Update configs with new sensorless options

Followup to #14044
5 years ago · 1fe195926f
96 changed files with 1632 additions and 672 deletions
--- a/config/default/Configuration_adv.h
+++ b/config/default/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/3DFabXYZ/Migbot/Configuration_adv.h
+++ b/config/examples/3DFabXYZ/Migbot/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/AlephObjects/TAZ4/Configuration_adv.h
+++ b/config/examples/AlephObjects/TAZ4/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Alfawise/U20/Configuration_adv.h
+++ b/config/examples/Alfawise/U20/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/AliExpress/UM2pExt/Configuration_adv.h
+++ b/config/examples/AliExpress/UM2pExt/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Anet/A2/Configuration_adv.h
+++ b/config/examples/Anet/A2/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Anet/A2plus/Configuration_adv.h
+++ b/config/examples/Anet/A2plus/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Anet/A6/Configuration_adv.h
+++ b/config/examples/Anet/A6/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Anet/A8/Configuration_adv.h
+++ b/config/examples/Anet/A8/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Anet/A8plus/Configuration_adv.h
+++ b/config/examples/Anet/A8plus/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Anet/E16/Configuration_adv.h
+++ b/config/examples/Anet/E16/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/AnyCubic/i3/Configuration_adv.h
+++ b/config/examples/AnyCubic/i3/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/ArmEd/Configuration_adv.h
+++ b/config/examples/ArmEd/Configuration_adv.h
@ -1855,17 +1855,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1882,6 +1890,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/BIBO/TouchX/cyclops/Configuration_adv.h
+++ b/config/examples/BIBO/TouchX/cyclops/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/BIBO/TouchX/default/Configuration_adv.h
+++ b/config/examples/BIBO/TouchX/default/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/BQ/Hephestos/Configuration_adv.h
+++ b/config/examples/BQ/Hephestos/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/BQ/Hephestos_2/Configuration_adv.h
+++ b/config/examples/BQ/Hephestos_2/Configuration_adv.h
@ -1859,17 +1859,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1886,6 +1894,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/BQ/WITBOX/Configuration_adv.h
+++ b/config/examples/BQ/WITBOX/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Cartesio/Configuration_adv.h
+++ b/config/examples/Cartesio/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/CR-10/Configuration_adv.h
+++ b/config/examples/Creality/CR-10/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/CR-10S/Configuration_adv.h
+++ b/config/examples/Creality/CR-10S/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/CR-10_5S/Configuration_adv.h
+++ b/config/examples/Creality/CR-10_5S/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/CR-10mini/Configuration_adv.h
+++ b/config/examples/Creality/CR-10mini/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/CR-20
+++ b/config/examples/Creality/CR-20
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/CR-20/Configuration_adv.h
+++ b/config/examples/Creality/CR-20/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/CR-8/Configuration_adv.h
+++ b/config/examples/Creality/CR-8/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/Ender-2/Configuration_adv.h
+++ b/config/examples/Creality/Ender-2/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/Ender-3/Configuration_adv.h
+++ b/config/examples/Creality/Ender-3/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/Ender-4/Configuration_adv.h
+++ b/config/examples/Creality/Ender-4/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Creality/Ender-5/Configuration_adv.h
+++ b/config/examples/Creality/Ender-5/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/Ultimate/Configuration_adv.h
+++ b/Ultimate/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/X1/Configuration_adv.h
+++ b/X1/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Einstart-S/Configuration_adv.h
+++ b/config/examples/Einstart-S/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/FYSETC/AIO_II/Configuration_adv.h
+++ b/config/examples/FYSETC/AIO_II/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/1.2/BLTouch/Configuration_adv.h
+++ b/1.2/BLTouch/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/FYSETC/Cheetah
+++ b/config/examples/FYSETC/Cheetah
@ -1850,17 +1850,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1877,6 +1885,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/FYSETC/Cheetah/BLTouch/Configuration_adv.h
+++ b/config/examples/FYSETC/Cheetah/BLTouch/Configuration_adv.h
@ -1850,17 +1850,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1877,6 +1885,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/FYSETC/Cheetah/base/Configuration_adv.h
+++ b/config/examples/FYSETC/Cheetah/base/Configuration_adv.h
@ -1850,17 +1850,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1877,6 +1885,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/FYSETC/F6_13/Configuration_adv.h
+++ b/config/examples/FYSETC/F6_13/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Felix/Configuration_adv.h
+++ b/config/examples/Felix/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/FlashForge/CreatorPro/Configuration_adv.h
+++ b/config/examples/FlashForge/CreatorPro/Configuration_adv.h
@ -1850,17 +1850,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1877,6 +1885,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/FolgerTech/i3-2020/Configuration_adv.h
+++ b/config/examples/FolgerTech/i3-2020/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Formbot/Raptor/Configuration_adv.h
+++ b/config/examples/Formbot/Raptor/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Formbot/T_Rex_2+/Configuration_adv.h
+++ b/config/examples/Formbot/T_Rex_2+/Configuration_adv.h
@ -1855,17 +1855,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1882,6 +1890,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Formbot/T_Rex_3/Configuration_adv.h
+++ b/config/examples/Formbot/T_Rex_3/Configuration_adv.h
@ -1855,17 +1855,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1882,6 +1890,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Geeetech/A10/Configuration_adv.h
+++ b/config/examples/Geeetech/A10/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Geeetech/A10M/Configuration_adv.h
+++ b/config/examples/Geeetech/A10M/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Geeetech/A20M/Configuration_adv.h
+++ b/config/examples/Geeetech/A20M/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Geeetech/MeCreator2/Configuration_adv.h
+++ b/config/examples/Geeetech/MeCreator2/Configuration_adv.h
@ -1850,17 +1850,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1877,6 +1885,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Geeetech/Prusa
+++ b/config/examples/Geeetech/Prusa
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Geeetech/Prusa
+++ b/config/examples/Geeetech/Prusa
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Infitary/i3-M508/Configuration_adv.h
+++ b/config/examples/Infitary/i3-M508/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/JGAurora/A1/Configuration_adv.h
+++ b/config/examples/JGAurora/A1/Configuration_adv.h
@ -1856,17 +1856,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1883,6 +1891,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/JGAurora/A5/Configuration_adv.h
+++ b/config/examples/JGAurora/A5/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/JGAurora/A5S/Configuration_adv.h
+++ b/config/examples/JGAurora/A5S/Configuration_adv.h
@ -1856,17 +1856,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1883,6 +1891,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/MakerParts/Configuration_adv.h
+++ b/config/examples/MakerParts/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Malyan/M150/Configuration_adv.h
+++ b/config/examples/Malyan/M150/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Malyan/M200/Configuration_adv.h
+++ b/config/examples/Malyan/M200/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Micromake/C1/enhanced/Configuration_adv.h
+++ b/config/examples/Micromake/C1/enhanced/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Mks/Robin/Configuration_adv.h
+++ b/config/examples/Mks/Robin/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Mks/Sbase/Configuration_adv.h
+++ b/config/examples/Mks/Sbase/Configuration_adv.h
@ -1852,17 +1852,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1879,6 +1887,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/RapideLite/RL200/Configuration_adv.h
+++ b/config/examples/RapideLite/RL200/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/RigidBot/Configuration_adv.h
+++ b/config/examples/RigidBot/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/SCARA/Configuration_adv.h
+++ b/config/examples/SCARA/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/STM32/Black_STM32F407VET6/Configuration_adv.h
+++ b/config/examples/STM32/Black_STM32F407VET6/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Sanguinololu/Configuration_adv.h
+++ b/config/examples/Sanguinololu/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Tevo/Michelangelo/Configuration_adv.h
+++ b/config/examples/Tevo/Michelangelo/Configuration_adv.h
@ -1850,17 +1850,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1877,6 +1885,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Tevo/Tarantula
+++ b/config/examples/Tevo/Tarantula
@ -1847,17 +1847,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1874,6 +1882,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Tevo/Tornado/V1
+++ b/config/examples/Tevo/Tornado/V1
@ -1850,17 +1850,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1877,6 +1885,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Tevo/Tornado/V2
+++ b/config/examples/Tevo/Tornado/V2
@ -1850,17 +1850,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1877,6 +1885,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/TheBorg/Configuration_adv.h
+++ b/config/examples/TheBorg/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/TinyBoy2/Configuration_adv.h
+++ b/config/examples/TinyBoy2/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Tronxy/X3A/Configuration_adv.h
+++ b/config/examples/Tronxy/X3A/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Tronxy/X5S-2E/Configuration_adv.h
+++ b/config/examples/Tronxy/X5S-2E/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/UltiMachine/Archim1/Configuration_adv.h
+++ b/config/examples/UltiMachine/Archim1/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/UltiMachine/Archim2/Configuration_adv.h
+++ b/config/examples/UltiMachine/Archim2/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/VORONDesign/Configuration_adv.h
+++ b/config/examples/VORONDesign/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Velleman/K8200/Configuration_adv.h
+++ b/config/examples/Velleman/K8200/Configuration_adv.h
@ -1864,17 +1864,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1891,6 +1899,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Velleman/K8400/Configuration_adv.h
+++ b/config/examples/Velleman/K8400/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/WASP/PowerWASP/Configuration_adv.h
+++ b/config/examples/WASP/PowerWASP/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Wanhao/Duplicator
+++ b/config/examples/Wanhao/Duplicator
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/Wanhao/Duplicator
+++ b/config/examples/Wanhao/Duplicator
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/Anycubic/Kossel/Configuration_adv.h
+++ b/config/examples/delta/Anycubic/Kossel/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h
+++ b/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/FLSUN/kossel/Configuration_adv.h
+++ b/config/examples/delta/FLSUN/kossel/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h
+++ b/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/Geeetech/Rostock
+++ b/config/examples/delta/Geeetech/Rostock
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/MKS/SBASE/Configuration_adv.h
+++ b/config/examples/delta/MKS/SBASE/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/Monster/Configuration_adv.h
+++ b/Monster/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/generic/Configuration_adv.h
+++ b/config/examples/delta/generic/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/kossel_mini/Configuration_adv.h
+++ b/config/examples/delta/kossel_mini/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/delta/kossel_xl/Configuration_adv.h
+++ b/config/examples/delta/kossel_xl/Configuration_adv.h
@ -1853,17 +1853,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1880,6 +1888,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/gCreate/gMax1.5+/Configuration_adv.h
+++ b/config/examples/gCreate/gMax1.5+/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/makibox/Configuration_adv.h
+++ b/config/examples/makibox/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/tvrrug/Round2/Configuration_adv.h
+++ b/config/examples/tvrrug/Round2/Configuration_adv.h
@ -1851,17 +1851,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1878,6 +1886,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**
--- a/config/examples/wt150/Configuration_adv.h
+++ b/config/examples/wt150/Configuration_adv.h
@ -1852,17 +1852,25 @@
  #define E5_HYBRID_THRESHOLD     30

  /**
+   * Use StallGuard2 to home / probe X, Y, Z.
+   *
   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
-   * Use StallGuard2 to sense an obstacle and trigger an endstop.
   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
   * X, Y, and Z homing will always be done in spreadCycle mode.
   *
-   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
-   * Higher values make the system LESS sensitive.
-   * Lower value make the system MORE sensitive.
-   * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
-   * M914 X/Y/Z to live tune the setting
+   * X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
+   * Use M914 X Y Z to live-adjust the sensitivity.
+   *  Higher: LESS sensitive. (Too high => failure to trigger)
+   *   Lower: MORE sensitive. (Too low  => false positives)
+   *
+   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   *
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * Poll the driver through SPI to determine load when homing.
+   * Removes the need for a wire from DIAG1 to an endstop pin.
+   *
+   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
+   * homing and adds a guard period for endstop triggering.
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@ -1879,6 +1887,8 @@
    #define X_STALL_SENSITIVITY  8
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
+    //#define SPI_ENDSTOPS              // TMC2130 only
+    //#define IMPROVE_HOMING_RELIABILITY
  #endif

  /**