/lcd/extui/mks_ui/draw_tmc_step_mode_settings.cpp

@@ -68,30 +68,20 @@ static void event_handler(lv_obj_t *obj, lv_event_t event) {
       draw_return_ui();
       break;
 
-    #if AXIS_HAS_STEALTHCHOP(X)
+    #if X_HAS_STEALTHCHOP
-      case ID_TMC_MODE_X:
+      case ID_TMC_MODE_X:  toggle_chop(stepperX,  buttonXState);  break;
-        toggle_chop(stepperX, buttonXState);
-        break;
     #endif
-    #if AXIS_HAS_STEALTHCHOP(Y)
+    #if Y_HAS_STEALTHCHOP
-      case ID_TMC_MODE_Y:
+      case ID_TMC_MODE_Y:  toggle_chop(stepperY,  buttonYState);  break;
-        toggle_chop(stepperY, buttonYState);
-        break;
     #endif
-    #if AXIS_HAS_STEALTHCHOP(Z)
+    #if Z_HAS_STEALTHCHOP
-      case ID_TMC_MODE_Z:
+      case ID_TMC_MODE_Z:  toggle_chop(stepperZ,  buttonZState);  break;
-        toggle_chop(stepperZ, buttonZState);
-        break;
     #endif
-    #if AXIS_HAS_STEALTHCHOP(E0)
+    #if E0_HAS_STEALTHCHOP
-      case ID_TMC_MODE_E0:
+      case ID_TMC_MODE_E0: toggle_chop(stepperE0, buttonE0State); break;
-        toggle_chop(stepperE0, buttonE0State);
-        break;
     #endif
-    #if AXIS_HAS_STEALTHCHOP(E1)
+    #if E1_HAS_STEALTHCHOP
-      case ID_TMC_MODE_E1:
+      case ID_TMC_MODE_E1: toggle_chop(stepperE1, buttonE1State); break;
-        toggle_chop(stepperE1, buttonE1State);
-        break;
     #endif
 
     case ID_TMC_MODE_UP:
@@ -113,21 +103,11 @@ void lv_draw_tmc_step_mode_settings() {
   scr = lv_screen_create(TMC_MODE_UI, machine_menu.TmcStepModeConfTitle);
 
   bool stealth_X = false, stealth_Y = false, stealth_Z = false, stealth_E0 = false, stealth_E1 = false;
-  #if AXIS_HAS_STEALTHCHOP(X)
+  TERN_(X_HAS_STEALTHCHOP,  stealth_X = stepperX.get_stealthChop());
-    stealth_X = stepperX.get_stealthChop();
+  TERN_(Y_HAS_STEALTHCHOP,  stealth_Y = stepperY.get_stealthChop());
-  #endif
+  TERN_(Z_HAS_STEALTHCHOP,  stealth_Z = stepperZ.get_stealthChop());
-  #if AXIS_HAS_STEALTHCHOP(Y)
+  TERN_(E0_HAS_STEALTHCHOP, stealth_E0 = stepperE0.get_stealthChop());
-    stealth_Y = stepperY.get_stealthChop();
+  TERN_(E1_HAS_STEALTHCHOP, stealth_E1 = stepperE1.get_stealthChop());
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(Z)
-    stealth_Z = stepperZ.get_stealthChop();
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E0)
-    stealth_E0 = stepperE0.get_stealthChop();
-  #endif
-  #if AXIS_HAS_STEALTHCHOP(E1)
-    stealth_E1 = stepperE1.get_stealthChop();
-  #endif
 
   if (!uiCfg.para_ui_page) {
     buttonXState = lv_screen_menu_item_onoff(scr, machine_menu.X_StepMode, PARA_UI_POS_X, PARA_UI_POS_Y, event_handler, ID_TMC_MODE_X, 0, stealth_X);

Marlin/src/lcd/language/language_en.h

@@ -72,6 +72,9 @@ namespace Language_en {
   PROGMEM Language_Str MSG_AUTO_HOME_X                     = _UxGT("Home X");
   PROGMEM Language_Str MSG_AUTO_HOME_Y                     = _UxGT("Home Y");
   PROGMEM Language_Str MSG_AUTO_HOME_Z                     = _UxGT("Home Z");
+  PROGMEM Language_Str MSG_AUTO_HOME_I                     = _UxGT("Home ") LCD_STR_I;
+  PROGMEM Language_Str MSG_AUTO_HOME_J                     = _UxGT("Home ") LCD_STR_J;
+  PROGMEM Language_Str MSG_AUTO_HOME_K                     = _UxGT("Home ") LCD_STR_K;
   PROGMEM Language_Str MSG_AUTO_Z_ALIGN                    = _UxGT("Auto Z-Align");
   PROGMEM Language_Str MSG_ITERATION                       = _UxGT("G34 Iteration: %i");
   PROGMEM Language_Str MSG_DECREASING_ACCURACY             = _UxGT("Accuracy Decreasing!");
@@ -85,6 +88,9 @@ namespace Language_en {
   PROGMEM Language_Str MSG_HOME_OFFSET_X                   = _UxGT("Home Offset X");
   PROGMEM Language_Str MSG_HOME_OFFSET_Y                   = _UxGT("Home Offset Y");
   PROGMEM Language_Str MSG_HOME_OFFSET_Z                   = _UxGT("Home Offset Z");
+  PROGMEM Language_Str MSG_HOME_OFFSET_I                   = _UxGT("Home Offset ") LCD_STR_I;
+  PROGMEM Language_Str MSG_HOME_OFFSET_J                   = _UxGT("Home Offset ") LCD_STR_J;
+  PROGMEM Language_Str MSG_HOME_OFFSET_K                   = _UxGT("Home Offset ") LCD_STR_K;
   PROGMEM Language_Str MSG_HOME_OFFSETS_APPLIED            = _UxGT("Offsets Applied");
   PROGMEM Language_Str MSG_SET_ORIGIN                      = _UxGT("Set Origin");
   PROGMEM Language_Str MSG_ASSISTED_TRAMMING               = _UxGT("Assisted Tramming");
@@ -265,6 +271,9 @@ namespace Language_en {
   PROGMEM Language_Str MSG_MOVE_X                          = _UxGT("Move X");
   PROGMEM Language_Str MSG_MOVE_Y                          = _UxGT("Move Y");
   PROGMEM Language_Str MSG_MOVE_Z                          = _UxGT("Move Z");
+  PROGMEM Language_Str MSG_MOVE_I                          = _UxGT("Move ") LCD_STR_I;
+  PROGMEM Language_Str MSG_MOVE_J                          = _UxGT("Move ") LCD_STR_J;
+  PROGMEM Language_Str MSG_MOVE_K                          = _UxGT("Move ") LCD_STR_K;
   PROGMEM Language_Str MSG_MOVE_E                          = _UxGT("Extruder");
   PROGMEM Language_Str MSG_MOVE_EN                         = _UxGT("Extruder *");
   PROGMEM Language_Str MSG_HOTEND_TOO_COLD                 = _UxGT("Hotend too cold");
@@ -329,12 +338,18 @@ namespace Language_en {
   PROGMEM Language_Str MSG_VA_JERK                         = _UxGT("V") LCD_STR_A _UxGT("-Jerk");
   PROGMEM Language_Str MSG_VB_JERK                         = _UxGT("V") LCD_STR_B _UxGT("-Jerk");
   PROGMEM Language_Str MSG_VC_JERK                         = _UxGT("V") LCD_STR_C _UxGT("-Jerk");
+  PROGMEM Language_Str MSG_VI_JERK                         = _UxGT("V") LCD_STR_I _UxGT("-Jerk");
+  PROGMEM Language_Str MSG_VJ_JERK                         = _UxGT("V") LCD_STR_J _UxGT("-Jerk");
+  PROGMEM Language_Str MSG_VK_JERK                         = _UxGT("V") LCD_STR_K _UxGT("-Jerk");
   PROGMEM Language_Str MSG_VE_JERK                         = _UxGT("Ve-Jerk");
   PROGMEM Language_Str MSG_JUNCTION_DEVIATION              = _UxGT("Junction Dev");
   PROGMEM Language_Str MSG_VELOCITY                        = _UxGT("Velocity");
   PROGMEM Language_Str MSG_VMAX_A                          = _UxGT("Vmax ") LCD_STR_A;
   PROGMEM Language_Str MSG_VMAX_B                          = _UxGT("Vmax ") LCD_STR_B;
   PROGMEM Language_Str MSG_VMAX_C                          = _UxGT("Vmax ") LCD_STR_C;
+  PROGMEM Language_Str MSG_VMAX_I                          = _UxGT("Vmax ") LCD_STR_I;
+  PROGMEM Language_Str MSG_VMAX_J                          = _UxGT("Vmax ") LCD_STR_J;
+  PROGMEM Language_Str MSG_VMAX_K                          = _UxGT("Vmax ") LCD_STR_K;
   PROGMEM Language_Str MSG_VMAX_E                          = _UxGT("Vmax ") LCD_STR_E;
   PROGMEM Language_Str MSG_VMAX_EN                         = _UxGT("Vmax *");
   PROGMEM Language_Str MSG_VMIN                            = _UxGT("Vmin");
@@ -343,6 +358,9 @@ namespace Language_en {
   PROGMEM Language_Str MSG_AMAX_A                          = _UxGT("Amax ") LCD_STR_A;
   PROGMEM Language_Str MSG_AMAX_B                          = _UxGT("Amax ") LCD_STR_B;
   PROGMEM Language_Str MSG_AMAX_C                          = _UxGT("Amax ") LCD_STR_C;
+  PROGMEM Language_Str MSG_AMAX_I                          = _UxGT("Amax ") LCD_STR_I;
+  PROGMEM Language_Str MSG_AMAX_J                          = _UxGT("Amax ") LCD_STR_J;
+  PROGMEM Language_Str MSG_AMAX_K                          = _UxGT("Amax ") LCD_STR_K;
   PROGMEM Language_Str MSG_AMAX_E                          = _UxGT("Amax ") LCD_STR_E;
   PROGMEM Language_Str MSG_AMAX_EN                         = _UxGT("Amax *");
   PROGMEM Language_Str MSG_A_RETRACT                       = _UxGT("A-Retract");
@@ -353,6 +371,9 @@ namespace Language_en {
   PROGMEM Language_Str MSG_A_STEPS                         = LCD_STR_A _UxGT(" Steps/mm");
   PROGMEM Language_Str MSG_B_STEPS                         = LCD_STR_B _UxGT(" Steps/mm");
   PROGMEM Language_Str MSG_C_STEPS                         = LCD_STR_C _UxGT(" Steps/mm");
+  PROGMEM Language_Str MSG_I_STEPS                         = LCD_STR_I _UxGT(" Steps/mm");
+  PROGMEM Language_Str MSG_J_STEPS                         = LCD_STR_J _UxGT(" Steps/mm");
+  PROGMEM Language_Str MSG_K_STEPS                         = LCD_STR_K _UxGT(" Steps/mm");
   PROGMEM Language_Str MSG_E_STEPS                         = _UxGT("E steps/mm");
   PROGMEM Language_Str MSG_EN_STEPS                        = _UxGT("* Steps/mm");
   PROGMEM Language_Str MSG_TEMPERATURE                     = _UxGT("Temperature");
@@ -486,6 +507,9 @@ namespace Language_en {
   PROGMEM Language_Str MSG_BABYSTEP_X                      = _UxGT("Babystep X");
   PROGMEM Language_Str MSG_BABYSTEP_Y                      = _UxGT("Babystep Y");
   PROGMEM Language_Str MSG_BABYSTEP_Z                      = _UxGT("Babystep Z");
+  PROGMEM Language_Str MSG_BABYSTEP_I                      = _UxGT("Babystep ") LCD_STR_I;
+  PROGMEM Language_Str MSG_BABYSTEP_J                      = _UxGT("Babystep ") LCD_STR_J;
+  PROGMEM Language_Str MSG_BABYSTEP_K                      = _UxGT("Babystep ") LCD_STR_K;
   PROGMEM Language_Str MSG_BABYSTEP_TOTAL                  = _UxGT("Total");
   PROGMEM Language_Str MSG_ENDSTOP_ABORT                   = _UxGT("Endstop Abort");
   PROGMEM Language_Str MSG_HEATING_FAILED_LCD              = _UxGT("Heating Failed");
@@ -566,6 +590,9 @@ namespace Language_en {
   PROGMEM Language_Str MSG_DAC_PERCENT_X                   = _UxGT("X Driver %");
   PROGMEM Language_Str MSG_DAC_PERCENT_Y                   = _UxGT("Y Driver %");
   PROGMEM Language_Str MSG_DAC_PERCENT_Z                   = _UxGT("Z Driver %");
+  PROGMEM Language_Str MSG_DAC_PERCENT_I                   = _UxGT("I Driver %");
+  PROGMEM Language_Str MSG_DAC_PERCENT_J                   = _UxGT("J Driver %");
+  PROGMEM Language_Str MSG_DAC_PERCENT_K                   = _UxGT("K Driver %");
   PROGMEM Language_Str MSG_DAC_PERCENT_E                   = _UxGT("E Driver %");
   PROGMEM Language_Str MSG_ERROR_TMC                       = _UxGT("TMC CONNECTION ERROR");
   PROGMEM Language_Str MSG_DAC_EEPROM_WRITE                = _UxGT("DAC EEPROM Write");
@@ -683,6 +710,9 @@ namespace Language_en {
   PROGMEM Language_Str MSG_BACKLASH_A                      = LCD_STR_A;
   PROGMEM Language_Str MSG_BACKLASH_B                      = LCD_STR_B;
   PROGMEM Language_Str MSG_BACKLASH_C                      = LCD_STR_C;
+  PROGMEM Language_Str MSG_BACKLASH_I                      = LCD_STR_I;
+  PROGMEM Language_Str MSG_BACKLASH_J                      = LCD_STR_J;
+  PROGMEM Language_Str MSG_BACKLASH_K                      = LCD_STR_K;
   PROGMEM Language_Str MSG_BACKLASH_CORRECTION             = _UxGT("Correction");
   PROGMEM Language_Str MSG_BACKLASH_SMOOTHING              = _UxGT("Smoothing");
 

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -356,7 +356,7 @@ void menu_backlash();
       #elif ENABLED(LIMITED_MAX_FR_EDITING)
         DEFAULT_MAX_FEEDRATE
       #else
-        LOGICAL_AXIS_ARRAY(9999, 9999, 9999, 9999)
+        LOGICAL_AXIS_ARRAY(9999, 9999, 9999, 9999, 9999, 9999, 9999)
       #endif
     ;
     #if ENABLED(LIMITED_MAX_FR_EDITING) && !defined(MAX_FEEDRATE_EDIT_VALUES)
@@ -399,7 +399,7 @@ void menu_backlash();
       #elif ENABLED(LIMITED_MAX_ACCEL_EDITING)
         DEFAULT_MAX_ACCELERATION
       #else
-        LOGICAL_AXIS_ARRAY(99000, 99000, 99000, 99000)
+        LOGICAL_AXIS_ARRAY(99000, 99000, 99000, 99000, 99000, 99000, 99000)
       #endif
     ;
     #if ENABLED(LIMITED_MAX_ACCEL_EDITING) && !defined(MAX_ACCEL_EDIT_VALUES)
@@ -477,7 +477,10 @@ void menu_backlash();
       #else
         #define EDIT_JERK_C() EDIT_ITEM_FAST(float52sign, MSG_VC_JERK, &planner.max_jerk.c, 0.1f, max_jerk_edit.c)
       #endif
-      LINEAR_AXIS_CODE(EDIT_JERK(A), EDIT_JERK(B), EDIT_JERK_C());
+      LINEAR_AXIS_CODE(
+        EDIT_JERK(A), EDIT_JERK(B), EDIT_JERK_C(),
+        EDIT_JERK(I), EDIT_JERK(J), EDIT_JERK(K)
+      );
 
       #if HAS_EXTRUDERS
         EDIT_ITEM_FAST(float52sign, MSG_VE_JERK, &planner.max_jerk.e, 0.1f, max_jerk_edit.e);
@@ -515,7 +518,10 @@ void menu_advanced_steps_per_mm() {
   BACK_ITEM(MSG_ADVANCED_SETTINGS);
 
   #define EDIT_QSTEPS(Q) EDIT_ITEM_FAST(float51, MSG_##Q##_STEPS, &planner.settings.axis_steps_per_mm[_AXIS(Q)], 5, 9999, []{ planner.refresh_positioning(); })
-  LINEAR_AXIS_CODE(EDIT_QSTEPS(A), EDIT_QSTEPS(B), EDIT_QSTEPS(C));
+  LINEAR_AXIS_CODE(
+    EDIT_QSTEPS(A), EDIT_QSTEPS(B), EDIT_QSTEPS(C),
+    EDIT_QSTEPS(I), EDIT_QSTEPS(J), EDIT_QSTEPS(K)
+  );
 
   #if ENABLED(DISTINCT_E_FACTORS)
     LOOP_L_N(n, E_STEPPERS)

Marlin/src/lcd/menu/menu_backlash.cpp

@@ -45,8 +45,21 @@ void menu_backlash() {
   #endif
   #define EDIT_BACKLASH_DISTANCE(N) EDIT_ITEM_FAST(float43, MSG_BACKLASH_##N, &backlash.distance_mm[_AXIS(N)], 0.0f, 9.9f);
   if (_CAN_CALI(A)) EDIT_BACKLASH_DISTANCE(A);
-  if (_CAN_CALI(B)) EDIT_BACKLASH_DISTANCE(B);
+  #if HAS_Y_AXIS && _CAN_CALI(B)
-  if (_CAN_CALI(C)) EDIT_BACKLASH_DISTANCE(C);
+    EDIT_BACKLASH_DISTANCE(B);
+  #endif
+  #if HAS_Z_AXIS && _CAN_CALI(C)
+    EDIT_BACKLASH_DISTANCE(C);
+  #endif
+  #if LINEAR_AXES >= 4 && _CAN_CALI(I)
+    EDIT_BACKLASH_DISTANCE(I);
+  #endif
+  #if LINEAR_AXES >= 5 && _CAN_CALI(J)
+    EDIT_BACKLASH_DISTANCE(J);
+  #endif
+  #if LINEAR_AXES >= 6 && _CAN_CALI(K)
+    EDIT_BACKLASH_DISTANCE(K);
+  #endif
 
   #ifdef BACKLASH_SMOOTHING_MM
     EDIT_ITEM_FAST(float43, MSG_BACKLASH_SMOOTHING, &backlash.smoothing_mm, 0.0f, 9.9f);

Marlin/src/lcd/menu/menu_motion.cpp

@@ -89,8 +89,21 @@ static void _lcd_move_xyz(PGM_P const name, const AxisEnum axis) {
   }
 }
 void lcd_move_x() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_X), X_AXIS); }
-void lcd_move_y() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Y), Y_AXIS); }
+#if HAS_Y_AXIS
-void lcd_move_z() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Z), Z_AXIS); }
+  void lcd_move_y() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Y), Y_AXIS); }
+#endif
+#if HAS_Z_AXIS
+  void lcd_move_z() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Z), Z_AXIS); }
+#endif
+#if LINEAR_AXES >= 4
+  void lcd_move_i() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_I), I_AXIS); }
+#endif
+#if LINEAR_AXES >= 5
+  void lcd_move_j() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_J), J_AXIS); }
+#endif
+#if LINEAR_AXES >= 6
+  void lcd_move_k() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_K), K_AXIS); }
+#endif
 
 #if E_MANUAL
 
@@ -217,14 +230,27 @@ void menu_move() {
   if (NONE(IS_KINEMATIC, NO_MOTION_BEFORE_HOMING) || all_axes_homed()) {
     if (TERN1(DELTA, current_position.z <= delta_clip_start_height)) {
       SUBMENU(MSG_MOVE_X, []{ _menu_move_distance(X_AXIS, lcd_move_x); });
+      #if HAS_Y_AXIS
         SUBMENU(MSG_MOVE_Y, []{ _menu_move_distance(Y_AXIS, lcd_move_y); });
+      #endif
     }
     #if ENABLED(DELTA)
       else
         ACTION_ITEM(MSG_FREE_XY, []{ line_to_z(delta_clip_start_height); ui.synchronize(); });
     #endif
 
+    #if HAS_Z_AXIS
       SUBMENU(MSG_MOVE_Z, []{ _menu_move_distance(Z_AXIS, lcd_move_z); });
+    #endif
+    #if LINEAR_AXES >= 4
+      SUBMENU(MSG_MOVE_I, []{ _menu_move_distance(I_AXIS, lcd_move_i); });
+    #endif
+    #if LINEAR_AXES >= 5
+      SUBMENU(MSG_MOVE_J, []{ _menu_move_distance(J_AXIS, lcd_move_j); });
+    #endif
+    #if LINEAR_AXES >= 6
+      SUBMENU(MSG_MOVE_K, []{ _menu_move_distance(K_AXIS, lcd_move_k); });
+    #endif
   }
   else
     GCODES_ITEM(MSG_AUTO_HOME, G28_STR);
@@ -321,9 +347,22 @@ void menu_motion() {
   GCODES_ITEM(MSG_AUTO_HOME, G28_STR);
   #if ENABLED(INDIVIDUAL_AXIS_HOMING_MENU)
     GCODES_ITEM(MSG_AUTO_HOME_X, PSTR("G28X"));
+    #if HAS_Y_AXIS
       GCODES_ITEM(MSG_AUTO_HOME_Y, PSTR("G28Y"));
+    #endif
+    #if HAS_Z_AXIS
       GCODES_ITEM(MSG_AUTO_HOME_Z, PSTR("G28Z"));
     #endif
+    #if LINEAR_AXES >= 4
+      GCODES_ITEM(MSG_AUTO_HOME_I, PSTR("G28" I_STR));
+    #endif
+    #if LINEAR_AXES >= 5
+      GCODES_ITEM(MSG_AUTO_HOME_J, PSTR("G28" J_STR));
+    #endif
+    #if LINEAR_AXES >= 6
+      GCODES_ITEM(MSG_AUTO_HOME_K, PSTR("G28" K_STR));
+    #endif
+  #endif
 
   //
   // Auto-calibration

Marlin/src/lcd/menu/menu_tmc.cpp

@@ -95,54 +95,22 @@ void menu_tmc_current() {
   void menu_tmc_hybrid_thrs() {
     START_MENU();
     BACK_ITEM(MSG_TMC_DRIVERS);
-    #if AXIS_HAS_STEALTHCHOP(X)
+    TERN_(X_HAS_STEALTHCHOP,  TMC_EDIT_STORED_HYBRID_THRS(X,  STR_X));
-      TMC_EDIT_STORED_HYBRID_THRS(X, STR_X);
+    TERN_(Y_HAS_STEALTHCHOP,  TMC_EDIT_STORED_HYBRID_THRS(Y,  STR_Y));
-    #endif
+    TERN_(Z_HAS_STEALTHCHOP,  TMC_EDIT_STORED_HYBRID_THRS(Z,  STR_Z));
-    #if AXIS_HAS_STEALTHCHOP(Y)
+    TERN_(X2_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(X2, STR_X2));
-      TMC_EDIT_STORED_HYBRID_THRS(Y, STR_Y);
+    TERN_(Y2_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Y2, STR_Y2));
-    #endif
+    TERN_(Z2_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Z2, STR_Z2));
-    #if AXIS_HAS_STEALTHCHOP(Z)
+    TERN_(Z3_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Z3, STR_Z3));
-      TMC_EDIT_STORED_HYBRID_THRS(Z, STR_Z);
+    TERN_(Z4_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Z4, STR_Z4));
-    #endif
+    TERN_(E0_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E0, LCD_STR_E0));
-    #if AXIS_HAS_STEALTHCHOP(X2)
+    TERN_(E1_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E1, LCD_STR_E1));
-      TMC_EDIT_STORED_HYBRID_THRS(X2, STR_X2);
+    TERN_(E2_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E2, LCD_STR_E2));
-    #endif
+    TERN_(E3_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E3, LCD_STR_E3));
-    #if AXIS_HAS_STEALTHCHOP(Y2)
+    TERN_(E4_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E4, LCD_STR_E4));
-      TMC_EDIT_STORED_HYBRID_THRS(Y2, STR_Y2);
+    TERN_(E5_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E5, LCD_STR_E5));
-    #endif
+    TERN_(E6_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E6, LCD_STR_E6));
-    #if AXIS_HAS_STEALTHCHOP(Z2)
+    TERN_(E7_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E7, LCD_STR_E7));
-      TMC_EDIT_STORED_HYBRID_THRS(Z2, STR_Z2);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(Z3)
-      TMC_EDIT_STORED_HYBRID_THRS(Z3, STR_Z3);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(Z4)
-      TMC_EDIT_STORED_HYBRID_THRS(Z4, STR_Z4);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E0)
-      TMC_EDIT_STORED_HYBRID_THRS(E0, LCD_STR_E0);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E1)
-      TMC_EDIT_STORED_HYBRID_THRS(E1, LCD_STR_E1);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E2)
-      TMC_EDIT_STORED_HYBRID_THRS(E2, LCD_STR_E2);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E3)
-      TMC_EDIT_STORED_HYBRID_THRS(E3, LCD_STR_E3);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E4)
-      TMC_EDIT_STORED_HYBRID_THRS(E4, LCD_STR_E4);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E5)
-      TMC_EDIT_STORED_HYBRID_THRS(E5, LCD_STR_E5);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E6)
-      TMC_EDIT_STORED_HYBRID_THRS(E6, LCD_STR_E6);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E7)
-      TMC_EDIT_STORED_HYBRID_THRS(E7, LCD_STR_E7);
-    #endif
     END_MENU();
   }
 
@@ -155,30 +123,17 @@ void menu_tmc_current() {
   void menu_tmc_homing_thrs() {
     START_MENU();
     BACK_ITEM(MSG_TMC_DRIVERS);
-    #if X_SENSORLESS
+    TERN_( X_SENSORLESS, TMC_EDIT_STORED_SGT(X));
-      TMC_EDIT_STORED_SGT(X);
+    TERN_(X2_SENSORLESS, TMC_EDIT_STORED_SGT(X2));
-      #if X2_SENSORLESS
+    TERN_( Y_SENSORLESS, TMC_EDIT_STORED_SGT(Y));
-        TMC_EDIT_STORED_SGT(X2);
+    TERN_(Y2_SENSORLESS, TMC_EDIT_STORED_SGT(Y2));
-      #endif
+    TERN_( Z_SENSORLESS, TMC_EDIT_STORED_SGT(Z));
-    #endif
+    TERN_(Z2_SENSORLESS, TMC_EDIT_STORED_SGT(Z2));
-    #if Y_SENSORLESS
+    TERN_(Z3_SENSORLESS, TMC_EDIT_STORED_SGT(Z3));
-      TMC_EDIT_STORED_SGT(Y);
+    TERN_(Z4_SENSORLESS, TMC_EDIT_STORED_SGT(Z4));
-      #if Y2_SENSORLESS
+    TERN_( I_SENSORLESS, TMC_EDIT_STORED_SGT(I));
-        TMC_EDIT_STORED_SGT(Y2);
+    TERN_( J_SENSORLESS, TMC_EDIT_STORED_SGT(J));
-      #endif
+    TERN_( K_SENSORLESS, TMC_EDIT_STORED_SGT(K));
-    #endif
-    #if Z_SENSORLESS
-      TMC_EDIT_STORED_SGT(Z);
-      #if Z2_SENSORLESS
-        TMC_EDIT_STORED_SGT(Z2);
-      #endif
-      #if Z3_SENSORLESS
-        TMC_EDIT_STORED_SGT(Z3);
-      #endif
-      #if Z4_SENSORLESS
-        TMC_EDIT_STORED_SGT(Z4);
-      #endif
-    #endif
     END_MENU();
   }
 
@@ -192,54 +147,22 @@ void menu_tmc_current() {
     START_MENU();
     STATIC_ITEM(MSG_TMC_STEALTH_ENABLED);
     BACK_ITEM(MSG_TMC_DRIVERS);
-    #if AXIS_HAS_STEALTHCHOP(X)
+    TERN_( X_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(X,  STR_X));
-      TMC_EDIT_STEP_MODE(X, STR_X);
+    TERN_(X2_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(X2, STR_X2));
-    #endif
+    TERN_( Y_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Y,  STR_Y));
-    #if AXIS_HAS_STEALTHCHOP(Y)
+    TERN_(Y2_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Y2, STR_Y2));
-      TMC_EDIT_STEP_MODE(Y, STR_Y);
+    TERN_( Z_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Z,  STR_Z));
-    #endif
+    TERN_(Z2_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Z2, STR_Z2));
-    #if AXIS_HAS_STEALTHCHOP(Z)
+    TERN_(Z3_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Z3, STR_Z3));
-      TMC_EDIT_STEP_MODE(Z, STR_Z);
+    TERN_(Z4_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Z4, STR_Z4));
-    #endif
+    TERN_(E0_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E0, LCD_STR_E0));
-    #if AXIS_HAS_STEALTHCHOP(X2)
+    TERN_(E1_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E1, LCD_STR_E1));
-      TMC_EDIT_STEP_MODE(X2, STR_X2);
+    TERN_(E2_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E2, LCD_STR_E2));
-    #endif
+    TERN_(E3_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E3, LCD_STR_E3));
-    #if AXIS_HAS_STEALTHCHOP(Y2)
+    TERN_(E4_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E4, LCD_STR_E4));
-      TMC_EDIT_STEP_MODE(Y2, STR_Y2);
+    TERN_(E5_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E5, LCD_STR_E5));
-    #endif
+    TERN_(E6_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E6, LCD_STR_E6));
-    #if AXIS_HAS_STEALTHCHOP(Z2)
+    TERN_(E7_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E7, LCD_STR_E7));
-      TMC_EDIT_STEP_MODE(Z2, STR_Z2);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(Z3)
-      TMC_EDIT_STEP_MODE(Z3, STR_Z3);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(Z4)
-      TMC_EDIT_STEP_MODE(Z4, STR_Z4);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E0)
-      TMC_EDIT_STEP_MODE(E0, LCD_STR_E0);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E1)
-      TMC_EDIT_STEP_MODE(E1, LCD_STR_E1);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E2)
-      TMC_EDIT_STEP_MODE(E2, LCD_STR_E2);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E3)
-      TMC_EDIT_STEP_MODE(E3, LCD_STR_E3);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E4)
-      TMC_EDIT_STEP_MODE(E4, LCD_STR_E4);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E5)
-      TMC_EDIT_STEP_MODE(E5, LCD_STR_E5);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E6)
-      TMC_EDIT_STEP_MODE(E6, LCD_STR_E6);
-    #endif
-    #if AXIS_HAS_STEALTHCHOP(E7)
-      TMC_EDIT_STEP_MODE(E7, LCD_STR_E7);
-    #endif
     END_MENU();
   }
 
@@ -249,15 +172,9 @@ void menu_tmc() {
   START_MENU();
   BACK_ITEM(MSG_ADVANCED_SETTINGS);
   SUBMENU(MSG_TMC_CURRENT, menu_tmc_current);
-  #if ENABLED(HYBRID_THRESHOLD)
+  TERN_(HYBRID_THRESHOLD,   SUBMENU(MSG_TMC_HYBRID_THRS, menu_tmc_hybrid_thrs));
-    SUBMENU(MSG_TMC_HYBRID_THRS, menu_tmc_hybrid_thrs);
+  TERN_(SENSORLESS_HOMING,  SUBMENU(MSG_TMC_HOMING_THRS, menu_tmc_homing_thrs));
-  #endif
+  TERN_(HAS_STEALTHCHOP,    SUBMENU(MSG_TMC_STEPPING_MODE, menu_tmc_step_mode));
-  #if ENABLED(SENSORLESS_HOMING)
-    SUBMENU(MSG_TMC_HOMING_THRS, menu_tmc_homing_thrs);
-  #endif
-  #if HAS_STEALTHCHOP
-    SUBMENU(MSG_TMC_STEPPING_MODE, menu_tmc_step_mode);
-  #endif
   END_MENU();
 }
 

Marlin/src/lcd/tft/ui_1024x600.cpp

@@ -653,10 +653,12 @@ static void drawAxisValue(const AxisEnum axis) {
 static void moveAxis(const AxisEnum axis, const int8_t direction) {
   quick_feedback();
 
+  #if ENABLED(PREVENT_COLD_EXTRUSION)
     if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) {
       drawMessage("Too cold");
       return;
     }
+  #endif
 
   const float diff = motionAxisState.currentStepSize * direction;
 

Marlin/src/lcd/tft/ui_320x240.cpp

@@ -638,10 +638,12 @@ static void drawAxisValue(const AxisEnum axis) {
 static void moveAxis(const AxisEnum axis, const int8_t direction) {
   quick_feedback();
 
+  #if ENABLED(PREVENT_COLD_EXTRUSION)
     if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) {
       drawMessage("Too cold");
       return;
     }
+  #endif
 
   const float diff = motionAxisState.currentStepSize * direction;
 

Marlin/src/lcd/tft/ui_480x320.cpp

@@ -640,10 +640,12 @@ static void drawAxisValue(const AxisEnum axis) {
 static void moveAxis(const AxisEnum axis, const int8_t direction) {
   quick_feedback();
 
+  #if ENABLED(PREVENT_COLD_EXTRUSION)
     if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) {
       drawMessage("Too cold");
       return;
     }
+  #endif
 
   const float diff = motionAxisState.currentStepSize * direction;
 

Marlin/src/libs/L64XX/L64XX_Marlin.cpp

@@ -37,19 +37,27 @@ L64XX_Marlin L64xxManager;
 #include "../../module/planner.h"
 #include "../../HAL/shared/Delay.h"
 
-static const char str_X[] PROGMEM = "X ",  str_Y[] PROGMEM = "Y ",  str_Z[] PROGMEM = "Z ",
+static const char LINEAR_AXIS_LIST(
+                   str_X[] PROGMEM = "X ",          str_Y[] PROGMEM = "Y ",          str_Z[] PROGMEM = "Z ",
+                   str_I[] PROGMEM = AXIS4_STR " ", str_J[] PROGMEM = AXIS5_STR " ", str_K[] PROGMEM = AXIS6_STR " "
+                 ),
                  str_X2[] PROGMEM = "X2", str_Y2[] PROGMEM = "Y2",
                  str_Z2[] PROGMEM = "Z2", str_Z3[] PROGMEM = "Z3", str_Z4[] PROGMEM = "Z4",
+                 LIST_N(EXTRUDERS,
                    str_E0[] PROGMEM = "E0", str_E1[] PROGMEM = "E1",
                    str_E2[] PROGMEM = "E2", str_E3[] PROGMEM = "E3",
                    str_E4[] PROGMEM = "E4", str_E5[] PROGMEM = "E5",
                    str_E6[] PROGMEM = "E6", str_E7[] PROGMEM = "E7"
+                 )
                  ;
 
+#define _EN_ITEM(N) , str_E##N
 PGM_P const L64XX_Marlin::index_to_axis[] PROGMEM = {
-  str_X, str_Y, str_Z, str_X2, str_Y2, str_Z2, str_Z3, str_Z4,
+  LINEAR_AXIS_LIST(str_X, str_Y, str_Z, str_I, str_J, str_K),
-  str_E0, str_E1, str_E2, str_E3, str_E4, str_E5, str_E6, str_E7
+  str_X2, str_Y2, str_Z2, str_Z3, str_Z4
+  REPEAT(E_STEPPERS, _EN_ITEM)
 };
+#undef _EN_ITEM
 
 #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
 #include "../../core/debug_out.h"
@@ -58,16 +66,17 @@ void echo_yes_no(const bool yes) { DEBUG_ECHOPGM_P(yes ? PSTR(" YES") : PSTR(" N
 
 uint8_t L64XX_Marlin::dir_commands[MAX_L64XX];  // array to hold direction command for each driver
 
+#define _EN_ITEM(N) , INVERT_E##N##_DIR
 const uint8_t L64XX_Marlin::index_to_dir[MAX_L64XX] = {
-  INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR
+    LINEAR_AXIS_LIST(INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR, INVERT_I_DIR, INVERT_J_DIR, INVERT_K_DIR)
   , (INVERT_X_DIR) ^ BOTH(X_DUAL_STEPPER_DRIVERS, INVERT_X2_VS_X_DIR) // X2
   , (INVERT_Y_DIR) ^ BOTH(Y_DUAL_STEPPER_DRIVERS, INVERT_Y2_VS_Y_DIR) // Y2
   , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z2_VS_Z_DIR) // Z2
   , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z3_VS_Z_DIR) // Z3
   , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z4_VS_Z_DIR) // Z4
-  , INVERT_E0_DIR, INVERT_E1_DIR, INVERT_E2_DIR, INVERT_E3_DIR
+    REPEAT(E_STEPPERS, _EN_ITEM)
-  , INVERT_E4_DIR, INVERT_E5_DIR, INVERT_E6_DIR, INVERT_E7_DIR
 };
+#undef _EN_ITEM
 
 volatile uint8_t L64XX_Marlin::spi_abort = false;
 uint8_t L64XX_Marlin::spi_active = false;
@@ -326,6 +335,15 @@ void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const
     #if AXIS_IS_L64XX(Z)
       case Z : SET_L6470_PARAM(Z); break;
     #endif
+    #if AXIS_IS_L64XX(I)
+      case I : SET_L6470_PARAM(I); break;
+    #endif
+    #if AXIS_IS_L64XX(J)
+      case J : SET_L6470_PARAM(J); break;
+    #endif
+    #if AXIS_IS_L64XX(K)
+      case K : SET_L6470_PARAM(K); break;
+    #endif
     #if AXIS_IS_L64XX(X2)
       case X2: SET_L6470_PARAM(X2); break;
     #endif
@@ -370,8 +388,7 @@ void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const
 
 inline void echo_min_max(const char a, const_float_t min, const_float_t max) {
   DEBUG_CHAR(' '); DEBUG_CHAR(a);
-  DEBUG_ECHOPAIR(" min = ", min);
+  DEBUG_ECHOLNPAIR(" min = ", min, "  max = ", max);
-  DEBUG_ECHOLNPAIR("  max = ", max);
 }
 inline void echo_oct_used(const_float_t oct, const uint8_t stall) {
   DEBUG_ECHOPAIR("over_current_threshold used     : ", oct);
@@ -433,10 +450,15 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
   // Position calcs & checks
   //
 
-  const float X_center = LOGICAL_X_POSITION(current_position.x),
+  const float LOGICAL_AXIS_LIST(
+                E_center = current_position.e,
+                X_center = LOGICAL_X_POSITION(current_position.x),
                 Y_center = LOGICAL_Y_POSITION(current_position.y),
                 Z_center = LOGICAL_Z_POSITION(current_position.z),
-              E_center = current_position.e;
+                I_center = LOGICAL_I_POSITION(current_position.i),
+                J_center = LOGICAL_J_POSITION(current_position.j),
+                K_center = LOGICAL_K_POSITION(current_position.k)
+              );
 
   switch (axis_mon[0][0]) {
     default: position_max = position_min = 0; break;
@@ -451,6 +473,7 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
       }
     } break;
 
+    #if HAS_Y_AXIS
       case 'Y': {
         position_min = Y_center - displacement;
         position_max = Y_center + displacement;
@@ -460,7 +483,9 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
           return true;
         }
       } break;
+    #endif
 
+    #if HAS_Z_AXIS
       case 'Z': {
         position_min = Z_center - displacement;
         position_max = Z_center + displacement;
@@ -470,12 +495,51 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
           return true;
         }
       } break;
+    #endif
 
+    #if LINEAR_AXES >= 4
+      case AXIS4_NAME: {
+        position_min = I_center - displacement;
+        position_max = I_center + displacement;
+        echo_min_max(AXIS4_NAME, position_min, position_max);
+        if (TERN0(HAS_ENDSTOPS, position_min < (I_MIN_POS) || position_max > (I_MAX_POS))) {
+          err_out_of_bounds();
+          return true;
+        }
+      } break;
+    #endif
+
+    #if LINEAR_AXES >= 5
+      case AXIS5_NAME: {
+        position_min = J_center - displacement;
+        position_max = J_center + displacement;
+        echo_min_max(AXIS5_NAME, position_min, position_max);
+        if (TERN1(HAS_ENDSTOPS, position_min < (J_MIN_POS) || position_max > (J_MAX_POS))) {
+          err_out_of_bounds();
+          return true;
+        }
+      } break;
+    #endif
+
+    #if LINEAR_AXES >= 6
+      case AXIS6_NAME: {
+        position_min = K_center - displacement;
+        position_max = K_center + displacement;
+        echo_min_max(AXIS6_NAME, position_min, position_max);
+        if (TERN2(HAS_ENDSTOPS, position_min < (K_MIN_POS) || position_max > (K_MAX_POS))) {
+          err_out_of_bounds();
+          return true;
+        }
+      } break;
+    #endif
+
+    #if HAS_EXTRUDERS
       case 'E': {
         position_min = E_center - displacement;
         position_max = E_center + displacement;
         echo_min_max('E', position_min, position_max);
       } break;
+    #endif
   }
 
   //
@@ -660,7 +724,7 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*
   bool L64XX_Marlin::monitor_paused = false; // Flag to skip monitor during M122, M906, M916, M917, M918, etc.
 
   struct L6470_driver_data {
-    uint8_t driver_index;
+    L64XX_axis_t driver_index;
     uint32_t driver_status;
     uint8_t is_otw;
     uint8_t otw_counter;
@@ -671,52 +735,61 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*
 
   L6470_driver_data driver_L6470_data[] = {
     #if AXIS_IS_L64XX(X)
-      {  0, 0, 0, 0, 0, 0, 0 },
+      {  X, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(Y)
-      {  1, 0, 0, 0, 0, 0, 0 },
+      {  Y, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(Z)
-      {  2, 0, 0, 0, 0, 0, 0 },
+      {  Z, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(I)
+      {  I, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(J)
+      {  J, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(K)
+      {  K, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(X2)
-      {  3, 0, 0, 0, 0, 0, 0 },
+      { X2, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(Y2)
-      {  4, 0, 0, 0, 0, 0, 0 },
+      { Y2, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(Z2)
-      {  5, 0, 0, 0, 0, 0, 0 },
+      { Z2, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(Z3)
-      {  6, 0, 0, 0, 0, 0, 0 },
+      { Z3, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(Z4)
-      {  7, 0, 0, 0, 0, 0, 0 },
+      { Z4, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(E0)
-      {  8, 0, 0, 0, 0, 0, 0 },
+      { E0, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(E1)
-      {  9, 0, 0, 0, 0, 0, 0 },
+      { E1, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(E2)
-      { 10, 0, 0, 0, 0, 0, 0 },
+      { E2, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(E3)
-      { 11, 0, 0, 0, 0, 0, 0 },
+      { E3, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(E4)
-      { 12, 0, 0, 0, 0, 0, 0 },
+      { E4, 0, 0, 0, 0, 0, 0 },
     #endif
     #if AXIS_IS_L64XX(E5)
-      { 13, 0, 0, 0, 0, 0, 0 }
+      { E5, 0, 0, 0, 0, 0, 0 }
     #endif
     #if AXIS_IS_L64XX(E6)
-      { 14, 0, 0, 0, 0, 0, 0 }
+      { E6, 0, 0, 0, 0, 0, 0 }
     #endif
     #if AXIS_IS_L64XX(E7)
-      { 16, 0, 0, 0, 0, 0, 0 }
+      { E7, 0, 0, 0, 0, 0, 0 }
     #endif
   };
 
@@ -863,6 +936,15 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*
         #if AXIS_IS_L64XX(Z)
           monitor_update(Z);
         #endif
+        #if AXIS_IS_L64XX(I)
+          monitor_update(I);
+        #endif
+        #if AXIS_IS_L64XX(J)
+          monitor_update(J);
+        #endif
+        #if AXIS_IS_L64XX(K)
+          monitor_update(K);
+        #endif
         #if AXIS_IS_L64XX(X2)
           monitor_update(X2);
         #endif
@@ -896,6 +978,12 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*
         #if AXIS_IS_L64XX(E5)
           monitor_update(E5);
         #endif
+        #if AXIS_IS_L64XX(E6)
+          monitor_update(E6);
+        #endif
+        #if AXIS_IS_L64XX(E7)
+          monitor_update(E7);
+        #endif
 
         if (TERN0(L6470_DEBUG, report_L6470_status)) DEBUG_EOL();
 

Marlin/src/libs/L64XX/L64XX_Marlin.h

@@ -35,7 +35,9 @@
 #define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
 #define HAS_L64XX_EXTRUDER (AXIS_IS_L64XX(E0) || AXIS_IS_L64XX(E1) || AXIS_IS_L64XX(E2) || AXIS_IS_L64XX(E3) || AXIS_IS_L64XX(E4) || AXIS_IS_L64XX(E5) || AXIS_IS_L64XX(E6) || AXIS_IS_L64XX(E7))
 
-enum L64XX_axis_t : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, MAX_L64XX };
+#define _EN_ITEM(N) , E##N
+enum L64XX_axis_t : uint8_t { LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM), MAX_L64XX };
+#undef _EN_ITEM
 
 class L64XX_Marlin : public L64XXHelper {
 public:

Marlin/src/libs/vector_3.cpp

@@ -52,10 +52,9 @@
  */
 
 vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
-  const xyz_float_t &lv = left, &rv = right;
+  return vector_3(left.y * right.z - left.z * right.y,  // YZ cross
-  return vector_3(lv.y * rv.z - lv.z * rv.y,      // YZ cross
+                  left.z * right.x - left.x * right.z,  // ZX cross
-                  lv.z * rv.x - lv.x * rv.z,      // ZX cross
+                  left.x * right.y - left.y * right.x); // XY cross
-                  lv.x * rv.y - lv.y * rv.x);     // XY cross
 }
 
 vector_3 vector_3::get_normal() const {
@@ -64,16 +63,16 @@ vector_3 vector_3::get_normal() const {
   return normalized;
 }
 
-void vector_3::normalize() {
+float vector_3::magnitude() const { return SQRT(sq(x) + sq(y) + sq(z)); }
-  *this *= RSQRT(sq(x) + sq(y) + sq(z));
+
-}
+void vector_3::normalize() { *this *= RSQRT(sq(x) + sq(y) + sq(z)); }
 
 // Apply a rotation to the matrix
 void vector_3::apply_rotation(const matrix_3x3 &matrix) {
   const float _x = x, _y = y, _z = z;
-  *this = { matrix.vectors[0][0] * _x + matrix.vectors[1][0] * _y + matrix.vectors[2][0] * _z,
+  *this = { matrix.vectors[0].x * _x + matrix.vectors[1].x * _y + matrix.vectors[2].x * _z,
-            matrix.vectors[0][1] * _x + matrix.vectors[1][1] * _y + matrix.vectors[2][1] * _z,
+            matrix.vectors[0].y * _x + matrix.vectors[1].y * _y + matrix.vectors[2].y * _z,
-            matrix.vectors[0][2] * _x + matrix.vectors[1][2] * _y + matrix.vectors[2][2] * _z };
+            matrix.vectors[0].z * _x + matrix.vectors[1].z * _y + matrix.vectors[2].z * _z };
 }
 
 void vector_3::debug(PGM_P const title) {
@@ -105,9 +104,9 @@ matrix_3x3 matrix_3x3::create_from_rows(const vector_3 &row_0, const vector_3 &r
   //row_1.debug(PSTR("row_1"));
   //row_2.debug(PSTR("row_2"));
   matrix_3x3 new_matrix;
-  new_matrix.vectors[0] = row_0;
+  new_matrix.vectors[0].x = row_0.x; new_matrix.vectors[1].y = row_0.y; new_matrix.vectors[2].z = row_0.z;
-  new_matrix.vectors[1] = row_1;
+  new_matrix.vectors[3].x = row_1.x; new_matrix.vectors[4].y = row_1.y; new_matrix.vectors[5].z = row_1.z;
-  new_matrix.vectors[2] = row_2;
+  new_matrix.vectors[6].x = row_2.x; new_matrix.vectors[7].y = row_2.y; new_matrix.vectors[8].z = row_2.z;
   //new_matrix.debug(PSTR("new_matrix"));
   return new_matrix;
 }

Marlin/src/libs/vector_3.h

@@ -44,12 +44,16 @@
 
 class matrix_3x3;
 
-struct vector_3 : xyz_float_t {
+struct vector_3 {
-  vector_3(const_float_t _x, const_float_t _y, const_float_t _z) { set(_x, _y, _z); }
+  union {
-  vector_3(const xy_float_t   &in) { set(in.x, in.y); }
+    struct { float x, y, z; };
-  vector_3(const xyz_float_t  &in) { set(in.x, in.y, in.z); }
+    float pos[3];
-  vector_3(const xyze_float_t &in) { set(in.x, in.y, in.z); }
+  };
-  vector_3() { reset(); }
+  vector_3(const_float_t _x, const_float_t _y, const_float_t _z) : x(_x), y(_y), z(_z) {}
+  vector_3(const xy_float_t   &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); }
+  vector_3(const xyz_float_t  &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); }
+  vector_3(const xyze_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); }
+  vector_3() { x = y = z = 0; }
 
   // Factory method
   static vector_3 cross(const vector_3 &a, const vector_3 &b);
@@ -59,19 +63,26 @@ struct vector_3 : xyz_float_t {
   void apply_rotation(const matrix_3x3 &matrix);
 
   // Accessors
-  float get_length() const;
+  float magnitude() const;
   vector_3 get_normal() const;
 
   // Operators
-  FORCE_INLINE vector_3 operator+(const vector_3 &v) const { vector_3 o = *this; o += v; return o; }
+        float& operator[](const int n)       { return pos[n]; }
-  FORCE_INLINE vector_3 operator-(const vector_3 &v) const { vector_3 o = *this; o -= v; return o; }
+  const float& operator[](const int n) const { return pos[n]; }
-  FORCE_INLINE vector_3 operator*(const float    &v) const { vector_3 o = *this; o *= v; return o; }
+
+  vector_3& operator*=(const float &v)  { x *= v; y *= v; z *= v; return *this; }
+  vector_3 operator+(const vector_3 &v) { return vector_3(x + v.x, y + v.y, z + v.z); }
+  vector_3 operator-(const vector_3 &v) { return vector_3(x - v.x, y - v.y, z - v.z); }
+  vector_3 operator*(const float &v)    { return vector_3(x * v, y * v, z * v); }
+
+  operator xy_float_t() { return xy_float_t({ x, y }); }
+  operator xyz_float_t() { return xyz_float_t({ x, y, z }); }
 
   void debug(PGM_P const title);
 };
 
 struct matrix_3x3 {
-  abc_float_t vectors[3];
+  vector_3 vectors[3];
 
   // Factory methods
   static matrix_3x3 create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2);
@@ -83,6 +94,4 @@ struct matrix_3x3 {
   void debug(PGM_P const title);
 
   void apply_rotation_xyz(float &x, float &y, float &z);
-
-  FORCE_INLINE void apply_rotation_xyz(xyz_pos_t &pos) { apply_rotation_xyz(pos.x, pos.y, pos.z); }
 };

Marlin/src/module/delta.cpp

@@ -245,6 +245,9 @@ void home_delta() {
     TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
     TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
     TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
+    TERN_(I_SENSORLESS, sensorless_t stealth_states_i = start_sensorless_homing_per_axis(I_AXIS));
+    TERN_(J_SENSORLESS, sensorless_t stealth_states_j = start_sensorless_homing_per_axis(J_AXIS));
+    TERN_(K_SENSORLESS, sensorless_t stealth_states_k = start_sensorless_homing_per_axis(K_AXIS));
   #endif
 
   // Move all carriages together linearly until an endstop is hit.
@@ -257,6 +260,9 @@ void home_delta() {
     TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
     TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
     TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
+    TERN_(I_SENSORLESS, end_sensorless_homing_per_axis(I_AXIS, stealth_states_i));
+    TERN_(J_SENSORLESS, end_sensorless_homing_per_axis(J_AXIS, stealth_states_j));
+    TERN_(K_SENSORLESS, end_sensorless_homing_per_axis(K_AXIS, stealth_states_k));
   #endif
 
   endstops.validate_homing_move();

Marlin/src/module/endstops.cpp

@@ -259,6 +259,66 @@ void Endstops::init() {
     #endif
   #endif
 
+  #if HAS_I_MIN
+    #if ENABLED(ENDSTOPPULLUP_IMIN)
+      SET_INPUT_PULLUP(I_MIN_PIN);
+    #elif ENABLED(ENDSTOPPULLDOWN_IMIN)
+      SET_INPUT_PULLDOWN(I_MIN_PIN);
+    #else
+      SET_INPUT(I_MIN_PIN);
+    #endif
+  #endif
+
+  #if HAS_I_MAX
+    #if ENABLED(ENDSTOPPULLUP_IMAX)
+      SET_INPUT_PULLUP(I_MAX_PIN);
+    #elif ENABLED(ENDSTOPPULLDOWN_IMAX)
+      SET_INPUT_PULLDOWN(I_MAX_PIN);
+    #else
+      SET_INPUT(I_MAX_PIN);
+    #endif
+  #endif
+
+  #if HAS_J_MIN
+    #if ENABLED(ENDSTOPPULLUP_JMIN)
+      SET_INPUT_PULLUP(J_MIN_PIN);
+    #elif ENABLED(ENDSTOPPULLDOWN_IMIN)
+      SET_INPUT_PULLDOWN(J_MIN_PIN);
+    #else
+      SET_INPUT(J_MIN_PIN);
+    #endif
+  #endif
+
+  #if HAS_J_MAX
+    #if ENABLED(ENDSTOPPULLUP_JMAX)
+      SET_INPUT_PULLUP(J_MAX_PIN);
+    #elif ENABLED(ENDSTOPPULLDOWN_JMAX)
+      SET_INPUT_PULLDOWN(J_MAX_PIN);
+    #else
+      SET_INPUT(J_MAX_PIN);
+    #endif
+  #endif
+
+  #if HAS_K_MIN
+    #if ENABLED(ENDSTOPPULLUP_KMIN)
+      SET_INPUT_PULLUP(K_MIN_PIN);
+    #elif ENABLED(ENDSTOPPULLDOWN_KMIN)
+      SET_INPUT_PULLDOWN(K_MIN_PIN);
+    #else
+      SET_INPUT(K_MIN_PIN);
+    #endif
+  #endif
+
+  #if HAS_K_MAX
+    #if ENABLED(ENDSTOPPULLUP_KMAX)
+      SET_INPUT_PULLUP(K_MAX_PIN);
+    #elif ENABLED(ENDSTOPPULLDOWN_KMIN)
+      SET_INPUT_PULLDOWN(K_MAX_PIN);
+    #else
+      SET_INPUT(K_MAX_PIN);
+    #endif
+  #endif
+
   #if PIN_EXISTS(CALIBRATION)
     #if ENABLED(CALIBRATION_PIN_PULLUP)
       SET_INPUT_PULLUP(CALIBRATION_PIN);
@@ -361,7 +421,7 @@ void Endstops::event_handler() {
   prev_hit_state = hit_state;
   if (hit_state) {
     #if HAS_STATUS_MESSAGE
-      char LINEAR_AXIS_LIST(chrX = ' ', chrY = ' ', chrZ = ' '),
+      char LINEAR_AXIS_LIST(chrX = ' ', chrY = ' ', chrZ = ' ', chrI = ' ', chrJ = ' ', chrK = ' '),
            chrP = ' ';
       #define _SET_STOP_CHAR(A,C) (chr## A = C)
     #else
@@ -378,12 +438,20 @@ void Endstops::event_handler() {
     #define ENDSTOP_HIT_TEST_X() _ENDSTOP_HIT_TEST(X,'X')
     #define ENDSTOP_HIT_TEST_Y() _ENDSTOP_HIT_TEST(Y,'Y')
     #define ENDSTOP_HIT_TEST_Z() _ENDSTOP_HIT_TEST(Z,'Z')
+    #define ENDSTOP_HIT_TEST_I() _ENDSTOP_HIT_TEST(I,'I')
+    #define ENDSTOP_HIT_TEST_J() _ENDSTOP_HIT_TEST(J,'J')
+    #define ENDSTOP_HIT_TEST_K() _ENDSTOP_HIT_TEST(K,'K')
 
     SERIAL_ECHO_START();
     SERIAL_ECHOPGM(STR_ENDSTOPS_HIT);
-    ENDSTOP_HIT_TEST_X();
+    LINEAR_AXIS_CODE(
-    ENDSTOP_HIT_TEST_Y();
+       ENDSTOP_HIT_TEST_X(),
-    ENDSTOP_HIT_TEST_Z();
+       ENDSTOP_HIT_TEST_Y(),
+       ENDSTOP_HIT_TEST_Z(),
+      _ENDSTOP_HIT_TEST(I,'I'),
+      _ENDSTOP_HIT_TEST(J,'J'),
+      _ENDSTOP_HIT_TEST(K,'K')
+    );
 
     #if HAS_CUSTOM_PROBE_PIN
       #define P_AXIS Z_AXIS
@@ -395,7 +463,7 @@ void Endstops::event_handler() {
       ui.status_printf_P(0,
         PSTR(S_FMT GANG_N_1(LINEAR_AXES, " %c") " %c"),
         GET_TEXT(MSG_LCD_ENDSTOPS),
-        LINEAR_AXIS_LIST(chrX, chrY, chrZ), chrP
+        LINEAR_AXIS_LIST(chrX, chrY, chrZ, chrI, chrJ, chrK), chrP
       )
     );
 
@@ -477,6 +545,24 @@ void _O2 Endstops::report_states() {
   #if HAS_Z4_MAX
     ES_REPORT(Z4_MAX);
   #endif
+  #if HAS_I_MIN
+    ES_REPORT(I_MIN);
+  #endif
+  #if HAS_I_MAX
+    ES_REPORT(I_MAX);
+  #endif
+  #if HAS_J_MIN
+    ES_REPORT(J_MIN);
+  #endif
+  #if HAS_J_MAX
+    ES_REPORT(J_MAX);
+  #endif
+    #if HAS_K_MIN
+    ES_REPORT(K_MIN);
+  #endif
+  #if HAS_K_MAX
+    ES_REPORT(K_MAX);
+  #endif
   #if BOTH(MARLIN_DEV_MODE, PROBE_ACTIVATION_SWITCH)
     print_es_state(probe_switch_activated(), PSTR(STR_PROBE_EN));
   #endif
@@ -549,6 +635,10 @@ void Endstops::update() {
     #define Z_AXIS_HEAD Z_AXIS
   #endif
 
+  #define I_AXIS_HEAD I_AXIS
+  #define J_AXIS_HEAD J_AXIS
+  #define K_AXIS_HEAD K_AXIS
+
   /**
    * Check and update endstops
    */
@@ -656,6 +746,84 @@ void Endstops::update() {
     #endif
   #endif
 
+  #if HAS_I_MIN
+    #if ENABLED(I_DUAL_ENDSTOPS)
+      UPDATE_ENDSTOP_BIT(I, MIN);
+      #if HAS_I2_MIN
+        UPDATE_ENDSTOP_BIT(I2, MAX);
+      #else
+        COPY_LIVE_STATE(I_MIN, I2_MIN);
+      #endif
+    #else
+      UPDATE_ENDSTOP_BIT(I, MIN);
+    #endif
+  #endif
+
+  #if HAS_I_MAX
+    #if ENABLED(I_DUAL_ENDSTOPS)
+      UPDATE_ENDSTOP_BIT(I, MAX);
+      #if HAS_I2_MAX
+        UPDATE_ENDSTOP_BIT(I2, MAX);
+      #else
+        COPY_LIVE_STATE(I_MAX, I2_MAX);
+      #endif
+    #else
+      UPDATE_ENDSTOP_BIT(I, MAX);
+    #endif
+  #endif
+
+  #if HAS_J_MIN
+    #if ENABLED(J_DUAL_ENDSTOPS)
+      UPDATE_ENDSTOP_BIT(J, MIN);
+      #if HAS_J2_MIN
+        UPDATE_ENDSTOP_BIT(J2, MIN);
+      #else
+        COPY_LIVE_STATE(J_MIN, J2_MIN);
+      #endif
+    #else
+      UPDATE_ENDSTOP_BIT(J, MIN);
+    #endif
+  #endif
+
+  #if HAS_J_MAX
+    #if ENABLED(J_DUAL_ENDSTOPS)
+      UPDATE_ENDSTOP_BIT(J, MAX);
+      #if HAS_J2_MAX
+        UPDATE_ENDSTOP_BIT(J2, MAX);
+      #else
+        COPY_LIVE_STATE(J_MAX, J2_MAX);
+      #endif
+    #else
+      UPDATE_ENDSTOP_BIT(J, MAX);
+    #endif
+  #endif
+
+  #if HAS_K_MIN
+    #if ENABLED(K_DUAL_ENDSTOPS)
+      UPDATE_ENDSTOP_BIT(K, MIN);
+      #if HAS_K2_MIN
+        UPDATE_ENDSTOP_BIT(K2, MIN);
+      #else
+        COPY_LIVE_STATE(K_MIN, K2_MIN);
+      #endif
+    #else
+      UPDATE_ENDSTOP_BIT(K, MIN);
+    #endif
+  #endif
+
+  #if HAS_K_MAX
+    #if ENABLED(K_DUAL_ENDSTOPS)
+      UPDATE_ENDSTOP_BIT(K, MAX);
+      #if HAS_K2_MAX
+        UPDATE_ENDSTOP_BIT(K2, MAX);
+      #else
+        COPY_LIVE_STATE(K_MAX, K2_MAX);
+      #endif
+    #else
+      UPDATE_ENDSTOP_BIT(K, MAX);
+    #endif
+  #endif
+
   #if ENDSTOP_NOISE_THRESHOLD
 
     /**
@@ -804,6 +972,7 @@ void Endstops::update() {
     }
   }
 
+  #if HAS_Y_AXIS
     if (stepper.axis_is_moving(Y_AXIS)) {
       if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
         #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_TO_MIN)
@@ -834,7 +1003,9 @@ void Endstops::update() {
         #endif
       }
     }
+  #endif
 
+  #if HAS_Z_AXIS
     if (stepper.axis_is_moving(Z_AXIS)) {
       if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
 
@@ -877,6 +1048,52 @@ void Endstops::update() {
         #endif
       }
     }
+  #endif
+
+  #if LINEAR_AXES >= 4
+    if (stepper.axis_is_moving(I_AXIS)) {
+      if (stepper.motor_direction(I_AXIS_HEAD)) { // -direction
+        #if HAS_I_MIN || (I_SPI_SENSORLESS && I_HOME_TO_MIN)
+          PROCESS_ENDSTOP(I, MIN);
+        #endif
+      }
+      else { // +direction
+        #if HAS_I_MAX || (I_SPI_SENSORLESS && I_HOME_TO_MAX)
+          PROCESS_ENDSTOP(I, MAX);
+        #endif
+      }
+    }
+  #endif
+
+  #if LINEAR_AXES >= 5
+    if (stepper.axis_is_moving(J_AXIS)) {
+      if (stepper.motor_direction(J_AXIS_HEAD)) { // -direction
+        #if HAS_J_MIN || (J_SPI_SENSORLESS && J_HOME_TO_MIN)
+          PROCESS_ENDSTOP(J, MIN);
+        #endif
+      }
+      else { // +direction
+        #if HAS_J_MAX || (J_SPI_SENSORLESS && J_HOME_TO_MAX)
+          PROCESS_ENDSTOP(J, MAX);
+        #endif
+      }
+    }
+  #endif
+
+  #if LINEAR_AXES >= 6
+    if (stepper.axis_is_moving(K_AXIS)) {
+      if (stepper.motor_direction(K_AXIS_HEAD)) { // -direction
+        #if HAS_K_MIN || (K_SPI_SENSORLESS && K_HOME_TO_MIN)
+          PROCESS_ENDSTOP(K, MIN);
+        #endif
+      }
+      else { // +direction
+        #if HAS_K_MAX || (K_SPI_SENSORLESS && K_HOME_TO_MAX)
+          PROCESS_ENDSTOP(K, MAX);
+        #endif
+      }
+    }
+  #endif
 } // Endstops::update()
 
 #if ENABLED(SPI_ENDSTOPS)
@@ -919,6 +1136,24 @@ void Endstops::update() {
         hit = true;
       }
     #endif
+    #if I_SPI_SENSORLESS
+      if (tmc_spi_homing.i && stepperI.test_stall_status()) {
+        SBI(live_state, I_ENDSTOP);
+        hit = true;
+      }
+    #endif
+    #if J_SPI_SENSORLESS
+      if (tmc_spi_homing.j && stepperJ.test_stall_status()) {
+        SBI(live_state, J_ENDSTOP);
+        hit = true;
+      }
+    #endif
+    #if K_SPI_SENSORLESS
+      if (tmc_spi_homing.k && stepperK.test_stall_status()) {
+        SBI(live_state, K_ENDSTOP);
+        hit = true;
+      }
+    #endif
 
     if (TERN0(ENDSTOP_INTERRUPTS_FEATURE, hit)) update();
 
@@ -929,6 +1164,9 @@ void Endstops::update() {
     TERN_(X_SPI_SENSORLESS, CBI(live_state, X_ENDSTOP));
     TERN_(Y_SPI_SENSORLESS, CBI(live_state, Y_ENDSTOP));
     TERN_(Z_SPI_SENSORLESS, CBI(live_state, Z_ENDSTOP));
+    TERN_(I_SPI_SENSORLESS, CBI(live_state, I_ENDSTOP));
+    TERN_(J_SPI_SENSORLESS, CBI(live_state, J_ENDSTOP));
+    TERN_(K_SPI_SENSORLESS, CBI(live_state, K_ENDSTOP));
   }
 
 #endif // SPI_ENDSTOPS
@@ -1005,6 +1243,24 @@ void Endstops::update() {
     #if HAS_Z4_MAX
       ES_GET_STATE(Z4_MAX);
     #endif
+    #if HAS_I_MAX
+      ES_GET_STATE(I_MAX);
+    #endif
+    #if HAS_I_MIN
+      ES_GET_STATE(I_MIN);
+    #endif
+    #if HAS_J_MAX
+      ES_GET_STATE(J_MAX);
+    #endif
+    #if HAS_J_MIN
+      ES_GET_STATE(J_MIN);
+    #endif
+    #if HAS_K_MAX
+      ES_GET_STATE(K_MAX);
+    #endif
+    #if HAS_K_MIN
+      ES_GET_STATE(K_MIN);
+    #endif
 
     uint16_t endstop_change = live_state_local ^ old_live_state_local;
     #define ES_REPORT_CHANGE(S) if (TEST(endstop_change, S)) SERIAL_ECHOPAIR("  " STRINGIFY(S) ":", TEST(live_state_local, S))
@@ -1061,6 +1317,24 @@ void Endstops::update() {
       #if HAS_Z4_MAX
         ES_REPORT_CHANGE(Z4_MAX);
       #endif
+      #if HAS_I_MIN
+        ES_REPORT_CHANGE(I_MIN);
+      #endif
+      #if HAS_I_MAX
+        ES_REPORT_CHANGE(I_MAX);
+      #endif
+      #if HAS_J_MIN
+        ES_REPORT_CHANGE(J_MIN);
+      #endif
+      #if HAS_J_MAX
+        ES_REPORT_CHANGE(J_MAX);
+      #endif
+      #if HAS_K_MIN
+        ES_REPORT_CHANGE(K_MIN);
+      #endif
+      #if HAS_K_MAX
+        ES_REPORT_CHANGE(K_MAX);
+      #endif
       SERIAL_ECHOLNPGM("\n");
       analogWrite(pin_t(LED_PIN), local_LED_status);
       local_LED_status ^= 255;

Marlin/src/module/endstops.h

@@ -39,6 +39,12 @@ enum EndstopEnum : char {
   _ES_ITEM(HAS_Y_MAX, Y_MAX)
   _ES_ITEM(HAS_Z_MIN, Z_MIN)
   _ES_ITEM(HAS_Z_MAX, Z_MAX)
+  _ES_ITEM(HAS_I_MIN, I_MIN)
+  _ES_ITEM(HAS_I_MAX, I_MAX)
+  _ES_ITEM(HAS_J_MIN, J_MIN)
+  _ES_ITEM(HAS_J_MAX, J_MAX)
+  _ES_ITEM(HAS_K_MIN, K_MIN)
+  _ES_ITEM(HAS_K_MAX, K_MAX)
 
   // Extra Endstops for XYZ
   #if ENABLED(X_DUAL_ENDSTOPS)

Marlin/src/module/motion.cpp

@@ -89,7 +89,7 @@ bool relative_mode; // = false;
   #define Z_INIT_POS Z_HOME_POS
 #endif
 
-xyze_pos_t current_position = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS);
+xyze_pos_t current_position = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS, I_HOME_POS, J_HOME_POS, K_HOME_POS);
 
 /**
  * Cartesian Destination
@@ -143,7 +143,7 @@ xyz_pos_t cartes;
 
 #if IS_KINEMATIC
 
-  abc_pos_t delta;
+  abce_pos_t delta;
 
   #if HAS_SCARA_OFFSET
     abc_pos_t scara_home_offset;
@@ -196,7 +196,14 @@ inline void report_more_positions() {
 inline void report_logical_position(const xyze_pos_t &rpos) {
   const xyze_pos_t lpos = rpos.asLogical();
   SERIAL_ECHOPAIR_P(
-    LIST_N(DOUBLE(LINEAR_AXES), X_LBL, lpos.x, SP_Y_LBL, lpos.y, SP_Z_LBL, lpos.z)
+    LIST_N(DOUBLE(LINEAR_AXES),
+         X_LBL, lpos.x,
+      SP_Y_LBL, lpos.y,
+      SP_Z_LBL, lpos.z,
+      SP_I_LBL, lpos.i,
+      SP_J_LBL, lpos.j,
+      SP_K_LBL, lpos.k
+    )
     #if HAS_EXTRUDERS
       , SP_E_LBL, lpos.e
     #endif
@@ -209,7 +216,10 @@ void report_real_position() {
   get_cartesian_from_steppers();
   xyze_pos_t npos = LOGICAL_AXIS_ARRAY(
     planner.get_axis_position_mm(E_AXIS),
-    cartes.x, cartes.y, cartes.z
+    cartes.x, cartes.y, cartes.z,
+    planner.get_axis_position_mm(I_AXIS),
+    planner.get_axis_position_mm(J_AXIS),
+    planner.get_axis_position_mm(K_AXIS)
   );
 
   TERN_(HAS_POSITION_MODIFIERS, planner.unapply_modifiers(npos, true));
@@ -334,20 +344,21 @@ void sync_plan_position() {
 void get_cartesian_from_steppers() {
   #if ENABLED(DELTA)
     forward_kinematics(planner.get_axis_positions_mm());
-  #else
+  #elif IS_SCARA
-    #if IS_SCARA
     forward_kinematics(
-          planner.get_axis_position_degrees(A_AXIS)
+      planner.get_axis_position_degrees(A_AXIS), planner.get_axis_position_degrees(B_AXIS)
-        , planner.get_axis_position_degrees(B_AXIS)
+      OPTARG(AXEL_TPARA, planner.get_axis_position_degrees(C_AXIS))
-        #if ENABLED(AXEL_TPARA)
-          , planner.get_axis_position_degrees(C_AXIS)
-        #endif
     );
-    #else
-      cartes.x = planner.get_axis_position_mm(X_AXIS);
-      cartes.y = planner.get_axis_position_mm(Y_AXIS);
-    #endif
     cartes.z = planner.get_axis_position_mm(Z_AXIS);
+  #else
+    LINEAR_AXIS_CODE(
+      cartes.x = planner.get_axis_position_mm(X_AXIS),
+      cartes.y = planner.get_axis_position_mm(Y_AXIS),
+      cartes.z = planner.get_axis_position_mm(Z_AXIS),
+      cartes.i = planner.get_axis_position_mm(I_AXIS),
+      cartes.j = planner.get_axis_position_mm(J_AXIS),
+      cartes.k = planner.get_axis_position_mm(K_AXIS)
+    );
   #endif
 }
 
@@ -366,13 +377,9 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
   get_cartesian_from_steppers();
   xyze_pos_t pos = cartes;
 
-  #if HAS_EXTRUDERS
+  TERN_(HAS_EXTRUDERS, pos.e = planner.get_axis_position_mm(E_AXIS));
-    pos.e = planner.get_axis_position_mm(E_AXIS);
-  #endif
 
-  #if HAS_POSITION_MODIFIERS
+  TERN_(HAS_POSITION_MODIFIERS, planner.unapply_modifiers(pos, true));
-    planner.unapply_modifiers(pos, true);
-  #endif
 
   if (axis == ALL_AXES_ENUM)
     current_position = pos;
@@ -385,7 +392,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
  * (or from wherever it has been told it is located).
  */
 void line_to_current_position(const_feedRate_t fr_mm_s/*=feedrate_mm_s*/) {
-  planner.buffer_line(current_position, fr_mm_s, active_extruder);
+  planner.buffer_line(current_position, fr_mm_s);
 }
 
 #if HAS_EXTRUDERS
@@ -411,7 +418,7 @@ void line_to_current_position(const_feedRate_t fr_mm_s/*=feedrate_mm_s*/) {
     #else
       if (current_position == destination) return;
 
-      planner.buffer_line(destination, scaled_fr_mm_s, active_extruder);
+      planner.buffer_line(destination, scaled_fr_mm_s);
     #endif
 
     current_position = destination;
@@ -449,25 +456,26 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
 }
 
 /**
- * Plan a move to (X, Y, Z) with separation of the XY and Z components.
+ * Plan a move to (X, Y, Z, [I, [J, [K]]]) and set the current_position
+ * Plan a move to (X, Y, Z) with separation of Z from other components.
  *
- * - If Z is moving up, the Z move is done before XY.
+ * - If Z is moving up, the Z move is done before XY, etc.
- * - If Z is moving down, the Z move is done after XY.
+ * - If Z is moving down, the Z move is done after XY, etc.
  * - Delta may lower Z first to get into the free motion zone.
  * - Before returning, wait for the planner buffer to empty.
  */
-void do_blocking_move_to(
+void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s/*=0.0f*/) {
-  LINEAR_AXIS_LIST(const float rx, const float ry, const float rz),
-  const_feedRate_t fr_mm_s/*=0.0f*/
-) {
   DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
-  if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", LINEAR_AXIS_LIST(rx, ry, rz));
+  if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", LINEAR_AXIS_ARGS());
 
-  const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS),
+  const feedRate_t xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
-                  xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
+
+  #if HAS_Z_AXIS
+    const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
+  #endif
 
   #if EITHER(DELTA, IS_SCARA)
-    if (!position_is_reachable(rx, ry)) return;
+    if (!position_is_reachable(x, y)) return;
     destination = current_position;          // sync destination at the start
   #endif
 
@@ -479,8 +487,8 @@ void do_blocking_move_to(
 
     // when in the danger zone
     if (current_position.z > delta_clip_start_height) {
-      if (rz > delta_clip_start_height) {                     // staying in the danger zone
+      if (z > delta_clip_start_height) {                     // staying in the danger zone
-        destination.set(rx, ry, rz);                          // move directly (uninterpolated)
+        destination.set(x, y, z);                          // move directly (uninterpolated)
         prepare_internal_fast_move_to_destination();          // set current_position from destination
         if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
         return;
@@ -490,18 +498,18 @@ void do_blocking_move_to(
       if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
     }
 
-    if (rz > current_position.z) {                            // raising?
+    if (z > current_position.z) {                            // raising?
-      destination.z = rz;
+      destination.z = z;
       prepare_internal_fast_move_to_destination(z_feedrate);  // set current_position from destination
       if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
     }
 
-    destination.set(rx, ry);
+    destination.set(x, y);
     prepare_internal_move_to_destination();                   // set current_position from destination
     if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
 
-    if (rz < current_position.z) {                            // lowering?
+    if (z < current_position.z) {                            // lowering?
-      destination.z = rz;
+      destination.z = z;
       prepare_internal_fast_move_to_destination(z_feedrate);  // set current_position from destination
       if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
     }
@@ -509,36 +517,40 @@ void do_blocking_move_to(
   #elif IS_SCARA
 
     // If Z needs to raise, do it before moving XY
-    if (destination.z < rz) {
+    if (destination.z < z) {
-      destination.z = rz;
+      destination.z = z;
       prepare_internal_fast_move_to_destination(z_feedrate);
     }
 
-    destination.set(rx, ry);
+    destination.set(x, y);
     prepare_internal_fast_move_to_destination(xy_feedrate);
 
     // If Z needs to lower, do it after moving XY
-    if (destination.z > rz) {
+    if (destination.z > z) {
-      destination.z = rz;
+      destination.z = z;
       prepare_internal_fast_move_to_destination(z_feedrate);
     }
 
   #else
 
+    #if HAS_Z_AXIS
       // If Z needs to raise, do it before moving XY
-    if (current_position.z < rz) {
+      if (current_position.z < z) {
-      current_position.z = rz;
+        current_position.z = z;
         line_to_current_position(z_feedrate);
       }
+    #endif
 
-    current_position.set(rx, ry);
+    current_position.set(x, y);
     line_to_current_position(xy_feedrate);
 
+    #if HAS_Z_AXIS
       // If Z needs to lower, do it after moving XY
-    if (current_position.z > rz) {
+      if (current_position.z > z) {
-      current_position.z = rz;
+        current_position.z = z;
         line_to_current_position(z_feedrate);
       }
+    #endif
 
   #endif
 
@@ -546,53 +558,94 @@ void do_blocking_move_to(
 }
 
 void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
-  do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i), fr_mm_s);
+  do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i, current_position.j, current_position.k), fr_mm_s);
 }
 void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
-  do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, raw.z), fr_mm_s);
+  do_blocking_move_to(LINEAR_AXIS_ELEM(raw), fr_mm_s);
 }
 void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
-  do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, raw.z), fr_mm_s);
+  do_blocking_move_to(LINEAR_AXIS_ELEM(raw), fr_mm_s);
 }
-
 void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
   do_blocking_move_to(
-    LINEAR_AXIS_LIST(rx, current_position.y, current_position.z),
+    LINEAR_AXIS_LIST(rx, current_position.y, current_position.z, current_position.i, current_position.j, current_position.k),
     fr_mm_s
   );
 }
-void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
+
+#if HAS_Y_AXIS
+  void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
     do_blocking_move_to(
-    LINEAR_AXIS_LIST(current_position.x, ry, current_position.z),
+      LINEAR_AXIS_LIST(current_position.x, ry, current_position.z, current_position.i, current_position.j, current_position.k),
       fr_mm_s
     );
-}
+  }
-void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s/*=0.0*/) {
+#endif
+
+#if HAS_Z_AXIS
+  void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s/*=0.0*/) {
     do_blocking_move_to_xy_z(current_position, rz, fr_mm_s);
-}
+  }
+#endif
 
-void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
+#if LINEAR_AXES == 4
+  void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) {
+    do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s);
+  }
+  void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) {
+	  do_blocking_move_to(raw.x, raw.y, raw.z, i, fr_mm_s);
+  }
+#endif
+
+#if LINEAR_AXES >= 5
+  void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) {
+    do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s);
+  }
+  void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) {
+	  do_blocking_move_to(raw.x, raw.y, raw.z, i, raw.j, fr_mm_s);
+  }
+  void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s/*=0.0*/) {
+    do_blocking_move_to_xyzi_j(current_position, rj, fr_mm_s);
+  }
+  void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s/*=0.0f*/) {
+    do_blocking_move_to(raw.x, raw.y, raw.z, raw.i, j, fr_mm_s);
+  }
+#endif
+
+#if LINEAR_AXES >= 6
+  void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s/*=0.0*/) {
+    do_blocking_move_to_xyzij_k(current_position, rk, fr_mm_s);
+  }
+  void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s/*=0.0f*/) {
+    do_blocking_move_to(raw.x, raw.y, raw.z, raw.i, raw.j, k, fr_mm_s);
+  }
+#endif
+
+#if HAS_Y_AXIS
+  void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
     do_blocking_move_to(
-    LINEAR_AXIS_LIST(rx, ry, current_position.z),
+      LINEAR_AXIS_LIST(rx, ry, current_position.z, current_position.i, current_position.j, current_position.k),
       fr_mm_s
     );
-}
+  }
-void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
+  void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
     do_blocking_move_to_xy(raw.x, raw.y, fr_mm_s);
-}
+  }
+#endif
 
-void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s/*=0.0f*/) {
+#if HAS_Z_AXIS
+  void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s/*=0.0f*/) {
     do_blocking_move_to(
-    LINEAR_AXIS_LIST(raw.x, raw.y, z),
+      LINEAR_AXIS_LIST(raw.x, raw.y, z, current_position.i, current_position.j, current_position.k),
       fr_mm_s
     );
-}
+  }
-
+  void do_z_clearance(const_float_t zclear, const bool lower_allowed/*=false*/) {
-void do_z_clearance(const_float_t zclear, const bool lower_allowed/*=false*/) {
     float zdest = zclear;
     if (!lower_allowed) NOLESS(zdest, current_position.z);
     do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS)));
-}
+  }
+#endif
 
 //
 // Prepare to do endstop or probe moves with custom feedrates.
@@ -618,8 +671,8 @@ void restore_feedrate_and_scaling() {
   // Software Endstops are based on the configured limits.
   soft_endstops_t soft_endstop = {
     true, false,
-    LINEAR_AXIS_ARRAY(X_MIN_POS, Y_MIN_POS, Z_MIN_POS),
+    LINEAR_AXIS_ARRAY(X_MIN_POS, Y_MIN_POS, Z_MIN_POS, I_MIN_POS, J_MIN_POS, K_MIN_POS),
-    LINEAR_AXIS_ARRAY(X_MAX_BED, Y_MAX_BED, Z_MAX_POS)
+    LINEAR_AXIS_ARRAY(X_MAX_BED, Y_MAX_BED, Z_MAX_POS, I_MAX_POS, J_MAX_POS, K_MAX_POS)
   };
 
   /**
@@ -746,6 +799,7 @@ void restore_feedrate_and_scaling() {
         #endif
       }
 
+      #if HAS_Y_AXIS
         if (axis_was_homed(Y_AXIS)) {
           #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
             NOLESS(target.y, soft_endstop.min.y);
@@ -754,9 +808,11 @@ void restore_feedrate_and_scaling() {
             NOMORE(target.y, soft_endstop.max.y);
           #endif
         }
+      #endif
 
     #endif
 
+    #if HAS_Z_AXIS
       if (axis_was_homed(Z_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
           NOLESS(target.z, soft_endstop.min.z);
@@ -765,6 +821,37 @@ void restore_feedrate_and_scaling() {
           NOMORE(target.z, soft_endstop.max.z);
         #endif
       }
+    #endif
+    #if LINEAR_AXES >= 4  // TODO (DerAndere): Find out why this was missing / removed
+      if (axis_was_homed(I_AXIS)) {
+        #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_I)
+          NOLESS(target.i, soft_endstop.min.i);
+        #endif
+        #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_I)
+          NOMORE(target.i, soft_endstop.max.i);
+        #endif
+      }
+    #endif
+    #if LINEAR_AXES >= 5
+      if (axis_was_homed(J_AXIS)) {
+        #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_J)
+          NOLESS(target.j, soft_endstop.min.j);
+        #endif
+        #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_J)
+          NOMORE(target.j, soft_endstop.max.j);
+        #endif
+      }
+    #endif
+    #if LINEAR_AXES >= 6
+      if (axis_was_homed(K_AXIS)) {
+        #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_K)
+          NOLESS(target.k, soft_endstop.min.k);
+        #endif
+        #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_K)
+          NOMORE(target.k, soft_endstop.max.k);
+        #endif
+      }
+    #endif
   }
 
 #else // !HAS_SOFTWARE_ENDSTOPS
@@ -824,7 +911,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
 
     // If the move is only in Z/E don't split up the move
     if (!diff.x && !diff.y) {
-      planner.buffer_line(destination, scaled_fr_mm_s, active_extruder);
+      planner.buffer_line(destination, scaled_fr_mm_s);
       return false; // caller will update current_position
     }
 
@@ -880,15 +967,11 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
     while (--segments) {
       segment_idle(next_idle_ms);
       raw += segment_distance;
-      if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm
+      if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) break;
-        OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
-      )) break;
     }
 
     // Ensure last segment arrives at target location.
-    planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, cartesian_segment_mm
+    planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
-      OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
-    );
 
     return false; // caller will update current_position
   }
@@ -910,7 +993,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
 
       // If the move is only in Z/E don't split up the move
       if (!diff.x && !diff.y) {
-        planner.buffer_line(destination, fr_mm_s, active_extruder);
+        planner.buffer_line(destination, fr_mm_s);
         return;
       }
 
@@ -947,18 +1030,12 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
       while (--segments) {
         segment_idle(next_idle_ms);
         raw += segment_distance;
-        if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm
+        if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) break;
-          OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
-        )) break;
       }
 
       // Since segment_distance is only approximate,
       // the final move must be to the exact destination.
-      planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm
+      planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
-        #if ENABLED(SCARA_FEEDRATE_SCALING)
-          , inv_duration
-        #endif
-      );
     }
 
   #endif // SEGMENT_LEVELED_MOVES
@@ -998,7 +1075,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
       }
     #endif // HAS_MESH
 
-    planner.buffer_line(destination, scaled_fr_mm_s, active_extruder);
+    planner.buffer_line(destination, scaled_fr_mm_s);
     return false; // caller will update current_position
   }
 
@@ -1080,12 +1157,12 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
           // Un-park the active extruder
           //
           const feedRate_t fr_zfast = planner.settings.max_feedrate_mm_s[Z_AXIS];
-          #define CURPOS current_position
-          #define RAISED raised_parked_position
           //  1. Move to the raised parked XYZ. Presumably the tool is already at XY.
-          if (planner.buffer_line(RAISED.x, RAISED.y, RAISED.z, CURPOS.e, fr_zfast, active_extruder)) {
+          xyze_pos_t raised = raised_parked_position; raised.e = current_position.e;
+          if (planner.buffer_line(raised, fr_zfast)) {
             //  2. Move to the current native XY and raised Z. Presumably this is a null move.
-            if (planner.buffer_line(CURPOS.x, CURPOS.y, RAISED.z, CURPOS.e, PLANNER_XY_FEEDRATE(), active_extruder)) {
+            xyze_pos_t curpos = current_position; curpos.z = raised_parked_position.z;
+            if (planner.buffer_line(curpos, PLANNER_XY_FEEDRATE())) {
               //  3. Lower Z back down
               line_to_current_position(fr_zfast);
             }
@@ -1099,21 +1176,24 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
         case DXC_MIRRORED_MODE:
         case DXC_DUPLICATION_MODE:
           if (active_extruder == 0) {
-            xyze_pos_t new_pos = current_position;
+            // Restore planner to parked head (T1) X position
+            xyze_pos_t pos_now = current_position;
+            pos_now.x = inactive_extruder_x;
+            planner.set_position_mm(pos_now);
+
+            // Keep the same X or add the duplication X offset
+            xyze_pos_t new_pos = pos_now;
             if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
               new_pos.x += duplicate_extruder_x_offset;
-            else
+
-              new_pos.x = inactive_extruder_x;
+            // Move duplicate extruder into the correct position
-            // Move duplicate extruder into correct duplication position.
             if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x, " ... Line to X", new_pos.x);
-            planner.set_position_mm(inactive_extruder_x, current_position.y, current_position.z, current_position.e);
             if (!planner.buffer_line(new_pos, planner.settings.max_feedrate_mm_s[X_AXIS], 1)) break;
-
             planner.synchronize();
-            sync_plan_position();
 
-            set_duplication_enabled(true);
+            sync_plan_position();             // Extra sync for good measure
-            idex_set_parked(false);
+            set_duplication_enabled(true);    // Enable Duplication
+            idex_set_parked(false);           // No longer parked
             if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("set_duplication_enabled(true)\nidex_set_parked(false)");
           }
           else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Active extruder not 0");
@@ -1207,22 +1287,24 @@ void prepare_line_to_destination() {
     };
     // Clear test bits that are trusted
     LINEAR_AXIS_CODE(
-      set_should(axis_bits, X_AXIS),
+      set_should(axis_bits, X_AXIS), set_should(axis_bits, Y_AXIS), set_should(axis_bits, Z_AXIS),
-      set_should(axis_bits, Y_AXIS),
+      set_should(axis_bits, I_AXIS), set_should(axis_bits, J_AXIS), set_should(axis_bits, K_AXIS)
-      set_should(axis_bits, Z_AXIS)
     );
     return axis_bits;
   }
 
   bool homing_needed_error(linear_axis_bits_t axis_bits/*=linear_bits*/) {
     if ((axis_bits = axes_should_home(axis_bits))) {
-      PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
+      PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);  // TODO: (DerAndere) Set this up for extra axes
       char msg[strlen_P(home_first)+1];
       sprintf_P(msg, home_first,
         LINEAR_AXIS_LIST(
           TEST(axis_bits, X_AXIS) ? "X" : "",
           TEST(axis_bits, Y_AXIS) ? "Y" : "",
-          TEST(axis_bits, Z_AXIS) ? "Z" : ""
+          TEST(axis_bits, Z_AXIS) ? "Z" : "",
+          TEST(axis_bits, I_AXIS) ? AXIS4_STR : "",
+          TEST(axis_bits, J_AXIS) ? AXIS5_STR : "",
+          TEST(axis_bits, K_AXIS) ? AXIS6_STR : ""
         )
       );
       SERIAL_ECHO_START();
@@ -1374,6 +1456,9 @@ void prepare_line_to_destination() {
           case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break;
           case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break;
           case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break;
+          case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = false; break;
+          case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = false; break;
+          case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = false; break;
           default: break;
         }
       #endif
@@ -1446,12 +1531,7 @@ void prepare_line_to_destination() {
 
       // Set delta/cartesian axes directly
       target[axis] = distance;                  // The move will be towards the endstop
-      planner.buffer_segment(target
+      planner.buffer_segment(target OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), home_fr_mm_s, active_extruder);
-        #if HAS_DIST_MM_ARG
-          , cart_dist_mm
-        #endif
-        , home_fr_mm_s, active_extruder
-      );
     #endif
 
     planner.synchronize();
@@ -1531,6 +1611,30 @@ void prepare_line_to_destination() {
             stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir;
             break;
         #endif
+        #ifdef I_MICROSTEPS
+          case I_AXIS:
+            phasePerUStep = PHASE_PER_MICROSTEP(I);
+            phaseCurrent = stepperI.get_microstep_counter();
+            effectorBackoutDir = -I_HOME_DIR;
+            stepperBackoutDir = INVERT_I_DIR ? effectorBackoutDir : -effectorBackoutDir;
+            break;
+        #endif
+        #ifdef J_MICROSTEPS
+          case J_AXIS:
+            phasePerUStep = PHASE_PER_MICROSTEP(J);
+            phaseCurrent = stepperJ.get_microstep_counter();
+            effectorBackoutDir = -J_HOME_DIR;
+            stepperBackoutDir = INVERT_J_DIR ? effectorBackoutDir : -effectorBackoutDir;
+            break;
+        #endif
+        #ifdef K_MICROSTEPS
+          case K_AXIS:
+            phasePerUStep = PHASE_PER_MICROSTEP(K);
+            phaseCurrent = stepperK.get_microstep_counter();
+            effectorBackoutDir = -K_HOME_DIR;
+            stepperBackoutDir = INVERT_K_DIR ? effectorBackoutDir : -effectorBackoutDir;
+            break;
+        #endif
         default: return;
       }
 
@@ -1583,11 +1687,18 @@ void prepare_line_to_destination() {
     #else
       #define _CAN_HOME(A) (axis == _AXIS(A) && ( \
            ENABLED(A##_SPI_SENSORLESS) \
-        || (_AXIS(A) == Z_AXIS && ENABLED(HOMING_Z_WITH_PROBE)) \
+        || TERN0(HAS_Z_AXIS, TERN0(HOMING_Z_WITH_PROBE, _AXIS(A) == Z_AXIS)) \
         || TERN0(A##_HOME_TO_MIN, A##_MIN_PIN > -1) \
         || TERN0(A##_HOME_TO_MAX, A##_MAX_PIN > -1) \
       ))
-      if (!_CAN_HOME(X) && !_CAN_HOME(Y) && !_CAN_HOME(Z)) return;
+      if (LINEAR_AXIS_GANG(
+           !_CAN_HOME(X),
+        && !_CAN_HOME(Y),
+        && !_CAN_HOME(Z),
+        && !_CAN_HOME(I),
+        && !_CAN_HOME(J),
+        && !_CAN_HOME(K))
+      ) return;
     #endif
 
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", AS_CHAR(AXIS_CHAR(axis)), ")");
@@ -1636,9 +1747,9 @@ void prepare_line_to_destination() {
 
     // Determine if a homing bump will be done and the bumps distance
     // When homing Z with probe respect probe clearance
-    const bool use_probe_bump = TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && home_bump_mm(Z_AXIS));
+    const bool use_probe_bump = TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && home_bump_mm(axis));
     const float bump = axis_home_dir * (
-      use_probe_bump ? _MAX(TERN0(HOMING_Z_WITH_PROBE, Z_CLEARANCE_BETWEEN_PROBES), home_bump_mm(Z_AXIS)) : home_bump_mm(axis)
+      use_probe_bump ? _MAX(TERN0(HOMING_Z_WITH_PROBE, Z_CLEARANCE_BETWEEN_PROBES), home_bump_mm(axis)) : home_bump_mm(axis)
     );
 
     //

Marlin/src/module/motion.h

@@ -44,7 +44,7 @@ extern xyze_pos_t current_position,  // High-level current tool position
 
 // G60/G61 Position Save and Return
 #if SAVED_POSITIONS
-  extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
+  extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; // TODO: Add support for LINEAR_AXES >= 4
   extern xyze_pos_t stored_position[SAVED_POSITIONS];
 #endif
 
@@ -53,7 +53,7 @@ extern xyz_pos_t cartes;
 
 // Until kinematics.cpp is created, declare this here
 #if IS_KINEMATIC
-  extern abc_pos_t delta;
+  extern abce_pos_t delta;
 #endif
 
 #if HAS_ABL_NOT_UBL
@@ -75,16 +75,16 @@ extern xyz_pos_t cartes;
  */
 constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
 FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) {
-  float v;
+  float v = TERN0(HAS_Z_AXIS, homing_feedrate_mm_m.z);
-  #if ENABLED(DELTA)
+  #if DISABLED(DELTA)
-    v = homing_feedrate_mm_m.z;
+    LINEAR_AXIS_CODE(
-  #else
+           if (a == X_AXIS) v = homing_feedrate_mm_m.x,
-    switch (a) {
+      else if (a == Y_AXIS) v = homing_feedrate_mm_m.y,
-      case X_AXIS: v = homing_feedrate_mm_m.x; break;
+      else if (a == Z_AXIS) v = homing_feedrate_mm_m.z,
-      case Y_AXIS: v = homing_feedrate_mm_m.y; break;
+      else if (a == I_AXIS) v = homing_feedrate_mm_m.i,
-      case Z_AXIS:
+      else if (a == J_AXIS) v = homing_feedrate_mm_m.j,
-          default: v = homing_feedrate_mm_m.z;
+      else if (a == K_AXIS) v = homing_feedrate_mm_m.k
-    }
+    );
   #endif
   return MMM_TO_MMS(v);
 }
@@ -124,7 +124,7 @@ inline int8_t pgm_read_any(const int8_t *p) { return TERN(__IMXRT1062__, *p, pgm
 
 #define XYZ_DEFS(T, NAME, OPT) \
   inline T NAME(const AxisEnum axis) { \
-    static const XYZval<T> NAME##_P DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT); \
+    static const XYZval<T> NAME##_P DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT, I_##OPT, J_##OPT, K_##OPT); \
     return pgm_read_any(&NAME##_P[axis]); \
   }
 XYZ_DEFS(float, base_min_pos,   MIN_POS);
@@ -168,13 +168,36 @@ inline float home_bump_mm(const AxisEnum axis) {
             TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x);
             TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x);
             break;
+          #if HAS_Y_AXIS
             case Y_AXIS:
               TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
               TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
               break;
+          #endif
+          #if HAS_Z_AXIS
             case Z_AXIS:
               TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
               TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
+              break;
+          #endif
+          #if LINEAR_AXES >= 4 // TODO (DerAndere): Test for LINEAR_AXES >= 4
+            case I_AXIS:
+              TERN_(MIN_SOFTWARE_ENDSTOP_I, amin = min.i);
+              TERN_(MIN_SOFTWARE_ENDSTOP_I, amax = max.i);
+              break;
+          #endif
+          #if LINEAR_AXES >= 5
+            case J_AXIS:
+              TERN_(MIN_SOFTWARE_ENDSTOP_J, amin = min.j);
+              TERN_(MIN_SOFTWARE_ENDSTOP_J, amax = max.j);
+              break;
+          #endif
+          #if LINEAR_AXES >= 6
+            case K_AXIS:
+              TERN_(MIN_SOFTWARE_ENDSTOP_K, amin = min.k);
+              TERN_(MIN_SOFTWARE_ENDSTOP_K, amax = max.k);
+              break;
+          #endif
           default: break;
         }
       #endif
@@ -298,32 +321,53 @@ inline void prepare_internal_move_to_destination(const_feedRate_t fr_mm_s=0.0f)
 /**
  * Blocking movement and shorthand functions
  */
-void do_blocking_move_to(
+void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s=0.0f);
-  LINEAR_AXIS_LIST(const float rx, const float ry, const float rz),
-  const_feedRate_t fr_mm_s=0.0f
-);
 void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
 void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
 void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
 
 void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s=0.0f);
-void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
+#if HAS_Y_AXIS
-void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s=0.0f);
+  void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
+#endif
+#if HAS_Z_AXIS
+  void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s=0.0f);
+#endif
+#if LINEAR_AXES >= 4
+  void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s=0.0f);
+  void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s=0.0f);
+#endif
+#if LINEAR_AXES >= 5
+  void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s=0.0f);
+  void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s=0.0f);
+#endif
+#if LINEAR_AXES >= 6
+  void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s=0.0f);
+  void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s=0.0f);
+#endif
 
-void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
+#if HAS_Y_AXIS
-void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
+  void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
-FORCE_INLINE void do_blocking_move_to_xy(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f)  { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); }
+  void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
-FORCE_INLINE void do_blocking_move_to_xy(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); }
+  FORCE_INLINE void do_blocking_move_to_xy(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f)  { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); }
+  FORCE_INLINE void do_blocking_move_to_xy(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); }
+#endif
 
-void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f);
+#if HAS_Z_AXIS
-FORCE_INLINE void do_blocking_move_to_xy_z(const xyz_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f)  { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
+  void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f);
-FORCE_INLINE void do_blocking_move_to_xy_z(const xyze_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
+  FORCE_INLINE void do_blocking_move_to_xy_z(const xyz_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f)  { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
+  FORCE_INLINE void do_blocking_move_to_xy_z(const xyze_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); }
+#endif
 
 void remember_feedrate_and_scaling();
 void remember_feedrate_scaling_off();
 void restore_feedrate_and_scaling();
 
-void do_z_clearance(const_float_t zclear, const bool lower_allowed=false);
+#if HAS_Z_AXIS
+  void do_z_clearance(const_float_t zclear, const bool lower_allowed=false);
+#else
+  inline void do_z_clearance(float, bool=false) {}
+#endif
 
 /**
  * Homing and Trusted Axes
@@ -421,11 +465,27 @@ FORCE_INLINE bool all_axes_trusted()                        { return linear_bits
   FORCE_INLINE void toNative(xyze_pos_t&)  {}
 #endif
 #define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS)
-#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
-#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
 #define RAW_X_POSITION(POS)     LOGICAL_TO_NATIVE(POS, X_AXIS)
-#define RAW_Y_POSITION(POS)     LOGICAL_TO_NATIVE(POS, Y_AXIS)
+#if HAS_Y_AXIS
-#define RAW_Z_POSITION(POS)     LOGICAL_TO_NATIVE(POS, Z_AXIS)
+  #define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
+  #define RAW_Y_POSITION(POS)     LOGICAL_TO_NATIVE(POS, Y_AXIS)
+#endif
+#if HAS_Z_AXIS
+  #define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
+  #define RAW_Z_POSITION(POS)     LOGICAL_TO_NATIVE(POS, Z_AXIS)
+#endif
+#if LINEAR_AXES >= 4
+  #define LOGICAL_I_POSITION(POS) NATIVE_TO_LOGICAL(POS, I_AXIS)
+  #define RAW_I_POSITION(POS)     LOGICAL_TO_NATIVE(POS, I_AXIS)
+#endif
+#if LINEAR_AXES >= 5
+  #define LOGICAL_J_POSITION(POS) NATIVE_TO_LOGICAL(POS, J_AXIS)
+  #define RAW_J_POSITION(POS)     LOGICAL_TO_NATIVE(POS, J_AXIS)
+#endif
+#if LINEAR_AXES >= 6
+  #define LOGICAL_K_POSITION(POS) NATIVE_TO_LOGICAL(POS, K_AXIS)
+  #define RAW_K_POSITION(POS)     LOGICAL_TO_NATIVE(POS, K_AXIS)
+#endif
 
 /**
  * position_is_reachable family of functions

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_E)
+  #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z , DISABLE_I , DISABLE_J , DISABLE_K, DISABLE_E)
     xyze_bool_t axis_active = { false };
   #endif
 
@@ -1342,14 +1342,17 @@ void Planner::check_axes_activity() {
       TERN_(HAS_HEATER_2, tail_e_to_p_pressure = block->e_to_p_pressure);
     #endif
 
-    #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_E)
+    #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K, DISABLE_E)
       for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
         block_t *block = &block_buffer[b];
         LOGICAL_AXIS_CODE(
           if (TERN0(DISABLE_E, block->steps.e)) axis_active.e = true,
           if (TERN0(DISABLE_X, block->steps.x)) axis_active.x = true,
           if (TERN0(DISABLE_Y, block->steps.y)) axis_active.y = true,
-          if (TERN0(DISABLE_Z, block->steps.z)) axis_active.z = true
+          if (TERN0(DISABLE_Z, block->steps.z)) axis_active.z = true,
+          if (TERN0(DISABLE_I, block->steps.i)) axis_active.i = true,
+          if (TERN0(DISABLE_J, block->steps.j)) axis_active.j = true,
+          if (TERN0(DISABLE_K, block->steps.k)) axis_active.k = true
         );
       }
     #endif
@@ -1375,7 +1378,10 @@ void Planner::check_axes_activity() {
     if (TERN0(DISABLE_E, !axis_active.e)) disable_e_steppers(),
     if (TERN0(DISABLE_X, !axis_active.x)) DISABLE_AXIS_X(),
     if (TERN0(DISABLE_Y, !axis_active.y)) DISABLE_AXIS_Y(),
-    if (TERN0(DISABLE_Z, !axis_active.z)) DISABLE_AXIS_Z()
+    if (TERN0(DISABLE_Z, !axis_active.z)) DISABLE_AXIS_Z(),
+    if (TERN0(DISABLE_I, !axis_active.i)) DISABLE_AXIS_I(),
+    if (TERN0(DISABLE_J, !axis_active.j)) DISABLE_AXIS_J(),
+    if (TERN0(DISABLE_K, !axis_active.k)) DISABLE_AXIS_K()
   );
 
   //
@@ -1445,7 +1451,7 @@ void Planner::check_axes_activity() {
     float high = 0.0;
     for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
       block_t *block = &block_buffer[b];
-      if (block->steps.x || block->steps.y || block->steps.z) {
+      if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, block->steps.i, || block->steps.j, || block->steps.k)) {
         const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
         NOLESS(high, se);
       }
@@ -1831,7 +1837,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     de = target.e - position.e,
     da = target.a - position.a,
     db = target.b - position.b,
-    dc = target.c - position.c
+    dc = target.c - position.c,
+    di = target.i - position.i,
+    dj = target.j - position.j,
+    dk = target.k - position.k
   );
 
   /* <-- add a slash to enable
@@ -1910,7 +1919,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     LINEAR_AXIS_CODE(
       if (da < 0) SBI(dm, X_AXIS),
       if (db < 0) SBI(dm, Y_AXIS),
-      if (dc < 0) SBI(dm, Z_AXIS)
+      if (dc < 0) SBI(dm, Z_AXIS),
+      if (di < 0) SBI(dm, I_AXIS),
+      if (dj < 0) SBI(dm, J_AXIS),
+      if (dk < 0) SBI(dm, K_AXIS)
     );
   #endif
   #if HAS_EXTRUDERS
@@ -1951,7 +1963,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     block->steps.set(ABS(da), ABS(db), ABS(dc));
   #else
     // default non-h-bot planning
-    block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc)));
+    block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
   #endif
 
   /**
@@ -1997,7 +2009,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     LINEAR_AXIS_CODE(
       steps_dist_mm.a = da * steps_to_mm[A_AXIS],
       steps_dist_mm.b = db * steps_to_mm[B_AXIS],
-      steps_dist_mm.c = dc * steps_to_mm[C_AXIS]
+      steps_dist_mm.c = dc * steps_to_mm[C_AXIS],
+      steps_dist_mm.i = di * steps_to_mm[I_AXIS],
+      steps_dist_mm.j = dj * steps_to_mm[J_AXIS],
+      steps_dist_mm.k = dk * steps_to_mm[K_AXIS]
     );
   #endif
 
@@ -2010,7 +2025,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   if (true LINEAR_AXIS_GANG(
       && block->steps.a < MIN_STEPS_PER_SEGMENT,
       && block->steps.b < MIN_STEPS_PER_SEGMENT,
-      && block->steps.c < MIN_STEPS_PER_SEGMENT
+      && block->steps.c < MIN_STEPS_PER_SEGMENT,
+      && block->steps.i < MIN_STEPS_PER_SEGMENT,
+      && block->steps.j < MIN_STEPS_PER_SEGMENT,
+      && block->steps.k < MIN_STEPS_PER_SEGMENT
     )
   ) {
     block->millimeters = TERN0(HAS_EXTRUDERS, ABS(steps_dist_mm.e));
@@ -2022,19 +2040,30 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       block->millimeters = SQRT(
         #if EITHER(CORE_IS_XY, MARKFORGED_XY)
           LINEAR_AXIS_GANG(
-            sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z)
+              sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z),
+            + sq(steps_dist_mm.i),      + sq(steps_dist_mm.j),      + sq(steps_dist_mm.k)
           )
         #elif CORE_IS_XZ
           LINEAR_AXIS_GANG(
-            sq(steps_dist_mm.head.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.head.z)
+              sq(steps_dist_mm.head.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.head.z),
+            + sq(steps_dist_mm.i),      + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
           )
         #elif CORE_IS_YZ
           LINEAR_AXIS_GANG(
-            sq(steps_dist_mm.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.head.z)
+              sq(steps_dist_mm.x)  + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.head.z)
+            + sq(steps_dist_mm.i), + sq(steps_dist_mm.j),     + sq(steps_dist_mm.k)
           )
+        #elif ENABLED(FOAMCUTTER_XYUV)
+          // Return the largest distance move from either X/Y or I/J plane
+          #if LINEAR_AXES >= 5
+            _MAX(sq(steps_dist_mm.x) + sq(steps_dist_mm.y), sq(steps_dist_mm.i) + sq(steps_dist_mm.j))
+          #else
+            sq(steps_dist_mm.x) + sq(steps_dist_mm.y)
+          #endif
         #else
           LINEAR_AXIS_GANG(
-            sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z)
+              sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z),
+            + sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
           )
         #endif
       );
@@ -2055,7 +2084,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   TERN_(HAS_EXTRUDERS, block->steps.e = esteps);
 
   block->step_event_count = _MAX(LOGICAL_AXIS_LIST(
-    esteps, block->steps.a, block->steps.b, block->steps.c
+    esteps, block->steps.a, block->steps.b, block->steps.c, block->steps.i, block->steps.j, block->steps.k
   ));
 
   // Bail if this is a zero-length block
@@ -2082,7 +2111,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     if (LINEAR_AXIS_GANG(
          block->steps.x,
       || block->steps.y,
-      || block->steps.z
+      || block->steps.z,
+      || block->steps.i,
+      || block->steps.j,
+      || block->steps.k
     )) powerManager.power_on();
   #endif
 
@@ -2111,7 +2143,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     LINEAR_AXIS_CODE(
       if (block->steps.x) ENABLE_AXIS_X(),
       if (block->steps.y) ENABLE_AXIS_Y(),
-      if (TERN(Z_LATE_ENABLE, 0, block->steps.z)) ENABLE_AXIS_Z()
+      if (TERN(Z_LATE_ENABLE, 0, block->steps.z)) ENABLE_AXIS_Z(),
+      if (block->steps.i) ENABLE_AXIS_I(),
+      if (block->steps.j) ENABLE_AXIS_J(),
+      if (block->steps.k) ENABLE_AXIS_K()
     );
   #endif
 
@@ -2301,8 +2336,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   const float steps_per_mm = block->step_event_count * inverse_millimeters;
   uint32_t accel;
   if (LINEAR_AXIS_GANG(
-    !block->steps.a, && !block->steps.b, && !block->steps.c
+         !block->steps.a, && !block->steps.b, && !block->steps.c,
-  )) {                                                            // Is this a retract / recover move?
+      && !block->steps.i, && !block->steps.j, && !block->steps.k)
+  ) {                                                             // Is this a retract / recover move?
     accel = CEIL(settings.retract_acceleration * steps_per_mm);   // Convert to: acceleration steps/sec^2
     TERN_(LIN_ADVANCE, block->use_advance_lead = false);          // No linear advance for simple retract/recover
   }
@@ -2371,7 +2407,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
         LIMIT_ACCEL_LONG(E_AXIS, E_INDEX_N(extruder)),
         LIMIT_ACCEL_LONG(A_AXIS, 0),
         LIMIT_ACCEL_LONG(B_AXIS, 0),
-        LIMIT_ACCEL_LONG(C_AXIS, 0)
+        LIMIT_ACCEL_LONG(C_AXIS, 0),
+        LIMIT_ACCEL_LONG(I_AXIS, 0),
+        LIMIT_ACCEL_LONG(J_AXIS, 0),
+        LIMIT_ACCEL_LONG(K_AXIS, 0)
       );
     }
     else {
@@ -2379,7 +2418,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
         LIMIT_ACCEL_FLOAT(E_AXIS, E_INDEX_N(extruder)),
         LIMIT_ACCEL_FLOAT(A_AXIS, 0),
         LIMIT_ACCEL_FLOAT(B_AXIS, 0),
-        LIMIT_ACCEL_FLOAT(C_AXIS, 0)
+        LIMIT_ACCEL_FLOAT(C_AXIS, 0),
+        LIMIT_ACCEL_FLOAT(I_AXIS, 0),
+        LIMIT_ACCEL_FLOAT(J_AXIS, 0),
+        LIMIT_ACCEL_FLOAT(K_AXIS, 0)
       );
     }
   }
@@ -2444,7 +2486,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       #if HAS_DIST_MM_ARG
         cart_dist_mm
       #else
-        LOGICAL_AXIS_ARRAY(steps_dist_mm.e, steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z)
+        LOGICAL_AXIS_ARRAY(steps_dist_mm.e, steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.i, steps_dist_mm.j, steps_dist_mm.k)
       #endif
     ;
 
@@ -2467,7 +2509,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
                                  + (-prev_unit_vec.e * unit_vec.e),
                                    (-prev_unit_vec.x * unit_vec.x),
                                  + (-prev_unit_vec.y * unit_vec.y),
-                                 + (-prev_unit_vec.z * unit_vec.z)
+                                 + (-prev_unit_vec.z * unit_vec.z),
+                                 + (-prev_unit_vec.i * unit_vec.i),
+                                 + (-prev_unit_vec.j * unit_vec.j),
+                                 + (-prev_unit_vec.k * unit_vec.k)
                                );
 
       // NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
@@ -2783,10 +2828,9 @@ void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_
  *
  * Return 'false' if no segment was queued due to cleaning, cold extrusion, full queue, etc.
  */
-bool Planner::buffer_segment(
+bool Planner::buffer_segment(const abce_pos_t &abce
-  LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c)
   OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
-  , const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters/*=0.0*/
+  , const_feedRate_t fr_mm_s, const uint8_t extruder/*=active_extruder*/, const_float_t millimeters/*=0.0*/
 ) {
 
   // If we are cleaning, do not accept queuing of movements
@@ -2804,54 +2848,70 @@ bool Planner::buffer_segment(
   // Calculate target position in absolute steps
   const abce_long_t target = {
      LOGICAL_AXIS_LIST(
-      int32_t(LROUND(e * settings.axis_steps_per_mm[E_AXIS_N(extruder)])),
+      int32_t(LROUND(abce.e * settings.axis_steps_per_mm[E_AXIS_N(extruder)])),
-      int32_t(LROUND(a * settings.axis_steps_per_mm[A_AXIS])),
+      int32_t(LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS])),
-      int32_t(LROUND(b * settings.axis_steps_per_mm[B_AXIS])),
+      int32_t(LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS])),
-      int32_t(LROUND(c * settings.axis_steps_per_mm[C_AXIS]))
+      int32_t(LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS])),
+      int32_t(LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS])), // FIXME (DerAndere): Multiplication by 4.0 is a work-around for issue with wrong internal steps per mm
+      int32_t(LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS])),
+      int32_t(LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS]))
     )
   };
 
   #if HAS_POSITION_FLOAT
-    const xyze_pos_t target_float = LOGICAL_AXIS_ARRAY(e, a, b, c);
+    const xyze_pos_t target_float = abce;
   #endif
 
   #if HAS_EXTRUDERS
     // DRYRUN prevents E moves from taking place
     if (DEBUGGING(DRYRUN) || TERN0(CANCEL_OBJECTS, cancelable.skipping)) {
       position.e = target.e;
-      TERN_(HAS_POSITION_FLOAT, position_float.e = e);
+      TERN_(HAS_POSITION_FLOAT, position_float.e = abce.e);
     }
   #endif
 
   /* <-- add a slash to enable
     SERIAL_ECHOPAIR("  buffer_segment FR:", fr_mm_s);
     #if IS_KINEMATIC
-      SERIAL_ECHOPAIR(" A:", a);
+      SERIAL_ECHOPAIR(" A:", abce.a, " (", position.a, "->", target.a, ") B:", abce.b);
-      SERIAL_ECHOPAIR(" (", position.a);
-      SERIAL_ECHOPAIR("->", target.a);
-      SERIAL_ECHOPAIR(") B:", b);
     #else
-      SERIAL_ECHOPAIR_P(SP_X_LBL, a);
+      SERIAL_ECHOPAIR_P(SP_X_LBL, abce.a);
-      SERIAL_ECHOPAIR(" (", position.x);
+      SERIAL_ECHOPAIR(" (", position.x, "->", target.x);
-      SERIAL_ECHOPAIR("->", target.x);
       SERIAL_CHAR(')');
-      SERIAL_ECHOPAIR_P(SP_Y_LBL, b);
+      SERIAL_ECHOPAIR_P(SP_Y_LBL, abce.b);
     #endif
-    SERIAL_ECHOPAIR(" (", position.y);
+    SERIAL_ECHOPAIR(" (", position.y, "->", target.y);
-    SERIAL_ECHOPAIR("->", target.y);
+    #if LINEAR_AXES >= ABC
       #if ENABLED(DELTA)
-      SERIAL_ECHOPAIR(") C:", c);
+        SERIAL_ECHOPAIR(") C:", abce.c);
       #else
         SERIAL_CHAR(')');
-      SERIAL_ECHOPAIR_P(SP_Z_LBL, c);
+        SERIAL_ECHOPAIR_P(SP_Z_LBL, abce.c);
       #endif
-    SERIAL_ECHOPAIR(" (", position.z);
+      SERIAL_ECHOPAIR(" (", position.z, "->", target.z);
-    SERIAL_ECHOPAIR("->", target.z);
       SERIAL_CHAR(')');
-    SERIAL_ECHOPAIR_P(SP_E_LBL, e);
+    #endif
-    SERIAL_ECHOPAIR(" (", position.e);
+    #if LINEAR_AXES >= 4
-    SERIAL_ECHOPAIR("->", target.e);
+      SERIAL_ECHOPAIR_P(SP_I_LBL, abce.i);
-    SERIAL_ECHOLNPGM(")");
+      SERIAL_ECHOPAIR(" (", position.i, "->", target.i); // FIXME (DerAndere): Introduce work-around for issue with wrong internal steps per mm and feedrate for I_AXIS
+      SERIAL_CHAR(')');
+    #endif
+    #if LINEAR_AXES >= 5
+      SERIAL_ECHOPAIR_P(SP_J_LBL, abce.j);
+      SERIAL_ECHOPAIR(" (", position.j, "->", target.j);
+      SERIAL_CHAR(')');
+    #endif
+    #if LINEAR_AXES >= 6
+      SERIAL_ECHOPAIR_P(SP_K_LBL, abce.k);
+      SERIAL_ECHOPAIR(" (", position.k, "->", target.k);
+      SERIAL_CHAR(')');
+    #endif
+    #if HAS_EXTRUDERS
+      SERIAL_ECHOPAIR_P(SP_E_LBL, abce.e);
+      SERIAL_ECHOLNPAIR(" (", position.e, "->", target.e, ")");
+    #else
+      SERIAL_EOL();
+    #endif
   //*/
 
   // Queue the movement. Return 'false' if the move was not queued.
@@ -2874,34 +2934,34 @@ bool Planner::buffer_segment(
  * The target is cartesian. It's translated to
  * delta/scara if needed.
  *
- *  rx,ry,rz,e   - target position in mm or degrees
+ *  cart            - target position in mm or degrees
  *  fr_mm_s         - (target) speed of the move (mm/s)
  *  extruder        - target extruder
  *  millimeters     - the length of the movement, if known
  *  inv_duration    - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled)
  */
-bool Planner::buffer_line(
+bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder/*=active_extruder*/, const float millimeters/*=0.0*/
-  LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz)
+  OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration/*=0.0*/)
-  , const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters
-  OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration)
 ) {
-  xyze_pos_t machine = LOGICAL_AXIS_ARRAY(e, rx, ry, rz);
+  xyze_pos_t machine = cart;
   TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine));
 
   #if IS_KINEMATIC
 
     #if HAS_JUNCTION_DEVIATION
-      const xyze_pos_t cart_dist_mm = {
+      const xyze_pos_t cart_dist_mm = LOGICAL_AXIS_ARRAY(
-        rx - position_cart.x, ry - position_cart.y,
+        cart.e - position_cart.e,
-        rz - position_cart.z, e  - position_cart.e
+        cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z,
-      };
+        cart.i - position_cart.i, cart.j - position_cart.j, cart.j - position_cart.k
+      );
     #else
-      const xyz_pos_t cart_dist_mm = { rx - position_cart.x, ry - position_cart.y, rz - position_cart.z };
+      const xyz_pos_t cart_dist_mm = LINEAR_AXIS_ARRAY(
+        cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z,
+        cart.i - position_cart.i, cart.j - position_cart.j, cart.j - position_cart.k
+      );
     #endif
 
-    float mm = millimeters;
+    const float mm = millimeters ?: (cart_dist_mm.x || cart_dist_mm.y) ? cart_dist_mm.magnitude() : TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z));
-    if (mm == 0.0)
-      mm = (cart_dist_mm.x != 0.0 || cart_dist_mm.y != 0.0) ? cart_dist_mm.magnitude() : ABS(cart_dist_mm.z);
 
     // Cartesian XYZ to kinematic ABC, stored in global 'delta'
     inverse_kinematics(machine);
@@ -2915,16 +2975,11 @@ bool Planner::buffer_line(
     #else
       const feedRate_t feedrate = fr_mm_s;
     #endif
-    if (buffer_segment(delta.a, delta.b, delta.c, machine.e
+    delta.e = machine.e;
-      #if HAS_JUNCTION_DEVIATION
+    if (buffer_segment(delta OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), feedrate, extruder, mm)) {
-        , cart_dist_mm
+      position_cart = cart;
-      #endif
-      , feedrate, extruder, mm
-    )) {
-      position_cart.set(rx, ry, rz, e);
       return true;
     }
-    else
     return false;
   #else
     return buffer_segment(machine, fr_mm_s, extruder, millimeters);
@@ -2991,23 +3046,23 @@ bool Planner::buffer_line(
 #endif // DIRECT_STEPPING
 
 /**
- * Directly set the planner ABC position (and stepper positions)
+ * Directly set the planner ABCE position (and stepper positions)
  * converting mm (or angles for SCARA) into steps.
  *
- * The provided ABC position is in machine units.
+ * The provided ABCE position is in machine units.
  */
-
+void Planner::set_machine_position_mm(const abce_pos_t &abce) {
-void Planner::set_machine_position_mm(
-  LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c)
-) {
   TERN_(DISTINCT_E_FACTORS, last_extruder = active_extruder);
-  TERN_(HAS_POSITION_FLOAT, position_float.set(LOGICAL_AXIS_LIST(e, a, b, c)));
+  TERN_(HAS_POSITION_FLOAT, position_float = abce);
   position.set(
     LOGICAL_AXIS_LIST(
-      LROUND(e * settings.axis_steps_per_mm[E_AXIS_N(active_extruder)]),
+      LROUND(abce.e * settings.axis_steps_per_mm[E_AXIS_N(active_extruder)]),
-      LROUND(a * settings.axis_steps_per_mm[A_AXIS]),
+      LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS]),
-      LROUND(b * settings.axis_steps_per_mm[B_AXIS]),
+      LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS]),
-      LROUND(c * settings.axis_steps_per_mm[C_AXIS])
+      LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS]),
+      LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS]),
+      LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS]),
+      LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS])
     )
   );
   if (has_blocks_queued()) {
@@ -3019,15 +3074,14 @@ void Planner::set_machine_position_mm(
     stepper.set_position(position);
 }
 
-void Planner::set_position_mm(
+void Planner::set_position_mm(const xyze_pos_t &xyze) {
-  LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz)
+  xyze_pos_t machine = xyze;
-) {
-  xyze_pos_t machine = LOGICAL_AXIS_ARRAY(e, rx, ry, rz);
   TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine, true));
   #if IS_KINEMATIC
-    position_cart.set(rx, ry, rz, e);
+    position_cart = xyze;
     inverse_kinematics(machine);
-    set_machine_position_mm(delta.a, delta.b, delta.c, machine.e);
+    delta.e = machine.e;
+    set_machine_position_mm(delta);
   #else
     set_machine_position_mm(machine);
   #endif
@@ -3045,7 +3099,7 @@ void Planner::set_position_mm(
     const float e_new = DIFF_TERN(FWRETRACT, e, fwretract.current_retract[active_extruder]);
     position.e = LROUND(settings.axis_steps_per_mm[axis_index] * e_new);
     TERN_(HAS_POSITION_FLOAT, position_float.e = e_new);
-    TERN_(IS_KINEMATIC, position_cart.e = e);
+    TERN_(IS_KINEMATIC, TERN_(HAS_EXTRUDERS, position_cart.e = e));
 
     if (has_blocks_queued())
       buffer_sync_block();
@@ -3057,15 +3111,11 @@ void Planner::set_position_mm(
 
 // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
 void Planner::reset_acceleration_rates() {
-  #if ENABLED(DISTINCT_E_FACTORS)
-    #define AXIS_CONDITION (i < E_AXIS || i == E_AXIS_N(active_extruder))
-  #else
-    #define AXIS_CONDITION true
-  #endif
   uint32_t highest_rate = 1;
   LOOP_DISTINCT_AXES(i) {
     max_acceleration_steps_per_s2[i] = settings.max_acceleration_mm_per_s2[i] * settings.axis_steps_per_mm[i];
-    if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
+    if (TERN1(DISTINCT_E_FACTORS, i < E_AXIS || i == E_AXIS_N(active_extruder)))
+      NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
   }
   acceleration_long_cutoff = 4294967295UL / highest_rate; // 0xFFFFFFFFUL
   TERN_(HAS_LINEAR_E_JERK, recalculate_max_e_jerk());

Marlin/src/module/planner.h

@@ -76,7 +76,9 @@
 // Feedrate for manual moves
 #ifdef MANUAL_FEEDRATE
   constexpr xyze_feedrate_t _mf = MANUAL_FEEDRATE,
-           manual_feedrate_mm_s = LOGICAL_AXIS_ARRAY(_mf.e / 60.0f, _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f);
+           manual_feedrate_mm_s = LOGICAL_AXIS_ARRAY(_mf.e / 60.0f,
+                                                     _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f,
+                                                     _mf.i / 60.0f, _mf.j / 60.0f, _mf.k / 60.0f);
 #endif
 
 #if IS_KINEMATIC && HAS_JUNCTION_DEVIATION
@@ -758,23 +760,11 @@ class Planner {
      *  extruder    - target extruder
      *  millimeters - the length of the movement, if known
      */
-    static bool buffer_segment(
+    static bool buffer_segment(const abce_pos_t &abce
-      LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c)
       OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
-      , const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0
+      , const_feedRate_t fr_mm_s, const uint8_t extruder=active_extruder, const_float_t millimeters=0.0
     );
 
-    FORCE_INLINE static bool buffer_segment(abce_pos_t &abce
-      OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
-      , const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0
-    ) {
-      return buffer_segment(
-        LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c)
-        OPTARG(HAS_DIST_MM_ARG, cart_dist_mm)
-        , fr_mm_s, extruder, millimeters
-      );
-    }
-
   public:
 
     /**
@@ -782,28 +772,16 @@ class Planner {
      * The target is cartesian. It's translated to
      * delta/scara if needed.
      *
-     *  rx,ry,rz,e   - target position in mm or degrees
+     *  cart         - target position in mm or degrees
      *  fr_mm_s      - (target) speed of the move (mm/s)
      *  extruder     - target extruder
      *  millimeters  - the length of the movement, if known
      *  inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled)
      */
-    static bool buffer_line(
+    static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder=active_extruder, const float millimeters=0.0
-      LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz)
-      , const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
       OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0)
     );
 
-    FORCE_INLINE static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder, const float millimeters=0.0
-      OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0)
-    ) {
-      return buffer_line(
-        LOGICAL_AXIS_LIST(cart.e, cart.x, cart.y, cart.z)
-        , fr_mm_s, extruder, millimeters
-        OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
-      );
-    }
-
     #if ENABLED(DIRECT_STEPPING)
       static void buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps);
     #endif
@@ -821,12 +799,7 @@ class Planner {
      *
      * Clears previous speed values.
      */
-    static void set_position_mm(
+    static void set_position_mm(const xyze_pos_t &xyze);
-      LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz)
-    );
-    FORCE_INLINE static void set_position_mm(const xyze_pos_t &cart) {
-      set_position_mm(LOGICAL_AXIS_LIST(cart.e, cart.x, cart.y, cart.z, cart.i, cart.j, cart.k));
-    }
 
     #if HAS_EXTRUDERS
       static void set_e_position_mm(const_float_t e);
@@ -838,12 +811,7 @@ class Planner {
      * The supplied position is in machine space, and no additional
      * conversions are applied.
      */
-    static void set_machine_position_mm(
+    static void set_machine_position_mm(const abce_pos_t &abce);
-      LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c)
-    );
-    FORCE_INLINE static void set_machine_position_mm(const abce_pos_t &abce) {
-      set_machine_position_mm(LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c));
-    }
 
     /**
      * Get an axis position according to stepper position(s)
@@ -854,7 +822,8 @@ class Planner {
     static inline abce_pos_t get_axis_positions_mm() {
       const abce_pos_t out = LOGICAL_AXIS_ARRAY(
         get_axis_position_mm(E_AXIS),
-        get_axis_position_mm(A_AXIS), get_axis_position_mm(B_AXIS), get_axis_position_mm(C_AXIS)
+        get_axis_position_mm(A_AXIS), get_axis_position_mm(B_AXIS), get_axis_position_mm(C_AXIS),
+        get_axis_position_mm(I_AXIS), get_axis_position_mm(J_AXIS), get_axis_position_mm(K_AXIS)
       );
       return out;
     }

Marlin/src/module/planner_bezier.cpp

@@ -182,9 +182,13 @@ void cubic_b_spline(
 
     // Compute and send new position
     xyze_pos_t new_bez = LOGICAL_AXIS_ARRAY(
-      interp(position.e, target.e, t),  // FIXME. These two are wrong, since the parameter t is not linear in the distance.
+      interp(position.e, target.e, t),  // FIXME. Wrong, since t is not linear in the distance.
-      new_pos0, new_pos1,
+      new_pos0,
-      interp(position.z, target.z, t)
+      new_pos1,
+      interp(position.z, target.z, t),  // FIXME. Wrong, since t is not linear in the distance.
+      interp(position.i, target.i, t),  // FIXME. Wrong, since t is not linear in the distance.
+      interp(position.j, target.j, t),  // FIXME. Wrong, since t is not linear in the distance.
+      interp(position.k, target.k, t)   // FIXME. Wrong, since t is not linear in the distance.
     );
     apply_motion_limits(new_bez);
     bez_target = new_bez;

Marlin/src/module/probe.h

@@ -110,7 +110,7 @@ public:
 
   #else
 
-    static constexpr xyz_pos_t offset = xyz_pos_t({ 0, 0, 0 }); // See #16767
+    static constexpr xyz_pos_t offset = xyz_pos_t(LINEAR_AXIS_ARRAY(0, 0, 0, 0, 0, 0)); // See #16767
 
     static bool set_deployed(const bool) { return false; }
 
@@ -222,20 +222,20 @@ public:
           #define VALIDATE_PROBE_PT(N) static_assert(Probe::build_time::can_reach(xy_pos_t{PROBE_PT_##N##_X, PROBE_PT_##N##_Y}), \
             "PROBE_PT_" STRINGIFY(N) "_(X|Y) is unreachable using default NOZZLE_TO_PROBE_OFFSET and PROBING_MARGIN");
           VALIDATE_PROBE_PT(1); VALIDATE_PROBE_PT(2); VALIDATE_PROBE_PT(3);
-          points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
+          points[0] = xy_float_t({ PROBE_PT_1_X, PROBE_PT_1_Y });
-          points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
+          points[1] = xy_float_t({ PROBE_PT_2_X, PROBE_PT_2_Y });
-          points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
+          points[2] = xy_float_t({ PROBE_PT_3_X, PROBE_PT_3_Y });
         #else
           #if IS_KINEMATIC
             constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
                             COS0 = 1.0, COS120 = -0.5    , COS240 = -0.5;
-            points[0].set((X_CENTER) + probe_radius() * COS0,   (Y_CENTER) + probe_radius() * SIN0);
+            points[0] = xy_float_t({ (X_CENTER) + probe_radius() * COS0,   (Y_CENTER) + probe_radius() * SIN0 });
-            points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
+            points[1] = xy_float_t({ (X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120 });
-            points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
+            points[2] = xy_float_t({ (X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240 });
           #else
-            points[0].set(min_x(), min_y());
+            points[0] = xy_float_t({ min_x(), min_y() });
-            points[1].set(max_x(), min_y());
+            points[1] = xy_float_t({ max_x(), min_y() });
-            points[2].set((min_x() + max_x()) / 2, max_y());
+            points[2] = xy_float_t({ (min_x() + max_x()) / 2, max_y() });
           #endif
         #endif
       }

Marlin/src/module/settings.cpp

@@ -168,10 +168,14 @@
   void M554_report();
 #endif
 
-typedef struct { uint16_t LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_stepper_current_t;
+#define _EN_ITEM(N) , E##N
-typedef struct { uint32_t LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_hybrid_threshold_t;
+
-typedef struct {  int16_t LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4;                                 } tmc_sgt_t;
+typedef struct { uint16_t LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM); } tmc_stepper_current_t;
-typedef struct {     bool LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_stealth_enabled_t;
+typedef struct { uint32_t LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM); } tmc_hybrid_threshold_t;
+typedef struct {  int16_t LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4;                              } tmc_sgt_t;
+typedef struct {     bool LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM); } tmc_stealth_enabled_t;
+
+#undef _EN_ITEM
 
 // Limit an index to an array size
 #define ALIM(I,ARR) _MIN(I, (signed)COUNT(ARR) - 1)
@@ -387,7 +391,7 @@ typedef struct SettingsDataStruct {
   #ifndef MOTOR_CURRENT_COUNT
     #define MOTOR_CURRENT_COUNT LINEAR_AXES
   #endif
-  uint32_t motor_current_setting[MOTOR_CURRENT_COUNT];  // M907 X Z E
+  uint32_t motor_current_setting[MOTOR_CURRENT_COUNT];  // M907 X Z E ...
 
   //
   // CNC_COORDINATE_SYSTEMS
@@ -654,7 +658,7 @@ void MarlinSettings::postprocess() {
           EEPROM_WRITE(dummyf);
         #endif
       #else
-        const xyze_pos_t planner_max_jerk = LOGICAL_AXIS_ARRAY(float(DEFAULT_EJERK), 10, 10, 0.4);
+        const xyze_pos_t planner_max_jerk = LOGICAL_AXIS_ARRAY(float(DEFAULT_EJERK), 10, 10, 0.4, 0.4, 0.4, 0.4);
         EEPROM_WRITE(planner_max_jerk);
       #endif
 
@@ -1087,6 +1091,15 @@ void MarlinSettings::postprocess() {
         #if AXIS_IS_TMC(Z)
           tmc_stepper_current.Z = stepperZ.getMilliamps();
         #endif
+        #if AXIS_IS_TMC(I)
+          tmc_stepper_current.I = stepperI.getMilliamps();
+        #endif
+        #if AXIS_IS_TMC(J)
+          tmc_stepper_current.J = stepperJ.getMilliamps();
+        #endif
+        #if AXIS_IS_TMC(K)
+          tmc_stepper_current.K = stepperK.getMilliamps();
+        #endif
         #if AXIS_IS_TMC(X2)
           tmc_stepper_current.X2 = stepperX2.getMilliamps();
         #endif
@@ -1138,61 +1151,33 @@ void MarlinSettings::postprocess() {
 
       #if ENABLED(HYBRID_THRESHOLD)
         tmc_hybrid_threshold_t tmc_hybrid_threshold{0};
-        #if AXIS_HAS_STEALTHCHOP(X)
+        TERN_(X_HAS_STEALTHCHOP,  tmc_hybrid_threshold.X =  stepperX.get_pwm_thrs());
-          tmc_hybrid_threshold.X = stepperX.get_pwm_thrs();
+        TERN_(Y_HAS_STEALTHCHOP,  tmc_hybrid_threshold.Y =  stepperY.get_pwm_thrs());
-        #endif
+        TERN_(Z_HAS_STEALTHCHOP,  tmc_hybrid_threshold.Z =  stepperZ.get_pwm_thrs());
-        #if AXIS_HAS_STEALTHCHOP(Y)
+        TERN_(I_HAS_STEALTHCHOP,  tmc_hybrid_threshold.I =  stepperI.get_pwm_thrs());
-          tmc_hybrid_threshold.Y = stepperY.get_pwm_thrs();
+        TERN_(J_HAS_STEALTHCHOP,  tmc_hybrid_threshold.J =  stepperJ.get_pwm_thrs());
-        #endif
+        TERN_(K_HAS_STEALTHCHOP,  tmc_hybrid_threshold.K =  stepperK.get_pwm_thrs());
-        #if AXIS_HAS_STEALTHCHOP(Z)
+        TERN_(X2_HAS_STEALTHCHOP, tmc_hybrid_threshold.X2 = stepperX2.get_pwm_thrs());
-          tmc_hybrid_threshold.Z = stepperZ.get_pwm_thrs();
+        TERN_(Y2_HAS_STEALTHCHOP, tmc_hybrid_threshold.Y2 = stepperY2.get_pwm_thrs());
-        #endif
+        TERN_(Z2_HAS_STEALTHCHOP, tmc_hybrid_threshold.Z2 = stepperZ2.get_pwm_thrs());
-        #if AXIS_HAS_STEALTHCHOP(X2)
+        TERN_(Z3_HAS_STEALTHCHOP, tmc_hybrid_threshold.Z3 = stepperZ3.get_pwm_thrs());
-          tmc_hybrid_threshold.X2 = stepperX2.get_pwm_thrs();
+        TERN_(Z4_HAS_STEALTHCHOP, tmc_hybrid_threshold.Z4 = stepperZ4.get_pwm_thrs());
-        #endif
+        TERN_(E0_HAS_STEALTHCHOP, tmc_hybrid_threshold.E0 = stepperE0.get_pwm_thrs());
-        #if AXIS_HAS_STEALTHCHOP(Y2)
+        TERN_(E1_HAS_STEALTHCHOP, tmc_hybrid_threshold.E1 = stepperE1.get_pwm_thrs());
-          tmc_hybrid_threshold.Y2 = stepperY2.get_pwm_thrs();
+        TERN_(E2_HAS_STEALTHCHOP, tmc_hybrid_threshold.E2 = stepperE2.get_pwm_thrs());
-        #endif
+        TERN_(E3_HAS_STEALTHCHOP, tmc_hybrid_threshold.E3 = stepperE3.get_pwm_thrs());
-        #if AXIS_HAS_STEALTHCHOP(Z2)
+        TERN_(E4_HAS_STEALTHCHOP, tmc_hybrid_threshold.E4 = stepperE4.get_pwm_thrs());
-          tmc_hybrid_threshold.Z2 = stepperZ2.get_pwm_thrs();
+        TERN_(E5_HAS_STEALTHCHOP, tmc_hybrid_threshold.E5 = stepperE5.get_pwm_thrs());
-        #endif
+        TERN_(E6_HAS_STEALTHCHOP, tmc_hybrid_threshold.E6 = stepperE6.get_pwm_thrs());
-        #if AXIS_HAS_STEALTHCHOP(Z3)
+        TERN_(E7_HAS_STEALTHCHOP, tmc_hybrid_threshold.E7 = stepperE7.get_pwm_thrs());
-          tmc_hybrid_threshold.Z3 = stepperZ3.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z4)
-          tmc_hybrid_threshold.Z4 = stepperZ4.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E0)
-          tmc_hybrid_threshold.E0 = stepperE0.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E1)
-          tmc_hybrid_threshold.E1 = stepperE1.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E2)
-          tmc_hybrid_threshold.E2 = stepperE2.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E3)
-          tmc_hybrid_threshold.E3 = stepperE3.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E4)
-          tmc_hybrid_threshold.E4 = stepperE4.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E5)
-          tmc_hybrid_threshold.E5 = stepperE5.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E6)
-          tmc_hybrid_threshold.E6 = stepperE6.get_pwm_thrs();
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E7)
-          tmc_hybrid_threshold.E7 = stepperE7.get_pwm_thrs();
-        #endif
       #else
+        #define _EN_ITEM(N) , .E##N =  30
         const tmc_hybrid_threshold_t tmc_hybrid_threshold = {
-          LINEAR_AXIS_LIST(.X = 100, .Y = 100, .Z = 3),
+          LINEAR_AXIS_LIST(.X = 100, .Y = 100, .Z = 3, .I = 3, .J = 3, .K = 3),
-          .X2 = 100, .Y2 = 100, .Z2 =   3, .Z3 =   3, .Z4 = 3,
+          .X2 = 100, .Y2 = 100, .Z2 = 3, .Z3 = 3, .Z4 = 3
-          .E0 =  30, .E1 =  30, .E2 =  30, .E3 =  30,
+          REPEAT(EXTRUDERS, _EN_ITEM)
-          .E4 =  30, .E5 =  30, .E6 =  30, .E7 =  30
         };
+        #undef _EN_ITEM
       #endif
       EEPROM_WRITE(tmc_hybrid_threshold);
     }
@@ -1203,11 +1188,16 @@ void MarlinSettings::postprocess() {
     {
       tmc_sgt_t tmc_sgt{0};
       #if USE_SENSORLESS
-        TERN_(X_SENSORLESS,  tmc_sgt.X  = stepperX.homing_threshold());
+        LINEAR_AXIS_CODE(
+          TERN_(X_SENSORLESS, tmc_sgt.X = stepperX.homing_threshold()),
+          TERN_(Y_SENSORLESS, tmc_sgt.Y = stepperY.homing_threshold()),
+          TERN_(Z_SENSORLESS, tmc_sgt.Z = stepperZ.homing_threshold()),
+          TERN_(I_SENSORLESS, tmc_sgt.I = stepperI.homing_threshold()),
+          TERN_(J_SENSORLESS, tmc_sgt.J = stepperJ.homing_threshold()),
+          TERN_(K_SENSORLESS, tmc_sgt.K = stepperK.homing_threshold())
+        );
         TERN_(X2_SENSORLESS, tmc_sgt.X2 = stepperX2.homing_threshold());
-        TERN_(Y_SENSORLESS,  tmc_sgt.Y  = stepperY.homing_threshold());
         TERN_(Y2_SENSORLESS, tmc_sgt.Y2 = stepperY2.homing_threshold());
-        TERN_(Z_SENSORLESS,  tmc_sgt.Z  = stepperZ.homing_threshold());
         TERN_(Z2_SENSORLESS, tmc_sgt.Z2 = stepperZ2.homing_threshold());
         TERN_(Z3_SENSORLESS, tmc_sgt.Z3 = stepperZ3.homing_threshold());
         TERN_(Z4_SENSORLESS, tmc_sgt.Z4 = stepperZ4.homing_threshold());
@@ -1222,54 +1212,25 @@ void MarlinSettings::postprocess() {
       _FIELD_TEST(tmc_stealth_enabled);
 
       tmc_stealth_enabled_t tmc_stealth_enabled = { false };
-      #if AXIS_HAS_STEALTHCHOP(X)
+      TERN_(X_HAS_STEALTHCHOP,  tmc_stealth_enabled.X  = stepperX.get_stored_stealthChop());
-        tmc_stealth_enabled.X = stepperX.get_stored_stealthChop();
+      TERN_(Y_HAS_STEALTHCHOP,  tmc_stealth_enabled.Y  = stepperY.get_stored_stealthChop());
-      #endif
+      TERN_(Z_HAS_STEALTHCHOP,  tmc_stealth_enabled.Z  = stepperZ.get_stored_stealthChop());
-      #if AXIS_HAS_STEALTHCHOP(Y)
+      TERN_(I_HAS_STEALTHCHOP,  tmc_stealth_enabled.I  = stepperI.get_stored_stealthChop());
-        tmc_stealth_enabled.Y = stepperY.get_stored_stealthChop();
+      TERN_(J_HAS_STEALTHCHOP,  tmc_stealth_enabled.J  = stepperJ.get_stored_stealthChop());
-      #endif
+      TERN_(K_HAS_STEALTHCHOP,  tmc_stealth_enabled.K  = stepperK.get_stored_stealthChop());
-      #if AXIS_HAS_STEALTHCHOP(Z)
+      TERN_(X2_HAS_STEALTHCHOP, tmc_stealth_enabled.X2 = stepperX2.get_stored_stealthChop());
-        tmc_stealth_enabled.Z = stepperZ.get_stored_stealthChop();
+      TERN_(Y2_HAS_STEALTHCHOP, tmc_stealth_enabled.Y2 = stepperY2.get_stored_stealthChop());
-      #endif
+      TERN_(Z2_HAS_STEALTHCHOP, tmc_stealth_enabled.Z2 = stepperZ2.get_stored_stealthChop());
-      #if AXIS_HAS_STEALTHCHOP(X2)
+      TERN_(Z3_HAS_STEALTHCHOP, tmc_stealth_enabled.Z3 = stepperZ3.get_stored_stealthChop());
-        tmc_stealth_enabled.X2 = stepperX2.get_stored_stealthChop();
+      TERN_(Z4_HAS_STEALTHCHOP, tmc_stealth_enabled.Z4 = stepperZ4.get_stored_stealthChop());
-      #endif
+      TERN_(E0_HAS_STEALTHCHOP, tmc_stealth_enabled.E0 = stepperE0.get_stored_stealthChop());
-      #if AXIS_HAS_STEALTHCHOP(Y2)
+      TERN_(E1_HAS_STEALTHCHOP, tmc_stealth_enabled.E1 = stepperE1.get_stored_stealthChop());
-        tmc_stealth_enabled.Y2 = stepperY2.get_stored_stealthChop();
+      TERN_(E2_HAS_STEALTHCHOP, tmc_stealth_enabled.E2 = stepperE2.get_stored_stealthChop());
-      #endif
+      TERN_(E3_HAS_STEALTHCHOP, tmc_stealth_enabled.E3 = stepperE3.get_stored_stealthChop());
-      #if AXIS_HAS_STEALTHCHOP(Z2)
+      TERN_(E4_HAS_STEALTHCHOP, tmc_stealth_enabled.E4 = stepperE4.get_stored_stealthChop());
-        tmc_stealth_enabled.Z2 = stepperZ2.get_stored_stealthChop();
+      TERN_(E5_HAS_STEALTHCHOP, tmc_stealth_enabled.E5 = stepperE5.get_stored_stealthChop());
-      #endif
+      TERN_(E6_HAS_STEALTHCHOP, tmc_stealth_enabled.E6 = stepperE6.get_stored_stealthChop());
-      #if AXIS_HAS_STEALTHCHOP(Z3)
+      TERN_(E7_HAS_STEALTHCHOP, tmc_stealth_enabled.E7 = stepperE7.get_stored_stealthChop());
-        tmc_stealth_enabled.Z3 = stepperZ3.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(Z4)
-        tmc_stealth_enabled.Z4 = stepperZ4.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(E0)
-        tmc_stealth_enabled.E0 = stepperE0.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(E1)
-        tmc_stealth_enabled.E1 = stepperE1.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(E2)
-        tmc_stealth_enabled.E2 = stepperE2.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(E3)
-        tmc_stealth_enabled.E3 = stepperE3.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(E4)
-        tmc_stealth_enabled.E4 = stepperE4.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(E5)
-        tmc_stealth_enabled.E5 = stepperE5.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(E6)
-        tmc_stealth_enabled.E6 = stepperE6.get_stored_stealthChop();
-      #endif
-      #if AXIS_HAS_STEALTHCHOP(E7)
-        tmc_stealth_enabled.E7 = stepperE7.get_stored_stealthChop();
-      #endif
       EEPROM_WRITE(tmc_stealth_enabled);
     }
 
@@ -1992,6 +1953,15 @@ void MarlinSettings::postprocess() {
             #if AXIS_IS_TMC(Z4)
               SET_CURR(Z4);
             #endif
+            #if AXIS_IS_TMC(I)
+              SET_CURR(I);
+            #endif
+            #if AXIS_IS_TMC(J)
+              SET_CURR(J);
+            #endif
+            #if AXIS_IS_TMC(K)
+              SET_CURR(K);
+            #endif
             #if AXIS_IS_TMC(E0)
               SET_CURR(E0);
             #endif
@@ -2028,54 +1998,25 @@ void MarlinSettings::postprocess() {
 
         #if ENABLED(HYBRID_THRESHOLD)
           if (!validating) {
-            #if AXIS_HAS_STEALTHCHOP(X)
+            TERN_(X_HAS_STEALTHCHOP,  stepperX.set_pwm_thrs(tmc_hybrid_threshold.X));
-              stepperX.set_pwm_thrs(tmc_hybrid_threshold.X);
+            TERN_(Y_HAS_STEALTHCHOP,  stepperY.set_pwm_thrs(tmc_hybrid_threshold.Y));
-            #endif
+            TERN_(Z_HAS_STEALTHCHOP,  stepperZ.set_pwm_thrs(tmc_hybrid_threshold.Z));
-            #if AXIS_HAS_STEALTHCHOP(Y)
+            TERN_(X2_HAS_STEALTHCHOP, stepperX2.set_pwm_thrs(tmc_hybrid_threshold.X2));
-              stepperY.set_pwm_thrs(tmc_hybrid_threshold.Y);
+            TERN_(Y2_HAS_STEALTHCHOP, stepperY2.set_pwm_thrs(tmc_hybrid_threshold.Y2));
-            #endif
+            TERN_(Z2_HAS_STEALTHCHOP, stepperZ2.set_pwm_thrs(tmc_hybrid_threshold.Z2));
-            #if AXIS_HAS_STEALTHCHOP(Z)
+            TERN_(Z3_HAS_STEALTHCHOP, stepperZ3.set_pwm_thrs(tmc_hybrid_threshold.Z3));
-              stepperZ.set_pwm_thrs(tmc_hybrid_threshold.Z);
+            TERN_(Z4_HAS_STEALTHCHOP, stepperZ4.set_pwm_thrs(tmc_hybrid_threshold.Z4));
-            #endif
+            TERN_(I_HAS_STEALTHCHOP,  stepperI.set_pwm_thrs(tmc_hybrid_threshold.I));
-            #if AXIS_HAS_STEALTHCHOP(X2)
+            TERN_(J_HAS_STEALTHCHOP,  stepperJ.set_pwm_thrs(tmc_hybrid_threshold.J));
-              stepperX2.set_pwm_thrs(tmc_hybrid_threshold.X2);
+            TERN_(K_HAS_STEALTHCHOP,  stepperK.set_pwm_thrs(tmc_hybrid_threshold.K));
-            #endif
+            TERN_(E0_HAS_STEALTHCHOP, stepperE0.set_pwm_thrs(tmc_hybrid_threshold.E0));
-            #if AXIS_HAS_STEALTHCHOP(Y2)
+            TERN_(E1_HAS_STEALTHCHOP, stepperE1.set_pwm_thrs(tmc_hybrid_threshold.E1));
-              stepperY2.set_pwm_thrs(tmc_hybrid_threshold.Y2);
+            TERN_(E2_HAS_STEALTHCHOP, stepperE2.set_pwm_thrs(tmc_hybrid_threshold.E2));
-            #endif
+            TERN_(E3_HAS_STEALTHCHOP, stepperE3.set_pwm_thrs(tmc_hybrid_threshold.E3));
-            #if AXIS_HAS_STEALTHCHOP(Z2)
+            TERN_(E4_HAS_STEALTHCHOP, stepperE4.set_pwm_thrs(tmc_hybrid_threshold.E4));
-              stepperZ2.set_pwm_thrs(tmc_hybrid_threshold.Z2);
+            TERN_(E5_HAS_STEALTHCHOP, stepperE5.set_pwm_thrs(tmc_hybrid_threshold.E5));
-            #endif
+            TERN_(E6_HAS_STEALTHCHOP, stepperE6.set_pwm_thrs(tmc_hybrid_threshold.E6));
-            #if AXIS_HAS_STEALTHCHOP(Z3)
+            TERN_(E7_HAS_STEALTHCHOP, stepperE7.set_pwm_thrs(tmc_hybrid_threshold.E7));
-              stepperZ3.set_pwm_thrs(tmc_hybrid_threshold.Z3);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(Z4)
-              stepperZ4.set_pwm_thrs(tmc_hybrid_threshold.Z4);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E0)
-              stepperE0.set_pwm_thrs(tmc_hybrid_threshold.E0);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E1)
-              stepperE1.set_pwm_thrs(tmc_hybrid_threshold.E1);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E2)
-              stepperE2.set_pwm_thrs(tmc_hybrid_threshold.E2);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E3)
-              stepperE3.set_pwm_thrs(tmc_hybrid_threshold.E3);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E4)
-              stepperE4.set_pwm_thrs(tmc_hybrid_threshold.E4);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E5)
-              stepperE5.set_pwm_thrs(tmc_hybrid_threshold.E5);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E6)
-              stepperE6.set_pwm_thrs(tmc_hybrid_threshold.E6);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E7)
-              stepperE7.set_pwm_thrs(tmc_hybrid_threshold.E7);
-            #endif
           }
         #endif
       }
@@ -2089,11 +2030,16 @@ void MarlinSettings::postprocess() {
         EEPROM_READ(tmc_sgt);
         #if USE_SENSORLESS
           if (!validating) {
-            TERN_(X_SENSORLESS,  stepperX.homing_threshold(tmc_sgt.X));
+            LINEAR_AXIS_CODE(
+              TERN_(X_SENSORLESS, stepperX.homing_threshold(tmc_sgt.X)),
+              TERN_(Y_SENSORLESS, stepperY.homing_threshold(tmc_sgt.Y)),
+              TERN_(Z_SENSORLESS, stepperZ.homing_threshold(tmc_sgt.Z)),
+              TERN_(I_SENSORLESS, stepperI.homing_threshold(tmc_sgt.I)),
+              TERN_(J_SENSORLESS, stepperJ.homing_threshold(tmc_sgt.J)),
+              TERN_(K_SENSORLESS, stepperK.homing_threshold(tmc_sgt.K))
+            );
             TERN_(X2_SENSORLESS, stepperX2.homing_threshold(tmc_sgt.X2));
-            TERN_(Y_SENSORLESS,  stepperY.homing_threshold(tmc_sgt.Y));
             TERN_(Y2_SENSORLESS, stepperY2.homing_threshold(tmc_sgt.Y2));
-            TERN_(Z_SENSORLESS,  stepperZ.homing_threshold(tmc_sgt.Z));
             TERN_(Z2_SENSORLESS, stepperZ2.homing_threshold(tmc_sgt.Z2));
             TERN_(Z3_SENSORLESS, stepperZ3.homing_threshold(tmc_sgt.Z3));
             TERN_(Z4_SENSORLESS, stepperZ4.homing_threshold(tmc_sgt.Z4));
@@ -2112,54 +2058,25 @@ void MarlinSettings::postprocess() {
 
           #define SET_STEPPING_MODE(ST) stepper##ST.stored.stealthChop_enabled = tmc_stealth_enabled.ST; stepper##ST.refresh_stepping_mode();
           if (!validating) {
-            #if AXIS_HAS_STEALTHCHOP(X)
+            TERN_(X_HAS_STEALTHCHOP,  SET_STEPPING_MODE(X));
-              SET_STEPPING_MODE(X);
+            TERN_(Y_HAS_STEALTHCHOP,  SET_STEPPING_MODE(Y));
-            #endif
+            TERN_(Z_HAS_STEALTHCHOP,  SET_STEPPING_MODE(Z));
-            #if AXIS_HAS_STEALTHCHOP(Y)
+            TERN_(I_HAS_STEALTHCHOP,  SET_STEPPING_MODE(I));
-              SET_STEPPING_MODE(Y);
+            TERN_(J_HAS_STEALTHCHOP,  SET_STEPPING_MODE(J));
-            #endif
+            TERN_(K_HAS_STEALTHCHOP,  SET_STEPPING_MODE(K));
-            #if AXIS_HAS_STEALTHCHOP(Z)
+            TERN_(X2_HAS_STEALTHCHOP, SET_STEPPING_MODE(X2));
-              SET_STEPPING_MODE(Z);
+            TERN_(Y2_HAS_STEALTHCHOP, SET_STEPPING_MODE(Y2));
-            #endif
+            TERN_(Z2_HAS_STEALTHCHOP, SET_STEPPING_MODE(Z2));
-            #if AXIS_HAS_STEALTHCHOP(X2)
+            TERN_(Z3_HAS_STEALTHCHOP, SET_STEPPING_MODE(Z3));
-              SET_STEPPING_MODE(X2);
+            TERN_(Z4_HAS_STEALTHCHOP, SET_STEPPING_MODE(Z4));
-            #endif
+            TERN_(E0_HAS_STEALTHCHOP, SET_STEPPING_MODE(E0));
-            #if AXIS_HAS_STEALTHCHOP(Y2)
+            TERN_(E1_HAS_STEALTHCHOP, SET_STEPPING_MODE(E1));
-              SET_STEPPING_MODE(Y2);
+            TERN_(E2_HAS_STEALTHCHOP, SET_STEPPING_MODE(E2));
-            #endif
+            TERN_(E3_HAS_STEALTHCHOP, SET_STEPPING_MODE(E3));
-            #if AXIS_HAS_STEALTHCHOP(Z2)
+            TERN_(E4_HAS_STEALTHCHOP, SET_STEPPING_MODE(E4));
-              SET_STEPPING_MODE(Z2);
+            TERN_(E5_HAS_STEALTHCHOP, SET_STEPPING_MODE(E5));
-            #endif
+            TERN_(E6_HAS_STEALTHCHOP, SET_STEPPING_MODE(E6));
-            #if AXIS_HAS_STEALTHCHOP(Z3)
+            TERN_(E7_HAS_STEALTHCHOP, SET_STEPPING_MODE(E7));
-              SET_STEPPING_MODE(Z3);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(Z4)
-              SET_STEPPING_MODE(Z4);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E0)
-              SET_STEPPING_MODE(E0);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E1)
-              SET_STEPPING_MODE(E1);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E2)
-              SET_STEPPING_MODE(E2);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E3)
-              SET_STEPPING_MODE(E3);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E4)
-              SET_STEPPING_MODE(E4);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E5)
-              SET_STEPPING_MODE(E5);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E6)
-              SET_STEPPING_MODE(E6);
-            #endif
-            #if AXIS_HAS_STEALTHCHOP(E7)
-              SET_STEPPING_MODE(E7);
-            #endif
           }
         #endif
       }
@@ -2598,14 +2515,25 @@ void MarlinSettings::reset() {
     #ifndef DEFAULT_XJERK
       #define DEFAULT_XJERK 0
     #endif
-    #ifndef DEFAULT_YJERK
+    #if HAS_Y_AXIS && !defined(DEFAULT_YJERK)
       #define DEFAULT_YJERK 0
     #endif
-    #ifndef DEFAULT_ZJERK
+    #if HAS_Z_AXIS && !defined(DEFAULT_ZJERK)
       #define DEFAULT_ZJERK 0
     #endif
-    planner.max_jerk.set(LINEAR_AXIS_LIST(DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK));
+    #if LINEAR_AXES >= 4 && !defined(DEFAULT_IJERK)
-    TERN_(HAS_CLASSIC_E_JERK, planner.max_jerk.e = DEFAULT_EJERK;);
+      #define DEFAULT_IJERK 0
+    #endif
+    #if LINEAR_AXES >= 5 && !defined(DEFAULT_JJERK)
+      #define DEFAULT_JJERK 0
+    #endif
+    #if LINEAR_AXES >= 6 && !defined(DEFAULT_KJERK)
+      #define DEFAULT_KJERK 0
+    #endif
+    planner.max_jerk.set(
+      LINEAR_AXIS_LIST(DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK, DEFAULT_IJERK, DEFAULT_JJERK, DEFAULT_KJERK)
+    );
+    TERN_(HAS_CLASSIC_E_JERK, planner.max_jerk.e = DEFAULT_EJERK);
   #endif
 
   #if HAS_JUNCTION_DEVIATION
@@ -2703,11 +2631,11 @@ void MarlinSettings::reset() {
 
   #if HAS_BED_PROBE
     constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET;
-    static_assert(COUNT(dpo) == 3, "NOZZLE_TO_PROBE_OFFSET must contain offsets for X, Y, and Z.");
+    static_assert(COUNT(dpo) == LINEAR_AXES, "NOZZLE_TO_PROBE_OFFSET must contain offsets for each linear axis X, Y, Z....");
     #if HAS_PROBE_XY_OFFSET
       LOOP_LINEAR_AXES(a) probe.offset[a] = dpo[a];
     #else
-      probe.offset.set(0, 0, dpo[Z_AXIS]);
+      probe.offset.set(LINEAR_AXIS_LIST(0, 0, dpo[Z_AXIS], 0, 0, 0));
     #endif
   #endif
 
@@ -3145,7 +3073,10 @@ void MarlinSettings::reset() {
       LIST_N(DOUBLE(LINEAR_AXES),
         PSTR("  M203 X"), LINEAR_UNIT(planner.settings.max_feedrate_mm_s[X_AXIS]),
         SP_Y_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Y_AXIS]),
-        SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS])
+        SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]),
+        SP_I_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[I_AXIS]),
+        SP_J_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[J_AXIS]),
+        SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS])
       )
       #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
         , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS])
@@ -3167,7 +3098,10 @@ void MarlinSettings::reset() {
       LIST_N(DOUBLE(LINEAR_AXES),
         PSTR("  M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]),
         SP_Y_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Y_AXIS]),
-        SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS])
+        SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]),
+        SP_I_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]),
+        SP_J_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]),
+        SP_K_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS])
       )
       #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
         , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS])
@@ -3210,9 +3144,14 @@ void MarlinSettings::reset() {
         , PSTR(" J"), LINEAR_UNIT(planner.junction_deviation_mm)
       #endif
       #if HAS_CLASSIC_JERK
-        , SP_X_STR, LINEAR_UNIT(planner.max_jerk.x)
+        , LIST_N(DOUBLE(LINEAR_AXES),
-        , SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y)
+          SP_X_STR, LINEAR_UNIT(planner.max_jerk.x),
-        , SP_Z_STR, LINEAR_UNIT(planner.max_jerk.z)
+          SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y),
+          SP_Z_STR, LINEAR_UNIT(planner.max_jerk.z),
+          SP_I_STR, LINEAR_UNIT(planner.max_jerk.i),
+          SP_J_STR, LINEAR_UNIT(planner.max_jerk.j),
+          SP_K_STR, LINEAR_UNIT(planner.max_jerk.k)
+        )
         #if HAS_CLASSIC_E_JERK
           , SP_E_STR, LINEAR_UNIT(planner.max_jerk.e)
         #endif
@@ -3224,13 +3163,17 @@ void MarlinSettings::reset() {
       CONFIG_ECHO_START();
       SERIAL_ECHOLNPAIR_P(
         #if IS_CARTESIAN
-            PSTR("  M206 X"), LINEAR_UNIT(home_offset.x)
+          LIST_N(LINEAR_AXES,
-          , SP_Y_STR, LINEAR_UNIT(home_offset.y)
+            PSTR("  M206 X"), LINEAR_UNIT(home_offset.x),
-          , SP_Z_STR
+            SP_Y_STR, LINEAR_UNIT(home_offset.y),
+            SP_Z_STR, LINEAR_UNIT(home_offset.z),
+            SP_I_STR, LINEAR_UNIT(home_offset.i),
+            SP_J_STR, LINEAR_UNIT(home_offset.j),
+            SP_K_STR, LINEAR_UNIT(home_offset.k)
+          )
         #else
-          PSTR("  M206 Z")
+          PSTR("  M206 Z"), LINEAR_UNIT(home_offset.z)
         #endif
-        , LINEAR_UNIT(home_offset.z)
       );
     #endif
 
@@ -3582,6 +3525,19 @@ void MarlinSettings::reset() {
         SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.getMilliamps());
       #endif
 
+      #if AXIS_IS_TMC(I)
+        say_M906(forReplay);
+        SERIAL_ECHOLNPAIR_P(SP_I_STR, stepperI.getMilliamps());
+      #endif
+      #if AXIS_IS_TMC(J)
+        say_M906(forReplay);
+        SERIAL_ECHOLNPAIR_P(SP_J_STR, stepperJ.getMilliamps());
+      #endif
+      #if AXIS_IS_TMC(K)
+        say_M906(forReplay);
+        SERIAL_ECHOLNPAIR_P(SP_K_STR, stepperK.getMilliamps());
+      #endif
+
       #if AXIS_IS_TMC(E0)
         say_M906(forReplay);
         SERIAL_ECHOLNPAIR(" T0 E", stepperE0.getMilliamps());
@@ -3621,74 +3577,87 @@ void MarlinSettings::reset() {
        */
       #if ENABLED(HYBRID_THRESHOLD)
         CONFIG_ECHO_HEADING("Hybrid Threshold:");
-        #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
+        #if X_HAS_STEALTHCHOP || Y_HAS_STEALTHCHOP || Z_HAS_STEALTHCHOP
           say_M913(forReplay);
-          #if AXIS_HAS_STEALTHCHOP(X)
+          #if X_HAS_STEALTHCHOP
             SERIAL_ECHOPAIR_P(SP_X_STR, stepperX.get_pwm_thrs());
           #endif
-          #if AXIS_HAS_STEALTHCHOP(Y)
+          #if Y_HAS_STEALTHCHOP
             SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY.get_pwm_thrs());
           #endif
-          #if AXIS_HAS_STEALTHCHOP(Z)
+          #if Z_HAS_STEALTHCHOP
             SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ.get_pwm_thrs());
           #endif
           SERIAL_EOL();
         #endif
 
-        #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
+        #if X2_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOPGM(" I1");
-          #if AXIS_HAS_STEALTHCHOP(X2)
+          #if X2_HAS_STEALTHCHOP
             SERIAL_ECHOPAIR_P(SP_X_STR, stepperX2.get_pwm_thrs());
           #endif
-          #if AXIS_HAS_STEALTHCHOP(Y2)
+          #if Y2_HAS_STEALTHCHOP
             SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY2.get_pwm_thrs());
           #endif
-          #if AXIS_HAS_STEALTHCHOP(Z2)
+          #if Z2_HAS_STEALTHCHOP
             SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ2.get_pwm_thrs());
           #endif
           SERIAL_EOL();
         #endif
 
-        #if AXIS_HAS_STEALTHCHOP(Z3)
+        #if Z3_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.get_pwm_thrs());
         #endif
 
-        #if AXIS_HAS_STEALTHCHOP(Z4)
+        #if Z4_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.get_pwm_thrs());
         #endif
 
-        #if AXIS_HAS_STEALTHCHOP(E0)
+        #if I_HAS_STEALTHCHOP
+          say_M913(forReplay);
+          SERIAL_ECHOLNPAIR_P(SP_I_STR, stepperI.get_pwm_thrs());
+        #endif
+        #if J_HAS_STEALTHCHOP
+          say_M913(forReplay);
+          SERIAL_ECHOLNPAIR_P(SP_J_STR, stepperJ.get_pwm_thrs());
+        #endif
+        #if K_HAS_STEALTHCHOP
+          say_M913(forReplay);
+          SERIAL_ECHOLNPAIR_P(SP_K_STR, stepperK.get_pwm_thrs());
+        #endif
+
+        #if E0_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" T0 E", stepperE0.get_pwm_thrs());
         #endif
-        #if AXIS_HAS_STEALTHCHOP(E1)
+        #if E1_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" T1 E", stepperE1.get_pwm_thrs());
         #endif
-        #if AXIS_HAS_STEALTHCHOP(E2)
+        #if E2_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" T2 E", stepperE2.get_pwm_thrs());
         #endif
-        #if AXIS_HAS_STEALTHCHOP(E3)
+        #if E3_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" T3 E", stepperE3.get_pwm_thrs());
         #endif
-        #if AXIS_HAS_STEALTHCHOP(E4)
+        #if E4_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" T4 E", stepperE4.get_pwm_thrs());
         #endif
-        #if AXIS_HAS_STEALTHCHOP(E5)
+        #if E5_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" T5 E", stepperE5.get_pwm_thrs());
         #endif
-        #if AXIS_HAS_STEALTHCHOP(E6)
+        #if E6_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" T6 E", stepperE6.get_pwm_thrs());
         #endif
-        #if AXIS_HAS_STEALTHCHOP(E7)
+        #if E7_HAS_STEALTHCHOP
           say_M913(forReplay);
           SERIAL_ECHOLNPAIR(" T7 E", stepperE7.get_pwm_thrs());
         #endif
@@ -3743,6 +3712,22 @@ void MarlinSettings::reset() {
           SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.homing_threshold());
         #endif
 
+        #if I_SENSORLESS
+          CONFIG_ECHO_START();
+          say_M914();
+          SERIAL_ECHOLNPAIR_P(SP_I_STR, stepperI.homing_threshold());
+        #endif
+        #if J_SENSORLESS
+          CONFIG_ECHO_START();
+          say_M914();
+          SERIAL_ECHOLNPAIR_P(SP_J_STR, stepperJ.homing_threshold());
+        #endif
+        #if K_SENSORLESS
+          CONFIG_ECHO_START();
+          say_M914();
+          SERIAL_ECHOLNPAIR_P(SP_K_STR, stepperK.homing_threshold());
+        #endif
+
       #endif // USE_SENSORLESS
 
       /**
@@ -3750,45 +3735,29 @@ void MarlinSettings::reset() {
        */
       #if HAS_STEALTHCHOP
         CONFIG_ECHO_HEADING("Driver stepping mode:");
-        #if AXIS_HAS_STEALTHCHOP(X)
+        const bool chop_x = TERN0(X_HAS_STEALTHCHOP, stepperX.get_stored_stealthChop()),
-          const bool chop_x = stepperX.get_stored_stealthChop();
+                   chop_y = TERN0(Y_HAS_STEALTHCHOP, stepperY.get_stored_stealthChop()),
-        #else
+                   chop_z = TERN0(Z_HAS_STEALTHCHOP, stepperZ.get_stored_stealthChop()),
-          constexpr bool chop_x = false;
+                   chop_i = TERN0(I_HAS_STEALTHCHOP, stepperI.get_stored_stealthChop()),
-        #endif
+                   chop_j = TERN0(J_HAS_STEALTHCHOP, stepperJ.get_stored_stealthChop()),
-        #if AXIS_HAS_STEALTHCHOP(Y)
+                   chop_k = TERN0(K_HAS_STEALTHCHOP, stepperK.get_stored_stealthChop());
-          const bool chop_y = stepperY.get_stored_stealthChop();
-        #else
-          constexpr bool chop_y = false;
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z)
-          const bool chop_z = stepperZ.get_stored_stealthChop();
-        #else
-          constexpr bool chop_z = false;
-        #endif
 
-        if (chop_x || chop_y || chop_z) {
+        if (chop_x || chop_y || chop_z || chop_i || chop_j || chop_k) {
           say_M569(forReplay);
-          if (chop_x) SERIAL_ECHOPGM_P(SP_X_STR);
+          LINEAR_AXIS_CODE(
-          if (chop_y) SERIAL_ECHOPGM_P(SP_Y_STR);
+            if (chop_x) SERIAL_ECHOPGM_P(SP_X_STR),
-          if (chop_z) SERIAL_ECHOPGM_P(SP_Z_STR);
+            if (chop_y) SERIAL_ECHOPGM_P(SP_Y_STR),
+            if (chop_z) SERIAL_ECHOPGM_P(SP_Z_STR),
+            if (chop_i) SERIAL_ECHOPGM_P(SP_I_STR),
+            if (chop_j) SERIAL_ECHOPGM_P(SP_J_STR),
+            if (chop_k) SERIAL_ECHOPGM_P(SP_K_STR)
+          );
           SERIAL_EOL();
         }
 
-        #if AXIS_HAS_STEALTHCHOP(X2)
+        const bool chop_x2 = TERN0(X2_HAS_STEALTHCHOP, stepperX2.get_stored_stealthChop()),
-          const bool chop_x2 = stepperX2.get_stored_stealthChop();
+                   chop_y2 = TERN0(Y2_HAS_STEALTHCHOP, stepperY2.get_stored_stealthChop()),
-        #else
+                   chop_z2 = TERN0(Z2_HAS_STEALTHCHOP, stepperZ2.get_stored_stealthChop());
-          constexpr bool chop_x2 = false;
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Y2)
-          const bool chop_y2 = stepperY2.get_stored_stealthChop();
-        #else
-          constexpr bool chop_y2 = false;
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(Z2)
-          const bool chop_z2 = stepperZ2.get_stored_stealthChop();
-        #else
-          constexpr bool chop_z2 = false;
-        #endif
 
         if (chop_x2 || chop_y2 || chop_z2) {
           say_M569(forReplay, PSTR("I1"));
@@ -3798,38 +3767,21 @@ void MarlinSettings::reset() {
           SERIAL_EOL();
         }
 
-        #if AXIS_HAS_STEALTHCHOP(Z3)
+        if (TERN0(Z3_HAS_STEALTHCHOP, stepperZ3.get_stored_stealthChop())) { say_M569(forReplay, PSTR("I2 Z"), true); }
-          if (stepperZ3.get_stored_stealthChop()) { say_M569(forReplay, PSTR("I2 Z"), true); }
+        if (TERN0(Z4_HAS_STEALTHCHOP, stepperZ4.get_stored_stealthChop())) { say_M569(forReplay, PSTR("I3 Z"), true); }
-        #endif
 
-        #if AXIS_HAS_STEALTHCHOP(Z4)
+        if (TERN0( I_HAS_STEALTHCHOP, stepperI.get_stored_stealthChop()))  { say_M569(forReplay, SP_I_STR, true); }
-          if (stepperZ4.get_stored_stealthChop()) { say_M569(forReplay, PSTR("I3 Z"), true); }
+        if (TERN0( J_HAS_STEALTHCHOP, stepperJ.get_stored_stealthChop()))  { say_M569(forReplay, SP_J_STR, true); }
-        #endif
+        if (TERN0( K_HAS_STEALTHCHOP, stepperK.get_stored_stealthChop()))  { say_M569(forReplay, SP_K_STR, true); }
 
-        #if AXIS_HAS_STEALTHCHOP(E0)
+        if (TERN0(E0_HAS_STEALTHCHOP, stepperE0.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T0 E"), true); }
-          if (stepperE0.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T0 E"), true); }
+        if (TERN0(E1_HAS_STEALTHCHOP, stepperE1.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T1 E"), true); }
-        #endif
+        if (TERN0(E2_HAS_STEALTHCHOP, stepperE2.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T2 E"), true); }
-        #if AXIS_HAS_STEALTHCHOP(E1)
+        if (TERN0(E3_HAS_STEALTHCHOP, stepperE3.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T3 E"), true); }
-          if (stepperE1.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T1 E"), true); }
+        if (TERN0(E4_HAS_STEALTHCHOP, stepperE4.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T4 E"), true); }
-        #endif
+        if (TERN0(E5_HAS_STEALTHCHOP, stepperE5.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T5 E"), true); }
-        #if AXIS_HAS_STEALTHCHOP(E2)
+        if (TERN0(E6_HAS_STEALTHCHOP, stepperE6.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T6 E"), true); }
-          if (stepperE2.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T2 E"), true); }
+        if (TERN0(E7_HAS_STEALTHCHOP, stepperE7.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T7 E"), true); }
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E3)
-          if (stepperE3.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T3 E"), true); }
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E4)
-          if (stepperE4.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T4 E"), true); }
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E5)
-          if (stepperE5.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T5 E"), true); }
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E6)
-          if (stepperE6.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T6 E"), true); }
-        #endif
-        #if AXIS_HAS_STEALTHCHOP(E7)
-          if (stepperE7.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T7 E"), true); }
-        #endif
 
       #endif // HAS_STEALTHCHOP
 
@@ -3859,7 +3811,7 @@ void MarlinSettings::reset() {
         );
       #elif HAS_MOTOR_CURRENT_SPI
         SERIAL_ECHOPGM("  M907");                              // SPI-based has 5 values:
-        LOOP_LOGICAL_AXES(q) {                                 // X Y Z E (map to X Y Z E0 by default)
+        LOOP_LOGICAL_AXES(q) {                                 // X Y Z (I J K) E (map to X Y Z (I J K) E0 by default)
           SERIAL_CHAR(' ', axis_codes[q]);
           SERIAL_ECHO(stepper.motor_current_setting[q]);
         }
@@ -3869,7 +3821,7 @@ void MarlinSettings::reset() {
     #elif ENABLED(HAS_MOTOR_CURRENT_I2C)                       // i2c-based has any number of values
       // Values sent over i2c are not stored.
       // Indexes map directly to drivers, not axes.
-    #elif ENABLED(HAS_MOTOR_CURRENT_DAC)                       // DAC-based has 4 values, for X Y Z E
+    #elif ENABLED(HAS_MOTOR_CURRENT_DAC)                       // DAC-based has 4 values, for X Y Z (I J K) E
       // Values sent over i2c are not stored. Uses indirect mapping.
     #endif
 
@@ -3901,7 +3853,10 @@ void MarlinSettings::reset() {
         , LIST_N(DOUBLE(LINEAR_AXES),
             SP_X_STR, LINEAR_UNIT(backlash.distance_mm.x),
             SP_Y_STR, LINEAR_UNIT(backlash.distance_mm.y),
-            SP_Z_STR, LINEAR_UNIT(backlash.distance_mm.z)
+            SP_Z_STR, LINEAR_UNIT(backlash.distance_mm.z),
+            SP_I_STR, LINEAR_UNIT(backlash.distance_mm.i),
+            SP_J_STR, LINEAR_UNIT(backlash.distance_mm.j),
+            SP_K_STR, LINEAR_UNIT(backlash.distance_mm.k)
           )
         #ifdef BACKLASH_SMOOTHING_MM
           , PSTR(" S"), LINEAR_UNIT(backlash.smoothing_mm)

Marlin/src/module/stepper.cpp

@@ -378,7 +378,7 @@ xyze_int8_t Stepper::count_direction{0};
   #else
     #define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0)
   #endif
-#else
+#elif HAS_Y_AXIS
   #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
   #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
 #endif
@@ -415,11 +415,24 @@ xyze_int8_t Stepper::count_direction{0};
   #else
     #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
   #endif
-#else
+#elif HAS_Z_AXIS
   #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
   #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
 #endif
 
+#if LINEAR_AXES >= 4
+  #define I_APPLY_DIR(v,Q) I_DIR_WRITE(v)
+  #define I_APPLY_STEP(v,Q) I_STEP_WRITE(v)
+#endif
+#if LINEAR_AXES >= 5
+  #define J_APPLY_DIR(v,Q) J_DIR_WRITE(v)
+  #define J_APPLY_STEP(v,Q) J_STEP_WRITE(v)
+#endif
+#if LINEAR_AXES >= 6
+  #define K_APPLY_DIR(v,Q) K_DIR_WRITE(v)
+  #define K_APPLY_STEP(v,Q) K_STEP_WRITE(v)
+#endif
+
 #if DISABLED(MIXING_EXTRUDER)
   #define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v)
 #endif
@@ -486,6 +499,18 @@ void Stepper::set_directions() {
     SET_STEP_DIR(Z); // C
   #endif
 
+  #if HAS_I_DIR
+    SET_STEP_DIR(I); // I
+  #endif
+
+  #if HAS_J_DIR
+    SET_STEP_DIR(J); // J
+  #endif
+
+  #if HAS_K_DIR
+    SET_STEP_DIR(K); // K
+  #endif
+
   #if DISABLED(LIN_ADVANCE)
     #if ENABLED(MIXING_EXTRUDER)
        // Because this is valid for the whole block we don't know
@@ -1584,7 +1609,7 @@ void Stepper::pulse_phase_isr() {
     const bool is_page = IS_PAGE(current_block);
 
     #if ENABLED(DIRECT_STEPPING)
-
+      // TODO (DerAndere): Add support for LINEAR_AXES >= 4
       if (is_page) {
 
         #if STEPPER_PAGE_FORMAT == SP_4x4D_128
@@ -1700,6 +1725,15 @@ void Stepper::pulse_phase_isr() {
       #if HAS_Z_STEP
         PULSE_PREP(Z);
       #endif
+      #if HAS_I_STEP
+        PULSE_PREP(I);
+      #endif
+      #if HAS_J_STEP
+        PULSE_PREP(J);
+      #endif
+      #if HAS_K_STEP
+        PULSE_PREP(K);
+      #endif
 
       #if EITHER(LIN_ADVANCE, MIXING_EXTRUDER)
         delta_error.e += advance_dividend.e;
@@ -1735,6 +1769,15 @@ void Stepper::pulse_phase_isr() {
     #if HAS_Z_STEP
       PULSE_START(Z);
     #endif
+    #if HAS_I_STEP
+      PULSE_START(I);
+    #endif
+    #if HAS_J_STEP
+      PULSE_START(J);
+    #endif
+    #if HAS_K_STEP
+      PULSE_START(K);
+    #endif
 
     #if DISABLED(LIN_ADVANCE)
       #if ENABLED(MIXING_EXTRUDER)
@@ -1764,6 +1807,15 @@ void Stepper::pulse_phase_isr() {
     #if HAS_Z_STEP
       PULSE_STOP(Z);
     #endif
+    #if HAS_I_STEP
+      PULSE_STOP(I);
+    #endif
+    #if HAS_J_STEP
+      PULSE_STOP(J);
+    #endif
+    #if HAS_K_STEP
+      PULSE_STOP(K);
+    #endif
 
     #if DISABLED(LIN_ADVANCE)
       #if ENABLED(MIXING_EXTRUDER)
@@ -1798,6 +1850,7 @@ uint32_t Stepper::block_phase_isr() {
     // If current block is finished, reset pointer and finalize state
     if (step_events_completed >= step_event_count) {
       #if ENABLED(DIRECT_STEPPING)
+        // TODO (DerAndere): Add support for LINEAR_AXES >= 4
         #if STEPPER_PAGE_FORMAT == SP_4x4D_128
           #define PAGE_SEGMENT_UPDATE_POS(AXIS) \
             count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] - 128 * 7;
@@ -2106,7 +2159,10 @@ uint32_t Stepper::block_phase_isr() {
       LINEAR_AXIS_CODE(
         if (X_MOVE_TEST)            SBI(axis_bits, A_AXIS),
         if (Y_MOVE_TEST)            SBI(axis_bits, B_AXIS),
-        if (Z_MOVE_TEST) SBI(axis_bits, C_AXIS)
+        if (Z_MOVE_TEST)            SBI(axis_bits, C_AXIS),
+        if (current_block->steps.i) SBI(axis_bits, I_AXIS),
+        if (current_block->steps.j) SBI(axis_bits, J_AXIS),
+        if (current_block->steps.k) SBI(axis_bits, K_AXIS)
       );
       //if (current_block->steps.e) SBI(axis_bits, E_AXIS);
       //if (current_block->steps.a) SBI(axis_bits, X_HEAD);
@@ -2441,6 +2497,15 @@ void Stepper::init() {
       Z4_DIR_INIT();
     #endif
   #endif
+  #if HAS_I_DIR
+    I_DIR_INIT();
+  #endif
+  #if HAS_J_DIR
+    J_DIR_INIT();
+  #endif
+  #if HAS_K_DIR
+    K_DIR_INIT();
+  #endif
   #if HAS_E0_DIR
     E0_DIR_INIT();
   #endif
@@ -2499,6 +2564,18 @@ void Stepper::init() {
       if (!Z_ENABLE_ON) Z4_ENABLE_WRITE(HIGH);
     #endif
   #endif
+  #if HAS_I_ENABLE
+    I_ENABLE_INIT();
+    if (!I_ENABLE_ON) I_ENABLE_WRITE(HIGH);
+  #endif
+  #if HAS_J_ENABLE
+    J_ENABLE_INIT();
+    if (!J_ENABLE_ON) J_ENABLE_WRITE(HIGH);
+  #endif
+  #if HAS_K_ENABLE
+    K_ENABLE_INIT();
+    if (!K_ENABLE_ON) K_ENABLE_WRITE(HIGH);
+  #endif
   #if HAS_E0_ENABLE
     E0_ENABLE_INIT();
     if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
@@ -2575,6 +2652,15 @@ void Stepper::init() {
     #endif
     AXIS_INIT(Z, Z);
   #endif
+  #if HAS_I_STEP
+    AXIS_INIT(I, I);
+  #endif
+  #if HAS_J_STEP
+    AXIS_INIT(J, J);
+  #endif
+  #if HAS_K_STEP
+    AXIS_INIT(K, K);
+  #endif
 
   #if E_STEPPERS && HAS_E0_STEP
     E_AXIS_INIT(0);
@@ -2612,7 +2698,10 @@ void Stepper::init() {
     LINEAR_AXIS_GANG(
       | TERN0(INVERT_X_DIR, _BV(X_AXIS)),
       | TERN0(INVERT_Y_DIR, _BV(Y_AXIS)),
-      | TERN0(INVERT_Z_DIR, _BV(Z_AXIS))
+      | TERN0(INVERT_Z_DIR, _BV(Z_AXIS)),
+      | TERN0(INVERT_I_DIR, _BV(I_AXIS)),
+      | TERN0(INVERT_J_DIR, _BV(J_AXIS)),
+      | TERN0(INVERT_K_DIR, _BV(K_AXIS))
     )
   );
 
@@ -2625,32 +2714,32 @@ void Stepper::init() {
 /**
  * Set the stepper positions directly in steps
  *
- * The input is based on the typical per-axis XYZ steps.
+ * The input is based on the typical per-axis XYZE steps.
  * For CORE machines XYZ needs to be translated to ABC.
  *
  * This allows get_axis_position_mm to correctly
- * derive the current XYZ position later on.
+ * derive the current XYZE position later on.
  */
-void Stepper::_set_position(
+void Stepper::_set_position(const abce_long_t &spos) {
-  LOGICAL_AXIS_LIST(const int32_t &e, const int32_t &a, const int32_t &b, const int32_t &c)
+  #if EITHER(IS_CORE, MARKFORGED_XY)
-) {
     #if CORE_IS_XY
       // corexy positioning
       // these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html
-    count_position.set(a + b, CORESIGN(a - b), c);
+      count_position.set(spos.a + spos.b, CORESIGN(spos.a - spos.b), spos.c);
     #elif CORE_IS_XZ
       // corexz planning
-    count_position.set(a + c, b, CORESIGN(a - c));
+      count_position.set(spos.a + spos.c, spos.b, CORESIGN(spos.a - spos.c));
     #elif CORE_IS_YZ
       // coreyz planning
-    count_position.set(a, b + c, CORESIGN(b - c));
+      count_position.set(spos.a, spos.b + spos.c, CORESIGN(spos.b - spos.c));
     #elif ENABLED(MARKFORGED_XY)
-    count_position.set(a - b, b, c);
+      count_position.set(spos.a - spos.b, spos.b, spos.c);
+    #endif
+    TERN_(HAS_EXTRUDERS, count_position.e = spos.e);
   #else
     // default non-h-bot planning
-    count_position.set(LINEAR_AXIS_LIST(a, b, c));
+    count_position = spos;
   #endif
-  TERN_(HAS_EXTRUDERS, count_position.e = e);
 }
 
 /**
@@ -2673,13 +2762,10 @@ int32_t Stepper::position(const AxisEnum axis) {
 }
 
 // Set the current position in steps
-//TODO: Test for LINEAR_AXES >= 4
+void Stepper::set_position(const xyze_long_t &spos) {
-void Stepper::set_position(
-  LOGICAL_AXIS_LIST(const int32_t &e, const int32_t &a, const int32_t &b, const int32_t &c)
-) {
   planner.synchronize();
   const bool was_enabled = suspend();
-  _set_position(LOGICAL_AXIS_LIST(e, a, b, c));
+  _set_position(spos);
   if (was_enabled) wake_up();
 }
 
@@ -2747,18 +2833,24 @@ int32_t Stepper::triggered_position(const AxisEnum axis) {
   return v;
 }
 
+#if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)
+  #define USES_ABC 1
+#endif
+#if ANY(USES_ABC, MARKFORGED_XY, IS_SCARA)
+  #define USES_AB 1
+#endif
+
 void Stepper::report_a_position(const xyz_long_t &pos) {
-  #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, DELTA, IS_SCARA)
+  SERIAL_ECHOLNPAIR_P(
-    SERIAL_ECHOPAIR(STR_COUNT_A, pos.x, " B:", pos.y);
+    LIST_N(DOUBLE(LINEAR_AXES),
-  #else
+      TERN(USES_AB,  PSTR(STR_COUNT_A), PSTR(STR_COUNT_X)), pos.x,
-    SERIAL_ECHOPAIR_P(PSTR(STR_COUNT_X), pos.x, SP_Y_LBL, pos.y);
+      TERN(USES_AB,  PSTR("B:"), SP_Y_LBL), pos.y,
-  #endif
+      TERN(USES_ABC, PSTR("C:"), SP_Z_LBL), pos.z,
-  #if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)
+      SP_I_LBL, pos.i,
-    SERIAL_ECHOPAIR(" C:", pos.z);
+      SP_J_LBL, pos.j,
-  #elif LINEAR_AXES >= 3
+      SP_K_LBL, pos.k
-    SERIAL_ECHOPAIR_P(SP_Z_LBL, pos.z);
+    )
-  #endif
+  );
-  SERIAL_EOL();
 }
 
 void Stepper::report_positions() {
@@ -2866,9 +2958,7 @@ void Stepper::report_positions() {
   // No other ISR should ever interrupt this!
   void Stepper::do_babystep(const AxisEnum axis, const bool direction) {
 
-    #if DISABLED(INTEGRATED_BABYSTEPPING)
+    IF_DISABLED(INTEGRATED_BABYSTEPPING, cli());
-      cli();
-    #endif
 
     switch (axis) {
 
@@ -2912,35 +3002,90 @@ void Stepper::report_positions() {
           ENABLE_AXIS_X();
           ENABLE_AXIS_Y();
           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());
+          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
             Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
+          #endif
+          #ifdef Z_DIR_WRITE
             Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
+          #endif
+          #ifdef I_DIR_WRITE
+            I_DIR_WRITE(INVERT_I_DIR ^ z_direction);
+          #endif
+          #ifdef J_DIR_WRITE
+            J_DIR_WRITE(INVERT_J_DIR ^ z_direction);
+          #endif
+          #ifdef K_DIR_WRITE
+            K_DIR_WRITE(INVERT_K_DIR ^ z_direction);
+          #endif
 
           DIR_WAIT_AFTER();
 
           _SAVE_START();
 
           X_STEP_WRITE(!INVERT_X_STEP_PIN);
+          #ifdef Y_STEP_WRITE
             Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
+          #endif
+          #ifdef Z_STEP_WRITE
             Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
+          #endif
+          #ifdef I_STEP_WRITE
+            I_STEP_WRITE(!INVERT_I_STEP_PIN);
+          #endif
+          #ifdef J_STEP_WRITE
+            J_STEP_WRITE(!INVERT_J_STEP_PIN);
+          #endif
+          #ifdef K_STEP_WRITE
+            K_STEP_WRITE(!INVERT_K_STEP_PIN);
+          #endif
 
           _PULSE_WAIT();
 
           X_STEP_WRITE(INVERT_X_STEP_PIN);
+          #ifdef Y_STEP_WRITE
             Y_STEP_WRITE(INVERT_Y_STEP_PIN);
+          #endif
+          #ifdef Z_STEP_WRITE
             Z_STEP_WRITE(INVERT_Z_STEP_PIN);
+          #endif
+          #ifdef I_STEP_WRITE
+            I_STEP_WRITE(INVERT_I_STEP_PIN);
+          #endif
+          #ifdef J_STEP_WRITE
+            J_STEP_WRITE(INVERT_J_STEP_PIN);
+          #endif
+          #ifdef K_STEP_WRITE
+            K_STEP_WRITE(INVERT_K_STEP_PIN);
+          #endif
 
           // Restore direction bits
           EXTRA_DIR_WAIT_BEFORE();
 
           X_DIR_WRITE(old_dir.x);
+          #ifdef Y_DIR_WRITE
             Y_DIR_WRITE(old_dir.y);
+          #endif
+          #ifdef Z_DIR_WRITE
             Z_DIR_WRITE(old_dir.z);
+          #endif
+          #ifdef I_DIR_WRITE
+            I_DIR_WRITE(old_dir.i);
+          #endif
+          #ifdef J_DIR_WRITE
+            J_DIR_WRITE(old_dir.j);
+          #endif
+          #ifdef K_DIR_WRITE
+            K_DIR_WRITE(old_dir.k);
+          #endif
 
           EXTRA_DIR_WAIT_AFTER();
 
@@ -2948,12 +3093,20 @@ void Stepper::report_positions() {
 
       } break;
 
+      #if LINEAR_AXES >= 4
+        case I_AXIS: BABYSTEP_AXIS(I, 0, direction); break;
+      #endif
+      #if LINEAR_AXES >= 5
+        case J_AXIS: BABYSTEP_AXIS(J, 0, direction); break;
+      #endif
+      #if LINEAR_AXES >= 6
+        case K_AXIS: BABYSTEP_AXIS(K, 0, direction); break;
+      #endif
+
       default: break;
     }
 
-    #if DISABLED(INTEGRATED_BABYSTEPPING)
+    IF_DISABLED(INTEGRATED_BABYSTEPPING, sei());
-      sei();
-    #endif
   }
 
 #endif // BABYSTEPPING
@@ -3288,6 +3441,15 @@ void Stepper::report_positions() {
       #if HAS_E7_MS_PINS
         case 10: WRITE(E7_MS1_PIN, ms1); break;
       #endif
+      #if HAS_I_MICROSTEPS
+        case 11: WRITE(I_MS1_PIN, ms1); break
+      #endif
+      #if HAS_J_MICROSTEPS
+        case 12: WRITE(J_MS1_PIN, ms1); break
+      #endif
+      #if HAS_K_MICROSTEPS
+        case 13: WRITE(K_MS1_PIN, ms1); break
+      #endif
     }
     if (ms2 >= 0) switch (driver) {
       #if HAS_X_MS_PINS || HAS_X2_MS_PINS
@@ -3350,6 +3512,15 @@ void Stepper::report_positions() {
       #if HAS_E7_MS_PINS
         case 10: WRITE(E7_MS2_PIN, ms2); break;
       #endif
+      #if HAS_I_M_PINS
+        case 11: WRITE(I_MS2_PIN, ms2); break
+      #endif
+      #if HAS_J_M_PINS
+        case 12: WRITE(J_MS2_PIN, ms2); break
+      #endif
+      #if HAS_K_M_PINS
+        case 13: WRITE(K_MS2_PIN, ms2); break
+      #endif
     }
     if (ms3 >= 0) switch (driver) {
       #if HAS_X_MS_PINS || HAS_X2_MS_PINS
@@ -3468,6 +3639,24 @@ void Stepper::report_positions() {
         PIN_CHAR(Z_MS3);
       #endif
     #endif
+    #if HAS_I_MS_PINS
+      MS_LINE(I);
+      #if PIN_EXISTS(I_MS3)
+        PIN_CHAR(I_MS3);
+      #endif
+    #endif
+    #if HAS_J_MS_PINS
+      MS_LINE(J);
+      #if PIN_EXISTS(J_MS3)
+        PIN_CHAR(J_MS3);
+      #endif
+    #endif
+    #if HAS_K_MS_PINS
+      MS_LINE(K);
+      #if PIN_EXISTS(K_MS3)
+        PIN_CHAR(K_MS3);
+      #endif
+    #endif
     #if HAS_E0_MS_PINS
       MS_LINE(E0);
       #if PIN_EXISTS(E0_MS3)

Marlin/src/module/stepper.h

@@ -133,27 +133,6 @@
 
 #endif
 
-// Add time for each stepper
-#if HAS_X_STEP
-  #define ISR_X_STEPPER_CYCLES       ISR_STEPPER_CYCLES
-#else
-  #define ISR_X_STEPPER_CYCLES       0UL
-#endif
-#if HAS_Y_STEP
-  #define ISR_Y_STEPPER_CYCLES       ISR_STEPPER_CYCLES
-#else
-  #define ISR_START_Y_STEPPER_CYCLES 0UL
-  #define ISR_Y_STEPPER_CYCLES       0UL
-#endif
-#if HAS_Z_STEP
-  #define ISR_Z_STEPPER_CYCLES       ISR_STEPPER_CYCLES
-#else
-  #define ISR_Z_STEPPER_CYCLES       0UL
-#endif
-
-// E is always interpolated, even for mixing extruders
-#define ISR_E_STEPPER_CYCLES         ISR_STEPPER_CYCLES
-
 // If linear advance is disabled, the loop also handles them
 #if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
   #define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
@@ -161,8 +140,31 @@
   #define ISR_MIXING_STEPPER_CYCLES  0UL
 #endif
 
+// Add time for each stepper
+#if HAS_X_STEP
+  #define ISR_X_STEPPER_CYCLES  ISR_STEPPER_CYCLES
+#endif
+#if HAS_Y_STEP
+  #define ISR_Y_STEPPER_CYCLES  ISR_STEPPER_CYCLES
+#endif
+#if HAS_Z_STEP
+  #define ISR_Z_STEPPER_CYCLES  ISR_STEPPER_CYCLES
+#endif
+#if HAS_I_STEP
+  #define ISR_I_STEPPER_CYCLES  ISR_STEPPER_CYCLES
+#endif
+#if HAS_J_STEP
+  #define ISR_J_STEPPER_CYCLES  ISR_STEPPER_CYCLES
+#endif
+#if HAS_K_STEP
+  #define ISR_K_STEPPER_CYCLES  ISR_STEPPER_CYCLES
+#endif
+#if HAS_EXTRUDERS
+  #define ISR_E_STEPPER_CYCLES  ISR_STEPPER_CYCLES    // E is always interpolated, even for mixing extruders
+#endif
+
 // And the total minimum loop time, not including the base
-#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
+#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_GANG(+ ISR_E_STEPPER_CYCLES, + ISR_X_STEPPER_CYCLES, + ISR_Y_STEPPER_CYCLES, + ISR_Z_STEPPER_CYCLES, + ISR_I_STEPPER_CYCLES, + ISR_J_STEPPER_CYCLES, + ISR_K_STEPPER_CYCLES))
 
 // Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
 #define _MIN_STEPPER_PULSE_CYCLES(N) _MAX(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N))
@@ -433,12 +435,7 @@ class Stepper {
     static int32_t position(const AxisEnum axis);
 
     // Set the current position in steps
-    static void set_position(
+    static void set_position(const xyze_long_t &spos);
-      LOGICAL_AXIS_LIST(const int32_t &e, const int32_t &a, const int32_t &b, const int32_t &c)
-    );
-    static inline void set_position(const xyze_long_t &abce) {
-      set_position(LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c));
-    }
     static void set_axis_position(const AxisEnum a, const int32_t &v);
 
     // Report the positions of the steppers, in steps
@@ -534,12 +531,7 @@ class Stepper {
   private:
 
     // Set the current position in steps
-    static void _set_position(
+    static void _set_position(const abce_long_t &spos);
-      LOGICAL_AXIS_LIST(const int32_t &e, const int32_t &a, const int32_t &b, const int32_t &c)
-    );
-    FORCE_INLINE static void _set_position(const abce_long_t &spos) {
-      _set_position(LOGICAL_AXIS_LIST(spos.e, spos.a, spos.b, spos.c));
-    }
 
     FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t *loops) {
       uint32_t timer;

Marlin/src/module/stepper/L64xx.cpp

@@ -55,6 +55,15 @@
 #if AXIS_IS_L64XX(Z4)
   L64XX_CLASS(Z4) stepperZ4(L6470_CHAIN_SS_PIN);
 #endif
+#if AXIS_IS_L64XX(I)
+  L64XX_CLASS(I) stepperI(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(J)
+  L64XX_CLASS(J) stepperJ(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(K)
+  L64XX_CLASS(K) stepperK(L6470_CHAIN_SS_PIN);
+#endif
 #if AXIS_IS_L64XX(E0)
   L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN);
 #endif
@@ -199,6 +208,15 @@ void L64XX_Marlin::init_to_defaults() {
   #if AXIS_IS_L64XX(Z4)
     L6470_INIT_CHIP(Z4);
   #endif
+  #if AXIS_IS_L64XX(I)
+    L6470_INIT_CHIP(I);
+  #endif
+  #if AXIS_IS_L64XX(J)
+    L6470_INIT_CHIP(J);
+  #endif
+  #if AXIS_IS_L64XX(K)
+    L6470_INIT_CHIP(K);
+  #endif
   #if AXIS_IS_L64XX(E0)
     L6470_INIT_CHIP(E0);
   #endif

Marlin/src/module/stepper/L64xx.h

@@ -206,6 +206,66 @@
   #define DISABLE_STEPPER_Z4() stepperZ4.free()
 #endif
 
+// I Stepper
+#if AXIS_IS_L64XX(I)
+  extern L64XX_CLASS(I)         stepperI;
+  #define I_ENABLE_INIT()       NOOP
+  #define I_ENABLE_WRITE(STATE) (STATE ? stepperI.hardStop() : stepperI.free())
+  #define I_ENABLE_READ()       (stepperI.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_I(L6474)
+    #define I_DIR_INIT()        SET_OUTPUT(I_DIR_PIN)
+    #define I_DIR_WRITE(STATE)  L6474_DIR_WRITE(I, STATE)
+    #define I_DIR_READ()        READ(I_DIR_PIN)
+  #else
+    #define I_DIR_INIT()        NOOP
+    #define I_DIR_WRITE(STATE)  L64XX_DIR_WRITE(I, STATE)
+    #define I_DIR_READ()        (stepper##I.getStatus() & STATUS_DIR);
+    #if AXIS_DRIVER_TYPE_I(L6470)
+      #define DISABLE_STEPPER_I() stepperI.free()
+    #endif
+  #endif
+#endif
+
+// J Stepper
+#if AXIS_IS_L64XX(J)
+  extern L64XX_CLASS(J)         stepperJ;
+  #define J_ENABLE_INIT()       NOOP
+  #define J_ENABLE_WRITE(STATE) (STATE ? stepperJ.hardStop() : stepperJ.free())
+  #define J_ENABLE_READ()       (stepperJ.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_J(L6474)
+    #define J_DIR_INIT()        SET_OUTPUT(J_DIR_PIN)
+    #define J_DIR_WRITE(STATE)  L6474_DIR_WRITE(J, STATE)
+    #define J_DIR_READ()        READ(J_DIR_PIN)
+  #else
+    #define J_DIR_INIT()        NOOP
+    #define J_DIR_WRITE(STATE)  L64XX_DIR_WRITE(J, STATE)
+    #define J_DIR_READ()        (stepper##J.getStatus() & STATUS_DIR);
+    #if AXIS_DRIVER_TYPE_J(L6470)
+      #define DISABLE_STEPPER_J() stepperJ.free()
+    #endif
+  #endif
+#endif
+
+// K Stepper
+#if AXIS_IS_L64XX(K)
+  extern L64XX_CLASS(K)         stepperK;
+  #define K_ENABLE_INIT()       NOOP
+  #define K_ENABLE_WRITE(STATE) (STATE ? stepperK.hardStop() : stepperK.free())
+  #define K_ENABLE_READ()       (stepperK.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_K(L6474)
+    #define K_DIR_INIT()        SET_OUTPUT(K_DIR_PIN)
+    #define K_DIR_WRITE(STATE)  L6474_DIR_WRITE(K, STATE)
+    #define K_DIR_READ()        READ(K_DIR_PIN)
+  #else
+    #define K_DIR_INIT()        NOOP
+    #define K_DIR_WRITE(STATE)  L64XX_DIR_WRITE(K, STATE)
+    #define K_DIR_READ()        (stepper##K.getStatus() & STATUS_DIR);
+    #if AXIS_DRIVER_TYPE_K(L6470)
+      #define DISABLE_STEPPER_K() stepperK.free()
+    #endif
+  #endif
+#endif
+
 // E0 Stepper
 #if AXIS_IS_L64XX(E0)
   extern L64XX_CLASS(E0)         stepperE0;

Marlin/src/module/stepper/TMC26X.cpp

@@ -60,6 +60,15 @@
 #if AXIS_DRIVER_TYPE_Z4(TMC26X)
   _TMC26X_DEFINE(Z4);
 #endif
+#if AXIS_DRIVER_TYPE_I(TMC26X)
+  _TMC26X_DEFINE(I);
+#endif
+#if AXIS_DRIVER_TYPE_J(TMC26X)
+  _TMC26X_DEFINE(J);
+#endif
+#if AXIS_DRIVER_TYPE_K(TMC26X)
+  _TMC26X_DEFINE(K);
+#endif
 #if AXIS_DRIVER_TYPE_E0(TMC26X)
   _TMC26X_DEFINE(E0);
 #endif
@@ -115,6 +124,15 @@ void tmc26x_init_to_defaults() {
   #if AXIS_DRIVER_TYPE_Z4(TMC26X)
     _TMC26X_INIT(Z4);
   #endif
+  #if AXIS_DRIVER_TYPE_I(TMC26X)
+     _TMC26X_INIT(I);
+  #endif
+  #if AXIS_DRIVER_TYPE_J(TMC26X)
+    _TMC26X_INIT(J);
+  #endif
+  #if AXIS_DRIVER_TYPE_K(TMC26X)
+    _TMC26X_INIT(K);
+  #endif
   #if AXIS_DRIVER_TYPE_E0(TMC26X)
     _TMC26X_INIT(E0);
   #endif

Marlin/src/module/stepper/TMC26X.h

@@ -99,6 +99,30 @@ void tmc26x_init_to_defaults();
   #define Z4_ENABLE_READ() stepperZ4.isEnabled()
 #endif
 
+// I Stepper
+#if HAS_I_ENABLE && AXIS_DRIVER_TYPE_I(TMC26X)
+  extern TMC26XStepper stepperI;
+  #define I_ENABLE_INIT() NOOP
+  #define I_ENABLE_WRITE(STATE) stepperI.setEnabled(STATE)
+  #define I_ENABLE_READ() stepperI.isEnabled()
+#endif
+
+// J Stepper
+#if HAS_J_ENABLE && AXIS_DRIVER_TYPE_J(TMC26X)
+  extern TMC26XStepper stepperJ;
+  #define J_ENABLE_INIT() NOOP
+  #define J_ENABLE_WRITE(STATE) stepperJ.setEnabled(STATE)
+  #define J_ENABLE_READ() stepperJ.isEnabled()
+#endif
+
+// K Stepper
+#if HAS_K_ENABLE && AXIS_DRIVER_TYPE_K(TMC26X)
+  extern TMC26XStepper stepperK;
+  #define K_ENABLE_INIT() NOOP
+  #define K_ENABLE_WRITE(STATE) stepperK.setEnabled(STATE)
+  #define K_ENABLE_READ() stepperK.isEnabled()
+#endif
+
 // E0 Stepper
 #if AXIS_DRIVER_TYPE_E0(TMC26X)
   extern TMC26XStepper stepperE0;

Marlin/src/module/stepper/indirection.cpp

@@ -37,9 +37,7 @@ void restore_stepper_drivers() {
 }
 
 void reset_stepper_drivers() {
-  #if HAS_DRIVER(TMC26X)
+  TERN_(HAS_TMC26X, tmc26x_init_to_defaults());
-    tmc26x_init_to_defaults();
-  #endif
   TERN_(HAS_L64XX, L64xxManager.init_to_defaults());
   TERN_(HAS_TRINAMIC_CONFIG, reset_trinamic_drivers());
 }

Marlin/src/module/stepper/indirection.h

@@ -36,7 +36,7 @@
   #include "L64xx.h"
 #endif
 
-#if HAS_DRIVER(TMC26X)
+#if HAS_TMC26X
   #include "TMC26X.h"
 #endif
 
@@ -65,38 +65,42 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
 #define X_STEP_READ() bool(READ(X_STEP_PIN))
 
 // Y Stepper
-#ifndef Y_ENABLE_INIT
+#if HAS_Y_AXIS
+  #ifndef Y_ENABLE_INIT
     #define Y_ENABLE_INIT() SET_OUTPUT(Y_ENABLE_PIN)
     #define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
     #define Y_ENABLE_READ() bool(READ(Y_ENABLE_PIN))
-#endif
+  #endif
-#ifndef Y_DIR_INIT
+  #ifndef Y_DIR_INIT
     #define Y_DIR_INIT() SET_OUTPUT(Y_DIR_PIN)
     #define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE)
     #define Y_DIR_READ() bool(READ(Y_DIR_PIN))
-#endif
+  #endif
-#define Y_STEP_INIT() SET_OUTPUT(Y_STEP_PIN)
+  #define Y_STEP_INIT() SET_OUTPUT(Y_STEP_PIN)
-#ifndef Y_STEP_WRITE
+  #ifndef Y_STEP_WRITE
     #define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
+  #endif
+  #define Y_STEP_READ() bool(READ(Y_STEP_PIN))
 #endif
-#define Y_STEP_READ() bool(READ(Y_STEP_PIN))
 
 // Z Stepper
-#ifndef Z_ENABLE_INIT
+#if HAS_Z_AXIS
+  #ifndef Z_ENABLE_INIT
     #define Z_ENABLE_INIT() SET_OUTPUT(Z_ENABLE_PIN)
     #define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
     #define Z_ENABLE_READ() bool(READ(Z_ENABLE_PIN))
-#endif
+  #endif
-#ifndef Z_DIR_INIT
+  #ifndef Z_DIR_INIT
     #define Z_DIR_INIT() SET_OUTPUT(Z_DIR_PIN)
     #define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE)
     #define Z_DIR_READ() bool(READ(Z_DIR_PIN))
-#endif
+  #endif
-#define Z_STEP_INIT() SET_OUTPUT(Z_STEP_PIN)
+  #define Z_STEP_INIT() SET_OUTPUT(Z_STEP_PIN)
-#ifndef Z_STEP_WRITE
+  #ifndef Z_STEP_WRITE
     #define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
+  #endif
+  #define Z_STEP_READ() bool(READ(Z_STEP_PIN))
 #endif
-#define Z_STEP_READ() bool(READ(Z_STEP_PIN))
 
 // X2 Stepper
 #if HAS_X2_ENABLE
@@ -201,6 +205,63 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define Z4_DIR_WRITE(STATE) NOOP
 #endif
 
+// I Stepper
+#if LINEAR_AXES >= 4
+  #ifndef I_ENABLE_INIT
+    #define I_ENABLE_INIT() SET_OUTPUT(I_ENABLE_PIN)
+    #define I_ENABLE_WRITE(STATE) WRITE(I_ENABLE_PIN,STATE)
+    #define I_ENABLE_READ() bool(READ(I_ENABLE_PIN))
+  #endif
+  #ifndef I_DIR_INIT
+    #define I_DIR_INIT() SET_OUTPUT(I_DIR_PIN)
+    #define I_DIR_WRITE(STATE) WRITE(I_DIR_PIN,STATE)
+    #define I_DIR_READ() bool(READ(I_DIR_PIN))
+  #endif
+  #define I_STEP_INIT() SET_OUTPUT(I_STEP_PIN)
+  #ifndef I_STEP_WRITE
+    #define I_STEP_WRITE(STATE) WRITE(I_STEP_PIN,STATE)
+  #endif
+  #define I_STEP_READ() bool(READ(I_STEP_PIN))
+#endif
+
+// J Stepper
+#if LINEAR_AXES >= 5
+  #ifndef J_ENABLE_INIT
+    #define J_ENABLE_INIT() SET_OUTPUT(J_ENABLE_PIN)
+    #define J_ENABLE_WRITE(STATE) WRITE(J_ENABLE_PIN,STATE)
+    #define J_ENABLE_READ() bool(READ(J_ENABLE_PIN))
+  #endif
+  #ifndef J_DIR_INIT
+    #define J_DIR_INIT() SET_OUTPUT(J_DIR_PIN)
+    #define J_DIR_WRITE(STATE) WRITE(J_DIR_PIN,STATE)
+    #define J_DIR_READ() bool(READ(J_DIR_PIN))
+  #endif
+  #define J_STEP_INIT() SET_OUTPUT(J_STEP_PIN)
+  #ifndef J_STEP_WRITE
+    #define J_STEP_WRITE(STATE) WRITE(J_STEP_PIN,STATE)
+  #endif
+  #define J_STEP_READ() bool(READ(J_STEP_PIN))
+#endif
+
+// K Stepper
+#if LINEAR_AXES >= 6
+  #ifndef K_ENABLE_INIT
+    #define K_ENABLE_INIT() SET_OUTPUT(K_ENABLE_PIN)
+    #define K_ENABLE_WRITE(STATE) WRITE(K_ENABLE_PIN,STATE)
+    #define K_ENABLE_READ() bool(READ(K_ENABLE_PIN))
+  #endif
+  #ifndef K_DIR_INIT
+    #define K_DIR_INIT() SET_OUTPUT(K_DIR_PIN)
+    #define K_DIR_WRITE(STATE) WRITE(K_DIR_PIN,STATE)
+    #define K_DIR_READ() bool(READ(K_DIR_PIN))
+  #endif
+  #define K_STEP_INIT() SET_OUTPUT(K_STEP_PIN)
+  #ifndef K_STEP_WRITE
+    #define K_STEP_WRITE(STATE) WRITE(K_STEP_PIN,STATE)
+  #endif
+  #define K_STEP_READ() bool(READ(K_STEP_PIN))
+#endif
+
 // E0 Stepper
 #ifndef E0_ENABLE_INIT
   #define E0_ENABLE_INIT() SET_OUTPUT(E0_ENABLE_PIN)
@@ -720,6 +781,51 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #endif
 #endif
 
+#ifndef ENABLE_STEPPER_I
+  #if HAS_I_ENABLE
+    #define  ENABLE_STEPPER_I() I_ENABLE_WRITE( I_ENABLE_ON)
+  #else
+    #define  ENABLE_STEPPER_I() NOOP
+  #endif
+#endif
+#ifndef DISABLE_STEPPER_I
+  #if HAS_I_ENABLE
+    #define DISABLE_STEPPER_I() I_ENABLE_WRITE(!I_ENABLE_ON)
+  #else
+    #define DISABLE_STEPPER_I() NOOP
+  #endif
+#endif
+
+#ifndef ENABLE_STEPPER_J
+  #if HAS_J_ENABLE
+    #define  ENABLE_STEPPER_J() J_ENABLE_WRITE( J_ENABLE_ON)
+  #else
+    #define  ENABLE_STEPPER_J() NOOP
+  #endif
+#endif
+#ifndef DISABLE_STEPPER_J
+  #if HAS_J_ENABLE
+    #define DISABLE_STEPPER_J() J_ENABLE_WRITE(!J_ENABLE_ON)
+  #else
+    #define DISABLE_STEPPER_J() NOOP
+  #endif
+#endif
+
+#ifndef ENABLE_STEPPER_K
+  #if HAS_K_ENABLE
+    #define  ENABLE_STEPPER_K() K_ENABLE_WRITE( K_ENABLE_ON)
+  #else
+    #define  ENABLE_STEPPER_K() NOOP
+  #endif
+#endif
+#ifndef DISABLE_STEPPER_K
+  #if HAS_K_ENABLE
+    #define DISABLE_STEPPER_K() K_ENABLE_WRITE(!K_ENABLE_ON)
+  #else
+    #define DISABLE_STEPPER_K() NOOP
+  #endif
+#endif
+
 #ifndef ENABLE_STEPPER_E0
   #if HAS_E0_ENABLE
     #define  ENABLE_STEPPER_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
@@ -857,10 +963,22 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
 
 #define  ENABLE_AXIS_X() if (SHOULD_ENABLE(x))  {  ENABLE_STEPPER_X();  ENABLE_STEPPER_X2(); AFTER_CHANGE(x, true); }
 #define DISABLE_AXIS_X() if (SHOULD_DISABLE(x)) { DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); AFTER_CHANGE(x, false); set_axis_untrusted(X_AXIS); }
-#define  ENABLE_AXIS_Y() if (SHOULD_ENABLE(y))  {  ENABLE_STEPPER_Y();  ENABLE_STEPPER_Y2(); AFTER_CHANGE(y, true); }
+
-#define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); set_axis_untrusted(Y_AXIS); }
+#if HAS_Y_AXIS
-#define  ENABLE_AXIS_Z() if (SHOULD_ENABLE(z))  {  ENABLE_STEPPER_Z();  ENABLE_STEPPER_Z2();  ENABLE_STEPPER_Z3();  ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); }
+  #define  ENABLE_AXIS_Y() if (SHOULD_ENABLE(y))  {  ENABLE_STEPPER_Y();  ENABLE_STEPPER_Y2(); AFTER_CHANGE(y, true); }
-#define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); }
+  #define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); set_axis_untrusted(Y_AXIS); }
+#else
+  #define  ENABLE_AXIS_Y() NOOP
+  #define DISABLE_AXIS_Y() NOOP
+#endif
+
+#if HAS_Z_AXIS
+  #define  ENABLE_AXIS_Z() if (SHOULD_ENABLE(z))  {  ENABLE_STEPPER_Z();  ENABLE_STEPPER_Z2();  ENABLE_STEPPER_Z3();  ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); }
+  #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); }
+#else
+  #define  ENABLE_AXIS_Z() NOOP
+  #define DISABLE_AXIS_Z() NOOP
+#endif
 
 #ifdef Z_IDLE_HEIGHT
   #define Z_RESET() do{ current_position.z = Z_IDLE_HEIGHT; sync_plan_position(); }while(0)
@@ -868,6 +986,28 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define Z_RESET()
 #endif
 
+#if LINEAR_AXES >= 4
+  #define  ENABLE_AXIS_I() if (SHOULD_ENABLE(i))  {  ENABLE_STEPPER_I();  AFTER_CHANGE(i, true); }
+  #define DISABLE_AXIS_I() if (SHOULD_DISABLE(i)) { DISABLE_STEPPER_I(); AFTER_CHANGE(i, false); set_axis_untrusted(I_AXIS); }
+#else
+  #define  ENABLE_AXIS_I() NOOP
+  #define DISABLE_AXIS_I() NOOP
+#endif
+#if LINEAR_AXES >= 5
+  #define  ENABLE_AXIS_J() if (SHOULD_ENABLE(j))  {  ENABLE_STEPPER_J();  AFTER_CHANGE(j, true); }
+  #define DISABLE_AXIS_J() if (SHOULD_DISABLE(j)) { DISABLE_STEPPER_J(); AFTER_CHANGE(j, false); set_axis_untrusted(J_AXIS); }
+#else
+  #define  ENABLE_AXIS_J() NOOP
+  #define DISABLE_AXIS_J() NOOP
+#endif
+#if LINEAR_AXES >= 6
+  #define  ENABLE_AXIS_K() if (SHOULD_ENABLE(k))  {  ENABLE_STEPPER_K();  AFTER_CHANGE(k, true); }
+  #define DISABLE_AXIS_K() if (SHOULD_DISABLE(k)) { DISABLE_STEPPER_K(); AFTER_CHANGE(k, false); set_axis_untrusted(K_AXIS); }
+#else
+  #define  ENABLE_AXIS_K() NOOP
+  #define DISABLE_AXIS_K() NOOP
+#endif
+
 //
 // Extruder steppers enable / disable macros
 //

Marlin/src/module/stepper/trinamic.cpp

@@ -36,7 +36,7 @@
 #include <SPI.h>
 
 enum StealthIndex : uint8_t {
-  LOGICAL_AXIS_LIST(STEALTH_AXIS_E, STEALTH_AXIS_X, STEALTH_AXIS_Y, STEALTH_AXIS_Z)
+  LOGICAL_AXIS_LIST(STEALTH_AXIS_E, STEALTH_AXIS_X, STEALTH_AXIS_Y, STEALTH_AXIS_Z, STEALTH_AXIS_I, STEALTH_AXIS_J, STEALTH_AXIS_K)
 };
 #define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST, ST##_INTERPOLATE)
 
@@ -97,6 +97,15 @@ enum StealthIndex : uint8_t {
 #if AXIS_HAS_SPI(Z4)
   TMC_SPI_DEFINE(Z4, Z);
 #endif
+#if AXIS_HAS_SPI(I)
+  TMC_SPI_DEFINE(I, I);
+#endif
+#if AXIS_HAS_SPI(J)
+  TMC_SPI_DEFINE(J, J);
+#endif
+#if AXIS_HAS_SPI(K)
+  TMC_SPI_DEFINE(K, K);
+#endif
 #if AXIS_HAS_SPI(E0)
   TMC_SPI_DEFINE_E(0);
 #endif
@@ -329,6 +338,34 @@ enum StealthIndex : uint8_t {
       #define Z4_HAS_SW_SERIAL 1
     #endif
   #endif
+  #if AXIS_HAS_UART(I)
+    #ifdef I_HARDWARE_SERIAL
+      TMC_UART_DEFINE(HW, I, I);
+      #define I_HAS_HW_SERIAL 1
+    #else
+      TMC_UART_DEFINE(SW, I, I);
+      #define I_HAS_SW_SERIAL 1
+    #endif
+  #endif
+  #if AXIS_HAS_UART(J)
+    #ifdef J_HARDWARE_SERIAL
+      TMC_UART_DEFINE(HW, J, J);
+      #define J_HAS_HW_SERIAL 1
+    #else
+      TMC_UART_DEFINE(SW, J, J);
+      #define J_HAS_SW_SERIAL 1
+    #endif
+  #endif
+  #if AXIS_HAS_UART(K)
+    #ifdef K_HARDWARE_SERIAL
+      TMC_UART_DEFINE(HW, K, K);
+      #define K_HAS_HW_SERIAL 1
+    #else
+      TMC_UART_DEFINE(SW, K, K);
+      #define K_HAS_SW_SERIAL 1
+    #endif
+  #endif
+
   #if AXIS_HAS_UART(E0)
     #ifdef E0_HARDWARE_SERIAL
       TMC_UART_DEFINE_E(HW, 0);
@@ -402,7 +439,9 @@ enum StealthIndex : uint8_t {
     #endif
   #endif
 
-  enum TMCAxis : uint8_t { LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, TOTAL };
+  #define _EN_ITEM(N) , E##N
+  enum TMCAxis : uint8_t { LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(EXTRUDERS, _EN_ITEM), TOTAL };
+  #undef _EN_ITEM
 
   void tmc_serial_begin() {
     #if HAS_TMC_HW_SERIAL
@@ -474,6 +513,27 @@ enum StealthIndex : uint8_t {
         stepperZ4.beginSerial(TMC_BAUD_RATE);
       #endif
     #endif
+    #if AXIS_HAS_UART(I)
+      #ifdef I_HARDWARE_SERIAL
+        HW_SERIAL_BEGIN(I);
+      #else
+        stepperI.beginSerial(TMC_BAUD_RATE);
+      #endif
+    #endif
+    #if AXIS_HAS_UART(J)
+      #ifdef J_HARDWARE_SERIAL
+        HW_SERIAL_BEGIN(J);
+      #else
+        stepperJ.beginSerial(TMC_BAUD_RATE);
+      #endif
+    #endif
+    #if AXIS_HAS_UART(K)
+      #ifdef K_HARDWARE_SERIAL
+        HW_SERIAL_BEGIN(K);
+      #else
+        stepperK.beginSerial(TMC_BAUD_RATE);
+      #endif
+    #endif
     #if AXIS_HAS_UART(E0)
       #ifdef E0_HARDWARE_SERIAL
         HW_SERIAL_BEGIN(E0);
@@ -740,6 +800,15 @@ void restore_trinamic_drivers() {
   #if AXIS_IS_TMC(Z4)
     stepperZ4.push();
   #endif
+  #if AXIS_IS_TMC(I)
+    stepperI.push();
+  #endif
+  #if AXIS_IS_TMC(J)
+    stepperJ.push();
+  #endif
+  #if AXIS_IS_TMC(K)
+    stepperK.push();
+  #endif
   #if AXIS_IS_TMC(E0)
     stepperE0.push();
   #endif
@@ -771,7 +840,10 @@ void reset_trinamic_drivers() {
     ENABLED(STEALTHCHOP_E),
     ENABLED(STEALTHCHOP_XY),
     ENABLED(STEALTHCHOP_XY),
-    ENABLED(STEALTHCHOP_Z)
+    ENABLED(STEALTHCHOP_Z),
+    ENABLED(STEALTHCHOP_I),
+    ENABLED(STEALTHCHOP_J),
+    ENABLED(STEALTHCHOP_K)
   );
 
   #if AXIS_IS_TMC(X)
@@ -798,6 +870,15 @@ void reset_trinamic_drivers() {
   #if AXIS_IS_TMC(Z4)
     TMC_INIT(Z4, STEALTH_AXIS_Z);
   #endif
+  #if AXIS_IS_TMC(I)
+    TMC_INIT(I, STEALTH_AXIS_I);
+  #endif
+  #if AXIS_IS_TMC(J)
+    TMC_INIT(J, STEALTH_AXIS_J);
+  #endif
+  #if AXIS_IS_TMC(K)
+    TMC_INIT(K, STEALTH_AXIS_K);
+  #endif
   #if AXIS_IS_TMC(E0)
     TMC_INIT(E0, STEALTH_AXIS_E);
   #endif
@@ -848,6 +929,24 @@ void reset_trinamic_drivers() {
         stepperZ4.homing_threshold(CAT(TERN(Z4_SENSORLESS, Z4, Z), _STALL_SENSITIVITY));
       #endif
     #endif
+    #if I_SENSORLESS
+      stepperI.homing_threshold(I_STALL_SENSITIVITY);
+      #if AXIS_HAS_STALLGUARD(I)
+        stepperI.homing_threshold(CAT(TERN(I_SENSORLESS, I, I), _STALL_SENSITIVITY));
+      #endif
+    #endif
+    #if J_SENSORLESS
+      stepperJ.homing_threshold(J_STALL_SENSITIVITY);
+      #if AXIS_HAS_STALLGUARD(J)
+        stepperJ.homing_threshold(CAT(TERN(J_SENSORLESS, J, J), _STALL_SENSITIVITY));
+      #endif
+    #endif
+    #if K_SENSORLESS
+      stepperK.homing_threshold(K_STALL_SENSITIVITY);
+      #if AXIS_HAS_STALLGUARD(K)
+        stepperK.homing_threshold(CAT(TERN(K_SENSORLESS, K, K), _STALL_SENSITIVITY));
+      #endif
+    #endif
   #endif // USE SENSORLESS
 
   #ifdef TMC_ADV

Marlin/src/module/stepper/trinamic.h

@@ -46,6 +46,10 @@
 #define TMC_Y_LABEL 'Y', '0'
 #define TMC_Z_LABEL 'Z', '0'
 
+#define TMC_I_LABEL 'I', '0'
+#define TMC_J_LABEL 'J', '0'
+#define TMC_K_LABEL 'K', '0'
+
 #define TMC_X2_LABEL 'X', '2'
 #define TMC_Y2_LABEL 'Y', '2'
 #define TMC_Z2_LABEL 'Z', '2'
@@ -79,13 +83,22 @@ typedef struct {
 #ifndef CHOPPER_TIMING_X
   #define CHOPPER_TIMING_X CHOPPER_TIMING
 #endif
-#ifndef CHOPPER_TIMING_Y
+#if HAS_Y_AXIS && !defined(CHOPPER_TIMING_Y)
   #define CHOPPER_TIMING_Y CHOPPER_TIMING
 #endif
-#ifndef CHOPPER_TIMING_Z
+#if HAS_Z_AXIS && !defined(CHOPPER_TIMING_Z)
   #define CHOPPER_TIMING_Z CHOPPER_TIMING
 #endif
-#ifndef CHOPPER_TIMING_E
+#if LINEAR_AXES >= 4 && !defined(CHOPPER_TIMING_I)
+  #define CHOPPER_TIMING_I CHOPPER_TIMING
+#endif
+#if LINEAR_AXES >= 5 && !defined(CHOPPER_TIMING_J)
+  #define CHOPPER_TIMING_J CHOPPER_TIMING
+#endif
+#if LINEAR_AXES >= 6 && !defined(CHOPPER_TIMING_K)
+  #define CHOPPER_TIMING_K CHOPPER_TIMING
+#endif
+#if HAS_EXTRUDERS && !defined(CHOPPER_TIMING_E)
   #define CHOPPER_TIMING_E CHOPPER_TIMING
 #endif
 
@@ -225,6 +238,48 @@ void reset_trinamic_drivers();
   #endif
 #endif
 
+// I Stepper
+#if AXIS_IS_TMC(I)
+  extern TMC_CLASS(I, I) stepperI;
+  static constexpr chopper_timing_t chopper_timing_I = CHOPPER_TIMING_I;
+  #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+    #define I_ENABLE_INIT() NOOP
+    #define I_ENABLE_WRITE(STATE) stepperI.toff((STATE)==I_ENABLE_ON ? chopper_timing.toff : 0)
+    #define I_ENABLE_READ() stepperI.isEnabled()
+  #endif
+  #if AXIS_HAS_SQUARE_WAVE(I)
+    #define I_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(I_STEP_PIN); }while(0)
+  #endif
+#endif
+
+// J Stepper
+#if AXIS_IS_TMC(J)
+  extern TMC_CLASS(J, J) stepperJ;
+  static constexpr chopper_timing_t chopper_timing_J = CHOPPER_TIMING_J;
+  #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+    #define J_ENABLE_INIT() NOOP
+    #define J_ENABLE_WRITE(STATE) stepperJ.toff((STATE)==J_ENABLE_ON ? chopper_timing.toff : 0)
+    #define J_ENABLE_READ() stepperJ.isEnabled()
+  #endif
+  #if AXIS_HAS_SQUARE_WAVE(J)
+    #define J_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(J_STEP_PIN); }while(0)
+  #endif
+#endif
+
+// K Stepper
+#if AXIS_IS_TMC(K)
+  extern TMC_CLASS(K, K) stepperK;
+  static constexpr chopper_timing_t chopper_timing_K = CHOPPER_TIMING_K;
+  #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+    #define K_ENABLE_INIT() NOOP
+    #define K_ENABLE_WRITE(STATE) stepperK.toff((STATE)==K_ENABLE_ON ? chopper_timing.toff : 0)
+    #define K_ENABLE_READ() stepperK.isEnabled()
+  #endif
+  #if AXIS_HAS_SQUARE_WAVE(K)
+    #define K_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(K_STEP_PIN); }while(0)
+  #endif
+#endif
+
 // E0 Stepper
 #if AXIS_IS_TMC(E0)
   extern TMC_CLASS_E(0) stepperE0;

Marlin/src/module/tool_change.cpp

@@ -49,7 +49,9 @@
   bool toolchange_extruder_ready[EXTRUDERS];
 #endif
 
-#if EITHER(MAGNETIC_PARKING_EXTRUDER, TOOL_SENSOR) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0)
+#if EITHER(MAGNETIC_PARKING_EXTRUDER, TOOL_SENSOR) \
+  || defined(EVENT_GCODE_TOOLCHANGE_T0) || defined(EVENT_GCODE_TOOLCHANGE_T1) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) \
+  || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0)
   #include "../gcode/gcode.h"
 #endif
 
@@ -1311,10 +1313,22 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
 
     TERN_(HAS_FANMUX, fanmux_switch(active_extruder));
 
+    if (!no_move) {
+      #ifdef EVENT_GCODE_TOOLCHANGE_T0
+        if (new_tool == 0)
+          gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_TOOLCHANGE_T0));
+      #endif
+
+      #ifdef EVENT_GCODE_TOOLCHANGE_T1
+        if (new_tool == 1)
+          gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_TOOLCHANGE_T1));
+      #endif
+
       #ifdef EVENT_GCODE_AFTER_TOOLCHANGE
-      if (!no_move && TERN1(DUAL_X_CARRIAGE, dual_x_carriage_mode == DXC_AUTO_PARK_MODE))
+        if (TERN1(DUAL_X_CARRIAGE, dual_x_carriage_mode == DXC_AUTO_PARK_MODE))
           gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_AFTER_TOOLCHANGE));
       #endif
+    }
 
     SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, active_extruder);
 

Marlin/src/pins/pinsDebug_list.h

@@ -1319,6 +1319,105 @@
 #if PIN_EXISTS(Z_MIN_PROBE)
   REPORT_NAME_DIGITAL(__LINE__, Z_MIN_PROBE_PIN)
 #endif
+#if PIN_EXISTS(I_ATT)
+  REPORT_NAME_DIGITAL(__LINE__, I_ATT_PIN)
+#endif
+#if PIN_EXISTS(I_CS)
+  REPORT_NAME_DIGITAL(__LINE__, I_CS_PIN)
+#endif
+#if PIN_EXISTS(I_DIR)
+  REPORT_NAME_DIGITAL(__LINE__, I_DIR_PIN)
+#endif
+#if PIN_EXISTS(I_ENABLE)
+  REPORT_NAME_DIGITAL(__LINE__, I_ENABLE_PIN)
+#endif
+#if PIN_EXISTS(I_MAX)
+  REPORT_NAME_DIGITAL(__LINE__, I_MAX_PIN)
+#endif
+#if PIN_EXISTS(I_MIN)
+  REPORT_NAME_DIGITAL(__LINE__, I_MIN_PIN)
+#endif
+#if PIN_EXISTS(I_MS1)
+  REPORT_NAME_DIGITAL(__LINE__, I_MS1_PIN)
+#endif
+#if PIN_EXISTS(I_MS2)
+  REPORT_NAME_DIGITAL(__LINE__, I_MS2_PIN)
+#endif
+#if PIN_EXISTS(I_MS3)
+  REPORT_NAME_DIGITAL(__LINE__, I_MS3_PIN)
+#endif
+#if PIN_EXISTS(I_STEP)
+  REPORT_NAME_DIGITAL(__LINE__, I_STEP_PIN)
+#endif
+#if PIN_EXISTS(I_STOP)
+  REPORT_NAME_DIGITAL(__LINE__, I_STOP_PIN)
+#endif
+#if PIN_EXISTS(J_ATT)
+  REPORT_NAME_DIGITAL(__LINE__, J_ATT_PIN)
+#endif
+#if PIN_EXISTS(J_CS)
+  REPORT_NAME_DIGITAL(__LINE__, J_CS_PIN)
+#endif
+#if PIN_EXISTS(J_DIR)
+  REPORT_NAME_DIGITAL(__LINE__, J_DIR_PIN)
+#endif
+#if PIN_EXISTS(J_ENABLE)
+  REPORT_NAME_DIGITAL(__LINE__, J_ENABLE_PIN)
+#endif
+#if PIN_EXISTS(J_MAX)
+  REPORT_NAME_DIGITAL(__LINE__, J_MAX_PIN)
+#endif
+#if PIN_EXISTS(J_MIN)
+  REPORT_NAME_DIGITAL(__LINE__, J_MIN_PIN)
+#endif
+#if PIN_EXISTS(J_MS1)
+  REPORT_NAME_DIGITAL(__LINE__, J_MS1_PIN)
+#endif
+#if PIN_EXISTS(J_MS2)
+  REPORT_NAME_DIGITAL(__LINE__, J_MS2_PIN)
+#endif
+#if PIN_EXISTS(J_MS3)
+  REPORT_NAME_DIGITAL(__LINE__, J_MS3_PIN)
+#endif
+#if PIN_EXISTS(J_STEP)
+  REPORT_NAME_DIGITAL(__LINE__, J_STEP_PIN)
+#endif
+#if PIN_EXISTS(J_STOP)
+  REPORT_NAME_DIGITAL(__LINE__, J_STOP_PIN)
+#endif
+#if PIN_EXISTS(K_ATT)
+  REPORT_NAME_DIGITAL(__LINE__, K_ATT_PIN)
+#endif
+#if PIN_EXISTS(K_CS)
+  REPORT_NAME_DIGITAL(__LINE__, K_CS_PIN)
+#endif
+#if PIN_EXISTS(K_DIR)
+  REPORT_NAME_DIGITAL(__LINE__, K_DIR_PIN)
+#endif
+#if PIN_EXISTS(K_ENABLE)
+  REPORT_NAME_DIGITAL(__LINE__, K_ENABLE_PIN)
+#endif
+#if PIN_EXISTS(K_MAX)
+  REPORT_NAME_DIGITAL(__LINE__, K_MAX_PIN)
+#endif
+#if PIN_EXISTS(K_MIN)
+  REPORT_NAME_DIGITAL(__LINE__, K_MIN_PIN)
+#endif
+#if PIN_EXISTS(K_MS1)
+  REPORT_NAME_DIGITAL(__LINE__, K_MS1_PIN)
+#endif
+#if PIN_EXISTS(K_MS2)
+  REPORT_NAME_DIGITAL(__LINE__, K_MS2_PIN)
+#endif
+#if PIN_EXISTS(K_MS3)
+  REPORT_NAME_DIGITAL(__LINE__, K_MS3_PIN)
+#endif
+#if PIN_EXISTS(K_STEP)
+  REPORT_NAME_DIGITAL(__LINE__, K_STEP_PIN)
+#endif
+#if PIN_EXISTS(K_STOP)
+  REPORT_NAME_DIGITAL(__LINE__, K_STOP_PIN)
+#endif
 #if PIN_EXISTS(ZRIB_V20_D6)
   REPORT_NAME_DIGITAL(__LINE__, ZRIB_V20_D6_PIN)
 #endif

Marlin/src/pins/pins_postprocess.h

@@ -402,7 +402,8 @@
   #define X_STOP_PIN X_MAX_PIN
 #endif
 
-#ifdef Y_STOP_PIN
+#if HAS_Y_AXIS
+  #ifdef Y_STOP_PIN
     #if Y_HOME_TO_MIN
       #define Y_MIN_PIN Y_STOP_PIN
       #ifndef Y_MAX_PIN
@@ -414,13 +415,15 @@
         #define Y_MIN_PIN -1
       #endif
     #endif
-#elif Y_HOME_TO_MIN
+  #elif Y_HOME_TO_MIN
     #define Y_STOP_PIN Y_MIN_PIN
-#else
+  #else
     #define Y_STOP_PIN Y_MAX_PIN
+  #endif
 #endif
 
-#ifdef Z_STOP_PIN
+#if HAS_Z_AXIS
+  #ifdef Z_STOP_PIN
     #if Z_HOME_TO_MIN
       #define Z_MIN_PIN Z_STOP_PIN
       #ifndef Z_MAX_PIN
@@ -432,10 +435,56 @@
         #define Z_MIN_PIN -1
       #endif
     #endif
-#elif Z_HOME_TO_MIN
+  #elif Z_HOME_TO_MIN
     #define Z_STOP_PIN Z_MIN_PIN
-#else
+  #else
     #define Z_STOP_PIN Z_MAX_PIN
+  #endif
+#endif
+
+#if LINEAR_AXES >= 4
+  #ifdef I_STOP_PIN
+    #if I_HOME_TO_MIN
+      #define I_MIN_PIN I_STOP_PIN
+      #define I_MAX_PIN -1
+    #else
+      #define I_MIN_PIN -1
+      #define I_MAX_PIN I_STOP_PIN
+    #endif
+  #endif
+#else
+  #undef I_MIN_PIN
+  #undef I_MAX_PIN
+#endif
+
+#if LINEAR_AXES >= 5
+  #ifdef J_STOP_PIN
+    #if J_HOME_TO_MIN
+      #define J_MIN_PIN J_STOP_PIN
+      #define J_MAX_PIN -1
+    #else
+      #define J_MIN_PIN -1
+      #define J_MAX_PIN J_STOP_PIN
+    #endif
+  #endif
+#else
+  #undef J_MIN_PIN
+  #undef J_MAX_PIN
+#endif
+
+#if LINEAR_AXES >= 6
+  #ifdef K_STOP_PIN
+    #if K_HOME_TO_MIN
+      #define K_MIN_PIN K_STOP_PIN
+      #define K_MAX_PIN -1
+    #else
+      #define K_MIN_PIN -1
+      #define K_MAX_PIN K_STOP_PIN
+    #endif
+  #endif
+#else
+  #undef K_MIN_PIN
+  #undef K_MAX_PIN
 #endif
 
 // Filament Sensor first pin alias
@@ -863,6 +912,19 @@
   #undef Z_MAX_PIN
   #define Z_MAX_PIN          -1
 #endif
+#if DISABLED(USE_IMAX_PLUG)
+  #undef I_MAX_PIN
+  #define I_MAX_PIN          -1
+#endif
+#if DISABLED(USE_JMAX_PLUG)
+  #undef J_MAX_PIN
+  #define J_MAX_PIN          -1
+#endif
+#if DISABLED(USE_KMAX_PLUG)
+  #undef K_MAX_PIN
+  #define K_MAX_PIN          -1
+#endif
+
 #if DISABLED(USE_XMIN_PLUG)
   #undef X_MIN_PIN
   #define X_MIN_PIN          -1
@@ -906,6 +968,19 @@
   #undef Z4_MAX_PIN
 #endif
 
+#if DISABLED(USE_IMIN_PLUG)
+  #undef I_MIN_PIN
+  #define I_MIN_PIN          -1
+#endif
+#if DISABLED(USE_JMIN_PLUG)
+  #undef J_MIN_PIN
+  #define J_MIN_PIN          -1
+#endif
+#if DISABLED(USE_KMIN_PLUG)
+  #undef K_MIN_PIN
+  #define K_MIN_PIN          -1
+#endif
+
 //
 // Default DOGLCD SPI delays
 //

Marlin/src/pins/sensitive_pins.h

@@ -63,81 +63,220 @@
 
 #define _X_PINS X_STEP_PIN, X_DIR_PIN, _X_ENABLE_PIN _X_MIN _X_MAX _X_MS1 _X_MS2 _X_MS3 _X_CS
 
-#if PIN_EXISTS(Y_MIN)
+#if HAS_Y_AXIS
+
+  #if PIN_EXISTS(Y_MIN)
     #define _Y_MIN Y_MIN_PIN,
-#else
+  #else
     #define _Y_MIN
-#endif
+  #endif
-#if PIN_EXISTS(Y_MAX)
+  #if PIN_EXISTS(Y_MAX)
     #define _Y_MAX Y_MAX_PIN,
-#else
+  #else
     #define _Y_MAX
-#endif
+  #endif
-#if PIN_EXISTS(Y_CS) && AXIS_HAS_SPI(Y)
+  #if PIN_EXISTS(Y_CS) && AXIS_HAS_SPI(Y)
     #define _Y_CS Y_CS_PIN,
-#else
+  #else
     #define _Y_CS
-#endif
+  #endif
-#if PIN_EXISTS(Y_MS1)
+  #if PIN_EXISTS(Y_MS1)
     #define _Y_MS1 Y_MS1_PIN,
-#else
+  #else
     #define _Y_MS1
-#endif
+  #endif
-#if PIN_EXISTS(Y_MS2)
+  #if PIN_EXISTS(Y_MS2)
     #define _Y_MS2 Y_MS2_PIN,
-#else
+  #else
     #define _Y_MS2
-#endif
+  #endif
-#if PIN_EXISTS(Y_MS3)
+  #if PIN_EXISTS(Y_MS3)
     #define _Y_MS3 Y_MS3_PIN,
-#else
+  #else
     #define _Y_MS3
-#endif
+  #endif
-#if PIN_EXISTS(Y_ENABLE)
+  #if PIN_EXISTS(Y_ENABLE)
     #define _Y_ENABLE_PIN Y_ENABLE_PIN,
-#else
+  #else
     #define _Y_ENABLE_PIN
+  #endif
+
+  #define _Y_PINS Y_STEP_PIN, Y_DIR_PIN, _Y_ENABLE_PIN _Y_MIN _Y_MAX _Y_MS1 _Y_MS2 _Y_MS3 _Y_CS
+
+#else
+
+  #define _Y_PINS
+
 #endif
 
-#define _Y_PINS Y_STEP_PIN, Y_DIR_PIN, _Y_ENABLE_PIN _Y_MIN _Y_MAX _Y_MS1 _Y_MS2 _Y_MS3 _Y_CS
+#if HAS_Z_AXIS
 
-#if PIN_EXISTS(Z_MIN)
+  #if PIN_EXISTS(Z_MIN)
     #define _Z_MIN Z_MIN_PIN,
-#else
+  #else
     #define _Z_MIN
-#endif
+  #endif
-#if PIN_EXISTS(Z_MAX)
+  #if PIN_EXISTS(Z_MAX)
     #define _Z_MAX Z_MAX_PIN,
-#else
+  #else
     #define _Z_MAX
-#endif
+  #endif
-#if PIN_EXISTS(Z_CS) && AXIS_HAS_SPI(Z)
+  #if PIN_EXISTS(Z_CS) && AXIS_HAS_SPI(Z)
     #define _Z_CS Z_CS_PIN,
-#else
+  #else
     #define _Z_CS
-#endif
+  #endif
-#if PIN_EXISTS(Z_MS1)
+  #if PIN_EXISTS(Z_MS1)
     #define _Z_MS1 Z_MS1_PIN,
-#else
+  #else
     #define _Z_MS1
-#endif
+  #endif
-#if PIN_EXISTS(Z_MS2)
+  #if PIN_EXISTS(Z_MS2)
     #define _Z_MS2 Z_MS2_PIN,
-#else
+  #else
     #define _Z_MS2
-#endif
+  #endif
-#if PIN_EXISTS(Z_MS3)
+  #if PIN_EXISTS(Z_MS3)
     #define _Z_MS3 Z_MS3_PIN,
-#else
+  #else
     #define _Z_MS3
-#endif
+  #endif
-#if PIN_EXISTS(Z_ENABLE)
+  #if PIN_EXISTS(Z_ENABLE)
     #define _Z_ENABLE_PIN Z_ENABLE_PIN,
-#else
+  #else
     #define _Z_ENABLE_PIN
+  #endif
+
+  #define _Z_PINS Z_STEP_PIN, Z_DIR_PIN, _Z_ENABLE_PIN _Z_MIN _Z_MAX _Z_MS1 _Z_MS2 _Z_MS3 _Z_CS
+
+#else
+
+  #define _Z_PINS
+
 #endif
 
-#define _Z_PINS Z_STEP_PIN, Z_DIR_PIN, _Z_ENABLE_PIN _Z_MIN _Z_MAX _Z_MS1 _Z_MS2 _Z_MS3 _Z_CS
+#if LINEAR_AXES >= 4
+
+  #if PIN_EXISTS(I_MIN)
+    #define _I_MIN I_MIN_PIN,
+  #else
+    #define _I_MIN
+  #endif
+  #if PIN_EXISTS(I_MAX)
+    #define _I_MAX I_MAX_PIN,
+  #else
+    #define _I_MAX
+  #endif
+  #if PIN_EXISTS(I_CS)
+    #define _I_CS I_CS_PIN,
+  #else
+    #define _I_CS
+  #endif
+  #if PIN_EXISTS(I_MS1)
+    #define _I_MS1 I_MS1_PIN,
+  #else
+    #define _I_MS1
+  #endif
+  #if PIN_EXISTS(I_MS2)
+    #define _I_MS2 I_MS2_PIN,
+  #else
+    #define _I_MS2
+  #endif
+  #if PIN_EXISTS(I_MS3)
+    #define _I_MS3 I_MS3_PIN,
+  #else
+    #define _I_MS3
+  #endif
+
+  #define _I_PINS I_STEP_PIN, I_DIR_PIN, I_ENABLE_PIN, _I_MIN _I_MAX _I_MS1 _I_MS2 _I_MS3 _I_CS
+
+#else
+
+  #define _I_PINS
+
+#endif
+
+#if LINEAR_AXES >= 5
+
+  #if PIN_EXISTS(J_MIN)
+    #define _J_MIN J_MIN_PIN,
+  #else
+    #define _J_MIN
+  #endif
+  #if PIN_EXISTS(J_MAX)
+    #define _J_MAX J_MAX_PIN,
+  #else
+    #define _J_MAX
+  #endif
+  #if PIN_EXISTS(J_CS)
+    #define _J_CS J_CS_PIN,
+  #else
+    #define _J_CS
+  #endif
+  #if PIN_EXISTS(J_MS1)
+    #define _J_MS1 J_MS1_PIN,
+  #else
+    #define _J_MS1
+  #endif
+  #if PIN_EXISTS(J_MS2)
+    #define _J_MS2 J_MS2_PIN,
+  #else
+    #define _J_MS2
+  #endif
+  #if PIN_EXISTS(J_MS3)
+    #define _J_MS3 J_MS3_PIN,
+  #else
+    #define _J_MS3
+  #endif
+
+  #define _J_PINS J_STEP_PIN, J_DIR_PIN, J_ENABLE_PIN, _J_MIN _J_MAX _J_MS1 _J_MS2 _J_MS3 _J_CS
+
+#else
+
+  #define _J_PINS
+
+#endif
+
+#if LINEAR_AXES >= 6
+
+  #if PIN_EXISTS(K_MIN)
+    #define _K_MIN K_MIN_PIN,
+  #else
+    #define _K_MIN
+  #endif
+  #if PIN_EXISTS(K_MAX)
+    #define _K_MAX K_MAX_PIN,
+  #else
+    #define _K_MAX
+  #endif
+  #if PIN_EXISTS(K_CS)
+    #define _K_CS K_CS_PIN,
+  #else
+    #define _K_CS
+  #endif
+  #if PIN_EXISTS(K_MS1)
+    #define _K_MS1 K_MS1_PIN,
+  #else
+    #define _K_MS1
+  #endif
+  #if PIN_EXISTS(K_MS2)
+    #define _K_MS2 K_MS2_PIN,
+  #else
+    #define _K_MS2
+  #endif
+  #if PIN_EXISTS(K_MS3)
+    #define _K_MS3 K_MS3_PIN,
+  #else
+    #define _K_MS3
+  #endif
+
+  #define _K_PINS K_STEP_PIN, K_DIR_PIN, K_ENABLE_PIN, _K_MIN _K_MAX _K_MS1 _K_MS2 _K_MS3 _K_CS
+
+#else
+
+  #define _K_PINS
+
+#endif
 
 //
 // Extruder Chip Select, Digital Micro-steps
@@ -714,7 +853,8 @@
 #endif
 
 #define SENSITIVE_PINS { \
-  _X_PINS _Y_PINS _Z_PINS _X2_PINS _Y2_PINS _Z2_PINS _Z3_PINS _Z4_PINS _Z_PROBE \
+  _X_PINS _Y_PINS _Z_PINS _I_PINS _J_PINS _K_PINS \
+  _X2_PINS _Y2_PINS _Z2_PINS _Z3_PINS _Z4_PINS _Z_PROBE \
   _E0_PINS _E1_PINS _E2_PINS _E3_PINS _E4_PINS _E5_PINS _E6_PINS _E7_PINS \
   _H0_PINS _H1_PINS _H2_PINS _H3_PINS _H4_PINS _H5_PINS _H6_PINS _H7_PINS \
   _PS_ON _FAN0 _FAN1 _FAN2 _FAN3 _FAN4 _FAN5 _FAN6 _FAN7 _FANC \

Marlin/src/sd/cardreader.cpp

@@ -59,6 +59,7 @@
 
 // extern
 
+PGMSTR(M21_STR, "M21");
 PGMSTR(M23_STR, "M23 %s");
 PGMSTR(M24_STR, "M24");