TMC2130 gcodes for live motor tunning:

TMC_SET_WAVE_X..E (linearity correction)
TMC_SET_CHOP_X..E (chopper configuration - 4 args - toff, hstr, hend, tbl)

Firmware/Marlin_main.cpp

@@ -3242,16 +3242,59 @@ void process_commands()
 	}
 	else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
 	{
-		if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_E"), 10) == 0)
+		if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
 		{
-			uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
-			tmc2130_set_wave(E_AXIS, 247, fac);
+			uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
+			axis = (axis == 'E')?3:(axis - 'X');
+			if (axis < 4)
+			{
+				uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
+				tmc2130_set_wave(axis, 247, fac);
+			}
+		}
+		else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
+		{
+			uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
+			axis = (axis == 'E')?3:(axis - 'X');
+			if (axis < 4)
+			{
+				uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
+				uint16_t res = tmc2130_get_res(axis);
+				tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
+			}
 		}
-		else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_E"), 10) == 0)
+		else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
 		{
-			uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
-			uint16_t res = tmc2130_get_res(E_AXIS);
-			tmc2130_goto_step(E_AXIS, step & (4*res - 1), 2, 1000, res);
+			uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
+			axis = (axis == 'E')?3:(axis - 'X');
+			if (axis < 4)
+			{
+				uint8_t chop0 = tmc2130_chopper_config[axis].toff;
+				uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
+				uint8_t chop2 = tmc2130_chopper_config[axis].hend;
+				uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
+				char* str_end = 0;
+				if (CMDBUFFER_CURRENT_STRING[14])
+				{
+					chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
+					if (str_end && *str_end)
+					{
+						chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
+						if (str_end && *str_end)
+						{
+							chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
+							if (str_end && *str_end)
+								chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
+						}
+					}
+				}
+				tmc2130_chopper_config[axis].toff = chop0;
+				tmc2130_chopper_config[axis].hstr = chop1 & 7;
+				tmc2130_chopper_config[axis].hend = chop2 & 15;
+				tmc2130_chopper_config[axis].tbl = chop3 & 3;
+				tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
+				//printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
+			}
 		}
 	}
 #endif //TMC2130

Firmware/tmc2130.cpp

@@ -62,6 +62,13 @@ uint8_t tmc2130_home_fsteps[2] = {48, 48};
 
 uint8_t tmc2130_wave_fac[4] = {0, 0, 0, 0};
 
+tmc2130_chopper_config_t tmc2130_chopper_config[4] = {
+	{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
+	{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
+	{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
+	{TMC2130_TOFF_E, 5, 1, 2, 0}
+};
+
 bool tmc2130_sg_stop_on_crash = true;
 uint8_t tmc2130_sg_diag_mask = 0x00;
 uint8_t tmc2130_sg_crash = 0;
@@ -418,13 +425,13 @@ void tmc2130_check_overtemp()
 void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
 {
 	uint8_t intpol = 1;
-	uint8_t toff = TMC2130_TOFF_XYZ; // toff = 3 (fchop = 27.778kHz)
-	uint8_t hstrt = 5; //initial 4, modified to 5
-	uint8_t hend = 1;
+	uint8_t toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
+	uint8_t hstrt = tmc2130_chopper_config[axis].hstr; //initial 4, modified to 5
+	uint8_t hend = tmc2130_chopper_config[axis].hend; //original value = 1
 	uint8_t fd3 = 0;
 	uint8_t rndtf = 0; //random off time
 	uint8_t chm = 0; //spreadCycle
-	uint8_t tbl = 2; //blanking time
+	uint8_t tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
 	if (axis == E_AXIS)
 	{
 #ifdef TMC2130_CNSTOFF_E
@@ -434,9 +441,11 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
 		hend = 0; //sine wave offset
 		chm = 1; // constant off time mod
 #endif //TMC2130_CNSTOFF_E
-		toff = TMC2130_TOFF_E; // toff = 3-5
+//		toff = TMC2130_TOFF_E; // toff = 3-5
 //		rndtf = 1;
 	}
+	DBG(_n("tmc2130_setup_chopper(axis=%hhd, mres=%hhd, curh=%hhd, curr=%hhd\n"), axis, mres, current_h, current_r);
+	DBG(_n(" toff=%hhd, hstr=%hhd, hend=%hhd, tbl=%hhd\n"), toff, hstrt, hend, tbl);
 	if (current_r <= 31)
 	{
 		tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0);
@@ -475,10 +484,7 @@ void tmc2130_print_currents()
 
 void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
 {
-	MYSERIAL.print("tmc2130_set_pwm_ampl ");
-	MYSERIAL.print((int)axis);
-	MYSERIAL.print(" ");
-	MYSERIAL.println((int)pwm_ampl);
+	DBG(_n("tmc2130_set_pwm_ampl(axis=%hhd, pwm_ampl=%hhd\n"), axis, pwm_ampl);
 	tmc2130_pwm_ampl[axis] = pwm_ampl;
 	if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
 		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
@@ -486,10 +492,7 @@ void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
 
 void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
 {
-	MYSERIAL.print("tmc2130_set_pwm_grad ");
-	MYSERIAL.print((int)axis);
-	MYSERIAL.print(" ");
-	MYSERIAL.println((int)pwm_grad);
+	DBG(_n("tmc2130_set_pwm_grad(axis=%hhd, pwm_grad=%hhd\n"), axis, pwm_grad);
 	tmc2130_pwm_grad[axis] = pwm_grad;
 	if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
 		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);

Firmware/tmc2130.h

@@ -36,6 +36,19 @@ extern uint8_t tmc2130_home_fsteps[2];
 
 extern uint8_t tmc2130_wave_fac[4];
 
+#pragma pack(push)
+#pragma pack(1)
+typedef struct
+{
+	uint8_t toff:4;
+	uint8_t hstr:3;
+	uint8_t hend:4;
+	uint8_t tbl:2;
+	uint8_t res:3;
+} tmc2130_chopper_config_t;
+#pragma pack(pop)
+
+extern tmc2130_chopper_config_t tmc2130_chopper_config[4];
 
 //initialize tmc2130
 extern void tmc2130_init();
@@ -55,6 +68,7 @@ extern void tmc2130_sg_meassure_start(uint8_t axis);
 //stop current stallguard meassuring and report result
 extern uint16_t tmc2130_sg_meassure_stop();
 
+extern void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
 
 //set holding current for any axis (M911)
 extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
@@ -80,6 +94,7 @@ extern bool tmc2130_wait_standstill_xy(int timeout);
 extern void tmc2130_eeprom_load_config();
 extern void tmc2130_eeprom_save_config();
 
+
 #pragma pack(push)
 #pragma pack(1)
 struct