Add support for Triple-Z steppers/endstops

Marlin/Configuration.h

@@ -587,6 +587,7 @@
 //#define X2_DRIVER_TYPE A4988
 //#define Y2_DRIVER_TYPE A4988
 //#define Z2_DRIVER_TYPE A4988
+//#define Z3_DRIVER_TYPE A4988
 //#define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988

Marlin/Configuration_adv.h

@@ -338,6 +338,17 @@
   #endif
 #endif
 
+//#define Z_TRIPLE_STEPPER_DRIVERS
+#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+  //#define Z_TRIPLE_ENDSTOPS
+  #if ENABLED(Z_TRIPLE_ENDSTOPS)
+    #define Z2_USE_ENDSTOP _XMAX_
+    #define Z3_USE_ENDSTOP _YMAX_
+    #define Z_TRIPLE2_ENDSTOPS_ADJUSTMENT  0
+    #define Z_TRIPLE3_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
+
 /**
  * Dual X Carriage
  *
@@ -1087,6 +1098,10 @@
   #define Z2_SENSE_RESISTOR   91
   #define Z2_MICROSTEPS       16
 
+  #define Z3_MAX_CURRENT    1000
+  #define Z3_SENSE_RESISTOR   91
+  #define Z3_MICROSTEPS       16
+
   #define E0_MAX_CURRENT    1000
   #define E0_SENSE_RESISTOR   91
   #define E0_MICROSTEPS       16
@@ -1153,6 +1168,9 @@
   #define Z2_CURRENT         800
   #define Z2_MICROSTEPS       16
 
+  #define Z3_CURRENT         800
+  #define Z3_MICROSTEPS       16
+
   #define E0_CURRENT         800
   #define E0_MICROSTEPS       16
 
@@ -1217,6 +1235,7 @@
   #define Y2_HYBRID_THRESHOLD    100
   #define Z_HYBRID_THRESHOLD       3
   #define Z2_HYBRID_THRESHOLD      3
+  #define Z3_HYBRID_THRESHOLD      3
   #define E0_HYBRID_THRESHOLD     30
   #define E1_HYBRID_THRESHOLD     30
   #define E2_HYBRID_THRESHOLD     30
@@ -1315,6 +1334,10 @@
   #define Z2_OVERCURRENT    2000
   #define Z2_STALLCURRENT   1500
 
+  #define Z3_MICROSTEPS       16
+  #define Z3_OVERCURRENT    2000
+  #define Z3_STALLCURRENT   1500
+
   #define E0_MICROSTEPS       16
   #define E0_OVERCURRENT    2000
   #define E0_STALLCURRENT   1500

Marlin/src/HAL/HAL_AVR/SanityCheck.h

@@ -106,6 +106,7 @@
     || defined(Y2_HARDWARE_SERIAL) \
     || defined(Z_HARDWARE_SERIAL ) \
     || defined(Z2_HARDWARE_SERIAL) \
+    || defined(Z3_HARDWARE_SERIAL) \
     || defined(E0_HARDWARE_SERIAL) \
     || defined(E1_HARDWARE_SERIAL) \
     || defined(E2_HARDWARE_SERIAL) \

Marlin/src/HAL/HAL_AVR/endstop_interrupts.h

@@ -225,6 +225,26 @@ void setup_endstop_interrupts( void ) {
     #endif
   #endif
 
+  #if HAS_Z3_MAX
+    #if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT)
+      attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+    #else
+      // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
+      static_assert(digitalPinToPCICR(Z3_MAX_PIN) != NULL, "Z3_MAX_PIN is not interrupt-capable");
+      pciSetup(Z3_MAX_PIN);
+    #endif
+  #endif
+
+  #if HAS_Z3_MIN
+    #if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT)
+      attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+    #else
+      // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
+      static_assert(digitalPinToPCICR(Z3_MIN_PIN) != NULL, "Z3_MIN_PIN is not interrupt-capable");
+      pciSetup(Z3_MIN_PIN);
+    #endif
+  #endif
+
   #if HAS_Z_MIN_PROBE_PIN
     #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
       attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);

Marlin/src/HAL/HAL_DUE/endstop_interrupts.h

@@ -72,6 +72,12 @@ void setup_endstop_interrupts(void) {
   #if HAS_Z2_MIN
     attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
   #endif

Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h

@@ -67,6 +67,12 @@ void setup_endstop_interrupts(void) {
   #if HAS_Z2_MIN
     attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
   #endif

Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h

@@ -91,6 +91,12 @@ void setup_endstop_interrupts(void) {
     #endif
     attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     #if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PROBE_PIN)
       #error "Z_MIN_PROBE_PIN is not an INTERRUPT capable pin."

Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h

@@ -79,6 +79,12 @@ void setup_endstop_interrupts(void) {
   #if HAS_Z2_MIN
     attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
   #endif

Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h

@@ -54,6 +54,12 @@ void setup_endstop_interrupts(void) {
   #if HAS_Z2_MIN
     attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
   #endif

Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h

@@ -56,6 +56,12 @@ void setup_endstop_interrupts(void) {
   #if HAS_Z2_MIN
     attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
   #endif

Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h

@@ -43,44 +43,40 @@
 void endstop_ISR(void) { endstops.update(); }
 
 /**
- *  Endstop interrupts for Due based targets.
- *  On Due, all pins support external interrupt capability.
+ * Endstop interrupts for Due based targets.
+ * On Due, all pins support external interrupt capability.
  */
-
 void setup_endstop_interrupts( void ) {
-
   #if HAS_X_MAX
     attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it
   #endif
-
   #if HAS_X_MIN
     attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
   #endif
-
   #if HAS_Y_MAX
     attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
   #endif
-
   #if HAS_Y_MIN
     attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
   #endif
-
   #if HAS_Z_MAX
     attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
   #endif
-
   #if HAS_Z_MIN
      attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
   #endif
-
   #if HAS_Z2_MAX
     attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
   #endif
-
   #if HAS_Z2_MIN
     attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
   #endif
-
+  #if HAS_Z3_MAX
+    attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
   #endif

Marlin/src/Marlin.h

@@ -64,7 +64,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false);
   #define disable_Y() NOOP
 #endif
 
-#if HAS_Z2_ENABLE
+#if HAS_Z3_ENABLE
+  #define  enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); Z3_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
+  #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); Z3_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0)
+#elif HAS_Z2_ENABLE
   #define  enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
   #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0)
 #elif HAS_Z_ENABLE

Marlin/src/config/default/Configuration.h

@@ -587,6 +587,7 @@
 //#define X2_DRIVER_TYPE A4988
 //#define Y2_DRIVER_TYPE A4988
 //#define Z2_DRIVER_TYPE A4988
+//#define Z3_DRIVER_TYPE A4988
 //#define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988

Marlin/src/config/default/Configuration_adv.h

@@ -338,6 +338,17 @@
   #endif
 #endif
 
+//#define Z_TRIPLE_STEPPER_DRIVERS
+#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+  //#define Z_TRIPLE_ENDSTOPS
+  #if ENABLED(Z_TRIPLE_ENDSTOPS)
+    #define Z2_USE_ENDSTOP _XMAX_
+    #define Z3_USE_ENDSTOP _YMAX_
+    #define Z_TRIPLE_ENDSTOPS_ADJUSTMENT2  0
+    #define Z_TRIPLE_ENDSTOPS_ADJUSTMENT3  0
+  #endif
+#endif
+
 /**
  * Dual X Carriage
  *
@@ -1087,6 +1098,10 @@
   #define Z2_SENSE_RESISTOR   91
   #define Z2_MICROSTEPS       16
 
+  #define Z3_MAX_CURRENT    1000
+  #define Z3_SENSE_RESISTOR   91
+  #define Z3_MICROSTEPS       16
+
   #define E0_MAX_CURRENT    1000
   #define E0_SENSE_RESISTOR   91
   #define E0_MICROSTEPS       16
@@ -1153,6 +1168,9 @@
   #define Z2_CURRENT         800
   #define Z2_MICROSTEPS       16
 
+  #define Z3_CURRENT         800
+  #define Z3_MICROSTEPS       16
+
   #define E0_CURRENT         800
   #define E0_MICROSTEPS       16
 
@@ -1217,6 +1235,7 @@
   #define Y2_HYBRID_THRESHOLD    100
   #define Z_HYBRID_THRESHOLD       3
   #define Z2_HYBRID_THRESHOLD      3
+  #define Z3_HYBRID_THRESHOLD      3
   #define E0_HYBRID_THRESHOLD     30
   #define E1_HYBRID_THRESHOLD     30
   #define E2_HYBRID_THRESHOLD     30
@@ -1315,6 +1334,10 @@
   #define Z2_OVERCURRENT    2000
   #define Z2_STALLCURRENT   1500
 
+  #define Z3_MICROSTEPS       16
+  #define Z3_OVERCURRENT    2000
+  #define Z3_STALLCURRENT   1500
+
   #define E0_MICROSTEPS       16
   #define E0_OVERCURRENT    2000
   #define E0_STALLCURRENT   1500

Marlin/src/core/drivers.h

@@ -47,7 +47,8 @@
 #define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T)
 #define AXIS_DRIVER_TYPE_X2(T) (ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T)
 #define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
-#define AXIS_DRIVER_TYPE_Z2(T) (ENABLED(Z_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z2,T))
+#define AXIS_DRIVER_TYPE_Z2(T) (Z_MULTI_STEPPER_DRIVERS && _AXIS_DRIVER_TYPE(Z2,T))
+#define AXIS_DRIVER_TYPE_Z3(T) (ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z3,T))
 #define AXIS_DRIVER_TYPE_E0(T) (E_STEPPERS > 0 && _AXIS_DRIVER_TYPE(E0,T))
 #define AXIS_DRIVER_TYPE_E1(T) (E_STEPPERS > 1 && _AXIS_DRIVER_TYPE(E1,T))
 #define AXIS_DRIVER_TYPE_E2(T) (E_STEPPERS > 2 && _AXIS_DRIVER_TYPE(E2,T))
@@ -58,7 +59,7 @@
 
 #define HAS_DRIVER(T)  (AXIS_DRIVER_TYPE_X(T)  || AXIS_DRIVER_TYPE_X2(T) || \
                         AXIS_DRIVER_TYPE_Y(T)  || AXIS_DRIVER_TYPE_Y2(T) || \
-                        AXIS_DRIVER_TYPE_Z(T)  || AXIS_DRIVER_TYPE_Z2(T) || \
+                        AXIS_DRIVER_TYPE_Z(T)  || AXIS_DRIVER_TYPE_Z2(T) || AXIS_DRIVER_TYPE_Z3(T) || \
                         AXIS_DRIVER_TYPE_E0(T) || AXIS_DRIVER_TYPE_E1(T) || \
                         AXIS_DRIVER_TYPE_E2(T) || AXIS_DRIVER_TYPE_E3(T) || \
                         AXIS_DRIVER_TYPE_E4(T) )

Marlin/src/core/language.h

@@ -151,6 +151,8 @@
 #define MSG_Z_MAX                           "z_max: "
 #define MSG_Z2_MIN                          "z2_min: "
 #define MSG_Z2_MAX                          "z2_max: "
+#define MSG_Z3_MIN                          "z3_min: "
+#define MSG_Z3_MAX                          "z3_max: "
 #define MSG_Z_PROBE                         "z_probe: "
 #define MSG_PROBE_Z_OFFSET                  "Probe Z Offset"
 #define MSG_SKEW_MIN                        "min_skew_factor: "

Marlin/src/feature/controllerfan.cpp

@@ -50,6 +50,9 @@ void controllerfan_update() {
         #if HAS_Z2_ENABLE
           || Z2_ENABLE_READ == Z_ENABLE_ON
         #endif
+        #if HAS_Z3_ENABLE
+          || Z3_ENABLE_READ == Z_ENABLE_ON
+        #endif
         || E0_ENABLE_READ == E_ENABLE_ON
         #if E_STEPPERS > 1
           || E1_ENABLE_READ == E_ENABLE_ON

Marlin/src/feature/tmc_util.cpp

@@ -189,6 +189,10 @@ bool report_tmc_status = false;
         static uint8_t z2_otpw_cnt = 0;
         monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);
       #endif
+      #if HAS_HW_COMMS(Z3)
+        static uint8_t z3_otpw_cnt = 0;
+        monitor_tmc_driver(stepperZ3, TMC_Z, z3_otpw_cnt);
+      #endif
       #if HAS_HW_COMMS(E0)
         static uint8_t e0_otpw_cnt = 0;
         monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);
@@ -217,12 +221,65 @@ bool report_tmc_status = false;
 #endif // MONITOR_DRIVER_STATUS
 
 void _tmc_say_axis(const TMC_AxisEnum axis) {
-  static const char ext_X[]  PROGMEM = "X",  ext_Y[]  PROGMEM = "Y",  ext_Z[]  PROGMEM = "Z",
-                    ext_X2[] PROGMEM = "X2", ext_Y2[] PROGMEM = "Y2", ext_Z2[] PROGMEM = "Z2",
-                    ext_E0[] PROGMEM = "E0", ext_E1[] PROGMEM = "E1",
-                    ext_E2[] PROGMEM = "E2", ext_E3[] PROGMEM = "E3",
-                    ext_E4[] PROGMEM = "E4";
-  static const char* const tmc_axes[] PROGMEM = { ext_X, ext_Y, ext_Z, ext_X2, ext_Y2, ext_Z2, ext_E0, ext_E1, ext_E2, ext_E3, ext_E4 };
+  static const char ext_X[] PROGMEM = "X", ext_Y[] PROGMEM = "Y", ext_Z[] PROGMEM = "Z",
+    #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
+      , ext_X2[] PROGMEM = "X2"
+    #endif
+    #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+      , ext_Y2[] PROGMEM = "Y2"
+    #endif
+    #if Z_MULTI_STEPPER_DRIVERS
+      , ext_Z2[] PROGMEM = "Z2"
+      #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+        , ext_Z3[] PROGMEM = "Z3"
+      #endif
+    #endif
+    #if E_STEPPERS
+      , ext_E0[] PROGMEM = "E0"
+      #if E_STEPPERS > 1
+        , ext_E1[] PROGMEM = "E1"
+        #if E_STEPPERS > 2
+          , ext_E2[] PROGMEM = "E2"
+          #if E_STEPPERS > 3
+            , ext_E3[] PROGMEM = "E3"
+            #if E_STEPPERS > 4
+              , ext_E4[] PROGMEM = "E4"
+            #endif
+          #endif
+        #endif
+      #endif
+    #endif
+
+  static const char* const tmc_axes[] PROGMEM = {
+    ext_X, ext_Y, ext_Z
+    #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
+      , ext_X2
+    #endif
+    #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+      , ext_Y2
+    #endif
+    #if Z_MULTI_STEPPER_DRIVERS
+      , ext_Z2
+      #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+        , ext_Z3
+      #endif
+    #endif
+    #if E_STEPPERS
+      , ext_E0
+      #if E_STEPPERS > 1
+        , ext_E1
+        #if E_STEPPERS > 2
+          , ext_E2
+          #if E_STEPPERS > 3
+            , ext_E3
+            #if E_STEPPERS > 4
+              , ext_E4
+            #endif
+          #endif
+        #endif
+      #endif
+    #endif
+  };
   serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));
 }
 
@@ -440,6 +497,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
     #if AXIS_IS_TMC(Z2)
       tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
     #endif
+    #if AXIS_IS_TMC(Z3)
+      tmc_status(stepperZ3, TMC_Z3, i, planner.axis_steps_per_mm[Z_AXIS]);
+    #endif
 
     #if AXIS_IS_TMC(E0)
       tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
@@ -497,6 +557,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
     #if AXIS_IS_TMC(Z2)
       tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
     #endif
+    #if AXIS_IS_TMC(Z3)
+      tmc_parse_drv_status(stepperZ3, TMC_Z3, i);
+    #endif
 
     #if AXIS_IS_TMC(E0)
       tmc_parse_drv_status(stepperE0, TMC_E0, i);
@@ -612,6 +675,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
     #if AXIS_DRIVER_TYPE(Z2, TMC2130)
       SET_CS_PIN(Z2);
     #endif
+    #if AXIS_DRIVER_TYPE(Z3, TMC2130)
+      SET_CS_PIN(Z3);
+    #endif
     #if AXIS_DRIVER_TYPE(E0, TMC2130)
       SET_CS_PIN(E0);
     #endif

Marlin/src/feature/tmc_util.h

@@ -35,7 +35,34 @@
 
 extern bool report_tmc_status;
 
-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 };
+enum TMC_AxisEnum : char {
+  TMC_X, TMC_Y, TMC_Z
+  #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
+    , TMC_X2
+  #endif
+  #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+    , TMC_Y2
+  #endif
+  #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+    , TMC_Z2
+  #endif
+  #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+    , TMC_Z3
+  #endif
+  , TMC_E0
+  #if E_STEPPERS > 1
+    , TMC_E1
+    #if E_STEPPERS > 2
+      , TMC_E2
+      #if E_STEPPERS > 3
+        , TMC_E3
+        #if E_STEPPERS > 4
+          , TMC_E4
+        #endif
+      #endif
+    #endif
+  #endif
+};
 
 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/gcode/calibrate/M666.cpp

@@ -59,44 +59,60 @@
     #endif
   }
 
-#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
 
   #include "../../module/endstops.h"
 
   /**
    * M666: Set Dual Endstops offsets for X, Y, and/or Z.
    *       With no parameters report current offsets.
+   *
+   * For Triple Z Endstops:
+   *   Set Z2 Only: M666 S2 Z<offset>
+   *   Set Z3 Only: M666 S3 Z<offset>
+   *      Set Both: M666 Z<offset>
    */
   void GcodeSuite::M666() {
     bool report = true;
     #if ENABLED(X_DUAL_ENDSTOPS)
       if (parser.seen('X')) {
-        endstops.x_endstop_adj = parser.value_linear_units();
+        endstops.x2_endstop_adj = parser.value_linear_units();
         report = false;
       }
     #endif
     #if ENABLED(Y_DUAL_ENDSTOPS)
       if (parser.seen('Y')) {
-        endstops.y_endstop_adj = parser.value_linear_units();
+        endstops.y2_endstop_adj = parser.value_linear_units();
         report = false;
       }
     #endif
-    #if ENABLED(Z_DUAL_ENDSTOPS)
+    #if ENABLED(Z_TRIPLE_ENDSTOPS)
       if (parser.seen('Z')) {
-        endstops.z_endstop_adj = parser.value_linear_units();
+        const int ind = parser.intval('S');
+        const float z_adj = parser.value_linear_units();
+        if (!ind || ind == 2) endstops.z2_endstop_adj = z_adj;
+        if (!ind || ind == 3) endstops.z3_endstop_adj = z_adj;
+        report = false;
+      }
+    #elif Z_MULTI_ENDSTOPS
+      if (parser.seen('Z')) {
+        endstops.z2_endstop_adj = parser.value_linear_units();
         report = false;
       }
     #endif
     if (report) {
       SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): ");
       #if ENABLED(X_DUAL_ENDSTOPS)
-        SERIAL_ECHOPAIR(" X", endstops.x_endstop_adj);
+        SERIAL_ECHOPAIR(" X2:", endstops.x2_endstop_adj);
       #endif
       #if ENABLED(Y_DUAL_ENDSTOPS)
-        SERIAL_ECHOPAIR(" Y", endstops.y_endstop_adj);
+        SERIAL_ECHOPAIR(" Y2:", endstops.y2_endstop_adj);
+      #endif
+      #if Z_MULTI_ENDSTOPS
+        SERIAL_ECHOPAIR(" Z2:", endstops.z2_endstop_adj);
       #endif
-      #if ENABLED(Z_DUAL_ENDSTOPS)
-        SERIAL_ECHOPAIR(" Z", endstops.z_endstop_adj);
+      #if ENABLED(Z_TRIPLE_ENDSTOPS)
+        SERIAL_ECHOPAIR(" Z3:", endstops.z3_endstop_adj);
       #endif
       SERIAL_EOL();
     }

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

@@ -64,6 +64,9 @@ void GcodeSuite::M906() {
         #if AXIS_IS_TMC(Z2)
           if (index == 1) TMC_SET_CURRENT(Z2);
         #endif
+        #if AXIS_IS_TMC(Z3)
+          if (index == 2) TMC_SET_CURRENT(Z3);
+        #endif
         break;
       case E_AXIS: {
         if (get_target_extruder_from_command()) return;
@@ -107,6 +110,9 @@ void GcodeSuite::M906() {
     #if AXIS_IS_TMC(Z2)
       TMC_SAY_CURRENT(Z2);
     #endif
+    #if AXIS_IS_TMC(Z3)
+      TMC_SAY_CURRENT(Z3);
+    #endif
     #if AXIS_IS_TMC(E0)
       TMC_SAY_CURRENT(E0);
     #endif

Marlin/src/gcode/feature/trinamic/M911-M915.cpp

@@ -56,6 +56,9 @@ void GcodeSuite::M911() {
   #if M91x_USE(Z2)
     tmc_report_otpw(stepperZ2, TMC_Z2);
   #endif
+  #if M91x_USE(Z3)
+    tmc_report_otpw(stepperZ3, TMC_Z3);
+  #endif
   #if M91x_USE_E(0)
     tmc_report_otpw(stepperE0, TMC_E0);
   #endif
@@ -75,7 +78,7 @@ void GcodeSuite::M911() {
 
 /**
  * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
- *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, and E[index].
+ *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3 and E[index].
  *       If no axes are given, clear all.
  *
  * Examples:
@@ -93,51 +96,54 @@ void GcodeSuite::M912() {
                hasNone = !hasX && !hasY && !hasZ && !hasE;
 
     #if M91x_USE(X) || M91x_USE(X2)
-      const uint8_t xval = parser.byteval(axis_codes[X_AXIS], 10);
+      const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
       #if M91x_USE(X)
-        if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX, TMC_X);
+        if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX, TMC_X);
       #endif
       #if M91x_USE(X2)
-        if (hasNone || xval == 2 || (hasX && xval == 10)) tmc_clear_otpw(stepperX2, TMC_X2);
+        if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2, TMC_X2);
       #endif
     #endif
 
     #if M91x_USE(Y) || M91x_USE(Y2)
-      const uint8_t yval = parser.byteval(axis_codes[Y_AXIS], 10);
+      const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
       #if M91x_USE(Y)
-        if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY, TMC_Y);
+        if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY, TMC_Y);
       #endif
       #if M91x_USE(Y2)
-        if (hasNone || yval == 2 || (hasY && yval == 10)) tmc_clear_otpw(stepperY2, TMC_Y2);
+        if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2, TMC_Y2);
       #endif
     #endif
 
-    #if M91x_USE(Z) || M91x_USE(Z2)
-      const uint8_t zval = parser.byteval(axis_codes[Z_AXIS], 10);
+    #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3)
+      const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
       #if M91x_USE(Z)
-        if (hasNone || zval == 1 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ, TMC_Z);
+        if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ, TMC_Z);
       #endif
       #if M91x_USE(Z2)
-        if (hasNone || zval == 2 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ2, TMC_Z2);
+        if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2, TMC_Z2);
+      #endif
+      #if M91x_USE(Z3)
+        if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3, TMC_Z3);
       #endif
     #endif
 
     #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4)
-      const uint8_t eval = parser.byteval(axis_codes[E_AXIS], 10);
+      const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
       #if M91x_USE_E(0)
-        if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0, TMC_E0);
+        if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0, TMC_E0);
       #endif
       #if M91x_USE_E(1)
-        if (hasNone || eval == 1 || (hasE && eval == 10)) tmc_clear_otpw(stepperE1, TMC_E1);
+        if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1, TMC_E1);
       #endif
       #if M91x_USE_E(2)
-        if (hasNone || eval == 2 || (hasE && eval == 10)) tmc_clear_otpw(stepperE2, TMC_E2);
+        if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2, TMC_E2);
       #endif
       #if M91x_USE_E(3)
-        if (hasNone || eval == 3 || (hasE && eval == 10)) tmc_clear_otpw(stepperE3, TMC_E3);
+        if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3, TMC_E3);
       #endif
       #if M91x_USE_E(4)
-        if (hasNone || eval == 4 || (hasE && eval == 10)) tmc_clear_otpw(stepperE4, TMC_E4);
+        if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4, TMC_E4);
       #endif
     #endif
 }
@@ -178,7 +184,10 @@ void GcodeSuite::M912() {
             if (index < 2) TMC_SET_PWMTHRS(Z,Z);
           #endif
           #if AXIS_HAS_STEALTHCHOP(Z2)
-            if (!(index & 1)) TMC_SET_PWMTHRS(Z,Z2);
+            if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2);
+          #endif
+          #if AXIS_HAS_STEALTHCHOP(Z3)
+            if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3);
           #endif
           break;
         case E_AXIS: {
@@ -223,6 +232,9 @@ void GcodeSuite::M912() {
       #if AXIS_HAS_STEALTHCHOP(Z2)
         TMC_SAY_PWMTHRS(Z,Z2);
       #endif
+      #if AXIS_HAS_STEALTHCHOP(Z3)
+        TMC_SAY_PWMTHRS(Z,Z3);
+      #endif
       #if AXIS_HAS_STEALTHCHOP(E0)
         TMC_SAY_PWMTHRS_E(0);
       #endif
@@ -282,7 +294,10 @@ void GcodeSuite::M912() {
               if (index < 2) TMC_SET_SGT(Z);
             #endif
             #if AXIS_HAS_STALLGUARD(Z2)
-              if (!(index & 1)) TMC_SET_SGT(Z2);
+              if (index == 0 || index == 2) TMC_SET_SGT(Z2);
+            #endif
+            #if AXIS_HAS_STALLGUARD(Z3)
+              if (index == 0 || index == 3) TMC_SET_SGT(Z3);
             #endif
             break;
         #endif
@@ -313,6 +328,9 @@ void GcodeSuite::M912() {
         #if AXIS_HAS_STALLGUARD(Z2)
           TMC_SAY_SGT(Z2);
         #endif
+        #if AXIS_HAS_STALLGUARD(Z3)
+          TMC_SAY_SGT(Z3);
+        #endif
       #endif
     }
   }
@@ -339,6 +357,10 @@ void GcodeSuite::M912() {
       const uint16_t Z2_current_1 = stepperZ2.getCurrent();
       stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
     #endif
+    #if Z3_IS_TRINAMIC
+      const uint16_t Z3_current_1 = stepperZ3.getCurrent();
+      stepperZ3.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+    #endif
 
     SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
 
@@ -352,6 +374,9 @@ void GcodeSuite::M912() {
     #if AXIS_IS_TMC(Z2)
       stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
     #endif
+    #if AXIS_IS_TMC(Z3)
+      stepperZ3.setCurrent(Z3_current_1, R_SENSE, HOLD_MULTIPLIER);
+    #endif
 
     do_blocking_move_to_z(Z_MAX_POS);
     soft_endstops_enabled = true;

Marlin/src/inc/Conditionals_LCD.h

@@ -546,4 +546,7 @@
 #define HAS_RESUME_CONTINUE (ENABLED(NEWPANEL) || ENABLED(EMERGENCY_PARSER))
 #define HAS_COLOR_LEDS (ENABLED(BLINKM) || ENABLED(RGB_LED) || ENABLED(RGBW_LED) || ENABLED(PCA9632) || ENABLED(NEOPIXEL_LED))
 
+#define Z_MULTI_STEPPER_DRIVERS (ENABLED(Z_DUAL_STEPPER_DRIVERS) || ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
+#define Z_MULTI_ENDSTOPS (ENABLED(Z_DUAL_ENDSTOPS) || ENABLED(Z_TRIPLE_ENDSTOPS))
+
 #endif // CONDITIONALS_LCD_H

Marlin/src/inc/Conditionals_post.h

@@ -611,7 +611,7 @@
 /**
  * Z_DUAL_ENDSTOPS endstop reassignment
  */
-#if ENABLED(Z_DUAL_ENDSTOPS)
+#if Z_MULTI_ENDSTOPS
   #if Z_HOME_DIR > 0
     #if Z2_USE_ENDSTOP == _XMIN_
       #define Z2_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
@@ -661,9 +661,64 @@
   #endif
 #endif
 
+#if ENABLED(Z_TRIPLE_ENDSTOPS)
+  #if Z_HOME_DIR > 0
+    #if Z3_USE_ENDSTOP == _XMIN_
+      #define Z3_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+      #define Z3_MAX_PIN X_MIN_PIN
+    #elif Z3_USE_ENDSTOP == _XMAX_
+      #define Z3_MAX_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+      #define Z3_MAX_PIN X_MAX_PIN
+    #elif Z3_USE_ENDSTOP == _YMIN_
+      #define Z3_MAX_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+      #define Z3_MAX_PIN Y_MIN_PIN
+    #elif Z3_USE_ENDSTOP == _YMAX_
+      #define Z3_MAX_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+      #define Z3_MAX_PIN Y_MAX_PIN
+    #elif Z3_USE_ENDSTOP == _ZMIN_
+      #define Z3_MAX_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+      #define Z3_MAX_PIN Z_MIN_PIN
+    #elif Z3_USE_ENDSTOP == _ZMAX_
+      #define Z3_MAX_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+      #define Z3_MAX_PIN Z_MAX_PIN
+    #else
+      #define Z3_MAX_ENDSTOP_INVERTING false
+    #endif
+    #define Z3_MIN_ENDSTOP_INVERTING false
+  #else
+    #if Z3_USE_ENDSTOP == _XMIN_
+      #define Z3_MIN_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+      #define Z3_MIN_PIN X_MIN_PIN
+    #elif Z3_USE_ENDSTOP == _XMAX_
+      #define Z3_MIN_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+      #define Z3_MIN_PIN X_MAX_PIN
+    #elif Z3_USE_ENDSTOP == _YMIN_
+      #define Z3_MIN_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+      #define Z3_MIN_PIN Y_MIN_PIN
+    #elif Z3_USE_ENDSTOP == _YMAX_
+      #define Z3_MIN_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+      #define Z3_MIN_PIN Y_MAX_PIN
+    #elif Z3_USE_ENDSTOP == _ZMIN_
+      #define Z3_MIN_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+      #define Z3_MIN_PIN Z_MIN_PIN
+    #elif Z3_USE_ENDSTOP == _ZMAX_
+      #define Z3_MIN_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+      #define Z3_MIN_PIN Z_MAX_PIN
+    #else
+      #define Z3_MIN_ENDSTOP_INVERTING false
+    #endif
+    #define Z3_MAX_ENDSTOP_INVERTING false
+  #endif
+#endif
+
 // Is an endstop plug used for the Z2 endstop or the bed probe?
 #define IS_Z2_OR_PROBE(A,M) ( \
-     (ENABLED(Z_DUAL_ENDSTOPS) && Z2_USE_ENDSTOP == _##A##M##_) \
+     (Z_MULTI_ENDSTOPS && Z2_USE_ENDSTOP == _##A##M##_) \
+  || (ENABLED(Z_MIN_PROBE_ENDSTOP) && Z_MIN_PROBE_PIN == A##_##M##_PIN ) )
+
+// Is an endstop plug used for the Z3 endstop or the bed probe?
+#define IS_Z3_OR_PROBE(A,M) ( \
+     (ENABLED(Z_TRIPLE_ENDSTOPS) && Z3_USE_ENDSTOP == _##A##M##_) \
   || (ENABLED(Z_MIN_PROBE_ENDSTOP) && Z_MIN_PROBE_PIN == A##_##M##_PIN ) )
 
 /**
@@ -749,6 +804,10 @@
 #define HAS_Z2_STEP       (PIN_EXISTS(Z2_STEP))
 #define HAS_Z2_MICROSTEPS (PIN_EXISTS(Z2_MS1))
 
+#define HAS_Z3_ENABLE     (PIN_EXISTS(Z3_ENABLE))
+#define HAS_Z3_DIR        (PIN_EXISTS(Z3_DIR))
+#define HAS_Z3_STEP       (PIN_EXISTS(Z3_STEP))
+
 // Extruder steppers and solenoids
 #define HAS_E0_ENABLE     (PIN_EXISTS(E0_ENABLE))
 #define HAS_E0_DIR        (PIN_EXISTS(E0_DIR))
@@ -810,6 +869,8 @@
 #define HAS_Y2_MAX (PIN_EXISTS(Y2_MAX))
 #define HAS_Z2_MIN (PIN_EXISTS(Z2_MIN))
 #define HAS_Z2_MAX (PIN_EXISTS(Z2_MAX))
+#define HAS_Z3_MIN (PIN_EXISTS(Z3_MIN))
+#define HAS_Z3_MAX (PIN_EXISTS(Z3_MAX))
 #define HAS_Z_MIN_PROBE_PIN (PIN_EXISTS(Z_MIN_PROBE))
 
 // ADC Temp Sensors (Thermistor or Thermocouple with amplifier ADC interface)

Marlin/src/inc/SanityCheck.h

@@ -272,19 +272,19 @@
   #error "HAVE_TMC2130 is now [AXIS]_DRIVER_TYPE TMC2130. Please update your Configuration.h."
 #elif defined(HAVE_L6470DRIVER)
   #error "HAVE_L6470DRIVER is now [AXIS]_DRIVER_TYPE L6470. Please update your Configuration.h."
-#elif defined(X_IS_TMC) || defined(X2_IS_TMC) || defined(Y_IS_TMC) || defined(Y2_IS_TMC) || defined(Z_IS_TMC) || defined(Z2_IS_TMC) \
+#elif defined(X_IS_TMC) || defined(X2_IS_TMC) || defined(Y_IS_TMC) || defined(Y2_IS_TMC) || defined(Z_IS_TMC) || defined(Z2_IS_TMC) || defined(Z3_IS_TMC) \
    || defined(E0_IS_TMC) || defined(E1_IS_TMC) || defined(E2_IS_TMC) || defined(E3_IS_TMC) || defined(E4_IS_TMC)
   #error "[AXIS]_IS_TMC is now [AXIS]_DRIVER_TYPE TMC26X. Please update your Configuration.h."
-#elif defined(X_IS_TMC26X) || defined(X2_IS_TMC26X) || defined(Y_IS_TMC26X) || defined(Y2_IS_TMC26X) || defined(Z_IS_TMC26X) || defined(Z2_IS_TMC26X) \
+#elif defined(X_IS_TMC26X) || defined(X2_IS_TMC26X) || defined(Y_IS_TMC26X) || defined(Y2_IS_TMC26X) || defined(Z_IS_TMC26X) || defined(Z2_IS_TMC26X) || defined(Z3_IS_TMC26X) \
    || defined(E0_IS_TMC26X) || defined(E1_IS_TMC26X) || defined(E2_IS_TMC26X) || defined(E3_IS_TMC26X) || defined(E4_IS_TMC26X)
   #error "[AXIS]_IS_TMC26X is now [AXIS]_DRIVER_TYPE TMC26X. Please update your Configuration.h."
-#elif defined(X_IS_TMC2130) || defined(X2_IS_TMC2130) || defined(Y_IS_TMC2130) || defined(Y2_IS_TMC2130) || defined(Z_IS_TMC2130) || defined(Z2_IS_TMC2130) \
+#elif defined(X_IS_TMC2130) || defined(X2_IS_TMC2130) || defined(Y_IS_TMC2130) || defined(Y2_IS_TMC2130) || defined(Z_IS_TMC2130) || defined(Z2_IS_TMC2130) || defined(Z3_IS_TMC2130) \
    || defined(E0_IS_TMC2130) || defined(E1_IS_TMC2130) || defined(E2_IS_TMC2130) || defined(E3_IS_TMC2130) || defined(E4_IS_TMC2130)
   #error "[AXIS]_IS_TMC2130 is now [AXIS]_DRIVER_TYPE TMC2130. Please update your Configuration.h."
-#elif defined(X_IS_TMC2208) || defined(X2_IS_TMC2208) || defined(Y_IS_TMC2208) || defined(Y2_IS_TMC2208) || defined(Z_IS_TMC2208) || defined(Z2_IS_TMC2208) \
+#elif defined(X_IS_TMC2208) || defined(X2_IS_TMC2208) || defined(Y_IS_TMC2208) || defined(Y2_IS_TMC2208) || defined(Z_IS_TMC2208) || defined(Z2_IS_TMC2208) || defined(Z3_IS_TMC2208) \
    || defined(E0_IS_TMC2208) || defined(E1_IS_TMC2208) || defined(E2_IS_TMC2208) || defined(E3_IS_TMC2208) || defined(E4_IS_TMC2208)
   #error "[AXIS]_IS_TMC2208 is now [AXIS]_DRIVER_TYPE TMC2208. Please update your Configuration.h."
-#elif defined(X_IS_L6470) || defined(X2_IS_L6470) || defined(Y_IS_L6470) || defined(Y2_IS_L6470) || defined(Z_IS_L6470) || defined(Z2_IS_L6470) \
+#elif defined(X_IS_L6470) || defined(X2_IS_L6470) || defined(Y_IS_L6470) || defined(Y2_IS_L6470) || defined(Z_IS_L6470) || defined(Z2_IS_L6470) || defined(Z3_IS_L6470) \
    || defined(E0_IS_L6470) || defined(E1_IS_L6470) || defined(E2_IS_L6470) || defined(E3_IS_L6470) || defined(E4_IS_L6470)
   #error "[AXIS]_IS_L6470 is now [AXIS]_DRIVER_TYPE L6470. Please update your Configuration.h."
 #elif defined(AUTOMATIC_CURRENT_CONTROL)
@@ -365,16 +365,22 @@
 #endif
 
 /**
- * Dual Stepper Drivers
+ * Dual / Triple Stepper Drivers
  */
 #if ENABLED(X_DUAL_STEPPER_DRIVERS) && ENABLED(DUAL_X_CARRIAGE)
   #error "DUAL_X_CARRIAGE is not compatible with X_DUAL_STEPPER_DRIVERS."
-#elif ENABLED(X_DUAL_STEPPER_DRIVERS) && (!HAS_X2_ENABLE || !HAS_X2_STEP || !HAS_X2_DIR)
+#elif ENABLED(X_DUAL_STEPPER_DRIVERS) && !(HAS_X2_ENABLE && HAS_X2_STEP && HAS_X2_DIR)
   #error "X_DUAL_STEPPER_DRIVERS requires X2 pins (and an extra E plug)."
-#elif ENABLED(Y_DUAL_STEPPER_DRIVERS) && (!HAS_Y2_ENABLE || !HAS_Y2_STEP || !HAS_Y2_DIR)
+#elif ENABLED(Y_DUAL_STEPPER_DRIVERS) && !(HAS_Y2_ENABLE && HAS_Y2_STEP && HAS_Y2_DIR)
   #error "Y_DUAL_STEPPER_DRIVERS requires Y2 pins (and an extra E plug)."
-#elif ENABLED(Z_DUAL_STEPPER_DRIVERS) && (!HAS_Z2_ENABLE || !HAS_Z2_STEP || !HAS_Z2_DIR)
-  #error "Z_DUAL_STEPPER_DRIVERS requires Z2 pins (and an extra E plug)."
+#elif ENABLED(Z_DUAL_STEPPER_DRIVERS)
+  #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+    #error "Please select either Z_TRIPLE_STEPPER_DRIVERS or Z_DUAL_STEPPER_DRIVERS, not both."
+  #elif !(HAS_Z2_ENABLE && HAS_Z2_STEP && HAS_Z2_DIR)
+    #error "Z_DUAL_STEPPER_DRIVERS requires Z2 pins (and an extra E plug)."
+  #endif
+#elif ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && !(HAS_Z2_ENABLE && HAS_Z2_STEP && HAS_Z2_DIR && HAS_Z3_ENABLE && HAS_Z3_STEP && HAS_Z3_DIR)
+  #error "Z_TRIPLE_STEPPER_DRIVERS requires Z3 pins (and two extra E plugs)."
 #endif
 
 /**
@@ -1138,7 +1144,7 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
     #error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
   #elif CORE_IS_XY || CORE_IS_XZ
     #error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, or COREZX."
-  #elif !HAS_X2_ENABLE || !HAS_X2_STEP || !HAS_X2_DIR
+  #elif !(HAS_X2_ENABLE && HAS_X2_STEP && HAS_X2_DIR)
     #error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."
   #elif !HAS_X_MAX
     #error "DUAL_X_CARRIAGE requires USE_XMAX_PLUG and an X Max Endstop."
@@ -1301,23 +1307,24 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
  */
 #if DISABLED(MK2_MULTIPLEXER) // MK2_MULTIPLEXER uses E0 stepper only
   #if E_STEPPERS > 4
-    #if !PIN_EXISTS(E4_STEP) || !PIN_EXISTS(E4_DIR) || !PIN_EXISTS(E4_ENABLE)
+    #if !(PIN_EXISTS(E4_STEP) && PIN_EXISTS(E4_DIR) && PIN_EXISTS(E4_ENABLE))
       #error "E4_STEP_PIN, E4_DIR_PIN, or E4_ENABLE_PIN not defined for this board."
     #endif
   #elif E_STEPPERS > 3
-    #if !PIN_EXISTS(E3_STEP) || !PIN_EXISTS(E3_DIR) || !PIN_EXISTS(E3_ENABLE)
+    #if !(PIN_EXISTS(E3_STEP) && PIN_EXISTS(E3_DIR) && PIN_EXISTS(E3_ENABLE))
       #error "E3_STEP_PIN, E3_DIR_PIN, or E3_ENABLE_PIN not defined for this board."
     #endif
   #elif E_STEPPERS > 2
-    #if !PIN_EXISTS(E2_STEP) || !PIN_EXISTS(E2_DIR) || !PIN_EXISTS(E2_ENABLE)
+    #if !(PIN_EXISTS(E2_STEP) && PIN_EXISTS(E2_DIR) && PIN_EXISTS(E2_ENABLE))
       #error "E2_STEP_PIN, E2_DIR_PIN, or E2_ENABLE_PIN not defined for this board."
     #endif
   #elif E_STEPPERS > 1
-    #if !PIN_EXISTS(E1_STEP) || !PIN_EXISTS(E1_DIR) || !PIN_EXISTS(E1_ENABLE)
+    #if !(PIN_EXISTS(E1_STEP) && PIN_EXISTS(E1_DIR) && PIN_EXISTS(E1_ENABLE))
       #error "E1_STEP_PIN, E1_DIR_PIN, or E1_ENABLE_PIN not defined for this board."
     #endif
   #endif
 #endif
+
 /**
  * Endstop Tests
  */
@@ -1418,6 +1425,46 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
     #error "Z_DUAL_ENDSTOPS is not compatible with DELTA."
   #endif
 #endif
+#if ENABLED(Z_TRIPLE_ENDSTOPS)
+  #if !Z2_USE_ENDSTOP
+    #error "You must set Z2_USE_ENDSTOP with Z_TRIPLE_ENDSTOPS."
+  #elif Z2_USE_ENDSTOP == _XMIN_ && DISABLED(USE_XMIN_PLUG)
+    #error "USE_XMIN_PLUG is required when Z2_USE_ENDSTOP is _XMIN_."
+  #elif Z2_USE_ENDSTOP == _XMAX_ && DISABLED(USE_XMAX_PLUG)
+    #error "USE_XMAX_PLUG is required when Z2_USE_ENDSTOP is _XMAX_."
+  #elif Z2_USE_ENDSTOP == _YMIN_ && DISABLED(USE_YMIN_PLUG)
+    #error "USE_YMIN_PLUG is required when Z2_USE_ENDSTOP is _YMIN_."
+  #elif Z2_USE_ENDSTOP == _YMAX_ && DISABLED(USE_YMAX_PLUG)
+    #error "USE_YMAX_PLUG is required when Z2_USE_ENDSTOP is _YMAX_."
+  #elif Z2_USE_ENDSTOP == _ZMIN_ && DISABLED(USE_ZMIN_PLUG)
+    #error "USE_ZMIN_PLUG is required when Z2_USE_ENDSTOP is _ZMIN_."
+  #elif Z2_USE_ENDSTOP == _ZMAX_ && DISABLED(USE_ZMAX_PLUG)
+    #error "USE_ZMAX_PLUG is required when Z2_USE_ENDSTOP is _ZMAX_."
+  #elif !HAS_Z2_MIN && !HAS_Z2_MAX
+    #error "Z2_USE_ENDSTOP has been assigned to a nonexistent endstop!"
+  #elif ENABLED(DELTA)
+    #error "Z_TRIPLE_ENDSTOPS is not compatible with DELTA."
+  #endif
+  #if !Z3_USE_ENDSTOP
+    #error "You must set Z3_USE_ENDSTOP with Z_TRIPLE_ENDSTOPS."
+  #elif Z3_USE_ENDSTOP == _XMIN_ && DISABLED(USE_XMIN_PLUG)
+    #error "USE_XMIN_PLUG is required when Z3_USE_ENDSTOP is _XMIN_."
+  #elif Z3_USE_ENDSTOP == _XMAX_ && DISABLED(USE_XMAX_PLUG)
+    #error "USE_XMAX_PLUG is required when Z3_USE_ENDSTOP is _XMAX_."
+  #elif Z3_USE_ENDSTOP == _YMIN_ && DISABLED(USE_YMIN_PLUG)
+    #error "USE_YMIN_PLUG is required when Z3_USE_ENDSTOP is _YMIN_."
+  #elif Z3_USE_ENDSTOP == _YMAX_ && DISABLED(USE_YMAX_PLUG)
+    #error "USE_YMAX_PLUG is required when Z3_USE_ENDSTOP is _YMAX_."
+  #elif Z3_USE_ENDSTOP == _ZMIN_ && DISABLED(USE_ZMIN_PLUG)
+    #error "USE_ZMIN_PLUG is required when Z3_USE_ENDSTOP is _ZMIN_."
+  #elif Z3_USE_ENDSTOP == _ZMAX_ && DISABLED(USE_ZMAX_PLUG)
+    #error "USE_ZMAX_PLUG is required when Z3_USE_ENDSTOP is _ZMAX_."
+  #elif !HAS_Z3_MIN && !HAS_Z3_MAX
+    #error "Z3_USE_ENDSTOP has been assigned to a nonexistent endstop!"
+  #elif ENABLED(DELTA)
+    #error "Z_TRIPLE_ENDSTOPS is not compatible with DELTA."
+  #endif
+#endif
 
 /**
  * emergency-command parser
@@ -1566,6 +1613,8 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
   #error "Z_CS_PIN is required for TMC2130. Define Z_CS_PIN in Configuration_adv.h."
 #elif AXIS_DRIVER_TYPE(Z2, TMC2130) && !PIN_EXISTS(Z2_CS)
   #error "Z2_CS_PIN is required for TMC2130. Define Z2_CS_PIN in Configuration_adv.h."
+#elif AXIS_DRIVER_TYPE(Z3, TMC2130) && !PIN_EXISTS(Z3_CS)
+  #error "Z3_CS_PIN is required for TMC2130. Define Z3_CS_PIN in Configuration_adv.h."
 #elif AXIS_DRIVER_TYPE(E0, TMC2130) && !PIN_EXISTS(E0_CS)
   #error "E0_CS_PIN is required for TMC2130. Define E0_CS_PIN in Configuration_adv.h."
 #elif AXIS_DRIVER_TYPE(E1, TMC2130) && !PIN_EXISTS(E1_CS)
@@ -1588,6 +1637,7 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
     || defined(Y2_HARDWARE_SERIAL) \
     || defined(Z_HARDWARE_SERIAL ) \
     || defined(Z2_HARDWARE_SERIAL) \
+    || defined(Z3_HARDWARE_SERIAL) \
     || defined(E0_HARDWARE_SERIAL) \
     || defined(E1_HARDWARE_SERIAL) \
     || defined(E2_HARDWARE_SERIAL) \
@@ -1650,7 +1700,7 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
 #if ENABLED(HYBRID_THRESHOLD) && DISABLED(STEALTHCHOP)
   #error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
 #endif
-#if ENABLED(TMC_Z_CALIBRATION) && !AXIS_IS_TMC(Z) && !AXIS_IS_TMC(Z2)
+#if ENABLED(TMC_Z_CALIBRATION) && !AXIS_IS_TMC(Z) && !AXIS_IS_TMC(Z2) && !AXIS_IS_TMC(Z3)
   #error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
 #endif
 

Marlin/src/module/configuration_store.cpp

@@ -194,10 +194,13 @@ typedef struct SettingsDataStruct {
           delta_segments_per_second,                    // M665 S
           delta_calibration_radius,                     // M665 B
           delta_tower_angle_trim[ABC];                  // M665 XYZ
-  #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
-    float x_endstop_adj,                                // M666 X
-          y_endstop_adj,                                // M666 Y
-          z_endstop_adj;                                // M666 Z
+  #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
+    float x2_endstop_adj,                                // M666 X
+          y2_endstop_adj,                                // M666 Y
+          z2_endstop_adj;                                // M666 Z
+    #if ENABLED(Z_TRIPLE_ENDSTOPS)
+      float z3_endstop_adj;                             // M666 Z
+    #endif
   #endif
 
   //
@@ -246,9 +249,9 @@ typedef struct SettingsDataStruct {
   //
   // HAS_TRINAMIC
   //
-  #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
+  #define TMC_AXES (MAX_EXTRUDERS + 7)
+  uint16_t tmc_stepper_current[TMC_AXES];               // M906 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4
+  uint32_t tmc_hybrid_threshold[TMC_AXES];              // M913 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4
   int16_t tmc_sgt[XYZ];                                 // M914 X Y Z
 
   //
@@ -574,26 +577,32 @@ void MarlinSettings::postprocess() {
       EEPROM_WRITE(delta_calibration_radius);  // 1 float
       EEPROM_WRITE(delta_tower_angle_trim);    // 3 floats
 
-    #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+    #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
 
-      _FIELD_TEST(x_endstop_adj);
+      _FIELD_TEST(x2_endstop_adj);
 
       // Write dual endstops in X, Y, Z order. Unused = 0.0
       dummy = 0;
       #if ENABLED(X_DUAL_ENDSTOPS)
-        EEPROM_WRITE(endstops.x_endstop_adj);   // 1 float
+        EEPROM_WRITE(endstops.x2_endstop_adj);   // 1 float
       #else
         EEPROM_WRITE(dummy);
       #endif
 
       #if ENABLED(Y_DUAL_ENDSTOPS)
-        EEPROM_WRITE(endstops.y_endstop_adj);   // 1 float
+        EEPROM_WRITE(endstops.y2_endstop_adj);   // 1 float
       #else
         EEPROM_WRITE(dummy);
       #endif
 
-      #if ENABLED(Z_DUAL_ENDSTOPS)
-        EEPROM_WRITE(endstops.z_endstop_adj);   // 1 float
+      #if Z_MULTI_ENDSTOPS
+        EEPROM_WRITE(endstops.z2_endstop_adj);   // 1 float
+      #else
+        EEPROM_WRITE(dummy);
+      #endif
+
+      #if ENABLED(Z_TRIPLE_ENDSTOPS)
+        EEPROM_WRITE(endstops.z3_endstop_adj);   // 1 float
       #else
         EEPROM_WRITE(dummy);
       #endif
@@ -740,6 +749,11 @@ void MarlinSettings::postprocess() {
         #else
           0,
         #endif
+        #if AXIS_IS_TMC(Z3)
+          stepperZ3.getCurrent(),
+        #else
+          0,
+        #endif
         #if AXIS_IS_TMC(E0)
           stepperE0.getCurrent(),
         #else
@@ -809,6 +823,11 @@ void MarlinSettings::postprocess() {
         #else
           Z2_HYBRID_THRESHOLD,
         #endif
+        #if AXIS_HAS_STEALTHCHOP(Z3)
+          TMC_GET_PWMTHRS(Z, Z3),
+        #else
+          Z3_HYBRID_THRESHOLD,
+        #endif
         #if AXIS_HAS_STEALTHCHOP(E0)
           TMC_GET_PWMTHRS(E, E0),
         #else
@@ -836,7 +855,7 @@ void MarlinSettings::postprocess() {
         #endif
       #else
         100, 100, 3,          // X, Y, Z
-        100, 100, 3,          // X2, Y2, Z2
+        100, 100, 3, 3,       // X2, Y2, Z2, Z3
         30, 30, 30, 30, 30    // E0, E1, E2, E3, E4
       #endif
     };
@@ -1187,22 +1206,27 @@ void MarlinSettings::postprocess() {
         EEPROM_READ(delta_calibration_radius);  // 1 float
         EEPROM_READ(delta_tower_angle_trim);    // 3 floats
 
-      #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+      #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
 
-        _FIELD_TEST(x_endstop_adj);
+        _FIELD_TEST(x2_endstop_adj);
 
         #if ENABLED(X_DUAL_ENDSTOPS)
-          EEPROM_READ(endstops.x_endstop_adj);  // 1 float
+          EEPROM_READ(endstops.x2_endstop_adj);  // 1 float
         #else
           EEPROM_READ(dummy);
         #endif
         #if ENABLED(Y_DUAL_ENDSTOPS)
-          EEPROM_READ(endstops.y_endstop_adj);  // 1 float
+          EEPROM_READ(endstops.y2_endstop_adj);  // 1 float
+        #else
+          EEPROM_READ(dummy);
+        #endif
+        #if Z_MULTI_ENDSTOPS
+          EEPROM_READ(endstops.z2_endstop_adj); // 1 float
         #else
           EEPROM_READ(dummy);
         #endif
-        #if ENABLED(Z_DUAL_ENDSTOPS)
-          EEPROM_READ(endstops.z_endstop_adj); // 1 float
+        #if ENABLED(Z_TRIPLE_ENDSTOPS)
+          EEPROM_READ(endstops.z3_endstop_adj); // 1 float
         #else
           EEPROM_READ(dummy);
         #endif
@@ -1365,6 +1389,9 @@ void MarlinSettings::postprocess() {
           #if AXIS_IS_TMC(Z2)
             SET_CURR(Z2);
           #endif
+          #if AXIS_IS_TMC(Z3)
+            SET_CURR(Z3);
+          #endif
           #if AXIS_IS_TMC(E0)
             SET_CURR(E0);
           #endif
@@ -1409,6 +1436,9 @@ void MarlinSettings::postprocess() {
           #if AXIS_HAS_STEALTHCHOP(Z2)
             TMC_SET_PWMTHRS(Z, Z2);
           #endif
+          #if AXIS_HAS_STEALTHCHOP(Z3)
+            TMC_SET_PWMTHRS(Z, Z3);
+          #endif
           #if AXIS_HAS_STEALTHCHOP(E0)
             TMC_SET_PWMTHRS(E, E0);
           #endif
@@ -1434,7 +1464,7 @@ void MarlinSettings::postprocess() {
        * TMC2130 Sensorless homing threshold.
        * X and X2 use the same value
        * Y and Y2 use the same value
-       * Z and Z2 use the same value
+       * Z, Z2 and Z3 use the same value
        */
       int16_t tmc_sgt[XYZ];
       EEPROM_READ(tmc_sgt);
@@ -1463,6 +1493,9 @@ void MarlinSettings::postprocess() {
             #if AXIS_HAS_STALLGUARD(Z2)
               stepperZ2.sgt(tmc_sgt[2]);
             #endif
+            #if AXIS_HAS_STALLGUARD(Z3)
+              stepperZ3.sgt(tmc_sgt[2]);
+            #endif
           #endif
         }
       #endif
@@ -1860,10 +1893,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
     delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
     COPY(delta_tower_angle_trim, dta);
 
-  #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+  #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
 
     #if ENABLED(X_DUAL_ENDSTOPS)
-      endstops.x_endstop_adj = (
+      endstops.x2_endstop_adj = (
         #ifdef X_DUAL_ENDSTOPS_ADJUSTMENT
           X_DUAL_ENDSTOPS_ADJUSTMENT
         #else
@@ -1872,7 +1905,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       );
     #endif
     #if ENABLED(Y_DUAL_ENDSTOPS)
-      endstops.y_endstop_adj = (
+      endstops.y2_endstop_adj = (
         #ifdef Y_DUAL_ENDSTOPS_ADJUSTMENT
           Y_DUAL_ENDSTOPS_ADJUSTMENT
         #else
@@ -1881,13 +1914,28 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       );
     #endif
     #if ENABLED(Z_DUAL_ENDSTOPS)
-      endstops.z_endstop_adj = (
+      endstops.z2_endstop_adj = (
         #ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
           Z_DUAL_ENDSTOPS_ADJUSTMENT
         #else
           0
         #endif
       );
+    #elif ENABLED(Z_TRIPLE_ENDSTOPS)
+      endstops.z2_endstop_adj = (
+        #ifdef Z_TRIPLE_ENDSTOPS_ADJUSTMENT2
+          Z_TRIPLE_ENDSTOPS_ADJUSTMENT2
+        #else
+          0
+        #endif
+      );
+      endstops.z3_endstop_adj = (
+        #ifdef Z_TRIPLE_ENDSTOPS_ADJUSTMENT3
+          Z_TRIPLE_ENDSTOPS_ADJUSTMENT3
+        #else
+          0
+        #endif
+      );
     #endif
 
   #endif
@@ -2391,13 +2439,17 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       CONFIG_ECHO_START;
       SERIAL_ECHOPGM_P(port, "  M666");
       #if ENABLED(X_DUAL_ENDSTOPS)
-        SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(endstops.x_endstop_adj));
+        SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(endstops.x2_endstop_adj));
       #endif
       #if ENABLED(Y_DUAL_ENDSTOPS)
-        SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(endstops.y_endstop_adj));
+        SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(endstops.y2_endstop_adj));
       #endif
-      #if ENABLED(Z_DUAL_ENDSTOPS)
-        SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(endstops.z_endstop_adj));
+      #if ENABLED(Z_TRIPLE_ENDSTOPS)
+        SERIAL_ECHOLNPAIR_P(port, "S1 Z", LINEAR_UNIT(endstops.z2_endstop_adj));
+        CONFIG_ECHO_START;
+        SERIAL_ECHOPAIR_P(port, "  M666 S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
+      #elif ENABLED(Z_DUAL_ENDSTOPS)
+        SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(endstops.z2_endstop_adj));
       #endif
       SERIAL_EOL_P(port);
 
@@ -2582,6 +2634,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
         SERIAL_EOL_P(port);
       #endif
+      #if AXIS_IS_TMC(Z3)
+        say_M906(PORTVAR_SOLO);
+        SERIAL_ECHOLNPAIR_P(port, " I2 Z", stepperZ3.getCurrent());
+      #endif
       #if AXIS_IS_TMC(E0)
         say_M906(PORTVAR_SOLO);
         SERIAL_ECHOLNPAIR_P(port, " T0 E", stepperE0.getCurrent());
@@ -2644,6 +2700,11 @@ void MarlinSettings::reset(PORTARG_SOLO) {
         #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
           SERIAL_EOL_P(port);
         #endif
+        #if AXIS_IS_TMC(Z3)
+          say_M913(PORTVAR_SOLO);
+          SERIAL_ECHOPGM_P(port, " I2");
+          SERIAL_ECHOLNPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z3));
+        #endif
         #if AXIS_IS_TMC(E0)
           say_M913(PORTVAR_SOLO);
           SERIAL_ECHOLNPAIR_P(port, " T0 E", TMC_GET_PWMTHRS(E, E0));
@@ -2693,6 +2754,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
         #define HAS_X2_SENSORLESS (defined(X_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(X2))
         #define HAS_Y2_SENSORLESS (defined(Y_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Y2))
         #define HAS_Z2_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z2))
+        #define HAS_Z3_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z3))
         #if HAS_X2_SENSORLESS || HAS_Y2_SENSORLESS || HAS_Z2_SENSORLESS
           say_M914(PORTVAR_SOLO);
           SERIAL_ECHOPGM_P(port, " I1");
@@ -2708,6 +2770,12 @@ void MarlinSettings::reset(PORTARG_SOLO) {
           SERIAL_EOL_P(port);
         #endif
 
+        #if HAS_Z3_SENSORLESS
+          say_M914(PORTVAR_SOLO);
+          SERIAL_ECHOPGM_P(port, " I2");
+          SERIAL_ECHOLNPAIR_P(port, " Z", stepperZ3.sgt());
+        #endif
+
       #endif // SENSORLESS_HOMING
 
     #endif // HAS_TRINAMIC

Marlin/src/module/endstops.cpp

@@ -56,13 +56,16 @@ Endstops::esbits_t Endstops::live_state = 0;
 
 // Initialized by settings.load()
 #if ENABLED(X_DUAL_ENDSTOPS)
-  float Endstops::x_endstop_adj;
+  float Endstops::x2_endstop_adj;
 #endif
 #if ENABLED(Y_DUAL_ENDSTOPS)
-  float Endstops::y_endstop_adj;
+  float Endstops::y2_endstop_adj;
 #endif
-#if ENABLED(Z_DUAL_ENDSTOPS)
-  float Endstops::z_endstop_adj;
+#if Z_MULTI_ENDSTOPS
+  float Endstops::z2_endstop_adj;
+#endif
+#if ENABLED(Z_TRIPLE_ENDSTOPS)
+  float Endstops::z3_endstop_adj;
 #endif
 
 /**
@@ -131,6 +134,16 @@ void Endstops::init() {
     #endif
   #endif
 
+  #if HAS_Z3_MIN
+    #if ENABLED(ENDSTOPPULLUP_ZMIN)
+      SET_INPUT_PULLUP(Z3_MIN_PIN);
+    #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
+      SET_INPUT_PULLDOWN(Z3_MIN_PIN);
+    #else
+      SET_INPUT(Z3_MIN_PIN);
+    #endif
+  #endif
+
   #if HAS_X_MAX
     #if ENABLED(ENDSTOPPULLUP_XMAX)
       SET_INPUT_PULLUP(X_MAX_PIN);
@@ -191,6 +204,16 @@ void Endstops::init() {
     #endif
   #endif
 
+  #if HAS_Z3_MAX
+    #if ENABLED(ENDSTOPPULLUP_ZMAX)
+      SET_INPUT_PULLUP(Z3_MAX_PIN);
+    #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
+      SET_INPUT_PULLDOWN(Z3_MAX_PIN);
+    #else
+      SET_INPUT(Z3_MAX_PIN);
+    #endif
+  #endif
+
   #if ENABLED(Z_MIN_PROBE_ENDSTOP)
     #if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
       SET_INPUT_PULLUP(Z_MIN_PROBE_PIN);
@@ -371,12 +394,18 @@ void Endstops::M119() {
   #if HAS_Z2_MIN
     ES_REPORT(Z2_MIN);
   #endif
+  #if HAS_Z3_MIN
+    ES_REPORT(Z3_MIN);
+  #endif
   #if HAS_Z_MAX
     ES_REPORT(Z_MAX);
   #endif
   #if HAS_Z2_MAX
     ES_REPORT(Z2_MAX);
   #endif
+  #if HAS_Z3_MAX
+    ES_REPORT(Z3_MAX);
+  #endif
   #if ENABLED(Z_MIN_PROBE_ENDSTOP)
     SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
     SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
@@ -492,13 +521,20 @@ void Endstops::update() {
   #endif
 
   #if HAS_Z_MIN
-    #if ENABLED(Z_DUAL_ENDSTOPS)
+    #if Z_MULTI_ENDSTOPS
       UPDATE_ENDSTOP_BIT(Z, MIN);
       #if HAS_Z2_MIN
         UPDATE_ENDSTOP_BIT(Z2, MIN);
       #else
         COPY_LIVE_STATE(Z_MIN, Z2_MIN);
       #endif
+      #if ENABLED(Z_TRIPLE_ENDSTOPS)
+        #if HAS_Z3_MIN
+          UPDATE_ENDSTOP_BIT(Z3, MIN);
+        #else
+          COPY_LIVE_STATE(Z_MIN, Z3_MIN);
+        #endif
+      #endif
     #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
       UPDATE_ENDSTOP_BIT(Z, MIN);
     #elif Z_HOME_DIR < 0
@@ -513,13 +549,20 @@ void Endstops::update() {
 
   #if HAS_Z_MAX
     // Check both Z dual endstops
-    #if ENABLED(Z_DUAL_ENDSTOPS)
+    #if Z_MULTI_ENDSTOPS
       UPDATE_ENDSTOP_BIT(Z, MAX);
       #if HAS_Z2_MAX
         UPDATE_ENDSTOP_BIT(Z2, MAX);
       #else
         COPY_LIVE_STATE(Z_MAX, Z2_MAX);
       #endif
+      #if ENABLED(Z_TRIPLE_ENDSTOPS)
+        #if HAS_Z3_MAX
+          UPDATE_ENDSTOP_BIT(Z3, MAX);
+        #else
+          COPY_LIVE_STATE(Z_MAX, Z3_MAX);
+        #endif
+      #endif
     #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
       // If this pin isn't the bed probe it's the Z endstop
       UPDATE_ENDSTOP_BIT(Z, MAX);
@@ -569,7 +612,17 @@ void Endstops::update() {
     if (dual_hit) { \
       _ENDSTOP_HIT(AXIS1, MINMAX); \
       /* if not performing home or if both endstops were trigged during homing... */ \
-      if (!stepper.homing_dual_axis || dual_hit == 0b11) \
+      if (!stepper.separate_multi_axis || dual_hit == 0b11) \
+        planner.endstop_triggered(_AXIS(AXIS1)); \
+    } \
+  }while(0)
+
+  #define PROCESS_TRIPLE_ENDSTOP(AXIS1, AXIS2, AXIS3, MINMAX) do { \
+    const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(AXIS3, MINMAX)) << 2); \
+    if (triple_hit) { \
+      _ENDSTOP_HIT(AXIS1, MINMAX); \
+      /* if not performing home or if both endstops were trigged during homing... */ \
+      if (!stepper.separate_multi_axis || triple_hit == 0x7) \
         planner.endstop_triggered(_AXIS(AXIS1)); \
     } \
   }while(0)
@@ -632,7 +685,9 @@ void Endstops::update() {
   if (stepper.axis_is_moving(Z_AXIS)) {
     if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
       #if HAS_Z_MIN
-        #if ENABLED(Z_DUAL_ENDSTOPS)
+        #if ENABLED(Z_TRIPLE_ENDSTOPS)
+          PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MIN);
+        #elif ENABLED(Z_DUAL_ENDSTOPS)
           PROCESS_DUAL_ENDSTOP(Z, Z2, MIN);
         #else
           #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
@@ -652,7 +707,9 @@ void Endstops::update() {
     }
     else { // Z +direction. Gantry up, bed down.
       #if HAS_Z_MAX
-        #if ENABLED(Z_DUAL_ENDSTOPS)
+        #if ENABLED(Z_TRIPLE_ENDSTOPS)
+          PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MAX);
+        #elif ENABLED(Z_DUAL_ENDSTOPS)
           PROCESS_DUAL_ENDSTOP(Z, Z2, MAX);
         #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
           // If this pin is not hijacked for the bed probe
@@ -723,6 +780,12 @@ void Endstops::update() {
     #if HAS_Z2_MAX
       if (READ(Z2_MAX_PIN)) SBI(live_state_local, Z2_MAX);
     #endif
+    #if HAS_Z3_MIN
+      if (READ(Z3_MIN_PIN)) SBI(live_state_local, Z3_MIN);
+    #endif
+    #if HAS_Z3_MAX
+      if (READ(Z3_MAX_PIN)) SBI(live_state_local, Z3_MAX);
+    #endif
 
     uint16_t endstop_change = live_state_local ^ old_live_state_local;
 
@@ -766,6 +829,12 @@ void Endstops::update() {
       #if HAS_Z2_MAX
         if (TEST(endstop_change, Z2_MAX)) SERIAL_PROTOCOLPAIR("  Z2_MAX:", TEST(live_state_local, Z2_MAX));
       #endif
+      #if HAS_Z3_MIN
+        if (TEST(endstop_change, Z3_MIN)) SERIAL_PROTOCOLPAIR("  Z3_MIN:", TEST(live_state_local, Z3_MIN));
+      #endif
+      #if HAS_Z3_MAX
+        if (TEST(endstop_change, Z3_MAX)) SERIAL_PROTOCOLPAIR("  Z3_MAX:", TEST(live_state_local, Z3_MAX));
+      #endif
       SERIAL_PROTOCOLPGM("\n\n");
       analogWrite(LED_PIN, local_LED_status);
       local_LED_status ^= 255;

Marlin/src/module/endstops.h

@@ -45,7 +45,9 @@ enum EndstopEnum : char {
   Y2_MIN,
   Y2_MAX,
   Z2_MIN,
-  Z2_MAX
+  Z2_MAX,
+  Z3_MIN,
+  Z3_MAX
 };
 
 class Endstops {
@@ -54,16 +56,19 @@ class Endstops {
 
     static bool enabled, enabled_globally;
 
-    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
       typedef uint16_t esbits_t;
       #if ENABLED(X_DUAL_ENDSTOPS)
-        static float x_endstop_adj;
+        static float x2_endstop_adj;
       #endif
       #if ENABLED(Y_DUAL_ENDSTOPS)
-        static float y_endstop_adj;
+        static float y2_endstop_adj;
       #endif
-      #if ENABLED(Z_DUAL_ENDSTOPS)
-        static float z_endstop_adj;
+      #if Z_MULTI_ENDSTOPS
+        static float z2_endstop_adj;
+      #endif
+      #if ENABLED(Z_TRIPLE_ENDSTOPS)
+        static float z3_endstop_adj;
       #endif
     #else
       typedef uint8_t esbits_t;

Marlin/src/module/motion.cpp

@@ -1313,7 +1313,7 @@ void homeaxis(const AxisEnum axis) {
   #endif
 
   // Set flags for X, Y, Z motor locking
-  #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+  #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
     switch (axis) {
       #if ENABLED(X_DUAL_ENDSTOPS)
         case X_AXIS:
@@ -1324,7 +1324,17 @@ void homeaxis(const AxisEnum axis) {
       #if ENABLED(Z_DUAL_ENDSTOPS)
         case Z_AXIS:
       #endif
-      stepper.set_homing_dual_axis(true);
+      stepper.set_separate_multi_axis(true);
+      default: break;
+    }
+  #endif
+
+  #if ENABLED(Z_TRIPLE_ENDSTOPS)
+    switch (axis) {
+      #if ENABLED(Z_TRIPLE_ENDSTOPS)
+        case Z_AXIS:
+      #endif
+      stepper.set_separate_multi_axis(true);
       default: break;
     }
   #endif
@@ -1384,13 +1394,13 @@ void homeaxis(const AxisEnum axis) {
     #endif
   }
 
-  #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+  #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
     const bool pos_dir = axis_home_dir > 0;
     #if ENABLED(X_DUAL_ENDSTOPS)
       if (axis == X_AXIS) {
-        const float adj = ABS(endstops.x_endstop_adj);
+        const float adj = ABS(endstops.x2_endstop_adj);
         if (adj) {
-          if (pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
+          if (pos_dir ? (endstops.x2_endstop_adj > 0) : (endstops.x2_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
           do_homing_move(axis, pos_dir ? -adj : adj);
           stepper.set_x_lock(false);
           stepper.set_x2_lock(false);
@@ -1399,9 +1409,9 @@ void homeaxis(const AxisEnum axis) {
     #endif
     #if ENABLED(Y_DUAL_ENDSTOPS)
       if (axis == Y_AXIS) {
-        const float adj = ABS(endstops.y_endstop_adj);
+        const float adj = ABS(endstops.y2_endstop_adj);
         if (adj) {
-          if (pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
+          if (pos_dir ? (endstops.y2_endstop_adj > 0) : (endstops.y2_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
           do_homing_move(axis, pos_dir ? -adj : adj);
           stepper.set_y_lock(false);
           stepper.set_y2_lock(false);
@@ -1410,16 +1420,62 @@ void homeaxis(const AxisEnum axis) {
     #endif
     #if ENABLED(Z_DUAL_ENDSTOPS)
       if (axis == Z_AXIS) {
-        const float adj = ABS(endstops.z_endstop_adj);
+        const float adj = ABS(endstops.z2_endstop_adj);
         if (adj) {
-          if (pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0)) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
+          if (pos_dir ? (endstops.z2_endstop_adj > 0) : (endstops.z2_endstop_adj < 0)) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
           do_homing_move(axis, pos_dir ? -adj : adj);
           stepper.set_z_lock(false);
           stepper.set_z2_lock(false);
         }
       }
     #endif
-    stepper.set_homing_dual_axis(false);
+    #if ENABLED(Z_TRIPLE_ENDSTOPS)
+      if (axis == Z_AXIS) {
+        // we push the function pointers for the stepper lock function into an array
+        void (*lock[3]) (bool)= {&stepper.set_z_lock, &stepper.set_z2_lock, &stepper.set_z3_lock};
+        float adj[3] = {0, endstops.z2_endstop_adj, endstops.z3_endstop_adj};
+
+        void (*tempLock) (bool);
+        float tempAdj;
+
+        // manual bubble sort by adjust value
+        if (adj[1] < adj[0]) {
+          tempLock = lock[0], tempAdj = adj[0];
+          lock[0] = lock[1], adj[0] = adj[1];
+          lock[1] = tempLock, adj[1] = tempAdj;
+        }
+        if (adj[2] < adj[1]) {
+          tempLock = lock[1], tempAdj = adj[1];
+          lock[1] = lock[2], adj[1] = adj[2];
+          lock[2] = tempLock, adj[2] = tempAdj;
+        }
+        if (adj[1] < adj[0]) {
+          tempLock = lock[0], tempAdj = adj[0];
+          lock[0] = lock[1], adj[0] = adj[1];
+          lock[1] = tempLock, adj[1] = tempAdj;
+        }
+
+        if (pos_dir) {
+          // normalize adj to smallest value and do the first move
+          (*lock[0])(true);
+          do_homing_move(axis, adj[1] - adj[0]);
+          // lock the second stepper for the final correction
+          (*lock[1])(true);
+          do_homing_move(axis, adj[2] - adj[1]);
+        }
+        else {
+          (*lock[2])(true);
+          do_homing_move(axis, adj[1] - adj[2]);
+          (*lock[1])(true);
+          do_homing_move(axis, adj[0] - adj[1]);
+        }
+
+        stepper.set_z_lock(false);
+        stepper.set_z2_lock(false);
+        stepper.set_z3_lock(false);
+      }
+    #endif
+
   #endif
 
   #if IS_SCARA

Marlin/src/module/stepper.cpp

@@ -107,8 +107,8 @@ Stepper stepper; // Singleton
 
 // public:
 
-#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
-  bool Stepper::homing_dual_axis = false;
+#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
+  bool Stepper::separate_multi_axis = false;
 #endif
 
 #if HAS_MOTOR_CURRENT_PWM
@@ -134,9 +134,12 @@ bool Stepper::abort_current_block;
 #if ENABLED(Y_DUAL_ENDSTOPS)
   bool Stepper::locked_Y_motor = false, Stepper::locked_Y2_motor = false;
 #endif
-#if ENABLED(Z_DUAL_ENDSTOPS)
+#if Z_MULTI_ENDSTOPS
   bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false;
 #endif
+#if ENABLED(Z_TRIPLE_ENDSTOPS)
+  bool Stepper::locked_Z3_motor = false;
+#endif
 
 uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
 uint8_t Stepper::steps_per_isr;
@@ -202,23 +205,40 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
 volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
 int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
 
-#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
-  #define DUAL_ENDSTOP_APPLY_STEP(A,V)                                                                                        \
-    if (homing_dual_axis) {                                                                                                   \
-      if (A##_HOME_DIR < 0) {                                                                                                 \
-        if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
-        if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
-      }                                                                                                                       \
-      else {                                                                                                                  \
-        if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
-        if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
-      }                                                                                                                       \
-    }                                                                                                                         \
-    else {                                                                                                                    \
-      A##_STEP_WRITE(V);                                                                                                      \
-      A##2_STEP_WRITE(V);                                                                                                     \
-    }
-#endif
+#define DUAL_ENDSTOP_APPLY_STEP(A,V)                                                                                       \
+  if (separate_multi_axis) {                                                                                                \
+    if (A##_HOME_DIR < 0) {                                                                                                 \
+      if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
+      if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
+    }                                                                                                                       \
+    else {                                                                                                                  \
+      if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
+      if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
+    }                                                                                                                       \
+  }                                                                                                                         \
+  else {                                                                                                                    \
+    A##_STEP_WRITE(V);                                                                                                      \
+    A##2_STEP_WRITE(V);                                                                                                     \
+  }
+
+#define TRIPLE_ENDSTOP_APPLY_STEP(A,V)                                                                                       \
+  if (separate_multi_axis) {                                                                                                \
+    if (A##_HOME_DIR < 0) {                                                                                                 \
+      if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
+      if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
+      if (!(TEST(endstops.state(), A##3_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
+    }                                                                                                                       \
+    else {                                                                                                                  \
+      if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
+      if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
+      if (!(TEST(endstops.state(), A##3_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
+    }                                                                                                                       \
+  }                                                                                                                         \
+  else {                                                                                                                    \
+    A##_STEP_WRITE(V);                                                                                                      \
+    A##2_STEP_WRITE(V);                                                                                                     \
+    A##3_STEP_WRITE(V);                                                                                                     \
+  }
 
 #if ENABLED(X_DUAL_STEPPER_DRIVERS)
   #define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
@@ -261,7 +281,14 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
   #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
 #endif
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+  #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); Z3_DIR_WRITE(v); }while(0)
+  #if ENABLED(Z_TRIPLE_ENDSTOPS)
+    #define Z_APPLY_STEP(v,Q) TRIPLE_ENDSTOP_APPLY_STEP(Z,v)
+  #else
+    #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); }while(0)
+  #endif
+#elif ENABLED(Z_DUAL_STEPPER_DRIVERS)
   #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
@@ -1933,9 +1960,12 @@ void Stepper::init() {
   #endif
   #if HAS_Z_DIR
     Z_DIR_INIT;
-    #if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_DIR
+    #if Z_MULTI_STEPPER_DRIVERS && HAS_Z2_DIR
       Z2_DIR_INIT;
     #endif
+    #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && HAS_Z3_DIR
+      Z3_DIR_INIT;
+    #endif
   #endif
   #if HAS_E0_DIR
     E0_DIR_INIT;
@@ -1973,10 +2003,14 @@ void Stepper::init() {
   #if HAS_Z_ENABLE
     Z_ENABLE_INIT;
     if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
-    #if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_ENABLE
+    #if Z_MULTI_STEPPER_DRIVERS && HAS_Z2_ENABLE
       Z2_ENABLE_INIT;
       if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
     #endif
+    #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && HAS_Z3_ENABLE
+      Z3_ENABLE_INIT;
+      if (!Z_ENABLE_ON) Z3_ENABLE_WRITE(HIGH);
+    #endif
   #endif
   #if HAS_E0_ENABLE
     E0_ENABLE_INIT;
@@ -2028,10 +2062,14 @@ void Stepper::init() {
   #endif
 
   #if HAS_Z_STEP
-    #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+    #if Z_MULTI_STEPPER_DRIVERS
       Z2_STEP_INIT;
       Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
     #endif
+    #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+      Z3_STEP_INIT;
+      Z3_STEP_WRITE(INVERT_Z_STEP_PIN);
+    #endif
     AXIS_INIT(Z, Z);
   #endif
 

Marlin/src/module/stepper.h

@@ -234,8 +234,8 @@ class Stepper {
 
   public:
 
-    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
-      static bool homing_dual_axis;
+    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
+      static bool separate_multi_axis;
     #endif
 
     #if HAS_MOTOR_CURRENT_PWM
@@ -267,9 +267,12 @@ class Stepper {
     #if ENABLED(Y_DUAL_ENDSTOPS)
       static bool locked_Y_motor, locked_Y2_motor;
     #endif
-    #if ENABLED(Z_DUAL_ENDSTOPS)
+    #if Z_MULTI_ENDSTOPS
       static bool locked_Z_motor, locked_Z2_motor;
     #endif
+    #if ENABLED(Z_TRIPLE_ENDSTOPS)
+      static bool locked_Z3_motor;
+    #endif
 
     static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks
     static uint8_t steps_per_isr;         // Count of steps to perform per Stepper ISR call
@@ -415,8 +418,8 @@ class Stepper {
       static void microstep_readings();
     #endif
 
-    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
-      FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }
+    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
+      FORCE_INLINE static void set_separate_multi_axis(const bool state) { separate_multi_axis = state; }
     #endif
     #if ENABLED(X_DUAL_ENDSTOPS)
       FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
@@ -426,10 +429,13 @@ class Stepper {
       FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
       FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
     #endif
-    #if ENABLED(Z_DUAL_ENDSTOPS)
+    #if Z_MULTI_ENDSTOPS
       FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
       FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
     #endif
+    #if ENABLED(Z_TRIPLE_ENDSTOPS)
+      FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
+    #endif
 
     #if ENABLED(BABYSTEPPING)
       static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention

Marlin/src/module/stepper_indirection.cpp

@@ -69,6 +69,9 @@
   #if AXIS_DRIVER_TYPE(Z2, TMC26X)
     _TMC26X_DEFINE(Z2);
   #endif
+  #if AXIS_DRIVER_TYPE(Z3, TMC26X)
+    _TMC26X_DEFINE(Z3);
+  #endif
   #if AXIS_DRIVER_TYPE(E0, TMC26X)
     _TMC26X_DEFINE(E0);
   #endif
@@ -109,6 +112,9 @@
     #if AXIS_DRIVER_TYPE(Z2, TMC26X)
       _TMC26X_INIT(Z2);
     #endif
+    #if AXIS_DRIVER_TYPE(Z3, TMC26X)
+      _TMC26X_INIT(Z3);
+    #endif
     #if AXIS_DRIVER_TYPE(E0, TMC26X)
       _TMC26X_INIT(E0);
     #endif
@@ -166,6 +172,9 @@
   #if AXIS_DRIVER_TYPE(Z2, TMC2130)
     _TMC2130_DEFINE(Z2);
   #endif
+  #if AXIS_DRIVER_TYPE(Z3, TMC2130)
+    _TMC2130_DEFINE(Z3);
+  #endif
   #if AXIS_DRIVER_TYPE(E0, TMC2130)
     _TMC2130_DEFINE(E0);
   #endif
@@ -233,6 +242,9 @@
     #if AXIS_DRIVER_TYPE(Z2, TMC2130)
       _TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
     #endif
+    #if AXIS_DRIVER_TYPE(Z3, TMC2130)
+      _TMC2130_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
+    #endif
     #if AXIS_DRIVER_TYPE(E0, TMC2130)
       _TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
     #endif
@@ -274,6 +286,9 @@
         #if AXIS_DRIVER_TYPE(Z2, TMC2130)
           stepperZ2.sgt(Z_HOMING_SENSITIVITY);
         #endif
+        #if ENABLED(Z3_IS_TMC2130)
+          stepperZ3.sgt(Z_HOMING_SENSITIVITY);
+        #endif
       #endif
     #endif
   }
@@ -337,6 +352,13 @@
       _TMC2208_DEFINE_SOFTWARE(Z2);
     #endif
   #endif
+  #if AXIS_DRIVER_TYPE(Z3, TMC2208)
+    #ifdef Z3_HARDWARE_SERIAL
+      _TMC2208_DEFINE_HARDWARE(Z3);
+    #else
+      _TMC2208_DEFINE_SOFTWARE(Z3);
+    #endif
+  #endif
   #if AXIS_DRIVER_TYPE(E0, TMC2208)
     #ifdef E0_HARDWARE_SERIAL
       _TMC2208_DEFINE_HARDWARE(E0);
@@ -416,6 +438,13 @@
         stepperZ2.beginSerial(115200);
       #endif
     #endif
+    #if AXIS_DRIVER_TYPE(Z3, TMC2208)
+      #ifdef Z3_HARDWARE_SERIAL
+        Z3_HARDWARE_SERIAL.begin(115200);
+      #else
+        stepperZ3.beginSerial(115200);
+      #endif
+    #endif
     #if AXIS_DRIVER_TYPE(E0, TMC2208)
       #ifdef E0_HARDWARE_SERIAL
         E0_HARDWARE_SERIAL.begin(115200);
@@ -510,6 +539,9 @@
     #if AXIS_DRIVER_TYPE(Z2, TMC2208)
       _TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
     #endif
+    #if AXIS_DRIVER_TYPE(Z3, TMC2208)
+      _TMC2208_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
+    #endif
     #if AXIS_DRIVER_TYPE(E0, TMC2208)
       _TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
     #endif
@@ -547,6 +579,9 @@ void restore_stepper_drivers() {
   #if AXIS_IS_TMC(Z2)
     stepperZ2.push();
   #endif
+  #if AXIS_IS_TMC(Z3)
+    stepperZ3.push();
+  #endif
   #if AXIS_IS_TMC(E0)
     stepperE0.push();
   #endif
@@ -614,6 +649,9 @@ void reset_stepper_drivers() {
   #if AXIS_DRIVER_TYPE(Z2, L6470)
     _L6470_DEFINE(Z2);
   #endif
+  #if AXIS_DRIVER_TYPE(Z3, L6470)
+    _L6470_DEFINE(Z3);
+  #endif
   #if AXIS_DRIVER_TYPE(E0, L6470)
     _L6470_DEFINE(E0);
   #endif
@@ -657,6 +695,9 @@ void reset_stepper_drivers() {
     #if AXIS_DRIVER_TYPE(Z2, L6470)
       _L6470_INIT(Z2);
     #endif
+    #if AXIS_DRIVER_TYPE(Z3, L6470)
+      _L6470_INIT(Z3);
+    #endif
     #if AXIS_DRIVER_TYPE(E0, L6470)
       _L6470_INIT(E0);
     #endif

Marlin/src/module/stepper_indirection.h

@@ -282,6 +282,41 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define Z2_STEP_READ READ(Z2_STEP_PIN)
 #endif
 
+// Z3 Stepper
+#if HAS_Z3_ENABLE
+  #if ENABLED(Z3_IS_L6470)
+    extern L6470 stepperZ3;
+    #define Z3_ENABLE_INIT NOOP
+    #define Z3_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ3.Step_Clock(stepperZ3.getStatus() & STATUS_HIZ); else stepperZ3.softFree(); }while(0)
+    #define Z3_ENABLE_READ (stepperZ3.getStatus() & STATUS_HIZ)
+    #define Z3_DIR_INIT NOOP
+    #define Z3_DIR_WRITE(STATE) stepperZ3.Step_Clock(STATE)
+    #define Z3_DIR_READ (stepperZ3.getStatus() & STATUS_DIR)
+  #else
+    #if ENABLED(Z3_IS_TMC26X)
+      extern TMC26XStepper stepperZ3;
+      #define Z3_ENABLE_INIT NOOP
+      #define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
+      #define Z3_ENABLE_READ stepperZ3.isEnabled()
+    #else
+      #if ENABLED(Z3_IS_TMC2130)
+        extern TMC2130Stepper stepperZ3;
+      #elif ENABLED(Z3_IS_TMC2208)
+        extern TMC2208Stepper stepperZ3;
+      #endif
+      #define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
+      #define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
+      #define Z3_ENABLE_READ READ(Z3_ENABLE_PIN)
+    #endif
+    #define Z3_DIR_INIT SET_OUTPUT(Z3_DIR_PIN)
+    #define Z3_DIR_WRITE(STATE) WRITE(Z3_DIR_PIN,STATE)
+    #define Z3_DIR_READ READ(Z3_DIR_PIN)
+  #endif
+  #define Z3_STEP_INIT SET_OUTPUT(Z3_STEP_PIN)
+  #define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE)
+  #define Z3_STEP_READ READ(Z3_STEP_PIN)
+#endif
+
 // E0 Stepper
 #if AXIS_DRIVER_TYPE(E0, L6470)
   extern L6470 stepperE0;

Marlin/src/pins/pins.h

@@ -842,6 +842,7 @@
 #define _X2_PINS
 #define _Y2_PINS
 #define _Z2_PINS
+#define _Z3_PINS
 
 #define __EPIN(p,q) E##p##_##q##_PIN
 #define _EPIN(p,q) __EPIN(p,q)
@@ -897,7 +898,7 @@
 #endif
 
 // The Z2 axis, if any, should be the next open extruder port
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+#if Z_MULTI_STEPPER_DRIVERS
   #ifndef Z2_STEP_PIN
     #define Z2_STEP_PIN   _EPIN(Z2_E_INDEX, STEP)
     #define Z2_DIR_PIN    _EPIN(Z2_E_INDEX, DIR)
@@ -916,6 +917,30 @@
   #else
     #define _Z2_PINS __Z2_PINS
   #endif
+  #define Z3_E_INDEX INCREMENT(Z2_E_INDEX)
+#else
+  #define Z3_E_INDEX Z2_E_INDEX
+#endif
+
+#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+  #ifndef Z3_STEP_PIN
+    #define Z3_STEP_PIN   _EPIN(Z3_E_INDEX, STEP)
+    #define Z3_DIR_PIN    _EPIN(Z3_E_INDEX, DIR)
+    #define Z3_ENABLE_PIN _EPIN(Z3_E_INDEX, ENABLE)
+    #ifndef Z3_CS_PIN
+      #define Z3_CS_PIN   _EPIN(Z3_E_INDEX, CS)
+    #endif
+    #if Z3_E_INDEX > 4 || !PIN_EXISTS(Z3_ENABLE)
+      #error "No E stepper plug left for Z3!"
+    #endif
+  #endif
+  #undef _Z3_PINS
+  #define __Z3_PINS Z3_STEP_PIN, Z3_DIR_PIN, Z3_ENABLE_PIN,
+  #ifdef Z3_CS_PIN
+    #define _Z3_PINS __Z3_PINS Z3_CS_PIN,
+  #else
+    #define _Z3_PINS __Z3_PINS
+  #endif
 #endif
 
 #ifndef HAL_SENSITIVE_PINS
@@ -929,7 +954,7 @@
     PS_ON_PIN, HEATER_BED_PIN, FAN_PIN, FAN1_PIN, FAN2_PIN, CONTROLLER_FAN_PIN, \
     _E0_PINS _E1_PINS _E2_PINS _E3_PINS _E4_PINS BED_PINS \
     _H0_PINS _H1_PINS _H2_PINS _H3_PINS _H4_PINS \
-    _X2_PINS _Y2_PINS _Z2_PINS \
+    _X2_PINS _Y2_PINS _Z2_PINS _Z3_PINS \
     HAL_SENSITIVE_PINS \
   }
 

Marlin/src/pins/pinsDebug_list.h

@@ -944,6 +944,27 @@
 #if PIN_EXISTS(Z2_STEP)
   REPORT_NAME_DIGITAL(__LINE__, Z2_STEP_PIN)
 #endif
+#if PIN_EXISTS(Z3_CS)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_CS_PIN)
+#endif
+#if PIN_EXISTS(Z3_DIR)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_DIR_PIN)
+#endif
+#if PIN_EXISTS(Z3_ENABLE)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_ENABLE_PIN)
+#endif
+#if PIN_EXISTS(Z3_MS1)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_MS1_PIN)
+#endif
+#if PIN_EXISTS(Z3_MS2)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_MS2_PIN)
+#endif
+#if PIN_EXISTS(Z3_MS3)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_MS3_PIN)
+#endif
+#if PIN_EXISTS(Z3_STEP)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_STEP_PIN)
+#endif
 #if PIN_EXISTS(ZRIB_V20_D6)
   REPORT_NAME_DIGITAL(__LINE__, ZRIB_V20_D6_PIN)
 #endif
@@ -986,6 +1007,12 @@
 #if PIN_EXISTS(Z2_SERIAL_RX)
   REPORT_NAME_DIGITAL(__LINE__, Z2_SERIAL_RX_PIN)
 #endif
+#if PIN_EXISTS(Z3_SERIAL_TX)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_SERIAL_TX_PIN)
+#endif
+#if PIN_EXISTS(Z3_SERIAL_RX)
+  REPORT_NAME_DIGITAL(__LINE__, Z3_SERIAL_RX_PIN)
+#endif
 #if PIN_EXISTS(E0_SERIAL_TX)
   REPORT_NAME_DIGITAL(__LINE__, E0_SERIAL_TX_PIN)
 #endif

buildroot/share/tests/DUE_tests

@@ -9,3 +9,15 @@ opt_enable S_CURVE_ACCELERATION EEPROM_SETTINGS
 opt_set E0_AUTO_FAN_PIN 8
 opt_set EXTRUDER_AUTO_FAN_SPEED 100
 exec_test $1 $2 "RAMPS4DUE_EFB S_CURVE_ACCELERATION EEPROM_SETTINGS"
+
+restore_configs
+opt_set MOTHERBOARD BOARD_RADDS
+opt_enable USE_XMAX_PLUG USE_YMAX_PLUG
+opt_enable_adv Z_TRIPLE_STEPPER_DRIVERS Z_TRIPLE_ENDSTOPS
+opt_add_adv Z2_MAX_ENDSTOP_INVERTING false
+opt_add_adv Z3_MAX_ENDSTOP_INVERTING false
+pins_set RAMPS X_MAX_PIN -1
+pins_set RAMPS Y_MAX_PIN -1
+opt_add_adv Z2_MAX_PIN 2
+opt_add_adv Z3_MAX_PIN 3
+exec_test $1 $2 "RADDS Z_TRIPLE"

buildroot/share/tests/teensy35_tests

@@ -92,5 +92,5 @@ opt_add_adv Z2_MAX_PIN 2
 opt_enable USE_XMAX_PLUG
 exec_test $1 $2 "Z_DUAL_STEPPER_DRIVERS, Z_DUAL_ENDSTOPS"
 
-#cleanup
+# Clean up
 restore_configs