Improved STMicro L64XX stepper driver support (#16452)

Marlin/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'powerSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

Marlin/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS          0  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
-    #define X2_CHAIN_POS        -1
+    #define X2_CHAIN_POS         0
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
-    #define Y_CHAIN_POS         -1
+    #define Y_CHAIN_POS          0
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
-    #define Y2_CHAIN_POS        -1
+    #define Y2_CHAIN_POS         0
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
-    #define Z_CHAIN_POS         -1
+    #define Z_CHAIN_POS          0
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
-    #define Z2_CHAIN_POS        -1
+    #define Z2_CHAIN_POS         0
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
-    #define Z3_CHAIN_POS        -1
+    #define Z3_CHAIN_POS         0
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
-    #define E0_CHAIN_POS        -1
+    #define E0_CHAIN_POS         0
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
-    #define E1_CHAIN_POS        -1
+    #define E1_CHAIN_POS         0
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
-    #define E2_CHAIN_POS        -1
+    #define E2_CHAIN_POS         0
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
-    #define E3_CHAIN_POS        -1
+    #define E3_CHAIN_POS         0
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
-    #define E4_CHAIN_POS        -1
+    #define E4_CHAIN_POS         0
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
-    #define E5_CHAIN_POS        -1
+    #define E5_CHAIN_POS         0
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

Marlin/src/HAL/HAL_STM32/timers.h

 #define hal_timer_t uint32_t
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF // Timers can be 16 or 32 bit
 
-
 #ifdef STM32F0xx
 
   #define HAL_TIMER_RATE (F_CPU) // frequency of timer peripherals
   #define HAL_TIMER_RATE (F_CPU/2) // frequency of timer peripherals
 
   #ifndef STEP_TIMER
-    #define STEP_TIMER 6
+    #define STEP_TIMER 9  // STM32F401 has no TIM6, TIM7, or TIM8
   #endif
 
   #ifndef TEMP_TIMER

Marlin/src/HAL/shared/HAL_spi_L6470.cpp

 
 #include "../../inc/MarlinConfig.h"
 
-#if HAS_DRIVER(L6470)
+#if HAS_L64XX
 
 #include "Delay.h"
 
 #include "../../core/serial.h"
-#include "../../libs/L6470/L6470_Marlin.h"
+#include "../../libs/L64XX/L64XX_Marlin.h"
 
 // Make sure GCC optimizes this file.
 // Note that this line triggers a bug in GCC which is fixed by casting.
 #pragma GCC optimize (3)
 
 // run at ~4Mhz
-uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0
+inline uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0
   for (uint8_t bits = 8; bits--;) {
     WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80);
     b <<= 1;        // little setup time
   return b;
 }
 
-uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
+inline uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
   for (uint8_t bits = 8; bits--;) {
     WRITE(L6470_CHAIN_SCK_PIN, LOW);
     WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80);
 
     DELAY_NS(125);  // 10 cycles @ 84mhz
-
     WRITE(L6470_CHAIN_SCK_PIN, HIGH);
+    DELAY_NS(125);  // Need more delay for fast CPUs
 
     b <<= 1;        // little setup time
     b |= (READ(L6470_CHAIN_MISO_PIN) != 0);
   }
-
-  DELAY_NS(125);  // 10 cycles @ 84mhz
+  DELAY_NS(125);    // 10 cycles @ 84mhz
   return b;
 }
 
 /**
- * The following are weak-linked and defined as do-nothing
- * functions by the L6470-Arduino library. They must be
- * defined by the client (Marlin) to provide an SPI interface.
+ * L64XX methods for SPI init and transfer
  */
+void L64XX_Marlin::spi_init() {
+  OUT_WRITE(L6470_CHAIN_SS_PIN, HIGH);
+  OUT_WRITE(L6470_CHAIN_SCK_PIN, HIGH);
+  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
+  SET_INPUT(L6470_CHAIN_MISO_PIN);
+
+  #if PIN_EXISTS(L6470_BUSY)
+    SET_INPUT(L6470_BUSY_PIN);
+  #endif
 
-uint8_t L6470_transfer(uint8_t data, int16_t ss_pin, const uint8_t chain_position) {
+  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
+}
+
+uint8_t L64XX_Marlin::transfer_single(uint8_t data, int16_t ss_pin) {
+  // First device in chain has data sent last
+  extDigitalWrite(ss_pin, LOW);
+
+  DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
+  const uint8_t data_out = L6470_SpiTransfer_Mode_3(data);
+  ENABLE_ISRS();  // Enable interrupts
+
+  extDigitalWrite(ss_pin, HIGH);
+  return data_out;
+}
+
+uint8_t L64XX_Marlin::transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position) {
   uint8_t data_out = 0;
 
   // first device in chain has data sent last
   extDigitalWrite(ss_pin, LOW);
 
-  for (uint8_t i = L6470::chain[0]; (i >= 1) && !spi_abort; i--) {    // stop sending data if spi_abort is active
-    DISABLE_ISRS();  // disable interrupts during SPI transfer (can't allow partial command to chips)
-    uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP));
-    ENABLE_ISRS();  // enable interrupts
+  for (uint8_t i = L64XX::chain[0]; !L64xxManager.spi_abort && i >= 1; i--) {   // Send data unless aborted
+    DISABLE_ISRS();   // Disable interrupts during SPI transfer (can't allow partial command to chips)
+    const uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP));
+    ENABLE_ISRS();    // Enable interrupts
     if (i == chain_position) data_out = temp;
   }
 
   return data_out;
 }
 
-void L6470_transfer(uint8_t L6470_buf[], const uint8_t length) {
-  // first device in chain has data sent last
+/**
+ * Platform-supplied L6470 buffer transfer method
+ */
+void L64XX_Marlin::transfer(uint8_t L6470_buf[], const uint8_t length) {
+  // First device in chain has its data sent last
 
-  if (spi_active) {                    // interrupted SPI transfer so need to
-    WRITE(L6470_CHAIN_SS_PIN, HIGH);   // guarantee min high of 650nS
+  if (spi_active) {                   // Interrupted SPI transfer so need to
+    WRITE(L6470_CHAIN_SS_PIN, HIGH);  //  guarantee min high of 650ns
     DELAY_US(1);
   }
 
   WRITE(L6470_CHAIN_SS_PIN, HIGH);
 }
 
-void L6470_spi_init() {
-  OUT_WRITE(L6470_CHAIN_SS_PIN, HIGH);
-  OUT_WRITE(L6470_CHAIN_SCK_PIN, HIGH);
-  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
-  SET_INPUT(L6470_CHAIN_MISO_PIN);
-
-  #if PIN_EXISTS(L6470_BUSY)
-    SET_INPUT(L6470_BUSY_PIN);
-  #endif
-
-  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
-}
-
 #pragma GCC reset_options
 
-#endif // HAS_DRIVER(L6470)
+#endif // HAS_L64XX

Marlin/src/MarlinCore.cpp

   #include "feature/prusa_MMU2/mmu2.h"
 #endif
 
-#if HAS_DRIVER(L6470)
-  #include "libs/L6470/L6470_Marlin.h"
+#if HAS_L64XX
+  #include "libs/L64XX/L64XX_Marlin.h"
 #endif
 
 const char NUL_STR[] PROGMEM = "",
   #endif
 
   #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
-    L6470.monitor_driver();
+    L64xxManager.monitor_driver();
   #endif
 
   // Limit check_axes_activity frequency to 10Hz
 
   HAL_init();
 
-  #if HAS_DRIVER(L6470)
-    L6470.init();         // setup SPI and then init chips
+  #if HAS_L64XX
+    L64xxManager.init();  // Set up SPI, init drivers
   #endif
 
   #if ENABLED(MAX7219_DEBUG)

Marlin/src/MarlinCore.h

 #include <stdio.h>
 #include <stdlib.h>
 
-#if HAS_DRIVER(L6470)
-  #include "libs/L6470/L6470_Marlin.h"
+#if HAS_L64XX
+  #include "libs/L64XX/L64XX_Marlin.h"
   extern uint8_t axis_known_position;
 #endif
 
 //
 // X, Y, Z Stepper enable / disable
 //
-#if AXIS_DRIVER_TYPE_X(L6470)
-  extern L6470 stepperX;
+#if AXIS_IS_L64XX(X)
   #define X_enable()  NOOP
   #define X_disable() stepperX.free()
 #elif HAS_X_ENABLE
   #define X_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_X2(L6470)
-  extern L6470 stepperX2;
+#if AXIS_IS_L64XX(X2)
   #define X2_enable()  NOOP
   #define X2_disable() stepperX2.free()
 #elif HAS_X2_ENABLE
 #define  enable_X() do{ X_enable(); X2_enable(); }while(0)
 #define disable_X() do{ X_disable(); X2_disable(); CBI(axis_known_position, X_AXIS); }while(0)
 
-#if AXIS_DRIVER_TYPE_Y(L6470)
-  extern L6470 stepperY;
+#if AXIS_IS_L64XX(Y)
   #define Y_enable()  NOOP
   #define Y_disable() stepperY.free()
 #elif HAS_Y_ENABLE
   #define Y_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_Y2(L6470)
-  extern L6470 stepperY2;
+#if AXIS_IS_L64XX(Y2)
   #define Y2_enable()  NOOP
   #define Y2_disable() stepperY2.free()
 #elif HAS_Y2_ENABLE
 #define  enable_Y() do{ Y_enable(); Y2_enable(); }while(0)
 #define disable_Y() do{ Y_disable(); Y2_disable(); CBI(axis_known_position, Y_AXIS); }while(0)
 
-#if AXIS_DRIVER_TYPE_Z(L6470)
-  extern L6470 stepperZ;
+#if AXIS_IS_L64XX(Z)
   #define Z_enable()  NOOP
   #define Z_disable() stepperZ.free()
 #elif HAS_Z_ENABLE
   #define Z_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_Z2(L6470)
-  extern L6470 stepperZ2;
+#if AXIS_IS_L64XX(Z2)
   #define Z2_enable()  NOOP
   #define Z2_disable() stepperZ2.free()
 #elif HAS_Z2_ENABLE
   #define Z2_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_Z3(L6470)
-  extern L6470 stepperZ3;
+#if AXIS_IS_L64XX(Z3)
   #define Z3_enable()  NOOP
   #define Z3_disable() stepperZ3.free()
 #elif HAS_Z3_ENABLE
 //
 
 // define the individual enables/disables
-#if AXIS_DRIVER_TYPE_E0(L6470)
-  extern L6470 stepperE0;
+#if AXIS_IS_L64XX(E0)
   #define  E0_enable() NOOP
   #define E0_disable() do{ stepperE0.free(); CBI(axis_known_position, E_AXIS); }while(0)
 #elif HAS_E0_ENABLE
   #define E0_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_E1(L6470)
-  extern L6470 stepperE1;
+#if AXIS_IS_L64XX(E1)
   #define  E1_enable() NOOP
   #define E1_disable() do{ stepperE1.free(); CBI(axis_known_position, E_AXIS); }while(0)
 #elif E_STEPPERS > 1 && HAS_E1_ENABLE
   #define E1_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_E2(L6470)
-  extern L6470 stepperE2;
+#if AXIS_IS_L64XX(E2)
   #define  E2_enable() NOOP
   #define E2_disable() do{ stepperE2.free(); CBI(axis_known_position, E_AXIS); }while(0)
 #elif E_STEPPERS > 2 && HAS_E2_ENABLE
   #define E2_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_E3(L6470)
-  extern L6470 stepperE3;
+#if AXIS_IS_L64XX(E3)
   #define  E3_enable() NOOP
   #define E3_disable() do{ stepperE3.free(); CBI(axis_known_position, E_AXIS); }while(0)
 #elif E_STEPPERS > 3 && HAS_E3_ENABLE
   #define E3_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_E4(L6470)
-  extern L6470 stepperE4;
+#if AXIS_IS_L64XX(E4)
   #define  E4_enable() NOOP
   #define E4_disable() do{ stepperE4.free(); CBI(axis_known_position, E_AXIS); }while(0)
 #elif E_STEPPERS > 4 && HAS_E4_ENABLE
   #define E4_disable() NOOP
 #endif
 
-#if AXIS_DRIVER_TYPE_E5(L6470)
-  extern L6470 stepperE5;
+#if AXIS_IS_L64XX(E5)
   #define  E5_enable() NOOP
   #define E5_disable() do{ stepperE5.free(); CBI(axis_known_position, E_AXIS); }while(0)
 #elif E_STEPPERS > 5 && HAS_E5_ENABLE
 
 #else // !MIXING_EXTRUDER
 
-  #if HAS_E0_ENABLE
+  #if (HAS_E0_ENABLE || AXIS_IS_L64XX(E0))
     #define  enable_E0() E0_enable()
     #define disable_E0() E0_disable()
   #else
     #define disable_E0() NOOP
   #endif
 
-  #if E_STEPPERS > 1 && HAS_E1_ENABLE
+  #if E_STEPPERS > 1 && (HAS_E1_ENABLE || AXIS_IS_L64XX(E1))
     #define  enable_E1() E1_enable()
     #define disable_E1() E1_disable()
   #else
     #define disable_E1() NOOP
   #endif
 
-  #if E_STEPPERS > 2 && HAS_E2_ENABLE
+  #if E_STEPPERS > 2 && (HAS_E2_ENABLE || AXIS_IS_L64XX(E2))
     #define  enable_E2() E2_enable()
     #define disable_E2() E2_disable()
   #else
     #define disable_E2() NOOP
   #endif
 
-  #if E_STEPPERS > 3 && HAS_E3_ENABLE
+  #if E_STEPPERS > 3 && (HAS_E3_ENABLE || AXIS_IS_L64XX(E3))
     #define  enable_E3() E3_enable()
     #define disable_E3() E3_disable()
   #else
     #define disable_E3() NOOP
   #endif
 
-  #if E_STEPPERS > 4 && HAS_E4_ENABLE
+  #if E_STEPPERS > 4 && (HAS_E4_ENABLE || AXIS_IS_L64XX(E4))
     #define  enable_E4() E4_enable()
     #define disable_E4() E4_disable()
   #else
     #define disable_E4() NOOP
   #endif
 
-  #if E_STEPPERS > 5 && HAS_E5_ENABLE
+  #if E_STEPPERS > 5 && (HAS_E5_ENABLE || AXIS_IS_L64XX(E5))
     #define  enable_E5() E5_enable()
     #define disable_E5() E5_disable()
   #else

Marlin/src/core/drivers.h

 #define _DRV8825            0x8825
 #define _LV8729             0x8729
 #define _L6470              0x6470
+#define _L6474              0x6474
+#define _L6480              0x6480
+#define _POWERSTEP01        0xF00D
 #define _TB6560             0x6560
 #define _TB6600             0x6600
 #define _TMC2100            0x2100
 #define _SDCARD_CUSTOM_CABLE 3
 #define _SDCARD_ID(V) _CAT(_SDCARD_, V)
 #define SD_CONNECTION_IS(V) (_SDCARD_ID(SDCARD_CONNECTION) == _SDCARD_ID(V))
+
+#define HAS_L64XX (HAS_DRIVER(L6470) || HAS_DRIVER(L6474) || HAS_DRIVER(L6480) || HAS_DRIVER(POWERSTEP01))
+#define HAS_L64XX_NOT_L6474 (HAS_L64XX && !HAS_DRIVER(L6474))
+
+#define AXIS_IS_L64XX(A) (AXIS_DRIVER_TYPE_##A(L6470) || AXIS_DRIVER_TYPE_##A(L6474) ||  AXIS_DRIVER_TYPE_##A(L6480) || AXIS_DRIVER_TYPE_##A(POWERSTEP01))

Marlin/src/core/serial.cpp

 void serialprintln_onoff(const bool onoff) { serialprint_onoff(onoff); SERIAL_EOL(); }
 void serialprint_truefalse(const bool tf) { serialprintPGM(tf ? PSTR("true") : PSTR("false")); }
 
-void print_bin(const uint16_t val) {
-  uint16_t mask = 0x8000;
+void print_bin(uint16_t val) {
   for (uint8_t i = 16; i--;) {
-    if (i && !(i % 4)) SERIAL_CHAR(' ');
-    SERIAL_CHAR((val & mask) ? '1' : '0');
-    mask >>= 1;
+    SERIAL_CHAR('0' + TEST(val, i));
+    if (!(i & 0x3) && i) SERIAL_CHAR(' ');
   }
 }
 

Marlin/src/gcode/calibrate/G28.cpp

 
 #include "../../lcd/ultralcd.h"
 
-#if HAS_DRIVER(L6470)                         // set L6470 absolute position registers to counts
-  #include "../../libs/L6470/L6470_Marlin.h"
+#if HAS_L64XX                         // set L6470 absolute position registers to counts
+  #include "../../libs/L64XX/L64XX_Marlin.h"
 #endif
 
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 
   if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
 
-  #if HAS_DRIVER(L6470)
+  #if HAS_L64XX
     // Set L6470 absolute position registers to counts
-    for (uint8_t j = 1; j <= L6470::chain[0]; j++) {
-      const uint8_t cv = L6470::chain[j];
-      L6470.set_param(cv, L6470_ABS_POS, stepper.position((AxisEnum)L6470.axis_xref[cv]));
+    // constexpr *might* move this to PROGMEM.
+    // If not, this will need a PROGMEM directive and an accessor.
+    static constexpr AxisEnum L6470_axis_xref[MAX_L6470] = {
+      X_AXIS, Y_AXIS, Z_AXIS,
+      X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS,
+      E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS
+    };
+    for (uint8_t j = 1; j <= L64XX::chain[0]; j++) {
+      const uint8_t cv = L64XX::chain[j];
+      L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L6470_axis_xref[cv]));
     }
   #endif
 }

Marlin/src/gcode/feature/L6470/M122.cpp

 
 #include "../../../inc/MarlinConfig.h"
 
-#if HAS_DRIVER(L6470)
+#if HAS_L64XX
 
 #include "../../gcode.h"
-#include "../../../libs/L6470/L6470_Marlin.h"
+#include "../../../libs/L64XX/L64XX_Marlin.h"
 #include "../../../module/stepper/indirection.h"
 
-inline void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); }
+void echo_yes_no(const bool yes);
 
-void L6470_status_decode(const uint16_t status, const uint8_t axis) {
-  if (L6470.spi_abort) return;  // don't do anything if set_directions() has occurred
-  L6470.say_axis(axis);
+inline void L6470_say_status(const L64XX_axis_t axis) {
+  if (L64xxManager.spi_abort) return;
+  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
+  L64xxManager.get_status(axis);
+  L64xxManager.say_axis(axis);
   #if ENABLED(L6470_CHITCHAT)
     char temp_buf[20];
-    sprintf_P(temp_buf, PSTR("   status: %4x   "), status);
+    sprintf_P(temp_buf, PSTR("   status: %4x   "), sh.STATUS_AXIS_RAW);
     SERIAL_ECHO(temp_buf);
-    print_bin(status);
+    print_bin(sh.STATUS_AXIS_RAW);
+    switch (sh.STATUS_AXIS_LAYOUT) {
+      case L6470_STATUS_LAYOUT: serialprintPGM(PSTR("   L6470")); break;
+      case L6474_STATUS_LAYOUT: serialprintPGM(PSTR("   L6474")); break;
+      case L6480_STATUS_LAYOUT: serialprintPGM(PSTR("   L6480/powerSTEP01")); break;
+    }
   #endif
   SERIAL_ECHOPGM("\n...OUTPUT: ");
-  serialprintPGM(status & STATUS_HIZ ? PSTR("OFF") : PSTR("ON "));
-  SERIAL_ECHOPGM("   BUSY: "); echo_yes_no(!(status & STATUS_BUSY));
+  serialprintPGM(sh.STATUS_AXIS & STATUS_HIZ ? PSTR("OFF") : PSTR("ON "));
+  SERIAL_ECHOPGM("   BUSY: "); echo_yes_no((sh.STATUS_AXIS & STATUS_BUSY) == 0);
   SERIAL_ECHOPGM("   DIR: ");
-  serialprintPGM((((status & STATUS_DIR) >> 4) ^ L6470.index_to_dir[axis]) ? PSTR("FORWARD") : PSTR("REVERSE"));
-  SERIAL_ECHOPGM("   Last Command: ");
-  if (status & STATUS_WRONG_CMD) SERIAL_ECHOPGM("IN");
-  SERIAL_ECHOPGM("VALID    ");
-  serialprintPGM(status & STATUS_NOTPERF_CMD ? PSTR("Not PERFORMED") : PSTR("COMPLETED    "));
-  SERIAL_ECHOPAIR("\n...THERMAL: ", !(status & STATUS_TH_SD) ? "SHUTDOWN" : !(status & STATUS_TH_WRN) ? "WARNING " : "OK      ");
-  SERIAL_ECHOPGM("   OVERCURRENT:"); echo_yes_no(!(status & STATUS_OCD));
-  SERIAL_ECHOPGM("   STALL:"); echo_yes_no(!(status & STATUS_STEP_LOSS_A) || !(status & STATUS_STEP_LOSS_B));
-  SERIAL_ECHOPGM("   STEP-CLOCK MODE:"); echo_yes_no(status & STATUS_SCK_MOD);
+  serialprintPGM((((sh.STATUS_AXIS & STATUS_DIR) >> 4) ^ L64xxManager.index_to_dir[axis]) ? PSTR("FORWARD") : PSTR("REVERSE"));
+  if (sh.STATUS_AXIS_LAYOUT == L6480_STATUS_LAYOUT) {
+    SERIAL_ECHOPGM("   Last Command: ");
+    if (sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD) SERIAL_ECHOPGM("VALID");
+    else                                           SERIAL_ECHOPGM("ERROR");
+    SERIAL_ECHOPGM("\n...THERMAL: ");
+    switch ((sh.STATUS_AXIS & (sh.STATUS_AXIS_TH_SD | sh.STATUS_AXIS_TH_WRN)) >> 11) {
+      case 0: SERIAL_ECHOPGM("DEVICE SHUTDOWN"); break;
+      case 1: SERIAL_ECHOPGM("BRIDGE SHUTDOWN"); break;
+      case 2: SERIAL_ECHOPGM("WARNING        "); break;
+      case 3: SERIAL_ECHOPGM("OK             "); break;
+    }
+  }
+  else {
+    SERIAL_ECHOPGM("   Last Command: ");
+    if (!(sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD)) SERIAL_ECHOPGM("IN");
+    SERIAL_ECHOPGM("VALID    ");
+    serialprintPGM(sh.STATUS_AXIS & sh.STATUS_AXIS_NOTPERF_CMD ?  PSTR("COMPLETED    ") : PSTR("Not PERFORMED"));
+    SERIAL_ECHOPAIR("\n...THERMAL: ", !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_SD) ? "SHUTDOWN       " : !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_WRN) ? "WARNING        " : "OK             ");
+  }
+  SERIAL_ECHOPGM("   OVERCURRENT:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_OCD) == 0);
+  if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) {
+    SERIAL_ECHOPGM("   STALL:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_A) == 0 || (sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_B) == 0);
+    SERIAL_ECHOPGM("   STEP-CLOCK MODE:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_SCK_MOD) != 0);
+  }
+  else {
+    SERIAL_ECHOPGM("   STALL: NA "
+                   "   STEP-CLOCK MODE: NA"
+                   "   UNDER VOLTAGE LOCKOUT: "); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_UVLO) == 0);
+  }
   SERIAL_EOL();
 }
 
  * M122: Debug L6470 drivers
  */
 void GcodeSuite::M122() {
-
-  L6470.spi_active = true;    // let set_directions() know we're in the middle of a series of SPI transfers
-
-  #define L6470_SAY_STATUS(Q) L6470_status_decode(stepper##Q.getStatus(), Q)
+  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
+  L64xxManager.spi_active = true;   // Tell set_directions() a series of SPI transfers is underway
 
   //if (parser.seen('S'))
-  // tmc_set_report_interval(parser.value_bool());
+  //  tmc_set_report_interval(parser.value_bool());
   //else
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    L6470_SAY_STATUS(X);
+  #if AXIS_IS_L64XX(X)
+    L6470_say_status(X);
   #endif
-  #if AXIS_DRIVER_TYPE_X2(L6470)
-    L6470_SAY_STATUS(X2);
+  #if AXIS_IS_L64XX(X2)
+    L6470_say_status(X2);
   #endif
-  #if AXIS_DRIVER_TYPE_Y(L6470)
-    L6470_SAY_STATUS(Y);
+  #if AXIS_IS_L64XX(Y)
+    L6470_say_status(Y);
   #endif
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
-    L6470_SAY_STATUS(Y2);
+  #if AXIS_IS_L64XX(Y2)
+    L6470_say_status(Y2);
   #endif
-  #if AXIS_DRIVER_TYPE_Z(L6470)
-    L6470_SAY_STATUS(Z);
+  #if AXIS_IS_L64XX(Z)
+    L6470_say_status(Z);
   #endif
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
-    L6470_SAY_STATUS(Z2);
+  #if AXIS_IS_L64XX(Z2)
+    L6470_say_status(Z2);
   #endif
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
-    L6470_SAY_STATUS(Z3);
+  #if AXIS_IS_L64XX(Z3)
+    L6470_say_status(Z3);
   #endif
-  #if AXIS_DRIVER_TYPE_E0(L6470)
-    L6470_SAY_STATUS(E0);
+  #if AXIS_IS_L64XX(E0)
+    L6470_say_status(E0);
   #endif
-  #if AXIS_DRIVER_TYPE_E1(L6470)
-    L6470_SAY_STATUS(E1);
+  #if AXIS_IS_L64XX(E1)
+    L6470_say_status(E1);
   #endif
-  #if AXIS_DRIVER_TYPE_E2(L6470)
-    L6470_SAY_STATUS(E2);
+  #if AXIS_IS_L64XX(E2)
+    L6470_say_status(E2);
   #endif
-  #if AXIS_DRIVER_TYPE_E3(L6470)
-    L6470_SAY_STATUS(E3);
+  #if AXIS_IS_L64XX(E3)
+    L6470_say_status(E3);
   #endif
-  #if AXIS_DRIVER_TYPE_E4(L6470)
-    L6470_SAY_STATUS(E4);
+  #if AXIS_IS_L64XX(E4)
+    L6470_say_status(E4);
   #endif
-  #if AXIS_DRIVER_TYPE_E5(L6470)
-    L6470_SAY_STATUS(E5);
+  #if AXIS_IS_L64XX(E5)
+    L6470_say_status(E5);
   #endif
 
-  L6470.spi_active = false;   // done with all SPI transfers - clear handshake flags
-  L6470.spi_abort = false;
+  L64xxManager.spi_active = false;   // done with all SPI transfers - clear handshake flags
+  L64xxManager.spi_abort = false;
+  L64xxManager.pause_monitor(false);
 }
 
-#endif // HAS_DRIVER(L6470)
+#endif // HAS_L64XX

Marlin/src/gcode/feature/L6470/M906.cpp

 
 #include "../../../inc/MarlinConfig.h"
 
-#if HAS_DRIVER(L6470)
+#if HAS_L64XX
 
 #include "../../gcode.h"
-#include "../../../libs/L6470/L6470_Marlin.h"
+#include "../../../libs/L64XX/L64XX_Marlin.h"
 #include "../../../module/stepper/indirection.h"
 #include "../../../module/planner.h"
 
  * M906: report or set KVAL_HOLD which sets the maximum effective voltage provided by the
  *       PWMs to the steppers
  *
+ * On L6474 this sets the TVAL register (same address).
+ *
  * J - select which driver(s) to monitor on multi-driver axis
  *     0 - (default) monitor all drivers on the axis or E0
  *     1 - monitor only X, Y, Z or E1
  *    KVAL_DEC
  *    Vs compensation (if enabled)
  */
+void L6470_report_current(L64XX &motor, const L64XX_axis_t axis) {
 
-void L6470_report_current(L6470 &motor, const uint8_t axis) {
-  if (L6470.spi_abort) return;  // don't do anything if set_directions() has occurred
-  const uint16_t status = motor.getStatus() ;
-  const uint8_t overcurrent_threshold = (uint8_t)motor.GetParam(L6470_OCD_TH),
-                stall_threshold = (uint8_t)motor.GetParam(L6470_STALL_TH),
-                motor_status = (status  & (STATUS_MOT_STATUS)) >> 13,
-                adc_out = motor.GetParam(L6470_ADC_OUT),
-                adc_out_limited = constrain(adc_out, 8, 24);
-  const float comp_coef = 1600.0f / adc_out_limited;
-  const int microsteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07);
-  char temp_buf[80];
-  L6470.say_axis(axis);
-  #if ENABLED(L6470_CHITCHAT)
-    sprintf_P(temp_buf, PSTR("   status: %4x   "), status);
-    DEBUG_ECHO(temp_buf);
-    print_bin(status);
-  #endif
-  sprintf_P(temp_buf, PSTR("\n...OverCurrent Threshold: %2d (%4d mA)"), overcurrent_threshold, (overcurrent_threshold + 1) * 375);
-  SERIAL_ECHO(temp_buf);
-
-  char numstr[11];
-  dtostrf((stall_threshold + 1) * 31.25, 1, 2, numstr);
-  sprintf_P(temp_buf, PSTR("   Stall Threshold: %2d (%s mA)"), stall_threshold, numstr);
-  SERIAL_ECHO(temp_buf);
-
-  SERIAL_ECHOPGM("   Motor Status: ");
-  const char *stat_str;
-  switch (motor_status) {
-    default:
-    case 0: stat_str = PSTR("stopped"); break;
-    case 1: stat_str = PSTR("accelerating"); break;
-    case 2: stat_str = PSTR("decelerating"); break;
-    case 3: stat_str = PSTR("at constant speed"); break;
-  }
-  serialprintPGM(stat_str);
-  SERIAL_EOL();
-
-  SERIAL_ECHOPAIR("...microsteps: ", microsteps);
-  SERIAL_ECHOPAIR("   ADC_OUT: ", adc_out);
-  SERIAL_ECHOPGM("   Vs_compensation: ");
-  serialprintPGM((motor.GetParam(L6470_CONFIG) & CONFIG_EN_VSCOMP) ? PSTR("ENABLED ") : PSTR("DISABLED"));
-
-  SERIAL_ECHOLNPAIR("   Compensation coefficient: ", dtostrf(comp_coef * 0.01f, 7, 2, numstr));
-  SERIAL_ECHOPAIR("...KVAL_HOLD: ", motor.GetParam(L6470_KVAL_HOLD));
-  SERIAL_ECHOPAIR("   KVAL_RUN : ", motor.GetParam(L6470_KVAL_RUN));
-  SERIAL_ECHOPAIR("   KVAL_ACC: ", motor.GetParam(L6470_KVAL_ACC));
-  SERIAL_ECHOPAIR("   KVAL_DEC: ", motor.GetParam(L6470_KVAL_DEC));
-  SERIAL_ECHOPGM("   V motor max =  ");
-  float val;
-  PGM_P suf;
-  switch (motor_status) {
-    case 0:
-      val = motor.GetParam(L6470_KVAL_HOLD);
-      suf = PSTR("(KVAL_HOLD)");
-      break;
-    case 1:
-      val = motor.GetParam(L6470_KVAL_RUN);
-      suf = PSTR("(KVAL_RUN)");
-      break;
-    case 2:
-      val = motor.GetParam(L6470_KVAL_ACC);
-      suf = PSTR("(KVAL_ACC)");
+  if (L64xxManager.spi_abort) return;  // don't do anything if set_directions() has occurred
+
+  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
+  const uint16_t status = L64xxManager.get_status(axis);    //also populates shadow structure
+  const uint8_t OverCurrent_Threshold = uint8_t(motor.GetParam(L6470_OCD_TH));
+
+  auto say_axis_status = [](const L64XX_axis_t axis, const uint16_t status) {
+    L64xxManager.say_axis(axis);
+    #if ENABLED(L6470_CHITCHAT)
+      char tmp[10];
+      sprintf_P(tmp, PSTR("%4x   "), status);
+      DEBUG_ECHOPAIR("   status: ", tmp);
+      print_bin(status);
+    #else
+      UNUSED(status);
+    #endif
+    SERIAL_EOL();
+  };
+
+  char temp_buf[10];
+
+  switch (sh.STATUS_AXIS_LAYOUT) {
+    case L6470_STATUS_LAYOUT:       // L6470
+    case L6480_STATUS_LAYOUT: {     // L6480 & powerstep01
+      const uint16_t Stall_Threshold = (uint8_t)motor.GetParam(L6470_STALL_TH),
+                     motor_status = (status & (STATUS_MOT_STATUS)) >> 5,
+                     L6470_ADC_out = motor.GetParam(L6470_ADC_OUT),
+                     L6470_ADC_out_limited = constrain(L6470_ADC_out, 8, 24);
+      const float comp_coef = 1600.0f / L6470_ADC_out_limited;
+      const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07);
+
+      say_axis_status(axis, status);
+
+      SERIAL_ECHOPGM("...OverCurrent Threshold: ");
+      sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold);
+      SERIAL_ECHO(temp_buf);
+      SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV);
+      SERIAL_ECHOPGM(" mA)");
+      SERIAL_ECHOPGM("   Stall Threshold: ");
+      sprintf_P(temp_buf, PSTR("%2d ("), Stall_Threshold);
+      SERIAL_ECHO(temp_buf);
+      SERIAL_ECHO((Stall_Threshold + 1) * motor.STALL_CURRENT_CONSTANT_INV);
+      SERIAL_ECHOPGM(" mA)");
+      SERIAL_ECHOPGM("   Motor Status: ");
+      switch (motor_status) {
+        case 0: SERIAL_ECHOPGM("stopped"); break;
+        case 1: SERIAL_ECHOPGM("accelerating"); break;
+        case 2: SERIAL_ECHOPGM("decelerating"); break;
+        case 3: SERIAL_ECHOPGM("at constant speed"); break;
+      }
+      SERIAL_EOL();
+
+      SERIAL_ECHOPAIR("...MicroSteps: ", MicroSteps,
+                      "   ADC_OUT: ", L6470_ADC_out);
+      SERIAL_ECHOPGM("   Vs_compensation: ");
+      serialprintPGM((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_EN_VSCOMP) ? PSTR("ENABLED ") : PSTR("DISABLED"));
+      SERIAL_ECHOLNPAIR("   Compensation coefficient: ~", comp_coef * 0.01f);
+
+      SERIAL_ECHOPAIR("...KVAL_HOLD: ", motor.GetParam(L6470_KVAL_HOLD),
+                      "   KVAL_RUN : ", motor.GetParam(L6470_KVAL_RUN),
+                      "   KVAL_ACC: ", motor.GetParam(L6470_KVAL_ACC),
+                      "   KVAL_DEC: ", motor.GetParam(L6470_KVAL_DEC),
+                      "   V motor max = ");
+      switch (motor_status) {
+        case 0: SERIAL_ECHO(motor.GetParam(L6470_KVAL_HOLD) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break;
+        case 1: SERIAL_ECHO(motor.GetParam(L6470_KVAL_RUN)  * 100 / 256); SERIAL_ECHOPGM("% (KVAL_RUN)"); break;
+        case 2: SERIAL_ECHO(motor.GetParam(L6470_KVAL_ACC)  * 100 / 256); SERIAL_ECHOPGM("% (KVAL_ACC)"); break;
+        case 3: SERIAL_ECHO(motor.GetParam(L6470_KVAL_DEC)  * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break;
+      }
+      SERIAL_EOL();
+
+      #if ENABLED(L6470_CHITCHAT)
+        DEBUG_ECHOPGM("...SLEW RATE: ");
+        switch (sh.STATUS_AXIS_LAYOUT) {
+          case L6470_STATUS_LAYOUT: {
+            switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) {
+              case 0: { DEBUG_ECHOLNPGM("320V/uS") ; break; }
+              case 1: { DEBUG_ECHOLNPGM("75V/uS")  ; break; }
+              case 2: { DEBUG_ECHOLNPGM("110V/uS") ; break; }
+              case 3: { DEBUG_ECHOLNPGM("260V/uS") ; break; }
+            }
+            break;
+          }
+        case L6480_STATUS_LAYOUT: {
+            switch (motor.GetParam(L6470_GATECFG1) & CONFIG1_SR ) {
+              case CONFIG1_SR_220V_us: { DEBUG_ECHOLNPGM("220V/uS") ; break; }
+              case CONFIG1_SR_400V_us: { DEBUG_ECHOLNPGM("400V/uS") ; break; }
+              case CONFIG1_SR_520V_us: { DEBUG_ECHOLNPGM("520V/uS") ; break; }
+              case CONFIG1_SR_980V_us: { DEBUG_ECHOLNPGM("980V/uS") ; break; }
+              default: { DEBUG_ECHOLNPGM("unknown") ; break; }
+            }
+          }
+        }
+      #endif
+      SERIAL_EOL();
       break;
-    case 3:
-      val = motor.GetParam(L6470_KVAL_DEC);
-      suf = PSTR("(KVAL_DEC)");
+    }
+
+    case L6474_STATUS_LAYOUT: {  // L6474
+      const uint16_t L6470_ADC_out = motor.GetParam(L6470_ADC_OUT) & 0x1F,
+                     L6474_TVAL_val = motor.GetParam(L6474_TVAL) & 0x7F;
+
+      say_axis_status(axis, status);
+
+      SERIAL_ECHOPGM("...OverCurrent Threshold: ");
+      sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold);
+      SERIAL_ECHO(temp_buf);
+      SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV);
+      SERIAL_ECHOPGM(" mA)");
+      SERIAL_ECHOPGM("   TVAL: ");
+      sprintf_P(temp_buf, PSTR("%2d ("), L6474_TVAL_val);
+      SERIAL_ECHO(temp_buf);
+      SERIAL_ECHO((L6474_TVAL_val + 1) * motor.STALL_CURRENT_CONSTANT_INV);
+      SERIAL_ECHOLNPGM(" mA   Motor Status: NA)");
+
+      const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07); //NOMORE(MicroSteps, 16);
+      SERIAL_ECHOLNPAIR("...MicroSteps: ", MicroSteps,
+                        "   ADC_OUT: ", L6470_ADC_out);
+
+      SERIAL_ECHOLNPGM("   Vs_compensation: NA\n"
+                       "...KVAL_HOLD: NA"
+                       "   KVAL_RUN : NA"
+                       "   KVAL_ACC: NA"
+                       "   KVAL_DEC: NA"
+                       "   V motor max =  NA");
+
+      #if ENABLED(L6470_CHITCHAT)
+        DEBUG_ECHOPGM("...SLEW RATE: ");
+        switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) {
+          case 0:  DEBUG_ECHOLNPGM("320V/uS") ; break;
+          case 1:  DEBUG_ECHOLNPGM("75V/uS")  ; break;
+          case 2:  DEBUG_ECHOLNPGM("110V/uS") ; break;
+          case 3:  DEBUG_ECHOLNPGM("260V/uS") ; break;
+          default: DEBUG_ECHOLNPAIR("slew rate: ", (motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT); break;
+        }
+      #endif
+      SERIAL_EOL();
+      SERIAL_EOL();
       break;
+    }
   }
-  SERIAL_ECHO(dtostrf(val * 100 / 256, 10, 2, numstr));
-  SERIAL_ECHOPGM("%% ");
-  serialprintPGM(suf);
-  SERIAL_EOL();
 }
 
 void GcodeSuite::M906() {
+
+  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
+
   #define L6470_SET_KVAL_HOLD(Q) stepper##Q.SetParam(L6470_KVAL_HOLD, value)
 
   DEBUG_ECHOLNPGM("M906");
 
-  bool report_current = true;
+  uint8_t report_current = true;
 
-  #if HAS_DRIVER(L6470)
+  #if HAS_L64XX
     const uint8_t index = parser.byteval('I');
   #endif
 
     report_current = false;
 
     if (planner.has_blocks_queued() || planner.cleaning_buffer_counter) {
-      SERIAL_ECHOLNPGM("!Can't set KVAL_HOLD with steppers moving");
+      SERIAL_ECHOLNPGM("Test aborted. Can't set KVAL_HOLD while steppers are moving.");
       return;
     }
 
     switch (i) {
       case X_AXIS:
-        #if AXIS_DRIVER_TYPE_X(L6470)
+        #if AXIS_IS_L64XX(X)
           if (index == 0) L6470_SET_KVAL_HOLD(X);
         #endif
-        #if AXIS_DRIVER_TYPE_X2(L6470)
+        #if AXIS_IS_L64XX(X2)
           if (index == 1) L6470_SET_KVAL_HOLD(X2);
         #endif
         break;
       case Y_AXIS:
-        #if AXIS_DRIVER_TYPE_Y(L6470)
+        #if AXIS_IS_L64XX(Y)
           if (index == 0) L6470_SET_KVAL_HOLD(Y);
         #endif
-        #if AXIS_DRIVER_TYPE_Y2(L6470)
+        #if AXIS_IS_L64XX(Y2)
           if (index == 1) L6470_SET_KVAL_HOLD(Y2);
         #endif
         break;
       case Z_AXIS:
-        #if AXIS_DRIVER_TYPE_Z(L6470)
+        #if AXIS_IS_L64XX(Z)
           if (index == 0) L6470_SET_KVAL_HOLD(Z);
         #endif
-        #if AXIS_DRIVER_TYPE_Z2(L6470)
+        #if AXIS_IS_L64XX(Z2)
           if (index == 1) L6470_SET_KVAL_HOLD(Z2);
         #endif
-        #if AXIS_DRIVER_TYPE_Z3(L6470)
+        #if AXIS_IS_L64XX(Z3)
           if (index == 2) L6470_SET_KVAL_HOLD(Z3);
         #endif
         break;
         const int8_t target_extruder = get_target_extruder_from_command();
         if (target_extruder < 0) return;
         switch (target_extruder) {
-          #if AXIS_DRIVER_TYPE_E0(L6470)
+          #if AXIS_IS_L64XX(E0)
             case 0: L6470_SET_KVAL_HOLD(E0); break;
           #endif
-          #if AXIS_DRIVER_TYPE_E1(L6470)
+          #if AXIS_IS_L64XX(E1)
             case 1: L6470_SET_KVAL_HOLD(E1); break;
           #endif
-          #if AXIS_DRIVER_TYPE_E2(L6470)
+          #if AXIS_IS_L64XX(E2)
             case 2: L6470_SET_KVAL_HOLD(E2); break;
           #endif
-          #if AXIS_DRIVER_TYPE_E3(L6470)
+          #if AXIS_IS_L64XX(E3)
             case 3: L6470_SET_KVAL_HOLD(E3); break;
           #endif
-          #if AXIS_DRIVER_TYPE_E4(L6470)
+          #if AXIS_IS_L64XX(E4)
             case 4: L6470_SET_KVAL_HOLD(E4); break;
           #endif
-          #if AXIS_DRIVER_TYPE_E5(L6470)
+          #if AXIS_IS_L64XX(E5)
             case 5: L6470_SET_KVAL_HOLD(E5); break;
           #endif
         }
   if (report_current) {
     #define L6470_REPORT_CURRENT(Q) L6470_report_current(stepper##Q, Q)
 
-    L6470.spi_active = true;    // let set_directions() know we're in the middle of a series of SPI transfers
+    L64xxManager.spi_active = true; // Tell set_directions() a series of SPI transfers is underway
 
-    #if AXIS_DRIVER_TYPE_X(L6470)
+    #if AXIS_IS_L64XX(X)
       L6470_REPORT_CURRENT(X);
     #endif
-    #if AXIS_DRIVER_TYPE_X2(L6470)
+    #if AXIS_IS_L64XX(X2)
       L6470_REPORT_CURRENT(X2);
     #endif
-    #if AXIS_DRIVER_TYPE_Y(L6470)
+    #if AXIS_IS_L64XX(Y)
       L6470_REPORT_CURRENT(Y);
     #endif
-    #if AXIS_DRIVER_TYPE_Y2(L6470)
+    #if AXIS_IS_L64XX(Y2)
       L6470_REPORT_CURRENT(Y2);
     #endif
-    #if AXIS_DRIVER_TYPE_Z(L6470)
+    #if AXIS_IS_L64XX(Z)
       L6470_REPORT_CURRENT(Z);
     #endif
-    #if AXIS_DRIVER_TYPE_Z2(L6470)
+    #if AXIS_IS_L64XX(Z2)
       L6470_REPORT_CURRENT(Z2);
     #endif
-    #if AXIS_DRIVER_TYPE_Z3(L6470)
+    #if AXIS_IS_L64XX(Z3)
       L6470_REPORT_CURRENT(Z3);
     #endif
-    #if AXIS_DRIVER_TYPE_E0(L6470)
+    #if AXIS_IS_L64XX(E0)
       L6470_REPORT_CURRENT(E0);
     #endif
-    #if AXIS_DRIVER_TYPE_E1(L6470)
+    #if AXIS_IS_L64XX(E1)
       L6470_REPORT_CURRENT(E1);
     #endif
-    #if AXIS_DRIVER_TYPE_E2(L6470)
+    #if AXIS_IS_L64XX(E2)
       L6470_REPORT_CURRENT(E2);
     #endif
-    #if AXIS_DRIVER_TYPE_E3(L6470)
+    #if AXIS_IS_L64XX(E3)
       L6470_REPORT_CURRENT(E3);
     #endif
-    #if AXIS_DRIVER_TYPE_E4(L6470)
+    #if AXIS_IS_L64XX(E4)
       L6470_REPORT_CURRENT(E4);
     #endif
-    #if AXIS_DRIVER_TYPE_E5(L6470)
+    #if AXIS_IS_L64XX(E5)
       L6470_REPORT_CURRENT(E5);
     #endif
 
-    L6470.spi_active = false;   // done with all SPI transfers - clear handshake flags
-    L6470.spi_abort = false;
+    L64xxManager.spi_active = false;   // done with all SPI transfers - clear handshake flags
+    L64xxManager.spi_abort = false;
+    L64xxManager.pause_monitor(false);
   }
 }
 
-#endif // HAS_DRIVER(L6470)
+#endif // HAS_L64XX

Marlin/src/gcode/feature/L6470/M916-918.cpp

  *
  */
 
+//
+// NOTE: All tests assume each axis uses matching driver chips.
+//
+
 #include "../../../inc/MarlinConfig.h"
 
-#if HAS_DRIVER(L6470)
+#if HAS_L64XX
 
 #include "../../gcode.h"
 #include "../../../module/stepper/indirection.h"
 #include "../../../module/planner.h"
-#include "../../../libs/L6470/L6470_Marlin.h"
+#include "../../../libs/L64XX/L64XX_Marlin.h"
 
 #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
 #include "../../../core/debug_out.h"
 
-static void jiggle_axis(const char axis_char, const float &min, const float &max, const feedRate_t &fr_mm_m) {
-  char gcode_string[30], str1[11], str2[11];
-
-  // Turn the motor(s) both directions
-  sprintf_P(gcode_string, PSTR("G0 %c%s F%s"), axis_char, dtostrf(min, 1, 3, str1), dtostrf(fr_mm_m, 1, 3, str2));
-  gcode.process_subcommands_now(gcode_string);
-
-  sprintf_P(gcode_string, PSTR("G0 %c%s F%s"), axis_char, dtostrf(max, 1, 3, str1), str2);
-  gcode.process_subcommands_now(gcode_string);
-
-  planner.synchronize();
-}
-
 /**
  *
- * M916: Increase KVAL_HOLD until thermal warning
- *
+ * M916: increase KVAL_HOLD until get thermal warning
+ *       NOTE - on L6474 it is TVAL that is used
  *
  * J - select which driver(s) to monitor on multi-driver axis
  *     0 - (default) monitor all drivers on the axis or E0
  * F - feedrate
  *     optional - will use default max feedrate from configuration.h if not specified
  *
- * K - starting value for KVAL_HOLD (0 - 255)
- *     optional - will use & report current value from driver if not specified
+ * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
+ *     optional - will report current value from driver if not specified
+ *
+ * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
+ *     optional - will report current value from driver if not specified
+ *
+ * D - time (in seconds) to run each setting of KVAL_HOLD/TVAL
+ *     optional - defaults to zero (runs each setting once)
  *
  */
 
 
   DEBUG_ECHOLNPGM("M916");
 
-  // Variables used by L6470_get_user_input function - some may not be used
-  char axis_mon[3][3] = { "  ", "  ", "  " };  // list of Axes to be monitored
-  uint8_t axis_index[3];
+  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
+
+  // Variables used by L64xxManager.get_user_input function - some may not be used
+  char axis_mon[3][3] = { {"  "}, {"  "}, {"  "} };   // list of Axes to be monitored
+  L64XX_axis_t axis_index[3];
   uint16_t axis_status[3];
   uint8_t driver_count = 1;
   float position_max;
   float position_min;
-  feedRate_t final_fr_mm_m;
+  float final_feedrate;
   uint8_t kval_hold;
-  uint8_t ocd_th_val = 0;
-  uint8_t stall_th_val = 0;
+  uint8_t OCD_TH_val = 0;
+  uint8_t STALL_TH_val = 0;
   uint16_t over_current_threshold;
-  constexpr bool over_current_flag = false;  // M916 doesn't play with the overcurrent thresholds
+  constexpr uint8_t over_current_flag = false;  // M916 doesn't play with the overcurrent thresholds
+
+  #define DRIVER_TYPE_L6474(Q) AXIS_DRIVER_TYPE_##Q(L6474)
 
   uint8_t j;   // general purpose counter
 
-  if (L6470.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_fr_mm_m, kval_hold, over_current_flag, ocd_th_val, stall_th_val, over_current_threshold))
+  if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
     return;  // quit if invalid user input
 
-  DEBUG_ECHOLNPAIR("feedrate = ", final_fr_mm_m);
+  DEBUG_ECHOLNPAIR("feedrate = ", final_feedrate);
 
-  planner.synchronize();                  // Wait for moves to finish
+  planner.synchronize();                             // wait for all current movement commands to complete
 
+  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
   for (j = 0; j < driver_count; j++)
-    L6470.get_status(axis_index[j]);      // Clear out error flags
+    L64xxManager.get_status(axis_index[j]);  // clear out any pre-existing error flags
 
+  char temp_axis_string[] = " ";
+  temp_axis_string[0] = axis_mon[0][0];  // need to have a string for use within sprintf format section
+  char gcode_string[80];
   uint16_t status_composite = 0;
 
+  uint16_t M91x_counter = kval_hold;
+  uint16_t M91x_counter_max;
+  if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {
+    M91x_counter_max = 128;  // TVAL is 7 bits
+    LIMIT(M91x_counter, 0U, 127U);
+  }
+  else
+    M91x_counter_max = 256;  // KVAL_HOLD is 8 bits
+
+  uint8_t M91x_delay_s = parser.byteval('D');   // get delay in seconds
+  millis_t M91x_delay_ms = M91x_delay_s * 60 * 1000;
+  millis_t M91x_delay_end;
+
   DEBUG_ECHOLNPGM(".\n.");
 
   do {
 
-    DEBUG_ECHOLNPAIR("kval_hold = ", kval_hold);   // set & report KVAL_HOLD for this run
+    if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)
+      DEBUG_ECHOLNPAIR("TVAL current (mA) = ", (M91x_counter + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV);        // report TVAL current for this run
+    else
+      DEBUG_ECHOLNPAIR("kval_hold = ", M91x_counter);                                   // report KVAL_HOLD for this run
 
     for (j = 0; j < driver_count; j++)
-      L6470.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
+      L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, M91x_counter);  //set KVAL_HOLD or TVAL (same register address)
 
-    // Turn the motor(s) both directions
-    jiggle_axis(axis_mon[0][0], position_min, position_max, final_fr_mm_m);
+    M91x_delay_end = millis() + M91x_delay_ms;
+    do {
+      // turn the motor(s) both directions
+      sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate));
+      gcode.process_subcommands_now_P(gcode_string);
 
-    status_composite = 0;    // clear out the old bits
+      sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate));
+      gcode.process_subcommands_now_P(gcode_string);
 
-    for (j = 0; j < driver_count; j++) {
-      axis_status[j] = (~L6470.get_status(axis_index[j])) & L6470_ERROR_MASK;    // bits of interest are all active low
-      status_composite |= axis_status[j] ;
-    }
+      // get the status after the motors have stopped
+      planner.synchronize();
+
+      status_composite = 0;    // clear out the old bits
 
-    if (status_composite && (status_composite & STATUS_UVLO)) {
-      DEBUG_ECHOLNPGM("Test aborted (Undervoltage lockout active)");
       for (j = 0; j < driver_count; j++) {
-        DEBUG_ECHOPGM("...");
-        L6470.error_status_decode(axis_status[j], axis_index[j]);
+        axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK;    // bits of interest are all active low
+        status_composite |= axis_status[j] ;
       }
-      return;
-    }
 
-    // increment KVAL_HOLD if not yet at thermal warning/shutdown
-    if (!(status_composite & (STATUS_TH_WRN | STATUS_TH_SD)))
-      kval_hold++;
+      if (status_composite) break;
+    } while (millis() < M91x_delay_end);
 
-  } while (!(status_composite & (STATUS_TH_WRN | STATUS_TH_SD)) && kval_hold);  // exit when kval_hold == 0 (rolls over)
+    if (status_composite) break;
 
-  DEBUG_ECHOPGM(".\n.\nThermal warning/shutdown ");
-  if ((status_composite & (STATUS_TH_WRN | STATUS_TH_SD))) {
-    DEBUG_ECHOLNPGM("has occurred");
-    for (j = 0; j < driver_count; j++) {
-      DEBUG_ECHOPGM("...");
-      L6470.error_status_decode(axis_status[j], axis_index[j]);
+    M91x_counter++;
+
+  } while (!(status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) && (M91x_counter < M91x_counter_max));
+
+  DEBUG_ECHOLNPGM(".");
+
+  #if ENABLED(L6470_CHITCHAT)
+    if (status_composite) {
+      L64xxManager.error_status_decode(status_composite, axis_index[0],
+        sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
+        sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
+        sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
+      DEBUG_ECHOLNPGM(".");
     }
-  }
+  #endif
+
+  if ((status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)))
+    DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Thermal warning/shutdown has occurred");
+  else if (status_composite)
+    DEBUG_ECHOLNPGM(".\n.\nTest completed abnormally - non-thermal error has occured");
   else
-    DEBUG_ECHOLNPGM("(Unable to get)");
+    DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Unable to get to thermal warning/shutdown");
 
-  DEBUG_ECHOLNPGM(".");
+  L64xxManager.pause_monitor(false);
 }
 
 /**
  *
  *   Decrease OCD current until overcurrent error
  *   Increase OCD until overcurrent error goes away
- *   Decrease stall threshold until stall
- *   Increase stall until stall error goes away
+ *   Decrease stall threshold until stall (not done on L6474)
+ *   Increase stall until stall error goes away (not done on L6474)
  *
  * J - select which driver(s) to monitor on multi-driver axis
  *     0 - (default) monitor all drivers on the axis or E0
  *     optional - will report current value from driver if not specified
  *     if there are multiple drivers on the axis then all will be set the same
  *
- * K - value for KVAL_HOLD (0 - 255)
+ * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
+ *     optional - will report current value from driver if not specified
+ *
+ * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
  *     optional - will report current value from driver if not specified
  *
  */
 
   DEBUG_ECHOLNPGM("M917");
 
-  char axis_mon[3][3] = { "  ", "  ", "  " };  // list of axes to be monitored
-  uint8_t axis_index[3];
+  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
+
+  char axis_mon[3][3] = { {"  "}, {"  "}, {"  "} };   // list of Axes to be monitored
+  L64XX_axis_t axis_index[3];
   uint16_t axis_status[3];
   uint8_t driver_count = 1;
   float position_max;
   float position_min;
-  feedRate_t final_fr_mm_m;
+  float final_feedrate;
   uint8_t kval_hold;
-  uint8_t ocd_th_val = 0;
-  uint8_t stall_th_val = 0;
+  uint8_t OCD_TH_val = 0;
+  uint8_t STALL_TH_val = 0;
   uint16_t over_current_threshold;
-  constexpr bool over_current_flag = true;
+  constexpr uint8_t over_current_flag = true;
 
   uint8_t j;   // general purpose counter
 
-  if (L6470.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_fr_mm_m, kval_hold, over_current_flag, ocd_th_val, stall_th_val, over_current_threshold))
+  if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
     return;  // quit if invalid user input
 
-  DEBUG_ECHOLNPAIR("feedrate = ", final_fr_mm_m);
+  DEBUG_ECHOLNPAIR("feedrate = ", final_feedrate);
 
-  planner.synchronize();                // Wait for moves to finish
+  planner.synchronize();                             // wait for all current movement commands to complete
+
+  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
   for (j = 0; j < driver_count; j++)
-    L6470.get_status(axis_index[j]);    // Clear out error flags
+    L64xxManager.get_status(axis_index[j]);  // clear error flags
+  char temp_axis_string[] = " ";
+  temp_axis_string[0] = axis_mon[0][0];   // need a sprintf format string
+  char gcode_string[80];
   uint16_t status_composite = 0;
-  uint8_t test_phase = 0;
-        // 0 - decreasing OCD - exit when OCD warning occurs (ignore STALL)
-        // 1 - increasing OCD - exit when OCD warning stops (ignore STALL) -
-        // 2 - OCD finalized - decreasing STALL - exit when STALL warning happens
-        // 3 - OCD finalized - increasing STALL - exit when STALL warning stop
-        // 4 - all testing completed
-  DEBUG_ECHOPAIR(".\n.\n.\nover_current threshold : ", (ocd_th_val + 1) * 375);   // first status display
-  DEBUG_ECHOPAIR("  (OCD_TH:  : ", ocd_th_val);
-  DEBUG_ECHOPAIR(")   Stall threshold: ", (stall_th_val + 1) * 31.25);
-  DEBUG_ECHOPAIR("  (STALL_TH: ", stall_th_val);
+  uint8_t test_phase = 0;                 // 0 - decreasing OCD - exit when OCD warning occurs (ignore STALL)
+                                          // 1 - increasing OCD - exit when OCD warning stops (ignore STALL)
+                                          // 2 - OCD finalized - decreasing STALL - exit when STALL warning happens
+                                          // 3 - OCD finalized - increasing STALL - exit when STALL warning stop
+                                          // 4 - all testing completed
+  DEBUG_ECHOPAIR(".\n.\n.\nover_current threshold : ", (OCD_TH_val + 1) * 375);   // first status display
+  DEBUG_ECHOPAIR("  (OCD_TH:  : ", OCD_TH_val);
+  if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) {
+    DEBUG_ECHOPAIR(")   Stall threshold: ", (STALL_TH_val + 1) * 31.25);
+    DEBUG_ECHOPAIR("  (STALL_TH: ", STALL_TH_val);
+  }
   DEBUG_ECHOLNPGM(")");
 
   do {
 
-    DEBUG_ECHOPAIR("STALL threshold : ", (stall_th_val + 1) * 31.25);
-    DEBUG_ECHOLNPAIR("   OCD threshold : ", (ocd_th_val + 1) * 375);
+    if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) DEBUG_ECHOPAIR("STALL threshold : ", (STALL_TH_val + 1) * 31.25);
+    DEBUG_ECHOLNPAIR("   OCD threshold : ", (OCD_TH_val + 1) * 375);
 
-    jiggle_axis(axis_mon[0][0], position_min, position_max, final_fr_mm_m);
+    sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate));
+    gcode.process_subcommands_now_P(gcode_string);
+
+    sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate));
+    gcode.process_subcommands_now_P(gcode_string);
+
+    planner.synchronize();
 
     status_composite = 0;    // clear out the old bits
 
     for (j = 0; j < driver_count; j++) {
-      axis_status[j] = (~L6470.get_status(axis_index[j])) & L6470_ERROR_MASK;    // bits of interest are all active low
+      axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK;    // bits of interest are all active low
       status_composite |= axis_status[j];
     }
 
-    if (status_composite && (status_composite & STATUS_UVLO)) {
+    if (status_composite && (status_composite & sh.STATUS_AXIS_UVLO)) {
       DEBUG_ECHOLNPGM("Test aborted (Undervoltage lockout active)");
-      for (j = 0; j < driver_count; j++) {
-        DEBUG_ECHOPGM("...");
-        L6470.error_status_decode(axis_status[j], axis_index[j]);
-      }
+      #if ENABLED(L6470_CHITCHAT)
+        for (j = 0; j < driver_count; j++) {
+          if (j) DEBUG_ECHOPGM("...");
+          L64xxManager.error_status_decode(axis_status[j], axis_index[j],
+            sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
+            sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
+            sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
+        }
+      #endif
       return;
     }
 
-    if (status_composite & (STATUS_TH_WRN | STATUS_TH_SD)) {
+    if (status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) {
       DEBUG_ECHOLNPGM("thermal problem - waiting for chip(s) to cool down ");
       uint16_t status_composite_temp = 0;
       uint8_t k = 0;
         k++;
         if (!(k % 4)) {
           kval_hold *= 0.95;
-          L6470_EOL();
+          DEBUG_EOL();
           DEBUG_ECHOLNPAIR("Lowering KVAL_HOLD by about 5% to ", kval_hold);
           for (j = 0; j < driver_count; j++)
-            L6470.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
+            L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
         }
         DEBUG_ECHOLNPGM(".");
-        reset_stepper_timeout(); // reset_stepper_timeout to keep steppers powered
-        watchdog_refresh();
+        gcode.reset_stepper_timeout(); // reset_stepper_timeout to keep steppers powered
+        watchdog_refresh();;   // beat the dog
         safe_delay(5000);
         status_composite_temp = 0;
         for (j = 0; j < driver_count; j++) {
-          axis_status[j] = (~L6470.get_status(axis_index[j])) & L6470_ERROR_MASK;    // bits of interest are all active low
+          axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK;    // bits of interest are all active low
           status_composite_temp |= axis_status[j];
         }
       }
-      while (status_composite_temp & (STATUS_TH_WRN | STATUS_TH_SD));
-      L6470_EOL();
+      while (status_composite_temp & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD));
+      DEBUG_EOL();
     }
-    if (status_composite & (STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B | STATUS_OCD)) {
+    if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B | sh.STATUS_AXIS_OCD)) {
       switch (test_phase) {
 
         case 0: {
-          if (status_composite & STATUS_OCD) {
+          if (status_composite & sh.STATUS_AXIS_OCD) {
             // phase 0 with OCD warning - time to go to next phase
-            if (ocd_th_val >=15) {
-              ocd_th_val = 15;           // limit to max
+            if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) {
+              OCD_TH_val = sh.AXIS_OCD_TH_MAX;           // limit to max
               test_phase = 2;            // at highest value so skip phase 1
-              DEBUG_ECHOLNPGM("LOGIC E0A OCD at highest - skip to 2");
+              //DEBUG_ECHOLNPGM("LOGIC E0A OCD at highest - skip to 2");
+              DEBUG_ECHOLNPGM("OCD at highest - OCD finalized");
             }
             else {
-              ocd_th_val++;              // normal exit to next phase
+              OCD_TH_val++;              // normal exit to next phase
               test_phase = 1;            // setup for first pass of phase 1
-              DEBUG_ECHOLNPGM("LOGIC E0B - inc OCD  & go to 1");
+              //DEBUG_ECHOLNPGM("LOGIC E0B - inc OCD  & go to 1");
+              DEBUG_ECHOLNPGM("inc OCD");
             }
           }
           else {  // phase 0 without OCD warning - keep on decrementing if can
-            if (ocd_th_val) {
-              ocd_th_val--;              // try lower value
-              DEBUG_ECHOLNPGM("LOGIC E0C - dec OCD");
+            if (OCD_TH_val) {
+              OCD_TH_val--;              // try lower value
+              //DEBUG_ECHOLNPGM("LOGIC E0C - dec OCD");
+              DEBUG_ECHOLNPGM("dec OCD");
             }
             else {
               test_phase = 2;            // at lowest value without warning so skip phase 1
-              DEBUG_ECHOLNPGM("LOGIC E0D - OCD at latest - go to 2");
+              //DEBUG_ECHOLNPGM("LOGIC E0D - OCD at latest - go to 2");
+              DEBUG_ECHOLNPGM("OCD finalized");
             }
           }
         } break;
 
         case 1: {
-          if (status_composite & STATUS_OCD) {
+          if (status_composite & sh.STATUS_AXIS_OCD) {
             // phase 1 with OCD warning - increment if can
-            if (ocd_th_val >= 15) {
-              ocd_th_val = 15;           // limit to max
+            if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) {
+              OCD_TH_val = sh.AXIS_OCD_TH_MAX;           // limit to max
               test_phase = 2;            // at highest value so go to next phase
-              DEBUG_ECHOLNPGM("LOGIC E1A - OCD at max - go to 2");
+              //DEBUG_ECHOLNPGM("LOGIC E1A - OCD at max - go to 2");
+              DEBUG_ECHOLNPGM("OCD finalized");
             }
             else {
-              ocd_th_val++;              // try a higher value
-              DEBUG_ECHOLNPGM("LOGIC E1B - inc OCD");
+              OCD_TH_val++;              // try a higher value
+              //DEBUG_ECHOLNPGM("LOGIC E1B - inc OCD");
+              DEBUG_ECHOLNPGM("inc OCD");
             }
           }
           else { // phase 1 without OCD warning - normal exit to phase 2
             test_phase = 2;
-            DEBUG_ECHOLNPGM("LOGIC E1C - no OCD warning - go to 1");
+            //DEBUG_ECHOLNPGM("LOGIC E1C - no OCD warning - go to 1");
+            DEBUG_ECHOLNPGM("OCD finalized");
           }
         } break;
 
         case 2: {
-          if (status_composite & (STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B)) {
+          if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // skip all STALL_TH steps if L6474
+            test_phase = 4;
+            break;
+          }
+          if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) {
             // phase 2 with stall warning - time to go to next phase
-            if (stall_th_val >= 127) {
-              stall_th_val = 127;  // limit to max
-              DEBUG_ECHOLNPGM("LOGIC E2A - STALL warning, STALL at max, quit");
+            if (STALL_TH_val >= 127) {
+              STALL_TH_val = 127;  // limit to max
+              //DEBUG_ECHOLNPGM("LOGIC E2A - STALL warning, STALL at max, quit");
               DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
               test_phase = 4;
             }
             else {
               test_phase = 3;              // normal exit to next phase (found failing value of STALL)
-              stall_th_val++;              // setup for first pass of phase 3
-              DEBUG_ECHOLNPGM("LOGIC E2B - INC - STALL warning, inc Stall, go to 3");
+              STALL_TH_val++;              // setup for first pass of phase 3
+              //DEBUG_ECHOLNPGM("LOGIC E2B - INC - STALL warning, inc Stall, go to 3");
+              DEBUG_ECHOLNPGM("inc Stall");
             }
           }
           else {  // phase 2 without stall warning - decrement if can
-            if (stall_th_val) {
-              stall_th_val--;              // try a lower value
-              DEBUG_ECHOLNPGM("LOGIC E2C - no STALL, dec STALL");
+            if (STALL_TH_val) {
+              STALL_TH_val--;              // try a lower value
+              //DEBUG_ECHOLNPGM("LOGIC E2C - no STALL, dec STALL");
+              DEBUG_ECHOLNPGM("dec STALL");
             }
             else {
               DEBUG_ECHOLNPGM("finished - STALL at lowest value but still do NOT have stall warning");
               test_phase = 4;
-              DEBUG_ECHOLNPGM("LOGIC E2D - no STALL, at lowest so quit");
+              //DEBUG_ECHOLNPGM("LOGIC E2D - no STALL, at lowest so quit");
             }
           }
         } break;
 
         case 3: {
-          if (status_composite & (STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B)) {
+          if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // skip all STALL_TH steps if L6474
+            test_phase = 4;
+            break;
+          }
+          if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) {
             // phase 3 with stall warning - increment if can
-            if (stall_th_val >= 127) {
-              stall_th_val = 127; // limit to max
+            if (STALL_TH_val >= 127) {
+              STALL_TH_val = 127; // limit to max
               DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
               test_phase = 4;
-              DEBUG_ECHOLNPGM("LOGIC E3A - STALL, at max so quit");
+              //DEBUG_ECHOLNPGM("LOGIC E3A - STALL, at max so quit");
             }
             else {
-              stall_th_val++;              // still looking for passing value
-              DEBUG_ECHOLNPGM("LOGIC E3B - STALL, inc stall");
+              STALL_TH_val++;              // still looking for passing value
+              //DEBUG_ECHOLNPGM("LOGIC E3B - STALL, inc stall");
+              DEBUG_ECHOLNPGM("inc stall");
             }
           }
           else {  //phase 3 without stall warning  but have OCD warning
             DEBUG_ECHOLNPGM("Hardware problem - OCD warning without STALL warning");
             test_phase = 4;
-            DEBUG_ECHOLNPGM("LOGIC E3C - not STALLED, hardware problem (quit)");
+            //DEBUG_ECHOLNPGM("LOGIC E3C - not STALLED, hardware problem (quit)");
           }
         } break;
 
     else {
       switch (test_phase) {
         case 0: { // phase 0 without OCD warning - keep on decrementing if can
-          if (ocd_th_val) {
-            ocd_th_val--;             // try lower value
-            DEBUG_ECHOLNPGM("LOGIC N0A - DEC OCD");
+          if (OCD_TH_val) {
+            OCD_TH_val--;             // try lower value
+            //DEBUG_ECHOLNPGM("LOGIC N0A - DEC OCD");
+            DEBUG_ECHOLNPGM("DEC OCD");
           }
           else {
             test_phase = 2;           // at lowest value without warning so skip phase 1
-            DEBUG_ECHOLNPGM("LOGIC N0B - OCD at lowest (go to phase 2)");
+            //DEBUG_ECHOLNPGM("LOGIC N0B - OCD at lowest (go to phase 2)");
+            DEBUG_ECHOLNPGM("OCD finalized");
           }
         } break;
 
-        case 1: DEBUG_ECHOLNPGM("LOGIC N1 (go directly to 2)"); // phase 1 without OCD warning - drop directly to phase 2
+        case 1: //DEBUG_ECHOLNPGM("LOGIC N1 (go directly to 2)"); // phase 1 without OCD warning - drop directly to phase 2
+                DEBUG_ECHOLNPGM("OCD finalized");
 
         case 2: { // phase 2 without stall warning - keep on decrementing if can
-          if (stall_th_val) {
-            stall_th_val--;              // try a lower value (stay in phase 2)
-            DEBUG_ECHOLNPGM("LOGIC N2B - dec STALL");
+          if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // skip all STALL_TH steps if L6474
+            test_phase = 4;
+            break;
+          }
+          if (STALL_TH_val) {
+            STALL_TH_val--;              // try a lower value (stay in phase 2)
+            //DEBUG_ECHOLNPGM("LOGIC N2B - dec STALL");
+            DEBUG_ECHOLNPGM("dec STALL");
           }
           else {
             DEBUG_ECHOLNPGM("finished - STALL at lowest value but still no stall warning");
             test_phase = 4;
-            DEBUG_ECHOLNPGM("LOGIC N2C - STALL at lowest (quit)");
+            //DEBUG_ECHOLNPGM("LOGIC N2C - STALL at lowest (quit)");
           }
         } break;
 
-        case 3: { test_phase = 4;
-           DEBUG_ECHOLNPGM("LOGIC N3 - finished!");
+        case 3: {
+          if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // skip all STALL_TH steps if L6474
+            test_phase = 4;
+            break;
+          }
+          test_phase = 4;
+           //DEBUG_ECHOLNPGM("LOGIC N3 - finished!");
+           DEBUG_ECHOLNPGM("finished!");
         } break;  // phase 3 without any warnings - desired exit
       }  //
     }  // end of status checks
 
     if (test_phase != 4) {
       for (j = 0; j < driver_count; j++) {                       // update threshold(s)
-        L6470.set_param(axis_index[j], L6470_OCD_TH, ocd_th_val);
-        L6470.set_param(axis_index[j], L6470_STALL_TH, stall_th_val);
-        if (L6470.get_param(axis_index[j], L6470_OCD_TH) != ocd_th_val) DEBUG_ECHOLNPGM("OCD mismatch");
-        if (L6470.get_param(axis_index[j], L6470_STALL_TH) != stall_th_val) DEBUG_ECHOLNPGM("STALL mismatch");
+        L64xxManager.set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val);
+        if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) L64xxManager.set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val);
+        if (L64xxManager.get_param(axis_index[j], L6470_OCD_TH) != OCD_TH_val) DEBUG_ECHOLNPGM("OCD mismatch");
+        if ((L64xxManager.get_param(axis_index[j], L6470_STALL_TH) != STALL_TH_val) && (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT)) DEBUG_ECHOLNPGM("STALL mismatch");
       }
     }
 
   } while (test_phase != 4);
 
+  DEBUG_ECHOLNPGM(".");
   if (status_composite) {
+    #if ENABLED(L6470_CHITCHAT)
+      for (j = 0; j < driver_count; j++) {
+        if (j) DEBUG_ECHOPGM("...");
+        L64xxManager.error_status_decode(axis_status[j], axis_index[j],
+          sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
+          sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
+          sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
+      }
+      DEBUG_ECHOLNPGM(".");
+    #endif
     DEBUG_ECHOLNPGM("Completed with errors");
-    for (j = 0; j < driver_count; j++) {
-      DEBUG_ECHOPGM("...");
-      L6470.error_status_decode(axis_status[j], axis_index[j]);
-    }
   }
   else
     DEBUG_ECHOLNPGM("Completed with no errors");
+  DEBUG_ECHOLNPGM(".");
 
-} // M917
+  L64xxManager.pause_monitor(false);
+}
 
 /**
  *
  * I - over current threshold
  *     optional - will report current value from driver if not specified
  *
- * K - value for KVAL_HOLD (0 - 255) (optional)
+ * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
+ *     optional - will report current value from driver if not specified
+ *
+ * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
+ *     optional - will report current value from driver if not specified
+ *
+ * M - value for microsteps (1 - 128) (optional)
  *     optional - will report current value from driver if not specified
  *
  */
 
   DEBUG_ECHOLNPGM("M918");
 
-  char axis_mon[3][3] = { "  ", "  ", "  " };  // List of axes to monitor
-  uint8_t axis_index[3];
+  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
+
+  char axis_mon[3][3] = { {"  "}, {"  "}, {"  "} };   // list of Axes to be monitored
+  L64XX_axis_t axis_index[3];
   uint16_t axis_status[3];
   uint8_t driver_count = 1;
   float position_max, position_min;
-  feedRate_t final_fr_mm_m;
+  float final_feedrate;
   uint8_t kval_hold;
-  uint8_t ocd_th_val = 0;
-  uint8_t stall_th_val = 0;
+  uint8_t OCD_TH_val = 0;
+  uint8_t STALL_TH_val = 0;
   uint16_t over_current_threshold;
-  constexpr bool over_current_flag = true;
+  constexpr uint8_t over_current_flag = true;
+
+  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
 
   uint8_t j;   // general purpose counter
 
-  if (L6470.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_fr_mm_m, kval_hold, over_current_flag, ocd_th_val, stall_th_val, over_current_threshold))
+  if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
     return;  // quit if invalid user input
 
+  L64xxManager.get_status(axis_index[0]); // populate shadow array
+
   uint8_t m_steps = parser.byteval('M');
-  LIMIT(m_steps, 0, 128);
-  DEBUG_ECHOLNPAIR("M = ", m_steps);
-
-  int8_t m_bits = -1;
-       if (m_steps > 85) m_bits = 7;  // 128 (no synch output)
-  else if (m_steps > 42) m_bits = 6;  //  64 (no synch output)
-  else if (m_steps > 22) m_bits = 5;  //  32 (no synch output)
-  else if (m_steps > 12) m_bits = 4;  //  16 (no synch output)
-  else if (m_steps >  5) m_bits = 3;  //   8 (no synch output)
-  else if (m_steps >  2) m_bits = 2;  //   4 (no synch output)
-  else if (m_steps == 2) m_bits = 1;  //   2 (no synch output)
-  else if (m_steps == 1) m_bits = 0;  //   1 (no synch output)
-  else if (m_steps == 0) m_bits = 7;  // 128 (no synch output)
-
-  if (m_bits >= 0) {
-    const int micros = _BV(m_bits);
-    if (micros < 100) { DEBUG_CHAR(' '); if (micros < 10) DEBUG_CHAR(' '); }
-    DEBUG_ECHO(micros);
-    DEBUG_ECHOPGM(" uSTEPS");
+
+  if (m_steps != 0) {
+    LIMIT(m_steps, 1, sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT ? 16 : 128);  // L6474
+
+    uint8_t stepVal;
+    for (stepVal = 0; stepVal < 8; stepVal++) {  // convert to L64xx register value
+      if (m_steps == 1) break;
+      m_steps >>= 1;
+    }
+
+    if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)
+      stepVal |= 0x98;  // NO SYNC
+    else
+      stepVal |= (!SYNC_EN) | SYNC_SEL_1 | stepVal;
+
+    for (j = 0; j < driver_count; j++) {
+      L64xxManager.set_param(axis_index[j], dSPIN_HARD_HIZ, 0);          // can't write STEP register if stepper being powered
+                                                                         //   results in an extra NOOP being sent (data 00)
+      L64xxManager.set_param(axis_index[j], L6470_STEP_MODE, stepVal);   // set microsteps
+    }
   }
+  m_steps = L64xxManager.get_param(axis_index[0], L6470_STEP_MODE) & 0x07;   // get microsteps
 
-  for (j = 0; j < driver_count; j++)
-    L6470.set_param(axis_index[j], L6470_STEP_MODE, m_bits);   // set microsteps
+  DEBUG_ECHOLNPAIR("Microsteps = ", _BV(m_steps));
+  DEBUG_ECHOLNPAIR("target (maximum) feedrate = ", final_feedrate);
 
-  DEBUG_ECHOLNPAIR("target (maximum) feedrate = ", final_fr_mm_m);
+  const float feedrate_inc = final_feedrate / 10,   // Start at 1/10 of max & go up by 1/10 per step
+              fr_limit = final_feedrate * 0.99f;    // Rounding-safe comparison value
+  float current_feedrate = 0;
 
-  planner.synchronize();                  // Wait for moves to finish
+  planner.synchronize();                            // Wait for moves to complete
 
   for (j = 0; j < driver_count; j++)
-    L6470.get_status(axis_index[j]);      // Clear all error flags
+    L64xxManager.get_status(axis_index[j]);         // Clear error flags
 
+  char temp_axis_string[2] = " ";
+  temp_axis_string[0] = axis_mon[0][0];             // Need a sprintf format string
+  //temp_axis_string[1] = '\n';
+
+  char gcode_string[80];
   uint16_t status_composite = 0;
-  DEBUG_ECHOLNPGM(".\n.\n.");             // Make the feedrate prints easier to see
+  DEBUG_ECHOLNPGM(".\n.\n.");                       // Make feedrate outputs easier to read
+
+  do {
+    current_feedrate += feedrate_inc;
+    DEBUG_ECHOLNPAIR("...feedrate = ", current_feedrate);
 
-  constexpr uint8_t iterations = 10;
-  for (uint8_t i = 1; i <= iterations; i++) {
-    const feedRate_t fr_mm_m = i * final_fr_mm_m / iterations;
-    DEBUG_ECHOLNPAIR("...feedrate = ", fr_mm_m);
+    sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(current_feedrate));
+    gcode.process_subcommands_now_P(gcode_string);
 
-    jiggle_axis(axis_mon[0][0], position_min, position_max, fr_mm_m);
+    sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(current_feedrate));
+    gcode.process_subcommands_now_P(gcode_string);
+
+    planner.synchronize();
 
     for (j = 0; j < driver_count; j++) {
-      axis_status[j] = (~L6470.get_status(axis_index[j])) & 0x0800;    // bits of interest are all active low
+      axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & 0x0800;  // Bits of interest are all active LOW
       status_composite |= axis_status[j];
     }
-    if (status_composite) break;       // quit if any errors flags are raised
-  }
+    if (status_composite) break;              // Break on any error
+  } while (current_feedrate < fr_limit);
 
-  DEBUG_ECHOPGM("Completed with errors");
+  DEBUG_ECHOPGM("Completed with ");
   if (status_composite) {
     DEBUG_ECHOLNPGM("errors");
-    for (j = 0; j < driver_count; j++) {
-      DEBUG_ECHOPGM("...");
-      L6470.error_status_decode(axis_status[j], axis_index[j]);
-    }
+    #if ENABLED(L6470_CHITCHAT)
+      for (j = 0; j < driver_count; j++) {
+        if (j) DEBUG_ECHOPGM("...");
+        L64xxManager.error_status_decode(axis_status[j], axis_index[j],
+          sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
+          sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
+          sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
+      }
+    #endif
   }
   else
     DEBUG_ECHOLNPGM("no errors");
 
-} // M918
+  L64xxManager.pause_monitor(false);
+}
 
-#endif // HAS_DRIVER(L6470)
+#endif // HAS_L64XX

Marlin/src/gcode/gcode.cpp

         #endif
       #endif
 
-      #if HAS_DRIVER(L6470)
+      #if HAS_L64XX
         case 122: M122(); break;                                   // M122: Report status
         case 906: M906(); break;                                   // M906: Set or get motor drive level
         case 916: M916(); break;                                   // M916: L6470 tuning: Increase drive level until thermal warning

Marlin/src/gcode/gcode.h

     #endif
   #endif
 
-  #if HAS_DRIVER(L6470)
+  #if HAS_L64XX
     static void M122();
     static void M906();
     static void M916();

Marlin/src/gcode/host/M114.cpp

 
 #if ENABLED(M114_DETAIL)
 
-  #if HAS_DRIVER(L6470)
-    //C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\gcode\host\M114.cpp
-    //C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\bob_L6470.cpp
-    #include "../../libs/L6470/L6470_Marlin.h"
+  #if HAS_L64XX
+    #include "../../libs/L64XX/L64XX_Marlin.h"
     #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
     #include "../../core/debug_out.h"
   #endif
 
     planner.synchronize();
 
-    #if HAS_DRIVER(L6470)
+    #if HAS_L64XX
       char temp_buf[80];
       int32_t temp;
       //#define ABS_POS_SIGN_MASK 0b1111 1111 1110 0000 0000 0000 0000 0000
       #define ABS_POS_SIGN_MASK 0b11111111111000000000000000000000
       #define REPORT_ABSOLUTE_POS(Q) do{                            \
-          L6470.say_axis(Q, false);                                 \
+          L64xxManager.say_axis(Q, false);                          \
           temp = L6470_GETPARAM(L6470_ABS_POS,Q);                   \
           if (temp & ABS_POS_SIGN_MASK) temp |= ABS_POS_SIGN_MASK;  \
           sprintf_P(temp_buf, PSTR(":%8ld   "), temp);              \
         }while(0)
 
       DEBUG_ECHOPGM("\nL6470:");
-      #if AXIS_DRIVER_TYPE_X(L6470)
+      #if AXIS_IS_L64XX(X)
         REPORT_ABSOLUTE_POS(X);
       #endif
-      #if AXIS_DRIVER_TYPE_X2(L6470)
+      #if AXIS_IS_L64XX(X2)
         REPORT_ABSOLUTE_POS(X2);
       #endif
-      #if AXIS_DRIVER_TYPE_Y(L6470)
+      #if AXIS_IS_L64XX(Y)
         REPORT_ABSOLUTE_POS(Y);
       #endif
-      #if AXIS_DRIVER_TYPE_Y2(L6470)
+      #if AXIS_IS_L64XX(Y2)
         REPORT_ABSOLUTE_POS(Y2);
       #endif
-      #if AXIS_DRIVER_TYPE_Z(L6470)
+      #if AXIS_IS_L64XX(Z)
         REPORT_ABSOLUTE_POS(Z);
       #endif
-      #if AXIS_DRIVER_TYPE_Z2(L6470)
+      #if AXIS_IS_L64XX(Z2)
         REPORT_ABSOLUTE_POS(Z2);
       #endif
-      #if AXIS_DRIVER_TYPE_Z3(L6470)
+      #if AXIS_IS_L64XX(Z3)
         REPORT_ABSOLUTE_POS(Z3);
       #endif
-      #if AXIS_DRIVER_TYPE_E0(L6470)
+      #if AXIS_IS_L64XX(E0)
         REPORT_ABSOLUTE_POS(E0);
       #endif
-      #if AXIS_DRIVER_TYPE_E1(L6470)
+      #if AXIS_IS_L64XX(E1)
         REPORT_ABSOLUTE_POS(E1);
       #endif
-      #if AXIS_DRIVER_TYPE_E2(L6470)
+      #if AXIS_IS_L64XX(E2)
         REPORT_ABSOLUTE_POS(E2);
       #endif
-      #if AXIS_DRIVER_TYPE_E3(L6470)
+      #if AXIS_IS_L64XX(E3)
         REPORT_ABSOLUTE_POS(E3);
       #endif
-      #if AXIS_DRIVER_TYPE_E4(L6470)
+      #if AXIS_IS_L64XX(E4)
         REPORT_ABSOLUTE_POS(E4);
       #endif
-      #if AXIS_DRIVER_TYPE_E5(L6470)
+      #if AXIS_IS_L64XX(E5)
         REPORT_ABSOLUTE_POS(E5);
       #endif
       SERIAL_EOL();
-    #endif // HAS_DRIVER(L6470)
+    #endif // HAS_L64XX
 
     SERIAL_ECHOPGM("Stepper:");
     LOOP_XYZE(i) {

Marlin/src/inc/SanityCheck.h

   #error "STEALTHCHOP requires TMC2130, TMC2160, TMC2208, TMC2209, or TMC5160 stepper drivers."
 #endif
 
-#define IN_CHAIN(A) (A##_CHAIN_POS > 0)
+#define IN_CHAIN(A) ((A##_CHAIN_POS > 0) && !HAS_L64XX)
 // TMC SPI Chaining
 #if IN_CHAIN(X) || IN_CHAIN(Y) || IN_CHAIN(Z) || IN_CHAIN(X2) || IN_CHAIN(Y2) || IN_CHAIN(Z2) || IN_CHAIN(Z3) || IN_CHAIN(E0) || IN_CHAIN(E1) || IN_CHAIN(E2) || IN_CHAIN(E3) || IN_CHAIN(E4) || IN_CHAIN(E5)
   #if  (IN_CHAIN(X)  && !PIN_EXISTS(X_CS) ) || (IN_CHAIN(Y)  && !PIN_EXISTS(Y_CS) ) \

Marlin/src/libs/L6470/000_l6470_read_me.md

-Arduino-6470 library revision 0.7.0 or above is required.
-
-This software can be used with any L647x chip and the powerSTEP01. L647x and powerSTEP01 devices can not be mixed within a system. A flag in the library must be set to enable use of a powerSTEP01.
-
-These devices use voltage PWMs to drive the stepper phases. Phase current is not directly controlled. Each microstep corresponds to a particular PWM duty cycle. The KVAL\_HOLD register scales the PWM duty cycle.
-
-This software assumes that all L6470 drivers are in one SPI daisy chain.
-
-```
-    The hardware setup is:
-
-      MOSI from controller tied to SDI on the first device
-
-      SDO of the first device is tied to SDI of the next device
-
-      SDO of the last device is tied to MISO of the controller
-
-      all devices share the same SCK, SS\_PIN and RESET\_PIN
-
-      Each L6470 passes the data it saw on its SDI to its neighbor on the **NEXT** SPI cycle (8 bit delay).
-
-      Each L6470 acts on the **last** SPI data it saw when the SS\_PIN **goes high**.
-```
-
-The L6470 drivers operate in STEP\_CLOCK mode. In this mode the direction and enable are done via SPI commands and the phase currents are changed in response to step pulses (generated in the usual way).
-
-There are two different SPI routines used.
-
--   **uint8\_t** L6470\_Transfer(uint8\_t data, int \_SSPin, const uint8\_t chain\_position) is used to setup the chips and by the maintenance/status code. This code uses the Arduino-6470 library.
-
--   **void** L6470\_Transfer(uint8\_t L6470\_buf[], const uint8\_t length) is used by the set\_directions() routine to send the direction/enable commands. The library is NOT used by this code.
-
-**HARDWARE/SOFTWARE interaction**
-
-Powering up a stepper and setting the direction are done by the same command. Can't do one without the other.
-
-**All** directions are set **every time** a new block is popped off the queue by the stepper ISR.
-
-SPI transfers, when setting the directions, are minimized by using arrays and a SPI routine dedicated to this function. L6470 library calls are not used. For N L6470 drivers, this results in a N byte transfer. If library calls were used then N\*N bytes would be sent.
-
-**Power up (reset) sequence:**
-
-1.  Stepper objects are created before the **setup()** entry point is reached.
-
-2.  After the **setup()** entry point is reached and before the steppers are initialized, L6470\_init() is called to do the following
-
-3.  If present, the hardware reset is pulsed.
-
-4.  The L6470\_chain array is populated during **setup()**. This array is used to tell where in the SPI stream the commands/data for an stepper is positioned.
-
-5.  The L6470 soft SPI pins are initialized.
-
-6.  The L6470 chips are initialized during **setup()**. They can be re-initialized using the **L6470\_init\_to\_defaults()** function
-
-The steppers are **NOT** powered up during this sequence.
-
-**L6470\_chain** array
-
-This array is used by all routines that transmit SPI data.
-
-```
-  Location 0 - number of drivers in chain
-
-  Location 1 - axis index for first device in the chain (closest to MOSI)
-
-  ...
-
-  Location N - axis index for last device in the N device long chain (closest to MISO)
-```
-
-**Direction set and enable**
-
-The DIR\_WRITE macros for the L6470 drivers are written so that the standard X, Y, Z and extruder logic used by the set\_directions() routine is not altered. These macros write the correct forward/reverse command to the corresponding location in the array *L6470\_dir\_commands*.
-
-At the end of the set\_directions() routine, the array *L6470\_chain* is used to grab the corresponding direction/enable commands out of the array *L6470\_dir\_commands* and put them in the correct sequence in the array *L6470\_buf*. Array *L6470\_buf* is then passed to the **void** L6470\_Transfer function which actually sends the data to the devices.
-
-**Utilities and misc**
-
-The **absolute position** registers should accurately reflect Marlin’s stepper position counts. They are set to zero during initialization. G28 sets them to the Marlin counts for the corresponding axis after homing. NOTE – these registers are often the negative of the Marlin counts. This is because the Marlin counts reflect the logical direction while the registers reflect the stepper direction. The register contents are displayed via the M114 D command.
-
-The **L6470\_monitor** feature reads the status of each device every half second. It will report if there are any error conditions present or if communications has been lost/restored. The KVAL\_HOLD value is reduced every 2 – 2.5 seconds if the thermal warning or thermal shutdown conditions are present.
-
-**M122** displays the settings of most of the bits in the status register plus a couple of other items.
-
-**M906** can be used to set the KVAL\_HOLD register one driver at a time. If a setting is not included with the command then the contents of the registers that affect the phase current/voltage are displayed.
-
-**M916, M917 & M918**
-
-These utilities are used to tune the system. They can get you in the ballpark for acceptable jerk, acceleration, top speed and KVAL\_HOLD settings. In general they seem to provide an overly optimistic KVAL\_HOLD setting because of the lag between setting KVAL\_HOLD and the driver reaching final temperature. Enabling the **L6470\_monitor** feature during prints will provide the **final useful KVAL\_HOLD setting**.
-
-The amount of power needed to move the stepper without skipping steps increases as jerk, acceleration and top speed increase. The power dissipated by the driver increases as the power to the stepper increases. The net result is a balancing act between jerk, acceleration, top speed and power dissipated by the driver.
-
-**M916 -** Increases KVAL\_HOLD while moving one axis until get thermal warning. This routine is also useful for determining the approximate KVAL\_HOLD where the stepper stops losing steps. The sound will get noticeably quieter as it stops losing steps.
-
-**M917 -** Find minimum current thresholds. This is done by doing the following steps while moving an axis:
-
-1.  Decrease OCD current until overcurrent error
-
-2.  Increase OCD until overcurrent error goes away
-
-3.  Decrease stall threshold until stall error
-
-4.  Increase stall until stall error goes away
-
-**M918 -** Increase speed until error or max feedrate achieved.

Marlin/src/libs/L6470/L6470_Marlin.cpp

-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * The monitor_driver routines are a close copy of the TMC code
- */
-
-#include "../../inc/MarlinConfig.h"
-
-#if HAS_DRIVER(L6470)
-
-#include "L6470_Marlin.h"
-
-L6470_Marlin L6470;
-
-#include "../../module/stepper/indirection.h"
-#include "../../module/planner.h"
-#include "../../gcode/gcode.h"
-
-#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
-#include "../../core/debug_out.h"
-
-uint8_t L6470_Marlin::dir_commands[MAX_L6470];  // array to hold direction command for each driver
-
-char L6470_Marlin::index_to_axis[MAX_L6470][3] = { "X ", "Y ", "Z ", "X2", "Y2", "Z2", "Z3", "E0", "E1", "E2", "E3", "E4", "E5" };
-
-bool L6470_Marlin::index_to_dir[MAX_L6470] =  {
-  INVERT_X_DIR                        ,  // 0 X
-  INVERT_Y_DIR                        ,  // 1 Y
-  INVERT_Z_DIR                        ,  // 2 Z
-  #if ENABLED(X_DUAL_STEPPER_DRIVERS)
-    INVERT_X_DIR ^ INVERT_X2_VS_X_DIR ,  // 3 X2
-  #else
-    INVERT_X_DIR                      ,  // 3 X2
-  #endif
-  #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-    INVERT_Y_DIR ^ INVERT_Y2_VS_Y_DIR ,  // 4 Y2
-  #else
-    INVERT_Y_DIR                      ,  // 4 Y2
-  #endif
-  INVERT_Z_DIR                        ,  // 5 Z2
-  INVERT_Z_DIR                        ,  // 6 Z3
-  INVERT_E0_DIR                       ,  // 7 E0
-  INVERT_E1_DIR                       ,  // 8 E1
-  INVERT_E2_DIR                       ,  // 9 E2
-  INVERT_E3_DIR                       ,  //10 E3
-  INVERT_E4_DIR                       ,  //11 E4
-  INVERT_E5_DIR                       ,  //12 E5
-};
-
-uint8_t L6470_Marlin::axis_xref[MAX_L6470] = {
-  AxisEnum(X_AXIS), // X
-  AxisEnum(Y_AXIS), // Y
-  AxisEnum(Z_AXIS), // Z
-  AxisEnum(X_AXIS), // X2
-  AxisEnum(Y_AXIS), // Y2
-  AxisEnum(Z_AXIS), // Z2
-  AxisEnum(Z_AXIS), // Z3
-  AxisEnum(E_AXIS), // E0
-  AxisEnum(E_AXIS), // E1
-  AxisEnum(E_AXIS), // E2
-  AxisEnum(E_AXIS), // E3
-  AxisEnum(E_AXIS), // E4
-  AxisEnum(E_AXIS)  // E5
-};
-
-volatile bool L6470_Marlin::spi_abort = false;
-bool L6470_Marlin::spi_active = false;
-
-void L6470_Marlin::populate_chain_array() {
-
-  #define _L6470_INIT_SPI(Q)  do{ stepper##Q.set_chain_info(Q, Q##_CHAIN_POS); }while(0)
-
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    _L6470_INIT_SPI(X);
-  #endif
-  #if AXIS_DRIVER_TYPE_X2(L6470)
-    _L6470_INIT_SPI(X2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Y(L6470)
-    _L6470_INIT_SPI(Y);
-  #endif
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
-    _L6470_INIT_SPI(Y2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z(L6470)
-    _L6470_INIT_SPI(Z);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
-    _L6470_INIT_SPI(Z2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
-    _L6470_INIT_SPI(Z3);
-  #endif
-  #if AXIS_DRIVER_TYPE_E0(L6470)
-    _L6470_INIT_SPI(E0);
-  #endif
-  #if AXIS_DRIVER_TYPE_E1(L6470)
-    _L6470_INIT_SPI(E1);
-  #endif
-  #if AXIS_DRIVER_TYPE_E2(L6470)
-    _L6470_INIT_SPI(E2);
-  #endif
-  #if AXIS_DRIVER_TYPE_E3(L6470)
-    _L6470_INIT_SPI(E3);
-  #endif
-  #if AXIS_DRIVER_TYPE_E4(L6470)
-    _L6470_INIT_SPI(E4);
-  #endif
-  #if AXIS_DRIVER_TYPE_E5(L6470)
-    _L6470_INIT_SPI(E5);
-  #endif
-}
-
-void L6470_Marlin::init() {               // Set up SPI and then init chips
-  #if PIN_EXISTS(L6470_RESET_CHAIN)
-    OUT_WRITE(L6470_RESET_CHAIN_PIN, LOW);  // hardware reset of drivers
-    delay(1);
-    OUT_WRITE(L6470_RESET_CHAIN_PIN, HIGH);
-    delay(1);                     // need about 650uS for the chip to fully start up
-  #endif
-  populate_chain_array();   // Set up array to control where in the SPI transfer sequence a particular stepper's data goes
-  L6470_spi_init();               // Set up L6470 soft SPI pins
-  init_to_defaults();             // init the chips
-}
-
-uint16_t L6470_Marlin::get_status(const uint8_t axis) {
-
-  #define GET_L6470_STATUS(Q) stepper##Q.getStatus()
-
-  switch (axis) {
-    #if AXIS_DRIVER_TYPE_X(L6470)
-      case  0: return GET_L6470_STATUS(X);
-    #endif
-    #if AXIS_DRIVER_TYPE_Y(L6470)
-      case  1: return GET_L6470_STATUS(Y);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z(L6470)
-      case  2: return GET_L6470_STATUS(Z);
-    #endif
-    #if AXIS_DRIVER_TYPE_X2(L6470)
-      case  3: return GET_L6470_STATUS(X2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Y2(L6470)
-      case  4: return GET_L6470_STATUS(Y2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z2(L6470)
-      case  5: return GET_L6470_STATUS(Z2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z3(L6470)
-      case  6: return GET_L6470_STATUS(Z3);
-    #endif
-    #if AXIS_DRIVER_TYPE_E0(L6470)
-      case  7: return GET_L6470_STATUS(E0);
-    #endif
-    #if AXIS_DRIVER_TYPE_E1(L6470)
-      case  8: return GET_L6470_STATUS(E1);
-    #endif
-    #if AXIS_DRIVER_TYPE_E2(L6470)
-      case  9: return GET_L6470_STATUS(E2);
-    #endif
-    #if AXIS_DRIVER_TYPE_E3(L6470)
-      case 10: return GET_L6470_STATUS(E3);
-    #endif
-    #if AXIS_DRIVER_TYPE_E4(L6470)
-      case 11: return GET_L6470_STATUS(E4);
-    #endif
-    #if AXIS_DRIVER_TYPE_E5(L6470)
-      case 12: return GET_L6470_STATUS(E5);
-    #endif
-  }
-
-  return 0; // Not needed but kills a compiler warning
-}
-
-uint32_t L6470_Marlin::get_param(uint8_t axis, uint8_t param) {
-
-  #define GET_L6470_PARAM(Q) L6470_GETPARAM(param,Q)
-
-  switch (axis) {
-    #if AXIS_DRIVER_TYPE_X(L6470)
-      case  0: return GET_L6470_PARAM(X);
-    #endif
-    #if AXIS_DRIVER_TYPE_Y(L6470)
-      case  1: return GET_L6470_PARAM(Y);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z(L6470)
-      case  2: return GET_L6470_PARAM(Z);
-    #endif
-    #if AXIS_DRIVER_TYPE_X2(L6470)
-      case  3: return GET_L6470_PARAM(X2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Y2(L6470)
-      case  4: return GET_L6470_PARAM(Y2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z2(L6470)
-      case  5: return GET_L6470_PARAM(Z2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z3(L6470)
-      case  6: return GET_L6470_PARAM(Z3);
-    #endif
-    #if AXIS_DRIVER_TYPE_E0(L6470)
-      case  7: return GET_L6470_PARAM(E0);
-    #endif
-    #if AXIS_DRIVER_TYPE_E1(L6470)
-      case  8: return GET_L6470_PARAM(E1);
-    #endif
-    #if AXIS_DRIVER_TYPE_E2(L6470)
-      case  9: return GET_L6470_PARAM(E2);
-    #endif
-    #if AXIS_DRIVER_TYPE_E3(L6470)
-      case 10: return GET_L6470_PARAM(E3);
-    #endif
-    #if AXIS_DRIVER_TYPE_E4(L6470)
-      case 11: return GET_L6470_PARAM(E4);
-    #endif
-    #if AXIS_DRIVER_TYPE_E5(L6470)
-      case 12: return GET_L6470_PARAM(E5);
-    #endif
-  }
-
-  return 0 ; // not needed but kills a compiler warning
-}
-
-void L6470_Marlin::set_param(uint8_t axis, uint8_t param, uint32_t value) {
-
-  #define SET_L6470_PARAM(Q) stepper##Q.SetParam(param, value)
-
-  switch (axis) {
-    #if AXIS_DRIVER_TYPE_X(L6470)
-      case  0: SET_L6470_PARAM(X);
-    #endif
-    #if AXIS_DRIVER_TYPE_Y(L6470)
-      case  1: SET_L6470_PARAM(Y);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z(L6470)
-      case  2: SET_L6470_PARAM(Z);
-    #endif
-    #if AXIS_DRIVER_TYPE_X2(L6470)
-      case  3: SET_L6470_PARAM(X2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Y2(L6470)
-      case  4: SET_L6470_PARAM(Y2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z2(L6470)
-      case  5: SET_L6470_PARAM(Z2);
-    #endif
-    #if AXIS_DRIVER_TYPE_Z3(L6470)
-      case  6: SET_L6470_PARAM(Z3);
-    #endif
-    #if AXIS_DRIVER_TYPE_E0(L6470)
-      case  7: SET_L6470_PARAM(E0);
-    #endif
-    #if AXIS_DRIVER_TYPE_E1(L6470)
-      case  8: SET_L6470_PARAM(E1);
-    #endif
-    #if AXIS_DRIVER_TYPE_E2(L6470)
-      case  9: SET_L6470_PARAM(E2);
-    #endif
-    #if AXIS_DRIVER_TYPE_E3(L6470)
-      case 10: SET_L6470_PARAM(E3);
-    #endif
-    #if AXIS_DRIVER_TYPE_E4(L6470)
-      case 11: SET_L6470_PARAM(E4);
-    #endif
-    #if AXIS_DRIVER_TYPE_E5(L6470)
-      case 12: SET_L6470_PARAM(E5);
-    #endif
-  }
-}
-
-inline void echo_min_max(const char a, const float &min, const float &max) {
-  DEBUG_CHAR(' '); DEBUG_CHAR(a);
-  DEBUG_ECHOPAIR(" min = ", min);
-  DEBUG_ECHOLNPAIR("  max = ", max);
-}
-inline void echo_oct_used(const float &oct, const bool stall) {
-  DEBUG_ECHOPAIR("over_current_threshold used     : ", oct);
-  serialprintPGM(stall ? PSTR("  (Stall") : PSTR("  (OCD"));
-  DEBUG_ECHOLNPGM(" threshold)");
-}
-inline void err_out_of_bounds() { DEBUG_ECHOLNPGM("ERROR - motion out of bounds"); }
-
-bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3], char axis_mon[3][3],
-                          float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
-                          bool over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold
-) {
-  // Return TRUE if the calling routine needs to abort/kill
-
-  uint16_t displacement = 0;  // " = 0" to eliminate compiler warning
-  uint8_t j;   // general purpose counter
-
-  if (!all_axes_homed()) {
-    DEBUG_ECHOLNPGM("ERROR - home all before running this command");
-    //return true;
-  }
-
-  LOOP_XYZE(i) if (uint16_t _displacement = parser.intval(axis_codes[i])) {
-    displacement = _displacement;
-    uint8_t axis_offset = parser.byteval('J');
-    axis_mon[0][0] = axis_codes[i];   // axis ASCII value (target character)
-    if (axis_offset >= 2 || axis_mon[0][0] == 'E')  // Single axis, E0, or E1
-      axis_mon[0][1] = axis_offset + '0';
-    else if (axis_offset == 0) {              // one or more axes
-      uint8_t driver_count_local = 0;         // can't use "driver_count" directly as a subscript because it's passed by reference
-      for (j = 0; j < MAX_L6470; j++)         // see how many drivers on this axis
-        if (axis_mon[0][0] == index_to_axis[j][0]) {
-          axis_mon[driver_count_local][0] = axis_mon[0][0];
-          axis_mon[driver_count_local][1] = index_to_axis[j][1];
-          axis_mon[driver_count_local][2] = index_to_axis[j][2];   // append end of string
-          axis_index[driver_count_local] = j;                      // set axis index
-          driver_count_local++;
-        }
-      driver_count = driver_count_local;
-    }
-    break; // only take first axis found
-  }
-
-  //
-  // Position calcs & checks
-  //
-
-  const xyze_pos_t center = {
-    LOGICAL_X_POSITION(current_position.x),
-    LOGICAL_Y_POSITION(current_position.y),
-    LOGICAL_Z_POSITION(current_position.z),
-    current_position.e
-  };
-
-  switch (axis_mon[0][0]) {
-    default: position_max = position_min = 0; break;
-
-    case 'X': {
-      position_min = center.x - displacement;
-      position_max = center.x + displacement;
-      echo_min_max('X', position_min, position_max);
-      if (false
-        #ifdef X_MIN_POS
-          || position_min < (X_MIN_POS)
-        #endif
-        #ifdef X_MAX_POS
-          || position_max > (X_MAX_POS)
-        #endif
-      ) {
-        err_out_of_bounds();
-        return true;
-      }
-    } break;
-
-    case 'Y': {
-      position_min = center.y - displacement;
-      position_max = center.y + displacement;
-      echo_min_max('Y', position_min, position_max);
-      if (false
-        #ifdef Y_MIN_POS
-          || position_min < (Y_MIN_POS)
-        #endif
-        #ifdef Y_MAX_POS
-          || position_max > (Y_MAX_POS)
-        #endif
-      ) {
-        err_out_of_bounds();
-        return true;
-      }
-    } break;
-
-    case 'Z': {
-      position_min = center.z - displacement;
-      position_max = center.z + displacement;
-      echo_min_max('Z', position_min, position_max);
-      if (false
-        #ifdef Z_MIN_POS
-          || position_min < (Z_MIN_POS)
-        #endif
-        #ifdef Z_MAX_POS
-          || position_max > (Z_MAX_POS)
-        #endif
-      ) {
-        err_out_of_bounds();
-        return true;
-      }
-    } break;
-
-    case 'E': {
-      position_min = center.e - displacement;
-      position_max = center.e + displacement;
-      echo_min_max('E', position_min, position_max);
-    } break;
-  }
-
-  //
-  // Work on the drivers
-  //
-  for (uint8_t k = 0; k < driver_count; k++) {
-    bool not_found = true;
-    for (j = 1; j <= L6470::chain[0]; j++) {
-      const char * const ind_axis = index_to_axis[L6470::chain[j]];
-      if (ind_axis[0] == axis_mon[k][0] && ind_axis[1] == axis_mon[k][1]) { // See if a L6470 driver
-        not_found = false;
-        break;
-      }
-    }
-    if (not_found) {
-      driver_count = k;
-      axis_mon[k][0] = ' ';  // mark this entry invalid
-      break;
-    }
-  }
-
-  if (driver_count == 0) {
-    DEBUG_ECHOLNPGM("ERROR - not a L6470 axis");
-    return true;
-  }
-
-  DEBUG_ECHOPGM("Monitoring:");
-  for (j = 0; j < driver_count; j++) DEBUG_ECHOPAIR("  ", axis_mon[j]);
-  L6470_EOL();
-
-  // now have a list of driver(s) to monitor
-
-  //
-  // kVAL_HOLD checks & settings
-  //
-
-  kval_hold = parser.byteval('K');
-  if (kval_hold) {
-    DEBUG_ECHOLNPAIR("kval_hold = ", kval_hold);
-    for (j = 0; j < driver_count; j++)
-      set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
-  }
-  else {
-    // only print the KVAL_HOLD from one of the drivers
-    kval_hold = get_param(axis_index[0], L6470_KVAL_HOLD);
-    DEBUG_ECHOLNPAIR("KVAL_HOLD = ", kval_hold);
-  }
-
-  //
-  // Overcurrent checks & settings
-  //
-
-  if (over_current_flag) {
-
-    uint8_t OCD_TH_val_local = 0,       // compiler thinks OCD_TH_val is unused if use it directly
-            STALL_TH_val_local = 0;     // just in case ...
-
-    over_current_threshold = parser.intval('I');
-
-    if (over_current_threshold) {
-
-      OCD_TH_val_local = over_current_threshold/375;
-      LIMIT(OCD_TH_val_local, 0, 15);
-      STALL_TH_val_local = over_current_threshold/31.25;
-      LIMIT(STALL_TH_val_local, 0, 127);
-      uint16_t OCD_TH_actual = (OCD_TH_val_local + 1) * 375,
-               STALL_TH_actual = (STALL_TH_val_local + 1) * 31.25;
-      if (OCD_TH_actual < STALL_TH_actual) {
-        OCD_TH_val_local++;
-        OCD_TH_actual = (OCD_TH_val_local + 1) * 375;
-      }
-
-      DEBUG_ECHOLNPAIR("over_current_threshold specified: ", over_current_threshold);
-      echo_oct_used(STALL_TH_actual, true);
-      echo_oct_used(OCD_TH_actual, false);
-
-      #define SET_OVER_CURRENT(Q) do { stepper##Q.SetParam(L6470_STALL_TH, STALL_TH_val_local); stepper##Q.SetParam(L6470_OCD_TH, OCD_TH_val_local);} while (0)
-
-      for (j = 0; j < driver_count; j++) {
-        set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
-        set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
-      }
-    }
-    else {
-      // only get & print the OVER_CURRENT values from one of the drivers
-      STALL_TH_val_local = get_param(axis_index[0], L6470_STALL_TH);
-      OCD_TH_val_local = get_param(axis_index[0], L6470_OCD_TH);
-
-      echo_oct_used((STALL_TH_val_local + 1) * 31.25, true);
-      echo_oct_used((OCD_TH_val_local + 1) * 375, false);
-    } // over_current_threshold
-
-    for (j = 0; j < driver_count; j++) {                 // set all drivers on axis the same
-      set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
-      set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
-    }
-
-    OCD_TH_val = OCD_TH_val_local;        // force compiler to update the main routine's copy
-    STALL_TH_val = STALL_TH_val_local;    // force compiler to update the main routine's copy
-  } // end of overcurrent
-
-  //
-  // Feedrate
-  //
-
-  final_feedrate = parser.floatval('F');
-  if (final_feedrate == 0) {
-    static constexpr float default_max_feedrate[] = DEFAULT_MAX_FEEDRATE;
-    const uint8_t num_feedrates = COUNT(default_max_feedrate);
-    for (j = 0; j < num_feedrates; j++) {
-      if (axis_codes[j] == axis_mon[0][0]) {
-        final_feedrate = default_max_feedrate[j];
-        break;
-      }
-    }
-    if (j == 3 && num_feedrates > 4) {   // have more than one extruder feedrate
-      uint8_t extruder_num = axis_mon[0][1] - '0';
-      if (j <= num_feedrates - extruder_num)     // have a feedrate specifically for this extruder
-        final_feedrate = default_max_feedrate[j + extruder_num];
-      else
-        final_feedrate = default_max_feedrate[3];  // use E0 feedrate for this extruder
-    }
-    final_feedrate *= 60;  // convert to mm/minute
-  } // end of feedrate
-
-  return false;   // FALSE indicates no user input problems
-}
-
-#if ENABLED(L6470_CHITCHAT)
-  inline void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR("YES") : PSTR("NO ")); }
-#endif
-
-void L6470_Marlin::say_axis(const uint8_t axis, const bool label/*=true*/) {
-  if (label) SERIAL_ECHOPGM("AXIS:");
-  SERIAL_CHAR(' ', index_to_axis[axis][0], index_to_axis[axis][1], ' ');
-}
-
-void L6470_Marlin::error_status_decode(const uint16_t status, const uint8_t axis) {  // assumes status bits have been inverted
-  #if ENABLED(L6470_CHITCHAT)
-    char temp_buf[10];
-    say_axis(axis);
-    sprintf_P(temp_buf, PSTR("  %4x   "), status);
-    DEBUG_ECHO(temp_buf);
-    print_bin(status);
-    DEBUG_ECHOPGM("  THERMAL: ");
-    serialprintPGM((status & STATUS_TH_SD) ? PSTR("SHUTDOWN") : (status & STATUS_TH_WRN) ? PSTR("WARNING ") : PSTR("OK      "));
-    DEBUG_ECHOPGM("   OVERCURRENT: ");
-    echo_yes_no(status & STATUS_OCD);
-    DEBUG_ECHOPGM("   STALL: ");
-    echo_yes_no(status & (STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B));
-    L6470_EOL();
-  #else
-    UNUSED(status); UNUSED(axis);
-  #endif
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////
-////
-////  MONITOR_L6470_DRIVER_STATUS routines
-////
-//////////////////////////////////////////////////////////////////////////////////////////////////
-
-#if ENABLED(MONITOR_L6470_DRIVER_STATUS)
-
-  struct L6470_driver_data {
-    uint8_t driver_index;
-    uint32_t driver_status;
-    bool is_otw;
-    uint8_t otw_counter;
-    bool is_ot;
-    bool is_hi_Z;
-    uint8_t com_counter;
-  };
-
-  L6470_driver_data driver_L6470_data[] = {
-    #if AXIS_DRIVER_TYPE_X(L6470)
-      {  0, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_Y(L6470)
-      {  1, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_Z(L6470)
-      {  2, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_X2(L6470)
-      {  3, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_Y2(L6470)
-      {  4, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_Z2(L6470)
-      {  5, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_Z3(L6470)
-      {  6, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_E0(L6470)
-      {  7, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_E1(L6470)
-      {  8, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_E2(L6470)
-      {  9, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_E3(L6470)
-      { 10, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_E4(L6470)
-      { 11, 0, 0, 0, 0, 0, 0 },
-    #endif
-    #if AXIS_DRIVER_TYPE_E5(L6470)
-      { 12, 0, 0, 0, 0, 0, 0 }
-    #endif
-  };
-
-  inline void append_stepper_err(char * &p, const uint8_t stepper_index, const char * const err=nullptr) {
-    p += sprintf_P(p, PSTR("Stepper %c%c "), char(index_to_axis[stepper_index][0]), char(index_to_axis[stepper_index][1]));
-    if (err) p += sprintf_P(p, err);
-  }
-
-  void L6470_monitor_update(uint8_t stepper_index, uint16_t status) {
-    if (spi_abort) return;  // don't do anything if set_directions() has occurred
-    uint8_t kval_hold;
-    char temp_buf[120];
-    char* p = &temp_buf[0];
-    uint8_t j;
-    for (j = 0; j < L6470::chain[0]; j++) // find the table for this stepper
-      if (driver_L6470_data[j].driver_index == stepper_index) break;
-
-    driver_L6470_data[j].driver_status = status;
-    uint16_t _status = ~status;     // all error bits are active low
-
-    if (status == 0 || status == 0xFFFF) {              // com problem
-      if (driver_L6470_data[j].com_counter == 0) {      // warn user when it first happens
-        driver_L6470_data[j].com_counter++;
-        append_stepper_err(p, stepper_index, PSTR(" - communications lost\n"));
-        DEBUG_ECHO(temp_buf);
-      }
-      else {
-        driver_L6470_data[j].com_counter++;
-        if (driver_L6470_data[j].com_counter > 240) {  // remind of com problem about every 2 minutes
-          driver_L6470_data[j].com_counter = 1;
-          append_stepper_err(p, stepper_index, PSTR(" - still no communications\n"));
-          DEBUG_ECHO(temp_buf);
-        }
-      }
-    }
-    else {
-      if (driver_L6470_data[j].com_counter) {   // comms re-established
-        driver_L6470_data[j].com_counter = 0;
-        append_stepper_err(p, stepper_index, PSTR(" - communications re-established\n.. setting all drivers to default values\n"));
-        DEBUG_ECHO(temp_buf);
-        init_to_defaults();
-      }
-      else {
-        // no com problems - do the usual checks
-        if (_status & L6470_ERROR_MASK) {
-          append_stepper_err(p, stepper_index);
-
-          if (status & STATUS_HIZ) {                         // the driver has shut down  HiZ is active high
-            driver_L6470_data[j].is_hi_Z = true;
-            p += sprintf_P(p, PSTR("%cIS SHUT DOWN"), ' ');
-            //         if (_status & STATUS_TH_SD) {                     // strange - TH_SD never seems to go active, must be implied by the HiZ and TH_WRN
-            if (_status & STATUS_TH_WRN) {                    // over current shutdown
-              p += sprintf_P(p, PSTR("%cdue to over temperature"), ' ');
-              driver_L6470_data[j].is_ot = true;
-              kval_hold = get_param(stepper_index, L6470_KVAL_HOLD) - 2 * KVAL_HOLD_STEP_DOWN;
-              set_param(stepper_index, L6470_KVAL_HOLD, kval_hold);     // reduce KVAL_HOLD
-              p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), 2 * KVAL_HOLD_STEP_DOWN, kval_hold);   // let user know
-            }
-            else
-              driver_L6470_data[j].is_ot = false;
-          }
-          else {
-            driver_L6470_data[j].is_hi_Z = false;
-
-            if (_status & STATUS_TH_WRN) {     // have an over temperature warning
-              driver_L6470_data[j].is_otw = true;
-              driver_L6470_data[j].otw_counter++;
-              kval_hold = get_param(stepper_index, L6470_KVAL_HOLD);
-              if (driver_L6470_data[j].otw_counter > 4) {  // otw present for 2 - 2.5 seconds, reduce KVAL_HOLD
-                kval_hold -= KVAL_HOLD_STEP_DOWN;
-                set_param(stepper_index, L6470_KVAL_HOLD, kval_hold);     // reduce KVAL_HOLD
-                p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), KVAL_HOLD_STEP_DOWN, kval_hold);   // let user know
-                driver_L6470_data[j].otw_counter = 0;
-                driver_L6470_data[j].is_otw = true;
-              }
-              else if (driver_L6470_data[j].otw_counter)
-                p += sprintf_P(p, PSTR("%c- thermal warning"), ' ');   // warn user
-            }
-          }
-
-          #ifdef L6470_STOP_ON_ERROR
-            if (_status & (STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD))
-            kill(temp_buf);
-          #endif
-
-
-          #if ENABLED(L6470_CHITCHAT)
-
-            if (_status & STATUS_OCD)
-            p += sprintf_P(p, PSTR("%c  over current"), ' ');
-
-            if (_status & (STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B))
-            p += sprintf_P(p, PSTR("%c  stall"), ' ');
-
-            if (_status & STATUS_UVLO)
-            p += sprintf_P(p, PSTR("%c  under voltage lock out"), ' ');
-
-            p += sprintf_P(p, PSTR("%c\n"), ' ');
-          #endif
-
-          DEBUG_ECHOLN(temp_buf);  // print the error message
-        }
-        else {
-          driver_L6470_data[j].is_ot = false;
-          driver_L6470_data[j].otw_counter = 0;   //clear out warning indicators
-          driver_L6470_data[j].is_otw = false;
-
-        } // end usual checks
-      } // comms established but have errors
-    } // comms re-established
-  } // end L6470_monitor_update()
-
-  #define MONITOR_L6470_DRIVE(Q) L6470_monitor_update(Q, stepper##Q.getStatus())
-
-  void L6470_Marlin::monitor_driver() {
-    static millis_t next_cOT = 0;
-    if (ELAPSED(millis(), next_cOT)) {
-      next_cOT = millis() + 500;
-
-      spi_active = true;    // let set_directions() know we're in the middle of a series of SPI transfers
-
-      #if AXIS_DRIVER_TYPE_X(L6470)
-        MONITOR_L6470_DRIVE(X);
-      #endif
-      #if AXIS_DRIVER_TYPE_Y(L6470)
-        MONITOR_L6470_DRIVE(Y);
-      #endif
-      #if AXIS_DRIVER_TYPE_Z(L6470)
-        MONITOR_L6470_DRIVE(Z);
-      #endif
-      #if AXIS_DRIVER_TYPE_X2(L6470)
-        MONITOR_L6470_DRIVE(X2);
-      #endif
-      #if AXIS_DRIVER_TYPE_Y2(L6470)
-        MONITOR_L6470_DRIVE(Y2);
-      #endif
-      #if AXIS_DRIVER_TYPE_Z2(L6470)
-        MONITOR_L6470_DRIVE(Z2);
-      #endif
-      #if AXIS_DRIVER_TYPE_Z3(L6470)
-        MONITOR_L6470_DRIVE(Z3);
-      #endif
-      #if AXIS_DRIVER_TYPE_E0(L6470)
-        MONITOR_L6470_DRIVE(E0);
-      #endif
-      #if AXIS_DRIVER_TYPE_E1(L6470)
-        MONITOR_L6470_DRIVE(E1);
-      #endif
-      #if AXIS_DRIVER_TYPE_E2(L6470)
-        MONITOR_L6470_DRIVE(E2);
-      #endif
-      #if AXIS_DRIVER_TYPE_E3(L6470)
-        MONITOR_L6470_DRIVE(E3);
-      #endif
-      #if AXIS_DRIVER_TYPE_E4(L6470)
-        MONITOR_L6470_DRIVE(E4);
-      #endif
-      #if AXIS_DRIVER_TYPE_E5(L6470)
-        MONITOR_L6470_DRIVE(E5);
-      #endif
-
-      #if ENABLED(L6470_DEBUG)
-        if (report_L6470_status) L6470_EOL();
-      #endif
-
-      spi_active = false;   // done with all SPI transfers - clear handshake flags
-      spi_abort = false;
-    }
-  }
-
-#endif // MONITOR_L6470_DRIVER_STATUS
-
-#endif // HAS_DRIVER(L6470)

Marlin/src/libs/L6470/L6470_Marlin.h

-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-#include "../../inc/MarlinConfig.h"
-
-#include <L6470.h>
-
-#define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
-
-enum L6470_driver_enum : unsigned char { X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5, MAX_L6470 };
-
-#define L6470_ERROR_MASK  (STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD  | STATUS_OCD | STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B)
-#define dSPIN_STEP_CLOCK_FWD dSPIN_STEP_CLOCK
-#define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
-
-class L6470_Marlin {
-public:
-  static bool index_to_dir[MAX_L6470];
-  static uint8_t axis_xref[MAX_L6470];
-  static char index_to_axis[MAX_L6470][3];
-  static uint8_t dir_commands[MAX_L6470];
-
-  // Flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
-  static volatile bool spi_abort;
-  static bool spi_active;
-
-  L6470_Marlin() {}
-
-  static uint16_t get_status(const uint8_t axis);
-
-  static uint32_t get_param(uint8_t axis, uint8_t param);
-
-  static void set_param(uint8_t axis, uint8_t param, uint32_t value);
-
-  static bool get_user_input(uint8_t &driver_count, uint8_t axis_index[3], char axis_mon[3][3],
-                             float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
-                             bool over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold);
-
-  static void error_status_decode(const uint16_t status, const uint8_t axis);
-
-  static void monitor_driver();
-
-  static void init();
-  static void init_to_defaults();
-
-  static void say_axis(const uint8_t axis, const bool label=true);
-
-private:
-  void populate_chain_array();
-};
-
-extern L6470_Marlin L6470;

Marlin/src/libs/L64XX/L64XX_Marlin.cpp

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * The monitor_driver routines are a close copy of the TMC code
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_L64XX
+
+#include "L64XX_Marlin.h"
+
+L64XX_Marlin L64xxManager;
+
+#include "../../module/stepper/indirection.h"
+#include "../../gcode/gcode.h"
+#include "../../module/planner.h"
+#include "../../HAL/shared/Delay.h"
+
+void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); }
+
+char L64XX_Marlin::index_to_axis[MAX_L6470][3] = { "X ", "Y ", "Z ", "X2", "Y2", "Z2", "Z3", "E0", "E1", "E2", "E3", "E4", "E5" };
+
+#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
+#include "../../core/debug_out.h"
+
+uint8_t L64XX_Marlin::dir_commands[MAX_L6470];  // array to hold direction command for each driver
+
+uint8_t L64XX_Marlin::index_to_dir[MAX_L6470] = { (INVERT_X_DIR)                        , //  0 X
+                                                  (INVERT_Y_DIR)                        , //  1 Y
+                                                  (INVERT_Z_DIR)                        , //  2 Z
+                                                  #if ENABLED(X_DUAL_STEPPER_DRIVERS)
+                                                    (INVERT_X_DIR) ^ (INVERT_X2_VS_X_DIR) , //  3 X2
+                                                  #else
+                                                    (INVERT_X_DIR)                      , //  3 X2
+                                                  #endif
+                                                  #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+                                                    (INVERT_Y_DIR) ^ (INVERT_Y2_VS_Y_DIR) , //  4 Y2
+                                                  #else
+                                                    (INVERT_Y_DIR)                      , //  4 Y2
+                                                  #endif
+                                                  (INVERT_Z_DIR)                        , //  5 Z2
+                                                  (INVERT_Z_DIR)                        , //  6 Z3
+                                                  (INVERT_E0_DIR)                       , //  7 E0
+                                                  (INVERT_E1_DIR)                       , //  8 E1
+                                                  (INVERT_E2_DIR)                       , //  9 E2
+                                                  (INVERT_E3_DIR)                       , // 10 E3
+                                                  (INVERT_E4_DIR)                       , // 11 E4
+                                                  (INVERT_E5_DIR)                       , // 12 E5
+                                                };
+
+volatile uint8_t L64XX_Marlin::spi_abort = false;
+uint8_t L64XX_Marlin::spi_active = false;
+
+L64XX_Marlin::L64XX_shadow_t L64XX_Marlin::shadow;
+
+//uint32_t UVLO_ADC = 0x0400; // ADC undervoltage event
+
+void L6470_populate_chain_array() {
+
+  #define _L6470_INIT_SPI(Q)  do{ stepper##Q.set_chain_info(Q, Q##_CHAIN_POS); }while(0)
+
+  #if AXIS_IS_L64XX(X)
+    _L6470_INIT_SPI(X);
+  #endif
+  #if AXIS_IS_L64XX(X2)
+    _L6470_INIT_SPI(X2);
+  #endif
+  #if AXIS_IS_L64XX(Y)
+    _L6470_INIT_SPI(Y);
+  #endif
+  #if AXIS_IS_L64XX(Y2)
+    _L6470_INIT_SPI(Y2);
+  #endif
+  #if AXIS_IS_L64XX(Z)
+    _L6470_INIT_SPI(Z);
+  #endif
+  #if AXIS_IS_L64XX(Z2)
+    _L6470_INIT_SPI(Z2);
+  #endif
+  #if AXIS_IS_L64XX(Z3)
+    _L6470_INIT_SPI(Z3);
+  #endif
+  #if AXIS_IS_L64XX(E0)
+    _L6470_INIT_SPI(E0);
+  #endif
+  #if AXIS_IS_L64XX(E1)
+    _L6470_INIT_SPI(E1);
+  #endif
+  #if AXIS_IS_L64XX(E2)
+    _L6470_INIT_SPI(E2);
+  #endif
+  #if AXIS_IS_L64XX(E3)
+    _L6470_INIT_SPI(E3);
+  #endif
+  #if AXIS_IS_L64XX(E4)
+    _L6470_INIT_SPI(E4);
+  #endif
+  #if AXIS_IS_L64XX(E5)
+    _L6470_INIT_SPI(E5);
+  #endif
+}
+
+
+/**
+ * Some status bit positions & definitions differ per driver.
+ * Copy info to known locations to simplfy check/display logic.
+ *   1. Copy stepper status
+ *   2. Copy status bit definitions
+ *   3. Copy status layout
+ *   4. Make all error bits active low (as needed)
+ */
+uint16_t L64XX_Marlin::get_stepper_status(L64XX &st) {
+  shadow.STATUS_AXIS_RAW           = st.getStatus();
+  shadow.STATUS_AXIS               = shadow.STATUS_AXIS_RAW;
+  shadow.STATUS_AXIS_LAYOUT        = st.L6470_status_layout;
+  shadow.AXIS_OCD_TH_MAX           = st.OCD_TH_MAX;
+  shadow.AXIS_STALL_TH_MAX         = st.STALL_TH_MAX;
+  shadow.AXIS_OCD_CURRENT_CONSTANT_INV   = st.OCD_CURRENT_CONSTANT_INV;
+  shadow.AXIS_STALL_CURRENT_CONSTANT_INV = st.STALL_CURRENT_CONSTANT_INV;
+  shadow.L6470_AXIS_CONFIG         = st.L64XX_CONFIG;
+  shadow.L6470_AXIS_STATUS         = st.L64XX_STATUS;
+  shadow.STATUS_AXIS_OCD           = st.STATUS_OCD;
+  shadow.STATUS_AXIS_SCK_MOD       = st.STATUS_SCK_MOD;
+  shadow.STATUS_AXIS_STEP_LOSS_A   = st.STATUS_STEP_LOSS_A;
+  shadow.STATUS_AXIS_STEP_LOSS_B   = st.STATUS_STEP_LOSS_B;
+  shadow.STATUS_AXIS_TH_SD         = st.STATUS_TH_SD;
+  shadow.STATUS_AXIS_TH_WRN        = st.STATUS_TH_WRN;
+  shadow.STATUS_AXIS_UVLO          = st.STATUS_UVLO;
+  shadow.STATUS_AXIS_WRONG_CMD     = st.STATUS_WRONG_CMD;
+  shadow.STATUS_AXIS_CMD_ERR       = st.STATUS_CMD_ERR;
+  shadow.STATUS_AXIS_NOTPERF_CMD   = st.STATUS_NOTPERF_CMD;
+
+  switch (shadow.STATUS_AXIS_LAYOUT) {
+    case L6470_STATUS_LAYOUT: {   // L6470
+      shadow.L6470_ERROR_MASK      = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD | shadow.STATUS_AXIS_STEP_LOSS_A | shadow.STATUS_AXIS_STEP_LOSS_B;
+      shadow.STATUS_AXIS           ^= (shadow.STATUS_AXIS_WRONG_CMD | shadow.STATUS_AXIS_NOTPERF_CMD);  // invert just error bits that are active high
+      break;
+    }
+    case L6474_STATUS_LAYOUT: {   // L6474
+      shadow.L6470_ERROR_MASK      = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD ;
+      shadow.STATUS_AXIS           ^= (shadow.STATUS_AXIS_WRONG_CMD | shadow.STATUS_AXIS_NOTPERF_CMD);  // invert just error bits that are active high
+      break;
+    }
+    case L6480_STATUS_LAYOUT: {   // L6480 & powerSTEP01
+      shadow.L6470_ERROR_MASK      = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD | shadow.STATUS_AXIS_STEP_LOSS_A | shadow.STATUS_AXIS_STEP_LOSS_B;
+      shadow.STATUS_AXIS           ^= (shadow.STATUS_AXIS_CMD_ERR | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD);  // invert just error bits that are active high
+      break;
+    }
+  }
+  return shadow.STATUS_AXIS;
+}
+
+
+void L64XX_Marlin::init() {               // Set up SPI and then init chips
+  ENABLE_RESET_L64XX_CHIPS(LOW);          // hardware reset of drivers
+  DELAY_US(100);
+  ENABLE_RESET_L64XX_CHIPS(HIGH);
+  DELAY_US(1000);                         // need about 650µs for the chip(s) to fully start up
+  L6470_populate_chain_array();           // Set up array to control where in the SPI transfer sequence a particular stepper's data goes
+
+  spi_init();                             // Since L64XX SPI pins are unset we must init SPI here
+
+  init_to_defaults();                     // init the chips
+}
+
+uint16_t L64XX_Marlin::get_status(const L64XX_axis_t axis) {
+
+  #define STATUS_L6470(Q) get_stepper_status(stepper##Q)
+
+  switch (axis) {
+    default: break;
+    #if AXIS_IS_L64XX(X)
+      case X : return STATUS_L6470(X);
+    #endif
+    #if AXIS_IS_L64XX(Y)
+      case Y : return STATUS_L6470(Y);
+    #endif
+    #if AXIS_IS_L64XX(Z)
+      case Z : return STATUS_L6470(Z);
+    #endif
+    #if AXIS_IS_L64XX(X2)
+      case X2: return STATUS_L6470(X2);
+    #endif
+    #if AXIS_IS_L64XX(Y2)
+      case Y2: return STATUS_L6470(Y2);
+    #endif
+    #if AXIS_IS_L64XX(Z2)
+      case Z2: return STATUS_L6470(Z2);
+    #endif
+    #if AXIS_IS_L64XX(Z3)
+      case Z3: return STATUS_L6470(Z3);
+    #endif
+    #if AXIS_IS_L64XX(E0)
+      case E0: return STATUS_L6470(E0);
+    #endif
+    #if AXIS_IS_L64XX(E1)
+      case E1: return STATUS_L6470(E1);
+    #endif
+    #if AXIS_IS_L64XX(E2)
+      case E2: return STATUS_L6470(E2);
+    #endif
+    #if AXIS_IS_L64XX(E3)
+      case E3: return STATUS_L6470(E3);
+    #endif
+    #if AXIS_IS_L64XX(E4)
+      case E4: return STATUS_L6470(E4);
+    #endif
+    #if AXIS_IS_L64XX(E5)
+      case E5: return STATUS_L6470(E5);
+    #endif
+  }
+
+  return 0; // Not needed but kills a compiler warning
+}
+
+uint32_t L64XX_Marlin::get_param(const L64XX_axis_t axis, const uint8_t param) {
+
+  #define GET_L6470_PARAM(Q) L6470_GETPARAM(param, Q)
+
+  switch (axis) {
+    default: break;
+    #if AXIS_IS_L64XX(X)
+      case X : return GET_L6470_PARAM(X);
+    #endif
+    #if AXIS_IS_L64XX(Y)
+      case Y : return GET_L6470_PARAM(Y);
+    #endif
+    #if AXIS_IS_L64XX(Z)
+      case Z : return GET_L6470_PARAM(Z);
+    #endif
+    #if AXIS_IS_L64XX(X2)
+      case X2: return GET_L6470_PARAM(X2);
+    #endif
+    #if AXIS_IS_L64XX(Y2)
+      case Y2: return GET_L6470_PARAM(Y2);
+    #endif
+    #if AXIS_IS_L64XX(Z2)
+      case Z2: return GET_L6470_PARAM(Z2);
+    #endif
+    #if AXIS_IS_L64XX(Z3)
+      case Z3: return GET_L6470_PARAM(Z3);
+    #endif
+    #if AXIS_IS_L64XX(E0)
+      case E0: return GET_L6470_PARAM(E0);
+    #endif
+    #if AXIS_IS_L64XX(E1)
+      case E1: return GET_L6470_PARAM(E1);
+    #endif
+    #if AXIS_IS_L64XX(E2)
+      case E2: return GET_L6470_PARAM(E2);
+    #endif
+    #if AXIS_IS_L64XX(E3)
+      case E3: return GET_L6470_PARAM(E3);
+    #endif
+    #if AXIS_IS_L64XX(E4)
+      case E4: return GET_L6470_PARAM(E4);
+    #endif
+    #if AXIS_IS_L64XX(E5)
+      case E5: return GET_L6470_PARAM(E5);
+    #endif
+  }
+
+  return 0; // not needed but kills a compiler warning
+}
+
+void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const uint32_t value) {
+
+  #define SET_L6470_PARAM(Q) stepper##Q.SetParam(param, value)
+
+  switch (axis) {
+    default: break;
+    #if AXIS_IS_L64XX(X)
+      case X : SET_L6470_PARAM(X); break;
+    #endif
+    #if AXIS_IS_L64XX(Y)
+      case Y : SET_L6470_PARAM(Y); break;
+    #endif
+    #if AXIS_IS_L64XX(Z)
+      case Z : SET_L6470_PARAM(Z); break;
+    #endif
+    #if AXIS_IS_L64XX(X2)
+      case X2: SET_L6470_PARAM(X2); break;
+    #endif
+    #if AXIS_IS_L64XX(Y2)
+      case Y2: SET_L6470_PARAM(Y2); break;
+    #endif
+    #if AXIS_IS_L64XX(Z2)
+      case Z2: SET_L6470_PARAM(Z2); break;
+    #endif
+    #if AXIS_IS_L64XX(Z3)
+      case Z3: SET_L6470_PARAM(Z3); break;
+    #endif
+    #if AXIS_IS_L64XX(E0)
+      case E0: SET_L6470_PARAM(E0); break;
+    #endif
+    #if AXIS_IS_L64XX(E1)
+      case E1: SET_L6470_PARAM(E1); break;
+    #endif
+    #if AXIS_IS_L64XX(E2)
+      case E2: SET_L6470_PARAM(E2); break;
+    #endif
+    #if AXIS_IS_L64XX(E3)
+      case E3: SET_L6470_PARAM(E3); break;
+    #endif
+    #if AXIS_IS_L64XX(E4)
+      case E4: SET_L6470_PARAM(E4); break;
+    #endif
+    #if AXIS_IS_L64XX(E5)
+      case E5: SET_L6470_PARAM(E5); break;
+    #endif
+  }
+}
+
+inline void echo_min_max(const char a, const float &min, const float &max) {
+  DEBUG_CHAR(' '); DEBUG_CHAR(a);
+  DEBUG_ECHOPAIR(" min = ", min);
+  DEBUG_ECHOLNPAIR("  max = ", max);
+}
+inline void echo_oct_used(const float &oct, const uint8_t stall) {
+  DEBUG_ECHOPAIR("over_current_threshold used     : ", oct);
+  serialprintPGM(stall ? PSTR("  (Stall") : PSTR("  (OCD"));
+  DEBUG_ECHOLNPGM(" threshold)");
+}
+inline void err_out_of_bounds() { DEBUG_ECHOLNPGM("Test aborted - motion out of bounds"); }
+
+uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_index[3],  char axis_mon[3][3],
+                                 float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
+                                 uint8_t over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold
+) {
+  // Return TRUE if the calling routine needs to abort/kill
+
+  uint16_t displacement = 0;  // " = 0" to eliminate compiler warning
+  uint8_t j;   // general purpose counter
+
+  if (!all_axes_homed()) {
+    DEBUG_ECHOLNPGM("Test aborted - home all before running this command");
+    return true;
+  }
+
+  uint8_t found_displacement = false;
+  LOOP_XYZE(i) if (uint16_t _displacement = parser.intval(axis_codes[i])) {
+    found_displacement = true;
+    displacement = _displacement;
+    uint8_t axis_offset = parser.byteval('J');
+    axis_mon[0][0] = axis_codes[i];   // axis ASCII value (target character)
+    uint8_t driver_count_local = 0;         // Can't use "driver_count" directly as a subscript because it's passed by reference
+    if (axis_offset >= 2 || axis_mon[0][0] == 'E') {  // Single axis, E0, or E1
+      axis_mon[0][1] = axis_offset + '0';
+      for (j = 0; j < MAX_L6470; j++) {       // See how many drivers on this axis
+        const char * const str = index_to_axis[j];
+        if (axis_mon[0][0] == str[0]) {
+          char * const mon = axis_mon[driver_count_local];
+          mon[0] = str[0];
+          mon[1] = str[1];
+          mon[2] = str[2];   // append end of string
+          axis_index[driver_count_local] = (L64XX_axis_t)j;        // set axis index
+          driver_count_local++;
+        }
+      }
+    }
+    else if (axis_offset == 0) {              // One or more axes
+      for (j = 0; j < MAX_L6470; j++) {       // See how many drivers on this axis
+        const char * const str = index_to_axis[j];
+        if (axis_mon[0][0] == str[0]) {
+          char * const mon = axis_mon[driver_count_local];
+          mon[0] = str[0];
+          mon[1] = str[1];
+          mon[2] = str[2];   // append end of string
+          axis_index[driver_count_local] = (L64XX_axis_t)j;        // set axis index
+          driver_count_local++;
+        }
+      }
+      driver_count = driver_count_local;
+    }
+    break; // only take first axis found
+  }
+
+  if (!found_displacement) {
+    DEBUG_ECHOLNPGM("Test aborted - AXIS with displacement is required");
+    return true;
+  }
+
+  //
+  // Position calcs & checks
+  //
+
+  const float X_center = LOGICAL_X_POSITION(current_position.x),
+              Y_center = LOGICAL_Y_POSITION(current_position.y),
+              Z_center = LOGICAL_Z_POSITION(current_position.z),
+              E_center = current_position.e;
+
+  switch (axis_mon[0][0]) {
+    default: position_max = position_min = 0; break;
+
+    case 'X': {
+      position_min = X_center - displacement;
+      position_max = X_center + displacement;
+      echo_min_max('X', position_min, position_max);
+      if (false
+        #ifdef X_MIN_POS
+          || position_min < (X_MIN_POS)
+        #endif
+        #ifdef X_MAX_POS
+          || position_max > (X_MAX_POS)
+        #endif
+      ) {
+        err_out_of_bounds();
+        return true;
+      }
+    } break;
+
+    case 'Y': {
+      position_min = Y_center - displacement;
+      position_max = Y_center + displacement;
+      echo_min_max('Y', position_min, position_max);
+      if (false
+        #ifdef Y_MIN_POS
+          || position_min < (Y_MIN_POS)
+        #endif
+        #ifdef Y_MAX_POS
+          || position_max > (Y_MAX_POS)
+        #endif
+      ) {
+        err_out_of_bounds();
+        return true;
+      }
+    } break;
+
+    case 'Z': {
+      position_min = Z_center - displacement;
+      position_max = Z_center + displacement;
+      echo_min_max('Z', position_min, position_max);
+      if (false
+        #ifdef Z_MIN_POS
+          || position_min < (Z_MIN_POS)
+        #endif
+        #ifdef Z_MAX_POS
+          || position_max > (Z_MAX_POS)
+        #endif
+      ) {
+        err_out_of_bounds();
+        return true;
+      }
+    } break;
+
+    case 'E': {
+      position_min = E_center - displacement;
+      position_max = E_center + displacement;
+      echo_min_max('E', position_min, position_max);
+    } break;
+  }
+
+  //
+  // Work on the drivers
+  //
+
+  for (uint8_t k = 0; k < driver_count; k++) {
+    uint8_t not_found = true;
+    for (j = 1; j <= L64XX::chain[0]; j++) {
+      const char * const ind_axis = index_to_axis[L64XX::chain[j]];
+      if (ind_axis[0] == axis_mon[k][0] && ind_axis[1] == axis_mon[k][1]) { // See if a L6470 driver
+        not_found = false;
+        break;
+      }
+    }
+    if (not_found) {
+      driver_count = k;
+      axis_mon[k][0] = ' ';  // mark this entry invalid
+      break;
+    }
+  }
+
+  if (driver_count == 0) {
+    DEBUG_ECHOLNPGM("Test aborted - not a L6470 axis");
+    return true;
+  }
+
+  DEBUG_ECHOPGM("Monitoring:");
+  for (j = 0; j < driver_count; j++) DEBUG_ECHOPAIR("  ", axis_mon[j]);
+  DEBUG_EOL();
+
+  // now have a list of driver(s) to monitor
+
+  //
+  // TVAL & kVAL_HOLD checks & settings
+  //
+  const L64XX_shadow_t &sh = shadow;
+  get_status(axis_index[0]); // populate shadow array
+
+  if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // L6474 - use TVAL
+    uint16_t TVAL_current = parser.ushortval('T');
+    if (TVAL_current) {
+      uint8_t TVAL_count = (TVAL_current /  sh.AXIS_STALL_CURRENT_CONSTANT_INV) - 1;
+      LIMIT(TVAL_count, 0, sh.AXIS_STALL_TH_MAX);
+      for (j = 0; j < driver_count; j++)
+        set_param(axis_index[j], L6474_TVAL, TVAL_count);
+    }
+    // only print the tval from one of the drivers
+    kval_hold = get_param(axis_index[0], L6474_TVAL);
+    DEBUG_ECHOLNPAIR("TVAL current (mA) = ", (kval_hold + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV);
+  }
+  else {
+    kval_hold = parser.byteval('K');
+    if (kval_hold) {
+      DEBUG_ECHOLNPAIR("kval_hold = ", kval_hold);
+      for (j = 0; j < driver_count; j++)
+        set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
+    }
+    else {
+      // only print the KVAL_HOLD from one of the drivers
+      kval_hold = get_param(axis_index[0], L6470_KVAL_HOLD);
+      DEBUG_ECHOLNPAIR("KVAL_HOLD = ", kval_hold);
+    }
+  }
+
+  //
+  // Overcurrent checks & settings
+  //
+
+  if (over_current_flag) {
+
+    uint8_t OCD_TH_val_local = 0,       // compiler thinks OCD_TH_val is unused if use it directly
+            STALL_TH_val_local = 0;     // just in case ...
+
+    over_current_threshold = parser.intval('I');
+
+    if (over_current_threshold) {
+
+      OCD_TH_val_local = over_current_threshold/375;
+      LIMIT(OCD_TH_val_local, 0, 15);
+      STALL_TH_val_local = over_current_threshold/31.25;
+      LIMIT(STALL_TH_val_local, 0, 127);
+      uint16_t OCD_TH_actual = (OCD_TH_val_local + 1) * 375,
+               STALL_TH_actual = (STALL_TH_val_local + 1) * 31.25;
+      if (OCD_TH_actual < STALL_TH_actual) {
+        OCD_TH_val_local++;
+        OCD_TH_actual = (OCD_TH_val_local + 1) * 375;
+      }
+
+      DEBUG_ECHOLNPAIR("over_current_threshold specified: ", over_current_threshold);
+      if (!(sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)) echo_oct_used((STALL_TH_val_local + 1) * 31.25, true);
+      echo_oct_used((OCD_TH_val_local + 1) * 375, false);
+
+      #define SET_OVER_CURRENT(Q) do { stepper##Q.SetParam(L6470_STALL_TH, STALL_TH_val_local); stepper##Q.SetParam(L6470_OCD_TH, OCD_TH_val_local);} while (0)
+
+      for (j = 0; j < driver_count; j++) {
+        set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
+        set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
+      }
+    }
+    else {
+      // only get & print the OVER_CURRENT values from one of the drivers
+      STALL_TH_val_local = get_param(axis_index[0], L6470_STALL_TH);
+      OCD_TH_val_local = get_param(axis_index[0], L6470_OCD_TH);
+
+      if (!(sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)) echo_oct_used((STALL_TH_val_local + 1) * 31.25, true);
+      echo_oct_used((OCD_TH_val_local + 1) * 375, false);
+    } // over_current_threshold
+
+    for (j = 0; j < driver_count; j++) {                 // set all drivers on axis the same
+      set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
+      set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
+    }
+
+    OCD_TH_val = OCD_TH_val_local;        // force compiler to update the main routine's copy
+    STALL_TH_val = STALL_TH_val_local;    // force compiler to update the main routine's copy
+  } // end of overcurrent
+
+  //
+  // Feedrate
+  //
+
+  final_feedrate = parser.floatval('F');
+  if (final_feedrate == 0) {
+    static constexpr float default_max_feedrate[] = DEFAULT_MAX_FEEDRATE;
+    const uint8_t num_feedrates = COUNT(default_max_feedrate);
+    for (j = 0; j < num_feedrates; j++) {
+      if (axis_codes[j] == axis_mon[0][0]) {
+        final_feedrate = default_max_feedrate[j];
+        break;
+      }
+    }
+    if (j == 3 && num_feedrates > 4) {   // have more than one extruder feedrate
+      uint8_t extruder_num = axis_mon[0][1] - '0';
+      if (j <= num_feedrates - extruder_num)     // have a feedrate specifically for this extruder
+        final_feedrate = default_max_feedrate[j + extruder_num];
+      else
+        final_feedrate = default_max_feedrate[3];  // use E0 feedrate for this extruder
+    }
+    final_feedrate *= 60;  // convert to mm/minute
+  } // end of feedrate
+
+  return false;   // FALSE indicates no user input problems
+}
+
+void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*/) {
+  if (label) SERIAL_ECHOPGM("AXIS:");
+  const char * const str = L64xxManager.index_to_axis[axis];
+  SERIAL_CHAR(' ', str[0], str[1], ' ');
+}
+
+#if ENABLED(L6470_CHITCHAT)
+
+  // Assumes status bits have been inverted
+  void L64XX_Marlin::error_status_decode(const uint16_t status, const L64XX_axis_t axis,
+        const uint16_t _status_axis_th_sd, const uint16_t _status_axis_th_wrn,
+        const uint16_t _status_axis_step_loss_a, const uint16_t _status_axis_step_loss_b,
+        const uint16_t _status_axis_ocd, const uint8_t _status_axis_layout
+  ) {
+    say_axis(axis);
+    DEBUG_ECHOPGM("  THERMAL: ");
+    serialprintPGM((status & _status_axis_th_sd) ? PSTR("SHUTDOWN") : (status & _status_axis_th_wrn) ? PSTR("WARNING ") : PSTR("OK      "));
+    DEBUG_ECHOPGM("   OVERCURRENT: ");
+    echo_yes_no((status & _status_axis_ocd) != 0);
+    if (!(_status_axis_layout == L6474_STATUS_LAYOUT)) {  // L6474 doesn't have these bits
+      DEBUG_ECHOPGM("   STALL: ");
+      echo_yes_no((status & (_status_axis_step_loss_a | _status_axis_step_loss_b)) != 0);
+    }
+    DEBUG_EOL();
+  }
+
+#endif
+
+//////////////////////////////////////////////////////////////////////////////////////////////////
+////
+////  MONITOR_L6470_DRIVER_STATUS routines
+////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+
+#if ENABLED(MONITOR_L6470_DRIVER_STATUS)
+
+  bool L64XX_Marlin::monitor_paused = false; // Flag to skip monitor during M122, M906, M916, M917, M918, etc.
+
+  struct L6470_driver_data {
+    uint8_t driver_index;
+    uint32_t driver_status;
+    uint8_t is_otw;
+    uint8_t otw_counter;
+    uint8_t is_ot;
+    uint8_t is_hi_Z;
+    uint8_t com_counter;
+  };
+
+  L6470_driver_data driver_L6470_data[] = {
+    #if AXIS_IS_L64XX(X)
+      {  0, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Y)
+      {  1, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Z)
+      {  2, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(X2)
+      {  3, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Y2)
+      {  4, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Z2)
+      {  5, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(Z3)
+      {  6, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E0)
+      {  7, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E1)
+      {  8, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E2)
+      {  9, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E3)
+      { 10, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E4)
+      { 11, 0, 0, 0, 0, 0, 0 },
+    #endif
+    #if AXIS_IS_L64XX(E5)
+      { 12, 0, 0, 0, 0, 0, 0 }
+    #endif
+  };
+
+  void L64XX_Marlin::append_stepper_err(char* &p, const uint8_t stepper_index, const char * const err/*=nullptr*/) {
+    p += sprintf_P(p, PSTR("Stepper %c%c "), index_to_axis[stepper_index][0], index_to_axis[stepper_index][1]);
+    if (err) p += sprintf_P(p, err);
+  }
+
+  void L64XX_Marlin::monitor_update(L64XX_axis_t stepper_index) {
+    if (spi_abort) return;  // don't do anything if set_directions() has occurred
+    const L64XX_shadow_t &sh = shadow;
+    get_status(stepper_index); // get stepper status and details
+    uint16_t status = sh.STATUS_AXIS;
+    uint8_t kval_hold, tval;
+    char temp_buf[120], *p = temp_buf;
+    uint8_t j;
+    for (j = 0; j < L64XX::chain[0]; j++) // find the table for this stepper
+      if (driver_L6470_data[j].driver_index == stepper_index) break;
+
+    driver_L6470_data[j].driver_status = status;
+    uint16_t _status = ~status;     // all error bits are active low
+
+    if (status == 0 || status == 0xFFFF) {              // com problem
+      if (driver_L6470_data[j].com_counter == 0) {      // warn user when it first happens
+        driver_L6470_data[j].com_counter++;
+        append_stepper_err(p, stepper_index, PSTR(" - communications lost\n"));
+        DEBUG_ECHO(temp_buf);
+      }
+      else {
+        driver_L6470_data[j].com_counter++;
+        if (driver_L6470_data[j].com_counter > 240) {  // remind of com problem about every 2 minutes
+          driver_L6470_data[j].com_counter = 1;
+          append_stepper_err(p, stepper_index, PSTR(" - still no communications\n"));
+          DEBUG_ECHO(temp_buf);
+        }
+      }
+    }
+    else {
+      if (driver_L6470_data[j].com_counter) {   // comms re-established
+        driver_L6470_data[j].com_counter = 0;
+        append_stepper_err(p, stepper_index, PSTR(" - communications re-established\n.. setting all drivers to default values\n"));
+        DEBUG_ECHO(temp_buf);
+        init_to_defaults();
+      }
+      else {
+        // no com problems - do the usual checks
+        if (_status & sh.L6470_ERROR_MASK) {
+          append_stepper_err(p, stepper_index);
+
+          if (status & STATUS_HIZ) {                         // The driver has shut down. HiZ is active high
+            driver_L6470_data[j].is_hi_Z = true;
+            p += sprintf_P(p, PSTR("%cIS SHUT DOWN"), ' ');
+            //if (_status & sh.STATUS_AXIS_TH_SD) { // strange - TH_SD never seems to go active, must be implied by the HiZ and TH_WRN
+            if (_status & sh.STATUS_AXIS_TH_WRN) {                    // over current shutdown
+              p += sprintf_P(p, PSTR("%cdue to over temperature"), ' ');
+              driver_L6470_data[j].is_ot = true;
+              if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // L6474
+                tval = get_param(stepper_index, L6474_TVAL) - 2 * KVAL_HOLD_STEP_DOWN;
+              set_param(stepper_index, L6474_TVAL, tval);     // reduce TVAL
+                p += sprintf_P(p, PSTR(" - TVAL reduced by %d to %d mA"), uint16_t (2 * KVAL_HOLD_STEP_DOWN * sh.AXIS_STALL_CURRENT_CONSTANT_INV), uint16_t ((tval + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV));   // let user know
+              }
+              else {
+                kval_hold = get_param(stepper_index, L6470_KVAL_HOLD) - 2 * KVAL_HOLD_STEP_DOWN;
+                set_param(stepper_index, L6470_KVAL_HOLD, kval_hold);     // reduce KVAL_HOLD
+                p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), 2 * KVAL_HOLD_STEP_DOWN, kval_hold);   // let user know
+              }
+            }
+            else
+              driver_L6470_data[j].is_ot = false;
+          }
+          else {
+            driver_L6470_data[j].is_hi_Z = false;
+
+            if (_status & sh.STATUS_AXIS_TH_WRN) {     // have an over temperature warning
+              driver_L6470_data[j].is_otw = true;
+              driver_L6470_data[j].otw_counter++;
+              kval_hold = get_param(stepper_index, L6470_KVAL_HOLD);
+              if (driver_L6470_data[j].otw_counter > 4) {  // otw present for 2 - 2.5 seconds, reduce KVAL_HOLD
+                driver_L6470_data[j].otw_counter = 0;
+                driver_L6470_data[j].is_otw = true;
+                if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // L6474
+                  tval = get_param(stepper_index, L6474_TVAL) - KVAL_HOLD_STEP_DOWN;
+                  set_param(stepper_index, L6474_TVAL, tval);     // reduce TVAL
+                  p += sprintf_P(p, PSTR(" - TVAL reduced by %d to %d mA"), uint16_t (KVAL_HOLD_STEP_DOWN * sh.AXIS_STALL_CURRENT_CONSTANT_INV), uint16_t ((tval + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV));   // let user know
+                }
+                else {
+                  kval_hold = get_param(stepper_index, L6470_KVAL_HOLD) - KVAL_HOLD_STEP_DOWN;
+                  set_param(stepper_index, L6470_KVAL_HOLD, kval_hold);     // reduce KVAL_HOLD
+                  p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), KVAL_HOLD_STEP_DOWN, kval_hold);   // let user know
+                }
+              }
+              else if (driver_L6470_data[j].otw_counter)
+                p += sprintf_P(p, PSTR("%c- thermal warning"), ' ');   // warn user
+            }
+          }
+
+          #if ENABLED(L6470_STOP_ON_ERROR)
+            if (_status & (sh.STATUS_AXIS_UVLO | sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD))
+              kill(temp_buf);
+          #endif
+
+          #if ENABLED(L6470_CHITCHAT)
+            if (_status & sh.STATUS_AXIS_OCD)
+              p += sprintf_P(p, PSTR("%c  over current"), ' ');
+
+            if (_status & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B))
+              p += sprintf_P(p, PSTR("%c  stall"), ' ');
+
+            if (_status & sh.STATUS_AXIS_UVLO)
+              p += sprintf_P(p, PSTR("%c  under voltage lock out"), ' ');
+
+            p += sprintf_P(p, PSTR("%c\n"), ' ');
+          #endif
+
+          DEBUG_ECHOLN(temp_buf);  // print the error message
+        }
+        else {
+          driver_L6470_data[j].is_ot = false;
+          driver_L6470_data[j].otw_counter = 0;   //clear out warning indicators
+          driver_L6470_data[j].is_otw = false;
+        } // end usual checks
+
+      } // comms established but have errors
+    } // comms re-established
+  } // end monitor_update()
+
+
+  void L64XX_Marlin::monitor_driver() {
+    static millis_t next_cOT = 0;
+    if (ELAPSED(millis(), next_cOT)) {
+      next_cOT = millis() + 500;
+
+      if (!monitor_paused) {  // Skip during M122, M906, M916, M917 or M918 (could steal status result from test)
+
+        spi_active = true;    // Tell set_directions() a series of SPI transfers is underway
+
+        #if AXIS_IS_L64XX(X)
+          monitor_update(X);
+        #endif
+        #if AXIS_IS_L64XX(Y)
+          monitor_update(Y);
+        #endif
+        #if AXIS_IS_L64XX(Z)
+          monitor_update(Z);
+        #endif
+        #if AXIS_IS_L64XX(X2)
+          monitor_update(X2);
+        #endif
+        #if AXIS_IS_L64XX(Y2)
+          monitor_update(Y2);
+        #endif
+        #if AXIS_IS_L64XX(Z2)
+          monitor_update(Z2);
+        #endif
+        #if AXIS_IS_L64XX(Z3)
+          monitor_update(Z3);
+        #endif
+        #if AXIS_IS_L64XX(E0)
+          monitor_update(E0);
+        #endif
+        #if AXIS_IS_L64XX(E1)
+          monitor_update(E1);
+        #endif
+        #if AXIS_IS_L64XX(E2)
+          monitor_update(E2);
+        #endif
+        #if AXIS_IS_L64XX(E3)
+          monitor_update(E3);
+        #endif
+        #if AXIS_IS_L64XX(E4)
+          monitor_update(E4);
+        #endif
+        #if AXIS_IS_L64XX(E5)
+          monitor_update(E5);
+        #endif
+
+        #if ENABLED(L6470_DEBUG)
+          if (report_L6470_status) DEBUG_EOL();
+        #endif
+
+        spi_active = false;   // done with all SPI transfers - clear handshake flags
+        spi_abort = false;
+      }
+    }
+  }
+
+#endif // MONITOR_L6470_DRIVER_STATUS
+
+#endif // HAS_L64XX

Marlin/src/libs/L64XX/L64XX_Marlin.h

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../inc/MarlinConfig.h"
+
+#include <L6470.h>
+#if !(L6470_LIBRARY_VERSION >= 0x000800)
+  #error 'L6470_LIBRARY_VERSION 0x000800 or later required'
+#endif
+
+#define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
+
+#define MAX_L6470  (7 + MAX_EXTRUDERS) // Maximum number of axes in Marlin
+
+#define dSPIN_STEP_CLOCK      0x58
+#define dSPIN_STEP_CLOCK_FWD dSPIN_STEP_CLOCK
+#define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
+#define HAS_L64XX_EXTRUDER (AXIS_IS_L64XX(E0) || AXIS_IS_L64XX(E1) || AXIS_IS_L64XX(E2) || AXIS_IS_L64XX(E3) || AXIS_IS_L64XX(E4) || AXIS_IS_L64XX(E5))
+
+typedef enum : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5 } L64XX_axis_t;
+
+class L64XX_Marlin : public L64XXHelper {
+public:
+  static char index_to_axis[MAX_L6470][3];
+
+  static uint8_t index_to_dir[MAX_L6470];
+  static uint8_t dir_commands[MAX_L6470];
+
+  // Flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
+  static volatile uint8_t spi_abort;
+  static uint8_t spi_active;
+
+  L64XX_Marlin() {}
+
+  static void init();
+  static void init_to_defaults();
+
+  static uint16_t get_stepper_status(L64XX &st);
+
+  static uint16_t get_status(const L64XX_axis_t axis);
+
+  static uint32_t get_param(const L64XX_axis_t axis, const uint8_t param);
+
+  static void set_param(const L64XX_axis_t axis, const uint8_t param, const uint32_t value);
+
+  //static void send_command(const L64XX_axis_t axis, uint8_t command);
+
+  static uint8_t get_user_input(uint8_t &driver_count, L64XX_axis_t axis_index[3], char axis_mon[3][3],
+                            float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
+                            uint8_t over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold);
+
+  static void transfer(uint8_t L6470_buf[], const uint8_t length);
+
+  //static char* index_to_axis(const uint8_t index);
+  static void say_axis(const L64XX_axis_t axis, const uint8_t label=true);
+  #if ENABLED(L6470_CHITCHAT)
+    static void error_status_decode(
+      const uint16_t status, const L64XX_axis_t axis,
+      const uint16_t _status_axis_th_sd, const uint16_t _status_axis_th_wrn,
+      const uint16_t _status_axis_step_loss_a, const uint16_t _status_axis_step_loss_b,
+      const uint16_t _status_axis_ocd, const uint8_t _status_axis_layout
+    );
+  #else
+    FORCE_INLINE static void error_status_decode(
+      const uint16_t, const L64XX_axis_t,
+      const uint16_t, const uint16_t,
+      const uint16_t, const uint16_t,
+      const uint16_t, const uint8_t
+    ){}
+  #endif
+
+  // ~40 bytes SRAM to simplify status decode routines
+  typedef struct {
+    uint8_t STATUS_AXIS_LAYOUT;              // Copy of L6470_status_layout
+    uint8_t AXIS_OCD_TH_MAX;              // Size of OCD_TH field
+    uint8_t AXIS_STALL_TH_MAX;            // Size of STALL_TH field
+    float AXIS_OCD_CURRENT_CONSTANT_INV;   // mA per count
+    float AXIS_STALL_CURRENT_CONSTANT_INV; // mA per count
+    uint8_t L6470_AXIS_CONFIG,            // Address of the CONFIG register
+            L6470_AXIS_STATUS;            // Address of the STATUS register
+    uint16_t L6470_ERROR_MASK,            // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD  | STATUS_OCD | STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B
+             L6474_ERROR_MASK,            // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD  | STATUS_OCD
+             STATUS_AXIS_RAW,             // Copy of status register contents
+             STATUS_AXIS,                 // Copy of status register contents but with all error bits active low
+             STATUS_AXIS_OCD,             // Overcurrent detected bit position
+             STATUS_AXIS_SCK_MOD,         // Step clock mode is active bit position
+             STATUS_AXIS_STEP_LOSS_A,     // Stall detected on A bridge bit position
+             STATUS_AXIS_STEP_LOSS_B,     // Stall detected on B bridge bit position
+             STATUS_AXIS_TH_SD,           // Thermal shutdown bit position
+             STATUS_AXIS_TH_WRN,          // Thermal warning bit position
+             STATUS_AXIS_UVLO,            // Undervoltage lockout is active bit position
+             STATUS_AXIS_WRONG_CMD,       // Last command not valid bit position
+             STATUS_AXIS_CMD_ERR,         // Command error bit position
+             STATUS_AXIS_NOTPERF_CMD;     // Last command not performed bit position
+  } L64XX_shadow_t;
+
+  static L64XX_shadow_t shadow;
+
+  #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
+    static bool monitor_paused;
+    static inline void pause_monitor(const bool p) { monitor_paused = p; }
+    static void monitor_update(L64XX_axis_t stepper_index);
+    static void monitor_driver();
+  #else
+    static inline void pause_monitor(const bool) {}
+  #endif
+
+//protected:
+  // L64XXHelper methods
+  static void spi_init();
+  static uint8_t transfer_single(uint8_t data, int16_t ss_pin);
+  static uint8_t transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position);
+
+private:
+  static void append_stepper_err(char* &p, const uint8_t stepper_index, const char * const err=nullptr);
+
+};
+
+void echo_yes_no(const bool yes);
+
+extern L64XX_Marlin L64xxManager;

Marlin/src/libs/L64XX/README.md

+### L64XX Stepper Driver
+
+*Arduino-L6470* library revision 0.8.0 or above is required.
+
+This software can be used with the L6470, L6474, L6480 and the powerSTEP01 (collectively referred to as "L64xx" from now on). Different drivers can be mixed within a system.
+
+These devices use voltage PWMs to drive the stepper phases. On the L6474 the phase current is controlled by the `TVAL` register. On all the other drivers the phase current is indirectly controlled via the `KVAL_HOLD` register which scales the PWM duty cycle.
+
+This software assumes that all drivers are in one SPI daisy chain.
+
+### Hardware Setup
+
+- MOSI from controller tied to SDI on the first device
+
+- SDO of the first device is tied to SDI of the next device
+
+- SDO of the last device is tied to MISO of the controller
+
+- All devices share the same `SCK` and `SS_PIN` pins. The user must supply a macro to control the `RESET_PIN`(s).
+
+- Each L6470 passes the data it saw on its SDI to its neighbor on the **NEXT** SPI cycle (8 bit delay).
+
+- Each L6470 acts on the **last** SPI data it saw when the `SS_PIN` **goes high**.
+
+The L6474 uses the standard STEP DIR interface. Phase currents are changed in response to step pulses. The direction is set by the DIR pin. Instead of an ENA pin, stepper power is controlled with SPI commands.
+
+The other drivers operate in `STEP_CLOCK` mode. In this mode the Direction / Enable functions are done with SPI commands and the phase currents are changed in response to STEP pulses.
+
+### Hardware / Software Interaction
+
+Except for the L6474, powering up a stepper and setting the direction are done by the same command. You can't do one without the other.
+
+**All** directions are set **every time** a new block is popped off the queue by the stepper ISR.
+
+When setting direction, SPI transfers are minimized by using arrays and a specialized SPI method. *Arduino-L6470* library calls are not used. For N L64xx drivers, this results in N bytes transferred. If library calls were used then N<sup>2</sup> bytes would be sent.
+
+### Power-up (Reset) Sequence
+
+- Stepper objects are instantiated before the `setup()` entry point is reached.
+
+- In `setup()` (before stepper drivers are initialized) the `L6470_init()` method is called to do the following:
+
+  - If present, pulse the hardware reset pin.
+
+  - Populate the `L6470_chain` array, which maps positions in the SPI stream to commands/data for L64XX stepper drivers.
+
+  - Initialize the L64XX Software SPI pin states.
+
+  - Initialize L64XX drivers. They may be reset later by a call to `L6470_init_to_defaults()`.
+
+The steppers are **NOT** powered up (enabled) during this sequence.
+
+### `L6470_chain` array
+
+This array is used by all routines that transmit SPI data. For a chain with N devices, the array contains:
+
+Index|Value
+-----|-----
+0|Number of drivers in chain
+1|Axis index of the first device in the chain (closest to MOSI)
+...|
+N|Axis index of the last device chain (closest to MISO)
+
+### Set Direction and Enable
+
+The `DIR_WRITE` macros for the L64xx drivers are written so that the standard X, Y, Z and extruder logic used by the `set_directions()` routine is not altered. These macros write the correct forward/reverse command to the corresponding location in the array `L6470_dir_commands`. On the L6474 the array the command used just enables the stepper because direction is set by the DIR pin.
+
+At the end of the `set_directions()` routine, the array `L6470_chain` is used to grab the corresponding direction/enable commands out of the array `L6470_dir_commands` and put them in the correct sequence in the array `L6470_buf`. Array `L6470_buf` is then passed to the **`void`** `L6470_Transfer` function which actually sends the data to the devices.
+
+### Utilities, etc.
+
+The **absolute position** registers should accurately reflect Marlin’s stepper position counts. They are set to zero during initialization. `G28` sets them to the Marlin counts for the corresponding axis after homing. NOTE: These registers are often the negative of the Marlin counts. This is because the Marlin counts reflect the logical direction while the registers reflect the stepper direction. The register contents are displayed via the `M114 D` command.
+
+The `L6470_monitor` feature reads the status of each device every half second. It will report if there are any error conditions present or if communications has been lost/restored. The `KVAL_HOLD` value is reduced every 2 – 2.5 seconds if the thermal warning or thermal shutdown conditions are present.
+
+**M122** displays the settings of most of the bits in the status register plus a couple of other items.
+
+**M906** can be used to set the `KVAL_HOLD` register (`TVAL` on L6474) one driver at a time. If a setting is not included with the command then the contents of the registers that affect the phase current/voltage are displayed.
+
+**M916, M917 & M918**
+
+These utilities are used to tune the system. They can get you in the ballpark for acceptable jerk, acceleration, top speed and `KVAL_HOLD` settings (`TVAL` on L6474). In general they seem to provide an overly optimistic `KVAL_HOLD` (`TVAL`) setting because of the lag between setting `KVAL_HOLD` (`TVAL`) and the driver reaching final temperature. Enabling the `L6470_monitor` feature during prints will provide the **final useful setting**.
+
+The amount of power needed to move the stepper without skipping steps increases as jerk, acceleration, top speed, and micro-steps increase. The power dissipated by the driver increases as the power to the stepper increases. The net result is a balancing act between jerk, acceleration, top speed, micro-steps, and power dissipated by the driver.
+
+**M916** - Increases `KVAL_HOLD` (`TVAL`) while moving one axis until a thermal warning is generated. This routine is also useful for determining the approximate `KVAL_HOLD` (`TVAL`) where the stepper stops losing steps. The sound will get noticeably quieter as it stops losing steps.
+
+**M917** - Find minimum current thresholds. This is accomplished by doing the following steps while moving an axis:
+
+1. Decrease OCD current until overcurrent error.
+
+2. Increase OCD until overcurrent error goes away.
+
+3. Decrease stall threshold until stall error (not available on the L6474).
+
+4. Increase stall until stall error goes away (not available on the L6474).
+
+**M918** - Increase speed until error or max feedrate achieved.

Marlin/src/module/stepper.cpp

   #include "../feature/runout.h"
 #endif
 
-#if HAS_DRIVER(L6470)
-  #include "../libs/L6470/L6470_Marlin.h"
+#if HAS_L64XX
+  #include "../libs/L64XX/L64XX_Marlin.h"
+  uint8_t L6470_buf[MAX_L6470 + 1];   // chip command sequence - element 0 not used
+  bool L64XX_OK_to_power_up = false;  // flag to keep L64xx steppers powered down after a reset or power up
 #endif
 
 #if ENABLED(POWER_LOSS_RECOVERY)
  */
 void Stepper::set_directions() {
 
-  #if HAS_DRIVER(L6470)
-    uint8_t L6470_buf[MAX_L6470 + 1];   // chip command sequence - element 0 not used
-  #endif
-
   #if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
     DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);
   #endif
 
   #define SET_STEP_DIR(A)                       \
     if (motor_direction(_AXIS(A))) {            \
-      A##_APPLY_DIR(INVERT_## A##_DIR, false);  \
+      A##_APPLY_DIR(INVERT_##A##_DIR, false);   \
       count_direction[_AXIS(A)] = -1;           \
     }                                           \
     else {                                      \
-      A##_APPLY_DIR(!INVERT_## A##_DIR, false); \
+      A##_APPLY_DIR(!INVERT_##A##_DIR, false);  \
       count_direction[_AXIS(A)] = 1;            \
     }
 
     #endif
   #endif // !LIN_ADVANCE
 
-  #if HAS_DRIVER(L6470)
-
-    if (L6470.spi_active) {
-      L6470.spi_abort = true;                     // interrupted a SPI transfer - need to shut it down gracefully
-      for (uint8_t j = 1; j <= L6470::chain[0]; j++)
-        L6470_buf[j] = dSPIN_NOP;                 // fill buffer with NOOP commands
-      L6470.transfer(L6470_buf, L6470::chain[0]);  // send enough NOOPs to complete any command
-      L6470.transfer(L6470_buf, L6470::chain[0]);
-      L6470.transfer(L6470_buf, L6470::chain[0]);
-    }
-
-    // The L6470.dir_commands[] array holds the direction command for each stepper
+  #if HAS_L64XX
+    if (L64XX_OK_to_power_up) { // OK to send the direction commands (which powers up the L64XX steppers)
+      if (L64xxManager.spi_active) {
+        L64xxManager.spi_abort = true;                    // Interrupted SPI transfer needs to shut down gracefully
+        for (uint8_t j = 1; j <= L64XX::chain[0]; j++)
+          L6470_buf[j] = dSPIN_NOP;                         // Fill buffer with NOOPs
+        L64xxManager.transfer(L6470_buf, L64XX::chain[0]);  // Send enough NOOPs to complete any command
+        L64xxManager.transfer(L6470_buf, L64XX::chain[0]);
+        L64xxManager.transfer(L6470_buf, L64XX::chain[0]);
+      }
 
-    //scan command array and copy matches into L6470.transfer
-    for (uint8_t j = 1; j <= L6470::chain[0]; j++)
-      L6470_buf[j] = L6470.dir_commands[L6470::chain[j]];
+      // L64xxManager.dir_commands[] is an array that holds direction command for each stepper
 
-    L6470.transfer(L6470_buf, L6470::chain[0]);  // send the command stream to the drivers
+      // Scan command array, copy matches into L64xxManager.transfer
+      for (uint8_t j = 1; j <= L64XX::chain[0]; j++)
+        L6470_buf[j] = L64xxManager.dir_commands[L64XX::chain[j]];
 
+      L64xxManager.transfer(L6470_buf, L64XX::chain[0]);  // send the command stream to the drivers
+    }
   #endif
 
   // A small delay may be needed after changing direction
       #endif
 
       if (
-        #if HAS_DRIVER(L6470)
-          true  // Always set direction for L6470 (This also enables the chips)
+        #if HAS_L64XX
+          true  // Always set direction for L64xx (This also enables the chips)
         #else
           current_block->direction_bits != last_direction_bits
           #if DISABLED(MIXING_EXTRUDER)
         #if EXTRUDERS > 1
           last_moved_extruder = stepper_extruder;
         #endif
+
+        #if HAS_L64XX
+          L64XX_OK_to_power_up = true;
+        #endif
         set_directions();
       }
 

Marlin/src/module/stepper/L6470.cpp

-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * stepper/L6470.cpp
- * Stepper driver indirection for L6470 drivers
- */
-
-#include "../../inc/MarlinConfig.h"
-
-#if HAS_DRIVER(L6470)
-
-#include "L6470.h"
-
-#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
-
-// L6470 Stepper objects
-#if AXIS_DRIVER_TYPE_X(L6470)
-  _L6470_DEFINE(X);
-#endif
-#if AXIS_DRIVER_TYPE_X2(L6470)
-  _L6470_DEFINE(X2);
-#endif
-#if AXIS_DRIVER_TYPE_Y(L6470)
-  _L6470_DEFINE(Y);
-#endif
-#if AXIS_DRIVER_TYPE_Y2(L6470)
-  _L6470_DEFINE(Y2);
-#endif
-#if AXIS_DRIVER_TYPE_Z(L6470)
-  _L6470_DEFINE(Z);
-#endif
-#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
-#if AXIS_DRIVER_TYPE_E1(L6470)
-  _L6470_DEFINE(E1);
-#endif
-#if AXIS_DRIVER_TYPE_E2(L6470)
-  _L6470_DEFINE(E2);
-#endif
-#if AXIS_DRIVER_TYPE_E3(L6470)
-  _L6470_DEFINE(E3);
-#endif
-#if AXIS_DRIVER_TYPE_E4(L6470)
-  _L6470_DEFINE(E4);
-#endif
-#if AXIS_DRIVER_TYPE_E5(L6470)
-  _L6470_DEFINE(E5);
-#endif
-
-// not using L6470 library's init command because it
-// briefly sends power to the steppers
-
-#define _L6470_INIT_CHIP(Q) do{                             \
-  stepper##Q.resetDev();                                    \
-  stepper##Q.softFree();                                    \
-  stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1        \
-                                  | CONFIG_PWM_MUL_2        \
-                                  | CONFIG_SR_290V_us       \
-                                  | CONFIG_OC_SD_DISABLE    \
-                                  | CONFIG_VS_COMP_DISABLE  \
-                                  | CONFIG_SW_HARD_STOP     \
-                                  | CONFIG_INT_16MHZ);      \
-  stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF);                \
-  stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF);                \
-  stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF);                \
-  stepper##Q.setMicroSteps(Q##_MICROSTEPS);                 \
-  stepper##Q.setOverCurrent(Q##_OVERCURRENT);               \
-  stepper##Q.setStallCurrent(Q##_STALLCURRENT);             \
-  stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE);    \
-  stepper##Q.SetParam(L6470_ABS_POS, 0);                    \
-  stepper##Q.getStatus();                                   \
-}while(0)
-
-void L6470_Marlin::init_to_defaults() {
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    _L6470_INIT_CHIP(X);
-  #endif
-  #if AXIS_DRIVER_TYPE_X2(L6470)
-    _L6470_INIT_CHIP(X2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Y(L6470)
-    _L6470_INIT_CHIP(Y);
-  #endif
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
-    _L6470_INIT_CHIP(Y2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z(L6470)
-    _L6470_INIT_CHIP(Z);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
-    _L6470_INIT_CHIP(Z2);
-  #endif
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
-    _L6470_INIT_CHIP(Z3);
-  #endif
-  #if AXIS_DRIVER_TYPE_E0(L6470)
-    _L6470_INIT_CHIP(E0);
-  #endif
-  #if AXIS_DRIVER_TYPE_E1(L6470)
-    _L6470_INIT_CHIP(E1);
-  #endif
-  #if AXIS_DRIVER_TYPE_E2(L6470)
-    _L6470_INIT_CHIP(E2);
-  #endif
-  #if AXIS_DRIVER_TYPE_E3(L6470)
-    _L6470_INIT_CHIP(E3);
-  #endif
-  #if AXIS_DRIVER_TYPE_E4(L6470)
-    _L6470_INIT_CHIP(E4);
-  #endif
-  #if AXIS_DRIVER_TYPE_E5(L6470)
-    _L6470_INIT_CHIP(E5);
-  #endif
-}
-
-#endif // L6470

Marlin/src/module/stepper/L6470.h

-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-/**
- * stepper/L6470.h
- * Stepper driver indirection for L6470 drivers
- */
-
-#include "../../inc/MarlinConfig.h"
-#include "../../libs/L6470/L6470_Marlin.h"
-
-// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
-#define L6470_WRITE_DIR_COMMAND(STATE,Q) do{ L6470_dir_commands[Q] = (STATE ?  dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD); }while(0)
-
-// X Stepper
-#if AXIS_DRIVER_TYPE_X(L6470)
-  extern L6470 stepperX;
-  #define X_ENABLE_INIT NOOP
-  #define X_ENABLE_WRITE(STATE) NOOP
-  #define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ)
-  #define X_DIR_INIT NOOP
-  #define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
-  #define X_DIR_READ() (stepperX.getStatus() & STATUS_DIR)
-#endif
-
-// Y Stepper
-#if AXIS_DRIVER_TYPE_Y(L6470)
-  extern L6470 stepperY;
-  #define Y_ENABLE_INIT NOOP
-  #define Y_ENABLE_WRITE(STATE) NOOP
-  #define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ)
-  #define Y_DIR_INIT NOOP
-  #define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
-  #define Y_DIR_READ() (stepperY.getStatus() & STATUS_DIR)
-#endif
-
-// Z Stepper
-#if AXIS_DRIVER_TYPE_Z(L6470)
-  extern L6470 stepperZ;
-  #define Z_ENABLE_INIT NOOP
-  #define Z_ENABLE_WRITE(STATE) NOOP
-  #define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ)
-  #define Z_DIR_INIT NOOP
-  #define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
-  #define Z_DIR_READ() (stepperZ.getStatus() & STATUS_DIR)
-#endif
-
-// X2 Stepper
-#if HAS_X2_ENABLE && AXIS_DRIVER_TYPE_X2(L6470)
-  extern L6470 stepperX2;
-  #define X2_ENABLE_INIT NOOP
-  #define X2_ENABLE_WRITE(STATE) NOOP
-  #define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ)
-  #define X2_DIR_INIT NOOP
-  #define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
-  #define X2_DIR_READ() (stepperX2.getStatus() & STATUS_DIR)
-#endif
-
-// Y2 Stepper
-#if HAS_Y2_ENABLE && AXIS_DRIVER_TYPE_Y2(L6470)
-  extern L6470 stepperY2;
-  #define Y2_ENABLE_INIT NOOP
-  #define Y2_ENABLE_WRITE(STATE) NOOP
-  #define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ)
-  #define Y2_DIR_INIT NOOP
-  #define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
-  #define Y2_DIR_READ() (stepperY2.getStatus() & STATUS_DIR)
-#endif
-
-// Z2 Stepper
-#if HAS_Z2_ENABLE && AXIS_DRIVER_TYPE_Z2(L6470)
-  extern L6470 stepperZ2;
-  #define Z2_ENABLE_INIT NOOP
-  #define Z2_ENABLE_WRITE(STATE) NOOP
-  #define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ)
-  #define Z2_DIR_INIT NOOP
-  #define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
-  #define Z2_DIR_READ() (stepperZ2.getStatus() & STATUS_DIR)
-#endif
-
-// Z3 Stepper
-#if HAS_Z3_ENABLE && AXIS_DRIVER_TYPE_Z3(L6470)
-  extern L6470 stepperZ3;
-  #define Z3_ENABLE_INIT NOOP
-  #define Z3_ENABLE_WRITE(STATE) NOOP
-  #define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ)
-  #define Z3_DIR_INIT NOOP
-  #define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
-  #define Z3_DIR_READ() (stepperZ3.getStatus() & STATUS_DIR)
-#endif
-
-// E0 Stepper
-#if AXIS_DRIVER_TYPE_E0(L6470)
-  extern L6470 stepperE0;
-  #define E0_ENABLE_INIT NOOP
-  #define E0_ENABLE_WRITE(STATE) NOOP
-  #define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ)
-  #define E0_DIR_INIT NOOP
-  #define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
-  #define E0_DIR_READ() (stepperE0.getStatus() & STATUS_DIR)
-#endif
-
-// E1 Stepper
-#if AXIS_DRIVER_TYPE_E1(L6470)
-  extern L6470 stepperE1;
-  #define E1_ENABLE_INIT NOOP
-  #define E1_ENABLE_WRITE(STATE) NOOP
-  #define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ)
-  #define E1_DIR_INIT NOOP
-  #define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
-  #define E1_DIR_READ() (stepperE1.getStatus() & STATUS_DIR)
-#endif
-
-// E2 Stepper
-#if AXIS_DRIVER_TYPE_E2(L6470)
-  extern L6470 stepperE2;
-  #define E2_ENABLE_INIT NOOP
-  #define E2_ENABLE_WRITE(STATE) NOOP
-  #define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ)
-  #define E2_DIR_INIT NOOP
-  #define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
-  #define E2_DIR_READ() (stepperE2.getStatus() & STATUS_DIR)
-#endif
-
-// E3 Stepper
-#if AXIS_DRIVER_TYPE_E3(L6470)
-  extern L6470 stepperE3;
-  #define E3_ENABLE_INIT NOOP
-  #define E3_ENABLE_WRITE(STATE) NOOP
-  #define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ)
-  #define E3_DIR_INIT NOOP
-  #define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
-  #define E3_DIR_READ() (stepperE3.getStatus() & STATUS_DIR)
-#endif
-
-// E4 Stepper
-#if AXIS_DRIVER_TYPE_E4(L6470)
-  extern L6470 stepperE4;
-  #define E4_ENABLE_INIT NOOP
-  #define E4_ENABLE_WRITE(STATE) NOOP
-  #define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ)
-  #define E4_DIR_INIT NOOP
-  #define E4_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E4)
-  #define E4_DIR_READ() (stepperE4.getStatus() & STATUS_DIR)
-#endif
-
-// E5 Stepper
-#if AXIS_DRIVER_TYPE_E5(L6470)
-  extern L6470 stepperE5;
-  #define E5_ENABLE_INIT NOOP
-  #define E5_ENABLE_WRITE(STATE) NOOP
-  #define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ)
-  #define E5_DIR_INIT NOOP
-  #define E5_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E5)
-  #define E5_DIR_READ() (stepperE5.getStatus() & STATUS_DIR)
-#endif

Marlin/src/module/stepper/L64xx.cpp

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * stepper/L64xx.cpp
+ * Stepper driver indirection for L64XX drivers
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_L64XX
+
+#include "L64xx.h"
+
+#if AXIS_IS_L64XX(X)
+  L64XX_CLASS(X) stepperX(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(X2)
+  L64XX_CLASS(X2) stepperX2(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Y)
+  L64XX_CLASS(Y) stepperY(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Y2)
+  L64XX_CLASS(Y2) stepperY2(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Z)
+  L64XX_CLASS(Z) stepperZ(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Z2)
+  L64XX_CLASS(Z2) stepperZ2(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Z3)
+  L64XX_CLASS(Z3) stepperZ3(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E0)
+  L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E1)
+  L64XX_CLASS(E1) stepperE1(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E2)
+  L64XX_CLASS(E2) stepperE2(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E3)
+  L64XX_CLASS(E3) stepperE3(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E4)
+  L64XX_CLASS(E4) stepperE4(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E5)
+  L64XX_CLASS(E5) stepperE5(L6470_CHAIN_SS_PIN);
+#endif
+
+// Not using L64XX class init method because it
+// briefly sends power to the steppers
+
+inline void L6470_init_chip(L64XX &st, const int ms, const int oc, const int sc, const int mv, const int slew_rate) {
+  st.set_handlers(L64xxManager.spi_init, L64xxManager.transfer_single, L64xxManager.transfer_chain);  // specify which external SPI routines to use
+  switch (st.L6470_status_layout) {
+    case L6470_STATUS_LAYOUT: {
+      st.resetDev();
+      st.softFree();
+      st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
+      st.SetParam(L6470_KVAL_RUN, 0xFF);
+      st.SetParam(L6470_KVAL_ACC, 0xFF);
+      st.SetParam(L6470_KVAL_DEC, 0xFF);
+      st.setMicroSteps(ms);
+      st.setOverCurrent(oc);
+      st.setStallCurrent(sc);
+      st.SetParam(L6470_KVAL_HOLD, mv);
+      st.SetParam(L6470_ABS_POS, 0);
+      uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
+      config_temp &= ~CONFIG_POW_SR;
+      switch (slew_rate) {
+        case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
+        default:
+        case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
+        case 3:
+        case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
+      }
+      st.getStatus();
+      st.getStatus();
+      break;
+    }
+
+    case L6474_STATUS_LAYOUT: {
+      st.free();
+      //st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
+      //st.SetParam(L6474_TVAL, 0xFF);
+      st.setMicroSteps(ms);
+      st.setOverCurrent(oc);
+      st.setTVALCurrent(sc);
+      st.SetParam(L6470_ABS_POS, 0);
+      uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
+      config_temp &= ~CONFIG_POW_SR & ~CONFIG_EN_TQREG;  // clear out slew rate and set current to be controlled by TVAL register
+      switch (slew_rate) {
+        case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
+        default:
+        case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
+        case 3:
+        case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
+        //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_75V_us); break;
+        //default:
+        //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_110V_us); break;
+        //case 3:
+        //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_260V_us); break;
+
+        //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
+        //default:
+        //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
+        //case 3:
+        //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
+      }
+      st.getStatus();
+      st.getStatus();
+      break;
+    }
+
+    case L6480_STATUS_LAYOUT: {
+      st.resetDev();
+      st.softFree();
+      st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
+      st.SetParam(L6470_KVAL_RUN, 0xFF);
+      st.SetParam(L6470_KVAL_ACC, 0xFF);
+      st.SetParam(L6470_KVAL_DEC, 0xFF);
+      st.setMicroSteps(ms);
+      st.setOverCurrent(oc);
+      st.setStallCurrent(sc);
+      st.SetParam(+-L6470_KVAL_HOLD, mv);
+      st.SetParam(L6470_ABS_POS, 0);
+      st.SetParam(st.L64XX_CONFIG,(st.GetParam(st.L64XX_CONFIG) | PWR_VCC_7_5V));
+      st.getStatus();     // must clear out status bits before can set slew rate
+      st.getStatus();
+      switch (slew_rate) {
+        case 0: st.SetParam(L6470_GATECFG1, CONFIG1_SR_220V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_220V_us); break;
+        default:
+        case 1: st.SetParam(L6470_GATECFG1, CONFIG1_SR_400V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_400V_us); break;
+        case 2: st.SetParam(L6470_GATECFG1, CONFIG1_SR_520V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_520V_us); break;
+        case 3: st.SetParam(L6470_GATECFG1, CONFIG1_SR_980V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_980V_us); break;
+      }
+      break;
+    }
+  }
+}
+
+#define L6470_INIT_CHIP(Q) L6470_init_chip(stepper##Q, Q##_MICROSTEPS, Q##_OVERCURRENT, Q##_STALLCURRENT, Q##_MAX_VOLTAGE, Q##_SLEW_RATE)
+
+void L64XX_Marlin::init_to_defaults() {
+  #if AXIS_IS_L64XX(X)
+    L6470_INIT_CHIP(X);
+  #endif
+  #if AXIS_IS_L64XX(X2)
+    L6470_INIT_CHIP(X2);
+  #endif
+  #if AXIS_IS_L64XX(Y)
+    L6470_INIT_CHIP(Y);
+  #endif
+  #if AXIS_IS_L64XX(Y2)
+    L6470_INIT_CHIP(Y2);
+  #endif
+  #if AXIS_IS_L64XX(Z)
+    L6470_INIT_CHIP(Z);
+  #endif
+  #if AXIS_IS_L64XX(Z2)
+    L6470_INIT_CHIP(Z2);
+  #endif
+  #if AXIS_IS_L64XX(Z3)
+    L6470_INIT_CHIP(Z3);
+  #endif
+  #if AXIS_IS_L64XX(E0)
+    L6470_INIT_CHIP(E0);
+  #endif
+  #if AXIS_IS_L64XX(E1)
+    L6470_INIT_CHIP(E1);
+  #endif
+  #if AXIS_IS_L64XX(E2)
+    L6470_INIT_CHIP(E2);
+  #endif
+  #if AXIS_IS_L64XX(E3)
+    L6470_INIT_CHIP(E3);
+  #endif
+  #if AXIS_IS_L64XX(E4)
+    L6470_INIT_CHIP(E4);
+  #endif
+  #if AXIS_IS_L64XX(E5)
+    L6470_INIT_CHIP(E5);
+  #endif
+}
+
+#endif // HAS_L64XX

Marlin/src/module/stepper/L64xx.h

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * stepper/L64xx.h
+ * Stepper driver indirection for L64XX drivers
+ */
+
+#include "../../inc/MarlinConfig.h"
+#include "../../libs/L64XX/L64XX_Marlin.h"
+
+// Convert option names to L64XX classes
+#define CLASS_L6470       L6470
+#define CLASS_L6474       L6474
+#define CLASS_POWERSTEP01 powerSTEP01
+
+#define __L64XX_CLASS(TYPE) CLASS_##TYPE
+#define _L64XX_CLASS(TYPE)  __L64XX_CLASS(TYPE)
+#define L64XX_CLASS(ST)     _L64XX_CLASS(ST##_DRIVER_TYPE)
+
+#define L6474_DIR_WRITE(A,STATE) do{ L64xxManager.dir_commands[A] = dSPIN_L6474_ENABLE; WRITE(A##_DIR_PIN, STATE); }while(0)
+#define L64XX_DIR_WRITE(A,STATE) do{ L64xxManager.dir_commands[A] = (STATE) ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD; }while(0)
+
+// X Stepper
+#if AXIS_IS_L64XX(X)
+  extern L64XX_CLASS(X)         stepperX;
+  #define X_ENABLE_INIT         NOOP
+  #define X_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperX.free())
+  #define X_ENABLE_READ         (stepperX.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_X(L6474)
+    #define X_DIR_INIT          SET_OUTPUT(X_DIR_PIN)
+    #define X_DIR_WRITE(STATE)  L6474_DIR_WRITE(X, STATE)
+    #define X_DIR_READ          READ(X_DIR_PIN)
+  #else
+    #define X_DIR_INIT          NOOP
+    #define X_DIR_WRITE(STATE)  L64XX_DIR_WRITE(X, STATE)
+    #define X_DIR_READ          (stepper##X.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// Y Stepper
+#if AXIS_IS_L64XX(Y)
+  extern L64XX_CLASS(Y)         stepperY;
+  #define Y_ENABLE_INIT         NOOP
+  #define Y_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperY.free())
+  #define Y_ENABLE_READ         (stepperY.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_Y(L6474)
+    #define Y_DIR_INIT          SET_OUTPUT(Y_DIR_PIN)
+    #define Y_DIR_WRITE(STATE)  L6474_DIR_WRITE(Y, STATE)
+    #define Y_DIR_READ          READ(Y_DIR_PIN)
+  #else
+    #define Y_DIR_INIT          NOOP
+    #define Y_DIR_WRITE(STATE)  L64XX_DIR_WRITE(Y, STATE)
+    #define Y_DIR_READ          (stepper##Y.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// Z Stepper
+#if AXIS_IS_L64XX(Z)
+  extern L64XX_CLASS(Z)         stepperZ;
+  #define Z_ENABLE_INIT         NOOP
+  #define Z_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ.free())
+  #define Z_ENABLE_READ         (stepperZ.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_Z(L6474)
+    #define Z_DIR_INIT          SET_OUTPUT(Z_DIR_PIN)
+    #define Z_DIR_WRITE(STATE)  L6474_DIR_WRITE(Z, STATE)
+    #define Z_DIR_READ          READ(Z_DIR_PIN)
+  #else
+    #define Z_DIR_INIT          NOOP
+    #define Z_DIR_WRITE(STATE)  L64XX_DIR_WRITE(Z, STATE)
+    #define Z_DIR_READ          (stepper##Z.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// X2 Stepper
+#if HAS_X2_ENABLE && AXIS_IS_L64XX(X2)
+  extern L64XX_CLASS(X2)         stepperX2;
+  #define X2_ENABLE_INIT         NOOP
+  #define X2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperX2.free())
+  #define X2_ENABLE_READ         (stepperX2.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_X2(L6474)
+    #define X2_DIR_INIT          SET_OUTPUT(X2_DIR_PIN)
+    #define X2_DIR_WRITE(STATE)  L6474_DIR_WRITE(X2, STATE)
+    #define X2_DIR_READ          READ(X2_DIR_PIN)
+  #else
+    #define X2_DIR_INIT          NOOP
+    #define X2_DIR_WRITE(STATE)  L64XX_DIR_WRITE(X2, STATE)
+    #define X2_DIR_READ          (stepper##X2.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// Y2 Stepper
+#if HAS_Y2_ENABLE && AXIS_IS_L64XX(Y2)
+  extern L64XX_CLASS(Y2)         stepperY2;
+  #define Y2_ENABLE_INIT         NOOP
+  #define Y2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperY2.free())
+  #define Y2_ENABLE_READ         (stepperY2.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_Y2(L6474)
+    #define Y2_DIR_INIT          SET_OUTPUT(Y2_DIR_PIN)
+    #define Y2_DIR_WRITE(STATE)  L6474_DIR_WRITE(Y2, STATE)
+    #define Y2_DIR_READ          READ(Y2_DIR_PIN)
+  #else
+    #define Y2_DIR_INIT          NOOP
+    #define Y2_DIR_WRITE(STATE)  L64XX_DIR_WRITE(Y2, STATE)
+    #define Y2_DIR_READ          (stepper##Y2.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// Z2 Stepper
+#if HAS_Z2_ENABLE && AXIS_IS_L64XX(Z2)
+  extern L64XX_CLASS(Z2)         stepperZ2;
+  #define Z2_ENABLE_INIT         NOOP
+  #define Z2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ2.free())
+  #define Z2_ENABLE_READ         (stepperZ2.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_Z2(L6474)
+    #define Z2_DIR_INIT          SET_OUTPUT(Z2_DIR_PIN)
+    #define Z2_DIR_WRITE(STATE)  L6474_DIR_WRITE(Z2, STATE)
+    #define Z2_DIR_READ          READ(Z2_DIR_PIN)
+  #else
+    #define Z2_DIR_INIT          NOOP
+    #define Z2_DIR_WRITE(STATE)  L64XX_DIR_WRITE(Z2, STATE)
+    #define Z2_DIR_READ          (stepper##Z2.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// Z3 Stepper
+#if HAS_Z3_ENABLE && AXIS_IS_L64XX(Z3)
+  extern L64XX_CLASS(Z3)         stepperZ3;
+  #define Z3_ENABLE_INIT         NOOP
+  #define Z3_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ3.free())
+  #define Z3_ENABLE_READ         (stepperZ3.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_Z3(L6474)
+    #define Z3_DIR_INIT          SET_OUTPUT(Z3_DIR_PIN)
+    #define Z3_DIR_WRITE(STATE)  L6474_DIR_WRITE(Z3, STATE)
+    #define Z3_DIR_READ          READ(Z3_DIR_PIN)
+  #else
+    #define Z3_DIR_INIT          NOOP
+    #define Z3_DIR_WRITE(STATE)  L64XX_DIR_WRITE(Z3, STATE)
+    #define Z3_DIR_READ          (stepper##Z3.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// E0 Stepper
+#if AXIS_IS_L64XX(E0)
+  extern L64XX_CLASS(E0)         stepperE0;
+  #define E0_ENABLE_INIT         NOOP
+  #define E0_ENABLE_WRITE(STATE)  (STATE ? NOOP : stepperE0.free())
+  #define E0_ENABLE_READ         (stepperE0.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_E0(L6474)
+    #define E0_DIR_INIT          SET_OUTPUT(E0_DIR_PIN)
+    #define E0_DIR_WRITE(STATE)  L6474_DIR_WRITE(E0, STATE)
+    #define E0_DIR_READ          READ(E0_DIR_PIN)
+  #else
+    #define E0_DIR_INIT          NOOP
+    #define E0_DIR_WRITE(STATE)  L64XX_DIR_WRITE(E0, STATE)
+    #define E0_DIR_READ          (stepper##E0.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// E1 Stepper
+#if AXIS_IS_L64XX(E1)
+  extern L64XX_CLASS(E1)         stepperE1;
+  #define E1_ENABLE_INIT         NOOP
+  #define E1_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE1.free())
+  #define E1_ENABLE_READ         (stepperE1.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_E1(L6474)
+    #define E1_DIR_INIT          SET_OUTPUT(E1_DIR_PIN)
+    #define E1_DIR_WRITE(STATE)  L6474_DIR_WRITE(E1, STATE)
+    #define E1_DIR_READ          READ(E1_DIR_PIN)
+  #else
+    #define E1_DIR_INIT          NOOP
+    #define E1_DIR_WRITE(STATE)  L64XX_DIR_WRITE(E1, STATE)
+    #define E1_DIR_READ          (stepper##E1.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// E2 Stepper
+#if AXIS_IS_L64XX(E2)
+  extern L64XX_CLASS(E2)         stepperE2;
+  #define E2_ENABLE_INIT         NOOP
+  #define E2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE2.free())
+  #define E2_ENABLE_READ         (stepperE2.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_E2(L6474)
+    #define E2_DIR_INIT          SET_OUTPUT(E2_DIR_PIN)
+    #define E2_DIR_WRITE(STATE)  L6474_DIR_WRITE(E2, STATE)
+    #define E2_DIR_READ          READ(E2_DIR_PIN)
+  #else
+    #define E2_DIR_INIT          NOOP
+    #define E2_DIR_WRITE(STATE)  L64XX_DIR_WRITE(E2, STATE)
+    #define E2_DIR_READ          (stepper##E2.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// E3 Stepper
+#if AXIS_IS_L64XX(E3)
+  extern L64XX_CLASS(E3)         stepperE3;
+  #define E3_ENABLE_INIT         NOOP
+  #define E3_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE3.free())
+  #define E3_ENABLE_READ         (stepperE3.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_E3(L6474)
+    #define E3_DIR_INIT          SET_OUTPUT(E3_DIR_PIN)
+    #define E3_DIR_WRITE(STATE)  L6474_DIR_WRITE(E3, STATE)
+    #define E3_DIR_READ          READ(E3_DIR_PIN)
+  #else
+    #define E3_DIR_INIT          NOOP
+    #define E3_DIR_WRITE(STATE)  L64XX_DIR_WRITE(E3, STATE)
+    #define E3_DIR_READ          (stepper##E3.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// E4 Stepper
+#if AXIS_IS_L64XX(E4)
+  extern L64XX_CLASS(E4)         stepperE4;
+  #define E4_ENABLE_INIT         NOOP
+  #define E4_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE4.free())
+  #define E4_ENABLE_READ         (stepperE4.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_E4(L6474)
+    #define E4_DIR_INIT          SET_OUTPUT(E4_DIR_PIN)
+    #define E4_DIR_WRITE(STATE)  L6474_DIR_WRITE(E4, STATE)
+    #define E4_DIR_READ          READ(E4_DIR_PIN)
+  #else
+    #define E4_DIR_INIT          NOOP
+    #define E4_DIR_WRITE(STATE)  L64XX_DIR_WRITE(E4, STATE)
+    #define E4_DIR_READ          (stepper##E4.getStatus() & STATUS_DIR);
+  #endif
+#endif
+
+// E5 Stepper
+#if AXIS_IS_L64XX(E5)
+  extern L64XX_CLASS(E5)         stepperE5;
+  #define E5_ENABLE_INIT         NOOP
+  #define E5_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE5.free())
+  #define E5_ENABLE_READ         (stepperE5.getStatus() & STATUS_HIZ)
+  #if AXIS_DRIVER_TYPE_E5(L6474)
+    #define E5_DIR_INIT          SET_OUTPUT(E5_DIR_PIN)
+    #define E5_DIR_WRITE(STATE)  L6474_DIR_WRITE(E5, STATE)
+    #define E5_DIR_READ          READ(E5_DIR_PIN)
+  #else
+    #define E5_DIR_INIT          NOOP
+    #define E5_DIR_WRITE(STATE)  L64XX_DIR_WRITE(E5, STATE)
+    #define E5_DIR_READ          (stepper##E5.getStatus() & STATUS_DIR);
+  #endif
+#endif

Marlin/src/module/stepper/indirection.cpp

     tmc26x_init_to_defaults();
   #endif
 
-  #if HAS_DRIVER(L6470)
-    L6470.init_to_defaults();
+  #if HAS_L64XX
+    L64xxManager.init_to_defaults();
   #endif
 
   #if HAS_TRINAMIC

Marlin/src/module/stepper/indirection.h

 
 #include "../../inc/MarlinConfig.h"
 
-#if HAS_DRIVER(L6470)
-  #include "L6470.h"
+#if HAS_L64XX
+  #include "L64xx.h"
 #endif
 
 #if HAS_DRIVER(TMC26X)

buildroot/share/tests/megaatmega2560-tests

 # Delta Config (generic) + ABL bilinear + BLTOUCH
 use_example_configs delta/generic
 opt_set LCD_LANGUAGE cz
+opt_set X_DRIVER_TYPE L6470
+opt_set Y_DRIVER_TYPE L6470
+opt_set Z_DRIVER_TYPE L6470
+opt_add L6470_CHAIN_SCK_PIN  53
+opt_add L6470_CHAIN_MISO_PIN 49
+opt_add L6470_CHAIN_MOSI_PIN 40
+opt_add L6470_CHAIN_SS_PIN   42
+opt_add "ENABLE_RESET_L64XX_CHIPS(V) NOOP"
 opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER DELTA_CALIBRATION_MENU AUTO_BED_LEVELING_BILINEAR BLTOUCH
-exec_test $1 $2 "RAMPS | DELTA | RRD LCD | ABL Bilinear | BLTOUCH"
+exec_test $1 $2 "DELTA | L6470 | RRD LCD | ABL Bilinear | BLTOUCH"
 
 #
 # Delta Config (generic) + UBL + ALLEN_KEY + OLED_PANEL_TINYBOY2 + EEPROM_SETTINGS

config/default/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/default/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/3DFabXYZ/Migbot/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/3DFabXYZ/Migbot/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/ADIMLab/Gantry v1/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988

config/examples/ADIMLab/Gantry v1/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/ADIMLab/Gantry v2/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988

config/examples/ADIMLab/Gantry v2/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/AlephObjects/TAZ4/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/AlephObjects/TAZ4/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Alfawise/U20-bltouch/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988

config/examples/Alfawise/U20-bltouch/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Alfawise/U20/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988

config/examples/Alfawise/U20/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/AliExpress/CL-260/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/AliExpress/UM2pExt/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/AliExpress/UM2pExt/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Anet/A2/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Anet/A2/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Anet/A2plus/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Anet/A2plus/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Anet/A6/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Anet/A6/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Anet/A8/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Anet/A8/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Anet/A8plus/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988

config/examples/Anet/A8plus/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Anet/E10/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988

config/examples/Anet/E10/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Anet/E16/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988

config/examples/Anet/E16/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/AnyCubic/i3/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/AnyCubic/i3/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/ArmEd/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/ArmEd/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Artillery/Genius/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  TMC2100
 #define Y_DRIVER_TYPE  TMC2100

config/examples/Artillery/Genius/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Artillery/Sidewinder X1/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  TMC2100
 #define Y_DRIVER_TYPE  TMC2100

config/examples/Artillery/Sidewinder X1/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Azteeg/X5GT/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/BIBO/TouchX/cyclops/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/BIBO/TouchX/cyclops/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/BIBO/TouchX/default/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/BIBO/TouchX/default/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/BQ/Hephestos/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/BQ/Hephestos/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/BQ/Hephestos_2/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/BQ/Hephestos_2/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/BQ/WITBOX/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/BQ/WITBOX/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/BigTreeTech/SKR Mini E3 1.0/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  TMC2209
 #define Y_DRIVER_TYPE  TMC2209

config/examples/BigTreeTech/SKR Mini E3 1.0/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/BigTreeTech/SKR Mini E3 1.2/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  TMC2209
 #define Y_DRIVER_TYPE  TMC2209

config/examples/BigTreeTech/SKR Mini E3 1.2/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Cartesio/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Cartesio/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Creality/CR-10/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Creality/CR-10/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Creality/CR-10S/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Creality/CR-10S/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Creality/CR-10_5S/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Creality/CR-10_5S/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Creality/CR-10mini/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Creality/CR-10mini/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Creality/CR-20 Pro/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Creality/CR-20 Pro/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Creality/CR-20/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

config/examples/Creality/CR-20/Configuration_adv.h

 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * https://github.com/ameyer/Arduino-L6470
  *
  * Requires the following to be defined in your pins_YOUR_BOARD file
  *     L6470_CHAIN_MISO_PIN
  *     L6470_CHAIN_MOSI_PIN
  *     L6470_CHAIN_SS_PIN
- *     L6470_RESET_CHAIN_PIN  (optional)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
     #define X2_CHAIN_POS        -1
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
     #define Y_CHAIN_POS         -1
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
     #define Y2_CHAIN_POS        -1
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
     #define Z_CHAIN_POS         -1
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
     #define Z2_CHAIN_POS        -1
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
     #define Z3_CHAIN_POS        -1
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
     #define E0_CHAIN_POS        -1
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
     #define E1_CHAIN_POS        -1
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
     #define E2_CHAIN_POS        -1
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
     #define E3_CHAIN_POS        -1
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
     #define E4_CHAIN_POS        -1
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
     #define E5_CHAIN_POS        -1
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

config/examples/Creality/CR-8/Configuration.h

  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988