Improve Trinamic support in the EEPROM

Marlin/src/feature/tmc_util.h

@@ -35,7 +35,7 @@
 
 extern bool report_tmc_status;
 
-enum TMC_AxisEnum : char { TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 };
+enum TMC_AxisEnum : char { TMC_X, TMC_Y, TMC_Z, TMC_X2, TMC_Y2, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 };
 
 constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
   return 12650000UL * msteps / (256 * thrs * spmm);

Marlin/src/module/configuration_store.cpp

@@ -37,7 +37,7 @@
  */
 
 // Change EEPROM version if the structure changes
-#define EEPROM_VERSION "V52"
+#define EEPROM_VERSION "V53"
 #define EEPROM_OFFSET 100
 
 // Check the integrity of data offsets.
@@ -74,8 +74,10 @@
   #include "../module/probe.h"
 #endif
 
-#if ENABLED(HAVE_TMC2130)
+#if HAS_TRINAMIC
   #include "stepper_indirection.h"
+  #include "../feature/tmc_util.h"
+  #define TMC_GET_PWMTHRS(P,Q) _tmc_thrs(stepper##Q.microsteps(), stepper##Q.TPWMTHRS(), planner.axis_steps_per_mm[P##_AXIS])
 #endif
 
 #if ENABLED(FWRETRACT)
@@ -230,7 +232,9 @@ typedef struct SettingsDataStruct {
   //
   // HAS_TRINAMIC
   //
-  uint16_t tmc_stepper_current[11];                     // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
+  #define TMC_AXES (MAX_EXTRUDERS + 6)
+  uint16_t tmc_stepper_current[TMC_AXES];               // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
+  uint32_t tmc_hybrid_threshold[TMC_AXES];              // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
   int16_t tmc_sgt[XYZ];                                 // M914 X Y Z
 
   //
@@ -658,7 +662,7 @@ void MarlinSettings::postprocess() {
 
     _FIELD_TEST(tmc_stepper_current);
 
-    uint16_t currents[11] = {
+    uint16_t tmc_stepper_current[TMC_AXES] = {
       #if HAS_TRINAMIC
         #if X_IS_TRINAMIC
           stepperX.getCurrent(),
@@ -719,24 +723,95 @@ void MarlinSettings::postprocess() {
         0
       #endif
     };
-    EEPROM_WRITE(currents);
+    EEPROM_WRITE(tmc_stepper_current);
+
+    //
+    // Save TMC2130 or TMC2208 Hybrid Threshold, and placeholder values
+    //
+
+    _FIELD_TEST(tmc_hybrid_threshold);
+
+    uint32_t tmc_hybrid_threshold[TMC_AXES] = {
+      #if HAS_TRINAMIC
+        #if X_IS_TRINAMIC
+          TMC_GET_PWMTHRS(X, X),
+        #else
+          X_HYBRID_THRESHOLD,
+        #endif
+        #if Y_IS_TRINAMIC
+          TMC_GET_PWMTHRS(Y, Y),
+        #else
+          Y_HYBRID_THRESHOLD,
+        #endif
+        #if Z_IS_TRINAMIC
+          TMC_GET_PWMTHRS(Z, Z),
+        #else
+          Z_HYBRID_THRESHOLD,
+        #endif
+        #if X2_IS_TRINAMIC
+          TMC_GET_PWMTHRS(X, X2),
+        #else
+          X2_HYBRID_THRESHOLD,
+        #endif
+        #if Y2_IS_TRINAMIC
+          TMC_GET_PWMTHRS(Y, Y2),
+        #else
+          Y2_HYBRID_THRESHOLD,
+        #endif
+        #if Z2_IS_TRINAMIC
+          TMC_GET_PWMTHRS(Z, Z2),
+        #else
+          Z2_HYBRID_THRESHOLD,
+        #endif
+        #if E0_IS_TRINAMIC
+          TMC_GET_PWMTHRS(E, E0),
+        #else
+          E0_HYBRID_THRESHOLD,
+        #endif
+        #if E1_IS_TRINAMIC
+          TMC_GET_PWMTHRS(E, E1),
+        #else
+          E1_HYBRID_THRESHOLD,
+        #endif
+        #if E2_IS_TRINAMIC
+          TMC_GET_PWMTHRS(E, E2),
+        #else
+          E2_HYBRID_THRESHOLD,
+        #endif
+        #if E3_IS_TRINAMIC
+          TMC_GET_PWMTHRS(E, E3),
+        #else
+          E3_HYBRID_THRESHOLD,
+        #endif
+        #if E4_IS_TRINAMIC
+          TMC_GET_PWMTHRS(E, E4)
+        #else
+          E4_HYBRID_THRESHOLD
+        #endif
+      #else
+        100, 100, 3,          // X, Y, Z
+        100, 100, 3,          // X2, Y2, Z2
+        30, 30, 30, 30, 30    // E0, E1, E2, E3, E4
+      #endif
+    };
+    EEPROM_WRITE(tmc_hybrid_threshold);
 
     //
     // TMC2130 Sensorless homing threshold
     //
-    int16_t thrs[XYZ] = {
+    int16_t tmc_sgt[XYZ] = {
       #if ENABLED(SENSORLESS_HOMING)
-        #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
+        #if defined(X_HOMING_SENSITIVITY) && (ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS))
           stepperX.sgt(),
         #else
           0,
         #endif
-        #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
+        #if defined(Y_HOMING_SENSITIVITY) && (ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS))
           stepperY.sgt(),
         #else
           0
         #endif
-        #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
+        #if defined(Z_HOMING_SENSITIVITY) && (ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS))
           stepperZ.sgt()
         #else
           0
@@ -745,7 +820,7 @@ void MarlinSettings::postprocess() {
         0
       #endif
     };
-    EEPROM_WRITE(thrs);
+    EEPROM_WRITE(tmc_sgt);
 
     //
     // Linear Advance
@@ -794,7 +869,7 @@ void MarlinSettings::postprocess() {
       EEPROM_WRITE(planner.yz_skew_factor);
     #else
       dummy = 0.0f;
-      for (uint8_t q = XYZ; q--;) EEPROM_WRITE(dummy);
+      for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy);
     #endif
 
     //
@@ -1197,54 +1272,101 @@ void MarlinSettings::postprocess() {
 
       #endif
 
+      if (!validating) reset_stepper_drivers();
+
       //
-      // TMC2130 Stepper Current
+      // TMC2130 Stepper Settings
       //
 
       _FIELD_TEST(tmc_stepper_current);
 
       #if HAS_TRINAMIC
-        #define SET_CURR(N,Q) stepper##Q.setCurrent(currents[N] ? currents[N] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER)
+
-        uint16_t currents[11];
+        #define SET_CURR(Q) stepper##Q.setCurrent(currents[TMC_##Q] ? currents[TMC_##Q] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER)
+        uint16_t currents[TMC_AXES];
         EEPROM_READ(currents);
         if (!validating) {
           #if X_IS_TRINAMIC
-            SET_CURR(0, X);
+            SET_CURR(X);
           #endif
           #if Y_IS_TRINAMIC
-            SET_CURR(1, Y);
+            SET_CURR(Y);
           #endif
           #if Z_IS_TRINAMIC
-            SET_CURR(2, Z);
+            SET_CURR(Z);
           #endif
           #if X2_IS_TRINAMIC
-            SET_CURR(3, X2);
+            SET_CURR(X2);
           #endif
           #if Y2_IS_TRINAMIC
-            SET_CURR(4, Y2);
+            SET_CURR(Y2);
           #endif
           #if Z2_IS_TRINAMIC
-            SET_CURR(5, Z2);
+            SET_CURR(Z2);
           #endif
           #if E0_IS_TRINAMIC
-            SET_CURR(6, E0);
+            SET_CURR(E0);
           #endif
           #if E1_IS_TRINAMIC
-            SET_CURR(7, E1);
+            SET_CURR(E1);
           #endif
           #if E2_IS_TRINAMIC
-            SET_CURR(8, E2);
+            SET_CURR(E2);
           #endif
           #if E3_IS_TRINAMIC
-            SET_CURR(9, E3);
+            SET_CURR(E3);
           #endif
           #if E4_IS_TRINAMIC
-            SET_CURR(10, E4);
+            SET_CURR(E4);
           #endif
         }
       #else
         uint16_t val;
-        for (uint8_t q=11; q--;) EEPROM_READ(val);
+        for (uint8_t q=TMC_AXES; q--;) EEPROM_READ(val);
+      #endif
+
+      #if HAS_TRINAMIC
+        #define TMC_SET_PWMTHRS(P,Q) tmc_set_pwmthrs(stepper##Q, TMC_##Q, tmc_hybrid_threshold[TMC_##Q], planner.axis_steps_per_mm[P##_AXIS])
+        uint16_t tmc_hybrid_threshold[TMC_AXES];
+        EEPROM_READ(tmc_hybrid_threshold);
+        if (!validating) {
+          #if X_IS_TRINAMIC
+            TMC_SET_PWMTHRS(X, X);
+          #endif
+          #if Y_IS_TRINAMIC
+            TMC_SET_PWMTHRS(Y, Y);
+          #endif
+          #if Z_IS_TRINAMIC
+            TMC_SET_PWMTHRS(Z, Z);
+          #endif
+          #if X2_IS_TRINAMIC
+            TMC_SET_PWMTHRS(X, X2);
+          #endif
+          #if Y2_IS_TRINAMIC
+            TMC_SET_PWMTHRS(Y, Y2);
+          #endif
+          #if Z2_IS_TRINAMIC
+            TMC_SET_PWMTHRS(Z, Z2);
+          #endif
+          #if E0_IS_TRINAMIC
+            TMC_SET_PWMTHRS(E, E0);
+          #endif
+          #if E1_IS_TRINAMIC
+            TMC_SET_PWMTHRS(E, E1);
+          #endif
+          #if E2_IS_TRINAMIC
+            TMC_SET_PWMTHRS(E, E2);
+          #endif
+          #if E3_IS_TRINAMIC
+            TMC_SET_PWMTHRS(E, E3);
+          #endif
+          #if E4_IS_TRINAMIC
+            TMC_SET_PWMTHRS(E, E4);
+          #endif
+        }
+      #else
+        uint16_t thrs_val;
+        for (uint8_t q=TMC_AXES; q--;) EEPROM_READ(thrs_val);
       #endif
 
       /*
@@ -1253,32 +1375,32 @@ void MarlinSettings::postprocess() {
        * Y and Y2 use the same value
        * Z and Z2 use the same value
        */
-      int16_t thrs[XYZ];
+      int16_t tmc_sgt[XYZ];
-      EEPROM_READ(thrs);
+      EEPROM_READ(tmc_sgt);
       #if ENABLED(SENSORLESS_HOMING)
         if (!validating) {
           #ifdef X_HOMING_SENSITIVITY
-            #if ENABLED(X_IS_TMC2130)
+            #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
-              stepperX.sgt(thrs[0]);
+              stepperX.sgt(tmc_sgt[0]);
             #endif
             #if ENABLED(X2_IS_TMC2130)
-              stepperX2.sgt(thrs[0]);
+              stepperX2.sgt(tmc_sgt[0]);
             #endif
           #endif
           #ifdef Y_HOMING_SENSITIVITY
-            #if ENABLED(Y_IS_TMC2130)
+            #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
-              stepperY.sgt(thrs[1]);
+              stepperY.sgt(tmc_sgt[1]);
             #endif
             #if ENABLED(Y2_IS_TMC2130)
-              stepperY2.sgt(thrs[1]);
+              stepperY2.sgt(tmc_sgt[1]);
             #endif
           #endif
           #ifdef Z_HOMING_SENSITIVITY
-            #if ENABLED(Z_IS_TMC2130)
+            #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
-              stepperZ.sgt(thrs[2]);
+              stepperZ.sgt(tmc_sgt[2]);
             #endif
             #if ENABLED(Z2_IS_TMC2130)
-              stepperZ2.sgt(thrs[2]);
+              stepperZ2.sgt(tmc_sgt[2]);
             #endif
           #endif
         }
@@ -1338,7 +1460,7 @@ void MarlinSettings::postprocess() {
           EEPROM_READ(dummy);
         #endif
       #else
-        for (uint8_t q = XYZ; q--;) EEPROM_READ(dummy);
+        for (uint8_t q = 3; q--;) EEPROM_READ(dummy);
       #endif
 
       //
@@ -1731,66 +1853,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
     #endif
   );
 
-  #if X_IS_TRINAMIC
+  reset_stepper_drivers();
-    stepperX.setCurrent(X_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if Y_IS_TRINAMIC
-    stepperY.setCurrent(Y_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if Z_IS_TRINAMIC
-    stepperZ.setCurrent(Z_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if X2_IS_TRINAMIC
-    stepperX2.setCurrent(X2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if Y2_IS_TRINAMIC
-    stepperY2.setCurrent(Y2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if Z2_IS_TRINAMIC
-    stepperZ2.setCurrent(Z2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if E0_IS_TRINAMIC
-    stepperE0.setCurrent(E0_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if E1_IS_TRINAMIC
-    stepperE1.setCurrent(E1_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if E2_IS_TRINAMIC
-    stepperE2.setCurrent(E2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if E3_IS_TRINAMIC
-    stepperE3.setCurrent(E3_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-  #if E4_IS_TRINAMIC
-    stepperE4.setCurrent(E4_CURRENT, R_SENSE, HOLD_MULTIPLIER);
-  #endif
-
-  #if ENABLED(SENSORLESS_HOMING)
-    #ifdef X_HOMING_SENSITIVITY
-      #if ENABLED(X_IS_TMC2130)
-        stepperX.sgt(X_HOMING_SENSITIVITY);
-      #endif
-      #if ENABLED(X2_IS_TMC2130)
-        stepperX2.sgt(X_HOMING_SENSITIVITY);
-      #endif
-    #endif
-    #ifdef Y_HOMING_SENSITIVITY
-      #if ENABLED(Y_IS_TMC2130)
-        stepperY.sgt(Y_HOMING_SENSITIVITY);
-      #endif
-      #if ENABLED(Y2_IS_TMC2130)
-        stepperY2.sgt(Y_HOMING_SENSITIVITY);
-      #endif
-    #endif
-    #ifdef Z_HOMING_SENSITIVITY
-      #if ENABLED(Z_IS_TMC2130)
-        stepperZ.sgt(Z_HOMING_SENSITIVITY);
-      #endif
-      #if ENABLED(Z2_IS_TMC2130)
-        stepperZ2.sgt(Z_HOMING_SENSITIVITY);
-      #endif
-    #endif
-  #endif
 
   #if ENABLED(LIN_ADVANCE)
     planner.extruder_advance_K = LIN_ADVANCE_K;
@@ -1829,6 +1892,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
 
   #define CONFIG_ECHO_START do{ if (!forReplay) SERIAL_ECHO_START_P(port); }while(0)
 
+  #if ENABLED(ADVANCED_PAUSE_FEATURE)
+    void say_M603() { SERIAL_ECHOPGM_P(port, "  M603 "); }
+  #endif
+
   /**
    * M503 - Report current settings in RAM
    *
@@ -1849,7 +1916,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       SERIAL_ECHOPGM_P(port, "  G2");
       SERIAL_CHAR_P(port, parser.linear_unit_factor == 1.0 ? '1' : '0');
       SERIAL_ECHOPGM_P(port, " ; Units in ");
-      serialprintPGM(parser.linear_unit_factor == 1.0 ? PSTR("mm\n") : PSTR("inches\n"));
+      serialprintPGM_P(port, parser.linear_unit_factor == 1.0 ? PSTR("mm\n") : PSTR("inches\n"));
     #else
       #define LINEAR_UNIT(N) (N)
       #define VOLUMETRIC_UNIT(N) (N)
@@ -2076,7 +2143,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
               SERIAL_ECHOPAIR_P(port, "  G29 S3 X", (int)px + 1);
               SERIAL_ECHOPAIR_P(port, " Y", (int)py + 1);
               SERIAL_ECHOPGM_P(port, " Z");
-              SERIAL_PROTOCOL_F_P(port, LINEAR_UNIT(mbl.z_values[px][py]), 5);
+              SERIAL_ECHO_F_P(port, LINEAR_UNIT(mbl.z_values[px][py]), 5);
               SERIAL_EOL_P(port);
             }
           }
@@ -2103,7 +2170,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
               SERIAL_ECHOPAIR_P(port, "  G29 W I", (int)px + 1);
               SERIAL_ECHOPAIR_P(port, " J", (int)py + 1);
               SERIAL_ECHOPGM_P(port, " Z");
-              SERIAL_PROTOCOL_F_P(port, LINEAR_UNIT(z_values[px][py]), 5);
+              SERIAL_ECHO_F_P(port, LINEAR_UNIT(z_values[px][py]), 5);
               SERIAL_EOL_P(port);
             }
           }
@@ -2289,95 +2356,124 @@ void MarlinSettings::reset(PORTARG_SOLO) {
         SERIAL_ECHOPGM_P(port, " K");
         SERIAL_ECHO_F_P(port, LINEAR_UNIT(planner.yz_skew_factor), 6);
         SERIAL_EOL_P(port);
-       #else
+      #else
         SERIAL_ECHOPGM_P(port, "  M852 S");
         SERIAL_ECHO_F_P(port, LINEAR_UNIT(planner.xy_skew_factor), 6);
         SERIAL_EOL_P(port);
       #endif
     #endif
 
-    /**
-     * TMC2130 stepper driver current
-     */
     #if HAS_TRINAMIC
+
+      /**
+       * TMC2130 / TMC2208 / TRAMS stepper driver current
+       */
       if (!forReplay) {
         CONFIG_ECHO_START;
         SERIAL_ECHOLNPGM_P(port, "Stepper driver current:");
       }
       CONFIG_ECHO_START;
       SERIAL_ECHOPGM_P(port, "  M906");
-      #if ENABLED(X_IS_TMC2130) || ENABLED(X_IS_TMC2208)
+      #if X_IS_TRINAMIC
-        SERIAL_ECHOPAIR_P(port, " X ", stepperX.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " X", stepperX.getCurrent());
+      #elif X2_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " X", stepperX2.getCurrent());
       #endif
-      #if ENABLED(Y_IS_TMC2130) || ENABLED(Y_IS_TMC2208)
+      #if Y_IS_TRINAMIC
-        SERIAL_ECHOPAIR_P(port, " Y ", stepperY.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " Y", stepperY.getCurrent());
+      #elif Y2_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " Y", stepperY2.getCurrent());
       #endif
-      #if ENABLED(Z_IS_TMC2130) || ENABLED(Z_IS_TMC2208)
+      #if Z_IS_TRINAMIC
-        SERIAL_ECHOPAIR_P(port, " Z ", stepperZ.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " Z", stepperZ.getCurrent());
+      #elif Z2_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.getCurrent());
       #endif
-      #if ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208)
+      #if E0_IS_TRINAMIC
-        SERIAL_ECHOPAIR_P(port, " X2 ", stepperX2.getCurrent());
+        SERIAL_ECHOPAIR_P(port, " E", stepperE0.getCurrent());
+      #elif E1_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " E", stepperE1.getCurrent());
+      #elif E2_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " E", stepperE2.getCurrent());
+      #elif E3_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " E", stepperE3.getCurrent());
+      #elif E4_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " E", stepperE4.getCurrent());
       #endif
-      #if ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208)
+      SERIAL_EOL();
-        SERIAL_ECHOPAIR_P(port, " Y2 ", stepperY2.getCurrent());
-      #endif
-      #if ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208)
-        SERIAL_ECHOPAIR_P(port, " Z2 ", stepperZ2.getCurrent());
-      #endif
-      #if ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208)
-        SERIAL_ECHOPAIR_P(port, " E0 ", stepperE0.getCurrent());
-      #endif
-      #if ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208)
-        SERIAL_ECHOPAIR_P(port, " E1 ", stepperE1.getCurrent());
-      #endif
-      #if ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208)
-        SERIAL_ECHOPAIR_P(port, " E2 ", stepperE2.getCurrent());
-      #endif
-      #if ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208)
-        SERIAL_ECHOPAIR_P(port, " E3 ", stepperE3.getCurrent());
-      #endif
-      #if ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208)
-        SERIAL_ECHOPAIR_P(port, " E4 ", stepperE4.getCurrent());
-      #endif
-      SERIAL_EOL_P(port);
-    #endif
 
-    /**
+      /**
-     * TMC2130 Sensorless homing thresholds
+       * TMC2130 / TMC2208 / TRAMS Hybrid Threshold
-     */
+       */
-    #if ENABLED(SENSORLESS_HOMING)
       if (!forReplay) {
         CONFIG_ECHO_START;
-        SERIAL_ECHOLNPGM_P(port, "Sensorless homing threshold:");
+        SERIAL_ECHOLNPGM_P(port, "Hybrid Threshold:");
       }
       CONFIG_ECHO_START;
-      SERIAL_ECHOPGM_P(port, "  M914");
+      SERIAL_ECHOPGM_P(port, "  M913");
-      #ifdef X_HOMING_SENSITIVITY
+      #if X_IS_TRINAMIC
-        #if ENABLED(X_IS_TMC2130)
+        SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X));
-          SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt());
+      #elif X2_IS_TRINAMIC
-        #endif
+        SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X2));
-        #if ENABLED(X2_IS_TMC2130)
-          SERIAL_ECHOPAIR_P(port, " X2 ", stepperX2.sgt());
-        #endif
       #endif
-      #ifdef Y_HOMING_SENSITIVITY
+      #if Y_IS_TRINAMIC
-        #if ENABLED(Y_IS_TMC2130)
+        SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y));
-          SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt());
+      #elif Y2_IS_TRINAMIC
-        #endif
+        SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y2));
-        #if ENABLED(Y2_IS_TMC2130)
-          SERIAL_ECHOPAIR_P(port, " Y2 ", stepperY2.sgt());
-        #endif
       #endif
-      #ifdef Z_HOMING_SENSITIVITY
+      #if Z_IS_TRINAMIC
-        #if ENABLED(Z_IS_TMC2130)
+        SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z));
-          SERIAL_ECHOPAIR_P(port, " Z ", stepperZ.sgt());
+      #elif Z2_IS_TRINAMIC
-        #endif
+        SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z2));
-        #if ENABLED(Z2_IS_TMC2130)
-          SERIAL_ECHOPAIR_P(port, " Z2 ", stepperZ2.sgt());
-        #endif
       #endif
-      SERIAL_EOL_P(port);
+      #if E0_IS_TRINAMIC
-    #endif
+        SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E0));
+      #elif E1_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E1));
+      #elif E2_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E2));
+      #elif E3_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E3));
+      #elif E4_IS_TRINAMIC
+        SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E4));
+      #endif
+      SERIAL_EOL();
+
+      /**
+       * TMC2130 Sensorless homing thresholds
+       */
+      #if ENABLED(SENSORLESS_HOMING)
+        if (!forReplay) {
+          CONFIG_ECHO_START;
+          SERIAL_ECHOLNPGM_P(port, "Sensorless homing threshold:");
+        }
+        CONFIG_ECHO_START;
+        SERIAL_ECHOPGM_P(port, "  M914");
+        #ifdef X_HOMING_SENSITIVITY
+          #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
+            SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt());
+          #elif ENABLED(X2_IS_TMC2130)
+            SERIAL_ECHOPAIR_P(port, " X", stepperX2.sgt());
+          #endif
+        #endif
+        #ifdef Y_HOMING_SENSITIVITY
+          #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
+            SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt());
+          #elif ENABLED(Y2_IS_TMC2130)
+            SERIAL_ECHOPAIR_P(port, " Y", stepperY2.sgt());
+          #endif
+        #endif
+        #ifdef Z_HOMING_SENSITIVITY
+          #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
+            SERIAL_ECHOPAIR_P(port, " Z", stepperZ.sgt());
+          #elif ENABLED(Z2_IS_TMC2130)
+            SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.sgt());
+          #endif
+        #endif
+        SERIAL_EOL();
+      #endif
+
+    #endif // HAS_TRINAMIC
 
     /**
      * Linear Advance
@@ -2413,25 +2509,31 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       }
       CONFIG_ECHO_START;
       #if EXTRUDERS == 1
-        SERIAL_ECHOPAIR_P(port, "  M603 L", LINEAR_UNIT(filament_change_load_length[0]));
+        say_M603();
+        SERIAL_ECHOPAIR_P(port, "L", LINEAR_UNIT(filament_change_load_length[0]));
         SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[0]));
       #else
-        SERIAL_ECHOPAIR_P(port, "  M603 T0 L", LINEAR_UNIT(filament_change_load_length[0]));
+        say_M603();
+        SERIAL_ECHOPAIR_P(port, "T0 L", LINEAR_UNIT(filament_change_load_length[0]));
         SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[0]));
         CONFIG_ECHO_START;
-        SERIAL_ECHOPAIR_P(port, "  M603 T1 L", LINEAR_UNIT(filament_change_load_length[1]));
+        say_M603();
+        SERIAL_ECHOPAIR_P(port, "T1 L", LINEAR_UNIT(filament_change_load_length[1]));
         SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[1]));
         #if EXTRUDERS > 2
           CONFIG_ECHO_START;
-          SERIAL_ECHOPAIR_P(port, "  M603 T2 L", LINEAR_UNIT(filament_change_load_length[2]));
+          say_M603();
+          SERIAL_ECHOPAIR_P(port, "T2 L", LINEAR_UNIT(filament_change_load_length[2]));
           SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[2]));
           #if EXTRUDERS > 3
             CONFIG_ECHO_START;
-            SERIAL_ECHOPAIR_P(port, "  M603 T3 L", LINEAR_UNIT(filament_change_load_length[3]));
+            say_M603();
+            SERIAL_ECHOPAIR_P(port, "T3 L", LINEAR_UNIT(filament_change_load_length[3]));
             SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[3]));
             #if EXTRUDERS > 4
               CONFIG_ECHO_START;
-              SERIAL_ECHOPAIR_P(port, "  M603 T4 L", LINEAR_UNIT(filament_change_load_length[4]));
+              say_M603();
+              SERIAL_ECHOPAIR_P(port, "T4 L", LINEAR_UNIT(filament_change_load_length[4]));
               SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[4]));
             #endif // EXTRUDERS > 4
           #endif // EXTRUDERS > 3