Merge branch 'bugfix-2.1.x' into pr/26944

2025-11-18 10:25:09 -06:00
parent 09e336f78c 85b82e3ab6
commit ea2e832dc8
621 changed files with 13136 additions and 7101 deletions
@@ -38,14 +38,14 @@
    "platformio.platformio-ide",
    "marlinfirmware.auto-build",
    "editorconfig.editorconfig"
-  ],
+  ]

  // Use 'forwardPorts' to make a list of ports inside the container available locally.
-  // "forwardPorts": [],
+  // , "forwardPorts": []

  // Use 'postCreateCommand' to run commands after the container is created.
-  // "postCreateCommand": "pip3 install --user -r requirements.txt",
+  // , "postCreateCommand": "pip3 install --user -r requirements.txt"

  // Comment out connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root.
-  // "remoteUser": "vscode"
+  // , "remoteUser": "vscode"
 }
@@ -21,6 +21,7 @@ on:
    branches:
    - bugfix-2.1.x
    - 2.1.x
+    - release-*
    paths-ignore:
    - config/**
    - data/**
@@ -57,7 +58,7 @@ jobs:
        - at90usb1286_dfu

        # AVR Extended
-        - FYSETC_F6
+        - mega2560ext
        - melzi_optiboot
        - rambo
        - sanguino1284p
@@ -208,13 +209,6 @@ jobs:
        sudo apt-get install libsdl2-net-dev
        sudo apt-get install libglm-dev

-    - name: Checkout Configurations
-      uses: actions/checkout@v4
-      with:
-        repository: MarlinFirmware/Configurations
-        ref: ${{ env.CONFIG_BRANCH }}
-        path: ConfigurationsRepo
-
    - name: Run ${{ matrix.test-platform }} Tests
      run: |
        make tests-single-ci TEST_TARGET=${{ matrix.test-platform }}
@@ -9,14 +9,14 @@ name: CI - Validate boards.h
 on:
  pull_request:
    branches:
-    - bugfix-2.1.x
+      - bugfix-2.1.x
    paths:
-    - 'Marlin/src/core/boards.h'
+      - "Marlin/src/core/boards.h"
  push:
    branches:
-    - bugfix-2.1.x
+      - bugfix-2.1.x
    paths:
-    - 'Marlin/src/core/boards.h'
+      - "Marlin/src/core/boards.h"

 jobs:
  validate_pins_files:
@@ -26,23 +26,23 @@ jobs:
    runs-on: ubuntu-22.04

    steps:
-    - name: Check out the PR
-      uses: actions/checkout@v4
+      - name: Check out the PR
+        uses: actions/checkout@v4

-    - name: Cache pip
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-boards-v1
-        restore-keys: |
-          ${{ runner.os }}-pip-boards-
+      - name: Cache pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-validation-v1
+          restore-keys: |
+            ${{ runner.os }}-pip-validation-

-    - name: Select Python 3.9
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.9'
-        architecture: 'x64'
+      - name: Select Python 3.9
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.9"
+          architecture: "x64"

-    - name: Validate core/boards.h
-      run: |
-        make validate-boards -j
+      - name: Validate core/boards.h
+        run: |
+          make validate-boards -j
@@ -0,0 +1,40 @@
+#
+# ci-validate-lines.yml
+# Validate that all text files are unchanged by linesformat.py
+#
+
+name: CI - Validate Source Files
+
+on:
+  pull_request:
+    branches:
+      - bugfix-2.1.x
+      - 2.1.x
+  push:
+    branches:
+      - bugfix-2.1.x
+      - 2.1.x
+
+jobs:
+  validate_source_files:
+    name: Validate Source Files
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Check out the PR
+        uses: actions/checkout@v4
+
+      - name: Cache node_modules
+        uses: actions/cache@v4
+        with:
+          path: node_modules
+          key: ${{ runner.os }}-npm-lines-v1
+          restore-keys: |
+            ${{ runner.os }}-npm-lines-
+
+      - name: Validate text file formatting
+        run: |
+          npm install --save-dev prettier
+          make validate-lines -j
@@ -8,18 +8,18 @@ name: CI - Validate Pins Files
 on:
  pull_request:
    branches:
-    - bugfix-2.1.x
+      - bugfix-2.1.x
    # Cannot be enabled on 2.1.x until it contains the unit test framework
    #- 2.1.x
    paths:
-    - 'Marlin/src/pins/*/**'
+      - "Marlin/src/pins/*/**"
  push:
    branches:
-    - bugfix-2.1.x
+      - bugfix-2.1.x
    # Cannot be enabled on 2.1.x until it contains the unit test framework
    #- 2.1.x
    paths:
-    - 'Marlin/src/pins/*/**'
+      - "Marlin/src/pins/*/**"

 jobs:
  validate_pins_files:
@@ -29,23 +29,23 @@ jobs:
    runs-on: ubuntu-22.04

    steps:
-    - name: Check out the PR
-      uses: actions/checkout@v4
+      - name: Check out the PR
+        uses: actions/checkout@v4

-    - name: Cache pip
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-pins-v1
-        restore-keys: |
-          ${{ runner.os }}-pip-pins-
+      - name: Cache pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-validation-v1
+          restore-keys: |
+            ${{ runner.os }}-pip-validation-

-    - name: Select Python 3.9
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.9'
-        architecture: 'x64'
+      - name: Select Python 3.9
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.9"
+          architecture: "x64"

-    - name: Validate all pins files
-      run: |
-        make validate-pins -j
+      - name: Validate all pins files
+        run: |
+          make validate-pins -j
@@ -31,6 +31,11 @@ out-language/
 *.gen
 *.sublime-workspace

+# npm
+node_modules/
+package.json
+package-lock.json
+
 # OS
 applet/
 .DS_Store
@@ -0,0 +1,10 @@
+# Prettier Ignore file
+*.min.js
+web-ui/
+buildroot/share/PlatformIO/boards
+buildroot/share/PlatformIO/variants
+*.sublime-project
+*.sublime-syntax
+.github
+.vscode
+launch.json
@@ -4,10 +4,36 @@ CONTAINER_RT_OPTS := --rm -v $(PWD):/code -v platformio-cache:/root/.platformio
 CONTAINER_IMAGE := marlin-dev
 UNIT_TEST_CONFIG ?= default

+# Find a Python 3 interpreter
+ifeq ($(OS),Windows_NT)
+	# Windows: use `where` – fall back through the three common names
+	PYTHON := $(shell which python 2>nul || which python3 2>nul || which py 2>nul)
+	# Windows: Use cmd tools to find pins files
+	PINS_RAW := $(shell cmd //c "dir /s /b Marlin\src\pins\*.h 2>nul | findstr /r ".*Marlin\\\\src\\\\pins\\\\.*\\\\pins_.*\.h"")
+	PINS := $(subst \,/,$(PINS_RAW))
+else
+	# POSIX: use `command -v` – prefer python3 over python
+	PYTHON := $(shell command -v python3 2>/dev/null || command -v python 2>/dev/null)
+	# Unix/Linux: Use find command
+	PINS := $(shell find Marlin/src/pins -mindepth 2 -name 'pins_*.h')
+endif
+
+# Check that the found interpreter is Python 3
+# Error if there's no Python 3 available
+ifneq ($(strip $(PYTHON)),)
+	PYTHON_VERSION := $(shell $(PYTHON) -c "import sys; print(sys.version_info[0])" 2>/dev/null)
+	ifneq ($(PYTHON_VERSION),3)
+		$(error $(PYTHON) is not Python 3 – install a Python‑3.x interpreter or adjust your PATH)
+	endif
+else
+	$(error No Python executable found – install Python 3.x and make sure it is in your PATH)
+endif
+
 help:
 	@echo "Tasks for local development:"
 	@echo "make marlin                    : Build Marlin for the configured board"
 	@echo "make format-pins -j            : Reformat all pins files (-j for parallel execution)"
+	@echo "make validate-lines -j         : Validate line endings, fails on trailing whitespace, etc."
 	@echo "make validate-pins -j          : Validate all pins files, fails if any require reformatting"
 	@echo "make validate-boards -j        : Validate boards.h and pins.h for standards compliance"
 	@echo "make tests-single-ci           : Run a single test from inside the CI"
@@ -19,7 +45,7 @@ help:
 	@echo "make unit-test-single-local-docker : Run unit tests for a single config locally, using docker"
 	@echo "make unit-test-all-local       : Run all code tests locally"
 	@echo "make unit-test-all-local-docker : Run all code tests locally, using docker"
-	@echo "make setup-local-docker        : Setup local docker using buildx"
+	@echo "make setup-local-docker        : Setup local docker"
 	@echo ""
 	@echo "Options for testing:"
 	@echo "  TEST_TARGET          Set when running tests-single-*, to select the"
@@ -40,6 +66,9 @@ marlin:
 	./buildroot/bin/mftest -a
 .PHONY: marlin

+clean:
+	rm -rf .pio/build*
+
 tests-single-ci:
 	export GIT_RESET_HARD=true
 	$(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) PLATFORMIO_BUILD_FLAGS=-DGITHUB_ACTION
@@ -56,10 +85,10 @@ tests-single-local-docker:
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) make tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"

 tests-all-local:
-	@python -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "python -m pip install pyyaml"' && exit 1)
+	@$(PYTHON) -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "$(PYTHON) -m pip install pyyaml"' && exit 1)
 	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
-	  && for TEST_TARGET in $$(python $(SCRIPTS_DIR)/get_test_targets.py) ; do \
+	  && for TEST_TARGET in $$($(PYTHON) $(SCRIPTS_DIR)/get_test_targets.py) ; do \
 	    if [ "$$TEST_TARGET" = "linux_native" ] && [ "$$(uname)" = "Darwin" ]; then \
 	      echo "Skipping tests for $$TEST_TARGET on macOS" ; \
 	      continue ; \
@@ -87,27 +116,56 @@ unit-test-all-local-docker:
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS)  $(CONTAINER_IMAGE) make unit-test-all-local

-setup-local-docker:
-	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
+USERNAME := $(shell whoami)
+USER_ID  := $(shell id -u)
+GROUP_ID := $(shell id -g)

-PINS := $(shell find Marlin/src/pins -mindepth 2 -name '*.h')
+.PHONY: setup-local-docker setup-local-docker-old
+
+setup-local-docker:
+	@echo "Building marlin-dev Docker image..."
+	$(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) \
+	  --build-arg USERNAME=$(USERNAME) \
+	  --build-arg USER_ID=$(USER_ID) \
+	  --build-arg GROUP_ID=$(GROUP_ID) \
+	  -f docker/Dockerfile .
+	@echo
+	@echo "To run all tests in Docker:"
+	@echo "  make tests-all-local-docker"
+	@echo "To run a single test in Docker:"
+	@echo "  make tests-single-local-docker TEST_TARGET=mega2560"
+
+setup-local-docker-old:
+	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .

 .PHONY: $(PINS) format-pins validate-pins

 $(PINS): %:
-	@echo "Formatting $@"
-	@python $(SCRIPTS_DIR)/pinsformat.py $< $@
+	@echo "Formatting pins $@"
+	@$(PYTHON) $(SCRIPTS_DIR)/pinsformat.py $< $@

 format-pins: $(PINS)
+	@echo "Processed $(words $(PINS)) pins files"

 validate-pins: format-pins
 	@echo "Validating pins files"
 	@git diff --exit-code || (git status && echo "\nError: Pins files are not formatted correctly. Run \"make format-pins\" to fix.\n" && exit 1)

+.PHONY: format-lines validate-lines
+
+format-lines:
+	@echo "Formatting all sources"
+	@$(PYTHON) $(SCRIPTS_DIR)/linesformat.py buildroot
+	@$(PYTHON) $(SCRIPTS_DIR)/linesformat.py Marlin
+
+validate-lines:
+	@echo "Validating text formatting"
+	@npx prettier --check . --editorconfig --object-wrap preserve
+
 BOARDS_FILE := Marlin/src/core/boards.h

 .PHONY: validate-boards

 validate-boards:
 	@echo "Validating boards.h file"
-	@python $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)
+	@$(PYTHON) $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)
@@ -148,9 +148,9 @@
 * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100,
 *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
 *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
- *          TMC2240, TMC2240_STANDALONE, TMC2660, TMC2660_STANDALONE,
+ *          TMC2240, TMC2660, TMC2660_STANDALONE,
 *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2240', 'TMC2240_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2240', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
 */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988
@@ -305,6 +305,18 @@

 #endif

+/**
+ * Differential Extruder
+ *
+ * The X and E steppers work together to create a differential drive system.
+ * Simple  : E steps = X + E   ; X steps = X  (E drives a loop, X stays the same)
+ * Balanced: E steps = X + E/2 ; X steps = X - E/2  (Dual loop system)
+ */
+//#define DIFFERENTIAL_EXTRUDER
+#if ENABLED(DIFFERENTIAL_EXTRUDER)
+  //#define BALANCED_DIFFERENTIAL_EXTRUDER
+#endif
+
 /**
 * Switching Toolhead
 *
@@ -735,7 +747,12 @@
  //#define MPC_AUTOTUNE_MENU                         // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash)

  #define MPC_MAX 255                                 // (0..255) Current to nozzle while MPC is active.
-  #define MPC_HEATER_POWER { 40.0f }                  // (W) Heat cartridge powers.
+  #define MPC_HEATER_POWER { 40.0f }                  // (W) Nominal heat cartridge powers.
+  //#define MPC_PTC                                   // Hotend power changes with temperature (e.g., PTC heat cartridges).
+  #if ENABLED(MPC_PTC)
+    #define MPC_HEATER_ALPHA { 0.0028f }              // Temperature coefficient of resistance of the heat cartridges.
+    #define MPC_HEATER_REFTEMP { 20 }                 // (°C) Reference temperature for MPC_HEATER_POWER and MPC_HEATER_ALPHA.
+  #endif

  #define MPC_INCLUDE_FAN                             // Model the fan speed?

@@ -805,8 +822,8 @@

  // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
  // from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
-  #define DEFAULT_bedKp 10.00
-  #define DEFAULT_bedKi .023
+  #define DEFAULT_bedKp  10.00
+  #define DEFAULT_bedKi   0.023
  #define DEFAULT_bedKd 305.4

  // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
@@ -937,7 +954,7 @@
 * protect against a broken or disconnected thermistor wire.
 *
 * The issue: If a thermistor falls out, it will report the much lower
- * temperature of the air in the room, and the the firmware will keep
+ * temperature of the air in the room, and the firmware will keep
 * the heater on.
 *
 * If you get "Thermal Runaway" or "Heating failed" errors the
@@ -1048,7 +1065,8 @@
  // Delta radius and diagonal rod adjustments
  //#define DELTA_RADIUS_TRIM_TOWER       { 0.0, 0.0, 0.0 } // (mm)
  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 } // (mm)
-#endif
+
+#endif // DELTA

 // @section scara

@@ -1104,17 +1122,37 @@
  #define TPARA_LINKAGE_1 120     // (mm)
  #define TPARA_LINKAGE_2 120     // (mm)

-  // TPARA tower offset (position of Tower relative to bed zero position)
+  // Height of the Shoulder axis (pivot) relative to the tower floor
+  #define TPARA_SHOULDER_AXIS_HEIGHT 135.0     // (mm)
+
+  // The position of the last linkage relative to the robot arm origin
+  // (intersection of the base axis and floor) when at the home position
+  #define TPARA_ARM_X_HOME_POS  28.75  // (mm) Measured from shoulder axis to tool holder axis in home position
+  #define TPARA_ARM_Y_HOME_POS   0     // (mm)
+  #define TPARA_ARM_Z_HOME_POS 250.00  // (mm) Measured from tool holder axis to the floor
+
+  // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
  // This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
-  #define TPARA_OFFSET_X    0     // (mm)
-  #define TPARA_OFFSET_Y    0     // (mm)
-  #define TPARA_OFFSET_Z    0     // (mm)
+  #define TPARA_OFFSET_X    127.0     // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
+  #define TPARA_OFFSET_Y      0.0     // (mm)
+  #define TPARA_OFFSET_Z      0.0     // (mm)
+
+  // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
+  // (TCP: tool center/connection point) of the robot,
+  // the plane of measured offset must be alligned with home position plane
+  #define TPARA_TCP_OFFSET_X    27.0     // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
+  #define TPARA_TCP_OFFSET_Y     0.0     // (mm)
+  #define TPARA_TCP_OFFSET_Z   -65.0     // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0

  #define FEEDRATE_SCALING        // Convert XY feedrate from mm/s to degrees/s on the fly

  // Radius around the center where the arm cannot reach
-  #define MIDDLE_DEAD_ZONE_R   0  // (mm)
-#endif
+  // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
+  #define MIDDLE_DEAD_ZONE_R   100    // (mm)
+
+  // Max angle between L1 and L2
+  #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
+#endif // AXEL_TPARA

 // @section polar

@@ -1390,6 +1428,11 @@
 * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
 */
 //#define S_CURVE_ACCELERATION
+#if ENABLED(S_CURVE_ACCELERATION)
+  // Define to use 4th instead of 6th order motion curve
+  //#define S_CURVE_FACTOR 0.25    // Initial and final acceleration factor, ideally 0.1 to 0.4.
+                                   // Shouldn't generally require tuning.
+#endif

 //===========================================================================
 //============================= Z Probe Options =============================
@@ -1662,6 +1705,8 @@
  //#define PROBE_TOOLCHANGE_NO_MOVE  // Suppress motion on probe tool-change
 #endif

+//#define PROBE_WAKEUP_TIME_MS  30    // (ms) Time for the probe to wake up
+
 // Most probes should stay away from the edges of the bed, but
 // with NOZZLE_AS_PROBE this can be negative for a wider probing area.
 #define PROBING_MARGIN 10
@@ -3113,7 +3158,7 @@

 //
 // FYSETC variant of the MINI12864 graphic controller with SD support
-// https://wiki.fysetc.com/Mini12864_Panel/
+// https://wiki.fysetc.com/docs/Mini12864Panel
 //
 //#define FYSETC_MINI_12864_X_X    // Type C/D/E/F. No tunable RGB Backlight by default
 //#define FYSETC_MINI_12864_1_2    // Type C/D/E/F. Simple RGB Backlight (always on)
@@ -3463,6 +3508,7 @@
   * NOTOSANS  - Default font with anti-aliasing. Supports Latin Extended and non-Latin characters.
   * UNIFONT   - Lightweight font, no anti-aliasing. Supports Latin Extended and non-Latin characters.
   * HELVETICA - Lightweight font, no anti-aliasing. Supports Basic Latin (0x0020-0x007F) and Latin-1 Supplement (0x0080-0x00FF) characters only.
+   * :['NOTOSANS', 'UNIFONT', 'HELVETICA']
   */
  #define TFT_FONT  NOTOSANS

@@ -3472,6 +3518,7 @@
   * BLUE_MARLIN  - Default theme with 'midnight blue' background
   * BLACK_MARLIN - Theme with 'black' background
   * ANET_BLACK   - Theme used for Anet ET4/5
+   * :['BLUE_MARLIN', 'BLACK_MARLIN', 'ANET_BLACK']
   */
  #define TFT_THEME BLACK_MARLIN

@@ -3509,6 +3556,11 @@
 //#define DWIN_MARLINUI_PORTRAIT      // MarlinUI (portrait orientation)
 //#define DWIN_MARLINUI_LANDSCAPE     // MarlinUI (landscape orientation)

+#if ENABLED(DWIN_CREALITY_LCD)
+  //#define USE_STRING_HEADINGS       // Use string headings for Creality UI instead of images
+  //#define USE_STRING_TITLES         // Use string titles for Creality UI instead of images
+#endif
+
 //
 // Touch Screen Settings
 //
@@ -297,7 +297,7 @@
 * protect against a broken or disconnected thermistor wire.
 *
 * The issue: If a thermistor falls out, it will report the much lower
- * temperature of the air in the room, and the the firmware will keep
+ * temperature of the air in the room, and the firmware will keep
 * the heater on.
 *
 * The solution: Once the temperature reaches the target, start observing.
@@ -778,7 +778,7 @@

 // @section endstops

-// If you want endstops to stay on (by default) even when not homing
+// If you want endstops to stay on (by default) even when not homing,
 // enable this option. Override at any time with M120, M121.
 //#define ENDSTOPS_ALWAYS_ON_DEFAULT

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

 /**
 * Assisted Tramming
@@ -1128,67 +1143,73 @@

 /**
 * Fixed-time-based Motion Control -- BETA FEATURE
- * Enable/disable and set parameters with G-code M493.
+ * Enable/disable and set parameters with G-code M493 and M494.
 * See ft_types.h for named values used by FTM options.
 */
 //#define FT_MOTION
 #if ENABLED(FT_MOTION)
-  //#define FTM_IS_DEFAULT_MOTION                 // Use FT Motion as the factory default?
+  //#define FTM_IS_DEFAULT_MOTION               // Use FT Motion as the factory default?
+  //#define FT_MOTION_MENU                      // Provide a MarlinUI menu to set M493 and M494 parameters
+  //#define FTM_HOME_AND_PROBE                  // Use FT Motion for homing / probing. Disable if FT Motion breaks these functions.
+
  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
+
  #define FTM_DEFAULT_SHAPER_X      ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
+  #define FTM_SHAPING_DEFAULT_FREQ_X   37.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_X            0.1f    // Zeta used by input shapers for X axis
+  #define FTM_SHAPING_V_TOL_X           0.05f   // Vibration tolerance used by EI input shapers for X axis
+
  #define FTM_DEFAULT_SHAPER_Y      ftMotionShaper_NONE // Default shaper mode on Y axis
-  #define FTM_SHAPING_DEFAULT_FREQ_X   37.0f      // (Hz) Default peak frequency used by input shapers
-  #define FTM_SHAPING_DEFAULT_FREQ_Y   37.0f      // (Hz) Default peak frequency used by input shapers
-  #define FTM_LINEAR_ADV_DEFAULT_ENA   false      // Default linear advance enable (true) or disable (false)
-  #define FTM_LINEAR_ADV_DEFAULT_K      0.0f      // Default linear advance gain. (Acceleration-based scaling factor.)
-  #define FTM_SHAPING_ZETA_X            0.1f      // Zeta used by input shapers for X axis
-  #define FTM_SHAPING_ZETA_Y            0.1f      // Zeta used by input shapers for Y axis
+  #define FTM_SHAPING_DEFAULT_FREQ_Y   37.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_Y            0.1f    // Zeta used by input shapers for Y axis
+  #define FTM_SHAPING_V_TOL_Y           0.05f   // Vibration tolerance used by EI input shapers for Y axis

-  #define FTM_SHAPING_V_TOL_X           0.05f     // Vibration tolerance used by EI input shapers for X axis
-  #define FTM_SHAPING_V_TOL_Y           0.05f     // Vibration tolerance used by EI input shapers for Y axis
+  //#define FTM_SHAPER_Z                        // Include Z shaping support
+  #define FTM_DEFAULT_SHAPER_Z      ftMotionShaper_NONE // Default shaper mode on Z axis
+  #define FTM_SHAPING_DEFAULT_FREQ_Z   21.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_Z            0.03f   // Zeta used by input shapers for Z axis
+  #define FTM_SHAPING_V_TOL_Z           0.05f   // Vibration tolerance used by EI input shapers for Z axis

-  //#define FT_MOTION_MENU                        // Provide a MarlinUI menu to set M493 parameters
+  //#define FTM_SHAPER_E                        // Include E shaping support
+                                                // Required to synchronize extruder with XYZ (better quality)
+  #define FTM_DEFAULT_SHAPER_E      ftMotionShaper_NONE // Default shaper mode on Extruder axis
+  #define FTM_SHAPING_DEFAULT_FREQ_E   21.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_E            0.03f   // Zeta used by input shapers for E axis
+  #define FTM_SHAPING_V_TOL_E           0.05f   // Vibration tolerance used by EI input shapers for E axis
+
+  //#define FTM_RESONANCE_TEST                  // Sine sweep motion for resonance study
+
+  //#define FTM_SMOOTHING                       // Smoothing can reduce artifacts and make steppers quieter
+                                                // on sharp corners, but too much will round corners.
+  #if ENABLED(FTM_SMOOTHING)
+    #define FTM_MAX_SMOOTHING_TIME      0.10f   // (s) Maximum smoothing time. Higher values consume more RAM.
+                                                // Increase smoothing time to reduce jerky motion, ghosting and noises.
+    #define FTM_SMOOTHING_TIME_X        0.00f   // (s) Smoothing time for X axis. Zero means disabled.
+    #define FTM_SMOOTHING_TIME_Y        0.00f   // (s) Smoothing time for Y axis
+    #define FTM_SMOOTHING_TIME_Z        0.00f   // (s) Smoothing time for Z axis
+    #define FTM_SMOOTHING_TIME_E        0.02f   // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
+                                                //     smoothing acceleration peaks, which may also smooth curved surfaces.
+  #endif
+
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but uses less CPU.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)

  /**
   * Advanced configuration
   */
-  #define FTM_UNIFIED_BWS                         // DON'T DISABLE unless you use Ulendo FBS (not implemented)
-  #if ENABLED(FTM_UNIFIED_BWS)
-    #define FTM_BW_SIZE               100         // Unified Window and Batch size with a ratio of 2
-  #else
-    #define FTM_WINDOW_SIZE           200         // Custom Window size for trajectory generation needed by Ulendo FBS
-    #define FTM_BATCH_SIZE            100         // Custom Batch size for trajectory generation needed by Ulendo FBS
-  #endif
+  #define FTM_BUFFER_SIZE             128   // Window size for trajectory generation, must be a power of 2 (e.g 64, 128, 256, ...)
+                                            // The total buffered time in seconds is (FTM_BUFFER_SIZE/FTM_FS)
+  #define FTM_FS                     1000   // (Hz) Frequency for trajectory generation.
+  #define FTM_STEPPER_FS        2'000'000   // (Hz) Time resolution of stepper I/O update. Shouldn't affect CPU much (slower board testing needed)
+  #define FTM_MIN_SHAPE_FREQ           20   // (Hz) Minimum shaping frequency, lower consumes more RAM

-  #define FTM_FS                     1000         // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
-  #define FTM_TS                        0.001f    // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
-
-  #if DISABLED(COREXY)
-    #define FTM_STEPPER_FS          20000         // (Hz) Frequency for stepper I/O update
-
-    // Use this to adjust the time required to consume the command buffer.
-    // Try increasing this value if stepper motion is choppy.
-    #define FTM_STEPPERCMD_BUFF_SIZE 3000         // Size of the stepper command buffers
-
-  #else
-    // CoreXY motion needs a larger buffer size. These values are based on our testing.
-    #define FTM_STEPPER_FS          30000
-    #define FTM_STEPPERCMD_BUFF_SIZE 6000
-  #endif
-
-  #define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS)       // Interpolated stepper commands per unit time
-  #define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2)       // Comparison value used in interpolation algorithm
-  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
-
-  #define FTM_MIN_SHAPE_FREQ           10         // Minimum shaping frequency
-  #define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
-  #define FTM_ZMAX (FTM_RATIO * 2)                // Maximum delays for shaping functions (even numbers only!)
-                                                  // Calculate as:
-                                                  //   ZV       : FTM_RATIO / 2
-                                                  //   ZVD, MZV : FTM_RATIO
-                                                  //   2HEI     : FTM_RATIO * 3 / 2
-                                                  //   3HEI     : FTM_RATIO * 2
-#endif
+#endif // FT_MOTION

 /**
 * Input Shaping
@@ -1394,7 +1415,7 @@
 * Multi-stepping sends steps in bursts to reduce MCU usage for high step-rates.
 * This allows higher feedrates than the MCU could otherwise support.
 */
-#define MULTISTEPPING_LIMIT   16  //: [1, 2, 4, 8, 16, 32, 64, 128]
+#define MULTISTEPPING_LIMIT   16  // :[1, 2, 4, 8, 16, 32, 64, 128]

 /**
 * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
@@ -1607,7 +1628,7 @@
    #if HAS_MARLINUI_U8GLIB
      //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash.
    #endif
-    #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE, HAS_MARLINUI_HD44780)
+    #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE, HAS_MARLINUI_HD44780, HAS_GRAPHICAL_TFT)
      //#define SHOW_CUSTOM_BOOTSCREEN    // Show the bitmap in Marlin/_Bootscreen.h on startup.
    #endif
  #endif
@@ -1837,6 +1858,7 @@
    #define SDSORT_DYNAMIC_RAM false  // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use!
    #define SDSORT_CACHE_VFATS 2      // Maximum number of 13-byte VFAT entries to use for sorting.
                                      // Note: Only affects SCROLL_LONG_FILENAMES with SDSORT_CACHE_NAMES but not SDSORT_DYNAMIC_RAM.
+    #define SDSORT_QUICK       true   // Use Quick Sort as a sorting algorithm. Otherwise use Bubble Sort.
  #endif

  // Allow international symbols in long filenames. To display correctly, the
@@ -2347,13 +2369,17 @@
 * See https://marlinfw.org/docs/features/lin_advance.html for full instructions.
 */
 //#define LIN_ADVANCE
-#if ENABLED(LIN_ADVANCE)
+
+#if ANY(LIN_ADVANCE, FT_MOTION)
  #if ENABLED(DISTINCT_E_FACTORS)
-    #define ADVANCE_K { 0.22 }    // (mm) Compression length per 1mm/s extruder speed, per extruder
+    #define ADVANCE_K { 0.22 }    // (mm) Compression length per 1mm/s extruder speed, per extruder. Override with 'M900 T<tool> K<mm>'.
  #else
-    #define ADVANCE_K 0.22        // (mm) Compression length applying to all extruders
+    #define ADVANCE_K 0.22        // (mm) Compression length for all extruders. Override with 'M900 K<mm>'.
  #endif
-  //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with M900 L.
+  //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with 'M900 L'.
+#endif
+
+#if ENABLED(LIN_ADVANCE)
  //#define LA_DEBUG              // Print debug information to serial during operation. Disable for production use.
  //#define EXPERIMENTAL_I2S_LA   // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz.

@@ -2384,6 +2410,9 @@
 * For better results also enable ADAPTIVE_STEP_SMOOTHING.
 */
 //#define NONLINEAR_EXTRUSION
+#if ENABLED(NONLINEAR_EXTRUSION)
+  //#define NONLINEAR_EXTRUSION_DEFAULT_ON    // Enable if NLE should be ON by default
+#endif

 // @section leveling

@@ -3028,12 +3057,11 @@
  #define INTERPOLATE      true

  #if HAS_DRIVER(TMC2240)
-    #define TMC2240_CURRENT_RANGE   1   // RMS: { 0:'690mA', 1:'1410mA', 2:'2120mA', 3:'2110mA' }
-                                        // PEAK:{ 0:'1A', 1:'2A', 2:'3A', 3:'3A' }
-                                        // Determines max current. Lower is more internal current resolution. Higher runs cooler.
-    #define TMC2240_Rref        12000   // ('rref', 12000, minval=12000, maxval=60000)
-    #define TMC2240_SLOPE_CONTROL   0   // :{ 0:'100V/us', 1:'200V/us', 2:'400V/us', 3:'800V/us' }
-                                        // Lower is more silent. Higher runs cooler.
+    #define TMC2240_RREF        12000   // (Ω) 12000 .. 60000. (FLY TMC2240 = 12300)
+    // Max Current. Lower for more internal resolution. Raise to run cooler.
+    #define TMC2240_CURRENT_RANGE   1   // :{ 0:'RMS=690mA PEAK=1A', 1:'RMS=1410mA PEAK=2A', 2:'RMS=2120mA PEAK=3A', 3:'RMS=2110mA PEAK=3A' }
+    // Slope Control: Lower is more silent. Higher runs cooler.
+    #define TMC2240_SLOPE_CONTROL   0   // :{ 0:'100V/µs', 1:'200V/µs', 2:'400V/µs', 3:'800V/µs' }
  #endif

  #if AXIS_IS_TMC_CONFIG(X)
@@ -3464,7 +3492,7 @@
   * X/Y/Z_STALL_SENSITIVITY is the default stall threshold.
   * Use M914 X Y Z to set the stall threshold at runtime:
   *
-   *  Sensitivity  TMC2209/2240   Others
+   *  Sensitivity  TMC2209        Others
   *    HIGHEST        255         -64    (Too sensitive => False positive)
   *    LOWEST          0           63    (Too insensitive => No trigger)
   *
@@ -3483,7 +3511,7 @@
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

  #if ANY(SENSORLESS_HOMING, SENSORLESS_PROBING)
-    // TMC2209/2240: 0...255. TMC2130: -64...63
+    // TMC2209: 0...255. TMC2130: -64...63
    #define X_STALL_SENSITIVITY  8
    #define X2_STALL_SENSITIVITY X_STALL_SENSITIVITY
    #define Y_STALL_SENSITIVITY  8
@@ -3500,6 +3528,7 @@
    //#define W_STALL_SENSITIVITY  8
    //#define SPI_ENDSTOPS              // TMC2130, TMC2240, and TMC5160
    //#define IMPROVE_HOMING_RELIABILITY
+    //#define SENSORLESS_STALLGUARD_DELAY   0 // (ms) Delay to allow drivers to settle
  #endif

  // @section tmc/config
@@ -3987,7 +4016,7 @@
 #endif

 /**
- * M115 - Report capabilites. Disable to save ~1150 bytes of flash.
+ * M115 - Report capabilities. Disable to save ~1150 bytes of flash.
 *        Some hosts (and serial TFT displays) rely on this feature.
 */
 #define CAPABILITIES_REPORT
@@ -4062,13 +4091,17 @@
 /**
 * G-code Macros
 *
- * Add G-codes M810-M819 to define and run G-code macros.
- * Macros are not saved to EEPROM.
+ * Add G-codes M810-M819 to define and run G-code macros
+ * and M820 to report the current set of macros.
+ * Macros are not saved to EEPROM unless enabled below.
 */
 //#define GCODE_MACROS
 #if ENABLED(GCODE_MACROS)
  #define GCODE_MACROS_SLOTS       5  // Up to 10 may be used
  #define GCODE_MACROS_SLOT_SIZE  50  // Maximum length of a single macro
+  #if ENABLED(EEPROM_SETTINGS)
+    //#define GCODE_MACROS_IN_EEPROM  // Include macros in EEPROM
+  #endif
 #endif

 /**
@@ -4242,7 +4275,7 @@
  //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                            // steps per full revolution (motor steps/rev * microstepping)
  //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error correction.
  #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                            // printer will attempt to correct the error; errors
                                                            // smaller than this are ignored to minimize effects of
@@ -4674,6 +4707,11 @@
 //
 //#define PINS_DEBUGGING

+//
+// M265 - I2C Scanner
+//
+//#define I2C_SCANNER
+
 // Enable Tests that will run at startup and produce a report
 //#define MARLIN_TEST_BUILD

@@ -188,15 +188,15 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1033)
 else ifeq ($(HARDWARE_MOTHERBOARD),1034)

 # RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1035)
+else ifeq ($(HARDWARE_MOTHERBOARD),1040)
 # RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1036)
+else ifeq ($(HARDWARE_MOTHERBOARD),1041)
 # RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1)
-else ifeq ($(HARDWARE_MOTHERBOARD),1037)
+else ifeq ($(HARDWARE_MOTHERBOARD),1042)
 # RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan)
-else ifeq ($(HARDWARE_MOTHERBOARD),1038)
+else ifeq ($(HARDWARE_MOTHERBOARD),1043)
 # RAMPS 1.6+ (Power outputs: Spindle, Controller Fan)
-else ifeq ($(HARDWARE_MOTHERBOARD),1039)
+else ifeq ($(HARDWARE_MOTHERBOARD),1044)

 #
 # RAMPS Derivatives - ATmega1280, ATmega2560
@@ -286,59 +286,62 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1138)
 else ifeq ($(HARDWARE_MOTHERBOARD),1139)
 # Creality: CR10S, CR20, CR-X
 else ifeq ($(HARDWARE_MOTHERBOARD),1140)
-# Dagoma F5
+# Creality CR-10 V2, CR-10 V3
 else ifeq ($(HARDWARE_MOTHERBOARD),1141)
-# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
+# Dagoma F5
 else ifeq ($(HARDWARE_MOTHERBOARD),1142)
-# FYSETC F6 1.3
+# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
 else ifeq ($(HARDWARE_MOTHERBOARD),1143)
-# FYSETC F6 1.4
+# FYSETC F6 1.3
 else ifeq ($(HARDWARE_MOTHERBOARD),1144)
-# Wanhao Duplicator i3 Plus
+# FYSETC F6 1.4
 else ifeq ($(HARDWARE_MOTHERBOARD),1145)
-# VORON Design
+# Wanhao Duplicator i3 Plus
 else ifeq ($(HARDWARE_MOTHERBOARD),1146)
-# Tronxy TRONXY-V3-1.0
+# VORON Design
 else ifeq ($(HARDWARE_MOTHERBOARD),1147)
-# Z-Bolt X Series
+# Tronxy TRONXY-V3-1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1148)
-# TT OSCAR
+# Z-Bolt X Series
 else ifeq ($(HARDWARE_MOTHERBOARD),1149)
-# BIQU Tango V1
+# TT OSCAR
 else ifeq ($(HARDWARE_MOTHERBOARD),1150)
-# MKS GEN L V2
+# BIQU Tango V1
 else ifeq ($(HARDWARE_MOTHERBOARD),1151)
-# MKS GEN L V2.1
+# MKS GEN L V2
 else ifeq ($(HARDWARE_MOTHERBOARD),1152)
-# Copymaster 3D
+# MKS GEN L V2.1
 else ifeq ($(HARDWARE_MOTHERBOARD),1153)
-# Ortur 4
+# Copymaster 3D
 else ifeq ($(HARDWARE_MOTHERBOARD),1154)
-# Tenlog D3 Hero IDEX printer
+# Ortur 4
 else ifeq ($(HARDWARE_MOTHERBOARD),1155)
-# Tenlog D3, D5, D6 IDEX Printer
+# Tenlog D3 Hero IDEX printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1156)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
+# Tenlog D3, D5, D6 IDEX Printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1157)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1158)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1159)
-# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1160)
-# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
+# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1161)
-# Pxmalion Core I3
+# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1162)
-# Panowin Cutlass (as found in the Panowin F1)
+# Pxmalion Core I3
 else ifeq ($(HARDWARE_MOTHERBOARD),1163)
-# Kodama Bardo V1.x (as found in the Kodama Trinus)
+# Panowin Cutlass (as found in the Panowin F1)
 else ifeq ($(HARDWARE_MOTHERBOARD),1164)
-# XTLW MFF V1.0
+# Kodama Bardo V1.x (as found in the Kodama Trinus)
 else ifeq ($(HARDWARE_MOTHERBOARD),1165)
-# XTLW MFF V2.0
+# XTLW MFF V1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1166)
-
+# XTLW MFF V2.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1167)
+# E3D Rumba BigBox
+else ifeq ($(HARDWARE_MOTHERBOARD),1168)

 #
 # RAMBo and derivatives
@@ -407,32 +410,34 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1319)
 else ifeq ($(HARDWARE_MOTHERBOARD),1320)
 # Geeetech GT2560 Rev B for A20(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1321)
-# Einstart retrofit
-else ifeq ($(HARDWARE_MOTHERBOARD),1322)
-# Wanhao 0ne+ i3 Mini
-else ifeq ($(HARDWARE_MOTHERBOARD),1323)
-# Overlord/Overlord Pro
-else ifeq ($(HARDWARE_MOTHERBOARD),1324)
-# ADIMLab Gantry v1
-else ifeq ($(HARDWARE_MOTHERBOARD),1325)
-# ADIMLab Gantry v2
-else ifeq ($(HARDWARE_MOTHERBOARD),1326)
-# Leapfrog Xeed 2015
-else ifeq ($(HARDWARE_MOTHERBOARD),1327)
-# PICA Shield (original version)
-else ifeq ($(HARDWARE_MOTHERBOARD),1328)
-# PICA Shield (rev C or later)
-else ifeq ($(HARDWARE_MOTHERBOARD),1329)
-# Intamsys 4.0 (Funmat HT)
-else ifeq ($(HARDWARE_MOTHERBOARD),1330)
-# Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
-else ifeq ($(HARDWARE_MOTHERBOARD),1331)
-# Mega controller & Protoneer CNC Shield V3.00
-else ifeq ($(HARDWARE_MOTHERBOARD),1332)
-# WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
-else ifeq ($(HARDWARE_MOTHERBOARD),1333)
 # Geeetech GT2560 V4.1B for A10(M/T/D)
+else ifeq ($(HARDWARE_MOTHERBOARD),1322)
+# Einstart retrofit
+else ifeq ($(HARDWARE_MOTHERBOARD),1323)
+# Wanhao 0ne+ i3 Mini
+else ifeq ($(HARDWARE_MOTHERBOARD),1324)
+# Wanhao D9 MK2
+else ifeq ($(HARDWARE_MOTHERBOARD),1325)
+# Overlord/Overlord Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1326)
+# ADIMLab Gantry v1
+else ifeq ($(HARDWARE_MOTHERBOARD),1327)
+# ADIMLab Gantry v2
+else ifeq ($(HARDWARE_MOTHERBOARD),1328)
+# Leapfrog Xeed 2015
+else ifeq ($(HARDWARE_MOTHERBOARD),1329)
+# PICA Shield (original version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1330)
+# PICA Shield (rev C or later)
+else ifeq ($(HARDWARE_MOTHERBOARD),1331)
+# Intamsys 4.0 (Funmat HT)
+else ifeq ($(HARDWARE_MOTHERBOARD),1332)
+# Malyan M180 Mainboard Version 2
+else ifeq ($(HARDWARE_MOTHERBOARD),1333)
+# Mega controller & Protoneer CNC Shield V3.00
 else ifeq ($(HARDWARE_MOTHERBOARD),1334)
+# WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
+else ifeq ($(HARDWARE_MOTHERBOARD),1335)

 #
 # ATmega1281, ATmega2561
@@ -512,7 +517,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1511)
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
 # ZoneStar ZMIB V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1511)
+else ifeq ($(HARDWARE_MOTHERBOARD),1512)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
@@ -626,6 +631,10 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1707)
  MCU              ?= at90usb1286
  PROG_MCU         ?= usb1286

+#
+# SAM3X8E ARM Cortex-M3
+#
+
 # UltiMachine Archim1 (with DRV8825 drivers)
 else ifeq ($(HARDWARE_MOTHERBOARD),3023)
  HARDWARE_VARIANT ?= archim
@@ -41,7 +41,7 @@
 * here we define this default string as the date where the latest release
 * version was tagged.
 */
-//#define STRING_DISTRIBUTION_DATE "2025-05-27"
+//#define STRING_DISTRIBUTION_DATE "2025-11-18"

 /**
 * The protocol for communication to the host. Protocol indicates communication
@@ -86,13 +86,14 @@ heater_0_maxtemp                         = 275
 pidtemp                                  = on
 pid_k1                                   = 0.95
 pid_max                                  = 255
-pid_functional_range                     = 10
+pid_functional_range                     = 20

 default_kp                               = 22.20
 default_ki                               = 1.08
 default_kd                               = 114.00

 temp_sensor_bed                          = 1
+bed_check_interval                       = 5000
 bed_mintemp                              = 5
 bed_maxtemp                              = 150

@@ -163,18 +164,28 @@ min_steps_per_segment                    = 6
 default_minsegmenttime                   = 20000

 [config:basic]
+hotend_overshoot                         = 15
 bed_overshoot                            = 10
+max_bed_power                            = 255
+
 busy_while_heating                       = on
+host_keepalive_feature                   = on
 default_keepalive_interval               = 2
+printjob_timer_autostart                 = on
+
+jd_handle_small_segments                 = on
+validate_homing_endstops                 = on
+editable_steps_per_unit                  = on
+
 eeprom_boot_silent                       = on
 eeprom_chitchat                          = on
+
 endstoppullups                           = on
-extrude_maxlength                        = 200
+
+prevent_cold_extrusion                   = on
 extrude_mintemp                          = 170
-host_keepalive_feature                   = on
-hotend_overshoot                         = 15
-jd_handle_small_segments                 = on
-max_bed_power                            = 255
+prevent_lengthy_extrude                  = on
+extrude_maxlength                        = 200

 min_software_endstops                    = on
 max_software_endstops                    = on
@@ -195,21 +206,19 @@ preheat_2_temp_hotend                    = 240
 preheat_2_temp_bed                       = 110
 preheat_2_fan_speed                      = 0

-prevent_cold_extrusion                   = on
-prevent_lengthy_extrude                  = on
-printjob_timer_autostart                 = on
-
 temp_bed_hysteresis                      = 3
 temp_bed_residency_time                  = 10
 temp_bed_window                          = 1
 temp_residency_time                      = 10
 temp_window                              = 1
-validate_homing_endstops                 = on
-
-editable_steps_per_unit                  = on

 [config:advanced]
 arc_support                              = on
+min_arc_segment_mm                       = 0.1
+max_arc_segment_mm                       = 1.0
+min_circle_segments                      = 72
+n_arc_correction                         = 25
+
 auto_report_temperatures                 = on

 autotemp                                 = on
@@ -223,22 +232,23 @@ disable_idle_x                           = on
 disable_idle_y                           = on
 disable_idle_z                           = on
 disable_idle_e                           = on
+
 e0_auto_fan_pin                          = -1
+
 faster_gcode_parser                      = on
 debug_flags_gcode                        = on
+
 homing_bump_mm                           = { 5, 5, 2 }
-max_arc_segment_mm                       = 1.0
-min_arc_segment_mm                       = 0.1
-min_circle_segments                      = 72
-n_arc_correction                         = 25
-serial_overrun_protection                = on
+
 slowdown                                 = on
 slowdown_divisor                         = 2
-tx_buffer_size                           = 0
+multistepping_limit                      = 16

-bed_check_interval                       = 5000
-watch_bed_temp_increase                  = 2
-watch_bed_temp_period                    = 60
+serial_overrun_protection                = on
+tx_buffer_size                           = 0

 watch_temp_increase                      = 2
 watch_temp_period                        = 40
+
+watch_bed_temp_increase                  = 2
+watch_bed_temp_period                    = 60
@@ -241,7 +241,7 @@ uint8_t extDigitalRead(const int8_t pin) {
 *
 * DC values -1.0 to 1.0. Negative duty cycle inverts the pulse.
 */
-uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb, const float dcc) {
+uint16_t set_pwm_frequency_hz(const float hz, const float dca, const float dcb, const float dcc) {
  float count = 0;
  if (hz > 0 && (dca || dcb || dcc)) {
    count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
@@ -254,7 +254,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
    else                           { prescaler = 1;    SET_CS(5,    PRESCALER_1); }

    count /= float(prescaler);
-    const float pwm_top = round(count);   // Get the rounded count
+    const float pwm_top = roundf(count);   // Get the rounded count

    ICR5 = (uint16_t)pwm_top - 1;         // Subtract 1 for TOP
    OCR5A = pwm_top * ABS(dca);           // Update and scale DCs
@@ -280,7 +280,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250kHz
    OCR5A = OCR5B = OCR5C = 0;
  }
-  return round(count);
+  return roundf(count);
 }
 #endif

@@ -95,7 +95,7 @@
 /**
 * The Trinamic library includes SoftwareSerial.h, leading to a compile error.
 */
-#if ALL(HAS_TRINAMIC_CONFIG, ENDSTOP_INTERRUPTS_FEATURE)
+#if ALL(HAS_TMC_SW_SERIAL, ENDSTOP_INTERRUPTS_FEATURE)
  #error "TMCStepper includes SoftwareSerial.h which is incompatible with ENDSTOP_INTERRUPTS_FEATURE. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
 #endif

@@ -93,15 +93,15 @@ namespace AVRHelpers {
    typedef T type;
  };
  template <typename T>
-  struct voltype <T, 1u> {
+  struct voltype <T, 1U> {
    typedef uint8_t type;
  };
  template <typename T>
-  struct voltype <T, 2u> {
+  struct voltype <T, 2U> {
    typedef uint16_t type;
  };
  template <typename T>
-  struct voltype <T, 4u> {
+  struct voltype <T, 4U> {
    typedef uint32_t type;
  };

@@ -2007,7 +2007,7 @@ inline void _ATmega_resetperipherals() {

  #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__)
    _EEAR._EEAR = 0;
-    dwrite(_EEDR, (uint8_t)0u);
+    dwrite(_EEDR, (uint8_t)0U);
  #endif

  #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__)
@@ -28,7 +28,7 @@
 // ------------------------

 typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFU

 // ------------------------
 // Defines
@@ -111,8 +111,8 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
 * (otherwise, characters will be lost due to UART overflow).
 * Then: Stepper, Endstops, Temperature, and -finally- all others.
 */
-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

 #ifndef HAL_STEP_TIMER_ISR

@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL

 #define HAL_TIMER_PRESCALER    2
 #define HAL_TIMER_RATE         ((F_CPU) / (HAL_TIMER_PRESCALER))  // frequency of timers peripherals
@@ -127,4 +127,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }

-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -229,7 +229,7 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void);
 * - USB Device Controller (UDC) provides USB chapter 9 compliance
 * - USB Device Interface (UDI) provides USB Class compliance
 * - USB Device Driver (UDD) provides USB Driver for each Atmel MCU
-
+ *
 * Many USB Device applications can be implemented on Atmel MCU.
 * Atmel provides many application notes for different applications:
 * - AVR4900, provides general information about Device Stack
@@ -523,7 +523,7 @@ static bool udd_ep_interrupt(void);
 * \internal
 * \brief Function called by UOTGHS interrupt to manage USB Device interrupts
 *
- * USB Device interrupt events are splited in three parts:
+ * USB Device interrupt events are split in three parts:
 * - USB line events (SOF, reset, suspend, resume, wakeup)
 * - control endpoint events (setup reception, end of data transfer, underflow, overflow, stall)
 * - bulk/interrupt/isochronous endpoints events (end of data transfer)
@@ -1567,7 +1567,7 @@ static void udd_ctrl_out_received(void)
 							udd_ctrl_payload_buf_cnt))) {
 		// End of reception because it is a short packet
 		// Before send ZLP, call intermediate callback
-		// in case of data receiv generate a stall
+		// in case of data receive generate a stall
 		udd_g_ctrlreq.payload_size = udd_ctrl_payload_buf_cnt;
 		if (NULL != udd_g_ctrlreq.over_under_run) {
 			if (!udd_g_ctrlreq.over_under_run()) {
@@ -1808,7 +1808,7 @@ static void udd_ep_trans_done(udd_ep_id_t ep)
 	}

 	if (ptr_job->buf_cnt != ptr_job->buf_size) {
-		// Need to send or receiv other data
+		// Need to send or receive other data
 		next_trans = ptr_job->buf_size - ptr_job->buf_cnt;

 		if (UDD_ENDPOINT_MAX_TRANS < next_trans) {
@@ -242,12 +242,13 @@ void MarlinHAL::adc_init() {
  TERN_(HAS_TEMP_ADC_5,        adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
  TERN_(HAS_TEMP_ADC_6,        adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
  TERN_(HAS_TEMP_ADC_7,        adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_HEATED_BED,        adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_CHAMBER,      adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_PROBE,        adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_COOLER,       adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_BOARD,        adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
-  TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_BED,      adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_CHAMBER,  adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_PROBE,    adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_COOLER,   adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_BOARD,    adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_FILWIDTH_ADC,      adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_FILWIDTH2_ADC,     adc1_set_attenuation(get_channel(FILWIDTH2_PIN), ADC_ATTEN_11db));

  // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
  // That's why we're not setting it up here.
@@ -64,10 +64,10 @@
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&hal.spinlock)

 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
-#define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
-#define PWM_RESOLUTION   10u   // Default PWM bit resolution
-#define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
-#define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
+#define PWM_FREQUENCY  1000U   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+#define PWM_RESOLUTION   10U   // Default PWM bit resolution
+#define CHANNEL_MAX_NUM  15U   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
+#define MAX_PWM_IOPIN    33U   // hardware pwm pins < 34
 #ifndef MAX_EXPANDER_BITS
  #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
 #endif
@@ -35,7 +35,7 @@ Servo::Servo() {}

 int8_t Servo::attach(const int inPin) {
  if (inPin > 0) pin = inPin;
-  channel = get_pwm_channel(pin, 50u, 16u);
+  channel = get_pwm_channel(pin, 50U, 16U);
  return channel; // -1 if no PWM avail.
 }

@@ -78,8 +78,8 @@ void IRAM_ATTR timer_isr(void *para) {

 /**
 * Enable and initialize the timer
- * @param timer_num timer number to initialize
- * @param frequency frequency of the timer
+ * @param timer_num   timer number to initialize
+ * @param frequency   frequency of the timer
 */
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  const tTimerConfig timer = timer_config[timer_num];
@@ -30,7 +30,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
+#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL

 #ifndef MF_TIMER_STEP
  #define MF_TIMER_STEP         0  // Timer Index for Stepper
@@ -52,12 +52,12 @@ typedef uint64_t hal_timer_t;

 #if ENABLED(I2S_STEPPER_STREAM)
  #define STEPPER_TIMER_PRESCALE     1
-  #define STEPPER_TIMER_RATE         250000                           // 250khz, 4µs pulses of i2s word clock
+  #define STEPPER_TIMER_RATE         250'000                          // 250khz, 4µs pulses of i2s word clock
 #else
  #define STEPPER_TIMER_PRESCALE     40
  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)) // frequency of stepper timer, 2MHz
 #endif
-#define STEPPER_TIMER_TICKS_PER_US   ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_TICKS_PER_US   ((STEPPER_TIMER_RATE) / 1'000'000) // stepper timer ticks per µs

 #define STEP_TIMER_MIN_INTERVAL   8 // minimum time in µs between stepper interrupts

@@ -135,5 +135,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -53,12 +53,15 @@ uint16_t MarlinHAL::adc_result;

 // Initializes the Marlin HAL
 void MarlinHAL::init() {
+  // Ensure F_CPU is a constant expression.
+  // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
+  // So better safe than sorry here.
  constexpr unsigned int cpuFreq = F_CPU;
  UNUSED(cpuFreq);

-#if PIN_EXISTS(LED)
-  OUT_WRITE(LED_PIN, LOW);
-#endif
+  #if PIN_EXISTS(LED)
+    OUT_WRITE(LED_PIN, LOW);
+  #endif

  SetTimerInterruptPriorities();

@@ -3,6 +3,7 @@
 This HAL is eventually intended to act as the generic HAL for all GD32 chips using the MFL library.

 Currently it supports:
- * GD32F303RET6
+
+- GD32F303RET6

 Targeting the official [MFL Arduino Core](https://github.com/bnmguy/ArduinoCore_MFL).
@@ -73,7 +73,7 @@ public:
  // Interrupt handler
  void handle_interrupts();

-  // Varaible stored parameters
+  // Variable stored parameters
  auto get_scr(uint16_t rca, uint32_t* scr) -> SDIO_Error_Type;
  auto store_cid() -> SDIO_Error_Type;
  auto store_csd() -> SDIO_Error_Type;
@@ -26,4 +26,4 @@
 #define TS_TYPICAL_SLOPE  4.5

 // TODO: Implement voltage scaling (calibrated Vrefint) and ADC resolution scaling (when applicable)
-#define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) / 1000)) / ((TS_TYPICAL_SLOPE) / 1000) + TS_TYPICAL_TEMP)
+#define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) * 0.001f)) / ((TS_TYPICAL_SLOPE) * 0.001f) + TS_TYPICAL_TEMP)
@@ -141,5 +141,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_number, const
  }
 }

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -37,9 +37,9 @@ public:
  MarlinServo();

  /**
-   * @brief attach the pin to the servo, set pin mode, return channel number
-   * @param pin pin to attach to
-   * @return channel number, -1 if failed
+   * @brief attach   the pin to the servo, set pin mode, return channel number
+   * @param pin      pin to attach to
+   * @return         channel number, -1 if failed
   */
  int8_t attach(const pin_t apin);

@@ -53,7 +53,7 @@ bool PersistentStore::access_start() {
  int bytes_read = file.read(HAL_eeprom_data, MARLIN_EEPROM_SIZE);
  if (bytes_read < 0) return false;

-  for (; bytes_read < MARLIN_EEPROM_SIZE; bytes_read++)
+  for (; bytes_read < long(MARLIN_EEPROM_SIZE); bytes_read++)
    HAL_eeprom_data[bytes_read] = 0xFF;

  file.close();
@@ -35,19 +35,19 @@ Timer0 temp_timer(&TIMER02A_config, &Temp_Handler);
 */
 Timer0 step_timer(&TIMER02B_config, &Step_Handler);

-void HAL_timer_start(const timer_channel_t timer_num, const uint32_t frequency) {
-  if (timer_num == TEMP_TIMER_NUM) {
+void HAL_timer_start(const timer_channel_t timer_ch, const uint32_t frequency) {
+  if (timer_ch == MF_TIMER_TEMP) {
    CORE_DEBUG_PRINTF("HAL_timer_start: temp timer, f=%ld\n", long(frequency));
-    timer_num->start(frequency, TEMP_TIMER_PRESCALE);
-    timer_num->setCallbackPriority(TEMP_TIMER_PRIORITY);
+    timer_ch->start(frequency, TEMP_TIMER_PRESCALE);
+    timer_ch->setCallbackPriority(TEMP_TIMER_PRIORITY);
  }
-  else if (timer_num == STEP_TIMER_NUM) {
+  else if (timer_ch == MF_TIMER_STEP) {
    CORE_DEBUG_PRINTF("HAL_timer_start: step timer, f=%ld\n", long(frequency));
-    timer_num->start(frequency, STEPPER_TIMER_PRESCALE);
-    timer_num->setCallbackPriority(STEP_TIMER_PRIORITY);
+    timer_ch->start(frequency, STEPPER_TIMER_PRESCALE);
+    timer_ch->setCallbackPriority(STEP_TIMER_PRIORITY);
  }
  else {
-    CORE_ASSERT_FAIL("HAL_timer_start: invalid timer_num")
+    CORE_ASSERT_FAIL("HAL_timer_start: invalid timer_ch")
  }
 }

@@ -27,7 +27,7 @@
 //
 typedef Timer0 *timer_channel_t;
 typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFU

 //
 // Timer instances
@@ -49,80 +49,73 @@ extern Timer0 step_timer;
 * See https://github.com/MarlinFirmware/Marlin/pull/27099 for more information.
 *
 * NOTE: If the 'constexpr' requirement is ever lifted, TIMER0_BASE_FREQUENCY could
- * be used instead. Tho this would probably not make any noticable difference.
+ * be used instead. Tho this would probably not make any noticeable difference.
 */
 #define HAL_TIMER_RATE F_PCLK1

 // Temperature timer
-#define TEMP_TIMER_NUM        (&temp_timer)
+#define MF_TIMER_TEMP         (&temp_timer)
 #define TEMP_TIMER_PRIORITY   DDL_IRQ_PRIORITY_02
-#define TEMP_TIMER_PRESCALE     16UL          // 12.5MHz
+#define TEMP_TIMER_PRESCALE   16UL            // 12.5MHz
 #define TEMP_TIMER_RATE       1000            // 1kHz
 #define TEMP_TIMER_FREQUENCY  TEMP_TIMER_RATE // 1kHz also

 // Stepper timer
-#define STEP_TIMER_NUM         (&step_timer)
+#define MF_TIMER_STEP          (&step_timer)
 #define STEP_TIMER_PRIORITY    DDL_IRQ_PRIORITY_00  // Top priority, nothing else uses it
-#define STEPPER_TIMER_PRESCALE  16UL                // 12.5MHz
+#define STEPPER_TIMER_PRESCALE 16UL                 // 12.5MHz

 #define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)  // 50MHz / 16 = 3.125MHz
 #define STEPPER_TIMER_TICKS_PER_US (STEPPER_TIMER_RATE / 1000000UL)   // Integer 3

 // Pulse timer (== stepper timer)
-#define PULSE_TIMER_NUM           STEP_TIMER_NUM
+#define MF_TIMER_PULSE            MF_TIMER_STEP
 #define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US

-//
-// Channel aliases
-//
-#define MF_TIMER_TEMP   TEMP_TIMER_NUM
-#define MF_TIMER_STEP   STEP_TIMER_NUM
-#define MF_TIMER_PULSE  PULSE_TIMER_NUM
-
 //
 // HAL functions
 //
-void HAL_timer_start(const timer_channel_t timer_num, const uint32_t frequency);
+void HAL_timer_start(const timer_channel_t timer_ch, const uint32_t frequency);

 // Inlined since they are somewhat critical
 #define MARLIN_HAL_TIMER_INLINE_ATTR __attribute__((always_inline)) inline

-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_enable_interrupt(const timer_channel_t timer_num) {
-  timer_num->resume();
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_enable_interrupt(const timer_channel_t timer_ch) {
+  timer_ch->resume();
 }

-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_disable_interrupt(const timer_channel_t timer_num) {
-  timer_num->pause();
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_disable_interrupt(const timer_channel_t timer_ch) {
+  timer_ch->pause();
 }

-MARLIN_HAL_TIMER_INLINE_ATTR bool HAL_timer_interrupt_enabled(const timer_channel_t timer_num) {
-  return timer_num->isPaused();
+MARLIN_HAL_TIMER_INLINE_ATTR bool HAL_timer_interrupt_enabled(const timer_channel_t timer_ch) {
+  return timer_ch->isPaused();
 }

-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_set_compare(const timer_channel_t timer_num, const hal_timer_t compare) {
-  timer_num->setCompareValue(compare);
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_set_compare(const timer_channel_t timer_ch, const hal_timer_t compare) {
+  timer_ch->setCompareValue(compare);
 }

-MARLIN_HAL_TIMER_INLINE_ATTR hal_timer_t HAL_timer_get_count(const timer_channel_t timer_num) {
-  return timer_num->getCount();
+MARLIN_HAL_TIMER_INLINE_ATTR hal_timer_t HAL_timer_get_count(const timer_channel_t timer_ch) {
+  return timer_ch->getCount();
 }

-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_prologue(const timer_channel_t timer_num) {
-  timer_num->clearInterruptFlag();
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_prologue(const timer_channel_t timer_ch) {
+  timer_ch->clearInterruptFlag();
 }

-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_epilogue(const timer_channel_t timer_num) {}
+inline void HAL_timer_isr_epilogue(const timer_channel_t) {}

 //
 // HAL function aliases
 //
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)

-#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
-#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM);
+#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP);

 //
 // HAL ISR callbacks
@@ -131,8 +124,8 @@ void Step_Handler();
 void Temp_Handler();

 #ifndef HAL_STEP_TIMER_ISR
-#define HAL_STEP_TIMER_ISR() void Step_Handler()
+  #define HAL_STEP_TIMER_ISR() void Step_Handler()
 #endif
 #ifndef HAL_TEMP_TIMER_ISR
-#define HAL_TEMP_TIMER_ISR() void Temp_Handler()
+  #define HAL_TEMP_TIMER_ISR() void Temp_Handler()
 #endif
@@ -45,7 +45,7 @@ bool PersistentStore::access_start() {
  fseek(eeprom_file, 0L, SEEK_END);
  std::size_t file_size = ftell(eeprom_file);

-  if (file_size < MARLIN_EEPROM_SIZE) {
+  if (file_size < long(MARLIN_EEPROM_SIZE)) {
    memset(buffer + file_size, eeprom_erase_value, MARLIN_EEPROM_SIZE - file_size);
  }
  else {
@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL

 #define HAL_TIMER_RATE         ((SystemCoreClock) / 4)  // frequency of timers peripherals

@@ -93,5 +93,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -74,7 +74,7 @@ bool PersistentStore::access_start() {

  if (status == CMD_SUCCESS) {
    // sector is blank so nothing stored yet
-    for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = EEPROM_ERASE;
+    for (int i = 0; i < long(MARLIN_EEPROM_SIZE); i++) ram_eeprom[i] = EEPROM_ERASE;
    current_slot = EEPROM_SLOTS;
  }
  else {
@@ -82,7 +82,7 @@ bool PersistentStore::access_start() {
    current_slot = first_nblank_loc / (MARLIN_EEPROM_SIZE);
    uint8_t *eeprom_data = SLOT_ADDRESS(EEPROM_SECTOR, current_slot);
    // load current settings
-    for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = eeprom_data[i];
+    for (int i = 0; i < long(MARLIN_EEPROM_SIZE); i++) ram_eeprom[i] = eeprom_data[i];
  }
  eeprom_dirty = false;

@@ -29,6 +29,6 @@

 // LPC1768 boards seem to lose steps when saving to EEPROM during print (issue #20785)
 // TODO: Which other boards are incompatible?
-#if defined(MCU_LPC1768) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
+#if ALL(MCU_LPC1768, FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
  #define PRINTCOUNTER_SYNC
 #endif
@@ -57,7 +57,7 @@
 #define _HAL_TIMER_ISR(T)  __HAL_TIMER_ISR(T)

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL

 #define HAL_TIMER_RATE         ((F_CPU) / 4)  // frequency of timers peripherals

@@ -171,4 +171,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  }
 }

-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -27,7 +27,7 @@
 *
 * Couldn't just call exact copies because the overhead killed the LCD update speed
 * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
 */

 #ifdef TARGET_LPC1768
@@ -28,7 +28,7 @@
 *
 * Couldn't just call exact copies because the overhead killed the LCD update speed
 * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
 */

 void u8g_SetPinOutput(uint8_t internal_pin_number);
@@ -28,6 +28,8 @@
 #include "../shared/Marduino.h"
 #include <pinmapping.h>

+#define NO_COMPILE_TIME_PWM
+
 #define SET_DIR_INPUT(IO)     Gpio::setDir(IO, 1)
 #define SET_DIR_OUTPUT(IO)    Gpio::setDir(IO, 0)

@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL

 #define HAL_TIMER_RATE         ((SystemCoreClock) / 4)  // frequency of timers peripherals

@@ -52,11 +52,11 @@ typedef uint64_t hal_timer_t;
 #endif
 #define SYSTICK_TIMER_FREQUENCY 1000

-#define TEMP_TIMER_RATE        1000000
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_RATE        1'000'000
+#define TEMP_TIMER_FREQUENCY        1000 // temperature interrupt frequency

 #define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1'000'000) // stepper timer ticks per µs
 #define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)

 #define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
@@ -88,5 +88,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -27,7 +27,7 @@
 *
 * Couldn't just call exact copies because the overhead killed the LCD update speed
 * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
 */

 #ifdef __PLAT_NATIVE_SIM__
@@ -28,7 +28,7 @@
 *
 * Couldn't just call exact copies because the overhead killed the LCD update speed
 * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
 */

 #ifdef __cplusplus
@@ -71,13 +71,13 @@ static uint8_t SPI_speed = 0;

 static uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin) {
  for (uint8_t i = 0; i < 8; i++) {
-    WRITE_PIN(mosi_pin, !!(b & 0x80));
+    WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, LOW, HIGH));
    DELAY_CYCLES(SPI_SPEED);
-    WRITE_PIN(sck_pin, HIGH);
+    WRITE_PIN(mosi_pin, !!(b & 0x80));
    DELAY_CYCLES(SPI_SPEED);
    b <<= 1;
    if (miso_pin >= 0 && READ_PIN(miso_pin)) b |= 1;
-    WRITE_PIN(sck_pin, LOW);
+    WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, HIGH, LOW));
    DELAY_CYCLES(SPI_SPEED);
  }
  return b;
@@ -85,7 +85,7 @@ static uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck

 static uint8_t swSpiInit(const uint8_t spiRate, const pin_t sck_pin, const pin_t mosi_pin) {
  WRITE_PIN(mosi_pin, HIGH);
-  WRITE_PIN(sck_pin, LOW);
+  WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, HIGH, LOW));
  return spiRate;
 }

@@ -93,11 +93,11 @@ static void u8g_com_st7920_write_byte_sw_spi(uint8_t rs, uint8_t val) {
  static uint8_t rs_last_state = 255;
  if (rs != rs_last_state) {
    // Transfer Data (FA) or Command (F8)
-    swSpiTransfer(rs ? 0x0FA : 0x0F8, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
+    swSpiTransfer(rs ? 0xFA : 0xF8, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
    rs_last_state = rs;
    DELAY_US(40); // Give the controller time to process the data: 20 is bad, 30 is OK, 40 is safe
  }
-  swSpiTransfer(val & 0x0F0, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
+  swSpiTransfer(val & 0xF0, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
  swSpiTransfer(val << 4, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
 }

@@ -169,5 +169,32 @@ uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
  }
 #endif

+#if ENABLED(LIGHTWEIGHT_UI)
+
+  #define ST7920_CS()              { WRITE(LCD_PINS_RS, HIGH); }
+  #define ST7920_NCS()             { WRITE(LCD_PINS_RS, LOW); }
+  #define ST7920_SET_CMD()         { ST7920_SWSPI_SND_8BIT(0xF8); }
+  #define ST7920_SET_DAT()         { ST7920_SWSPI_SND_8BIT(0xFA); }
+  #define ST7920_WRITE_BYTE(a)     { ST7920_SWSPI_SND_8BIT((uint8_t)((a)&0xF0u)); ST7920_SWSPI_SND_8BIT((uint8_t)((a)<<4U)); }
+
+  #define ST7920_DAT(V) !!((V) & 0x80)
+
+  #define ST7920_SND_BIT(...) do{        \
+    WRITE(LCD_PINS_D4, LOW);             \
+    WRITE(LCD_PINS_EN, ST7920_DAT(val)); \
+    WRITE(LCD_PINS_D4, HIGH);            \
+    val <<= 1; }while(0);
+
+  void ST7920_SWSPI_SND_8BIT(uint8_t val) {
+    REPEAT(8, ST7920_SND_BIT);
+  }
+
+  void ST7920_cs()                          { ST7920_CS(); }
+  void ST7920_ncs()                         { ST7920_NCS(); }
+  void ST7920_set_cmd()                     { ST7920_SET_CMD(); }
+  void ST7920_set_dat()                     { ST7920_SET_DAT(); }
+  void ST7920_write_byte(const uint8_t val) { ST7920_WRITE_BYTE(val); }
+#endif // LIGHTWEIGHT_UI
+
 #endif // IS_U8GLIB_ST7920
 #endif // __PLAT_NATIVE_SIM__
@@ -127,7 +127,7 @@ uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck
 static uint8_t SPI_speed = 0;

 static uint8_t swSpiInit(const uint8_t spi_speed, const uint8_t clk_pin, const uint8_t mosi_pin) {
-    return spi_speed;
+  return spi_speed;
 }

 static void u8g_sw_spi_shift_out(uint8_t dataPin, uint8_t clockPin, uint8_t val) {
@@ -56,10 +56,10 @@ void MarlinHAL::init() {
  // Ensure F_CPU is a constant expression.
  // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
  // So better safe than sorry here.
-  constexpr int cpuFreq = F_CPU;
+  constexpr unsigned int cpuFreq = F_CPU;
  UNUSED(cpuFreq);

-  #if HAS_MEDIA && DISABLED(SDIO_SUPPORT) && PIN_EXISTS(SD_SS)
+  #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && PIN_EXISTS(SD_SS)
    OUT_WRITE(SD_SS_PIN, HIGH); // Try to set SD_SS_PIN inactive before any other SPI users start up
  #endif

@@ -112,7 +112,7 @@ void MarlinHAL::reboot() { watchdog_reboot(0, 0, 1); }

  void MarlinHAL::watchdog_init() {
    #if DISABLED(DISABLE_WATCHDOG_INIT)
-      static_assert(WDT_TIMEOUT_US > 1000, "WDT Timout is too small, aborting");
+      static_assert(WDT_TIMEOUT_US > 1000, "WDT Timeout is too small, aborting");
      watchdog_enable(WDT_TIMEOUT_US/1000, true);
    #endif
  }
@@ -41,9 +41,9 @@
 #define _HAL_TIMER_ISR(T)  __HAL_TIMER_ISR(T)

 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL

-#define HAL_TIMER_RATE         (1000000ull)  // fixed value as we use a microsecond timesource
+#define HAL_TIMER_RATE         (1'000'000ULL)  // fixed value as we use a microsecond timesource
 #ifndef MF_TIMER_STEP
  #define MF_TIMER_STEP        0  // Timer Index for Stepper
 #endif
@@ -86,10 +86,10 @@ typedef uint64_t hal_timer_t;
 //#define STEP_TIMER_PTR _HAL_TIMER(MF_TIMER_STEP)
 //#define TEMP_TIMER_PTR _HAL_TIMER(MF_TIMER_TEMP)

-extern alarm_pool_t* HAL_timer_pool_0;
-extern alarm_pool_t* HAL_timer_pool_1;
-extern alarm_pool_t* HAL_timer_pool_2;
-extern alarm_pool_t* HAL_timer_pool_3;
+extern alarm_pool_t *HAL_timer_pool_0;
+extern alarm_pool_t *HAL_timer_pool_1;
+extern alarm_pool_t *HAL_timer_pool_2;
+extern alarm_pool_t *HAL_timer_pool_3;

 extern struct repeating_timer HAL_timer_0;

@@ -120,28 +120,23 @@ void HAL_timer_stop(const uint8_t timer_num);

 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t compare) {

-  if (timer_num == MF_TIMER_STEP){
-    if (compare == HAL_TIMER_TYPE_MAX){
-       HAL_timer_stop(timer_num);
-       return;
-    }
+  if (timer_num == MF_TIMER_STEP && compare == HAL_TIMER_TYPE_MAX) {
+    HAL_timer_stop(timer_num);
+    return;
  }

- compare = compare *10; //Dirty fix, figure out a proper way
+ compare *= 10; // Dirty fix, figure out a proper way

  switch (timer_num) {
    case 0:
      alarm_pool_add_alarm_in_us(HAL_timer_pool_0, compare, HAL_timer_alarm_pool_0_callback, 0, false);
      break;
-
    case 1:
      alarm_pool_add_alarm_in_us(HAL_timer_pool_1, compare, HAL_timer_alarm_pool_1_callback, 0, false);
      break;
-
    case 2:
      alarm_pool_add_alarm_in_us(HAL_timer_pool_2, compare, HAL_timer_alarm_pool_2_callback, 0, false);
      break;
-
    case 3:
      alarm_pool_add_alarm_in_us(HAL_timer_pool_3, compare, HAL_timer_alarm_pool_3_callback, 0, false);
      break;
@@ -151,27 +146,20 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, hal_time
 FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
  return 0;
 }
-
 FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
  if (timer_num == MF_TIMER_STEP) return 0ull;
  return time_us_64();
 }

-
 FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) {
  HAL_timer_irq_en[timer_num] = 1;
 }
-
 FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) {
  HAL_timer_irq_en[timer_num] = 0;
 }
-
 FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
-  return HAL_timer_irq_en[timer_num]; //lucky coincidence that timer_num and rp2040 irq num matches
+  return HAL_timer_irq_en[timer_num]; // Lucky coincidence that timer_num and rp2040 IRQ num matches
 }

-FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
-  return;
-}
-
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -83,7 +83,7 @@ bool PersistentStore::access_start() {
  NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
  while (NVMCTRL->INTFLAG.bit.READY == 0) { }

-  PAGE_SIZE =  pow(2,3 + NVMCTRL->PARAM.bit.PSZ);
+  PAGE_SIZE =  POW(2, 3 + NVMCTRL->PARAM.bit.PSZ);
  ROW_SIZE= PAGE_SIZE * 4;
  /*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED;  // Buffered mode and segment reallocation active
  if (NVMCTRL->SEESTAT.bit.RLOCK)
@@ -165,7 +165,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
    tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt

    // TCn clock setup
-    GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0  | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ;
+    GCLK->CLKCTRL.reg = uint16_t(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0  | GCLK_CLKCTRL_ID(GCM_TC4_TC5));
    SYNC (GCLK->STATUS.bit.SYNCBUSY);

    tcReset(tc); // reset TC
@@ -176,7 +176,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
    tc->COUNT32.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ;
    //set prescaler
    //the clock normally counts at the GCLK_TC frequency, but we can set it to divide that frequency to slow it down
-    //you can use different prescaler divisons here like TC_CTRLA_PRESCALER_DIV1 to get a different range
+    //you can use different prescaler divisions here like TC_CTRLA_PRESCALER_DIV1 to get a different range
    tc->COUNT32.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; //it will divide GCLK_TC frequency by 1024
    //set the compare-capture register.
    //The counter will count up to this value (it's a 16bit counter so we use uint16_t)
@@ -33,7 +33,7 @@
 // --------------------------------------------------------------------------

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL

 #define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals

@@ -157,4 +157,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  }
 }

-#define HAL_timer_isr_epilogue(timer_num)
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -32,7 +32,7 @@
 *
 * Couldn't just call exact copies because the overhead killed the LCD update speed
 * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
 */

 #ifdef __SAMD21__
@@ -33,7 +33,7 @@
 *
 * Couldn't just call exact copies because the overhead killed the LCD update speed
 * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
 */

 void u8g_SetPinOutput(uint8_t internal_pin_number);
@@ -61,7 +61,8 @@
 #define GET_COOLER_ADC()            TERN(HAS_TEMP_ADC_COOLER,   PIN_TO_ADC(TEMP_COOLER_PIN),            -1)
 #define GET_BOARD_ADC()             TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),             -1)
 #define GET_SOC_ADC()               TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),             -1)
-#define GET_FILAMENT_WIDTH_ADC()    TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN),               -1)
+#define GET_FILAMENT_WIDTH_ADC()    TERN(HAS_FILWIDTH_ADC,      PIN_TO_ADC(FILWIDTH_PIN),               -1)
+#define GET_FILAMENT2_WIDTH_ADC()   TERN(HAS_FILWIDTH2_ADC,     PIN_TO_ADC(FILWIDTH2_PIN),              -1)
 #define GET_BUTTONS_ADC()           TERN(HAS_ADC_BUTTONS,       PIN_TO_ADC(ADC_KEYPAD_PIN),             -1)
 #define GET_JOY_ADC_X()             TERN(HAS_JOY_ADC_X,         PIN_TO_ADC(JOY_X_PIN),                  -1)
 #define GET_JOY_ADC_Y()             TERN(HAS_JOY_ADC_Y,         PIN_TO_ADC(JOY_Y_PIN),                  -1)
@@ -77,7 +78,7 @@
  || GET_PROBE_ADC() == n \
  || GET_COOLER_ADC() == n \
  || GET_BOARD_ADC() == n || GET_SOC_ADC() == n \
-  || GET_FILAMENT_WIDTH_ADC() == n \
+  || GET_FILAMENT_WIDTH_ADC() == n || GET_FILAMENT2_WIDTH_ADC() == n \
  || GET_BUTTONS_ADC() == n \
  || GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \
  || GET_POWERMON_ADC_CURRENT() == n || GET_POWERMON_ADC_VOLTS() == n \
@@ -146,6 +147,9 @@ enum ADCIndex {
  #if GET_FILAMENT_WIDTH_ADC() == 0
    FILWIDTH,
  #endif
+  #if GET_FILAMENT2_WIDTH_ADC() == 0
+    FILWIDTH2,
+  #endif
  #if GET_BUTTONS_ADC() == 0
    ADC_KEY,
  #endif
@@ -212,6 +216,9 @@ enum ADCIndex {
  #if GET_FILAMENT_WIDTH_ADC() == 1
    FILWIDTH,
  #endif
+  #if GET_FILAMENT2_WIDTH_ADC() == 1
+    FILWIDTH2,
+  #endif
  #if GET_BUTTONS_ADC() == 1
    ADC_KEY,
  #endif
@@ -334,6 +341,9 @@ enum ADCIndex {
    #if GET_FILAMENT_WIDTH_ADC() == 0
      FILWIDTH_PIN,
    #endif
+    #if GET_FILAMENT2_WIDTH_ADC() == 0
+      FILWIDTH2_PIN,
+    #endif
    #if GET_BUTTONS_ADC() == 0
      ADC_KEYPAD_PIN,
    #endif
@@ -400,6 +410,9 @@ enum ADCIndex {
    #if GET_FILAMENT_WIDTH_ADC() == 1
      FILWIDTH_PIN,
    #endif
+    #if GET_FILAMENT2_WIDTH_ADC() == 1
+      FILWIDTH2_PIN,
+    #endif
    #if GET_BUTTONS_ADC() == 1
      ADC_KEYPAD_PIN,
    #endif
@@ -471,6 +484,9 @@ enum ADCIndex {
      #if GET_FILAMENT_WIDTH_ADC() == 0
        { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
      #endif
+      #if GET_FILAMENT2_WIDTH_ADC() == 0
+        { PIN_TO_INPUTCTRL(FILWIDTH2_PIN) },
+      #endif
      #if GET_BUTTONS_ADC() == 0
        { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
      #endif
@@ -543,6 +559,9 @@ enum ADCIndex {
      #if GET_FILAMENT_WIDTH_ADC() == 1
        { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
      #endif
+      #if GET_FILAMENT2_WIDTH_ADC() == 1
+        { PIN_TO_INPUTCTRL(FILWIDTH2_PIN) },
+      #endif
      #if GET_BUTTONS_ADC() == 1
        { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
      #endif
@@ -32,7 +32,7 @@
 // --------------------------------------------------------------------------

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL

 #define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals

@@ -145,4 +145,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  }
 }

-#define HAL_timer_isr_epilogue(timer_num)
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -66,7 +66,7 @@ void MarlinHAL::init() {
  // Ensure F_CPU is a constant expression.
  // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
  // So better safe than sorry here.
-  constexpr int cpuFreq = F_CPU;
+  constexpr unsigned int cpuFreq = F_CPU;
  UNUSED(cpuFreq);

  #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && PIN_EXISTS(SD_SS)
@@ -114,7 +114,7 @@ void MarlinHAL::idletask() {
 void MarlinHAL::reboot() { NVIC_SystemReset(); }

 uint8_t MarlinHAL::get_reset_source() {
-  return
+  return (
    #ifdef RCC_FLAG_IWDGRST // Some sources may not exist...
      RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)  ? RST_WATCHDOG :
    #endif
@@ -134,7 +134,7 @@ uint8_t MarlinHAL::get_reset_source() {
      RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_PORRST)   ? RST_POWER_ON :
    #endif
    0
-  ;
+  );
 }

 void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
@@ -209,7 +209,7 @@ HAL_HardwareSerial::HAL_HardwareSerial(void *peripheral) {
    }
  #endif

-  else { // else get the pins of the first peripheral occurence in PinMap
+  else { // else get the pins of the first peripheral occurrence in PinMap
    _serial.pin_rx = pinmap_pin(peripheral, PinMap_UART_RX);
    _serial.pin_tx = pinmap_pin(peripheral, PinMap_UART_TX);
  }
@@ -3,9 +3,10 @@
 This HAL is intended to act as the generic STM32 HAL for all STM32 chips (The whole F, H and L family).

 Currently it supports:
- * STM32F0xx
- * STM32F1xx
- * STM32F4xx
- * STM32F7xx
+
+- STM32F0xx
+- STM32F1xx
+- STM32F4xx
+- STM32F7xx

 Targeting the official [Arduino STM32 Core](https://github.com/stm32duino/Arduino_Core_STM32).
@@ -39,8 +39,8 @@ static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM
 static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);

 // This must be called after the STM32 Servo class has initialized the timer.
-// It may only be needed after the first call to attach(), but it is possible
-// that is is necessary after every detach() call. To be safe this is currently
+// It may only be needed after the first call to attach(), but it's possible
+// that this is needed after every detach() call. To be safe this is currently
 // called after every call to attach().
 static void fixServoTimerInterruptPriority() {
  NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority);
@@ -125,13 +125,13 @@ bool PersistentStore::access_start() {
      }
      if (current_slot == -1) {
        // We didn't find anything, so we'll just initialize to empty
-        for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = EMPTY_UINT8;
+        for (int i = 0; i < long(MARLIN_EEPROM_SIZE); i++) ram_eeprom[i] = EMPTY_UINT8;
        current_slot = EEPROM_SLOTS;
      }
      else {
        // load current settings
        uint8_t *eeprom_data = (uint8_t *)SLOT_ADDRESS(current_slot);
-        for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = eeprom_data[i];
+        for (int i = 0; i < long(MARLIN_EEPROM_SIZE); i++) ram_eeprom[i] = eeprom_data[i];
        DEBUG_ECHOLNPGM("EEPROM loaded from slot ", current_slot, ".");
      }
      eeprom_data_written = false;
@@ -54,7 +54,7 @@ bool PersistentStore::access_start() {

  int bytes_read = file.read(HAL_eeprom_data, MARLIN_EEPROM_SIZE);
  if (bytes_read < 0) return false;
-  for (; bytes_read < MARLIN_EEPROM_SIZE; bytes_read++)
+  for (; bytes_read < long(MARLIN_EEPROM_SIZE); bytes_read++)
    HAL_eeprom_data[bytes_read] = 0xFF;
  file.close();
  return true;
@@ -29,6 +29,6 @@
 #endif

 // Some STM32F4 boards may lose steps when saving to EEPROM during print (PR #17946)
-#if defined(STM32F4xx) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
+#if ALL(STM32F4xx, FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
  #define PRINTCOUNTER_SYNC
 #endif
@@ -150,7 +150,7 @@ const XrefInfo pin_xref[] PROGMEM = {

 #ifndef M43_NEVER_TOUCH
  #define _M43_NEVER_TOUCH(x) WITHIN(x, 9, 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP)
-  #ifdef KILL_PIN
+  #if PIN_EXISTS(KILL)
    #define M43_NEVER_TOUCH(x) m43_never_touch(x)

    bool m43_never_touch(const pin_t index) {
@@ -341,6 +341,6 @@

 #elif defined(TS_TYPICAL_V) && defined(TS_TYPICAL_SLOPE) && defined(TS_TYPICAL_TEMP)

-  #define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) / 1000.0f)) / ((TS_TYPICAL_SLOPE) / 1000) + TS_TYPICAL_TEMP)
+  #define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) / 1000.0f)) / ((TS_TYPICAL_SLOPE) / 1000.0f) + TS_TYPICAL_TEMP)

 #endif
@@ -132,6 +132,9 @@ void TFT_FSMC::init() {
  DMAtx.Init.Priority             = DMA_PRIORITY_HIGH;

  LCD = (LCD_CONTROLLER_TypeDef *)controllerAddress;
+
+  DMAtx.Init.PeriphInc = DMA_PINC_DISABLE;
+  HAL_DMA_Init(&DMAtx);
 }

 uint32_t TFT_FSMC::getID() {
@@ -179,15 +182,19 @@ void TFT_FSMC::abort() {
 }

 void TFT_FSMC::transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t count) {
-  DMAtx.Init.PeriphInc = memoryIncrease;
-  HAL_DMA_Init(&DMAtx);
+  if (!__IS_DMA_CONFIGURED(&DMAtx) || DMAtx.Init.PeriphInc != memoryIncrease) {
+    DMAtx.Init.PeriphInc = memoryIncrease;
+    HAL_DMA_Init(&DMAtx);
+  }
  HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(LCD->RAM), count);
  TERN_(TFT_SHARED_IO, while (isBusy()));
 }

 void TFT_FSMC::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) {
-  DMAtx.Init.PeriphInc = memoryIncrease;
-  HAL_DMA_Init(&DMAtx);
+  if (!__IS_DMA_CONFIGURED(&DMAtx) || DMAtx.Init.PeriphInc != memoryIncrease) {
+    DMAtx.Init.PeriphInc = memoryIncrease;
+    HAL_DMA_Init(&DMAtx);
+  }
  dataTransferBegin();
  HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(LCD->RAM), count);
  HAL_DMA_PollForTransfer(&DMAtx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY);
@@ -49,7 +49,11 @@
  #define TOUCH_INT_PIN  -1
 #endif

-#define XPT2046_DFR_MODE        0x00
+#if PIN_EXISTS(TOUCH_INT)
+  #define XPT2046_DFR_MODE      0x00
+#else
+  #define XPT2046_DFR_MODE      0x01
+#endif
 #define XPT2046_SER_MODE        0x04
 #define XPT2046_CONTROL         0x80

@@ -116,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
  }
 }

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -30,3 +30,6 @@ uint8_t u8g_com_HAL_STM32_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, vo

 uint8_t u8g_com_stm32duino_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);  // See U8glib-HAL
 #define U8G_COM_HAL_HW_SPI_FN u8g_com_stm32duino_hw_spi_fn
+
+uint8_t u8g_com_stm32duino_ssd_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); // u8g_com_stm32duino_ssd_i2c.cpp
+#define U8G_COM_SSD_I2C_HAL   u8g_com_stm32duino_ssd_i2c_fn
@@ -0,0 +1,194 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * 2-Wire I2C COM Driver
+ *
+ * Handles both Hardware and Software I2C so any pins can be used as SDA and SLC.
+ * Wire library is used for Hardware I2C.
+ * SlowSoftWire is used for Software I2C.
+ *
+ * Wire / SoftWire library selection can be done automatically at runtime.
+ *
+ * SDA and SLC pins must be named DOGLCD_SDA_PIN, DOGLCD_SCL_PIN to distinguish
+ * from other I2C devices (e.g., EEPROM) that use I2C_SDA_PIN, I2C_SLC_PIN.
+ */
+#ifdef ARDUINO_ARCH_STM32
+
+#include "../../../inc/MarlinConfig.h"
+
+#if HAS_U8GLIB_I2C_OLED
+
+#include <U8glib-HAL.h>
+
+#if ENABLED(U8G_USES_HW_I2C)
+  #include <Wire.h>
+  #ifndef MASTER_ADDRESS
+    #define MASTER_ADDRESS 0x01
+  #endif
+#endif
+
+#if ENABLED(U8G_USES_SW_I2C)
+  #include <SlowSoftI2CMaster.h>
+  #include <SlowSoftWire.h>
+#endif
+
+/**
+ * BUFFER_LENGTH is defined in libraries\Wire\utility\WireBase.h
+ * Default value is 32
+ * Increase this value to 144 to send U8G_COM_MSG_WRITE_SEQ in single block
+ */
+#ifndef BUFFER_LENGTH
+  #define BUFFER_LENGTH 32
+#endif
+#if BUFFER_LENGTH > 144
+  #error "BUFFER_LENGTH should not be greater than 144."
+#endif
+#define I2C_MAX_LENGTH (BUFFER_LENGTH - 1)
+
+uint8_t u8g_com_stm32duino_ssd_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  // Hardware I2C flag
+  #ifdef COMPILE_TIME_I2C_IS_HARDWARE
+    constexpr bool isHardI2C = ENABLED(COMPILE_TIME_I2C_IS_HARDWARE);
+  #else
+    static bool isHardI2C = false;
+    static bool i2c_initialized = false;    // Flag to only run init/linking code once
+    if (!i2c_initialized) {                 // Init runtime linkages
+      i2c_initialized = true;               // Only do this once
+      I2C_TypeDef *i2cInstance1 = (I2C_TypeDef *)pinmap_peripheral(digitalPinToPinName(DOGLCD_SDA_PIN), PinMap_I2C_SDA);
+      I2C_TypeDef *i2cInstance2 = (I2C_TypeDef *)pinmap_peripheral(digitalPinToPinName(DOGLCD_SCL_PIN), PinMap_I2C_SCL);
+      isHardI2C = (i2cInstance1 && (i2cInstance1 == i2cInstance2)); // Found hardware I2C controller
+    }
+  #endif
+
+  static uint8_t msgInitCount = 0;          // Ignore all messages until 2nd U8G_COM_MSG_INIT
+  if (msgInitCount) {
+    if (msg == U8G_COM_MSG_INIT) msgInitCount--;
+    if (msgInitCount) return -1;
+  }
+
+  static uint8_t control;
+  if (isHardI2C) {                          // Found hardware I2C controller
+    #if ENABLED(U8G_USES_HW_I2C)
+      static TwoWire wire2;                 // A TwoWire object for use below
+      switch (msg) {
+        case U8G_COM_MSG_INIT:
+          wire2.setClock(400000);
+          wire2.setSCL(DOGLCD_SCL_PIN);
+          wire2.setSDA(DOGLCD_SDA_PIN);
+          wire2.begin(MASTER_ADDRESS, 0);   // Start as master
+          break;
+
+        case U8G_COM_MSG_ADDRESS:           // Define cmd (arg_val = 0) or data mode (arg_val = 1)
+          control = arg_val ? 0x40 : 0x00;
+          break;
+
+        case U8G_COM_MSG_WRITE_BYTE:
+          wire2.beginTransmission(0x3C);
+          wire2.write(control);
+          wire2.write(arg_val);
+          wire2.endTransmission();
+          break;
+
+        case U8G_COM_MSG_WRITE_SEQ: {
+          uint8_t* dataptr = (uint8_t*)arg_ptr;
+          #ifdef I2C_MAX_LENGTH
+            while (arg_val > 0) {
+              wire2.beginTransmission(0x3C);
+              wire2.write(control);
+              if (arg_val <= I2C_MAX_LENGTH) {
+                wire2.write(dataptr, arg_val);
+                arg_val = 0;
+              }
+              else {
+                wire2.write(dataptr, I2C_MAX_LENGTH);
+                arg_val -= I2C_MAX_LENGTH;
+                dataptr += I2C_MAX_LENGTH;
+              }
+              wire2.endTransmission();
+            }
+          #else
+            wire2.beginTransmission(0x3C);
+            wire2.write(control);
+            wire2.write(dataptr, arg_val);
+            wire2.endTransmission();
+          #endif // I2C_MAX_LENGTH
+          break;
+        }
+      }
+    #endif // U8G_USES_HW_I2C
+  }
+  else {    // Software I2C
+    #if ENABLED(U8G_USES_SW_I2C)
+      static SlowSoftWire sWire = SlowSoftWire(DOGLCD_SDA_PIN, DOGLCD_SCL_PIN);
+
+      switch (msg) {
+        case U8G_COM_MSG_INIT:
+          sWire.setClock(400000);
+          sWire.begin();                    // Start as master
+          break;
+
+        case U8G_COM_MSG_ADDRESS:           // Define cmd (arg_val = 0) or data mode (arg_val = 1)
+          control = arg_val ? 0x40 : 0x00;
+          break;
+
+        case U8G_COM_MSG_WRITE_BYTE:
+          sWire.beginTransmission((uint8_t)0x3C);
+          sWire.write((uint8_t)control);
+          sWire.write((uint8_t)arg_val);
+          sWire.endTransmission();
+          break;
+
+        case U8G_COM_MSG_WRITE_SEQ: {
+          uint8_t* dataptr = (uint8_t*)arg_ptr;
+          #ifdef I2C_MAX_LENGTH
+            while (arg_val > 0) {
+              sWire.beginTransmission((uint8_t)0x3C);
+              sWire.write((uint8_t)control);
+              if (arg_val <= I2C_MAX_LENGTH) {
+                sWire.write((const uint8_t *)dataptr, (size_t)arg_val);
+                arg_val = 0;
+              }
+              else {
+                sWire.write((const uint8_t *)dataptr, I2C_MAX_LENGTH);
+                arg_val -= I2C_MAX_LENGTH;
+                dataptr += I2C_MAX_LENGTH;
+              }
+              sWire.endTransmission();
+            }
+          #else
+            sWire.beginTransmission((uint8_t)0x3C);
+            sWire.write((uint8_t)control);
+            sWire.write((const uint8_t *)dataptr, (size_t)arg_val);
+            sWire.endTransmission();
+          #endif // I2C_MAX_LENGTH
+          break;
+        }
+      }
+    #endif // U8G_USES_SW_I2C
+  }
+
+  return 1;
+}
+
+#endif // HAS_U8GLIB_I2C_OLED
+#endif // ARDUINO_ARCH_STM32
@@ -131,30 +131,31 @@ uint16_t MarlinHAL::adc_result;

 #include <STM32ADC.h>

-// Init the AD in continuous capture mode
+// Init the ADC in continuous capture mode
 void MarlinHAL::adc_init() {
  static const uint8_t adc_pins[] = {
-    OPTITEM(HAS_TEMP_ADC_0, TEMP_0_PIN)
-    OPTITEM(HAS_TEMP_ADC_1, TEMP_1_PIN)
-    OPTITEM(HAS_TEMP_ADC_2, TEMP_2_PIN)
-    OPTITEM(HAS_TEMP_ADC_3, TEMP_3_PIN)
-    OPTITEM(HAS_TEMP_ADC_4, TEMP_4_PIN)
-    OPTITEM(HAS_TEMP_ADC_5, TEMP_5_PIN)
-    OPTITEM(HAS_TEMP_ADC_6, TEMP_6_PIN)
-    OPTITEM(HAS_TEMP_ADC_7, TEMP_7_PIN)
-    OPTITEM(HAS_HEATED_BED, TEMP_BED_PIN)
-    OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN)
-    OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN)
-    OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN)
-    OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN)
-    OPTITEM(HAS_TEMP_SOC, TEMP_SOC_PIN)
-    OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN)
-    OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN)
-    OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN)
-    OPTITEM(HAS_JOY_ADC_Y, JOY_Y_PIN)
-    OPTITEM(HAS_JOY_ADC_Z, JOY_Z_PIN)
-    OPTITEM(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN)
-    OPTITEM(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN)
+    OPTITEM(HAS_TEMP_ADC_0,         TEMP_0_PIN               )
+    OPTITEM(HAS_TEMP_ADC_1,         TEMP_1_PIN               )
+    OPTITEM(HAS_TEMP_ADC_2,         TEMP_2_PIN               )
+    OPTITEM(HAS_TEMP_ADC_3,         TEMP_3_PIN               )
+    OPTITEM(HAS_TEMP_ADC_4,         TEMP_4_PIN               )
+    OPTITEM(HAS_TEMP_ADC_5,         TEMP_5_PIN               )
+    OPTITEM(HAS_TEMP_ADC_6,         TEMP_6_PIN               )
+    OPTITEM(HAS_TEMP_ADC_7,         TEMP_7_PIN               )
+    OPTITEM(HAS_TEMP_ADC_BED,       TEMP_BED_PIN             )
+    OPTITEM(HAS_TEMP_ADC_CHAMBER,   TEMP_CHAMBER_PIN         )
+    OPTITEM(HAS_TEMP_ADC_PROBE,     TEMP_PROBE_PIN           )
+    OPTITEM(HAS_TEMP_ADC_COOLER,    TEMP_COOLER_PIN          )
+    OPTITEM(HAS_TEMP_ADC_BOARD,     TEMP_BOARD_PIN           )
+    OPTITEM(HAS_TEMP_ADC_SOC,       TEMP_SOC_PIN             )
+    OPTITEM(HAS_FILWIDTH_ADC,       FILWIDTH_PIN             )
+    OPTITEM(HAS_FILWIDTH2_ADC,      FILWIDTH2_PIN            )
+    OPTITEM(HAS_ADC_BUTTONS,        ADC_KEYPAD_PIN           )
+    OPTITEM(HAS_JOY_ADC_X,          JOY_X_PIN                )
+    OPTITEM(HAS_JOY_ADC_Y,          JOY_Y_PIN                )
+    OPTITEM(HAS_JOY_ADC_Z,          JOY_Z_PIN                )
+    OPTITEM(POWER_MONITOR_CURRENT,  POWER_MONITOR_CURRENT_PIN)
+    OPTITEM(POWER_MONITOR_VOLTAGE,  POWER_MONITOR_VOLTAGE_PIN)
  };
  static STM32ADC adc(ADC1);
  // Configure the ADC
@@ -175,27 +176,28 @@ void MarlinHAL::adc_start(const pin_t pin) {
  ADCIndex pin_index;
  switch (pin) {
    default: return;
-    _TCASE(HAS_TEMP_ADC_0,        TEMP_0_PIN,                TEMP_0)
-    _TCASE(HAS_TEMP_ADC_1,        TEMP_1_PIN,                TEMP_1)
-    _TCASE(HAS_TEMP_ADC_2,        TEMP_2_PIN,                TEMP_2)
-    _TCASE(HAS_TEMP_ADC_3,        TEMP_3_PIN,                TEMP_3)
-    _TCASE(HAS_TEMP_ADC_4,        TEMP_4_PIN,                TEMP_4)
-    _TCASE(HAS_TEMP_ADC_5,        TEMP_5_PIN,                TEMP_5)
-    _TCASE(HAS_TEMP_ADC_6,        TEMP_6_PIN,                TEMP_6)
-    _TCASE(HAS_TEMP_ADC_7,        TEMP_7_PIN,                TEMP_7)
-    _TCASE(HAS_HEATED_BED,        TEMP_BED_PIN,              TEMP_BED)
-    _TCASE(HAS_TEMP_CHAMBER,      TEMP_CHAMBER_PIN,          TEMP_CHAMBER)
-    _TCASE(HAS_TEMP_ADC_PROBE,    TEMP_PROBE_PIN,            TEMP_PROBE)
-    _TCASE(HAS_TEMP_COOLER,       TEMP_COOLER_PIN,           TEMP_COOLER)
-    _TCASE(HAS_TEMP_BOARD,        TEMP_BOARD_PIN,            TEMP_BOARD)
-    _TCASE(HAS_TEMP_SOC,          TEMP_SOC_PIN,              TEMP_SOC)
-    _TCASE(HAS_JOY_ADC_X,         JOY_X_PIN,                 JOY_X)
-    _TCASE(HAS_JOY_ADC_Y,         JOY_Y_PIN,                 JOY_Y)
-    _TCASE(HAS_JOY_ADC_Z,         JOY_Z_PIN,                 JOY_Z)
-    _TCASE(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN,              FILWIDTH)
-    _TCASE(HAS_ADC_BUTTONS,       ADC_KEYPAD_PIN,            ADC_KEY)
-    _TCASE(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN, POWERMON_CURRENT)
-    _TCASE(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN, POWERMON_VOLTAGE)
+    _TCASE(HAS_TEMP_ADC_0,         TEMP_0_PIN,                TEMP_0          )
+    _TCASE(HAS_TEMP_ADC_1,         TEMP_1_PIN,                TEMP_1          )
+    _TCASE(HAS_TEMP_ADC_2,         TEMP_2_PIN,                TEMP_2          )
+    _TCASE(HAS_TEMP_ADC_3,         TEMP_3_PIN,                TEMP_3          )
+    _TCASE(HAS_TEMP_ADC_4,         TEMP_4_PIN,                TEMP_4          )
+    _TCASE(HAS_TEMP_ADC_5,         TEMP_5_PIN,                TEMP_5          )
+    _TCASE(HAS_TEMP_ADC_6,         TEMP_6_PIN,                TEMP_6          )
+    _TCASE(HAS_TEMP_ADC_7,         TEMP_7_PIN,                TEMP_7          )
+    _TCASE(HAS_TEMP_ADC_BED,       TEMP_BED_PIN,              TEMP_BED        )
+    _TCASE(HAS_TEMP_ADC_CHAMBER,   TEMP_CHAMBER_PIN,          TEMP_CHAMBER    )
+    _TCASE(HAS_TEMP_ADC_PROBE,     TEMP_PROBE_PIN,            TEMP_PROBE      )
+    _TCASE(HAS_TEMP_ADC_COOLER,    TEMP_COOLER_PIN,           TEMP_COOLER     )
+    _TCASE(HAS_TEMP_ADC_BOARD,     TEMP_BOARD_PIN,            TEMP_BOARD      )
+    _TCASE(HAS_TEMP_ADC_SOC,       TEMP_SOC_PIN,              TEMP_SOC        )
+    _TCASE(HAS_FILWIDTH_ADC,       FILWIDTH_PIN,              FILWIDTH        )
+    _TCASE(HAS_FILWIDTH2_ADC,      FILWIDTH2_PIN,             FILWIDTH2       )
+    _TCASE(HAS_ADC_BUTTONS,        ADC_KEYPAD_PIN,            ADC_KEY         )
+    _TCASE(HAS_JOY_ADC_X,          JOY_X_PIN,                 JOY_X           )
+    _TCASE(HAS_JOY_ADC_Y,          JOY_Y_PIN,                 JOY_Y           )
+    _TCASE(HAS_JOY_ADC_Z,          JOY_Z_PIN,                 JOY_Z           )
+    _TCASE(POWER_MONITOR_CURRENT,  POWER_MONITOR_CURRENT_PIN, POWERMON_CURRENT)
+    _TCASE(POWER_MONITOR_VOLTAGE,  POWER_MONITOR_VOLTAGE_PIN, POWERMON_VOLTAGE)
  }
  adc_result = (adc_results[(int)pin_index] & 0xFFF) >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
 }
@@ -612,7 +612,7 @@ void ADC_DMA_init() {
 *        n32g452 - end
 ==============================================================================*/

-#define NS_PINRT(V...)       do{ SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR(V); }while(0)
+#define NS_PINRT(V...)       do{ SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(V); }while(0)

 // Init the AD in continuous capture mode
 void MarlinHAL::adc_init() {
@@ -622,7 +622,7 @@ void MarlinHAL::adc_init() {

  // GPIO settings
  reg_temp = ADC_RCC_APB2PCLKEN;
-  reg_temp |= 0x0f;                 // Make PORT mouth clock
+  reg_temp |= 0x0F;                 // Make PORT mouth clock
  ADC_RCC_APB2PCLKEN = reg_temp;

  //reg_temp = NS_GPIOC_PL_CFG;
@@ -800,7 +800,7 @@ void ADC_StartCalibration(ADC_Module* NS_ADCx);
 void ADC_EnableDMA(ADC_Module* NS_ADCx, uint32_t Cmd);

 /**================================================================
- *        Configure ADC interrupt enable enable
+ *        Configure ADC interrupt enable
 ================================================================*/
 void ADC_ConfigInt(ADC_Module* NS_ADCx, uint16_t ADC_IT, uint32_t Cmd);

@@ -92,7 +92,7 @@ void install_min_serial() {
  HAL_min_serial_out = &TX;
 }

-#if DISABLED(DYNAMIC_VECTORTABLE) && DISABLED(STM32F0xx) // Cortex M0 can't branch to a symbol that's too far, so we have a specific hack for them
+#if NONE(DYNAMIC_VECTORTABLE, STM32F0xx) // Cortex M0 can't branch to a symbol that's too far, so we have a specific hack for them
 extern "C" {
  __attribute__((naked)) void JumpHandler_ASM() {
    __asm__ __volatile__ (
@@ -5,6 +5,7 @@ This HAL is for STM32F103 boards used with [Arduino STM32](https://github.com/ro
 Currently has been tested in Malyan M200 (103CBT6), SKRmini (103RCT6), Chitu 3d (103ZET6), and various 103VET6 boards.

 ### Main developers:
+
 - Victorpv
 - xC000005
 - thisiskeithb
@@ -33,12 +33,14 @@
 #include <stdint.h>
 #include <wirish.h>

+#include "../../core/macros.h"  // for PIN_EXISTS
+
 // Number of SPI ports
-#ifdef BOARD_SPI3_SCK_PIN
+#if PIN_EXISTS(BOARD_SPI3_SCK)
  #define BOARD_NR_SPI 3
-#elif defined(BOARD_SPI2_SCK_PIN)
+#elif PIN_EXISTS(BOARD_SPI2_SCK)
  #define BOARD_NR_SPI 2
-#elif defined(BOARD_SPI1_SCK_PIN)
+#elif PIN_EXISTS(BOARD_SPI1_SCK)
  #define BOARD_NR_SPI 1
 #endif

@@ -44,7 +44,8 @@ enum ADCIndex : uint8_t {
  OPTITEM(HAS_TEMP_ADC_COOLER,   TEMP_COOLER      )
  OPTITEM(HAS_TEMP_ADC_BOARD,    TEMP_BOARD       )
  OPTITEM(HAS_TEMP_ADC_SOC,      TEMP_SOC         )
-  OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH         )
+  OPTITEM(HAS_FILWIDTH_ADC,      FILWIDTH         )
+  OPTITEM(HAS_FILWIDTH2_ADC,     FILWIDTH2        )
  OPTITEM(HAS_ADC_BUTTONS,       ADC_KEY          )
  OPTITEM(HAS_JOY_ADC_X,         JOY_X            )
  OPTITEM(HAS_JOY_ADC_Y,         JOY_Y            )
@@ -47,14 +47,14 @@ static uint8_t ram_eeprom[MARLIN_EEPROM_SIZE] __attribute__((aligned(4))) = {0};
 static bool eeprom_dirty = false;

 bool PersistentStore::access_start() {
-  const uint32_t *source = reinterpret_cast<const uint32_t*>(EEPROM_PAGE0_BASE);
-  uint32_t *destination = reinterpret_cast<uint32_t*>(ram_eeprom);
+  const uint32_t *src = reinterpret_cast<const uint32_t*>(EEPROM_PAGE0_BASE);
+  uint32_t *dst = reinterpret_cast<uint32_t*>(ram_eeprom);

  static_assert(0 == (MARLIN_EEPROM_SIZE) % 4, "MARLIN_EEPROM_SIZE is corrupted. (Must be a multiple of 4.)"); // Ensure copying as uint32_t is safe
  constexpr size_t eeprom_size_u32 = (MARLIN_EEPROM_SIZE) / 4;

-  for (size_t i = 0; i < eeprom_size_u32; ++i, ++destination, ++source)
-    *destination = *source;
+  for (size_t i = 0; i < eeprom_size_u32; ++i, ++dst, ++src)
+    *dst = *src;

  eeprom_dirty = false;
  return true;
@@ -80,9 +80,9 @@ bool PersistentStore::access_finish() {
    status = FLASH_ErasePage(EEPROM_PAGE1_BASE);
    if (status != FLASH_COMPLETE) ACCESS_FINISHED(true);

-    const uint16_t *source = reinterpret_cast<const uint16_t*>(ram_eeprom);
-    for (size_t i = 0; i < MARLIN_EEPROM_SIZE; i += 2, ++source) {
-      if (FLASH_ProgramHalfWord(EEPROM_PAGE0_BASE + i, *source) != FLASH_COMPLETE)
+    const uint16_t *src = reinterpret_cast<const uint16_t*>(ram_eeprom);
+    for (size_t i = 0; i < long(MARLIN_EEPROM_SIZE); i += 2, ++src) {
+      if (FLASH_ProgramHalfWord(EEPROM_PAGE0_BASE + i, *src) != FLASH_COMPLETE)
        ACCESS_FINISHED(false);
    }

@@ -53,7 +53,7 @@ bool PersistentStore::access_start() {

  int bytes_read = file.read(HAL_eeprom_data, MARLIN_EEPROM_SIZE);
  if (bytes_read < 0) return false;
-  for (; bytes_read < MARLIN_EEPROM_SIZE; bytes_read++)
+  for (; bytes_read < long(MARLIN_EEPROM_SIZE); bytes_read++)
    HAL_eeprom_data[bytes_read] = 0xFF;
  file.close();
  return true;
@@ -86,7 +86,6 @@ __attribute__((always_inline)) __STATIC_INLINE void __DSB() {
 #define FSMC_ADDRESS_SETUP_TIME   15  // AddressSetupTime
 #define FSMC_DATA_SETUP_TIME      15  // DataSetupTime

-static uint8_t fsmcInit = 0;
 void TFT_FSMC::init() {
  uint8_t cs = FSMC_CS_PIN, rs = FSMC_RS_PIN;
  uint32_t controllerAddress;
@@ -99,8 +98,9 @@ void TFT_FSMC::init() {

  struct fsmc_nor_psram_reg_map* fsmcPsramRegion;

+  static bool fsmcInit = false;
  if (fsmcInit) return;
-  fsmcInit = 1;
+  fsmcInit = true;

  switch (cs) {
    case FSMC_CS_NE1: controllerAddress = (uint32_t)FSMC_NOR_PSRAM_REGION1; fsmcPsramRegion = FSMC_NOR_PSRAM1_BASE; break;
@@ -40,7 +40,7 @@
 */

 typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFU

 #define HAL_TIMER_RATE uint32_t(F_CPU)  // frequency of timers peripherals

@@ -188,7 +188,7 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  }
 }

-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

 // No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
 // Needed here to reset ARPE=0 for stepper timer
@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL

 #define FTM0_TIMER_PRESCALE 8
 #define FTM1_TIMER_PRESCALE 4
@@ -74,10 +74,10 @@ typedef uint32_t hal_timer_t;
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)

 #ifndef HAL_STEP_TIMER_ISR
-  #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler()
+  #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr()
 #endif
 #ifndef HAL_TEMP_TIMER_ISR
-  #define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr() //void TC4_Handler()
+  #define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr()
 #endif

 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
@@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

 void HAL_timer_isr_prologue(const uint8_t timer_num);
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL

 #define FTM0_TIMER_PRESCALE 8
 #define FTM1_TIMER_PRESCALE 4
@@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

 void HAL_timer_isr_prologue(const uint8_t timer_num);
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -98,7 +98,7 @@ void MarlinHAL::clear_reset_source() {

  #define WDT_TIMEOUT TERN(WATCHDOG_DURATION_8S, 8, 4) // 4 or 8 second timeout

-  constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) / 0.5f;
+  constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) * 2.0f;

  void MarlinHAL::watchdog_init() {
    CCM_CCGR3 |= CCM_CCGR3_WDOG1(3);  // enable WDOG1 clocks
@@ -30,41 +30,82 @@

 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  switch (timer_num) {
+
+    //
+    // Step Timer – GPT1 - Compare Interrupt OCR1 - Reset Mode
+    //
    case MF_TIMER_STEP:
-      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
+      // 24MHz mode off – Use peripheral clock (150MHz)
+      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL;
+      // Enable GPT1 clock gating
      CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON);

-      GPT1_CR = 0;                   // disable timer
-      GPT1_SR = 0x3F;                // clear all prior status
-      GPT1_PR = GPT1_TIMER_PRESCALE - 1;
-      GPT1_CR |= GPT_CR_CLKSRC(1);   //clock selection #1 (peripheral clock = 150 MHz)
-      GPT1_CR |= GPT_CR_ENMOD;       //reset count to zero before enabling
-      GPT1_CR |= GPT_CR_OM1(1);      // toggle mode
-      GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) -1; // Initial compare value
-      GPT1_IR = GPT_IR_OF1IE;        // Compare3 value
-      GPT1_CR |= GPT_CR_EN;          //enable GPT2 counting at 150 MHz
+      // Disable timer, clear all status bits
+      GPT1_CR = 0;                      // Disable timer
+      GPT1_SR = 0x3F;                   // Clear all prior status

-      OUT_WRITE(15, HIGH);
+      // Prescaler = 2 => 75MHz counting clock
+      GPT1_PR = GPT1_TIMER_PRESCALE - 1;
+
+      GPT1_CR = GPT_CR_CLKSRC(1)        // Clock selection #1 (peripheral clock = 150 MHz)
+              | GPT_CR_ENMOD            // Reset count to zero before enabling
+              | GPT_CR_OM2(TERN(MARLIN_DEV_MODE, 1, 0)); // 0 = edge compare, 1 = toggle
+
+      // Compare value – the number of clocks between edges
+      GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) - 1;
+
+      // Enable compare‑event interrupt
+      GPT1_IR = GPT_IR_OF1IE;           // OF1 interrupt enabled
+
+      // Pull Pin 15 HIGH (logic‑high is the “idle” state)
+      TERN_(MARLIN_DEV_MODE, OUT_WRITE(15, HIGH));
+
+      // Attach and enable Stepper IRQ
+      // Note: UART priority is 16
      attachInterruptVector(IRQ_GPT1, &stepTC_Handler);
-      NVIC_SET_PRIORITY(IRQ_GPT1, 16);
+      NVIC_SET_PRIORITY(IRQ_GPT1, 16);  // Priority 16 (higher than Temp Timer)
+
+      // Start GPT1 counting at 150 MHz
+      GPT1_CR |= GPT_CR_EN;
+
      break;
+
+    //
+    // Temperature Timer – GPT2 - Compare Interrupt OCR1 - Reset Mode
+    //
    case MF_TIMER_TEMP:
-      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
+      // 24MHz mode off – Use peripheral clock (150MHz)
+      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL;
+      // Enable GPT2 clock gating
      CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON);

-      GPT2_CR = 0;                   // disable timer
-      GPT2_SR = 0x3F;                // clear all prior status
-      GPT2_PR = GPT2_TIMER_PRESCALE - 1;
-      GPT2_CR |= GPT_CR_CLKSRC(1);   //clock selection #1 (peripheral clock = 150 MHz)
-      GPT2_CR |= GPT_CR_ENMOD;       //reset count to zero before enabling
-      GPT2_CR |= GPT_CR_OM1(1);      // toggle mode
-      GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) -1; // Initial compare value
-      GPT2_IR = GPT_IR_OF1IE;        // Compare3 value
-      GPT2_CR |= GPT_CR_EN;          //enable GPT2 counting at 150 MHz
+      // Disable timer, clear all status bits
+      GPT2_CR = 0;                      // Disable timer
+      GPT2_SR = 0x3F;                   // Clear all prior status

-      OUT_WRITE(14, HIGH);
+      // Prescaler = 10 => 15MHz counting clock
+      GPT2_PR = GPT2_TIMER_PRESCALE - 1;
+
+      GPT2_CR = GPT_CR_CLKSRC(1)        // Clock selection #1 (peripheral clock = 150 MHz)
+              | GPT_CR_ENMOD            // and reset count to zero before enabling
+              | GPT_CR_OM2(TERN(MARLIN_DEV_MODE, 1, 0)); // 0 = edge compare, 1 = toggle
+
+      // Compare value – the number of clocks between edges
+      GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) - 1;
+
+      // Enable compare‑event interrupt
+      GPT2_IR = GPT_IR_OF1IE;           // OF1 interrupt enabled
+
+      // Pull Pin 14 HIGH (logic‑high is the “idle” state)
+      TERN_(MARLIN_DEV_MODE, OUT_WRITE(14, HIGH));
+
+      // Attach Temperature ISR
      attachInterruptVector(IRQ_GPT2, &tempTC_Handler);
-      NVIC_SET_PRIORITY(IRQ_GPT2, 32);
+      NVIC_SET_PRIORITY(IRQ_GPT2, 32);  // Priority 32 (lower than Step Timer)
+
+      // Start GPT2 counting at 150 MHz
+      GPT2_CR |= GPT_CR_EN;
+
      break;
  }
 }
@@ -82,6 +123,7 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
    case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_GPT2); break;
  }

+  // Ensure the CPU actually stops servicing the IRQ
  // We NEED memory barriers to ensure Interrupts are actually disabled!
  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
  asm volatile("dsb");
@@ -97,8 +139,8 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {

 void HAL_timer_isr_prologue(const uint8_t timer_num) {
  switch (timer_num) {
-    case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF3 bit
-    case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break; // clear OF3 bit
+    case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break;   // clear OF1
+    case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break;
  }
  asm volatile("dsb");
 }
@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFE
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFEUL

 #define GPT_TIMER_RATE (F_CPU / 4) // 150MHz (Can't use F_BUS_ACTUAL because it's extern volatile)

@@ -60,7 +60,7 @@ typedef uint32_t hal_timer_t;
 #define HAL_TIMER_RATE         GPT1_TIMER_RATE
 #define STEPPER_TIMER_RATE     HAL_TIMER_RATE
 #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
-#define STEPPER_TIMER_PRESCALE ((GPT_TIMER_RATE / 1000000) / STEPPER_TIMER_TICKS_PER_US)
+#define STEPPER_TIMER_PRESCALE (GPT_TIMER_RATE / STEPPER_TIMER_RATE)

 #define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
 #define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
@@ -89,8 +89,16 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);

 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
  switch (timer_num) {
-    case MF_TIMER_STEP: GPT1_OCR1 = compare - 1; break;
-    case MF_TIMER_TEMP: GPT2_OCR1 = compare - 1; break;
+    case MF_TIMER_STEP:
+      GPT1_CR |= GPT_CR_FRR;    // Free Run Mode (setting OCRx preserves CNT)
+      GPT1_OCR1 = compare - 1;
+      GPT1_CR &= ~GPT_CR_FRR;   // Reset Mode (CNT resets on trigger)
+      break;
+    case MF_TIMER_TEMP:
+      GPT2_CR |= GPT_CR_FRR;    // Free Run Mode (setting OCRx preserves CNT)
+      GPT2_OCR1 = compare - 1;
+      GPT2_CR &= ~GPT_CR_FRR;   // Reset Mode (CNT resets on trigger)
+      break;
  }
 }

@@ -115,5 +123,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

 void HAL_timer_isr_prologue(const uint8_t timer_num);
-//void HAL_timer_isr_epilogue(const uint8_t timer_num) {}
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -15,7 +15,7 @@

 #include "unwinder.h"

-/** The maximum number of instructions to interpet in a function.
+/** The maximum number of instructions to interpret in a function.
 * Unwinding will be unconditionally stopped and UNWIND_EXHAUSTED returned
 * if more than this number of instructions are interpreted in a single
 * function without unwinding a stack frame.  This prevents infinite loops
@@ -414,7 +414,7 @@ UnwResult UnwStartArm(UnwState * const state) {

      /* S indicates that banked registers (untracked) are used, unless
       *  this is a load including the PC when the S-bit indicates that
-       *  that CPSR is loaded from SPSR (also untracked, but ignored).
+       *  CPSR is loaded from SPSR (also untracked, but ignored).
       */
      if (S && (!L || (regList & (0x01 << 15)) == 0)) {
        UnwPrintd1("\nError:S-bit set requiring banked registers\n");
@@ -431,7 +431,7 @@ UnwResult UnwStartArm(UnwState * const state) {

      /* Check if ascending or descending.
       *  Registers are loaded/stored in order of address.
-       *  i.e. r0 is at the lowest address, r15 at the highest.
+       *  i.e., r0 is at the lowest address, r15 at the highest.
       */
      r = U ? 0 : 15;
      do {
@@ -39,7 +39,7 @@
 #endif
 #ifndef F
 class __FlashStringHelper;
-#define F(str) (reinterpret_cast<const __FlashStringHelper *>(PSTR(str)))
+#define F(string_literal) (reinterpret_cast<const __FlashStringHelper *>(PSTR(string_literal)))
 #endif
 #ifndef _SFR_BYTE
 #define _SFR_BYTE(n) (n)
@@ -152,8 +152,8 @@
  #include "feature/encoder_i2c.h"
 #endif

-#if (HAS_TRINAMIC_CONFIG || HAS_TMC_SPI) && DISABLED(PSU_DEFAULT_OFF)
-  #include "feature/tmc_util.h"
+#if HAS_TRINAMIC_CONFIG
+  #include "module/stepper/trinamic.h"
 #endif

 #if HAS_CUTTER
@@ -483,7 +483,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
    // Check if the kill button was pressed and wait to ensure the signal is not noise
    // typically caused by poor insulation and grounding on LCD cables.
    // Lower numbers here will increase response time and therefore safety rating.
-    // It is recommended to set this as low as possibe without false triggers.
+    // It is recommended to set this as low as possible without false triggers.
    // -------------------------------------------------------------------------------
    #ifndef KILL_DELAY
      #define KILL_DELAY 250
@@ -28,6 +28,7 @@

 #include "macros.h"

+#define BOARD_ERROR -2
 #define BOARD_UNKNOWN -1

 //
@@ -54,11 +55,11 @@
 #define BOARD_RAMPS_PLUS_EEF          1033  // RAMPS Plus 3DYMY (Power outputs: Hotend0, Hotend1, Fan)
 #define BOARD_RAMPS_PLUS_SF           1034  // RAMPS Plus 3DYMY (Power outputs: Spindle, Controller Fan)

-#define BOARD_RAMPS_BTT_16_PLUS_EFB   1035  // RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed)
-#define BOARD_RAMPS_BTT_16_PLUS_EEB   1036  // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed)
-#define BOARD_RAMPS_BTT_16_PLUS_EFF   1037  // RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1)
-#define BOARD_RAMPS_BTT_16_PLUS_EEF   1038  // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan)
-#define BOARD_RAMPS_BTT_16_PLUS_SF    1039  // RAMPS 1.6+ (Power outputs: Spindle, Controller Fan)
+#define BOARD_RAMPS_BTT_16_PLUS_EFB   1040  // RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed)
+#define BOARD_RAMPS_BTT_16_PLUS_EEB   1041  // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed)
+#define BOARD_RAMPS_BTT_16_PLUS_EFF   1042  // RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1)
+#define BOARD_RAMPS_BTT_16_PLUS_EEF   1043  // RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan)
+#define BOARD_RAMPS_BTT_16_PLUS_SF    1044  // RAMPS 1.6+ (Power outputs: Spindle, Controller Fan)

 //
 // RAMPS Derivatives - ATmega1280, ATmega2560
@@ -105,32 +106,34 @@
 #define BOARD_TRIGORILLA_14_11        1138  //   ... Rev 1.1 (new servo pin order)
 #define BOARD_RAMPS_ENDER_4           1139  // Creality: Ender-4, CR-8
 #define BOARD_RAMPS_CREALITY          1140  // Creality: CR10S, CR20, CR-X
-#define BOARD_DAGOMA_F5               1141  // Dagoma F5
-#define BOARD_DAGOMA_D6               1142  // Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
-#define BOARD_FYSETC_F6_13            1143  // FYSETC F6 1.3
-#define BOARD_FYSETC_F6_14            1144  // FYSETC F6 1.4
-#define BOARD_DUPLICATOR_I3_PLUS      1145  // Wanhao Duplicator i3 Plus
-#define BOARD_VORON                   1146  // VORON Design
-#define BOARD_TRONXY_V3_1_0           1147  // Tronxy TRONXY-V3-1.0
-#define BOARD_Z_BOLT_X_SERIES         1148  // Z-Bolt X Series
-#define BOARD_TT_OSCAR                1149  // TT OSCAR
-#define BOARD_TANGO                   1150  // BIQU Tango V1
-#define BOARD_MKS_GEN_L_V2            1151  // MKS GEN L V2
-#define BOARD_MKS_GEN_L_V21           1152  // MKS GEN L V2.1
-#define BOARD_COPYMASTER_3D           1153  // Copymaster 3D
-#define BOARD_ORTUR_4                 1154  // Ortur 4
-#define BOARD_TENLOG_D3_HERO          1155  // Tenlog D3 Hero IDEX printer
-#define BOARD_TENLOG_MB1_V23          1156  // Tenlog D3, D5, D6 IDEX Printer
-#define BOARD_RAMPS_S_12_EEFB         1157  // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
-#define BOARD_RAMPS_S_12_EEEB         1158  // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
-#define BOARD_RAMPS_S_12_EFFB         1159  // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
-#define BOARD_LONGER3D_LK1_PRO        1160  // Longer LK1 PRO / Alfawise U20 Pro (PRO version)
-#define BOARD_LONGER3D_LKx_PRO        1161  // Longer LKx PRO / Alfawise Uxx Pro (PRO version)
-#define BOARD_PXMALION_CORE_I3        1162  // Pxmalion Core I3
-#define BOARD_PANOWIN_CUTLASS         1163  // Panowin Cutlass (as found in the Panowin F1)
-#define BOARD_KODAMA_BARDO            1164  // Kodama Bardo V1.x (as found in the Kodama Trinus)
-#define BOARD_XTLW_MFF_V1             1165  // XTLW MFF V1.0
-#define BOARD_XTLW_MFF_V2             1166  // XTLW MFF V2.0
+#define BOARD_CREALITY_V252           1141  // Creality CR-10 V2, CR-10 V3
+#define BOARD_DAGOMA_F5               1142  // Dagoma F5
+#define BOARD_DAGOMA_D6               1143  // Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
+#define BOARD_FYSETC_F6_13            1144  // FYSETC F6 1.3
+#define BOARD_FYSETC_F6_14            1145  // FYSETC F6 1.4
+#define BOARD_DUPLICATOR_I3_PLUS      1146  // Wanhao Duplicator i3 Plus
+#define BOARD_VORON                   1147  // VORON Design
+#define BOARD_TRONXY_V3_1_0           1148  // Tronxy TRONXY-V3-1.0
+#define BOARD_Z_BOLT_X_SERIES         1149  // Z-Bolt X Series
+#define BOARD_TT_OSCAR                1150  // TT OSCAR
+#define BOARD_TANGO                   1151  // BIQU Tango V1
+#define BOARD_MKS_GEN_L_V2            1152  // MKS GEN L V2
+#define BOARD_MKS_GEN_L_V21           1153  // MKS GEN L V2.1
+#define BOARD_COPYMASTER_3D           1154  // Copymaster 3D
+#define BOARD_ORTUR_4                 1155  // Ortur 4
+#define BOARD_TENLOG_D3_HERO          1156  // Tenlog D3 Hero IDEX printer
+#define BOARD_TENLOG_MB1_V23          1157  // Tenlog D3, D5, D6 IDEX Printer
+#define BOARD_RAMPS_S_12_EEFB         1158  // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
+#define BOARD_RAMPS_S_12_EEEB         1159  // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
+#define BOARD_RAMPS_S_12_EFFB         1160  // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
+#define BOARD_LONGER3D_LK1_PRO        1161  // Longer LK1 PRO / Alfawise U20 Pro (PRO version)
+#define BOARD_LONGER3D_LKx_PRO        1162  // Longer LKx PRO / Alfawise Uxx Pro (PRO version)
+#define BOARD_PXMALION_CORE_I3        1163  // Pxmalion Core I3
+#define BOARD_PANOWIN_CUTLASS         1164  // Panowin Cutlass (as found in the Panowin F1)
+#define BOARD_KODAMA_BARDO            1165  // Kodama Bardo V1.x (as found in the Kodama Trinus)
+#define BOARD_XTLW_MFF_V1             1166  // XTLW MFF V1.0
+#define BOARD_XTLW_MFF_V2             1167  // XTLW MFF V2.0
+#define BOARD_RUMBA_E3D               1168  // E3D Rumba BigBox

 //
 // RAMBo and derivatives
@@ -173,16 +176,17 @@
 #define BOARD_GT2560_V41B             1322  // Geeetech GT2560 V4.1B for A10(M/T/D)
 #define BOARD_EINSTART_S              1323  // Einstart retrofit
 #define BOARD_WANHAO_ONEPLUS          1324  // Wanhao 0ne+ i3 Mini
-#define BOARD_OVERLORD                1325  // Overlord/Overlord Pro
-#define BOARD_HJC2560C_REV1           1326  // ADIMLab Gantry v1
-#define BOARD_HJC2560C_REV2           1327  // ADIMLab Gantry v2
-#define BOARD_LEAPFROG_XEED2015       1328  // Leapfrog Xeed 2015
-#define BOARD_PICA_REVB               1329  // PICA Shield (original version)
-#define BOARD_PICA                    1330  // PICA Shield (rev C or later)
-#define BOARD_INTAMSYS40              1331  // Intamsys 4.0 (Funmat HT)
-#define BOARD_MALYAN_M180             1332  // Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
-#define BOARD_PROTONEER_CNC_SHIELD_V3 1333  // Mega controller & Protoneer CNC Shield V3.00
-#define BOARD_WEEDO_62A               1334  // WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
+#define BOARD_WANHAO_D9               1325  // Wanhao D9 MK2
+#define BOARD_OVERLORD                1326  // Overlord/Overlord Pro
+#define BOARD_HJC2560C_REV1           1327  // ADIMLab Gantry v1
+#define BOARD_HJC2560C_REV2           1328  // ADIMLab Gantry v2
+#define BOARD_LEAPFROG_XEED2015       1329  // Leapfrog Xeed 2015
+#define BOARD_PICA_REVB               1330  // PICA Shield (original version)
+#define BOARD_PICA                    1331  // PICA Shield (rev C or later)
+#define BOARD_INTAMSYS40              1332  // Intamsys 4.0 (Funmat HT)
+#define BOARD_MALYAN_M180             1333  // Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
+#define BOARD_PROTONEER_CNC_SHIELD_V3 1334  // Mega controller & Protoneer CNC Shield V3.00
+#define BOARD_WEEDO_62A               1335  // WEEDO 62A board (TINA2, Monoprice Cadet, etc.)

 //
 // ATmega1281, ATmega2561
@@ -275,7 +279,7 @@
 #define BOARD_MKS_SGEN_L_V2           2509  // MKS SGEN_L V2
 #define BOARD_BTT_SKR_E3_TURBO        2510  // BigTreeTech SKR E3 Turbo
 #define BOARD_FLY_CDY                 2511  // FLYmaker FLY CDY
-#define BOARD_XTLW_CLIMBER_8TH_LPC    2512  // XTLW_CLIMBER_8TH_LPC
+#define BOARD_XTLW_CLIMBER_8TH_LPC    2512  // XTLW Climber 8

 //
 // SAM3X8E ARM Cortex-M3
@@ -283,7 +287,7 @@

 #define BOARD_DUE3DOM                 3000  // DUE3DOM for Arduino DUE
 #define BOARD_DUE3DOM_MINI            3001  // DUE3DOM MINI for Arduino DUE
-#define BOARD_RADDS                   3002  // RADDS
+#define BOARD_RADDS                   3002  // RADDS v1.5/v1.6
 #define BOARD_RAMPS_FD_V1             3003  // RAMPS-FD v1
 #define BOARD_RAMPS_FD_V2             3004  // RAMPS-FD v2
 #define BOARD_RAMPS_SMART_EFB         3005  // RAMPS-SMART (Power outputs: Hotend, Fan, Bed)
@@ -427,67 +431,68 @@
 // STM32 ARM Cortex-M4F
 //

-#define BOARD_ARMED                   5200  // Arm'ed STM32F4-based controller
-#define BOARD_RUMBA32_V1_0            5201  // RUMBA32 STM32F446VE based controller from Aus3D
-#define BOARD_RUMBA32_V1_1            5202  // RUMBA32 STM32F446VE based controller from Aus3D
-#define BOARD_RUMBA32_MKS             5203  // RUMBA32 STM32F446VE based controller from Makerbase
-#define BOARD_RUMBA32_BTT             5204  // RUMBA32 STM32F446VE based controller from BIGTREETECH
-#define BOARD_BLACK_STM32F407VE       5205  // Black STM32F407VE development board
-#define BOARD_BLACK_STM32F407ZE       5206  // Black STM32F407ZE development board
-#define BOARD_BTT_SKR_MINI_E3_V3_0_1  5207  // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC)
-#define BOARD_BTT_SKR_PRO_V1_1        5208  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
-#define BOARD_BTT_SKR_PRO_V1_2        5209  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
-#define BOARD_BTT_BTT002_V1_0         5210  // BigTreeTech BTT002 v1.0 (STM32F407VG)
-#define BOARD_BTT_E3_RRF              5211  // BigTreeTech E3 RRF (STM32F407VG)
-#define BOARD_BTT_SKR_V2_0_REV_A      5212  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
-#define BOARD_BTT_SKR_V2_0_REV_B      5213  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
-#define BOARD_BTT_GTR_V1_0            5214  // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_BTT_OCTOPUS_V1_0        5215  // BigTreeTech Octopus v1.0 (STM32F446ZE)
-#define BOARD_BTT_OCTOPUS_V1_1        5216  // BigTreeTech Octopus v1.1 (STM32F446ZE)
-#define BOARD_BTT_OCTOPUS_PRO_V1_0    5217  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG)
-#define BOARD_LERDGE_K                5218  // Lerdge K (STM32F407ZG)
-#define BOARD_LERDGE_S                5219  // Lerdge S (STM32F407VE)
-#define BOARD_LERDGE_X                5220  // Lerdge X (STM32F407VE)
-#define BOARD_FYSETC_S6               5221  // FYSETC S6 (STM32F446VE)
-#define BOARD_FYSETC_S6_V2_0          5222  // FYSETC S6 v2.0 (STM32F446VE)
-#define BOARD_FYSETC_SPIDER           5223  // FYSETC Spider (STM32F446VE)
-#define BOARD_FYSETC_SPIDER_V2_2      5224  // FYSETC Spider V2.2 (STM32F446VE)
-#define BOARD_FLYF407ZG               5225  // FLYmaker FLYF407ZG (STM32F407ZG)
-#define BOARD_MKS_ROBIN2              5226  // MKS Robin2 V1.0 (STM32F407ZE)
-#define BOARD_MKS_ROBIN_PRO_V2        5227  // MKS Robin Pro V2 (STM32F407VE)
-#define BOARD_MKS_ROBIN_NANO_V3       5228  // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_MKS_ROBIN_NANO_V3_1     5229  // MKS Robin Nano V3.1 (STM32F407VE)
-#define BOARD_MKS_MONSTER8_V1         5230  // MKS Monster8 V1 (STM32F407VE)
-#define BOARD_MKS_MONSTER8_V2         5231  // MKS Monster8 V2 (STM32F407VE)
-#define BOARD_ANET_ET4                5232  // ANET ET4 V1.x (STM32F407VG)
-#define BOARD_ANET_ET4P               5233  // ANET ET4P V1.x (STM32F407VG)
-#define BOARD_FYSETC_CHEETAH_V20      5234  // FYSETC Cheetah V2.0 (STM32F401RC)
-#define BOARD_FYSETC_CHEETAH_V30      5235  // FYSETC Cheetah V3.0 (STM32F446RC)
-#define BOARD_TH3D_EZBOARD_V2         5236  // TH3D EZBoard v2.0 (STM32F405RG)
-#define BOARD_OPULO_LUMEN_REV3        5237  // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG)
-#define BOARD_OPULO_LUMEN_REV4        5238  // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG)
-#define BOARD_MKS_ROBIN_NANO_V1_3_F4  5239  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE)
-#define BOARD_MKS_EAGLE               5240  // MKS Eagle (STM32F407VE)
-#define BOARD_ARTILLERY_RUBY          5241  // Artillery Ruby (STM32F401RC)
-#define BOARD_CREALITY_V24S1_301F4    5242  // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4
-#define BOARD_CREALITY_CR4NTXXC10     5243  // Creality E3 Free-runs Silent Motherboard (STM32F401RET6)
-#define BOARD_FYSETC_SPIDER_KING407   5244  // FYSETC Spider King407 (STM32F407ZG)
-#define BOARD_MKS_SKIPR_V1            5245  // MKS SKIPR v1.0 all-in-one board (STM32F407VE)
-#define BOARD_TRONXY_CXY_446_V10      5246  // TRONXY CXY-446-V10-220413/CXY-V6-191121 (STM32F446ZE)
-#define BOARD_CREALITY_F401RE         5247  // Creality CR4NS200141C13 (STM32F401RE) as found in the Ender-5 S1
-#define BOARD_BLACKPILL_CUSTOM        5248  // Custom board based on STM32F401CDU6.
-#define BOARD_I3DBEEZ9_V1             5249  // I3DBEEZ9 V1 (STM32F407ZG)
-#define BOARD_MELLOW_FLY_E3_V2        5250  // Mellow Fly E3 V2 (STM32F407VG)
-#define BOARD_BLACKBEEZMINI_V1        5251  // BlackBeezMini V1 (STM32F401CCU6)
-#define BOARD_XTLW_CLIMBER_8TH        5252  // XTLW Climber-8th (STM32F407VGT6)
-#define BOARD_FLY_RRF_E3_V1           5253  // Fly RRF E3 V1.0 (STM32F407VG)
-#define BOARD_FLY_SUPER8              5254  // Fly SUPER8 (STM32F407ZGT6)
-#define BOARD_FLY_D8                  5255  // FLY D8 (STM32F407VG)
-#define BOARD_FLY_CDY_V3              5256  // FLY CDY V3 (STM32F407VGT6)
-#define BOARD_ZNP_ROBIN_NANO          5257  // Elegoo Neptune 2 v1.2 board
-#define BOARD_ZNP_ROBIN_NANO_V1_3     5258  // Elegoo Neptune 2 v1.3 board
-#define BOARD_MKS_NEPTUNE_X           5259  // Elegoo Neptune X
-#define BOARD_MKS_NEPTUNE_3           5260  // Elegoo Neptune 3
+#define BOARD_ARMED                         5200  // Arm'ed STM32F4-based controller
+#define BOARD_RUMBA32_V1_0                  5201  // RUMBA32 STM32F446VE based controller from Aus3D
+#define BOARD_RUMBA32_V1_1                  5202  // RUMBA32 STM32F446VE based controller from Aus3D
+#define BOARD_RUMBA32_MKS                   5203  // RUMBA32 STM32F446VE based controller from Makerbase
+#define BOARD_RUMBA32_BTT                   5204  // RUMBA32 STM32F446VE based controller from BIGTREETECH
+#define BOARD_BLACK_STM32F407VE             5205  // Black STM32F407VE development board
+#define BOARD_BLACK_STM32F407ZE             5206  // Black STM32F407ZE development board
+#define BOARD_BTT_SKR_MINI_E3_V3_0_1        5207  // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC)
+#define BOARD_BTT_SKR_PRO_V1_1              5208  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
+#define BOARD_BTT_SKR_PRO_V1_2              5209  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
+#define BOARD_BTT_BTT002_V1_0               5210  // BigTreeTech BTT002 v1.0 (STM32F407VG)
+#define BOARD_BTT_E3_RRF                    5211  // BigTreeTech E3 RRF (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_A            5212  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_B            5213  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
+#define BOARD_BTT_GTR_V1_0                  5214  // BigTreeTech GTR v1.0 (STM32F407IGT)
+#define BOARD_BTT_OCTOPUS_V1_0              5215  // BigTreeTech Octopus v1.0 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_V1_1              5216  // BigTreeTech Octopus v1.1 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_PRO_V1_0          5217  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG)
+#define BOARD_LERDGE_K                      5218  // Lerdge K (STM32F407ZG)
+#define BOARD_LERDGE_S                      5219  // Lerdge S (STM32F407VE)
+#define BOARD_LERDGE_X                      5220  // Lerdge X (STM32F407VE)
+#define BOARD_FYSETC_S6                     5221  // FYSETC S6 (STM32F446VE)
+#define BOARD_FYSETC_S6_V2_0                5222  // FYSETC S6 v2.0 (STM32F446VE)
+#define BOARD_FYSETC_SPIDER                 5223  // FYSETC Spider (STM32F446VE)
+#define BOARD_FYSETC_SPIDER_V2_2            5224  // FYSETC Spider V2.2 (STM32F446VE)
+#define BOARD_FLYF407ZG                     5225  // FLYmaker FLYF407ZG (STM32F407ZG)
+#define BOARD_MKS_ROBIN2                    5226  // MKS Robin2 V1.0 (STM32F407ZE)
+#define BOARD_MKS_ROBIN_PRO_V2              5227  // MKS Robin Pro V2 (STM32F407VE)
+#define BOARD_MKS_ROBIN_NANO_V3             5228  // MKS Robin Nano V3 (STM32F407VG)
+#define BOARD_MKS_ROBIN_NANO_V3_1           5229  // MKS Robin Nano V3.1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8_V1               5230  // MKS Monster8 V1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8_V2               5231  // MKS Monster8 V2 (STM32F407VE)
+#define BOARD_ANET_ET4                      5232  // ANET ET4 V1.x (STM32F407VG)
+#define BOARD_ANET_ET4P                     5233  // ANET ET4P V1.x (STM32F407VG)
+#define BOARD_FYSETC_CHEETAH_V20            5234  // FYSETC Cheetah V2.0 (STM32F401RC)
+#define BOARD_FYSETC_CHEETAH_V30            5235  // FYSETC Cheetah V3.0 (STM32F446RC)
+#define BOARD_TH3D_EZBOARD_V2               5236  // TH3D EZBoard v2.0 (STM32F405RG)
+#define BOARD_OPULO_LUMEN_REV3              5237  // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG)
+#define BOARD_OPULO_LUMEN_REV4              5238  // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG)
+#define BOARD_MKS_ROBIN_NANO_V1_3_F4        5239  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE)
+#define BOARD_MKS_EAGLE                     5240  // MKS Eagle (STM32F407VE)
+#define BOARD_ARTILLERY_RUBY                5241  // Artillery Ruby (STM32F401RC)
+#define BOARD_CREALITY_V24S1_301F4          5242  // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4
+#define BOARD_CREALITY_CR4NTXXC10           5243  // Creality E3 Free-runs Silent Motherboard (STM32F401RET6)
+#define BOARD_FYSETC_SPIDER_KING_V1_F407    5244  // FYSETC Spider King v1 (STM32F407ZG)
+#define BOARD_FYSETC_SPIDER_KING_V1_1_F407  5245  // FYSETC Spider King v1.1 (STM32F407ZG)
+#define BOARD_MKS_SKIPR_V1                  5246  // MKS SKIPR v1.0 all-in-one board (STM32F407VE)
+#define BOARD_TRONXY_CXY_446_V10            5247  // TRONXY CXY-446-V10-220413/CXY-V6-191121 (STM32F446ZE)
+#define BOARD_CREALITY_F401RE               5248  // Creality CR4NS200141C13 (STM32F401RE) as found in the Ender-5 S1
+#define BOARD_BLACKPILL_CUSTOM              5249  // Custom board based on STM32F401CDU6.
+#define BOARD_I3DBEEZ9_V1                   5250  // I3DBEEZ9 V1 (STM32F407ZG)
+#define BOARD_MELLOW_FLY_E3_V2              5251  // Mellow Fly E3 V2 (STM32F407VG)
+#define BOARD_BLACKBEEZMINI_V1              5252  // BlackBeezMini V1 (STM32F401CCU6)
+#define BOARD_XTLW_CLIMBER_8TH              5253  // XTLW Climber-8th (STM32F407VGT6)
+#define BOARD_FLY_RRF_E3_V1                 5254  // Fly RRF E3 V1.0 (STM32F407VG)
+#define BOARD_FLY_SUPER8                    5255  // Fly SUPER8 (STM32F407ZGT6)
+#define BOARD_FLY_D8                        5256  // FLY D8 (STM32F407VG)
+#define BOARD_FLY_CDY_V3                    5257  // FLY CDY V3 (STM32F407VGT6)
+#define BOARD_ZNP_ROBIN_NANO                5258  // Elegoo Neptune 2 v1.2 board
+#define BOARD_ZNP_ROBIN_NANO_V1_3           5259  // Elegoo Neptune 2 v1.3 board
+#define BOARD_MKS_NEPTUNE_X                 5260  // Elegoo Neptune X
+#define BOARD_MKS_NEPTUNE_3                 5261  // Elegoo Neptune 3

 //
 // Other ARM Cortex-M4
@@ -498,21 +503,24 @@
 // ARM Cortex-M7
 //

-#define BOARD_REMRAM_V1               6000  // RemRam v1
-#define BOARD_NUCLEO_F767ZI           6001  // ST NUCLEO-F767ZI Dev Board
-#define BOARD_BTT_SKR_SE_BX_V2        6002  // BigTreeTech SKR SE BX V2.0 (STM32H743II)
-#define BOARD_BTT_SKR_SE_BX_V3        6003  // BigTreeTech SKR SE BX V3.0 (STM32H743II)
-#define BOARD_BTT_SKR_V3_0            6004  // BigTreeTech SKR V3.0 (STM32H743VI / STM32H723VG)
-#define BOARD_BTT_SKR_V3_0_EZ         6005  // BigTreeTech SKR V3.0 EZ (STM32H743VI / STM32H723VG)
-#define BOARD_BTT_OCTOPUS_MAX_EZ_V1_0 6006  // BigTreeTech Octopus Max EZ V1.0 (STM32H723ZE)
-#define BOARD_BTT_OCTOPUS_PRO_V1_0_1  6007  // BigTreeTech Octopus Pro v1.0.1 (STM32H723ZE)
-#define BOARD_BTT_OCTOPUS_PRO_V1_1    6008  // BigTreeTech Octopus Pro v1.1 (STM32H723ZE)
-#define BOARD_BTT_MANTA_M8P_V2_0      6009  // BigTreeTech Manta M8P V2.0 (STM32H723ZE)
-#define BOARD_BTT_KRAKEN_V1_0         6010  // BigTreeTech Kraken v1.0 (STM32H723ZG)
-#define BOARD_TEENSY41                6011  // Teensy 4.1
-#define BOARD_T41U5XBB                6012  // T41U5XBB Teensy 4.1 breakout board
-#define BOARD_FLY_D8_PRO              6013  // FLY_D8_PRO (STM32H723VG)
-#define BOARD_FLY_SUPER8_PRO          6014  // FLY SUPER8 PRO (STM32H723ZG)
+#define BOARD_REMRAM_V1                     6000  // RemRam v1
+#define BOARD_NUCLEO_F767ZI                 6001  // ST NUCLEO-F767ZI Dev Board
+#define BOARD_BTT_SKR_SE_BX_V2              6002  // BigTreeTech SKR SE BX V2.0 (STM32H743II)
+#define BOARD_BTT_SKR_SE_BX_V3              6003  // BigTreeTech SKR SE BX V3.0 (STM32H743II)
+#define BOARD_BTT_SKR_V3_0                  6004  // BigTreeTech SKR V3.0 (STM32H743VI / STM32H723VG)
+#define BOARD_BTT_SKR_V3_0_EZ               6005  // BigTreeTech SKR V3.0 EZ (STM32H743VI / STM32H723VG)
+#define BOARD_BTT_OCTOPUS_MAX_EZ_V1_0       6006  // BigTreeTech Octopus Max EZ V1.0 (STM32H723ZE)
+#define BOARD_BTT_OCTOPUS_PRO_V1_0_1        6007  // BigTreeTech Octopus Pro v1.0.1 (STM32H723ZE)
+#define BOARD_BTT_OCTOPUS_PRO_V1_1          6008  // BigTreeTech Octopus Pro v1.1 (STM32H723ZE)
+#define BOARD_BTT_MANTA_M8P_V2_0            6009  // BigTreeTech Manta M8P V2.0 (STM32H723ZE)
+#define BOARD_BTT_KRAKEN_V1_0               6010  // BigTreeTech Kraken v1.0 (STM32H723ZG)
+#define BOARD_TEENSY40                      6011  // Teensy 4.0
+#define BOARD_TEENSY41                      6012  // Teensy 4.1
+#define BOARD_T41U5XBB                      6013  // T41U5XBB Teensy 4.1 breakout board
+#define BOARD_FLY_D8_PRO                    6014  // FLY_D8_PRO (STM32H723VG)
+#define BOARD_FLY_SUPER8_PRO                6015  // FLY SUPER8 PRO (STM32H723ZG)
+#define BOARD_FYSETC_SPIDER_KING_V1_H723    6016  // FYSETC Spider King v1 (STM32H723ZG)
+#define BOARD_FYSETC_SPIDER_KING_V1_1_H723  6017  // FYSETC Spider King v1.1 (STM32H723ZG)

 //
 // Espressif ESP32 WiFi
@@ -42,7 +42,6 @@
 #define _TMC2209            0x2209A
 #define _TMC2209_STANDALONE 0x2209B
 #define _TMC2240            0x2240A
-#define _TMC2240_STANDALONE 0x2240B
 #define _TMC2660            0x2660A
 #define _TMC2660_STANDALONE 0x2660B
 #define _TMC5130            0x5130A
@@ -108,7 +107,7 @@
 #if (    HAS_DRIVER(TMC2100) \
      || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2160_STANDALONE) \
      || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC2209_STANDALONE) \
-      || HAS_DRIVER(TMC2240_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE) \
+      || HAS_DRIVER(TMC2660_STANDALONE) \
      || HAS_DRIVER(TMC5130_STANDALONE) || HAS_DRIVER(TMC5160_STANDALONE) )
  #define HAS_TRINAMIC_STANDALONE 1
 #endif
@@ -296,6 +296,7 @@
 #define STR_TOOL_CHANGING                   "Tool-changing"
 #define STR_HOTEND_OFFSETS                  "Hotend offsets"
 #define STR_SERVO_ANGLES                    "Servo Angles"
+#define STR_AUTOTEMP                        "Auto Temp Control"
 #define STR_HOTEND_PID                      "Hotend PID"
 #define STR_BED_PID                         "Bed PID"
 #define STR_CHAMBER_PID                     "Chamber PID"
@@ -358,6 +359,21 @@
 #define STR_Z2 STR_C "2"
 #define STR_Z3 STR_C "3"
 #define STR_Z4 STR_C "4"
+#if CORE_IS_XY || CORE_IS_XZ
+  #define STEPPER_A_NAME 'A'
+#else
+  #define STEPPER_A_NAME 'X'
+#endif
+#if CORE_IS_XY || CORE_IS_YZ
+  #define STEPPER_B_NAME 'B'
+#else
+  #define STEPPER_B_NAME 'Y'
+#endif
+#if CORE_IS_XZ || CORE_IS_YZ
+  #define STEPPER_C_NAME 'C'
+#else
+  #define STEPPER_C_NAME 'Z'
+#endif

 //
 // Endstop Names used by Endstops::report_states
@@ -25,12 +25,6 @@
  #define __has_include(...) 1
 #endif

-#define ABCE 4
-#define XYZE 4
-#define ABC  3
-#define XYZ  3
-#define XY   2
-
 #define _AXIS(A) (A##_AXIS)

 #define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__
@@ -58,6 +52,7 @@
 // Macros to make a string from a macro
 #define STRINGIFY_(M) #M
 #define STRINGIFY(M) STRINGIFY_(M)
+#define CHARIFY(M) STRINGIFY(M)[0]

 #define A(CODE) " " CODE "\n\t"
 #define L(CODE) CODE ":\n\t"
@@ -307,6 +302,12 @@
 #define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)

 // Expansion of some list items
+#define LIST_32(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,EE,FF,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,EE,FF
+#define LIST_31(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,EE,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,EE
+#define LIST_30(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD
+#define LIST_29(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC
+#define LIST_28(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,TU,V,W,X,Y,Z,AA,BB
+#define LIST_27(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA
 #define LIST_26(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z
 #define LIST_25(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y
 #define LIST_24(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X
@@ -572,6 +573,17 @@
 #define INC_18 19
 #define INC_19 20
 #define INC_20 21
+#define INC_21 22
+#define INC_22 23
+#define INC_23 24
+#define INC_24 25
+#define INC_25 26
+#define INC_26 27
+#define INC_27 28
+#define INC_28 29
+#define INC_29 30
+#define INC_30 31
+#define INC_31 32
 #define INCREMENT_(n) INC_##n
 #define INCREMENT(n) INCREMENT_(n)

@@ -607,6 +619,23 @@
 #define DEC_13 12
 #define DEC_14 13
 #define DEC_15 14
+#define DEC_16 15
+#define DEC_17 16
+#define DEC_18 17
+#define DEC_19 18
+#define DEC_20 19
+#define DEC_21 20
+#define DEC_22 21
+#define DEC_23 22
+#define DEC_24 23
+#define DEC_25 24
+#define DEC_26 25
+#define DEC_27 26
+#define DEC_28 27
+#define DEC_29 28
+#define DEC_30 29
+#define DEC_31 30
+#define DEC_32 31
 #define DECREMENT_(n) DEC_##n
 #define DECREMENT(n) DECREMENT_(n)

@@ -280,12 +280,11 @@ public:
  // Quick hash to detect change (e.g., to avoid expensive drawing)
  typedef IF<ENABLED(DJB2_HASH), uint32_t, uint16_t>::type hash_t;
  hash_t hash() const {
+    const int sz = length();
    #if ENABLED(DJB2_HASH)
      hash_t hval = 5381;
-      char c;
-      while ((c = *str++)) hval += (hval << 5) + c; // = hval * 33 + c
+      for (int i = 0; i < sz; i++) hval += (hval << 5) + str[i]; // = hval * 33 + c
    #else
-      const int sz = length();
      hash_t hval = hash_t(sz);
      for (int i = 0; i < sz; i++) hval = ((hval << 1) | (hval >> 15)) ^ str[i]; // ROL, XOR
    #endif
@@ -99,7 +99,7 @@ void SERIAL_WARN_START()  { SERIAL_ECHO(F("Warning:")); }

 void SERIAL_ECHO_SP(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); }

-void serial_offset(const_float_t v, const uint8_t sp/*=0*/) {
+void serial_offset(const float v, const uint8_t sp/*=0*/) {
  if (v == 0 && sp == 1)
    SERIAL_CHAR(' ');
  else if (v > 0 || (v == 0 && sp == 2))
@@ -121,21 +121,23 @@ void print_bin(uint16_t val) {
  }
 }

-void _print_xyz(NUM_AXIS_ARGS_(const_float_t) FSTR_P const prefix) {
+void _print_xyz(NUM_AXIS_ARGS_(const float) FSTR_P const prefix) {
  if (prefix) SERIAL_ECHO(prefix);
  #if NUM_AXES
-    SERIAL_ECHOPGM_P(
-      LIST_N(DOUBLE(NUM_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k, SP_U_STR, u, SP_V_STR, v, SP_W_STR, w)
-    );
+    SERIAL_ECHOPGM_P(NUM_AXIS_PAIRED_LIST(
+      SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z,
+      SP_I_STR, i, SP_J_STR, j, SP_K_STR, k,
+      SP_U_STR, u, SP_V_STR, v, SP_W_STR, w
+    ));
  #endif
 }

-void print_xyz(NUM_AXIS_ARGS_(const_float_t) FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) {
+void print_xyz(NUM_AXIS_ARGS_(const float) FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) {
  _print_xyz(NUM_AXIS_LIST_(x, y, z, i, j, k, u, v, w) prefix);
  if (suffix) SERIAL_ECHO(suffix); else SERIAL_EOL();
 }

-void print_xyze(LOGICAL_AXIS_ARGS_(const_float_t) FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) {
+void print_xyze(LOGICAL_AXIS_ARGS_(const float) FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) {
  _print_xyz(NUM_AXIS_LIST_(x, y, z, i, j, k, u, v, w) prefix);
  #if HAS_EXTRUDERS
    SERIAL_ECHOPGM_P(SP_E_STR, e);
@@ -185,7 +185,7 @@ void SERIAL_ECHOLN(T arg1, Args ... args) { SERIAL_ECHO(arg1); SERIAL_ECHO(args
 //                   all the odd loose string elements as PROGMEM strings.
 //

-// Print up to 20 pairs of values. Odd elements must be literal strings.
+// Print pairs of values. Odd elements must be literal strings.
 #define __SEP_N(N,V...)           _SEP_##N(V)
 #define _SEP_N(N,V...)            __SEP_N(N,V)
 #define _SEP_N_REF()              _SEP_N
@@ -194,7 +194,7 @@ void SERIAL_ECHOLN(T arg1, Args ... args) { SERIAL_ECHO(arg1); SERIAL_ECHO(args
 #define _SEP_3(s,v,V...)          _SEP_2(s,v); DEFER2(_SEP_N_REF)()(TWO_ARGS(V),V);
 #define SERIAL_ECHOPGM(V...)      do{ EVAL(_SEP_N(TWO_ARGS(V),V)); }while(0)

-// Print up to 20 pairs of values followed by newline. Odd elements must be literal strings.
+// Print pairs of values followed by newline. Odd elements must be literal strings.
 #define __SELP_N(N,V...)          _SELP_##N(V)
 #define _SELP_N(N,V...)           __SELP_N(N,V)
 #define _SELP_N_REF()             _SELP_N
@@ -203,7 +203,7 @@ void SERIAL_ECHOLN(T arg1, Args ... args) { SERIAL_ECHO(arg1); SERIAL_ECHO(args
 #define _SELP_3(s,v,V...)         _SEP_2(s,v); DEFER2(_SELP_N_REF)()(TWO_ARGS(V),V);
 #define SERIAL_ECHOLNPGM(V...)    do{ EVAL(_SELP_N(TWO_ARGS(V),V)); }while(0)

-// Print up to 20 pairs of values. Odd elements must be PSTR pointers.
+// Print pairs of values. Odd elements must be PSTR pointers.
 #define __SEP_N_P(N,V...)         _SEP_##N##_P(V)
 #define _SEP_N_P(N,V...)          __SEP_N_P(N,V)
 #define _SEP_N_P_REF()            _SEP_N_P
@@ -212,7 +212,7 @@ void SERIAL_ECHOLN(T arg1, Args ... args) { SERIAL_ECHO(arg1); SERIAL_ECHO(args
 #define _SEP_3_P(p,v,V...)        _SEP_2_P(p,v); DEFER2(_SEP_N_P_REF)()(TWO_ARGS(V),V);
 #define SERIAL_ECHOPGM_P(V...)    do{ EVAL(_SEP_N_P(TWO_ARGS(V),V)); }while(0)

-// Print up to 20 pairs of values followed by newline. Odd elements must be PSTR pointers.
+// Print pairs of values followed by newline. Odd elements must be PSTR pointers.
 #define __SELP_N_P(N,V...)        _SELP_##N##_P(V)
 #define _SELP_N_P(N,V...)         __SELP_N_P(N,V)
 #define _SELP_N_P_REF()           _SELP_N_P
@@ -236,16 +236,16 @@ void SERIAL_ECHO_SP(uint8_t count);
 inline FSTR_P const ON_OFF(const bool onoff) { return onoff ? F("ON") : F("OFF"); }
 inline FSTR_P const TRUE_FALSE(const bool tf) { return tf ? F("true") : F("false"); }

-void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2)
+void serial_offset(const float v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2)

 void print_bin(const uint16_t val);

-void print_xyz(NUM_AXIS_ARGS_(const_float_t) FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
+void print_xyz(NUM_AXIS_ARGS_(const float) FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
 inline void print_xyz(const xyz_pos_t &xyz, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) {
  print_xyz(NUM_AXIS_ELEM_(xyz) prefix, suffix);
 }

-void print_xyze(LOGICAL_AXIS_ARGS_(const_float_t) FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
+void print_xyze(LOGICAL_AXIS_ARGS_(const float) FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
 inline void print_xyze(const xyze_pos_t &xyze, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) {
  print_xyze(LOGICAL_AXIS_ELEM_LC_(xyze) prefix, suffix);
 }
@@ -228,7 +228,7 @@ struct SerialBase {
    // Handle negative numbers
    if (number < 0.0) {
      write('-');
-      number = -number;
+      number *= -1;
    }

    // Round correctly so that print(1.999, 2) prints as "2.00"
@@ -70,6 +70,9 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define LOGICAL_AXIS_MAP_LC(F)     MAP(F, LOGICAL_AXIS_NAMES_LC)
 #define STR_AXES_LOGICAL           LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W)

+#define NUM_AXIS_PAIRED_LIST(V...)           LIST_N(DOUBLE(NUM_AXES), V)
+#define LOGICAL_AXIS_PAIRED_LIST(EA,EB,V...) NUM_AXIS_PAIRED_LIST(V) LIST_ITEM_E(EA) LIST_ITEM_E(EB)
+
 #if NUM_AXES
  #define NUM_AXES_SEP ,
  #define MAIN_AXIS_MAP(F)    MAP(F, MAIN_AXIS_NAMES)
@@ -164,6 +167,21 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
  #define GANG_ITEM_E(N)
 #endif

+// Emitters for code that only cares about XYZE and not IJKUVW
+#define CARTES_COUNT              TERN(HAS_EXTRUDERS, INCREMENT(XYZ_COUNT), XYZ_COUNT)
+#define CARTES_LIST(x,y,z,e)      XYZ_LIST(x,y,z) LIST_ITEM_E(e)
+#define CARTES_PAIRED_LIST(V...)  LIST_N(DOUBLE(CARTES_COUNT), V)
+#define CARTES_ARRAY(x,y,z,e)     { CARTES_LIST(x,y,z,e) }
+#define CARTES_CODE(x,y,z,e)      XYZ_CODE(x,y,z) CODE_ITEM_E(e)
+#define CARTES_GANG(x,y,z,e)      XYZ_GANG(x,y,z) GANG_ITEM_E(e)
+#define CARTES_AXIS_NAMES         CARTES_LIST(X,Y,Z,E)
+#define CARTES_MAP(F)             MAP(F, CARTES_AXIS_NAMES)
+#if CARTES_COUNT
+  #define CARTES_COMMA ,
+#else
+  #define CARTES_COMMA
+#endif
+
 #define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L || AXIS7_NAME == L || AXIS8_NAME == L || AXIS9_NAME == L)

 // Helpers
@@ -220,6 +238,24 @@ struct Flags<N, false> {
  FI bool operator[](const int n) const      { return test(n); }
  FI int size() const                        { return sizeof(b); }
  FI operator bool() const                   { return b != 0; }
+
+  FI Flags<N>& operator|=(Flags<N> &p) const { b |= p.b; return *this; }
+  FI Flags<N>& operator&=(Flags<N> &p) const { b &= p.b; return *this; }
+  FI Flags<N>& operator^=(Flags<N> &p) const { b ^= p.b; return *this; }
+
+  FI Flags<N>& operator|=(const flagbits_t &p) { b |= flagbits_t(p); return *this; }
+  FI Flags<N>& operator&=(const flagbits_t &p) { b &= flagbits_t(p); return *this; }
+  FI Flags<N>& operator^=(const flagbits_t &p) { b ^= flagbits_t(p); return *this; }
+
+  FI Flags<N> operator|(Flags<N> &p) const { return Flags<N>(b | p.b); }
+  FI Flags<N> operator&(Flags<N> &p) const { return Flags<N>(b & p.b); }
+  FI Flags<N> operator^(Flags<N> &p) const { return Flags<N>(b ^ p.b); }
+  FI Flags<N> operator~()            const { return Flags<N>(~b); }
+
+  FI flagbits_t operator|(const flagbits_t &p) const { return b | flagbits_t(p); }
+  FI flagbits_t operator&(const flagbits_t &p) const { return b & flagbits_t(p); }
+  FI flagbits_t operator^(const flagbits_t &p) const { return b ^ flagbits_t(p); }
+
 };

 // Flag bits for more than 64 states
@@ -354,23 +390,12 @@ typedef float feedRate_t;

 //
 // celsius_t is the native unit of temperature. Signed to handle a disconnected thermistor value (-14).
-// For more resolition (e.g., for a chocolate printer) this may later be changed to Celsius x 100
+// For more resolution (e.g., for a chocolate printer) this may later be changed to Celsius x 100
 //
 typedef uint16_t raw_adc_t;
 typedef int16_t celsius_t;
 typedef float celsius_float_t;

-//
-// On AVR pointers are only 2 bytes so use 'const float &' for 'const float'
-//
-#ifdef __AVR__
-  typedef const float & const_float_t;
-#else
-  typedef const float const_float_t;
-#endif
-typedef const_float_t const_feedRate_t;
-typedef const_float_t const_celsius_float_t;
-
 // Type large enough to count leveling grid points
 typedef IF<TERN0(ABL_USES_GRID, (GRID_MAX_POINTS > 255)), uint16_t, uint8_t>::type grid_count_t;

@@ -379,7 +404,7 @@ typedef IF<TERN0(ABL_USES_GRID, (GRID_MAX_POINTS > 255)), uint16_t, uint8_t>::ty
 #define MMS_TO_MMM(MM_S) (static_cast<float>(MM_S) * 60.0f)

 // Packaged character for C macro and other usage
-typedef struct SerialChar { char c; SerialChar(char n) : c(n) { } } serial_char_t;
+typedef struct SerialChar { char c; SerialChar(const char n) : c(n) { } } serial_char_t;
 #define C(c) serial_char_t(c)

 // Packaged types: float with precision and/or width; a repeated space/character
@@ -485,7 +510,7 @@ typedef ab_float_t ab_pos_t;
 typedef abc_float_t abc_pos_t;
 typedef abce_float_t abce_pos_t;

-// External conversion methods
+// External conversion methods (motion.h)
 void toLogical(xy_pos_t &raw);
 void toLogical(xyz_pos_t &raw);
 void toLogical(xyze_pos_t &raw);
@@ -516,9 +541,9 @@ struct XYval {
  #endif
  #if HAS_Y_AXIS
    FI void set(const T px, const T py)           { x = px; y = py; }
-    FI void set(const T (&arr)[XY])               { x = arr[0]; y = arr[1]; }
+    FI void set(const T (&arr)[2])                { x = arr[0]; y = arr[1]; }
  #endif
-  #if NUM_AXES > XY
+  #if NUM_AXES > 2
    FI void set(const T (&arr)[NUM_AXES])         { x = arr[0]; y = arr[1]; }
  #endif
  #if LOGICAL_AXES > NUM_AXES
@@ -540,13 +565,18 @@ struct XYval {
  FI constexpr T large()        const { return _MAX(x, y); }

  // Explicit copy and copies with conversion
-  FI constexpr XYval<T>           copy()  const { return *this; }
-  FI constexpr XYval<T>            ABS()  const { return { T(_ABS(x)), T(_ABS(y)) }; }
-  FI constexpr XYval<int16_t>    asInt()  const { return { int16_t(x), int16_t(y) }; }
-  FI constexpr XYval<int32_t>   asLong()  const { return { int32_t(x), int32_t(y) }; }
-  FI constexpr XYval<int32_t>   ROUNDL()  const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; }
-  FI constexpr XYval<float>    asFloat()  const { return { static_cast<float>(x), static_cast<float>(y) }; }
-  FI constexpr XYval<float> reciprocal()  const { return { _RECIP(x), _RECIP(y) }; }
+  FI constexpr XYval<T>           copy() const { return *this; }
+  FI constexpr XYval<T>            ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; }
+  FI constexpr XYval<int32_t>   ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; }
+  FI constexpr XYval<float> reciprocal() const { return { _RECIP(x), _RECIP(y) }; }
+
+  // Conversion to other types
+  FI constexpr XYval<int16_t>   asInt16() const { return { int16_t(x), int16_t(y) }; }
+  FI constexpr XYval<int32_t>   asInt32() const { return { int32_t(x), int32_t(y) }; }
+  FI constexpr XYval<uint32_t> asUInt32() const { return { uint32_t(x), uint32_t(y) }; }
+  FI constexpr XYval<int64_t>   asInt64() const { return { int64_t(x), int64_t(y) }; }
+  FI constexpr XYval<uint64_t> asUInt64() const { return { uint64_t(x), uint64_t(y) }; }
+  FI constexpr XYval<float>     asFloat() const { return { static_cast<float>(x), static_cast<float>(y) }; }

  // Marlin workspace shifting is done with G92 and M206
  FI XYval<float> asLogical() const { XYval<float> o = asFloat(); toLogical(o); return o; }
@@ -618,6 +648,26 @@ struct XYval {
  FI bool operator!=(const XYval<T>   &rs) const { return !operator==(rs); }
  FI bool operator!=(const XYZval<T>  &rs) const { return !operator==(rs); }
  FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
+
+  // Exact comparison to a single value
+  FI bool operator==(const T &p) const { return x == p && y == p; }
+  FI bool operator!=(const T &p) const { return !operator==(p);  }
+
+  FI bool operator< (const XYval<T>   &rs) const { return x <  rs.x && y <  rs.y; }
+  FI bool operator<=(const XYval<T>   &rs) const { return x <= rs.x && y <= rs.y; }
+  FI bool operator> (const XYval<T>   &rs) const { return x >  rs.x && y >  rs.y; }
+  FI bool operator>=(const XYval<T>   &rs) const { return x >= rs.x && y >= rs.y; }
+
+  FI bool operator< (const XYZval<T>  &rs) const { return true XY_GANG(&& x <  rs.x, && y <  rs.y); }
+  FI bool operator<=(const XYZval<T>  &rs) const { return true XY_GANG(&& x <= rs.x, && y <= rs.y); }
+  FI bool operator> (const XYZval<T>  &rs) const { return true XY_GANG(&& x >  rs.x, && y >  rs.y); }
+  FI bool operator>=(const XYZval<T>  &rs) const { return true XY_GANG(&& x >= rs.x, && y >= rs.y); }
+
+  FI bool operator< (const XYZEval<T> &rs) const { return true XY_GANG(&& x <  rs.x, && y <  rs.y); }
+  FI bool operator<=(const XYZEval<T> &rs) const { return true XY_GANG(&& x <= rs.x, && y <= rs.y); }
+  FI bool operator> (const XYZEval<T> &rs) const { return true XY_GANG(&& x >  rs.x, && y >  rs.y); }
+  FI bool operator>=(const XYZEval<T> &rs) const { return true XY_GANG(&& x >= rs.x, && y >= rs.y); }
+
 };

 //
@@ -694,12 +744,17 @@ struct XYZval {
  // Explicit copy and copies with conversion
  FI constexpr XYZval<T>           copy() const { XYZval<T> o = *this; return o; }
  FI constexpr XYZval<T>            ABS() const { return NUM_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); }
-  FI constexpr XYZval<int16_t>    asInt() const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
-  FI constexpr XYZval<int32_t>   asLong() const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
  FI constexpr XYZval<int32_t>   ROUNDL() const { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
-  FI constexpr XYZval<float>    asFloat() const { return NUM_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
  FI constexpr XYZval<float> reciprocal() const { return NUM_AXIS_ARRAY(_RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k),  _RECIP(u),  _RECIP(v),  _RECIP(w)); }

+  // Conversion to other types
+  FI constexpr XYZval<int16_t>   asInt16() const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI constexpr XYZval<int32_t>   asInt32() const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI constexpr XYZval<uint32_t> asUInt32() const { return NUM_AXIS_ARRAY(uint32_t(x), uint32_t(y), uint32_t(z), uint32_t(i), uint32_t(j), uint32_t(k), uint32_t(u), uint32_t(v), uint32_t(w)); }
+  FI constexpr XYZval<int64_t>   asInt64() const { return NUM_AXIS_ARRAY(int64_t(x), int64_t(y), int64_t(z), int64_t(i), int64_t(j), int64_t(k), int64_t(u), int64_t(v), int64_t(w)); }
+  FI constexpr XYZval<uint64_t> asUInt64() const { return NUM_AXIS_ARRAY(uint64_t(x), uint64_t(y), uint64_t(z), uint64_t(i), uint64_t(j), uint64_t(k), uint64_t(u), uint64_t(v), uint64_t(w)); }
+  FI constexpr XYZval<float>     asFloat() const { return NUM_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+
  // Marlin workspace shifting is done with G92 and M206
  FI XYZval<float> asLogical() const { XYZval<float> o = asFloat(); toLogical(o); return o; }
  FI XYZval<float>  asNative() const { XYZval<float> o = asFloat(); toNative(o);  return o; }
@@ -765,8 +820,23 @@ struct XYZval {
  FI XYZval<T>& operator<<=(const int &p)        { NUM_AXIS_CODE(_LSE(x), _LSE(y), _LSE(z), _LSE(i), _LSE(j), _LSE(k), _LSE(u), _LSE(v), _LSE(w)); return *this; }

  // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool operator==(const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool operator==(const XYZEval<T> &rs) const { return ENABLED(HAS_X_AXIS) NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
  FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
+
+  // Exact comparison to a single value
+  FI bool operator==(const T &p) const { return ENABLED(HAS_X_AXIS) NUM_AXIS_GANG(&& x == p, && y == p, && z == p, && i == p, && j == p, && k == p, && u == p, && v == p, && w == p); }
+  FI bool operator!=(const T &p) const { return !operator==(p); }
+
+  FI bool operator< (const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x <  rs.x, && y <  rs.y, && z <  rs.z, && i <  rs.i, && j <  rs.j, && k <  rs.k, && u <  rs.u, && v <  rs.v, && w <  rs.w); }
+  FI bool operator<=(const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x <= rs.x, && y <= rs.y, && z <= rs.z, && i <= rs.i, && j <= rs.j, && k <= rs.k, && u <= rs.u, && v <= rs.v, && w <= rs.w); }
+  FI bool operator> (const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x >  rs.x, && y >  rs.y, && z >  rs.z, && i >  rs.i, && j >  rs.j, && k >  rs.k, && u >  rs.u, && v >  rs.v, && w >  rs.w); }
+  FI bool operator>=(const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x >= rs.x, && y >= rs.y, && z >= rs.z, && i >= rs.i, && j >= rs.j, && k >= rs.k, && u >= rs.u, && v >= rs.v, && w >= rs.w); }
+
+  FI bool operator< (const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x <  rs.x, && y <  rs.y, && z <  rs.z, && i <  rs.i, && j <  rs.j, && k <  rs.k, && u <  rs.u, && v <  rs.v, && w <  rs.w); }
+  FI bool operator<=(const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x <= rs.x, && y <= rs.y, && z <= rs.z, && i <= rs.i, && j <= rs.j, && k <= rs.k, && u <= rs.u, && v <= rs.v, && w <= rs.w); }
+  FI bool operator> (const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x >  rs.x, && y >  rs.y, && z >  rs.z, && i >  rs.i, && j >  rs.j, && k >  rs.k, && u >  rs.u, && v >  rs.v, && w >  rs.w); }
+  FI bool operator>=(const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x >= rs.x, && y >= rs.y, && z >= rs.z, && i >= rs.i, && j >= rs.j, && k >= rs.k, && u >= rs.u, && v >= rs.v, && w >= rs.w); }
+
 };

 //
@@ -797,7 +867,7 @@ struct XYZEval {
    FI void set(const XYZval<T> &pxyz, const T pe)           { set(pxyz); e = pe; }
    FI void set(LOGICAL_AXIS_ARGS_LC(const T))               { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
    #if DISTINCT_AXES > LOGICAL_AXES
-      FI void set(const T (&arr)[DISTINCT_AXES])             { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
+      FI void set(const T (&arr)[DISTINCT_AXES], const uint8_t eindex) { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1 + eindex], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
    #endif
  #endif

@@ -842,13 +912,18 @@ struct XYZEval {
  FI constexpr T large()        const { return _MAX(LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)); }

  // Explicit copy and copies with conversion
-  FI constexpr XYZEval<T>           copy() const { XYZEval<T> v = *this; return v; }
-  FI constexpr XYZEval<T>            ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); }
-  FI constexpr XYZEval<int16_t>    asInt() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
-  FI constexpr XYZEval<int32_t>   asLong() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
-  FI constexpr XYZEval<int32_t>   ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
-  FI constexpr XYZEval<float>    asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
-  FI constexpr XYZEval<float> reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e),  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k),  _RECIP(u),  _RECIP(v),  _RECIP(w)); }
+  FI constexpr XYZEval<T>            copy() const { XYZEval<T> v = *this; return v; }
+  FI constexpr XYZEval<T>             ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); }
+  FI constexpr XYZEval<int32_t>    ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI constexpr XYZEval<float>  reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); }
+
+  // Conversion to other types
+  FI constexpr XYZEval<int16_t>   asInt16() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI constexpr XYZEval<int32_t>   asInt32() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI constexpr XYZEval<uint32_t> asUInt32() const { return LOGICAL_AXIS_ARRAY(uint32_t(e), uint32_t(x), uint32_t(y), uint32_t(z), uint32_t(i), uint32_t(j), uint32_t(k), uint32_t(u), uint32_t(v), uint32_t(w)); }
+  FI constexpr XYZEval<int64_t>   asInt64() const { return LOGICAL_AXIS_ARRAY(int64_t(e), int64_t(x), int64_t(y), int64_t(z), int64_t(i), int64_t(j), int64_t(k), int64_t(u), int64_t(v), int64_t(w)); }
+  FI constexpr XYZEval<uint64_t> asUInt64() const { return LOGICAL_AXIS_ARRAY(uint64_t(e), uint64_t(x), uint64_t(y), uint64_t(z), uint64_t(i), uint64_t(j), uint64_t(k), uint64_t(u), uint64_t(v), uint64_t(w)); }
+  FI constexpr XYZEval<float>     asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }

  // Marlin workspace shifting is done with G92 and M206
  FI XYZEval<float> asLogical() const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
@@ -882,7 +957,10 @@ struct XYZEval {
  FI constexpr XYZEval<T> operator- (const XYZEval<T> &rs) const { return LOGICAL_AXIS_ARRAY(T(e - rs.e), T(x - rs.x), T(y - rs.y), T(z - rs.z), T(i - rs.i), T(j - rs.j), T(k - rs.k), T(u - rs.u), T(v - rs.v), T(w - rs.w)); }
  FI constexpr XYZEval<T> operator* (const XYZEval<T> &rs) const { return LOGICAL_AXIS_ARRAY(T(e * rs.e), T(x * rs.x), T(y * rs.y), T(z * rs.z), T(i * rs.i), T(j * rs.j), T(k * rs.k), T(u * rs.u), T(v * rs.v), T(w * rs.w)); }
  FI constexpr XYZEval<T> operator/ (const XYZEval<T> &rs) const { return LOGICAL_AXIS_ARRAY(T(e / rs.e), T(x / rs.x), T(y / rs.y), T(z / rs.z), T(i / rs.i), T(j / rs.j), T(k / rs.k), T(u / rs.u), T(v / rs.v), T(w / rs.w)); }
+  FI constexpr XYZEval<T> operator+ (const uint32_t &p)    const { return LOGICAL_AXIS_ARRAY(T(e + p), T(x + p), T(y + p), T(z + p), T(i + p), T(j + p), T(k + p), T(u + p), T(v + p), T(w + p)); }
  FI constexpr XYZEval<T> operator* (const float &p)       const { return LOGICAL_AXIS_ARRAY(T(e * p), T(x * p), T(y * p), T(z * p), T(i * p), T(j * p), T(k * p), T(u * p), T(v * p), T(w * p)); }
+  FI constexpr XYZEval<T> operator* (const uint32_t &p)    const { return LOGICAL_AXIS_ARRAY(T(e * p), T(x * p), T(y * p), T(z * p), T(i * p), T(j * p), T(k * p), T(u * p), T(v * p), T(w * p)); }
+  FI constexpr XYZEval<T> operator& (const int64_t &p)     const { return LOGICAL_AXIS_ARRAY(T(e & p), T(x & p), T(y & p), T(z & p), T(i & p), T(j & p), T(k & p), T(u & p), T(v & p), T(w & p)); }
  FI constexpr XYZEval<T> operator* (const int &p)         const { return LOGICAL_AXIS_ARRAY(e * p, x * p, y * p, z * p, i * p, j * p, k * p, u * p, v * p, w * p); }
  FI constexpr XYZEval<T> operator/ (const float &p)       const { return LOGICAL_AXIS_ARRAY(T(e / p), T(x / p), T(y / p), T(z / p), T(i / p), T(j / p), T(k / p), T(u / p), T(v / p), T(w / p)); }
  FI constexpr XYZEval<T> operator/ (const int &p)         const { return LOGICAL_AXIS_ARRAY(e / p, x / p, y / p, z / p, i / p, j / p, k / p, u / p, v / p, w / p); }
@@ -913,14 +991,32 @@ struct XYZEval {
  FI XYZEval<T>& operator<<=(const int &p)        { LOGICAL_AXIS_CODE(_LSE(e), _LSE(x), _LSE(y), _LSE(z), _LSE(i), _LSE(j), _LSE(k), _LSE(u), _LSE(v), _LSE(w)); return *this; }

  // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool operator==(const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
-  FI bool operator==(const XYZEval<T> &rs) const { return true LOGICAL_AXIS_GANG(&& e == rs.e, && x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool operator==(const XYZval<T>  &rs) const { return ENABLED(HAS_X_AXIS) NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool operator==(const XYZEval<T> &rs) const { return ANY(HAS_X_AXIS, HAS_EXTRUDERS) LOGICAL_AXIS_GANG(&& e == rs.e, && x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
  FI bool operator!=(const XYZval<T>  &rs) const { return !operator==(rs); }
  FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
+
+  // Exact comparison to a single value
+  FI bool operator==(const T &p) const { return ENABLED(HAS_X_AXIS) LOGICAL_AXIS_GANG(&& e == p, && x == p, && y == p, && z == p, && i == p, && j == p, && k == p, && u == p, && v == p, && w == p); }
+  FI bool operator!=(const T &p) const { return !operator==(p); }
+
+  FI bool operator< (const XYZEval<T> &rs) const { return true LOGICAL_AXIS_GANG(&& e <  rs.e, && x <  rs.x, && y <  rs.y, && z <  rs.z, && i <  rs.i, && j <  rs.j, && k <  rs.k, && u <  rs.u, && v <  rs.v, && w <  rs.w); }
+  FI bool operator<=(const XYZEval<T> &rs) const { return true LOGICAL_AXIS_GANG(&& e <= rs.e, && x <= rs.x, && y <= rs.y, && z <= rs.z, && i <= rs.i, && j <= rs.j, && k <= rs.k, && u <= rs.u, && v <= rs.v, && w <= rs.w); }
+  FI bool operator> (const XYZEval<T> &rs) const { return true LOGICAL_AXIS_GANG(&& e >  rs.e, && x >  rs.x, && y >  rs.y, && z >  rs.z, && i >  rs.i, && j >  rs.j, && k >  rs.k, && u >  rs.u, && v >  rs.v, && w >  rs.w); }
+  FI bool operator>=(const XYZEval<T> &rs) const { return true LOGICAL_AXIS_GANG(&& e >= rs.e, && x >= rs.x, && y >= rs.y, && z >= rs.z, && i >= rs.i, && j >= rs.j, && k >= rs.k, && u >= rs.u, && v >= rs.v, && w >= rs.w); }
+
+  FI bool operator< (const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x <  rs.x, && y <  rs.y, && z <  rs.z, && i <  rs.i, && j <  rs.j, && k <  rs.k, && u <  rs.u, && v <  rs.v, && w <  rs.w); }
+  FI bool operator<=(const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x <= rs.x, && y <= rs.y, && z <= rs.z, && i <= rs.i, && j <= rs.j, && k <= rs.k, && u <= rs.u, && v <= rs.v, && w <= rs.w); }
+  FI bool operator> (const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x >  rs.x, && y >  rs.y, && z >  rs.z, && i >  rs.i, && j >  rs.j, && k >  rs.k, && u >  rs.u, && v >  rs.v, && w >  rs.w); }
+  FI bool operator>=(const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x >= rs.x, && y >= rs.y, && z >= rs.z, && i >= rs.i, && j >= rs.j, && k >= rs.k, && u >= rs.u, && v >= rs.v, && w >= rs.w); }
+
 };

 #include <string.h> // for memset

+//
+// Axis indexed arrays of type T (x[SIZE], y[SIZE], etc.)
+//
 template<typename T, int SIZE>
 struct XYZarray {
  typedef T el[SIZE];
@@ -1020,6 +1116,9 @@ struct XYZEarray {
  FI XYZEval<T> operator[](const int n) const { return XYZval<T>(LOGICAL_AXIS_ARRAY(e[n], x[n], y[n], z[n], i[n], j[n], k[n], u[n], v[n], w[n])); }
 };

+//
+// Axes mapped to bits in a mask of minimum size, bits_t(NUM_AXIS_HEADS)
+//
 class AxisBits {
 public:
  typedef bits_t(NUM_AXIS_HEADS) el;
@@ -1217,6 +1316,7 @@ public:
  FI AxisBits operator|(const AxisBits &p) const { return AxisBits(bits | p.bits); }
  FI AxisBits operator&(const AxisBits &p) const { return AxisBits(bits & p.bits); }
  FI AxisBits operator^(const AxisBits &p) const { return AxisBits(bits ^ p.bits); }
+  FI AxisBits operator~()                  const { return AxisBits(~bits); }

  FI operator bool() const { return !!bits; }
  FI operator uint16_t() const { return uint16_t(bits & 0xFFFF); }
@@ -1234,7 +1334,7 @@ public:

 // Axis names for G-code parsing, reports, etc.
 constexpr xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME, AXIS7_NAME, AXIS8_NAME, AXIS9_NAME);
-#if NUM_AXES <= XYZ && !HAS_EXTRUDERS
+#if NUM_AXES <= 3 && !HAS_EXTRUDERS
  #define AXIS_CHAR(A) ((char)('X' + A))
  #define IAXIS_CHAR AXIS_CHAR
 #else
@@ -143,7 +143,7 @@ void safe_delay(millis_t ms) {
          SERIAL_ECHOPGM("ABL Adjustment");
          LOOP_NUM_AXES(a) {
            SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]));
-            serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]);
+            serial_offset(planner.get_axis_position_mm((AxisEnum)a) - current_position[a]);
          }
        #else
          #if ENABLED(AUTO_BED_LEVELING_UBL)
--- a/Show More
+++ b/Show More