Cleanup, extend TMC2130 implementation

8 years ago · 4067d15c92
4 changed files with 275 additions and 86 deletions
--- a/.travis.yml
+++ b/.travis.yml
@ -409,7 +409,7 @@ script:
  - restore_configs
  - opt_enable_adv HAVE_TMC2130 X_IS_TMC2130 Y_IS_TMC2130 Z_IS_TMC2130
  - build_marlin
-  - opt_enable_adv AUTOMATIC_CURRENT_CONTROL STEALTHCHOP
+  - opt_enable_adv AUTOMATIC_CURRENT_CONTROL STEALTHCHOP HYBRID_THRESHOLD SENSORLESS_HOMING
  - build_marlin
  #
  # tvrrug Config need to check board type for sanguino atmega644p
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -198,6 +198,8 @@
 * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
 * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
 * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
+ * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
+ * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
 * M350 - Set microstepping mode. (Requires digital microstepping pins.)
 * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
 *
@ -647,6 +649,10 @@ static bool send_ok[BUFSIZE];
  bool chdkActive = false;
 #endif

+#ifdef AUTOMATIC_CURRENT_CONTROL
+  bool auto_current_control = 0;
+#endif
+
 #if ENABLED(PID_EXTRUSION_SCALING)
  int lpq_len = 20;
 #endif
@ -2756,6 +2762,28 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.
  #endif
 }

+/**
+ * TMC2130 specific sensorless homing using stallGuard2.
+ * stallGuard2 only works when in spreadCycle mode.
+ * spreadCycle and stealthChop are mutually exclusive.
+ */
+#if ENABLED(SENSORLESS_HOMING)
+  void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
+    #if ENABLED(STEALTHCHOP)
+      if (enable) {
+        st.coolstep_min_speed(1024UL * 1024UL - 1UL);
+        st.stealthChop(0);
+      }
+      else {
+        st.coolstep_min_speed(0);
+        st.stealthChop(1);
+      }
+    #endif
+
+    st.diag1_stall(enable ? 1 : 0);
+  }
+#endif
+
 /**
 * Home an individual "raw axis" to its endstop.
 * This applies to XYZ on Cartesian and Core robots, and
@ -2804,6 +2832,16 @@ static void homeaxis(const AxisEnum axis) {
    if (axis == Z_AXIS) stepper.set_homing_flag(true);
  #endif

+  // Disable stealthChop if used. Enable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_HOMING)
+    #if ENABLED(X_IS_TMC2130)
+      if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
+    #endif
+    #if ENABLED(Y_IS_TMC2130)
+      if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
+    #endif
+  #endif
+
  // Fast move towards endstop until triggered
  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
@ -2888,6 +2926,16 @@ static void homeaxis(const AxisEnum axis) {

  #endif

+  // Re-enable stealthChop if used. Disable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_HOMING)
+    #if ENABLED(X_IS_TMC2130)
+      if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
+    #endif
+    #if ENABLED(Y_IS_TMC2130)
+      if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
+    #endif
+  #endif
+
  // Put away the Z probe
  #if HOMING_Z_WITH_PROBE
    if (axis == Z_AXIS && STOW_PROBE()) return;
@ -6902,6 +6950,11 @@ inline void gcode_M140() {
      OUT_WRITE(SUICIDE_PIN, HIGH);
    #endif

+    #if ENABLED(HAVE_TMC2130)
+      delay(100);
+      tmc2130_init(); // Settings only stick when the driver has power
+    #endif
+
    #if ENABLED(ULTIPANEL)
      powersupply = true;
      LCD_MESSAGEPGM(WELCOME_MSG);
@ -8770,22 +8823,21 @@ inline void gcode_M503() {

 #if ENABLED(HAVE_TMC2130)

-  static void tmc2130_print_current(const int mA, const char name) {
+  static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
    SERIAL_CHAR(name);
    SERIAL_ECHOPGM(" axis driver current: ");
-    SERIAL_ECHOLN(mA);
+    SERIAL_ECHOLN(st.getCurrent());
  }
-  static void tmc2130_set_current(const int mA, TMC2130Stepper &st, const char name) {
-    tmc2130_print_current(mA, name);
-    st.setCurrent(mA, 0.11, 0.5);
-  }
-  static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
-    tmc2130_print_current(st.getCurrent(), name);
+  static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
+    st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+    tmc2130_get_current(st, name);
  }
+
  static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
    SERIAL_CHAR(name);
    SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
    serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
+    SERIAL_EOL;
  }
  static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
    st.clear_otpw();
@ -8793,10 +8845,32 @@ inline void gcode_M503() {
    SERIAL_ECHOLNPGM(" prewarn flag cleared");
  }

+  static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
+    SERIAL_CHAR(name);
+    SERIAL_ECHOPGM(" stealthChop max speed set to ");
+    SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
+  }
+  static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
+    st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
+    tmc2130_get_pwmthrs(st, name, spmm);
+  }
+
+  static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
+    SERIAL_CHAR(name);
+    SERIAL_ECHOPGM(" driver homing sensitivity set to ");
+    SERIAL_ECHOLN(st.sgt());
+  }
+  static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
+    st.sgt(sgt_val);
+    tmc2130_get_sgt(st, name);
+  }
+
  /**
   * M906: Set motor current in milliamps using axis codes X, Y, Z, E
-   *
   * Report driver currents when no axis specified
+   *
+   * S1: Enable automatic current control
+   * S0: Disable
   */
  inline void gcode_M906() {
    uint16_t values[XYZE];
@ -8804,21 +8878,25 @@ inline void gcode_M503() {
      values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;

    #if ENABLED(X_IS_TMC2130)
-      if (values[X_AXIS]) tmc2130_set_current(values[X_AXIS], stepperX, 'X');
+      if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
      else tmc2130_get_current(stepperX, 'X');
    #endif
    #if ENABLED(Y_IS_TMC2130)
-      if (values[Y_AXIS]) tmc2130_set_current(values[Y_AXIS], stepperY, 'Y');
+      if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
      else tmc2130_get_current(stepperY, 'Y');
    #endif
    #if ENABLED(Z_IS_TMC2130)
-      if (values[Z_AXIS]) tmc2130_set_current(values[Z_AXIS], stepperZ, 'Z');
+      if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
      else tmc2130_get_current(stepperZ, 'Z');
    #endif
    #if ENABLED(E0_IS_TMC2130)
-      if (values[E_AXIS]) tmc2130_set_current(values[E_AXIS], stepperE0, 'E');
+      if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
      else tmc2130_get_current(stepperE0, 'E');
    #endif
+
+    #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
+      if (code_seen('S')) auto_current_control = code_value_bool();
+    #endif
  }

  /**
@ -8826,17 +8904,19 @@ inline void gcode_M503() {
   * The flag is held by the library and persist until manually cleared by M912
   */
  inline void gcode_M911() {
+    const bool reportX = code_seen('X'), reportY = code_seen('Y'), reportZ = code_seen('Z'), reportE = code_seen('E'),
+             reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
    #if ENABLED(X_IS_TMC2130)
-      tmc2130_report_otpw(stepperX, 'X');
+      if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
    #endif
    #if ENABLED(Y_IS_TMC2130)
-      tmc2130_report_otpw(stepperY, 'Y');
+      if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
    #endif
    #if ENABLED(Z_IS_TMC2130)
-      tmc2130_report_otpw(stepperZ, 'Z');
+      if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
    #endif
    #if ENABLED(E0_IS_TMC2130)
-      tmc2130_report_otpw(stepperE0, 'E');
+      if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
    #endif
  }

@ -8844,20 +8924,66 @@ inline void gcode_M503() {
   * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
   */
  inline void gcode_M912() {
+    const bool clearX = code_seen('X'), clearY = code_seen('Y'), clearZ = code_seen('Z'), clearE = code_seen('E'),
+             clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
    #if ENABLED(X_IS_TMC2130)
-      if (code_seen('X')) tmc2130_clear_otpw(stepperX, 'X');
+      if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
    #endif
    #if ENABLED(Y_IS_TMC2130)
-      if (code_seen('Y')) tmc2130_clear_otpw(stepperY, 'Y');
+      if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
    #endif
    #if ENABLED(Z_IS_TMC2130)
-      if (code_seen('Z')) tmc2130_clear_otpw(stepperZ, 'Z');
+      if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
    #endif
    #if ENABLED(E0_IS_TMC2130)
-      if (code_seen('E')) tmc2130_clear_otpw(stepperE0, 'E');
+      if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
    #endif
  }

+  /**
+   * M913: Set HYBRID_THRESHOLD speed.
+   */
+  #if ENABLED(HYBRID_THRESHOLD)
+    inline void gcode_M913() {
+      uint16_t values[XYZE];
+      LOOP_XYZE(i)
+        values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
+
+      #if ENABLED(X_IS_TMC2130)
+        if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
+        else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
+      #endif
+      #if ENABLED(Y_IS_TMC2130)
+        if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
+        else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
+      #endif
+      #if ENABLED(Z_IS_TMC2130)
+        if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
+        else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
+      #endif
+      #if ENABLED(E0_IS_TMC2130)
+        if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
+        else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
+      #endif
+    }
+  #endif // HYBRID_THRESHOLD
+
+  /**
+   * M914: Set SENSORLESS_HOMING sensitivity.
+   */
+  #if ENABLED(SENSORLESS_HOMING)
+    inline void gcode_M914() {
+      #if ENABLED(X_IS_TMC2130)
+        if (code_seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', code_value_int());
+        else tmc2130_get_sgt(stepperX, 'X');
+      #endif
+      #if ENABLED(Y_IS_TMC2130)
+        if (code_seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', code_value_int());
+        else tmc2130_get_sgt(stepperY, 'Y');
+      #endif
+    }
+  #endif // SENSORLESS_HOMING
+
 #endif // HAVE_TMC2130

 /**
@ -8865,10 +8991,9 @@ inline void gcode_M503() {
 */
 inline void gcode_M907() {
  #if HAS_DIGIPOTSS
-    LOOP_XYZE(i)
-    if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
+    LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
    if (code_seen('B')) stepper.digipot_current(4, code_value_int());
-    if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
+    if (code_seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  #elif HAS_MOTOR_CURRENT_PWM
    #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
      if (code_seen('X')) stepper.digipot_current(0, code_value_int());
@ -8884,11 +9009,11 @@ inline void gcode_M907() {
    // this one uses actual amps in floating point
    LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
    // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
-    for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
+    for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
  #endif
  #if ENABLED(DAC_STEPPER_CURRENT)
    if (code_seen('S')) {
-      float dac_percent = code_value_float();
+      const float dac_percent = code_value_float();
      for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
    }
    LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
@ -10165,6 +10290,18 @@ void process_next_command() {
        case 912: // M911: Clear TMC2130 prewarn triggered flags
          gcode_M912();
          break;
+
+        #if ENABLED(HYBRID_THRESHOLD)
+          case 913: // M913: Set HYBRID_THRESHOLD speed.
+            gcode_M913();
+            break;
+        #endif
+
+        #if ENABLED(SENSORLESS_HOMING)
+          case 914: // M914: Set SENSORLESS_HOMING sensitivity.
+            gcode_M914();
+            break;
+        #endif
      #endif

      #if HAS_MICROSTEPS
@ -11390,23 +11527,58 @@ void disable_all_steppers() {
  disable_e_steppers();
 }

-#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
+#if ENABLED(HAVE_TMC2130)

-  void automatic_current_control(const TMC2130Stepper &st) {
-    #if CURRENT_STEP > 0
-      const bool is_otpw = st.checkOT(), // Check otpw even if we don't adjust. Allows for flag inspection.
-                 is_otpw_triggered = st.getOTPW();
+  void automatic_current_control(TMC2130Stepper &st, String axisID) {
+    // Check otpw even if we don't use automatic control. Allows for flag inspection.
+    const bool is_otpw = st.checkOT();

-      if (!is_otpw && !is_otpw_triggered) {
-        // OTPW bit not triggered yet -> Increase current
-        const uint16_t current = st.getCurrent() + CURRENT_STEP;
-        if (current <= AUTO_ADJUST_MAX) st.SilentStepStick2130(current);
+    // Report if a warning was triggered
+    static bool previous_otpw = false;
+    if (is_otpw && !previous_otpw) {
+      char timestamp[10];
+      duration_t elapsed = print_job_timer.duration();
+      const bool has_days = (elapsed.value > 60*60*24L);
+      (void)elapsed.toDigital(timestamp, has_days);
+      SERIAL_ECHO(timestamp);
+      SERIAL_ECHO(": ");
+      SERIAL_ECHO(axisID);
+      SERIAL_ECHOLNPGM(" driver overtemperature warning!");
+    }
+    previous_otpw = is_otpw;
+
+    #if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
+      // Return if user has not enabled current control start with M906 S1.
+      if (!auto_current_control) return;
+
+      /**
+       * Decrease current if is_otpw is true.
+       * Bail out if driver is disabled.
+       * Increase current if OTPW has not been triggered yet.
+       */
+      uint16_t current = st.getCurrent();
+      if (is_otpw) {
+        st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
+        #if ENABLED(REPORT_CURRENT_CHANGE)
+          SERIAL_ECHO(axisID);
+          SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
+        #endif
      }
-      else if (is_otpw && is_otpw_triggered) {
-        // OTPW bit triggered, triggered flag raised -> Decrease current
-        st.SilentStepStick2130((float)st.getCurrent() - CURRENT_STEP);
+
+      else if (!st.isEnabled())
+        return;
+
+      else if (!is_otpw && !st.getOTPW()) {
+        current += CURRENT_STEP;
+        if (current <= AUTO_ADJUST_MAX) {
+          st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
+          #if ENABLED(REPORT_CURRENT_CHANGE)
+            SERIAL_ECHO(axisID);
+            SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
+          #endif
+        }
      }
-      // OTPW bit cleared (we've cooled down), triggered flag still raised until manually cleared -> Do nothing, we're good
+      SERIAL_EOL;
    #endif
  }

@ -11415,34 +11587,37 @@ void disable_all_steppers() {
    if (ELAPSED(millis(), next_cOT)) {
      next_cOT = millis() + 5000;
      #if ENABLED(X_IS_TMC2130)
-        automatic_current_control(stepperX);
+        automatic_current_control(stepperX, "X");
      #endif
      #if ENABLED(Y_IS_TMC2130)
-        automatic_current_control(stepperY);
+        automatic_current_control(stepperY, "Y");
      #endif
      #if ENABLED(Z_IS_TMC2130)
-        automatic_current_control(stepperZ);
+        automatic_current_control(stepperZ, "Z");
      #endif
      #if ENABLED(X2_IS_TMC2130)
-        automatic_current_control(stepperX2);
+        automatic_current_control(stepperX2, "X2");
      #endif
      #if ENABLED(Y2_IS_TMC2130)
-        automatic_current_control(stepperY2);
+        automatic_current_control(stepperY2, "Y2");
      #endif
      #if ENABLED(Z2_IS_TMC2130)
-        automatic_current_control(stepperZ2);
+        automatic_current_control(stepperZ2, "Z2");
      #endif
      #if ENABLED(E0_IS_TMC2130)
-        automatic_current_control(stepperE0);
+        automatic_current_control(stepperE0, "E0");
      #endif
      #if ENABLED(E1_IS_TMC2130)
-        automatic_current_control(stepperE1);
+        automatic_current_control(stepperE1, "E1");
      #endif
      #if ENABLED(E2_IS_TMC2130)
-        automatic_current_control(stepperE2);
+        automatic_current_control(stepperE2, "E2");
      #endif
      #if ENABLED(E3_IS_TMC2130)
-        automatic_current_control(stepperE3);
+        automatic_current_control(stepperE3, "E3");
+      #endif
+      #if ENABLED(E4_IS_TMC2130)
+        automatic_current_control(stepperE4, "E4");
      #endif
      #if ENABLED(E4_IS_TMC2130)
        automatic_current_control(stepperE4);
@ -11450,7 +11625,7 @@ void disable_all_steppers() {
    }
  }

-#endif // AUTOMATIC_CURRENT_CONTROL
+#endif // HAVE_TMC2130

 /**
 * Manage several activities:
@ -11648,7 +11823,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
    handle_status_leds();
  #endif

-  #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
+  #if ENABLED(HAVE_TMC2130)
    checkOverTemp();
  #endif

--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@ -1124,34 +1124,34 @@ void MarlinSettings::reset() {

  #if ENABLED(HAVE_TMC2130)
    #if ENABLED(X_IS_TMC2130)
-      stepperX.setCurrent(X_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperX.setCurrent(X_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(Y_IS_TMC2130)
-      stepperY.setCurrent(Y_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperY.setCurrent(Y_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(Z_IS_TMC2130)
-      stepperZ.setCurrent(Z_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperZ.setCurrent(Z_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(X2_IS_TMC2130)
-      stepperX2.setCurrent(X2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperX2.setCurrent(X2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(Y2_IS_TMC2130)
-      stepperY2.setCurrent(Y2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperY2.setCurrent(Y2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(Z2_IS_TMC2130)
-      stepperZ2.setCurrent(Z2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperZ2.setCurrent(Z2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(E0_IS_TMC2130)
-      stepperE0.setCurrent(E0_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperE0.setCurrent(E0_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(E1_IS_TMC2130)
-      stepperE1.setCurrent(E1_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperE1.setCurrent(E1_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(E2_IS_TMC2130)
-      stepperE2.setCurrent(E2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperE2.setCurrent(E2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if ENABLED(E3_IS_TMC2130)
-      stepperE3.setCurrent(E3_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
+      stepperE3.setCurrent(E3_CURRENT, R_SENSE, HOLD_MULTIPLIER);
    #endif
  #endif

--- a/Marlin/stepper_indirection.cpp
+++ b/Marlin/stepper_indirection.cpp
@ -129,8 +129,9 @@

  #include <SPI.h>
  #include <TMC2130Stepper.h>
+  #include "enum.h"

-  #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT)
+  #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)

  // Stepper objects of TMC2130 steppers used
  #if ENABLED(X_IS_TMC2130)
@ -169,61 +170,74 @@

  // Use internal reference voltage for current calculations. This is the default.
  // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
-  void tmc2130_init(TMC2130Stepper &st, const uint16_t max_current, const uint16_t microsteps) {
+  // https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
+  void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const uint32_t spmm) {
    st.begin();
    st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
    st.microsteps(microsteps);
-    st.blank_time(24);
-    st.off_time(8);
+    st.blank_time(36);
+    st.off_time(5); // Only enables the driver if used with stealthChop
    st.interpolate(INTERPOLATE);
+    st.power_down_delay(128); // ~2s until driver lowers to hold current
+    st.hysterisis_start(0); // HSTRT = 1
+    st.hysterisis_low(1); // HEND = -2
+    st.diag1_active_high(1); // For sensorless homing
    #if ENABLED(STEALTHCHOP)
+      st.stealth_freq(1); // f_pwm = 2/683 f_clk
+      st.stealth_autoscale(1);
+      st.stealth_gradient(5);
+      st.stealth_amplitude(255);
      st.stealthChop(1);
-    #endif
-    #if ENABLED(SENSORLESS_HOMING)
-      st.coolstep_min_speed(1048575);
-      st.sg_stall_value(STALL_THRESHOLD);
-      st.sg_filter(1);
-      st.diag1_stall(1);
-      st.diag1_active_high(1);
+      #if ENABLED(HYBRID_THRESHOLD)
+        st.stealth_max_speed(12650000UL*st.microsteps()/(256*thrs*spmm));
+      #endif
+    #elif ENABLED(SENSORLESS_HOMING)
+      st.coolstep_min_speed(1024UL * 1024UL - 1UL);
    #endif
  }

-  #define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS)
+  #define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)

  void tmc2130_init() {
-    delay(500); // Let power stabilize before configuring the steppers
+    constexpr uint16_t steps_per_mm[] = DEFAULT_AXIS_STEPS_PER_UNIT;
    #if ENABLED(X_IS_TMC2130)
-      _TMC2130_INIT(X);
+      _TMC2130_INIT( X, steps_per_mm[X_AXIS]);
+      #if ENABLED(SENSORLESS_HOMING)
+        stepperX.sg_stall_value(X_HOMING_SENSITIVITY);
+      #endif
    #endif
    #if ENABLED(X2_IS_TMC2130)
-      _TMC2130_INIT(X2);
+      _TMC2130_INIT(X2, steps_per_mm[X_AXIS]);
    #endif
    #if ENABLED(Y_IS_TMC2130)
-      _TMC2130_INIT(Y);
+      _TMC2130_INIT( Y, steps_per_mm[Y_AXIS]);
+      #if ENABLED(SENSORLESS_HOMING)
+        stepperY.sg_stall_value(Y_HOMING_SENSITIVITY);
+      #endif
    #endif
    #if ENABLED(Y2_IS_TMC2130)
-      _TMC2130_INIT(Y2);
+      _TMC2130_INIT(Y2, steps_per_mm[Y_AXIS]);
    #endif
    #if ENABLED(Z_IS_TMC2130)
-      _TMC2130_INIT(Z);
+      _TMC2130_INIT( Z, steps_per_mm[Z_AXIS]);
    #endif
    #if ENABLED(Z2_IS_TMC2130)
-      _TMC2130_INIT(Z2);
+      _TMC2130_INIT(Z2, steps_per_mm[Z_AXIS]);
    #endif
    #if ENABLED(E0_IS_TMC2130)
-      _TMC2130_INIT(E0);
+      _TMC2130_INIT(E0, steps_per_mm[E_AXIS]);
    #endif
    #if ENABLED(E1_IS_TMC2130)
-      _TMC2130_INIT(E1);
+      { constexpr int extruder = 1; _TMC2130_INIT(E1, steps_per_mm[E_AXIS_N]); }
    #endif
    #if ENABLED(E2_IS_TMC2130)
-      _TMC2130_INIT(E2);
+      { constexpr int extruder = 2; _TMC2130_INIT(E2, steps_per_mm[E_AXIS_N]); }
    #endif
    #if ENABLED(E3_IS_TMC2130)
-      _TMC2130_INIT(E3);
+      { constexpr int extruder = 3; _TMC2130_INIT(E3, steps_per_mm[E_AXIS_N]); }
    #endif
    #if ENABLED(E4_IS_TMC2130)
-      _TMC2130_INIT(E4);
+      { constexpr int extruder = 4; _TMC2130_INIT(E4, steps_per_mm[E_AXIS_N]); }
    #endif

    TMC2130_ADV()