✨ EVENT_GCODE_(BEFORE|AFTER)_G34 (#27930)

Marlin/Configuration_adv.h

@@ -1081,11 +1081,26 @@
   #define G34_MAX_GRADE              5    // (%) Maximum incline that G34 will handle
   #define Z_STEPPER_ALIGN_ITERATIONS 5    // Number of iterations to apply during alignment
   #define Z_STEPPER_ALIGN_ACC        0.02 // Stop iterating early if the accuracy is better than this
+
   #define RESTORE_LEVELING_AFTER_G34      // Restore leveling after G34 is done?
+
   // After G34, re-home Z (G28 Z) or just calculate it from the last probe heights?
   // Re-homing might be more precise in reproducing the actual 'G28 Z' homing height, especially on an uneven bed.
   #define HOME_AFTER_G34
-#endif
+
+  /**
+   * Commands to execute at the start of G34 probing,
+   * after switching to the PROBING_TOOL.
+   */
+  //#define EVENT_GCODE_BEFORE_G34 "M300 P440 S200"
+
+  /**
+   * Commands to execute at the end of G34 probing.
+   * Useful to retract or move the Z probe out of the way.
+   */
+  //#define EVENT_GCODE_AFTER_G34 "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10"
+
+#endif // Z_STEPPER_AUTO_ALIGN
 
 /**
  * Assisted Tramming

Marlin/Version.h

@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2025-06-17"
+//#define STRING_DISTRIBUTION_DATE "2025-06-21"
 
 /**
  * The protocol for communication to the host. Protocol indicates communication

Marlin/src/MarlinCore.cpp

@@ -152,8 +152,8 @@
   #include "feature/encoder_i2c.h"
 #endif
 
-#if (HAS_TRINAMIC_CONFIG || HAS_TMC_SPI) && DISABLED(PSU_DEFAULT_OFF)
-  #include "feature/tmc_util.h"
+#if HAS_TRINAMIC_CONFIG
+  #include "module/stepper/trinamic.h"
 #endif
 
 #if HAS_CUTTER

Marlin/src/feature/tmc_util.cpp

@@ -24,6 +24,12 @@
 
 #if HAS_TRINAMIC_CONFIG
 
+/**
+ * feature/tmc_util.cpp - Functions for debugging Trinamic stepper drivers.
+ * The main entry point is `tmc_report_all` which is called by M122 to collect
+ * and report diagnostic information about each enabled TMC driver.
+ */
+
 #include "tmc_util.h"
 #include "../MarlinCore.h"
 
@@ -710,14 +716,8 @@
         case TMC_FSACTIVE:      if (st.fsactive())   SERIAL_CHAR('*'); break;
         case TMC_DRV_CS_ACTUAL: if (st.CS_ACTUAL())  SERIAL_CHAR('*'); break;
         case TMC_STALLGUARD:    if (st.stallguard()) SERIAL_CHAR('*'); break;
-        //case TMC_OT:          if (st.ot())         SERIAL_CHAR('*'); break;
-        case TMC_DEBUG_OTPW:    print_true_or_false(st.otpw());        break;
-        //case TMC_S2GA:        if (st.s2ga())       SERIAL_CHAR('*'); break;
-        //case TMC_S2GB:        if (st.s2gb())       SERIAL_CHAR('*'); break;
-        //case TMC_OLA:         if (st.ola())        SERIAL_CHAR('*'); break;
-        //case TMC_OLB:         if (st.olb())        SERIAL_CHAR('*'); break;
+        case TMC_OT:            if (st.ot())         SERIAL_CHAR('*'); break;
         case TMC_SG_RESULT:     SERIAL_ECHO(st.SG_RESULT());           break;
-        case TMC_STST:          if (!st.stst())      SERIAL_CHAR('*'); break;
         default: break; // other...
       }
     }
@@ -844,7 +844,8 @@
       case TMC_OT:        if (st.ot())    SERIAL_CHAR('*'); break;
       case TMC_DRV_STATUS_HEX: {
         const uint32_t drv_status = st.DRV_STATUS();
-        SERIAL_CHAR('\t'); st.printLabel(); SERIAL_CHAR('\t'); print_hex_long(drv_status, ':', true);
+        SERIAL_CHAR('\t'); st.printLabel();
+        SERIAL_CHAR('\t'); print_hex_long(drv_status, ':', true);
         if (drv_status == 0xFFFFFFFF || drv_status == 0) SERIAL_ECHOPGM("\t Bad response!");
         SERIAL_EOL();
       } break;
@@ -1167,6 +1168,9 @@
   bool tmc_enable_stallguard(TMC2240Stepper &st) {
     const bool stealthchop_was_enabled = st.en_pwm_mode();
 
+    // TODO: Use StallGuard4 when stealthChop is enabled
+    //       and leave stealthChop state unchanged.
+
     st.TCOOLTHRS(0xFFFFF);
     st.en_pwm_mode(false);
     st.diag0_stall(true);
@@ -1250,75 +1254,3 @@ void test_tmc_connection(LOGICAL_AXIS_ARGS_LC(const bool)) {
 }
 
 #endif // HAS_TRINAMIC_CONFIG
-
-#if HAS_TMC_SPI
-  #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
-  void tmc_init_cs_pins() {
-    #if AXIS_HAS_SPI(X)
-      SET_CS_PIN(X);
-    #endif
-    #if AXIS_HAS_SPI(Y)
-      SET_CS_PIN(Y);
-    #endif
-    #if AXIS_HAS_SPI(Z)
-      SET_CS_PIN(Z);
-    #endif
-    #if AXIS_HAS_SPI(X2)
-      SET_CS_PIN(X2);
-    #endif
-    #if AXIS_HAS_SPI(Y2)
-      SET_CS_PIN(Y2);
-    #endif
-    #if AXIS_HAS_SPI(Z2)
-      SET_CS_PIN(Z2);
-    #endif
-    #if AXIS_HAS_SPI(Z3)
-      SET_CS_PIN(Z3);
-    #endif
-    #if AXIS_HAS_SPI(Z4)
-      SET_CS_PIN(Z4);
-    #endif
-    #if AXIS_HAS_SPI(I)
-      SET_CS_PIN(I);
-    #endif
-    #if AXIS_HAS_SPI(J)
-      SET_CS_PIN(J);
-    #endif
-    #if AXIS_HAS_SPI(K)
-      SET_CS_PIN(K);
-    #endif
-    #if AXIS_HAS_SPI(U)
-      SET_CS_PIN(U);
-    #endif
-    #if AXIS_HAS_SPI(V)
-      SET_CS_PIN(V);
-    #endif
-    #if AXIS_HAS_SPI(W)
-      SET_CS_PIN(W);
-    #endif
-    #if AXIS_HAS_SPI(E0)
-      SET_CS_PIN(E0);
-    #endif
-    #if AXIS_HAS_SPI(E1)
-      SET_CS_PIN(E1);
-    #endif
-    #if AXIS_HAS_SPI(E2)
-      SET_CS_PIN(E2);
-    #endif
-    #if AXIS_HAS_SPI(E3)
-      SET_CS_PIN(E3);
-    #endif
-    #if AXIS_HAS_SPI(E4)
-      SET_CS_PIN(E4);
-    #endif
-    #if AXIS_HAS_SPI(E5)
-      SET_CS_PIN(E5);
-    #endif
-    #if AXIS_HAS_SPI(E6)
-      SET_CS_PIN(E6);
-    #endif
-    #if AXIS_HAS_SPI(E7)
-      SET_CS_PIN(E7);
-    #endif
-  }
-#endif // HAS_TMC_SPI

Marlin/src/feature/tmc_util.h

@@ -474,7 +474,3 @@ void test_tmc_connection(LOGICAL_AXIS_DECL_LC(const bool, true));
 #endif // HAS_HOMING_CURRENT
 
 #endif // HAS_TRINAMIC_CONFIG
-
-#if HAS_TMC_SPI
-  void tmc_init_cs_pins();
-#endif

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -143,6 +143,11 @@ void GcodeSuite::G34() {
 
       probe.use_probing_tool();
 
+      #ifdef EVENT_GCODE_BEFORE_G34
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Before G34 G-code: ", F(EVENT_GCODE_BEFORE_G34));
+        gcode.process_subcommands_now(F(EVENT_GCODE_BEFORE_G34));
+      #endif
+
       TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
 
       // Compute a worst-case clearance height to probe from. After the first
@@ -214,19 +219,20 @@ void GcodeSuite::G34() {
           // Probing sanity check is disabled, as it would trigger even in normal cases because
           // current_position.z has been manually altered in the "dirty trick" above.
 
-          if (DEBUGGING(LEVELING))
-            DEBUG_ECHOLNPGM(
-              "Z_PROBE_LOW_POINT: ", p_float_t(Z_PROBE_LOW_POINT, 2),
-              "z_probe: ", p_float_t(z_probe, 2),
-              "Probe Tgt: ", p_float_t((Z_PROBE_LOW_POINT) - z_probe * 0.5f, 2)
-            );
+          const float minz = (Z_PROBE_LOW_POINT) - (z_probe * 0.5f);
+
+          if (DEBUGGING(LEVELING)) {
+            DEBUG_ECHOPGM("Z_PROBE_LOW_POINT: " STRINGIFY(Z_PROBE_LOW_POINT));
+            DEBUG_ECHOLNPGM(" z_probe: ", p_float_t(z_probe, 3),
+                            " Probe Tgt: ", p_float_t(minz, 3));
+          }
 
           const float z_probed_height = probe.probe_at_point(
             DIFF_TERN(HAS_HOME_OFFSET, ppos, xy_pos_t(home_offset)),   // xy
             raise_after,                                               // raise_after
             (DEBUGGING(LEVELING) || DEBUGGING(INFO)) ? 3 : 0,          // verbose_level
             true, false,                                               // probe_relative, sanity_check
-            (Z_PROBE_LOW_POINT) - (z_probe * 0.5f),                    // z_min_point
+            minz,                                                      // z_min_point
             Z_TWEEN_SAFE_CLEARANCE                                     // z_clearance
           );
 
@@ -303,7 +309,7 @@ void GcodeSuite::G34() {
 
         SERIAL_EOL();
 
-        SString<15 + TERN0(TRIPLE_Z, 30) + TERN0(QUAD_Z, 45)> msg(F("1:2="), p_float_t(ABS(z_measured[1] - z_measured[0]), 3));
+        SString<15 + TERN0(TRIPLE_Z, 30) + TERN0(QUAD_Z, 45)> msg(F("2-1="), p_float_t(ABS(z_measured[1] - z_measured[0]), 3));
         #if TRIPLE_Z
           msg.append(F(" 3-2="), p_float_t(ABS(z_measured[2] - z_measured[1]), 3))
              .append(F(" 3-1="), p_float_t(ABS(z_measured[2] - z_measured[0]), 3));
@@ -414,7 +420,7 @@ void GcodeSuite::G34() {
         SERIAL_ECHOLNPGM("G34 aborted.");
       else {
         SERIAL_ECHOLNPGM("Did ", iteration + (iteration != z_auto_align_iterations), " of ", z_auto_align_iterations);
-        SERIAL_ECHOLNPGM("Accuracy: ", p_float_t(z_maxdiff, 2));
+        SERIAL_ECHOLNPGM("Accuracy: ", p_float_t(z_maxdiff, 3));
       }
 
       // Stow the probe because the last call to probe.probe_at_point(...)
@@ -430,9 +436,9 @@ void GcodeSuite::G34() {
         // Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier.
         if (DEBUGGING(LEVELING))
           DEBUG_ECHOLNPGM(
-            "z_measured_min: ", p_float_t(z_measured_min, 2),
-            "Z_TWEEN_SAFE_CLEARANCE: ", p_float_t(Z_TWEEN_SAFE_CLEARANCE, 2),
-            "zoffs: ", p_float_t(zoffs, 2)
+            "z_measured_min: ", p_float_t(z_measured_min, 3),
+            "Z_TWEEN_SAFE_CLEARANCE: ", p_float_t(Z_TWEEN_SAFE_CLEARANCE, 3),
+            "zoffs: ", p_float_t(zoffs, 3)
           );
 
         if (!err_break)
@@ -440,6 +446,12 @@ void GcodeSuite::G34() {
         sync_plan_position();
       #endif
 
+      #ifdef EVENT_GCODE_AFTER_G34
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("After G34 G-code: ", F(EVENT_GCODE_AFTER_G34));
+        planner.synchronize();
+        process_subcommands_now(F(EVENT_GCODE_AFTER_G34));
+      #endif
+
       probe.use_probing_tool(false);
 
       #if ALL(HAS_LEVELING, RESTORE_LEVELING_AFTER_G34)

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

@@ -36,8 +36,9 @@
  *
  * With TMC_DEBUG:
  *   V     - Report raw register data. Refer to the datasheet to decipher the report.
- *   S     - Flag to enable/disable continuous debug reporting.
- *   P<ms> - Interval between continuous debug reports, in milliseconds.
+ *   S0    - Disable continuous debug reporting.
+ *   S1    - Enable continuous debug reporting with the default interval.
+ *   P<ms> - Enable continuous debug reporting with the given interval in ms.
  */
 void GcodeSuite::M122() {
   xyze_bool_t print_axis = ARRAY_N_1(LOGICAL_AXES, false);
@@ -51,12 +52,12 @@ void GcodeSuite::M122() {
 
   #if ENABLED(TMC_DEBUG)
     #if ENABLED(MONITOR_DRIVER_STATUS)
-      const bool sflag = parser.seen_test('S'), sval = sflag && parser.value_bool();
-      if (sflag && !sval)
+      const bool sflag = parser.seen('S'), sval = sflag && parser.value_bool();
+      if (sflag && !sval) // "S0"
         tmc_set_report_interval(0);
-      else if (parser.seenval('P'))
+      else if (parser.seenval('P')) // "P<ms>"
         tmc_set_report_interval(_MAX(uint16_t(250), parser.value_ushort()));
-      else if (sval)
+      else if (sval) // "S" or "S1"
         tmc_set_report_interval(MONITOR_DRIVER_STATUS_INTERVAL_MS);
     #endif
 

Marlin/src/inc/Version.h

@@ -42,7 +42,7 @@
  * version was tagged.
  */
 #ifndef STRING_DISTRIBUTION_DATE
-  #define STRING_DISTRIBUTION_DATE "2025-06-17"
+  #define STRING_DISTRIBUTION_DATE "2025-06-21"
 #endif
 
 /**

Marlin/src/lcd/marlinui.h

@@ -656,7 +656,7 @@ public:
     static FSTR_P get_preheat_label(const uint8_t m);
     static void apply_preheat(const uint8_t m, const uint8_t pmask, const uint8_t e=active_extruder);
     static void preheat_set_fan(const uint8_t m) { TERN_(HAS_FAN, apply_preheat(m, _BV(PT_FAN))); }
-    static void preheat_hotend(const uint8_t m, const uint8_t e=active_extruder) { TERN_(HAS_HOTEND, apply_preheat(m, _BV(PT_HOTEND))); }
+    static void preheat_hotend(const uint8_t m, const uint8_t e=active_extruder) { TERN_(HAS_HOTEND, apply_preheat(m, _BV(PT_HOTEND), e)); }
     static void preheat_hotend_and_fan(const uint8_t m, const uint8_t e=active_extruder) { preheat_hotend(m, e); preheat_set_fan(m); }
     static void preheat_bed(const uint8_t m) { TERN_(HAS_HEATED_BED, apply_preheat(m, _BV(PT_BED))); }
     static void preheat_chamber(const uint8_t m) { TERN_(HAS_HEATED_CHAMBER, apply_preheat(m, _BV(PT_CHAMBER))); }

Marlin/src/module/stepper/trinamic.cpp

@@ -154,6 +154,82 @@ enum StealthIndex : uint8_t {
   TMC_SPI_DEFINE_E(7);
 #endif
 
+#if HAS_TMC_SPI
+
+  // Init CS pins (active-low) for TMC SPI drivers.
+  #define INIT_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
+
+  void tmc_init_cs_pins() {
+    #if AXIS_HAS_SPI(X)
+      INIT_CS_PIN(X);
+    #endif
+    #if AXIS_HAS_SPI(Y)
+      INIT_CS_PIN(Y);
+    #endif
+    #if AXIS_HAS_SPI(Z)
+      INIT_CS_PIN(Z);
+    #endif
+    #if AXIS_HAS_SPI(X2)
+      INIT_CS_PIN(X2);
+    #endif
+    #if AXIS_HAS_SPI(Y2)
+      INIT_CS_PIN(Y2);
+    #endif
+    #if AXIS_HAS_SPI(Z2)
+      INIT_CS_PIN(Z2);
+    #endif
+    #if AXIS_HAS_SPI(Z3)
+      INIT_CS_PIN(Z3);
+    #endif
+    #if AXIS_HAS_SPI(Z4)
+      INIT_CS_PIN(Z4);
+    #endif
+    #if AXIS_HAS_SPI(I)
+      INIT_CS_PIN(I);
+    #endif
+    #if AXIS_HAS_SPI(J)
+      INIT_CS_PIN(J);
+    #endif
+    #if AXIS_HAS_SPI(K)
+      INIT_CS_PIN(K);
+    #endif
+    #if AXIS_HAS_SPI(U)
+      INIT_CS_PIN(U);
+    #endif
+    #if AXIS_HAS_SPI(V)
+      INIT_CS_PIN(V);
+    #endif
+    #if AXIS_HAS_SPI(W)
+      INIT_CS_PIN(W);
+    #endif
+    #if AXIS_HAS_SPI(E0)
+      INIT_CS_PIN(E0);
+    #endif
+    #if AXIS_HAS_SPI(E1)
+      INIT_CS_PIN(E1);
+    #endif
+    #if AXIS_HAS_SPI(E2)
+      INIT_CS_PIN(E2);
+    #endif
+    #if AXIS_HAS_SPI(E3)
+      INIT_CS_PIN(E3);
+    #endif
+    #if AXIS_HAS_SPI(E4)
+      INIT_CS_PIN(E4);
+    #endif
+    #if AXIS_HAS_SPI(E5)
+      INIT_CS_PIN(E5);
+    #endif
+    #if AXIS_HAS_SPI(E6)
+      INIT_CS_PIN(E6);
+    #endif
+    #if AXIS_HAS_SPI(E7)
+      INIT_CS_PIN(E7);
+    #endif
+  }
+
+#endif // HAS_TMC_SPI
+
 #ifndef TMC_BAUD_RATE
   // Reduce baud rate for boards not already overriding TMC_BAUD_RATE for software serial.
   // Testing has shown that 115200 is not 100% reliable on AVR platforms, occasionally
@@ -313,6 +389,7 @@ enum StealthIndex : uint8_t {
 // TMC2208/2209 Driver objects and inits
 //
 #if HAS_TMC_UART
+
   #if AXIS_HAS_UART(X)
     #ifdef X_HARDWARE_SERIAL
       TMC_UART_DEFINE(HW, X, X);
@@ -685,7 +762,8 @@ enum StealthIndex : uint8_t {
       #endif
     #endif
   }
-#endif
+
+#endif // HAS_TMC_UART
 
 #if HAS_DRIVER(TMC2208)
   template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>

Marlin/src/module/stepper/trinamic.h

@@ -109,6 +109,10 @@
   #define CHOPPER_TIMING_E CHOPPER_TIMING
 #endif
 
+#if HAS_TMC_SPI
+  void tmc_init_cs_pins();
+#endif
+
 #if HAS_TMC_UART
   void tmc_serial_begin();
 #endif

buildroot/tests/LPC1769

@@ -83,7 +83,8 @@ opt_set MOTHERBOARD BOARD_BTT_SKR_V1_4_TURBO SERIAL_PORT -1 \
         Z_MIN_ENDSTOP_HIT_STATE HIGH
 opt_enable PIDTEMPBED \
         FILAMENT_RUNOUT_SENSOR NOZZLE_PARK_FEATURE ADVANCED_PAUSE_FEATURE \
-        BLTOUCH BLTOUCH_FORCE_SW_MODE USE_PROBE_FOR_Z_HOMING Z_SAFE_HOMING QUICK_HOME Z_STEPPER_AUTO_ALIGN \
+        BLTOUCH BLTOUCH_FORCE_SW_MODE USE_PROBE_FOR_Z_HOMING Z_SAFE_HOMING QUICK_HOME \
+        Z_STEPPER_AUTO_ALIGN EVENT_GCODE_BEFORE_G34 EVENT_GCODE_AFTER_G34 \
         AUTO_BED_LEVELING_BILINEAR EXTRAPOLATE_BEYOND_GRID RESTORE_LEVELING_AFTER_G28 LCD_BED_LEVELING MESH_EDIT_MENU \
         EEPROM_SETTINGS EEPROM_AUTO_INIT \
         SDSUPPORT CR10_STOCKDISPLAY SPEAKER LCD_INFO_MENU STATUS_MESSAGE_SCROLLING \

ini/features.ini

@@ -20,7 +20,7 @@ MARLIN_TEST_BUILD                      = build_src_filter=+<src/tests>
 POSTMORTEM_DEBUGGING                   = build_src_filter=+<src/HAL/shared/cpu_exception> +<src/HAL/shared/backtrace>
                                          build_flags=-funwind-tables
 MKS_WIFI_MODULE                        = QRCode=https://github.com/makerbase-mks/QRCode/archive/261c5a696a.zip
-HAS_TRINAMIC_CONFIG                    = TMCStepper=https://github.com/MarlinFirmware/TMCStepper/archive/v0.8.7.zip
+HAS_TRINAMIC_CONFIG                    = TMCStepper=https://github.com/MarlinFirmware/TMCStepper/archive/v0.8.8.zip
                                          build_src_filter=+<src/module/stepper/trinamic.cpp> +<src/gcode/feature/trinamic/M122.cpp> +<src/gcode/feature/trinamic/M906.cpp> +<src/gcode/feature/trinamic/M911-M914.cpp> +<src/gcode/feature/trinamic/M919.cpp>
 HAS_STEPPER_CONTROL                    = build_src_filter=+<src/module/stepper/control.cpp>
 HAS_T(RINAMIC_CONFIG|MC_SPI)           = build_src_filter=+<src/feature/tmc_util.cpp>

ini/stm32f4.ini

@@ -320,7 +320,7 @@ build_unflags     = ${env:STM32F407VG_btt.build_unflags} -DUSBD_USE_CDC
 [env:STM32F407VG_btt_USB_debug]
 extends           = env:STM32F407VG_btt_USB
 build_flags       = ${env:STM32F407VG_btt_USB.build_flags} -O0
-build_unflags     = ${env:STM32F407VG_btt_USB.build_unflags} -Os -NDEBUG
+build_unflags     = ${env:STM32F407VG_btt_USB.build_unflags} -Os -DNDEBUG
 
 #
 # Bigtreetech SKR V2.0 (STM32F429VGT6 ARM Cortex-M4) with USB Flash Drive Support
@@ -340,7 +340,7 @@ build_unflags     = ${env:STM32F429VG_btt.build_unflags} -DUSBD_USE_CDC
 [env:STM32F429VG_btt_USB_debug]
 extends           = env:STM32F429VG_btt_USB
 build_flags       = ${env:STM32F429VG_btt_USB.build_flags} -O0
-build_unflags     = ${env:STM32F429VG_btt_USB.build_unflags} -Os -NDEBUG
+build_unflags     = ${env:STM32F429VG_btt_USB.build_unflags} -Os -DNDEBUG
 
 #
 # BigTreeTech Octopus V1.0/1.1 / Octopus Pro V1.0 (STM32F446ZET6 ARM Cortex-M4)