Bump to head plus G34 auto assignment

2020-01-11 12:22:56 -05:00
parent b484c585bb
commit feff4e2fea
621 changed files with 79534 additions and 8936 deletions
@@ -1 +1,3 @@
-custom: http://www.thinkyhead.com/donate-to-marlin
+github: [thinkyhead]
+patreon: thinkyhead
+custom: ["http://www.thinkyhead.com/donate-to-marlin"]
@@ -0,0 +1,34 @@
+#
+# bump-date.yml
+# Bump the distribution date once per day
+#
+
+name: Bump Distribution Date
+
+on:
+  schedule:
+    - cron: '0 0 * * *'
+
+jobs:
+  bump_date:
+
+    runs-on: ubuntu-latest
+
+    steps:
+
+    - name: Check out bugfix-2.0.x
+      uses: actions/checkout@v2
+      with:
+        ref: bugfix-2.0.x
+
+    - name: Bump Distribution Date
+      run: |
+        # Inline Bump Script
+        [[ "$GITHUB_ACTOR" == 'MarlinFirmware' ]] || exit 0
+        DIST=$( date +"%Y-%m-%d" )
+        eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \
+        git config user.name "${GITHUB_ACTOR}" && \
+        git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \
+        git add . && \
+        git commit -m "[cron] Bump distribution date ($DIST)" && \
+        git push
@@ -0,0 +1,31 @@
+#
+# check-pr.yml
+# Automatically close the PR if it's directed to a release branch
+#
+
+name: Check PR
+
+on:
+  pull_request:
+    branches:
+    - 1.0.x
+    - 1.1.x
+    - 2.0.x
+
+jobs:
+  check_pr:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Comment on PR
+      uses: unsplash/comment-on-pr@master
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      with:
+        msg: "<p>Thanks for your contribution! \
+              Unfortunately we can't accept PRs directed at release branches. \
+              We make patches to the bugfix branches and only later do we push them out as releases. \
+              Please redo this PR starting with the `bugfix-2.0.x` branch and be careful to target `bugfix-2.0.x` when resubmitting the PR.</p> \
+              <p>It may help to set your fork's default branch to `bugfix-2.0.x`.</p> \
+              <p>See <a href='http://marlinfw.org/docs/development/getting_started_pull_requests.html' target='_blank'>this page</a> for full instructions.</p>"
@@ -0,0 +1,102 @@
+#
+# test-builds.yml
+# Do test builds to catch compile errors
+#
+
+name: CI
+
+on:
+  pull_request:
+    branches:
+    - bugfix-2.0.x
+    - dev-2.1.x
+    paths-ignore:
+    - config/**
+    - data/**
+    - docs/**
+    - '**/*.md'
+
+jobs:
+  test_builds:
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        test-platform:
+        # Base Environments
+
+        - DUE
+        - esp32
+        - linux_native
+        - megaatmega2560
+        - teensy31
+        - teensy35
+
+        # Extended AVR Environments
+
+        - FYSETC_F6_13
+        - megaatmega1280
+        - rambo
+        - sanguino_atmega1284p
+        - sanguino_atmega644p
+
+        # Extended STM32 Environments
+
+        - STM32F103RC_bigtree
+        - STM32F103RC_bigtree_USB
+        - STM32F103RE_bigtree
+        - STM32F103RE_bigtree_USB
+        - STM32F103RC_fysetc
+        - jgaurora_a5s_a1
+        - STM32F103VE_longer
+        - STM32F407VE_black
+        - BIGTREE_SKR_PRO
+        - mks_robin
+        - ARMED
+
+        # Put lengthy tests last
+
+        - LPC1768
+        - LPC1769
+
+        # STM32 with non-STM framework. both broken for now. they should use HAL_STM32 which is working.
+
+        #- STM32F4
+        #- STM32F7
+
+        # Non-working environment tests
+
+        #- BIGTREE_BTT002
+        #- at90usb1286_cdc
+        #- at90usb1286_dfu
+        #- STM32F103CB_malyan
+        #- mks_robin_lite
+        #- mks_robin_mini
+        #- mks_robin_nano
+        #- SAMD51_grandcentral_m4
+
+    steps:
+
+    - name: Select Python 3.7
+      uses: actions/setup-python@v1
+      with:
+        python-version: '3.7' # Version range or exact version of a Python version to use, using semvers version range syntax.
+        architecture: 'x64' # optional x64 or x86. Defaults to x64 if not specified
+
+    - name: Install PlatformIO
+      run: |
+        pip install -U https://github.com/platformio/platformio-core/archive/master.zip
+        platformio update
+
+    - name: Check out the PR
+      uses: actions/checkout@v2
+
+    - name: Run ${{ matrix.test-platform }} Tests
+      run: |
+        # Inline tests script
+        [[ "$GITHUB_ACTOR" == 'MarlinFirmware' ]] || exit 0
+        chmod +x buildroot/bin/*
+        chmod +x buildroot/share/tests/*
+        export PATH=./buildroot/bin/:./buildroot/share/tests/:${PATH}
+        run_tests . ${{ matrix.test-platform }}
@@ -339,9 +339,9 @@
  //#define PSU_DEFAULT_OFF         // Keep power off until enabled directly with M80
  //#define PSU_POWERUP_DELAY 100   // (ms) Delay for the PSU to warm up to full power

-  //#define AUTO_POWER_CONTROL  // Enable automatic control of the PS_ON pin
+  //#define AUTO_POWER_CONTROL      // Enable automatic control of the PS_ON pin
  #if ENABLED(AUTO_POWER_CONTROL)
-    #define AUTO_POWER_FANS           // Turn on PSU if fans need power
+    #define AUTO_POWER_FANS         // Turn on PSU if fans need power
    #define AUTO_POWER_E_FANS
    #define AUTO_POWER_CONTROLLERFAN
    #define AUTO_POWER_CHAMBER_FAN
@@ -895,6 +895,12 @@
 */
 //#define FIX_MOUNTED_PROBE

+/**
+ * Use the nozzle as the probe, as with a conductive
+ * nozzle system or a piezo-electric smart effector.
+ */
+//#define NOZZLE_AS_PROBE
+
 /**
 * Z Servo Probe, such as an endstop switch on a rotating arm.
 */
@@ -964,8 +970,9 @@
 */
 #define NOZZLE_TO_PROBE_OFFSET { 28, -33, 0 }

-// Certain types of probes need to stay away from edges
-#define MIN_PROBE_EDGE 10
+// 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 MIN_PROBE_EDGE 5

 // X and Y axis travel speed (mm/m) between probes
 #define XY_PROBE_SPEED 5000
@@ -1844,7 +1851,7 @@

 //
 // Makeboard 3D Printer Parts 3D Printer Mini Display 1602 Mini Controller
-// https://www.aliexpress.com/item/Micromake-Makeboard-3D-Printer-Parts-3D-Printer-Mini-Display-1602-Mini-Controller-Compatible-with-Ramps-1/32765887917.html
+// https://www.aliexpress.com/item/32765887917.html
 //
 //#define MAKEBOARD_MINI_2_LINE_DISPLAY_1602

@@ -2020,13 +2027,18 @@

 //
 // Factory display for Creality CR-10
-// https://www.aliexpress.com/item/Universal-LCD-12864-3D-Printer-Display-Screen-With-Encoder-For-CR-10-CR-7-Model/32833148327.html
+// https://www.aliexpress.com/item/32833148327.html
 //
 // This is RAMPS-compatible using a single 10-pin connector.
 // (For CR-10 owners who want to replace the Melzi Creality board but retain the display)
 //
 //#define CR10_STOCKDISPLAY

+//
+// Ender-2 OEM display, a variant of the MKS_MINI_12864
+//
+//#define ENDER2_STOCKDISPLAY
+
 //
 // ANET and Tronxy Graphical Controller
 //
@@ -2095,9 +2107,11 @@
 //=============================================================================

 //
-// DGUS Touch Display with DWIN OS
+// DGUS Touch Display with DWIN OS. (Choose one.)
 //
-//#define DGUS_LCD
+//#define DGUS_LCD_UI_ORIGIN
+//#define DGUS_LCD_UI_FYSETC
+//#define DGUS_LCD_UI_HIPRECY

 //
 // Touch-screen LCD for Malyan M200 printers
@@ -658,7 +658,21 @@
 #endif
 #if ENABLED(Z_STEPPER_AUTO_ALIGN)
  // Define probe X and Y positions for Z1, Z2 [, Z3]
-  #define Z_STEPPER_ALIGN_XY { {  270, 150 }, { 30,  150 } }
+  // If not defined, probe limits will be used.
+  //#define Z_STEPPER_ALIGN_XY { {  10, 190 }, { 100,  10 }, { 190, 190 } }
+
+  /**
+   * Rotrate automatically calulated positions clockwise
+   * For 2 point
+   * Enabled and not 0 rotates to X center and Y edges
+   *
+   * For 3 point
+   * 0 or Undefined sets Point 1 Front Left
+   * 1 sets Point 1 Rear left
+   * 2 sets Point 1 Rear Right
+   * 3 sets Point 1 Front Right
+  */
+ //#define Z_STEPPER_ALIGN_ROTATE 0

  // Provide Z stepper positions for more rapid convergence in bed alignment.
  // Currently requires triple stepper drivers.
@@ -676,7 +690,7 @@
  #endif

  // Set number of iterations to align
-  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  #define Z_STEPPER_ALIGN_ITERATIONS 5

  // Enable to restore leveling setup after operation
  #define RESTORE_LEVELING_AFTER_G34
@@ -991,7 +1005,7 @@
  #define SD_DETECT_INVERTED

  #define SD_FINISHED_STEPPERRELEASE true          // Disable steppers when SD Print is finished
-  #define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the Z enabled so your bed stays in place.
+  #define SD_FINISHED_RELEASECOMMAND "G1 X0 Y250\nM84" // You might want to keep the Z enabled so your bed stays in place.

  // Reverse SD sort to show "more recent" files first, according to the card's FAT.
  // Since the FAT gets out of order with usage, SDCARD_SORT_ALPHA is recommended.
@@ -1246,6 +1260,44 @@

 #endif // HAS_GRAPHICAL_LCD

+//
+// Additional options for DGUS / DWIN displays
+//
+#if HAS_DGUS_LCD
+  #define DGUS_SERIAL_PORT 2
+  #define DGUS_BAUDRATE 115200
+
+  #define DGUS_RX_BUFFER_SIZE 128
+  #define DGUS_TX_BUFFER_SIZE 48
+  //#define DGUS_SERIAL_STATS_RX_BUFFER_OVERRUNS  // Fix Rx overrun situation (Currently only for AVR)
+
+  #define DGUS_UPDATE_INTERVAL_MS  500    // (ms) Interval between automatic screen updates
+  #define BOOTSCREEN_TIMEOUT      3000    // (ms) Duration to display the boot screen
+
+  #if EITHER(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_HIPRECY)
+    #define DGUS_PRINT_FILENAME           // Display the filename during printing
+    #define DGUS_PREHEAT_UI               // Display a preheat screen during heatup
+
+    #if ENABLED(DGUS_LCD_UI_FYSETC)
+      //#define DUGS_UI_MOVE_DIS_OPTION   // Disabled by default for UI_FYSETC
+    #else
+      #define DUGS_UI_MOVE_DIS_OPTION     // Enabled by default for UI_HIPRECY
+    #endif
+
+    #define DGUS_FILAMENT_LOADUNLOAD
+    #if ENABLED(DGUS_FILAMENT_LOADUNLOAD)
+      #define DGUS_FILAMENT_PURGE_LENGTH 10
+      #define DGUS_FILAMENT_LOAD_LENGTH_PER_TIME 0.5 // (mm) Adjust in proportion to DGUS_UPDATE_INTERVAL_MS
+    #endif
+
+    #define DGUS_UI_WAITING               // Show a "waiting" screen between some screens
+    #if ENABLED(DGUS_UI_WAITING)
+      #define DGUS_UI_WAITING_STATUS 10
+      #define DGUS_UI_WAITING_STATUS_PERIOD 8 // Increase to slower waiting status looping
+    #endif
+  #endif
+#endif // HAS_DGUS_LCD
+
 //
 // Touch UI for the FTDI Embedded Video Engine (EVE)
 //
@@ -1449,7 +1501,8 @@
 * Override MIN_PROBE_EDGE for each side of the build plate
 * Useful to get probe points to exact positions on targets or
 * to allow leveling to avoid plate clamps on only specific
- * sides of the bed.
+ * sides of the bed. With NOZZLE_AS_PROBE negative values are
+ * allowed, to permit probing outside the bed.
 *
 * If you are replacing the prior *_PROBE_BED_POSITION options,
 * LEFT and FRONT values in most cases will map directly over
@@ -1559,12 +1612,12 @@
 /**
 * Maximum stepping rate (in Hz) the stepper driver allows
 *  If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
- *  500000 : Maximum for A4988 stepper driver
- *  400000 : Maximum for TMC2xxx stepper drivers
- *  250000 : Maximum for DRV8825 stepper driver
- *  200000 : Maximum for LV8729 stepper driver
- *  150000 : Maximum for TB6600 stepper driver
- *   15000 : Maximum for TB6560 stepper driver
+ *  5000000 : Maximum for TMC2xxx stepper drivers
+ *  1000000 : Maximum for LV8729 stepper driver
+ *  500000  : Maximum for A4988 stepper driver
+ *  250000  : Maximum for DRV8825 stepper driver
+ *  150000  : Maximum for TB6600 stepper driver
+ *   15000  : Maximum for TB6560 stepper driver
 *
 * Override the default value based on the driver type set in Configuration.h.
 */
@@ -1764,9 +1817,10 @@
  #define ADVANCED_PAUSE_FANS_PAUSE             // Turn off print-cooling fans while the machine is paused.

                                                  // Filament Unload does a Retract, Delay, and Purge first:
-  #define FILAMENT_UNLOAD_RETRACT_LENGTH      13  // (mm) Unload initial retract length.
-  #define FILAMENT_UNLOAD_DELAY             5000  // (ms) Delay for the filament to cool after retract.
+  #define FILAMENT_UNLOAD_PURGE_RETRACT       13  // (mm) Unload initial retract length.
+  #define FILAMENT_UNLOAD_PURGE_DELAY       5000  // (ms) Delay for the filament to cool after retract.
  #define FILAMENT_UNLOAD_PURGE_LENGTH         8  // (mm) An unretract is done, then this length is purged.
+  #define FILAMENT_UNLOAD_PURGE_FEEDRATE      25  // (mm/s) feedrate to purge before unload

  #define PAUSE_PARK_NOZZLE_TIMEOUT           45  // (seconds) Time limit before the nozzle is turned off for safety.
  #define FILAMENT_CHANGE_ALERT_BEEPS         10  // Number of alert beeps to play when a response is needed.
@@ -2157,8 +2211,6 @@
   *
   * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
   * homing and adds a guard period for endstop triggering.
-   *
-   * TMC2209 requires STEALTHCHOP enabled for SENSORLESS_HOMING
   */
  //#define SENSORLESS_HOMING // StallGuard capable drivers only

@@ -2177,7 +2229,6 @@
    #define Y_STALL_SENSITIVITY  8
    //#define Z_STALL_SENSITIVITY  8
    //#define SPI_ENDSTOPS              // TMC2130 only
-    //#define HOME_USING_SPREADCYCLE
    //#define IMPROVE_HOMING_RELIABILITY
  #endif

@@ -2762,7 +2813,11 @@
  #define JOY_Z_PIN   12  // RAMPS: Suggested pin A12 on AUX2
  #define JOY_EN_PIN  44  // RAMPS: Suggested pin D44 on AUX2

-  // Use M119 to find reasonable values after connecting your hardware:
+  //#define INVERT_JOY_X  // Enable if X direction is reversed
+  //#define INVERT_JOY_Y  // Enable if Y direction is reversed
+  //#define INVERT_JOY_Z  // Enable if Z direction is reversed
+
+  // Use M119 with JOYSTICK_DEBUG to find reasonable values after connecting:
  #define JOY_X_LIMITS { 5600, 8190-100, 8190+100, 10800 } // min, deadzone start, deadzone end, max
  #define JOY_Y_LIMITS { 5600, 8250-100, 8250+100, 11000 }
  #define JOY_Z_LIMITS { 4800, 8080-100, 8080+100, 11550 }
@@ -91,24 +91,37 @@ typedef int8_t pin_t;
  #define NUM_SERIAL 1
 #else
  #if !WITHIN(SERIAL_PORT, -1, 3)
-    #error "SERIAL_PORT must be from -1 to 3"
+    #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
  #endif

  #define MYSERIAL0 customizedSerial1

  #ifdef SERIAL_PORT_2
    #if !WITHIN(SERIAL_PORT_2, -1, 3)
-      #error "SERIAL_PORT_2 must be from -1 to 3"
+      #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
    #elif SERIAL_PORT_2 == SERIAL_PORT
-      #error "SERIAL_PORT_2 must be different than SERIAL_PORT"
+      #error "SERIAL_PORT_2 must be different than SERIAL_PORT. Please update your configuration."
    #endif
-    #define NUM_SERIAL 2
    #define MYSERIAL1 customizedSerial2
+    #define NUM_SERIAL 2
  #else
    #define NUM_SERIAL 1
  #endif
 #endif

+#ifdef DGUS_SERIAL_PORT
+  #if !WITHIN(DGUS_SERIAL_PORT, -1, 3)
+    #error "DGUS_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+  #elif DGUS_SERIAL_PORT == SERIAL_PORT
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT. Please update your configuration."
+  #elif defined(SERIAL_PORT_2) && DGUS_SERIAL_PORT == SERIAL_PORT_2
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT_2. Please update your configuration."
+  #endif
+  #define DGUS_SERIAL internalDgusSerial
+
+  #define DGUS_SERIAL_GET_TX_BUFFER_FREE DGUS_SERIAL.get_tx_buffer_free
+#endif
+
 // ------------------------
 // Public functions
 // ------------------------
@@ -41,7 +41,7 @@
 #if !defined(USBCON) && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))

  #include "MarlinSerial.h"
-  #include "../../Marlin.h"
+  #include "../../MarlinCore.h"

  template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0, 0, { 0 } };
  template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 };
@@ -757,6 +757,33 @@

 #endif

+#ifdef DGUS_SERIAL_PORT
+
+  template<typename Cfg>
+  typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::get_tx_buffer_free() {
+    const ring_buffer_pos_t t = tx_buffer.tail,  // next byte to send.
+                            h = tx_buffer.head;  // next pos for queue.
+    int ret = t - h - 1;
+    if (ret < 0) ret += Cfg::TX_SIZE + 1;
+    return ret;
+  }
+
+  ISR(SERIAL_REGNAME(USART,DGUS_SERIAL_PORT,_RX_vect)) {
+    MarlinSerial<MarlinInternalSerialCfg<DGUS_SERIAL_PORT>>::store_rxd_char();
+  }
+
+  ISR(SERIAL_REGNAME(USART,DGUS_SERIAL_PORT,_UDRE_vect)) {
+    MarlinSerial<MarlinInternalSerialCfg<DGUS_SERIAL_PORT>>::_tx_udr_empty_irq();
+  }
+
+  // Preinstantiate
+  template class MarlinSerial<MarlinInternalSerialCfg<DGUS_SERIAL_PORT>>;
+
+  // Instantiate
+  MarlinSerial<MarlinInternalSerialCfg<DGUS_SERIAL_PORT>> internalDgusSerial;
+
+#endif
+
 // For AT90USB targets use the UART for BT interfacing
 #if defined(USBCON) && ENABLED(BLUETOOTH)
  HardwareSerial bluetoothSerial;
@@ -217,6 +217,9 @@
      static ring_buffer_pos_t available();
      static void write(const uint8_t c);
      static void flushTX();
+      #ifdef DGUS_SERIAL_PORT
+        static ring_buffer_pos_t get_tx_buffer_free();
+      #endif

      FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
      FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
@@ -292,6 +295,23 @@
  extern MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>> internalSerial;
 #endif

+#ifdef DGUS_SERIAL_PORT
+  template <uint8_t serial>
+  struct MarlinInternalSerialCfg {
+    static constexpr int PORT               = serial;
+    static constexpr unsigned int RX_SIZE   = 128;
+    static constexpr unsigned int TX_SIZE   = 48;
+    static constexpr bool XONOFF            = false;
+    static constexpr bool EMERGENCYPARSER   = false;
+    static constexpr bool DROPPED_RX        = false;
+    static constexpr bool RX_OVERRUNS       = bDGUS_SERIAL_STATS_RX_BUFFER_OVERRUNS;
+    static constexpr bool RX_FRAMING_ERRORS = false;
+    static constexpr bool MAX_RX_QUEUED     = false;
+  };
+
+  extern MarlinSerial<MarlinInternalSerialCfg<DGUS_SERIAL_PORT>> internalDgusSerial;
+#endif
+
 // Use the UART for Bluetooth in AT90USB configurations
 #if defined(USBCON) && ENABLED(BLUETOOTH)
  extern HardwareSerial bluetoothSerial;
@@ -39,7 +39,7 @@
 * Checks for FAST PWM
 */
 #if ENABLED(FAST_PWM_FAN) && (ENABLED(USE_OCR2A_AS_TOP) && defined(TCCR2))
-    #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2"
+  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2"
 #endif

 /**
@@ -26,7 +26,10 @@

 #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS

+#define AVR_ATmega2560_FAMILY_PLUS_70 MB(BQ_ZUM_MEGA_3D, MIGHTYBOARD_REVE, MINIRAMBO, SCOOVO_X9H)
+
 #if AVR_AT90USB1286_FAMILY
+
  // Working with Teensyduino extension so need to re-define some things
  #include "pinsDebug_Teensyduino.h"
  // Can't use the "digitalPinToPort" function from the Teensyduino type IDEs
@@ -35,7 +38,9 @@
  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
  #define digitalPinToPort_DEBUG(p) digitalPinToPort_Teensy(p)
  #define GET_PINMODE(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin))
+
 #elif AVR_ATmega2560_FAMILY_PLUS_70   // So we can access/display all the pins on boards using more than 70
+
  #include "pinsDebug_plus_70.h"
  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer_plus_70(p)
  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask_plus_70(p)
@@ -43,11 +48,13 @@
  bool GET_PINMODE(int8_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }

 #else
+
  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
  #define digitalPinToPort_DEBUG(p) digitalPinToPort(p)
  bool GET_PINMODE(int8_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
  #define GET_ARRAY_PIN(p) pgm_read_byte(&pin_array[p].pin)
+
 #endif

 #define VALID_PIN(pin) (pin >= 0 && pin < NUM_DIGITAL_PINS ? 1 : 0)
@@ -28,7 +28,7 @@

 #include "watchdog.h"

-#include "../../Marlin.h"
+#include "../../MarlinCore.h"

 // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
 void watchdog_init() {
@@ -56,8 +56,7 @@
 #ifdef SERIAL_PORT_2
  #if SERIAL_PORT_2 == SERIAL_PORT
    #error "SERIAL_PORT_2 must be different from SERIAL_PORT. Please update your configuration."
-  #endif
-  #if SERIAL_PORT_2 == -1
+  #elif SERIAL_PORT_2 == -1
    #define MYSERIAL1 customizedSerial2
  #elif SERIAL_PORT_2 == 0
    #define MYSERIAL1 Serial
@@ -75,6 +74,27 @@
  #define NUM_SERIAL 1
 #endif

+#ifdef DGUS_SERIAL_PORT
+  #if DGUS_SERIAL_PORT == SERIAL_PORT
+    #error "DGUS_SERIAL_PORT must be different from SERIAL_PORT. Please update your configuration."
+  #elif defined(SERIAL_PORT_2) && DGUS_SERIAL_PORT == SERIAL_PORT_2
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT_2. Please update your configuration."
+  #elif DGUS_SERIAL_PORT == -1
+    #define DGUS_SERIAL internalDgusSerial
+  #elif DGUS_SERIAL_PORT == 0
+    #define DGUS_SERIAL Serial
+  #elif DGUS_SERIAL_PORT == 1
+    #define DGUS_SERIAL Serial1
+  #elif DGUS_SERIAL_PORT == 2
+    #define DGUS_SERIAL Serial2
+  #elif DGUS_SERIAL_PORT == 3
+    #define DGUS_SERIAL Serial3
+  #else
+    #error "DGUS_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+  #endif
+#endif
+
+
 #include "MarlinSerial.h"
 #include "MarlinSerialUSB.h"

@@ -31,7 +31,7 @@

 #include "MarlinSerial.h"
 #include "InterruptVectors.h"
-#include "../../Marlin.h"
+#include "../../MarlinCore.h"

 template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0, 0, { 0 } };
 template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 };
@@ -63,7 +63,7 @@

 #include <U8glib.h>

-#include "../../../Marlin.h"
+#include "../../../MarlinCore.h"

 void spiBegin();
 void spiInit(uint8_t spiRate);
@@ -55,3 +55,7 @@
 #if ENABLED(FAST_PWM_FAN)
  #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
+
+#if TMC_HAS_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif
@@ -23,7 +23,7 @@
 #ifdef ARDUINO_ARCH_SAM

 #include "../../inc/MarlinConfig.h"
-#include "../../Marlin.h"
+#include "../../MarlinCore.h"
 #include "watchdog.h"

 // Override Arduino runtime to either config or disable the watchdog
@@ -30,7 +30,7 @@

 #include "../../inc/MarlinConfigPre.h"

-#if EITHER(EEPROM_SETTINGS, WEBSUPPORT)
+#if ENABLED(WEBSUPPORT)
  #include "spiffs.h"
 #endif

@@ -83,7 +83,7 @@ void HAL_init() {
 }

 void HAL_init_board() {
-  #if EITHER(EEPROM_SETTINGS, WEBSUPPORT)
+  #if ENABLED(WEBSUPPORT)
    spiffs_init();
  #endif

@@ -48,8 +48,8 @@ extern portMUX_TYPE spinlock;
 #define MYSERIAL0 flushableSerial

 #if ENABLED(WIFISUPPORT)
-  #define NUM_SERIAL 2
  #define MYSERIAL1 webSocketSerial
+  #define NUM_SERIAL 2
 #else
  #define NUM_SERIAL 1
 #endif
@@ -25,14 +25,16 @@

 #include <Stream.h>

-#ifndef RX_BUFFER_SIZE
-  #define RX_BUFFER_SIZE 128
-#endif
 #ifndef TX_BUFFER_SIZE
  #define TX_BUFFER_SIZE 32
 #endif
-#if TX_BUFFER_SIZE <= 0
-  #error "TX_BUFFER_SIZE is required for the WebSocket."
+#if ENABLED(WIFISUPPORT)
+  #ifndef RX_BUFFER_SIZE
+    #define RX_BUFFER_SIZE 128
+  #endif
+  #if TX_BUFFER_SIZE <= 0
+    #error "TX_BUFFER_SIZE is required for the WebSocket."
+  #endif
 #endif

 typedef uint16_t ring_buffer_pos_t;
@@ -28,3 +28,7 @@
 #if ENABLED(FAST_PWM_FAN)
  #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
+
+#if TMC_HAS_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif
@@ -0,0 +1,63 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(EEPROM_SETTINGS) && DISABLED(FLASH_EEPROM_EMULATION)
+
+#include "../shared/persistent_store_api.h"
+#include "EEPROM.h"
+
+#define EEPROM_SIZE 4096
+
+bool PersistentStore::access_start() {
+  return EEPROM.begin(EEPROM_SIZE);
+}
+
+bool PersistentStore::access_finish() {
+  EEPROM.end();
+  return true;
+}
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  for (size_t i = 0; i < size; i++) {
+    EEPROM.write(pos++, value[i]);
+    crc16(crc, &value[i], 1);
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  for (size_t i = 0; i < size; i++) {
+    uint8_t c = EEPROM.read(pos++);
+    if (writing) value[i] = c;
+    crc16(crc, &c, 1);
+  }
+  return false;
+}
+
+size_t PersistentStore::capacity() { return EEPROM_SIZE; }
+
+#endif // EEPROM_SETTINGS
+#endif // ARDUINO_ARCH_ESP32
@@ -1,106 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#ifdef ARDUINO_ARCH_ESP32
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(EEPROM_SETTINGS) && DISABLED(FLASH_EEPROM_EMULATION)
-
-#include "../shared/persistent_store_api.h"
-
-#include <SPIFFS.h>
-#include <FS.h>
-#include "spiffs.h"
-
-#define HAL_ESP32_EEPROM_SIZE 4096
-#define HAL_ESP32_EEPROM_FILE_PATH "/eeprom.dat"
-
-File eeprom_file;
-
-bool PersistentStore::access_start() {
-  if (spiffs_initialized) {
-    eeprom_file = SPIFFS.open(HAL_ESP32_EEPROM_FILE_PATH, "r+");
-
-    size_t file_size = eeprom_file.size();
-    if (file_size < HAL_ESP32_EEPROM_SIZE) {
-      SERIAL_ECHO_MSG("SPIFFS EEPROM settings file " HAL_ESP32_EEPROM_FILE_PATH " is too small or did not exist, expanding.");
-      SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR(" file size: ", file_size, ", required size: ", HAL_ESP32_EEPROM_SIZE);
-
-      // mode r+ does not allow to expand the file (at least on ESP32 SPIFFS9, so we close, reopen "a", append, close, reopen "r+"
-      eeprom_file.close();
-
-      eeprom_file = SPIFFS.open(HAL_ESP32_EEPROM_FILE_PATH, "a");
-      for (size_t i = eeprom_file.size(); i < HAL_ESP32_EEPROM_SIZE; i++)
-        eeprom_file.write(0xFF);
-      eeprom_file.close();
-
-      eeprom_file = SPIFFS.open(HAL_ESP32_EEPROM_FILE_PATH, "r+");
-      file_size = eeprom_file.size();
-      if (file_size < HAL_ESP32_EEPROM_SIZE) {
-        SERIAL_ERROR_MSG("Failed to expand " HAL_ESP32_EEPROM_FILE_PATH " to required size. SPIFFS partition full?");
-        SERIAL_ERROR_START(); SERIAL_ECHOLNPAIR(" file size: ", file_size, ", required size: ", HAL_ESP32_EEPROM_SIZE);
-        SERIAL_ERROR_START(); SERIAL_ECHOLNPAIR(" SPIFFS used bytes: ", SPIFFS.usedBytes(), ", total bytes: ", SPIFFS.totalBytes());
-      }
-    }
-    return true;
-  }
-  return false;
-}
-
-bool PersistentStore::access_finish() {
-  eeprom_file.close();
-  return true;
-}
-
-bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
-  if (!eeprom_file.seek(pos)) return true; // return true for any error
-  if (eeprom_file.write(value, size) != size) return true;
-
-  crc16(crc, value, size);
-  pos += size;
-
-  return false;
-}
-
-bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
-  if (!eeprom_file.seek(pos)) return true; // return true for any error
-
-  if (writing) {
-    if (eeprom_file.read(value, size) != size) return true;
-    crc16(crc, value, size);
-  }
-  else {
-    uint8_t tmp[size];
-    if (eeprom_file.read(tmp, size) != size) return true;
-    crc16(crc, tmp, size);
-  }
-
-  pos += size;
-
-  return false;
-}
-
-size_t PersistentStore::capacity() { return HAL_ESP32_EEPROM_SIZE; }
-
-#endif // EEPROM_SETTINGS
-#endif // ARDUINO_ARCH_ESP32
@@ -24,7 +24,7 @@

 #include "../../inc/MarlinConfigPre.h"

-#if EITHER(WEBSUPPORT, EEPROM_SETTINGS)
+#if ENABLED(WEBSUPPORT)

 #include "../../core/serial.h"

@@ -21,8 +21,18 @@
 */
 #pragma once

+#ifdef __cplusplus
+  extern "C" {
+#endif
+
+    esp_err_t esp_task_wdt_reset();
+
+#ifdef __cplusplus
+  }
+#endif
+
 // Initialize watchdog with a 4 second interrupt time
 void watchdog_init();

 // Reset watchdog.
-inline void HAL_watchdog_refresh() {}
+inline void HAL_watchdog_refresh() { esp_task_wdt_reset(); }
@@ -33,3 +33,7 @@
 #if ENABLED(FAST_PWM_FAN)
  #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
+
+#if TMC_HAS_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif
@@ -61,10 +61,6 @@ extern "C" volatile uint32_t _millis;
  #define ST7920_DELAY_3 DELAY_NS(750)
 #endif

-#if !WITHIN(SERIAL_PORT, -1, 3)
-  #error "SERIAL_PORT must be from -1 to 3"
-#endif
-
 #if SERIAL_PORT == -1
  #define MYSERIAL0 UsbSerial
 #elif SERIAL_PORT == 0
@@ -75,16 +71,14 @@ extern "C" volatile uint32_t _millis;
  #define MYSERIAL0 MSerial2
 #elif SERIAL_PORT == 3
  #define MYSERIAL0 MSerial3
+#else
+  #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
 #endif

 #ifdef SERIAL_PORT_2
-  #if !WITHIN(SERIAL_PORT_2, -1, 3)
-    #error "SERIAL_PORT_2 must be from -1 to 3"
-  #elif SERIAL_PORT_2 == SERIAL_PORT
-    #error "SERIAL_PORT_2 must be different than SERIAL_PORT"
-  #endif
-  #define NUM_SERIAL 2
-  #if SERIAL_PORT_2 == -1
+  #if SERIAL_PORT_2 == SERIAL_PORT
+    #error "SERIAL_PORT_2 must be different than SERIAL_PORT. Please update your configuration."
+  #elif SERIAL_PORT_2 == -1
    #define MYSERIAL1 UsbSerial
  #elif SERIAL_PORT_2 == 0
    #define MYSERIAL1 MSerial
@@ -94,11 +88,34 @@ extern "C" volatile uint32_t _millis;
    #define MYSERIAL1 MSerial2
  #elif SERIAL_PORT_2 == 3
    #define MYSERIAL1 MSerial3
+  #else
+    #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
  #endif
+  #define NUM_SERIAL 2
 #else
  #define NUM_SERIAL 1
 #endif

+#ifdef DGUS_SERIAL_PORT
+  #if DGUS_SERIAL_PORT == SERIAL_PORT
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT. Please update your configuration."
+  #elif defined(SERIAL_PORT_2) && DGUS_SERIAL_PORT == SERIAL_PORT_2
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT_2. Please update your configuration."
+  #elif DGUS_SERIAL_PORT == -1
+    #define DGUS_SERIAL UsbSerial
+  #elif DGUS_SERIAL_PORT == 0
+    #define DGUS_SERIAL MSerial
+  #elif DGUS_SERIAL_PORT == 1
+    #define DGUS_SERIAL MSerial1
+  #elif DGUS_SERIAL_PORT == 2
+    #define DGUS_SERIAL MSerial2
+  #elif DGUS_SERIAL_PORT == 3
+    #define DGUS_SERIAL MSerial3
+  #else
+    #error "DGUS_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+  #endif
+#endif
+
 //
 // Interrupts
 //
@@ -68,3 +68,7 @@
 #if IS_RE_ARM_BOARD && ENABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER) && HAS_DRIVER(TMC2130) && DISABLED(TMC_USE_SW_SPI)
  #error "Re-ARM with REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER and TMC2130 require TMC_USE_SW_SPI"
 #endif
+
+#if ENABLED(BAUD_RATE_GCODE)
+  #error "BAUD_RATE_GCODE is not yet supported on LPC176x."
+#endif
@@ -33,11 +33,9 @@
  #include "MarlinSerial_AGCM4.h"

  // Serial ports
-  #if !WITHIN(SERIAL_PORT, -1, 3)
-    #error "SERIAL_PORT must be from -1 to 3"
-  #endif

  // MYSERIAL0 required before MarlinSerial includes!
+
  #if SERIAL_PORT == -1
    #define MYSERIAL0 Serial
  #elif SERIAL_PORT == 0
@@ -46,18 +44,16 @@
    #define MYSERIAL0 Serial2
  #elif SERIAL_PORT == 2
    #define MYSERIAL0 Serial3
-  #else
+  #elif SERIAL_PORT == 3
    #define MYSERIAL0 Serial4
+  #else
+    #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
  #endif

  #ifdef SERIAL_PORT_2
-    #if !WITHIN(SERIAL_PORT_2, -1, 3)
-      #error "SERIAL_PORT_2 must be from -1 to 3"
-    #elif SERIAL_PORT_2 == SERIAL_PORT
-      #error "SERIAL_PORT_2 must be different than SERIAL_PORT"
-    #endif
-    #define NUM_SERIAL 2
-    #if SERIAL_PORT_2 == -1
+    #if SERIAL_PORT_2 == SERIAL_PORT
+      #error "SERIAL_PORT_2 must be different than SERIAL_PORT. Please update your configuration."
+    #elif SERIAL_PORT_2 == -1
      #define MYSERIAL1 Serial
    #elif SERIAL_PORT_2 == 0
      #define MYSERIAL1 Serial1
@@ -65,13 +61,36 @@
      #define MYSERIAL1 Serial2
    #elif SERIAL_PORT_2 == 2
      #define MYSERIAL1 Serial3
-    #else
+    #elif SERIAL_PORT_2 == 3
      #define MYSERIAL1 Serial4
+    #else
+      #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
    #endif
+    #define NUM_SERIAL 2
  #else
    #define NUM_SERIAL 1
  #endif

+  #ifdef DGUS_SERIAL_PORT
+    #if DGUS_SERIAL_PORT == SERIAL_PORT
+      #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT. Please update your configuration."
+    #elif defined(SERIAL_PORT_2) && DGUS_SERIAL_PORT == SERIAL_PORT_2
+      #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT_2. Please update your configuration."
+    #elif DGUS_SERIAL_PORT == -1
+      #define DGUS_SERIAL Serial
+    #elif DGUS_SERIAL_PORT == 0
+      #define DGUS_SERIAL Serial1
+    #elif DGUS_SERIAL_PORT == 1
+      #define DGUS_SERIAL Serial2
+    #elif DGUS_SERIAL_PORT == 2
+      #define DGUS_SERIAL Serial3
+    #elif DGUS_SERIAL_PORT == 2
+      #define DGUS_SERIAL Serial4
+    #else
+      #error "DGUS_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #endif
+  #endif
+
 #endif // ADAFRUIT_GRAND_CENTRAL_M4

 typedef int8_t pin_t;
@@ -36,7 +36,7 @@
 #endif

 #if ENABLED(SDIO_SUPPORT)
-  #error "SDIO_SUPPORT is not supported."
+  #error "SDIO_SUPPORT is not supported on SAMD51."
 #endif

 #if ENABLED(FAST_PWM_FAN)
@@ -46,3 +46,7 @@
 #if ENABLED(EEPROM_SETTINGS) && NONE(SPI_EEPROM, I2C_EEPROM)
  #warning "Did you activate the SmartEEPROM? See https://github.com/GMagician/SAMD51-SmartEEprom-Activator"
 #endif
+
+#if TMC_HAS_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif
@@ -28,13 +28,7 @@
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"

-#if (__cplusplus == 201703L) && defined(__has_include)
-  #define HAS_SWSERIAL __has_include(<SoftwareSerial.h>)
-#else
-  #define HAS_SWSERIAL HAS_TMC220x
-#endif
-
-#if HAS_SWSERIAL
+#if TMC_HAS_SW_SERIAL
  #include "SoftwareSerial.h"
 #endif

@@ -93,7 +87,7 @@ void HAL_init() {
  while (!LL_PWR_IsActiveFlag_BRR());
  #endif // EEPROM_EMULATED_SRAM

-  #if HAS_SWSERIAL
+  #if TMC_HAS_SW_SERIAL
    SoftwareSerial::setInterruptPriority(SWSERIAL_TIMER_IRQ_PRIO, 0);
  #endif
 }
@@ -44,13 +44,8 @@
 // ------------------------

 #if SERIAL_PORT == 0
-  #error "Serial port 0 does not exist"
-#endif
-
-#if !WITHIN(SERIAL_PORT, -1, 6)
-  #error "SERIAL_PORT must be from -1 to 6"
-#endif
-#if SERIAL_PORT == -1
+  #error "SERIAL_PORT cannot be 0. (Port 0 does not exist.) Please update your configuration."
+#elif SERIAL_PORT == -1
  #define MYSERIAL0 SerialUSB
 #elif SERIAL_PORT == 1
  #define MYSERIAL0 Serial1
@@ -64,20 +59,17 @@
  #define MYSERIAL0 Serial5
 #elif SERIAL_PORT == 6
  #define MYSERIAL0 Serial6
+#else
+  #error "SERIAL_PORT must be from -1 to 6. Please update your configuration."
 #endif

 #ifdef SERIAL_PORT_2
-  #if SERIAL_PORT_2 == 0
-    #error "Serial port 0 does not exist"
-  #endif
-
-  #if !WITHIN(SERIAL_PORT_2, -1, 6)
-    #error "SERIAL_PORT_2 must be from -1 to 6"
-  #elif SERIAL_PORT_2 == SERIAL_PORT
-    #error "SERIAL_PORT_2 must be different than SERIAL_PORT"
-  #endif
  #define NUM_SERIAL 2
-  #if SERIAL_PORT_2 == -1
+  #if SERIAL_PORT_2 == 0
+    #error "SERIAL_PORT_2 cannot be 0. (Port 0 does not exist.) Please update your configuration."
+  #elif SERIAL_PORT_2 == SERIAL_PORT
+    #error "SERIAL_PORT_2 must be different than SERIAL_PORT. Please update your configuration."
+  #elif SERIAL_PORT_2 == -1
    #define MYSERIAL1 SerialUSB
  #elif SERIAL_PORT_2 == 1
    #define MYSERIAL1 Serial1
@@ -91,11 +83,41 @@
    #define MYSERIAL1 Serial5
  #elif SERIAL_PORT_2 == 6
    #define MYSERIAL1 Serial6
+  #else
+    #error "SERIAL_PORT_2 must be from -1 to 6. Please update your configuration."
  #endif
 #else
  #define NUM_SERIAL 1
 #endif

+#if HAS_DGUS_LCD
+  #if DGUS_SERIAL_PORT == 0
+    #error "DGUS_SERIAL_PORT cannot be 0. (Port 0 does not exist.) Please update your configuration."
+  #elif DGUS_SERIAL_PORT == SERIAL_PORT
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT. Please update your configuration."
+  #elif defined(SERIAL_PORT_2) && DGUS_SERIAL_PORT == SERIAL_PORT_2
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT_2. Please update your configuration."
+  #elif DGUS_SERIAL_PORT == -1
+    #define DGUS_SERIAL SerialUSB
+  #elif DGUS_SERIAL_PORT == 1
+    #define DGUS_SERIAL Serial1
+  #elif DGUS_SERIAL_PORT == 2
+    #define DGUS_SERIAL Serial2
+  #elif DGUS_SERIAL_PORT == 3
+    #define DGUS_SERIAL Serial3
+  #elif DGUS_SERIAL_PORT == 4
+    #define DGUS_SERIAL Serial4
+  #elif DGUS_SERIAL_PORT == 5
+    #define DGUS_SERIAL Serial5
+  #elif DGUS_SERIAL_PORT == 6
+    #define DGUS_SERIAL Serial6
+  #else
+    #error "DGUS_SERIAL_PORT must be from -1 to 6. Please update your configuration."
+  #endif
+
+  #define DGUS_SERIAL_GET_TX_BUFFER_FREE DGUS_SERIAL.availableForWrite
+#endif
+
 #include "timers.h"

 /**
@@ -83,6 +83,13 @@ void spiInit(uint8_t spiRate) {
  }
  spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);

+  #if ENABLED(CUSTOM_SPI_PINS)
+    SPI.setMISO(MISO_PIN);
+    SPI.setMOSI(MOSI_PIN);
+    SPI.setSCLK(SCK_PIN);
+    SPI.setSSEL(SS_PIN);
+  #endif
+
  SPI.begin();
 }

@@ -28,25 +28,30 @@

 #include "Servo.h"

-uint8_t servoPin[MAX_SERVOS] = { 0 };
+static uint_fast8_t servoCount = 0;
+constexpr millis_t servoDelay[] = SERVO_DELAY;
+static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
+
+libServo::libServo()
+: delay(servoDelay[servoCount++])
+{}

 int8_t libServo::attach(const int pin) {
-  if (servoIndex >= MAX_SERVOS) return -1;
-  if (pin > 0) servoPin[servoIndex] = pin;
-  return super::attach(servoPin[servoIndex]);
+  if (servoCount >= MAX_SERVOS) return -1;
+  if (pin > 0) servo_pin = pin;
+  return super::attach(servo_pin);
 }

 int8_t libServo::attach(const int pin, const int min, const int max) {
-  if (pin > 0) servoPin[servoIndex] = pin;
-  return super::attach(servoPin[servoIndex], min, max);
+  if (servoCount >= MAX_SERVOS) return -1;
+  if (pin > 0) servo_pin = pin;
+  return super::attach(servo_pin, min, max);
 }

 void libServo::move(const int value) {
-  constexpr uint16_t servo_delay[] = SERVO_DELAY;
-  static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
  if (attach(0) >= 0) {
    write(value);
-    safe_delay(servo_delay[servoIndex]);
+    safe_delay(delay);
    #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
      detach();
    #endif
@@ -27,11 +27,13 @@
 // Inherit and expand on the official library
 class libServo : public Servo {
  public:
+    libServo();
    int8_t attach(const int pin);
    int8_t attach(const int pin, const int min, const int max);
    void move(const int value);
  private:
    typedef Servo super;
-    uint16_t min_ticks, max_ticks;
-    uint8_t servoIndex;               // index into the channel data for this servo
+
+    int servo_pin = 0;
+    millis_t delay = 0;
 };
@@ -34,7 +34,7 @@
 //
 // Includes
 //
-#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
+#if defined(PLATFORMIO) && defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)

 #include "SoftwareSerial.h"
 #include "timers.h"
@@ -0,0 +1,265 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+ * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
+
+#include "../../inc/MarlinConfig.h"
+
+#if BOTH(EEPROM_SETTINGS, FLASH_EEPROM_EMULATION)
+
+#include "../shared/persistent_store_api.h"
+
+
+// Only STM32F4 can support wear leveling at this time
+#ifndef STM32F4xx
+  #undef FLASH_EEPROM_LEVELING
+#endif
+
+/**
+ * The STM32 HAL supports chips that deal with "pages" and some with "sectors" and some that
+ * even have multiple "banks" of flash.
+ *
+ * This code is a bit of a mashup of
+ *   framework-arduinoststm32/cores/arduino/stm32/stm32_eeprom.c
+ *   hal/hal_lpc1768/persistent_store_flash.cpp
+ *
+ * This has only be written against those that use a single "sector" design.
+ *
+ * Those that deal with "pages" could be made to work. Looking at the STM32F07 for example, there are
+ * 128 "pages", each 2kB in size. If we continued with our EEPROM being 4Kb, we'd always need to operate
+ * on 2 of these pages. Each write, we'd use 2 different pages from a pool of pages until we are done.
+ */
+
+#if ENABLED(FLASH_EEPROM_LEVELING)
+
+  #include "stm32_def.h"
+
+  #define DEBUG_OUT ENABLED(EEPROM_CHITCHAT)
+  #include "src/core/debug_out.h"
+
+  #ifndef EEPROM_SIZE
+    #define EEPROM_SIZE           0x1000  // 4kB
+  #endif
+
+  #ifndef FLASH_SECTOR
+    #define FLASH_SECTOR          (FLASH_SECTOR_TOTAL - 1)
+  #endif
+  #ifndef FLASH_UNIT_SIZE
+    #define FLASH_UNIT_SIZE       0x20000 // 128kB
+  #endif
+
+  #define FLASH_ADDRESS_START     (FLASH_END - ((FLASH_SECTOR_TOTAL - FLASH_SECTOR) * FLASH_UNIT_SIZE) + 1)
+  #define FLASH_ADDRESS_END       (FLASH_ADDRESS_START + FLASH_UNIT_SIZE  - 1)
+
+  #define EEPROM_SLOTS            (FLASH_UNIT_SIZE/EEPROM_SIZE)
+  #define SLOT_ADDRESS(slot)      (FLASH_ADDRESS_START + (slot * EEPROM_SIZE))
+
+  #define UNLOCK_FLASH()          if (!flash_unlocked) { \
+                                    HAL_FLASH_Unlock(); \
+                                    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | \
+                                                           FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR); \
+                                    flash_unlocked = true; \
+                                  }
+  #define LOCK_FLASH()            if (flash_unlocked) { HAL_FLASH_Lock(); flash_unlocked = false; }
+
+  #define EMPTY_UINT32            ((uint32_t)-1)
+  #define EMPTY_UINT8             ((uint8_t)-1)
+
+  static uint8_t ram_eeprom[EEPROM_SIZE] __attribute__((aligned(4))) = {0};
+  static int current_slot = -1;
+
+  static_assert(0 == EEPROM_SIZE % 4, "EEPROM_SIZE must be a multiple of 4"); // Ensure copying as uint32_t is safe
+  static_assert(0 == FLASH_UNIT_SIZE % EEPROM_SIZE, "EEPROM_SIZE must divide evenly into your FLASH_UNIT_SIZE");
+  static_assert(FLASH_UNIT_SIZE >= EEPROM_SIZE, "FLASH_UNIT_SIZE must be greater than or equal to your EEPROM_SIZE");
+  static_assert(IS_FLASH_SECTOR(FLASH_SECTOR), "FLASH_SECTOR is invalid");
+  static_assert(IS_POWER_OF_2(FLASH_UNIT_SIZE), "FLASH_UNIT_SIZE should be a power of 2, please check your chip's spec sheet");
+
+#endif
+
+static bool eeprom_data_written = false;
+
+bool PersistentStore::access_start() {
+
+  #if ENABLED(FLASH_EEPROM_LEVELING)
+
+    if (current_slot == -1 || eeprom_data_written) {
+      // This must be the first time since power on that we have accessed the storage, or someone
+      // loaded and called write_data and never called access_finish.
+      // Lets go looking for the slot that holds our configuration.
+      if (eeprom_data_written) DEBUG_ECHOLN("Dangling EEPROM write_data");
+      uint32_t address = FLASH_ADDRESS_START;
+      while (address <= FLASH_ADDRESS_END) {
+        uint32_t address_value = (*(__IO uint32_t*)address);
+        if (address_value != EMPTY_UINT32) {
+          current_slot = (address - FLASH_ADDRESS_START) / EEPROM_SIZE;
+          break;
+        }
+        address += sizeof(uint32_t);
+      }
+      if (current_slot == -1) {
+        // We didn't find anything, so we'll just intialize to empty
+        for (int i = 0; i < 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 < EEPROM_SIZE; i++) ram_eeprom[i] = eeprom_data[i];
+        DEBUG_ECHOLNPAIR("EEPROM loaded from slot ", current_slot, ".");
+      }
+      eeprom_data_written = false;
+    }
+
+  #else
+    eeprom_buffer_fill();
+  #endif
+
+  return true;
+}
+
+bool PersistentStore::access_finish() {
+
+  if (eeprom_data_written) {
+
+    #if ENABLED(FLASH_EEPROM_LEVELING)
+
+      HAL_StatusTypeDef status = HAL_ERROR;
+      bool flash_unlocked = false;
+
+      if (--current_slot < 0) {
+        // all slots have been used, erase everything and start again
+
+        FLASH_EraseInitTypeDef EraseInitStruct;
+        uint32_t SectorError = 0;
+
+        EraseInitStruct.TypeErase = FLASH_TYPEERASE_SECTORS;
+        EraseInitStruct.VoltageRange = FLASH_VOLTAGE_RANGE_3;
+        EraseInitStruct.Sector = FLASH_SECTOR;
+        EraseInitStruct.NbSectors = 1;
+
+        current_slot = EEPROM_SLOTS - 1;
+        UNLOCK_FLASH();
+
+        status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError);
+        if (status != HAL_OK) {
+          DEBUG_ECHOLNPAIR("HAL_FLASHEx_Erase=", status);
+          DEBUG_ECHOLNPAIR("GetError=", HAL_FLASH_GetError());
+          DEBUG_ECHOLNPAIR("SectorError=", SectorError);
+          LOCK_FLASH();
+          return false;
+        }
+      }
+
+      UNLOCK_FLASH();
+
+      uint32_t offset = 0;
+      uint32_t address = SLOT_ADDRESS(current_slot);
+      uint32_t address_end = address + EEPROM_SIZE;
+      uint32_t data = 0;
+
+      bool success = true;
+
+      while (address < address_end) {
+        memcpy(&data, ram_eeprom + offset, sizeof(uint32_t));
+        status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, address, data);
+        if (status == HAL_OK) {
+          address += sizeof(uint32_t);
+          offset += sizeof(uint32_t);
+        }
+        else {
+          DEBUG_ECHOLNPAIR("HAL_FLASH_Program=", status);
+          DEBUG_ECHOLNPAIR("GetError=", HAL_FLASH_GetError());
+          DEBUG_ECHOLNPAIR("address=", address);
+          success = false;
+          break;
+        }
+      }
+
+      LOCK_FLASH();
+
+      if (success) {
+        eeprom_data_written = false;
+        DEBUG_ECHOLNPAIR("EEPROM saved to slot ", current_slot, ".");
+      }
+
+      return success;
+
+    #else
+      eeprom_buffer_flush();
+      eeprom_data_written = false;
+    #endif
+  }
+
+  return true;
+}
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  while (size--) {
+    uint8_t v = *value;
+    #if ENABLED(FLASH_EEPROM_LEVELING)
+      if (v != ram_eeprom[pos]) {
+        ram_eeprom[pos] = v;
+        eeprom_data_written = true;
+      }
+    #else
+      if (v != eeprom_buffered_read_byte(pos)) {
+        eeprom_buffered_write_byte(pos, v);
+        eeprom_data_written = true;
+      }
+    #endif
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  do {
+    const uint8_t c = (
+      #if ENABLED(FLASH_EEPROM_LEVELING)
+        ram_eeprom[pos]
+      #else
+        eeprom_buffered_read_byte(pos)
+      #endif
+    );
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  } while (--size);
+  return false;
+}
+
+size_t PersistentStore::capacity() {
+  return (
+    #if ENABLED(FLASH_EEPROM_LEVELING)
+      EEPROM_SIZE
+    #else
+      E2END + 1
+    #endif
+  );
+}
+
+#endif // EEPROM_SETTINGS && FLASH_EEPROM_EMULATION
+#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
@@ -24,29 +24,15 @@

 #include "../../inc/MarlinConfig.h"

-#if ENABLED(EEPROM_SETTINGS) && ANY(FLASH_EEPROM_EMULATION, SRAM_EEPROM_EMULATION, SPI_EEPROM, I2C_EEPROM)
+#if ENABLED(EEPROM_SETTINGS) && ANY(SRAM_EEPROM_EMULATION, SPI_EEPROM, I2C_EEPROM)

 #include "../shared/persistent_store_api.h"

-#if ENABLED(FLASH_EEPROM_EMULATION)
-  #include <EEPROM.h>
-  static bool eeprom_data_written = false;
-#endif
-
 bool PersistentStore::access_start() {
-  #if ENABLED(FLASH_EEPROM_EMULATION)
-    eeprom_buffer_fill();
-  #endif
  return true;
 }

 bool PersistentStore::access_finish() {
-  #if ENABLED(FLASH_EEPROM_EMULATION)
-    if (eeprom_data_written) {
-      eeprom_buffer_flush();
-      eeprom_data_written = false;
-    }
-  #endif
  return true;
 }

@@ -66,8 +52,6 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
          return true;
        }
      }
-    #elif ENABLED(FLASH_EEPROM_EMULATION)
-      eeprom_buffered_write_byte(pos, v);
    #else
      *(__IO uint8_t *)(BKPSRAM_BASE + (uint8_t * const)pos) = v;
    #endif
@@ -76,9 +60,6 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
    pos++;
    value++;
  };
-  #if ENABLED(FLASH_EEPROM_EMULATION)
-    eeprom_data_written = true;
-  #endif

  return false;
 }
@@ -89,8 +70,6 @@ bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t
    const uint8_t c = (
      #if EITHER(SPI_EEPROM, I2C_EEPROM)
        eeprom_read_byte((uint8_t*)pos)
-      #elif ENABLED(FLASH_EEPROM_EMULATION)
-        eeprom_buffered_read_byte(pos)
      #else
        (*(__IO uint8_t *)(BKPSRAM_BASE + ((uint8_t*)pos)))
      #endif
@@ -114,5 +93,5 @@ size_t PersistentStore::capacity() {
  );
 }

-#endif // EEPROM_SETTINGS && (FLASH_EEPROM_EMULATION || SRAM_EEPROM_EMULATION || SPI_EEPROM || I2C_EEPROM)
+#endif // EEPROM_SETTINGS && (SRAM_EEPROM_EMULATION || SPI_EEPROM || I2C_EEPROM)
 #endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
@@ -78,13 +78,10 @@
  #define MSerial5  Serial4
 #endif

-#if !WITHIN(SERIAL_PORT, -1, 5)
-  #error "SERIAL_PORT must be from -1 to 5"
-#endif
-#if SERIAL_PORT == -1
+#if SERIAL_PORT == 0
+  #error "SERIAL_PORT cannot be 0. (Port 0 does not exist.) Please update your configuration."
+#elif SERIAL_PORT == -1
  #define MYSERIAL0 UsbSerial
-#elif SERIAL_PORT == 0
-  #error "Serial port 0 does not exist"
 #elif SERIAL_PORT == 1
  #define MYSERIAL0 MSerial1
 #elif SERIAL_PORT == 2
@@ -95,19 +92,17 @@
  #define MYSERIAL0 MSerial4
 #elif SERIAL_PORT == 5
  #define MYSERIAL0 MSerial5
+#else
+  #error "SERIAL_PORT must be from -1 to 5. Please update your configuration."
 #endif

 #ifdef SERIAL_PORT_2
-  #if !WITHIN(SERIAL_PORT_2, -1, 5)
-    #error "SERIAL_PORT_2 must be from -1 to 5"
+  #if SERIAL_PORT_2 == 0
+    #error "SERIAL_PORT_2 cannot be 0. (Port 0 does not exist.) Please update your configuration."
  #elif SERIAL_PORT_2 == SERIAL_PORT
-    #error "SERIAL_PORT_2 must be different than SERIAL_PORT"
-  #endif
-  #define NUM_SERIAL 2
-  #if SERIAL_PORT_2 == -1
+    #error "SERIAL_PORT_2 must be different than SERIAL_PORT. Please update your configuration."
+  #elif SERIAL_PORT_2 == -1
    #define MYSERIAL1 UsbSerial
-  #elif SERIAL_PORT_2 == 0
-  #error "Serial port 0 does not exist"
  #elif SERIAL_PORT_2 == 1
    #define MYSERIAL1 MSerial1
  #elif SERIAL_PORT_2 == 2
@@ -118,11 +113,39 @@
    #define MYSERIAL1 MSerial4
  #elif SERIAL_PORT_2 == 5
    #define MYSERIAL1 MSerial5
+  #else
+    #error "SERIAL_PORT_2 must be from -1 to 5. Please update your configuration."
  #endif
+  #define NUM_SERIAL 2
 #else
  #define NUM_SERIAL 1
 #endif

+#ifdef DGUS_SERIAL
+  #if DGUS_SERIAL_PORT == 0
+    #error "DGUS_SERIAL_PORT cannot be 0. (Port 0 does not exist.) Please update your configuration."
+  #elif DGUS_SERIAL_PORT == SERIAL_PORT
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT. Please update your configuration."
+  #elif defined(SERIAL_PORT_2) && DGUS_SERIAL_PORT == SERIAL_PORT_2
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT_2. Please update your configuration."
+  #elif DGUS_SERIAL_PORT == -1
+    #define DGUS_SERIAL UsbSerial
+  #elif DGUS_SERIAL_PORT == 1
+    #define DGUS_SERIAL MSerial1
+  #elif DGUS_SERIAL_PORT == 2
+    #define DGUS_SERIAL MSerial2
+  #elif DGUS_SERIAL_PORT == 3
+    #define DGUS_SERIAL MSerial3
+  #elif DGUS_SERIAL_PORT == 4
+    #define DGUS_SERIAL MSerial4
+  #elif DGUS_SERIAL_PORT == 5
+    #define DGUS_SERIAL MSerial5
+  #else
+    #error "DGUS_SERIAL_PORT must be from -1 to 5. Please update your configuration."
+  #endif
+#endif
+
+
 // Set interrupt grouping for this MCU
 void HAL_init();
 #define HAL_IDLETASK 1
@@ -49,6 +49,7 @@
 void LCD_IO_Init(uint8_t cs, uint8_t rs);
 void LCD_IO_WriteData(uint16_t RegValue);
 void LCD_IO_WriteReg(uint16_t Reg);
+uint16_t LCD_IO_ReadData(uint16_t RegValue);
 uint32_t LCD_IO_ReadData(uint16_t RegValue, uint8_t ReadSize);
 #ifdef LCD_USE_DMA_FSMC
  void LCD_IO_WriteMultiple(uint16_t data, uint32_t count);
@@ -79,8 +80,11 @@ uint8_t u8g_com_stm32duino_fsmc_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, voi
      LCD_IO_Init(u8g->pin_list[U8G_PI_CS], u8g->pin_list[U8G_PI_A0]);
      u8g_Delay(50);

-      if (arg_ptr)
-        *((uint32_t *)arg_ptr) = LCD_IO_ReadData(LCD_READ_ID, 3);
+      if (arg_ptr) {
+        *((uint32_t *)arg_ptr) = LCD_IO_ReadData(0x0000);
+        if (*((uint32_t *)arg_ptr) == 0)
+          *((uint32_t *)arg_ptr) = (LCD_READ_ID << 24) | LCD_IO_ReadData(LCD_READ_ID, 3);
+      }
      isCommand = 0;
      break;

@@ -265,6 +269,13 @@ void LCD_IO_WriteReg(uint16_t Reg) {
  __DSB();
 }

+uint16_t LCD_IO_ReadData(uint16_t RegValue) {
+  LCD->REG = RegValue;
+  __DSB();
+
+  return LCD->RAM;
+}
+
 uint32_t LCD_IO_ReadData(uint16_t RegValue, uint8_t ReadSize) {
  volatile uint32_t data;
  LCD->REG = RegValue;
@@ -37,7 +37,7 @@
  #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif

-#if !defined(HAVE_SW_SERIAL) && HAS_TMC220x
+#if !defined(HAVE_SW_SERIAL) && TMC_HAS_SW_SERIAL
  #warning "With TMC2208/9 consider using SoftwareSerialM with HAVE_SW_SERIAL and appropriate SS_TIMER."
  #error "Missing SoftwareSerial implementation."
 #endif
@@ -44,17 +44,12 @@
 // Defines
 // ------------------------

-//Serial override
+// Serial override
 //extern HalSerial usb_serial;

 #if defined(STM32F4) && SERIAL_PORT == 0
-  #error "Serial port 0 does not exist"
-#endif
-
-#if !WITHIN(SERIAL_PORT, -1, 6)
-  #error "SERIAL_PORT must be from -1 to 6"
-#endif
-#if SERIAL_PORT == -1
+  #error "SERIAL_PORT cannot be 0. (Port 0 does not exist.) Please update your configuration."
+#elif SERIAL_PORT == -1
  #define MYSERIAL0 SerialUSB
 #elif SERIAL_PORT == 1
  #define MYSERIAL0 SerialUART1
@@ -68,19 +63,16 @@
  #define MYSERIAL0 SerialUART5
 #elif SERIAL_PORT == 6
  #define MYSERIAL0 SerialUART6
+#else
+  #error "SERIAL_PORT must be from -1 to 6. Please update your configuration."
 #endif

 #ifdef SERIAL_PORT_2
  #if defined(STM32F4) && SERIAL_PORT_2 == 0
-    #error "Serial port 0 does not exist"
-  #endif
-  #if !WITHIN(SERIAL_PORT_2, -1, 6)
-    #error "SERIAL_PORT_2 must be from -1 to 6"
+    #error "SERIAL_PORT_2 cannot be 0. (Port 0 does not exist.) Please update your configuration."
  #elif SERIAL_PORT_2 == SERIAL_PORT
-    #error "SERIAL_PORT_2 must be different than SERIAL_PORT"
-  #endif
-  #define NUM_SERIAL 2
-  #if SERIAL_PORT_2 == -1
+    #error "SERIAL_PORT_2 must be different than SERIAL_PORT. Please update your configuration."
+  #elif SERIAL_PORT_2 == -1
    #define MYSERIAL1 SerialUSB
  #elif SERIAL_PORT_2 == 1
    #define MYSERIAL1 SerialUART1
@@ -94,11 +86,40 @@
    #define MYSERIAL1 SerialUART5
  #elif SERIAL_PORT_2 == 6
    #define MYSERIAL1 SerialUART6
+  #else
+    #error "SERIAL_PORT_2 must be from -1 to 6. Please update your configuration."
  #endif
+  #define NUM_SERIAL 2
 #else
  #define NUM_SERIAL 1
 #endif

+#ifdef DGUS_SERIAL_PORT
+  #if defined(STM32F4) && DGUS_SERIAL_PORT == 0
+    #error "DGUS_SERIAL_PORT cannot be 0. (Port 0 does not exist.) Please update your configuration."
+  #elif DGUS_SERIAL_PORT == SERIAL_PORT
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT. Please update your configuration."
+  #elif defined(SERIAL_PORT_2) && DGUS_SERIAL_PORT == SERIAL_PORT_2
+    #error "DGUS_SERIAL_PORT must be different than SERIAL_PORT_2. Please update your configuration."
+  #elif DGUS_SERIAL_PORT == -1
+    #define DGUS_SERIAL SerialUSB
+  #elif DGUS_SERIAL_PORT == 1
+    #define DGUS_SERIAL SerialUART1
+  #elif DGUS_SERIAL_PORT == 2
+    #define DGUS_SERIAL SerialUART2
+  #elif DGUS_SERIAL_PORT == 3
+    #define DGUS_SERIAL SerialUART3
+  #elif DGUS_SERIAL_PORT == 4
+    #define DGUS_SERIAL SerialUART4
+  #elif DGUS_SERIAL_PORT == 5
+    #define DGUS_SERIAL SerialUART5
+  #elif DGUS_SERIAL_PORT == 6
+    #define DGUS_SERIAL SerialUART6
+  #else
+    #error "DGUS_SERIAL_PORT must be from -1 to 6. Please update your configuration."
+  #endif
+#endif
+
 /**
 * TODO: review this to return 1 for pins that are not analog input
 */
@@ -36,7 +36,7 @@
 #include "TMC2660.h"

 #include "../../../inc/MarlinConfig.h"
-#include "../../../Marlin.h"
+#include "../../../MarlinCore.h"
 #include "../../../module/stepper/indirection.h"
 #include "../../../module/printcounter.h"
 #include "../../../libs/duration_t.h"
@@ -35,3 +35,7 @@
 #if ENABLED(FAST_PWM_FAN)
  #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
+
+#if TMC_HAS_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif
@@ -32,3 +32,7 @@
 #if ENABLED(FAST_PWM_FAN)
  #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
+
+#if TMC_HAS_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif
@@ -32,3 +32,7 @@
 #if ENABLED(FAST_PWM_FAN)
  #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
+
+#if TMC_HAS_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif
@@ -28,6 +28,13 @@
 #include "../../inc/MarlinConfigPre.h"

 constexpr bool
+  #if HAS_DGUS_LCD
+    bDGUS_SERIAL_STATS_RX_BUFFER_OVERRUNS = (false
+      #if ENABLED(DGUS_SERIAL_STATS_RX_BUFFER_OVERRUNS)
+        || true
+      #endif
+    ),
+  #endif
  bSERIAL_XON_XOFF = (false
    #if ENABLED(SERIAL_XON_XOFF)
      || true
@@ -164,7 +164,7 @@ typedef struct {
 * link register (i.e. not a normal register) and the stack pointer value
 * supplied.
 *
- * -If the program was compiled with -funwind-tables , it will use them to
+ * -If the program was compiled with -funwind-tables it will use them to
 * perform the traceback. Otherwise, brute force will be employed
 * -If the program was compiled with -mpoke-function-name, then you will
 * get function names in the traceback. Otherwise, you will not.
@@ -28,7 +28,7 @@
 *  - https://github.com/grbl/grbl
 */

-#include "Marlin.h"
+#include "MarlinCore.h"

 #include "core/utility.h"
 #include "lcd/ultralcd.h"
@@ -553,7 +553,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
        bool oldstatus;
        switch (active_extruder) {
          default:
-          #define _CASE_EN(N) case N: oldstatus = E##N_ENABLE_READ(); enable_E##N(); break;
+          #define _CASE_EN(N) case N: oldstatus = E##N##_ENABLE_READ(); enable_E##N(); break;
          REPEAT(E_STEPPERS, _CASE_EN);
        }
      #endif
@@ -1128,10 +1128,9 @@ void setup() {
 *  - Call inactivity manager
 */
 void loop() {
+  do {

-  for (;;) {
-
-    idle(); // Do an idle first so boot is slightly faster
+    idle();

    #if ENABLED(SDSUPPORT)
      card.checkautostart();
@@ -1141,5 +1140,10 @@ void loop() {
    queue.advance();

    endstops.event_handler();
-  }
+
+  } while (false        // Return to caller for best compatibility
+    #ifdef __AVR__
+      || true           // Loop forever on slower (AVR) boards
+    #endif
+  );
 }
@@ -64,7 +64,7 @@
 #define BOARD_MKS_BASE_HEROIC         1108  // MKS BASE 1.0 with Heroic HR4982 stepper drivers
 #define BOARD_MKS_GEN_13              1109  // MKS GEN v1.3 or 1.4
 #define BOARD_MKS_GEN_L               1110  // MKS GEN L
-#define BOARD_KFB_2                   1111  // Bigtreetech or BIQU KFB2.0
+#define BOARD_KFB_2                   1111  // BigTreeTech or BIQU KFB2.0
 #define BOARD_ZRIB_V20                1112  // zrib V2.0 control board (Chinese knock off RAMPS replica)
 #define BOARD_FELIX2                  1113  // Felix 2.0+ Electronics Board (RAMPS like)
 #define BOARD_RIGIDBOARD              1114  // Invent-A-Part RigidBoard
@@ -90,17 +90,18 @@
 #define BOARD_RAMPS_ENDER_4           1134  // Creality: Ender-4, CR-8
 #define BOARD_RAMPS_CREALITY          1135  // Creality: CR10S, CR20, CR-X
 #define BOARD_RAMPS_DAGOMA            1136  // Dagoma F5
-#define BOARD_FYSETC_F6_13            1137  // FYSETC F6
-#define BOARD_DUPLICATOR_I3_PLUS      1138  // Wanhao Duplicator i3 Plus
-#define BOARD_VORON                   1139  // VORON Design
-#define BOARD_TRONXY_V3_1_0           1140  // Tronxy TRONXY-V3-1.0
-#define BOARD_Z_BOLT_X_SERIES         1141  // Z-Bolt X Series
-#define BOARD_TT_OSCAR                1142  // TT OSCAR
-#define BOARD_OVERLORD                1143  // Overlord/Overlord Pro
-#define BOARD_HJC2560C_REV1           1144  // ADIMLab Gantry v1
-#define BOARD_HJC2560C_REV2           1145  // ADIMLab Gantry v2
-#define BOARD_TANGO                   1146  // BIQU Tango V1
-#define BOARD_MKS_GEN_L_V2            1147  // MKS GEN L V2
+#define BOARD_FYSETC_F6_13            1137  // FYSETC F6 1.3
+#define BOARD_FYSETC_F6_14            1138  // FYSETC F6 1.4
+#define BOARD_DUPLICATOR_I3_PLUS      1139  // Wanhao Duplicator i3 Plus
+#define BOARD_VORON                   1140  // VORON Design
+#define BOARD_TRONXY_V3_1_0           1141  // Tronxy TRONXY-V3-1.0
+#define BOARD_Z_BOLT_X_SERIES         1142  // Z-Bolt X Series
+#define BOARD_TT_OSCAR                1143  // TT OSCAR
+#define BOARD_OVERLORD                1144  // Overlord/Overlord Pro
+#define BOARD_HJC2560C_REV1           1145  // ADIMLab Gantry v1
+#define BOARD_HJC2560C_REV2           1146  // ADIMLab Gantry v2
+#define BOARD_TANGO                   1147  // BIQU Tango V1
+#define BOARD_MKS_GEN_L_V2            1148  // MKS GEN L V2

 //
 // RAMBo and derivatives
@@ -138,6 +139,7 @@
 #define BOARD_GT2560_V3_A20           1318  // Geeetech GT2560 Rev B for A20(M/D)
 #define BOARD_EINSTART_S              1319  // Einstart retrofit
 #define BOARD_WANHAO_ONEPLUS          1320  // Wanhao 0ne+ i3 Mini
+#define BOARD_LEAPFROG_XEED2015       1321  // Leapfrog Xeed 2015

 //
 // ATmega1281, ATmega2561
@@ -201,21 +203,28 @@
 #define BOARD_RAMPS_14_RE_ARM_SF      2004  // Re-ARM with RAMPS 1.4 (Power outputs: Spindle, Controller Fan)
 #define BOARD_MKS_SBASE               2005  // MKS-Sbase (Power outputs: Hotend0, Hotend1, Bed, Fan)
 #define BOARD_AZSMZ_MINI              2006  // AZSMZ Mini
-#define BOARD_AZTEEG_X5_GT            2007  // Azteeg X5 GT (Power outputs: Hotend0, Hotend1, Bed, Fan)
-#define BOARD_BIQU_BQ111_A4           2008  // BIQU BQ111-A4 (Power outputs: Hotend, Fan, Bed)
-#define BOARD_SELENA_COMPACT          2009  // Selena Compact (Power outputs: Hotend0, Hotend1, Bed0, Bed1, Fan0, Fan1)
-#define BOARD_COHESION3D_REMIX        2010  // Cohesion3D ReMix
-#define BOARD_COHESION3D_MINI         2011  // Cohesion3D Mini
-#define BOARD_SMOOTHIEBOARD           2012  // Smoothieboard
-#define BOARD_AZTEEG_X5_MINI_WIFI     2013  // Azteeg X5 Mini Wifi (Power outputs: Hotend0, Bed, Fan)
-#define BOARD_BIGTREE_SKR_V1_1        2014  // BIGTREE SKR_V1.1 (Power outputs: Hotend0,Hotend1, Fan, Bed)
-#define BOARD_BIQU_B300_V1_0          2015  // BIQU B300_V1.0 (Power outputs: Hotend0, Fan, Bed, SPI Driver)
-#define BOARD_BIGTREE_SKR_V1_3        2016  // BIGTREE SKR_V1.3 (Power outputs: Hotend0, Hotend1, Fan, Bed)
-#define BOARD_AZTEEG_X5_MINI          2017  // Azteeg X5 Mini (Power outputs: Hotend0, Bed, Fan)
-#define BOARD_MKS_SGEN                2018  // MKS-SGen (Power outputs: Hotend0, Hotend1, Bed, Fan)
-#define BOARD_MKS_SGEN_L              2019  // MKS-SGen-L (Power outputs: Hotend0, Hotend1, Bed, Fan)
-#define BOARD_TH3D_EZBOARD            2020  // TH3D EZBoard v1.0
-#define BOARD_GMARSH_X6_REV1          2021  // GMARSH X6 board, revision 1 prototype
+#define BOARD_BIQU_BQ111_A4           2007  // BIQU BQ111-A4 (Power outputs: Hotend, Fan, Bed)
+#define BOARD_SELENA_COMPACT          2008  // Selena Compact (Power outputs: Hotend0, Hotend1, Bed0, Bed1, Fan0, Fan1)
+#define BOARD_BIQU_B300_V1_0          2009  // BIQU B300_V1.0 (Power outputs: Hotend0, Fan, Bed, SPI Driver)
+#define BOARD_MKS_SGEN_L              2010  // MKS-SGen-L (Power outputs: Hotend0, Hotend1, Bed, Fan)
+#define BOARD_GMARSH_X6_REV1          2011  // GMARSH X6 board, revision 1 prototype
+#define BOARD_BIGTREE_SKR_V1_1        2012  // BigTreeTech SKR v1.1 (Power outputs: Hotend0, Hotend1, Fan, Bed)
+#define BOARD_BIGTREE_SKR_V1_3        2013  // BigTreeTech SKR v1.3 (Power outputs: Hotend0, Hotend1, Fan, Bed)
+#define BOARD_BIGTREE_SKR_V1_4        2014  // BigTreeTech SKR v1.4 (Power outputs: Hotend0, Hotend1, Fan, Bed)
+
+//
+// LPC1769 ARM Cortex M3
+//
+
+#define BOARD_MKS_SGEN                2500  // MKS-SGen (Power outputs: Hotend0, Hotend1, Bed, Fan)
+#define BOARD_AZTEEG_X5_GT            2501  // Azteeg X5 GT (Power outputs: Hotend0, Hotend1, Bed, Fan)
+#define BOARD_AZTEEG_X5_MINI          2502  // Azteeg X5 Mini (Power outputs: Hotend0, Bed, Fan)
+#define BOARD_AZTEEG_X5_MINI_WIFI     2503  // Azteeg X5 Mini Wifi (Power outputs: Hotend0, Bed, Fan)
+#define BOARD_COHESION3D_REMIX        2504  // Cohesion3D ReMix
+#define BOARD_COHESION3D_MINI         2505  // Cohesion3D Mini
+#define BOARD_SMOOTHIEBOARD           2506  // Smoothieboard
+#define BOARD_TH3D_EZBOARD            2507  // TH3D EZBoard v1.0
+#define BOARD_BIGTREE_SKR_V1_4_TURBO  2508  // BigTreeTech SKR v1.4 TURBO (Power outputs: Hotend0, Hotend1, Fan, Bed)

 //
 // SAM3X8E ARM Cortex M3
@@ -269,18 +278,21 @@
 #define BOARD_MKS_ROBIN_MINI          4007  // MKS Robin Mini (STM32F103VET6)
 #define BOARD_MKS_ROBIN_NANO          4008  // MKS Robin Nano (STM32F103VET6)
 #define BOARD_MKS_ROBIN_LITE          4009  // MKS Robin Lite/Lite2 (STM32F103RCT6)
-#define BOARD_BIGTREE_SKR_MINI_V1_1   4010  // BigTreeTech SKR Mini v1.1 (STM32F103RC)
-#define BOARD_BTT_SKR_MINI_E3_V1_0    4011  // BigTreeTech SKR Mini E3 (STM32F103RC)
-#define BOARD_BTT_SKR_MINI_E3_V1_2    4012  // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC)
-#define BOARD_BIGTREE_SKR_E3_DIP      4013  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
-#define BOARD_JGAURORA_A5S_A1         4014  // JGAurora A5S A1 (STM32F103ZET6)
-#define BOARD_FYSETC_AIO_II           4015  // FYSETC AIO_II
-#define BOARD_FYSETC_CHEETAH          4016  // FYSETC Cheetah
-#define BOARD_FYSETC_CHEETAH_V12      4017  // FYSETC Cheetah V1.2
-#define BOARD_LONGER3D_LK             4018  // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VET6
-#define BOARD_GTM32_MINI              4019  // STM32F103VET6 controller
-#define BOARD_GTM32_MINI_A30          4020  // STM32F103VET6 controller
-#define BOARD_GTM32_REV_B             4021  // STM32F103VET6 controller
+#define BOARD_MKS_ROBIN_LITE3         4010  // MKS Robin Lite3 (STM32F103RCT6)
+#define BOARD_MKS_ROBIN_PRO           4011  // MKS Robin Pro (STM32F103ZET6)
+#define BOARD_BIGTREE_SKR_MINI_V1_1   4012  // BigTreeTech SKR Mini v1.1 (STM32F103RC)
+#define BOARD_BTT_SKR_MINI_E3_V1_0    4013  // BigTreeTech SKR Mini E3 (STM32F103RC)
+#define BOARD_BTT_SKR_MINI_E3_V1_2    4014  // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC)
+#define BOARD_BIGTREE_SKR_E3_DIP      4015  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
+#define BOARD_JGAURORA_A5S_A1         4016  // JGAurora A5S A1 (STM32F103ZET6)
+#define BOARD_FYSETC_AIO_II           4017  // FYSETC AIO_II
+#define BOARD_FYSETC_CHEETAH          4018  // FYSETC Cheetah
+#define BOARD_FYSETC_CHEETAH_V12      4019  // FYSETC Cheetah V1.2
+#define BOARD_LONGER3D_LK             4020  // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VET6
+#define BOARD_GTM32_MINI              4021  // STM32F103VET6 controller
+#define BOARD_GTM32_MINI_A30          4022  // STM32F103VET6 controller
+#define BOARD_GTM32_REV_B             4023  // STM32F103VET6 controller
+

 //
 // ARM Cortex-M4F
@@ -299,13 +311,15 @@
 #define BOARD_RUMBA32                 4203  // RUMBA32 STM32F4-based controller
 #define BOARD_BLACK_STM32F407VE       4204  // BLACK_STM32F407VE
 #define BOARD_BLACK_STM32F407ZE       4205  // BLACK_STM32F407ZE
-#define BOARD_STEVAL                  4206  // STEVAL-3DP001V1 3D PRINTER BOARD
+#define BOARD_STEVAL_3DP001V1         4206  // STEVAL-3DP001V1 3D PRINTER BOARD
 #define BOARD_BIGTREE_SKR_PRO_V1_1    4207  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
 #define BOARD_BIGTREE_BTT002_V1_0     4208  // BigTreeTech BTT002 v1.0 (STM32F407VE)
 #define BOARD_LERDGE_K                4209  // Lerdge K (STM32F407ZG)
 #define BOARD_LERDGE_X                4210  // Lerdge X (STM32F407VE)
 #define BOARD_VAKE403D                4211  // VAkE 403D (STM32F446VET6)
 #define BOARD_FYSETC_S6               4212  // FYSETC S6 board
+#define BOARD_FLYF407ZG               4213  // FLYF407ZG board (STM32F407ZG)
+#define BOARD_MKS_ROBIN2              4214  // MKS_ROBIN2 (STM32F407ZE)

 //
 // ARM Cortex M7
@@ -318,6 +332,8 @@
 // Espressif ESP32 WiFi
 //
 #define BOARD_ESPRESSIF_ESP32         6000
+#define BOARD_MRR_ESPA                6001
+#define BOARD_MRR_ESPE                6002

 //
 // Simulations
@@ -23,30 +23,30 @@

 #include "../inc/MarlinConfigPre.h"

-#define _A4988              0x001
-#define _A5984              0x002
-#define _DRV8825            0x003
-#define _LV8729             0x004
-#define _L6470              0x105
-#define _TB6560             0x006
-#define _TB6600             0x007
-#define _TMC2100            0x008
-#define _TMC2130            2130
-#define _TMC2130_STANDALONE 0x009
-#define _TMC2160            2160
-#define _TMC2160_STANDALONE 2161
-#define _TMC2208            2208
-#define _TMC2208_STANDALONE 0x00A
-#define _TMC2209            2209
-#define _TMC2209_STANDALONE 0x00D
-#define _TMC26X             0x10B
-#define _TMC26X_STANDALONE  0x00B
-#define _TMC2660            2660
-#define _TMC2660_STANDALONE 0x00C
-#define _TMC5130            5130
-#define _TMC5130_STANDALONE 5131
-#define _TMC5160            5160
-#define _TMC5160_STANDALONE 5161
+#define _A4988              0x4988
+#define _A5984              0x5984
+#define _DRV8825            0x8825
+#define _LV8729             0x8729
+#define _L6470              0x6470
+#define _TB6560             0x6560
+#define _TB6600             0x6600
+#define _TMC2100            0x2100
+#define _TMC2130            0x2130A
+#define _TMC2130_STANDALONE 0x2130B
+#define _TMC2160            0x2160A
+#define _TMC2160_STANDALONE 0x2160B
+#define _TMC2208            0x2208A
+#define _TMC2208_STANDALONE 0x2208B
+#define _TMC2209            0x2209A
+#define _TMC2209_STANDALONE 0x2209B
+#define _TMC26X             0x2600A
+#define _TMC26X_STANDALONE  0x2600B
+#define _TMC2660            0x2660A
+#define _TMC2660_STANDALONE 0x2660B
+#define _TMC5130            0x5130A
+#define _TMC5130_STANDALONE 0x5130B
+#define _TMC5160            0x5160A
+#define _TMC5160_STANDALONE 0x5160B

 #define _DRIVER_ID(V) _CAT(_, V)
 #define _AXIS_DRIVER_TYPE(A,T) (_DRIVER_ID(A##_DRIVER_TYPE) == _CAT(_, T))
@@ -86,6 +86,18 @@
                       || HAS_DRIVER(TMC5130) \
                       || HAS_DRIVER(TMC5160) )

+#define HAS_TRINAMIC_STANDALONE (    HAS_DRIVER(TMC2130_STANDALONE) \
+                                  || HAS_DRIVER(TMC2208_STANDALONE) \
+                                  || HAS_DRIVER(TMC2209_STANDALONE) \
+                                  || HAS_DRIVER(TMC26X_STANDALONE)  \
+                                  || HAS_DRIVER(TMC2660_STANDALONE) \
+                                  || HAS_DRIVER(TMC5130_STANDALONE) \
+                                  || HAS_DRIVER(TMC5160_STANDALONE) \
+                                  || HAS_DRIVER(TMC2160_STANDALONE) )
+
+#define HAS_TMCX1X0 (    HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) \
+                      || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160))
+
 #define HAS_TMC220x (HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209))

 #define AXIS_IS_TMC(A)   (    AXIS_DRIVER_TYPE(A,TMC2130) \
@@ -107,6 +119,8 @@
 #define AXIS_HAS_UART(A) (    AXIS_DRIVER_TYPE(A,TMC2208) \
                           || AXIS_DRIVER_TYPE(A,TMC2209) )

+#define AXIS_HAS_SW_SERIAL(A) ((AXIS_HAS_UART(A) && !defined(A##_HARDWARE_SERIAL)))
+
 #define AXIS_HAS_STALLGUARD(A)   (    AXIS_DRIVER_TYPE(A,TMC2130) \
                                   || AXIS_DRIVER_TYPE(A,TMC2160) \
                                   || AXIS_DRIVER_TYPE(A,TMC2209) \
@@ -121,19 +135,19 @@
                                   || AXIS_DRIVER_TYPE(A,TMC5130) \
                                   || AXIS_DRIVER_TYPE(A,TMC5160) )

-#define HAS_TMC_E_DRIVER (    HAS_E_DRIVER(TMC2130) \
-                           || HAS_E_DRIVER(TMC2160) \
-                           || HAS_E_DRIVER(TMC2660) \
-                           || HAS_E_DRIVER(TMC2209) \
-                           || HAS_E_DRIVER(TMC5130) \
-                           || HAS_E_DRIVER(TMC5160) )
+#define ANY_AXIS_HAS(T) (    AXIS_HAS_##T(X)  || AXIS_HAS_##T(X2) \
+                          || AXIS_HAS_##T(Y)  || AXIS_HAS_##T(Y2) \
+                          || AXIS_HAS_##T(Z)  || AXIS_HAS_##T(Z2) \
+                          || AXIS_HAS_##T(Z3) \
+                          || AXIS_HAS_##T(E0) || AXIS_HAS_##T(E1) \
+                          || AXIS_HAS_##T(E2) || AXIS_HAS_##T(E3) \
+                          || AXIS_HAS_##T(E4) || AXIS_HAS_##T(E5) )
+
+#define HAS_STEALTHCHOP    ANY_AXIS_HAS(STEALTHCHOP)
+#define HAS_STALLGUARD     ANY_AXIS_HAS(STALLGUARD)
+#define TMC_HAS_SPI        ANY_AXIS_HAS(SPI)
+#define TMC_HAS_SW_SERIAL  ANY_AXIS_HAS(SW_SERIAL)

-#define HAS_TMC_STANDALONE_E_DRIVER  (    HAS_E_DRIVER(TMC2130_STANDALONE) \
-                                       || HAS_E_DRIVER(TMC2160_STANDALONE) \
-                                       || HAS_E_DRIVER(TMC2660_STANDALONE) \
-                                       || HAS_E_DRIVER(TMC2209_STANDALONE) \
-                                       || HAS_E_DRIVER(TMC5130_STANDALONE) \
-                                       || HAS_E_DRIVER(TMC5160_STANDALONE) )
 //
 // Stretching 'drivers.h' to include LPC/SAMD51 SD options
 //
@@ -252,10 +252,10 @@
 #define MSG_FILAMENT_CHANGE_INSERT_M108     "Insert filament and send M108"
 #define MSG_FILAMENT_CHANGE_WAIT_M108       "Send M108 to resume"

-#define MSG_STOP_BLTOUCH                    "STOP called because of BLTouch error - restart with M999"
-#define MSG_STOP_UNHOMED                    "STOP called because of unhomed error - restart with M999"
-#define MSG_KILL_INACTIVE_TIME              "KILL caused by too much inactive time - current command: "
-#define MSG_KILL_BUTTON                     "KILL caused by KILL button/pin"
+#define MSG_STOP_BLTOUCH                    "!! STOP called because of BLTouch error - restart with M999"
+#define MSG_STOP_UNHOMED                    "!! STOP called because of unhomed error - restart with M999"
+#define MSG_KILL_INACTIVE_TIME              "!! KILL caused by too much inactive time - current command: "
+#define MSG_KILL_BUTTON                     "!! KILL caused by KILL button/pin"

 // temperature.cpp strings
 #define MSG_PID_AUTOTUNE_PREFIX             "PID Autotune"
@@ -75,7 +75,7 @@ extern uint8_t marlin_debug_flags;
 #define SERIAL_PRINTF(V...)     SERIAL_OUT(printf, V)
 #define SERIAL_FLUSH()          SERIAL_OUT(flush)

-#ifdef __STM32F1__
+#ifdef ARDUINO_ARCH_STM32
  #define SERIAL_FLUSHTX()      SERIAL_OUT(flush)
 #elif TX_BUFFER_SIZE > 0
  #define SERIAL_FLUSHTX()      SERIAL_OUT(flushTX)
@@ -97,6 +97,7 @@ typedef float feedRate_t;
 #define _LS(N)  (N = (T)(uint32_t(N) << v))
 #define _RS(N)  (N = (T)(uint32_t(N) >> v))
 #define FI FORCE_INLINE
+#define SWAP(x, y) do { typeof(x) SWAP = x; x = y; y = SWAP; } while (0)

 // Forward declarations
 template<typename T> struct XYval;
@@ -22,7 +22,7 @@

 #include "utility.h"

-#include "../Marlin.h"
+#include "../MarlinCore.h"
 #include "../module/temperature.h"

 void safe_delay(millis_t ms) {
@@ -59,6 +59,8 @@ void safe_delay(millis_t ms) {
    SERIAL_ECHOLNPGM("Probe: "
      #if ENABLED(PROBE_MANUALLY)
        "PROBE_MANUALLY"
+      #elif ENABLED(NOZZLE_AS_PROBE)
+        "NOZZLE_AS_PROBE"
      #elif ENABLED(FIX_MOUNTED_PROBE)
        "FIX_MOUNTED_PROBE"
      #elif ENABLED(BLTOUCH)
@@ -79,40 +81,49 @@ void safe_delay(millis_t ms) {
    );

    #if HAS_BED_PROBE
-      SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
-      if (probe_offset.x > 0)
-        SERIAL_ECHOPGM(" (Right");
-      else if (probe_offset.x < 0)
-        SERIAL_ECHOPGM(" (Left");
-      else if (probe_offset.y != 0)
-        SERIAL_ECHOPGM(" (Middle");
-      else
-        SERIAL_ECHOPGM(" (Aligned With");

-      if (probe_offset.y > 0) {
-        #if IS_SCARA
-          SERIAL_ECHOPGM("-Distal");
-        #else
-          SERIAL_ECHOPGM("-Back");
-        #endif
-      }
-      else if (probe_offset.y < 0) {
-        #if IS_SCARA
-          SERIAL_ECHOPGM("-Proximal");
-        #else
-          SERIAL_ECHOPGM("-Front");
-        #endif
-      }
-      else if (probe_offset.x != 0)
-        SERIAL_ECHOPGM("-Center");
+      #if !HAS_PROBE_XY_OFFSET
+        SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe_offset.z, " (");
+      #else
+        SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
+        if (probe_offset.x > 0)
+          SERIAL_ECHOPGM(" (Right");
+        else if (probe_offset.x < 0)
+          SERIAL_ECHOPGM(" (Left");
+        else if (probe_offset.y != 0)
+          SERIAL_ECHOPGM(" (Middle");
+        else
+          SERIAL_ECHOPGM(" (Aligned With");
+
+        if (probe_offset.y > 0) {
+          #if IS_SCARA
+            SERIAL_ECHOPGM("-Distal");
+          #else
+            SERIAL_ECHOPGM("-Back");
+          #endif
+        }
+        else if (probe_offset.y < 0) {
+          #if IS_SCARA
+            SERIAL_ECHOPGM("-Proximal");
+          #else
+            SERIAL_ECHOPGM("-Front");
+          #endif
+        }
+        else if (probe_offset.x != 0)
+          SERIAL_ECHOPGM("-Center");
+
+        SERIAL_ECHOPGM(" & ");
+
+      #endif

      if (probe_offset.z < 0)
-        SERIAL_ECHOPGM(" & Below");
+        SERIAL_ECHOPGM("Below");
      else if (probe_offset.z > 0)
-        SERIAL_ECHOPGM(" & Above");
+        SERIAL_ECHOPGM("Above");
      else
-        SERIAL_ECHOPGM(" & Same Z as");
+        SERIAL_ECHOPGM("Same Z as");
      SERIAL_ECHOLNPGM(" Nozzle)");
+
    #endif

    #if HAS_ABL_OR_UBL
@@ -45,7 +45,7 @@

 #include "../module/planner.h"
 #include "../module/stepper.h"
-#include "../Marlin.h"
+#include "../MarlinCore.h"
 #include "../HAL/shared/Delay.h"

 #define HAS_SIDE_BY_SIDE (ENABLED(MAX7219_SIDE_BY_SIDE) && MAX7219_NUMBER_UNITS > 1)
@@ -455,15 +455,19 @@ void Max7219::register_setup() {
 #ifdef MAX7219_INIT_TEST
 #if MAX7219_INIT_TEST == 2

+  #define MAX7219_LEDS (MAX7219_X_LEDS * MAX7219_Y_LEDS)
+
  void Max7219::spiral(const bool on, const uint16_t del) {
-    constexpr int8_t way[] = { 1, 0, 0, 1, -1, 0, 0, -1 };
+    constexpr int8_t way[][2] = { { 1, 0 }, { 0, 1 }, { -1, 0 }, { 0, -1 } };
    int8_t px = 0, py = 0, dir = 0;
-    for (uint8_t i = MAX7219_X_LEDS * MAX7219_Y_LEDS; i--;) {
+    for (IF<(MAX7219_LEDS > 255), uint16_t, uint8_t>::type i = MAX7219_LEDS; i--;) {
      led_set(px, py, on);
      delay(del);
-      const int8_t x = px + way[dir], y = py + way[dir + 1];
-      if (!WITHIN(x, 0, MAX7219_X_LEDS - 1) || !WITHIN(y, 0, MAX7219_Y_LEDS - 1) || BIT_7219(x, y) == on) dir = (dir + 2) & 0x7;
-      px += way[dir]; py += way[dir + 1];
+      const int8_t x = px + way[dir][0], y = py + way[dir][1];
+      if (!WITHIN(x, 0, MAX7219_X_LEDS - 1) || !WITHIN(y, 0, MAX7219_Y_LEDS - 1) || BIT_7219(x, y) == on)
+        dir = (dir + 1) & 0x3;
+      px += way[dir][0];
+      py += way[dir][1];
    }
  }

@@ -25,7 +25,7 @@
 #if ENABLED(BABYSTEPPING)

 #include "babystep.h"
-#include "../Marlin.h"
+#include "../MarlinCore.h"
 #include "../module/planner.h"
 #include "../module/stepper.h"

@@ -176,7 +176,7 @@
    // Add XY probe offset from extruder because probe_at_point() subtracts them when
    // moving to the XY position to be measured. This ensures better agreement between
    // the current Z position after G28 and the mesh values.
-    const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + xy_pos_t(probe_offset));
+    const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe_offset_xy);

    if (!lcd) SERIAL_EOL();
    for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
@@ -26,7 +26,7 @@

  #include "../bedlevel.h"

-  #include "../../../Marlin.h"
+  #include "../../../MarlinCore.h"
  #include "../../../HAL/shared/persistent_store_api.h"
  #include "../../../libs/hex_print_routines.h"
  #include "../../../module/configuration_store.h"
@@ -450,7 +450,7 @@
              SERIAL_ECHO(g29_pos.y);
              SERIAL_ECHOLNPGM(").\n");
            }
-            const xy_pos_t near = g29_pos + probe_offset;
+            const xy_pos_t near = g29_pos + probe_offset_xy;
            probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));

            report_current_position();
@@ -468,6 +468,7 @@
            do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);

            if (parser.seen('C') && !xy_seen) {
+
              /**
               * Use a good default location for the path.
               * The flipped > and < operators in these comparisons is intentional.
@@ -479,8 +480,8 @@
                #if IS_KINEMATIC
                  X_HOME_POS, Y_HOME_POS
                #else
-                  probe_offset.x > 0 ? X_BED_SIZE : 0,
-                  probe_offset.y < 0 ? Y_BED_SIZE : 0
+                  probe_offset_xy.x > 0 ? X_BED_SIZE : 0,
+                  probe_offset_xy.y < 0 ? Y_BED_SIZE : 0
                #endif
              );
            }
@@ -805,8 +806,8 @@
      restore_ubl_active_state_and_leave();

      do_blocking_move_to_xy(
-        constrain(near.x - probe_offset.x, MESH_MIN_X, MESH_MAX_X),
-        constrain(near.y - probe_offset.y, MESH_MIN_Y, MESH_MAX_Y)
+        constrain(near.x - probe_offset_xy.x, MESH_MIN_X, MESH_MAX_X),
+        constrain(near.y - probe_offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
      );
    }

@@ -1293,7 +1294,7 @@
    closest.distance = -99999.9f;

    // Get the reference position, either nozzle or probe
-    const xy_pos_t ref = probe_relative ? pos + probe_offset : pos;
+    const xy_pos_t ref = probe_relative ? pos + probe_offset_xy : pos;

    float best_so_far = 99999.99f;

@@ -32,7 +32,7 @@
  #include "../../../module/delta.h"
 #endif

-#include "../../../Marlin.h"
+#include "../../../MarlinCore.h"
 #include <math.h>

 #if !UBL_SEGMENTED
@@ -77,7 +77,7 @@ private:
  static bool file_open(char* filename) {
    if (!dummy_transfer) {
      card.mount();
-      card.openFile(filename, false);
+      card.openFileWrite(filename);
      if (!card.isFileOpen()) return false;
    }
    transfer_active = true;
@@ -58,7 +58,9 @@ void update_case_light() {
  if (case_light_arg_flag && case_light_on)
    case_light_brightness = case_light_brightness_sav;  // restore last brightens if this is an S1 argument

-  const uint8_t i = case_light_on ? case_light_brightness : 0, n10ct = INVERT_CASE_LIGHT ? 255 - i : i;
+  #if ENABLED(CASE_LIGHT_USE_NEOPIXEL) || NONE(CASE_LIGHT_USE_NEOPIXEL, CASE_LIGHT_NO_BRIGHTNESS)
+    const uint8_t i = case_light_on ? case_light_brightness : 0, n10ct = INVERT_CASE_LIGHT ? 255 - i : i;
+  #endif

  #if ENABLED(CASE_LIGHT_USE_NEOPIXEL)

@@ -71,13 +73,13 @@ void update_case_light() {

    #if DISABLED(CASE_LIGHT_NO_BRIGHTNESS)
      if (PWM_PIN(CASE_LIGHT_PIN))
-        analogWrite(pin_t(CASE_LIGHT_PIN),
+        analogWrite(pin_t(CASE_LIGHT_PIN), (
          #if CASE_LIGHT_MAX_PWM == 255
            n10ct
          #else
            map(n10ct, 0, 255, 0, CASE_LIGHT_MAX_PWM)
          #endif
-        );
+        ));
      else
    #endif
      {
@@ -10,7 +10,7 @@

 #include "dac_dac084s085.h"

-#include "../../Marlin.h"
+#include "../../MarlinCore.h"
 #include "../../module/stepper.h"
 #include "../../HAL/shared/Delay.h"

@@ -42,25 +42,40 @@ Joystick joystick;

 #if HAS_JOY_ADC_X
  temp_info_t Joystick::x; // = { 0 }
+  #if ENABLED(INVERT_JOY_X)
+    #define JOY_X(N) (16383 - (N))
+  #else
+    #define JOY_X(N) (N)
+  #endif
 #endif
 #if HAS_JOY_ADC_Y
  temp_info_t Joystick::y; // = { 0 }
+  #if ENABLED(INVERT_JOY_Y)
+    #define JOY_Y(N) (16383 - (N))
+  #else
+    #define JOY_Y(N) (N)
+  #endif
 #endif
 #if HAS_JOY_ADC_Z
  temp_info_t Joystick::z; // = { 0 }
+  #if ENABLED(INVERT_JOY_Z)
+    #define JOY_Z(N) (16383 - (N))
+  #else
+    #define JOY_Z(N) (N)
+  #endif
 #endif

 #if ENABLED(JOYSTICK_DEBUG)
  void Joystick::report() {
    SERIAL_ECHOPGM("Joystick");
    #if HAS_JOY_ADC_X
-      SERIAL_ECHOPAIR_P(SP_X_STR, x.raw);
+      SERIAL_ECHOPAIR_P(SP_X_STR, JOY_X(x.raw));
    #endif
    #if HAS_JOY_ADC_Y
-      SERIAL_ECHOPAIR_P(SP_Y_STR, y.raw);
+      SERIAL_ECHOPAIR_P(SP_Y_STR, JOY_Y(y.raw));
    #endif
    #if HAS_JOY_ADC_Z
-      SERIAL_ECHOPAIR_P(SP_Z_STR, z.raw);
+      SERIAL_ECHOPAIR_P(SP_Z_STR, JOY_Z(z.raw));
    #endif
    #if HAS_JOY_ADC_EN
      SERIAL_ECHO_TERNARY(READ(JOY_EN_PIN), " EN=", "HIGH (dis", "LOW (en", "abled)");
@@ -91,15 +106,15 @@ Joystick joystick;

    #if HAS_JOY_ADC_X
      static constexpr int16_t joy_x_limits[4] = JOY_X_LIMITS;
-      _normalize_joy(norm_jog.x, x.raw, joy_x_limits);
+      _normalize_joy(norm_jog.x, JOY_X(x.raw), joy_x_limits);
    #endif
    #if HAS_JOY_ADC_Y
      static constexpr int16_t joy_y_limits[4] = JOY_Y_LIMITS;
-      _normalize_joy(norm_jog.y, y.raw, joy_y_limits);
+      _normalize_joy(norm_jog.y, JOY_Y(y.raw), joy_y_limits);
    #endif
    #if HAS_JOY_ADC_Z
      static constexpr int16_t joy_z_limits[4] = JOY_Z_LIMITS;
-      _normalize_joy(norm_jog.z, z.raw, joy_z_limits);
+      _normalize_joy(norm_jog.z, JOY_Z(z.raw), joy_z_limits);
    #endif
  }

@@ -29,7 +29,7 @@

 #if ENABLED(ADVANCED_PAUSE_FEATURE)

-#include "../Marlin.h"
+#include "../MarlinCore.h"
 #include "../gcode/gcode.h"
 #include "../module/motion.h"
 #include "../module/planner.h"
@@ -345,14 +345,14 @@ bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
  #endif

  // Retract filament
-  do_pause_e_move(-(FILAMENT_UNLOAD_RETRACT_LENGTH) * mix_multiplier, (PAUSE_PARK_RETRACT_FEEDRATE) * mix_multiplier);
+  do_pause_e_move(-(FILAMENT_UNLOAD_PURGE_RETRACT) * mix_multiplier, (PAUSE_PARK_RETRACT_FEEDRATE) * mix_multiplier);

  // Wait for filament to cool
-  safe_delay(FILAMENT_UNLOAD_DELAY);
+  safe_delay(FILAMENT_UNLOAD_PURGE_DELAY);

  // Quickly purge
-  do_pause_e_move((FILAMENT_UNLOAD_RETRACT_LENGTH + FILAMENT_UNLOAD_PURGE_LENGTH) * mix_multiplier,
-                  planner.settings.max_feedrate_mm_s[E_AXIS] * mix_multiplier);
+  do_pause_e_move((FILAMENT_UNLOAD_PURGE_RETRACT + FILAMENT_UNLOAD_PURGE_LENGTH) * mix_multiplier,
+                  (FILAMENT_UNLOAD_PURGE_FEEDRATE) * mix_multiplier);

  // Unload filament
  #if FILAMENT_CHANGE_UNLOAD_ACCEL > 0
@@ -694,6 +694,10 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
    thermalManager.set_fans_paused(false);
  #endif

+  #if HAS_FILAMENT_SENSOR
+    runout.reset();
+  #endif
+
  // Resume the print job timer if it was running
  if (print_job_timer.isPaused()) print_job_timer.start();

@@ -31,7 +31,7 @@
 #include "power.h"
 #include "../module/temperature.h"
 #include "../module/stepper/indirection.h"
-#include "../Marlin.h"
+#include "../MarlinCore.h"

 Power powerManager;

@@ -36,7 +36,7 @@ MMU2 mmu2;
 #include "../../module/temperature.h"
 #include "../../module/planner.h"
 #include "../../module/stepper/indirection.h"
-#include "../../Marlin.h"
+#include "../../MarlinCore.h"

 #if ENABLED(HOST_PROMPT_SUPPORT)
  #include "../../feature/host_actions.h"
@@ -61,7 +61,7 @@ void FilamentSensorBase::filament_present(const uint8_t extruder) {
 //
 // Filament Runout event handler
 //
-#include "../Marlin.h"
+#include "../MarlinCore.h"
 #include "../gcode/queue.h"

 #if ENABLED(HOST_ACTION_COMMANDS)
@@ -25,7 +25,7 @@
 #if HAS_TRINAMIC

 #include "tmc_util.h"
-#include "../Marlin.h"
+#include "../MarlinCore.h"

 #include "../module/stepper/indirection.h"
 #include "../module/printcounter.h"
@@ -1022,7 +1022,7 @@
 #if USE_SENSORLESS

  bool tmc_enable_stallguard(TMC2130Stepper &st) {
-    bool stealthchop_was_enabled = st.en_pwm_mode();
+    const bool stealthchop_was_enabled = st.en_pwm_mode();

    st.TCOOLTHRS(0xFFFFF);
    st.en_pwm_mode(false);
@@ -1038,9 +1038,10 @@

  bool tmc_enable_stallguard(TMC2209Stepper &st) {
    st.TCOOLTHRS(0xFFFFF);
-    return true;
+    return !st.en_spreadCycle();
  }
-  void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth _UNUSED) {
+  void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth) {
+    st.en_spreadCycle(!restore_stealth);
    st.TCOOLTHRS(0);
  }

@@ -29,22 +29,6 @@
 #include <TMCStepper.h>
 #include "../module/planner.h"

-#define TMC_X_LABEL 'X', '0'
-#define TMC_Y_LABEL 'Y', '0'
-#define TMC_Z_LABEL 'Z', '0'
-
-#define TMC_X2_LABEL 'X', '2'
-#define TMC_Y2_LABEL 'Y', '2'
-#define TMC_Z2_LABEL 'Z', '2'
-#define TMC_Z3_LABEL 'Z', '3'
-
-#define TMC_E0_LABEL 'E', '0'
-#define TMC_E1_LABEL 'E', '1'
-#define TMC_E2_LABEL 'E', '2'
-#define TMC_E3_LABEL 'E', '3'
-#define TMC_E4_LABEL 'E', '4'
-#define TMC_E5_LABEL 'E', '5'
-
 #define CHOPPER_DEFAULT_12V  { 3, -1, 1 }
 #define CHOPPER_DEFAULT_19V  { 4,  1, 1 }
 #define CHOPPER_DEFAULT_24V  { 4,  2, 1 }
@@ -34,7 +34,7 @@
 #include "../../gcode/gcode.h"
 #include "../../feature/bedlevel/bedlevel.h"

-#include "../../Marlin.h"
+#include "../../MarlinCore.h"
 #include "../../module/planner.h"
 #include "../../module/stepper.h"
 #include "../../module/motion.h"
@@ -25,7 +25,7 @@
 #if HAS_MESH

 #include "../gcode.h"
-#include "../../Marlin.h" // for IsRunning()
+#include "../../MarlinCore.h" // for IsRunning()
 #include "../../module/motion.h"
 #include "../../module/probe.h" // for probe_offset
 #include "../../feature/bedlevel/bedlevel.h"
@@ -45,20 +45,21 @@ void GcodeSuite::G42() {
      return;
    }

+    // Move to current_position, as modified by I, J, P parameters
    destination = current_position;

    if (hasI) destination.x = _GET_MESH_X(ix);
    if (hasJ) destination.y = _GET_MESH_Y(iy);

-    #if HAS_BED_PROBE
+    #if HAS_PROBE_XY_OFFSET
      if (parser.boolval('P')) {
-        if (hasI) destination.x -= probe_offset.x;
-        if (hasJ) destination.y -= probe_offset.y;
+        if (hasI) destination.x -= probe_offset_xy.x;
+        if (hasJ) destination.y -= probe_offset_xy.y;
      }
    #endif

    const feedRate_t fval = parser.linearval('F'),
-                     fr_mm_s = fval > 0 ? MMM_TO_MMS(fval) : 0.0f;
+                     fr_mm_s = MMM_TO_MMS(fval > 0 ? fval : 0.0f);

    // SCARA kinematic has "safe" XY raw moves
    #if IS_SCARA
@@ -228,7 +228,7 @@ G29_TYPE GcodeSuite::G29() {
      ABL_VAR xy_int8_t meshCount;
    #endif

-    ABL_VAR xy_float_t probe_position_lf, probe_position_rb;
+    ABL_VAR xy_pos_t probe_position_lf, probe_position_rb;
    ABL_VAR xy_float_t gridSpacing = { 0, 0 };

    #if ENABLED(AUTO_BED_LEVELING_LINEAR)
@@ -403,12 +403,12 @@ G29_TYPE GcodeSuite::G29() {
      }
      else {
        probe_position_lf.set(
-          parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MAX(X_CENTER - (X_BED_SIZE) / 2,      x_min),
-          parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MAX(Y_CENTER - (Y_BED_SIZE) / 2,      y_min)
+          parser.seenval('L') ? RAW_X_POSITION(parser.value_linear_units()) : x_min,
+          parser.seenval('F') ? RAW_Y_POSITION(parser.value_linear_units()) : y_min
        );
        probe_position_rb.set(
-          parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MIN(probe_position_lf.x + X_BED_SIZE, x_max),
-          parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MIN(probe_position_lf.y + Y_BED_SIZE, y_max)
+          parser.seenval('R') ? RAW_X_POSITION(parser.value_linear_units()) : x_max,
+          parser.seenval('B') ? RAW_Y_POSITION(parser.value_linear_units()) : y_max
        );
      }

@@ -910,8 +910,8 @@ G29_TYPE GcodeSuite::G29() {
        planner.force_unapply_leveling(converted); // use conversion machinery

        // Use the last measured distance to the bed, if possible
-        if ( NEAR(current_position.x, probePos.x - probe_offset.x)
-          && NEAR(current_position.y, probePos.y - probe_offset.y)
+        if ( NEAR(current_position.x, probePos.x - probe_offset_xy.x)
+          && NEAR(current_position.y, probePos.y - probe_offset_xy.y)
        ) {
          const float simple_z = current_position.z - measured_z;
          if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, "  Matrix Z", converted.z, "  Discrepancy ", simple_z - converted.z);
@@ -133,7 +133,7 @@
    destination.set(safe_homing_xy, current_position.z);

    #if HOMING_Z_WITH_PROBE
-      destination -= probe_offset;
+      destination -= probe_offset_xy;
    #endif

    if (position_is_reachable(destination)) {
@@ -262,7 +262,7 @@ void GcodeSuite::G28(const bool always_home_all) {

  #if HAS_HOMING_CURRENT
    auto debug_current = [](const char * const s, const int16_t a, const int16_t b){
-      DEBUG_ECHO(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b);
+      DEBUG_ECHO(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b);
    };
    #if HAS_CURRENT_HOME(X)
      const int16_t tmc_save_current_X = stepperX.getMilliamps();
@@ -286,11 +286,6 @@ void GcodeSuite::G28(const bool always_home_all) {
    #endif
  #endif

-  #if BOTH(STEALTHCHOP_XY, HOME_USING_SPREADCYCLE)
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set XY to spreadCycle...");
-    process_subcommands_now_P(PSTR("M569S0XY"));
-  #endif
-
  #if ENABLED(IMPROVE_HOMING_RELIABILITY)
    slow_homing_t slow_homing = begin_slow_homing();
  #endif
@@ -515,11 +510,6 @@ void GcodeSuite::G28(const bool always_home_all) {
    #endif
  #endif

-  #if BOTH(STEALTHCHOP_XY, HOME_USING_SPREADCYCLE)
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set XY to StealthChop...");
-    process_subcommands_now_P(PSTR("M569S1XY"));
-  #endif
-
  ui.refresh();

  report_current_position();
@@ -45,29 +45,59 @@
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../../core/debug_out.h"

-// Sanity-check the count of Z_STEPPER_ALIGN_XY points
-constexpr xy_pos_t sanity_arr_z_align[] = Z_STEPPER_ALIGN_XY;
-#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
-  static_assert(COUNT(sanity_arr_z_align) >= Z_STEPPER_COUNT,
-    "Z_STEPPER_ALIGN_XY requires at least three {X,Y} entries (Z, Z2, Z3, ...)."
-  );
-#else
-  static_assert(COUNT(sanity_arr_z_align) == Z_STEPPER_COUNT,
-    #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
-      "Z_STEPPER_ALIGN_XY requires three {X,Y} entries (Z, Z2, and Z3)."
-    #else
-      "Z_STEPPER_ALIGN_XY requires two {X,Y} entries (Z and Z2)."
-    #endif
-  );
+
+#ifdef Z_STEPPER_ALIGN_XY
+  //
+  // Sanity check G34 / M422 settings
+  //
+  constexpr xy_pos_t test_z_stepper_align_xy[] = Z_STEPPER_ALIGN_XY;
+
+  #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
+
+    static_assert(COUNT(test_z_stepper_align_xy) >= Z_STEPPER_COUNT,
+      "Z_STEPPER_ALIGN_XY requires at least three {X,Y} entries (Z, Z2, Z3, ...)."
+    );
+
+  #else
+
+    static_assert(COUNT(test_z_stepper_align_xy) == Z_STEPPER_COUNT,
+      #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+        "Z_STEPPER_ALIGN_XY requires three {X,Y} entries (Z, Z2, and Z3)."
+      #else
+        "Z_STEPPER_ALIGN_XY requires two {X,Y} entries (Z and Z2)."
+      #endif
+    );
+
+  #endif
+
+  constexpr xyz_pos_t dpo = NOZZLE_TO_PROBE_OFFSET;
+
+  #define LTEST(N) (test_z_stepper_align_xy[N].x >= _MAX(X_MIN_BED + MIN_PROBE_EDGE_LEFT,  X_MIN_POS + dpo.x) - 0.00001f)
+  #define RTEST(N) (test_z_stepper_align_xy[N].x <= _MIN(X_MAX_BED - MIN_PROBE_EDGE_RIGHT, X_MAX_POS + dpo.x) + 0.00001f)
+  #define FTEST(N) (test_z_stepper_align_xy[N].y >= _MAX(Y_MIN_BED + MIN_PROBE_EDGE_FRONT, Y_MIN_POS + dpo.y) - 0.00001f)
+  #define BTEST(N) (test_z_stepper_align_xy[N].y <= _MIN(Y_MAX_BED - MIN_PROBE_EDGE_BACK,  Y_MAX_POS + dpo.y) + 0.00001f)
+
+  static_assert(LTEST(0) && RTEST(0), "The 1st Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
+  static_assert(FTEST(0) && BTEST(0), "The 1st Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
+  static_assert(LTEST(1) && RTEST(1), "The 2nd Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
+  static_assert(FTEST(1) && BTEST(1), "The 2nd Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
+
+  #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+    static_assert(LTEST(2) && RTEST(2), "The 3rd Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
+    static_assert(FTEST(2) && BTEST(2), "The 3rd Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
+  #endif
 #endif

-static xy_pos_t z_auto_align_pos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_XY;
-
 #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
-  static xy_pos_t z_stepper_pos[] = Z_STEPPER_ALIGN_STEPPER_XY;
+  constexpr xy_pos_t test_z_stepper_align_stepper_xy[] = Z_STEPPER_ALIGN_STEPPER_XY;
+  static_assert(
+    COUNT(test_z_stepper_align_stepper_xy) == Z_STEPPER_COUNT,
+    "Z_STEPPER_ALIGN_STEPPER_XY requires three {X,Y} entries (one per Z stepper)."
+  );
+  static xy_pos_t z_stepper_align_stepper_xy[] = Z_STEPPER_ALIGN_STEPPER_XY;
 #endif

-#define G34_PROBE_COUNT COUNT(z_auto_align_pos)
+#define G34_PROBE_COUNT COUNT(z_stepper_align_xy)

 inline void set_all_z_lock(const bool lock) {
  stepper.set_z_lock(lock);
@@ -90,6 +120,32 @@ void GcodeSuite::G34() {
    log_machine_info();
  }

+  xy_pos_t z_stepper_align_xy[] =
+    #ifdef Z_STEPPER_ALIGN_XY
+      Z_STEPPER_ALIGN_XY
+    #else
+      {
+        #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+          #if defined(Z_STEPPER_ALIGN_ROTATE) && Z_STEPPER_ALIGN_ROTATE != 0
+            #if Z_STEPPER_ALIGN_ROTATE == 1
+              { probe_min_x(), probe_min_y() }, { probe_min_x(), probe_max_y() }, { probe_max_x(), Y_CENTER }
+            #elif Z_STEPPER_ALIGN_ROTATE == 2
+              { probe_min_x(), probe_max_y() }, { probe_max_x(), probe_max_y() }, { X_CENTER, probe_min_y() }
+            #elif Z_STEPPER_ALIGN_ROTATE == 3
+              { probe_max_x(), probe_min_y() }, { probe_max_x(), probe_max_y() }, { probe_min_x(), Y_CENTER }
+            #endif
+          #else
+            { probe_min_x(), probe_min_y() }, { probe_max_x(), probe_min_y() }, { X_CENTER, probe_max_y() }
+          #endif
+        #elif defined(Z_STEPPER_ALIGN_ROTATE)
+          { X_CENTER, probe_min_y() }, { Y_CENTER, probe_max_y() }
+        #else
+          { probe_min_x(), Y_CENTER }, { probe_max_x(), Y_CENTER }
+        #endif
+      }
+    #endif
+  ;
+
  do { // break out on error

    const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
@@ -155,11 +211,11 @@ void GcodeSuite::G34() {
    // iteration this will be re-calculated based on the actual bed position
    float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
      #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
-         SQRT(_MAX(HYPOT2(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y),
-                   HYPOT2(z_auto_align_pos[1].x - z_auto_align_pos[1].y, z_auto_align_pos[2].x - z_auto_align_pos[2].y),
-                   HYPOT2(z_auto_align_pos[2].x - z_auto_align_pos[2].y, z_auto_align_pos[0].x - z_auto_align_pos[0].y)))
+         SQRT(_MAX(HYPOT2(z_stepper_align_xy[0].x - z_stepper_align_xy[0].y, z_stepper_align_xy[1].x - z_stepper_align_xy[1].y),
+                   HYPOT2(z_stepper_align_xy[1].x - z_stepper_align_xy[1].y, z_stepper_align_xy[2].x - z_stepper_align_xy[2].y),
+                   HYPOT2(z_stepper_align_xy[2].x - z_stepper_align_xy[2].y, z_stepper_align_xy[0].x - z_stepper_align_xy[0].y)))
      #else
-         HYPOT(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y)
+         HYPOT(z_stepper_align_xy[0].x - z_stepper_align_xy[0].y, z_stepper_align_xy[1].x - z_stepper_align_xy[1].y)
      #endif
    );

@@ -169,13 +225,18 @@ void GcodeSuite::G34() {
    // Move the Z coordinate realm towards the positive - dirty trick
    current_position.z -= z_probe * 0.5f;

-    float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
-          z_measured[G34_PROBE_COUNT] = { 0 },
+    float z_measured[G34_PROBE_COUNT] = { 0 },
          z_maxdiff = 0.0f,
          amplification = z_auto_align_amplification;

    uint8_t iteration;
    bool err_break = false;
+
+    #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+      bool adjustment_reversed = false;
+    #endif
+    float last_iteration_error = 0.0f;
+
    for (iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");

@@ -193,8 +254,11 @@ void GcodeSuite::G34() {
        // Safe clearance even on an incline
        if (iteration == 0 || i > 0) do_blocking_move_to_z(z_probe);

+        if (DEBUGGING(LEVELING))
+          DEBUG_ECHOLNPAIR_P(PSTR("Probing X"), z_stepper_align_xy[iprobe].x, SP_Y_STR, z_stepper_align_xy[iprobe].y);
+
        // Probe a Z height for each stepper.
-        const float z_probed_height = probe_at_point(z_auto_align_pos[iprobe], raise_after, 0, true);
+        const float z_probed_height = probe_at_point(z_stepper_align_xy[iprobe], raise_after, 0, true);
        if (isnan(z_probed_height)) {
          SERIAL_ECHOLNPGM("Probing failed.");
          err_break = true;
@@ -235,56 +299,69 @@ void GcodeSuite::G34() {
        incremental_LSF_reset(&lfd);
        for (uint8_t i = 0; i < G34_PROBE_COUNT; ++i) {
          SERIAL_ECHOLNPAIR("PROBEPT_", int(i + 1), ": ", z_measured[i]);
-          incremental_LSF(&lfd, z_auto_align_pos[i], z_measured[i]);
+          incremental_LSF(&lfd, z_stepper_align_xy[i], z_measured[i]);
        }
        finish_incremental_LSF(&lfd);

        z_measured_min = 100000.0f;
        for (uint8_t i = 0; i < Z_STEPPER_COUNT; ++i) {
-          z_measured[i] = -(lfd.A * z_stepper_pos[i].x + lfd.B * z_stepper_pos[i].y);
+          z_measured[i] = -(lfd.A * z_stepper_align_stepper_xy[i].x + lfd.B * z_stepper_align_stepper_xy[i].y);
          z_measured_min = _MIN(z_measured_min, z_measured[i]);
        }

        SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]);
      #endif

+      // The following correction actions are to be enabled for select Z-steppers only
+      stepper.set_separate_multi_axis(true);
+
+      float calculated_align_move[Z_STEPPER_COUNT];
+      float current_iteration_error = 0.0;
+
+      bool success_break = true;
+      for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
+        // Calculate current stepper move
+        calculated_align_move[zstepper] = z_measured[zstepper] - z_measured_min;
+        current_iteration_error += calculated_align_move[zstepper];
+        // Stop early if all measured points achieve accuracy target
+        if (calculated_align_move[zstepper] > z_auto_align_accuracy) success_break = false;
+      }
+
      SERIAL_ECHOLNPAIR("\n"
        "DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
        #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
          , " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
          , " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
        #endif
+        , " SUM=", current_iteration_error
      );

-      // The following correction actions are to be enabled for select Z-steppers only
-      stepper.set_separate_multi_axis(true);
+      if (iteration > 0 && current_iteration_error > last_iteration_error) {
+        SERIAL_ECHOLNPGM("Decreasing accuracy detected.");
+          #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+            if (adjustment_reversed) {
+              SERIAL_ECHOLNPGM("Decreasing accuracy detected. Reversal already attempted. Aborting.");
+              err_break = true;
+              break;
+            }
+            // Reverse direction by reversing the order of alignment points.
+            // For this iteration switch the calculated moves. Do not reverse the
+            // direction of the moves to avoid possibly crashing the nozzle into the bed.
+            SERIAL_ECHOLNPGM("Decreasing accuracy detected. Reversing correction direction.");
+            SWAP(z_stepper_align_xy[0].x, z_stepper_align_xy[1].x);
+            SWAP(z_stepper_align_xy[0].y, z_stepper_align_xy[1].y);
+            SWAP(calculated_align_move[0], calculated_align_move[1]);
+            adjustment_reversed = true;
+          #else
+            err_break = true;
+            break;
+          #endif
+      }
+      last_iteration_error = current_iteration_error;

-      bool success_break = true;
      // Correct the individual stepper offsets
      for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
-        // Calculate current stepper move
-        const float z_align_move = z_measured[zstepper] - z_measured_min,
-                    z_align_abs = ABS(z_align_move);
-
-        #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
-          // Optimize one iteration's correction based on the first measurements
-          if (z_align_abs > 0.0f) amplification = iteration == 1 ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
-        #endif
-
-        // Check for less accuracy compared to last move
-        if (last_z_align_move[zstepper] < z_align_abs - 1.0) {
-          SERIAL_ECHOLNPGM("Decreasing accuracy detected.");
-          err_break = true;
-          break;
-        }
-
-        // Remember the alignment for the next iteration
-        last_z_align_move[zstepper] = z_align_abs;
-
-        // Stop early if all measured points achieve accuracy target
-        if (z_align_abs > z_auto_align_accuracy) success_break = false;
-
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " corrected by ", z_align_move);
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " corrected by ", calculated_align_move[zstepper]);

        // Lock all steppers except one
        set_all_z_lock(true);
@@ -297,7 +374,7 @@ void GcodeSuite::G34() {
        }

        // Do a move to correct part of the misalignment for the current stepper
-        do_blocking_move_to_z(amplification * z_align_move + current_position.z);
+        do_blocking_move_to_z(amplification * calculated_align_move[zstepper] + current_position.z);
      } // for (zstepper)

      // Back to normal stepper operations
@@ -360,12 +437,38 @@ void GcodeSuite::G34() {
 *   Y<pos>   : Y position to set (Unchanged if omitted)
 */
 void GcodeSuite::M422() {
+  xy_pos_t z_stepper_align_xy[] =
+    #ifdef Z_STEPPER_ALIGN_XY
+      Z_STEPPER_ALIGN_XY
+    #else
+      {
+        #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+          #if defined(Z_STEPPER_ALIGN_ROTATE) && Z_STEPPER_ALIGN_ROTATE != 0
+            #if Z_STEPPER_ALIGN_ROTATE == 1
+              { probe_min_x(), probe_min_y() }, { probe_min_x(), probe_max_y() }, { probe_max_x(), Y_CENTER }
+            #elif Z_STEPPER_ALIGN_ROTATE == 2
+              { probe_min_x(), probe_max_y() }, { probe_max_x(), probe_max_y() }, { X_CENTER, probe_min_y() }
+            #elif Z_STEPPER_ALIGN_ROTATE == 3
+              { probe_max_x(), probe_min_y() }, { probe_max_x(), probe_max_y() }, { probe_min_x(), Y_CENTER }
+            #endif
+          #else
+            { probe_min_x(), probe_min_y() }, { probe_max_x(), probe_min_y() }, { X_CENTER, probe_max_y() }
+          #endif
+        #elif defined(Z_STEPPER_ALIGN_ROTATE)
+          { X_CENTER, probe_min_y() }, { Y_CENTER, probe_max_y() }
+        #else
+          { probe_min_x(), Y_CENTER }, { probe_max_x(), Y_CENTER }
+        #endif
+      }
+    #endif
+  ;
+
  if (!parser.seen_any()) {
    for (uint8_t i = 0; i < G34_PROBE_COUNT; ++i)
-      SERIAL_ECHOLNPAIR_P(PSTR("M422 S"), i + 1, SP_X_STR, z_auto_align_pos[i].x, SP_Y_STR, z_auto_align_pos[i].y);
+      SERIAL_ECHOLNPAIR_P(PSTR("M422 S"), i + 1, SP_X_STR, z_stepper_align_xy[i].x, SP_Y_STR, z_stepper_align_xy[i].y);
    #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
      for (uint8_t i = 0; i < Z_STEPPER_COUNT; ++i)
-        SERIAL_ECHOLNPAIR_P(PSTR("M422 W"), i + 1, SP_X_STR, z_stepper_pos[i].x, SP_Y_STR, z_stepper_pos[i].y);
+        SERIAL_ECHOLNPAIR_P(PSTR("M422 W"), i + 1, SP_X_STR, z_stepper_align_stepper_xy[i].x, SP_Y_STR, z_stepper_align_stepper_xy[i].y);
    #endif
    return;
  }
@@ -381,9 +484,9 @@ void GcodeSuite::M422() {

  xy_pos_t *pos_dest = (
    #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
-      !is_probe_point ? z_stepper_pos :
+      !is_probe_point ? z_stepper_align_stepper_xy :
    #endif
-    z_auto_align_pos
+    z_stepper_align_xy
  );

  if (!is_probe_point
@@ -20,7 +20,7 @@
 *
 */

-#include "../../Marlin.h"
+#include "../../MarlinCore.h"

 #if ENABLED(CALIBRATION_GCODE)

@@ -28,7 +28,7 @@
 #include "../queue.h"
 #include "../../libs/hex_print_routines.h"

-#include "../../Marlin.h" // for idle()
+#include "../../MarlinCore.h" // for idle()

 /**
 * M100 Free Memory Watcher
@@ -51,7 +51,7 @@
 * Also, there are two support functions that can be called from a developer's C code.
 *
 *    uint16_t check_for_free_memory_corruption(PGM_P const free_memory_start);
- *    void M100_dump_routine(PGM_P const title, char *start, char *end);
+ *    void M100_dump_routine(PGM_P const title, const char * const start, const char * const end);
 *
 * Initial version by Roxy-3D
 */
@@ -151,8 +151,8 @@ inline int32_t count_test_bytes(const char * const start_free_memory) {
    // Start and end the dump on a nice 16 byte boundary
    // (even though the values are not 16-byte aligned).
    //
-    start_free_memory = (char*)((ptr_int_t)((uint32_t)start_free_memory & 0xFFFFFFF0)); // Align to 16-byte boundary
-    end_free_memory  = (char*)((ptr_int_t)((uint32_t)end_free_memory  | 0x0000000F)); // Align end_free_memory to the 15th byte (at or above end_free_memory)
+    start_free_memory = (char*)(ptr_int_t(uint32_t(start_free_memory) & ~0xFUL)); // Align to 16-byte boundary
+    end_free_memory   = (char*)(ptr_int_t(uint32_t(end_free_memory)   |  0xFUL)); // Align end_free_memory to the 15th byte (at or above end_free_memory)

    // Dump command main loop
    while (start_free_memory < end_free_memory) {
@@ -177,15 +177,16 @@ inline int32_t count_test_bytes(const char * const start_free_memory) {
    }
  }

-  void M100_dump_routine(PGM_P const title, char *start, char *end) {
+  void M100_dump_routine(PGM_P const title, const char * const start, const char * const end) {
    serialprintPGM(title);
    SERIAL_EOL();
    //
    // Round the start and end locations to produce full lines of output
    //
-    start = (char*)((ptr_int_t)((uint32_t)start & 0xFFFFFFF0)); // Align to 16-byte boundary
-    end   = (char*)((ptr_int_t)((uint32_t)end   | 0x0000000F)); // Align end_free_memory to the 15th byte (at or above end_free_memory)
-    dump_free_memory(start, end);
+    dump_free_memory(
+      (char*)(ptr_int_t(uint32_t(start) & ~0xFUL)), // Align to 16-byte boundary
+      (char*)(ptr_int_t(uint32_t(end)   |  0xFUL))  // Align end_free_memory to the 15th byte (at or above end_free_memory)
+    );
  }

 #endif // M100_FREE_MEMORY_DUMPER
@@ -211,7 +212,7 @@ inline int check_for_free_memory_corruption(PGM_P const title) {
    //   idle();
    serial_delay(20);
    #if ENABLED(M100_FREE_MEMORY_DUMPER)
-      M100_dump_routine(PSTR("   Memory corruption detected with end_free_memory<Heap\n"), (char*)0x1B80, (char*)0x21FF);
+      M100_dump_routine(PSTR("   Memory corruption detected with end_free_memory<Heap\n"), (const char*)0x1B80, (const char*)0x21FF);
    #endif
  }

@@ -77,8 +77,8 @@ void GcodeSuite::M48() {
  xy_float_t next_pos = current_position;

  const xy_pos_t probe_pos = {
-    parser.linearval('X', next_pos.x + probe_offset.x),
-    parser.linearval('Y', next_pos.y + probe_offset.y)
+    parser.linearval('X', next_pos.x + probe_offset_xy.x),
+    parser.linearval('Y', next_pos.y + probe_offset_xy.y)
  };

  if (!position_is_reachable_by_probe(probe_pos)) {
@@ -166,8 +166,9 @@ void GcodeSuite::M48() {
          while (angle < 0.0) angle += 360.0;   // outside of this range.   It looks like they behave correctly with
                                                // numbers outside of the range, but just to be safe we clamp them.

-          next_pos.set(probe_pos.x - probe_offset.x + cos(RADIANS(angle)) * radius,
-                       probe_pos.y - probe_offset.y + sin(RADIANS(angle)) * radius);
+          const xy_pos_t noz_pos = probe_pos - probe_offset_xy;
+          next_pos.set(noz_pos.x + cos(RADIANS(angle)) * radius,
+                       noz_pos.y + sin(RADIANS(angle)) * radius);

          #if DISABLED(DELTA)
            LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
@@ -21,7 +21,7 @@
 */

 #include "../gcode.h"
-#include "../../Marlin.h"
+#include "../../MarlinCore.h"
 #include "../../module/planner.h"

 #if DISABLED(NO_VOLUMETRICS)
@@ -27,7 +27,7 @@
 #include "../gcode.h"
 #include "../../module/tool_change.h"

-#include "../../Marlin.h" // for SP_X_STR, etc.
+#include "../../MarlinCore.h" // for SP_X_STR, etc.

 extern const char SP_X_STR[], SP_Y_STR[], SP_Z_STR[];

@@ -25,7 +25,7 @@
 #if ENABLED(PINS_DEBUGGING)

 #include "../gcode.h"
-#include "../../Marlin.h" // for pin_is_protected
+#include "../../MarlinCore.h" // for pin_is_protected
 #include "../../pins/pinsDebug.h"
 #include "../../module/endstops.h"

@@ -25,7 +25,7 @@
 #if DISABLED(EMERGENCY_PARSER)

 #include "../gcode.h"
-#include "../../Marlin.h" // for wait_for_heatup, kill, quickstop_stepper
+#include "../../MarlinCore.h" // for wait_for_heatup, kill, quickstop_stepper

 /**
 * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
@@ -21,7 +21,7 @@
 */

 #include "../gcode.h"
-#include "../../Marlin.h" // for stepper_inactive_time, disable_e_steppers
+#include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers
 #include "../../lcd/ultralcd.h"
 #include "../../module/stepper.h"

@@ -21,7 +21,7 @@
 */

 #include "../gcode.h"
-#include "../../Marlin.h" // for pin_is_protected and idle()
+#include "../../MarlinCore.h" // for pin_is_protected and idle()
 #include "../../module/stepper.h"

 /**
@@ -21,7 +21,7 @@
 */

 #include "../gcode.h"
-#include "../../Marlin.h" // for pin_is_protected
+#include "../../MarlinCore.h" // for pin_is_protected
 #include "../../inc/MarlinConfig.h"

 #if FAN_COUNT > 0
@@ -32,7 +32,7 @@
 #endif

 #if HAS_SUICIDE
-  #include "../../Marlin.h"
+  #include "../../MarlinCore.h"
 #endif

 #if ENABLED(PSU_CONTROL)
@@ -21,7 +21,7 @@
 */

 #include "../gcode.h"
-#include "../../Marlin.h" // for max_inactive_time
+#include "../../MarlinCore.h" // for max_inactive_time

 /**
 * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
@@ -23,7 +23,7 @@
 #include "../gcode.h"

 #include "../../lcd/ultralcd.h" // for lcd_reset_alert_level
-#include "../../Marlin.h"       // for Running
+#include "../../MarlinCore.h"   // for Running
 #include "../queue.h"           // for flush_and_request_resend

 /**
@@ -31,8 +31,8 @@
  millis_t chdk_timeout; // = 0
 #endif

-#ifdef PHOTO_POSITION && PHOTO_DELAY_MS > 0
-  #include "../../../Marlin.h" // for idle()
+#if defined(PHOTO_POSITION) && PHOTO_DELAY_MS > 0
+  #include "../../../MarlinCore.h" // for idle()
 #endif

 #ifdef PHOTO_RETRACT_MM
@@ -27,7 +27,7 @@
 #include "../../../feature/filwidth.h"
 #include "../../../module/planner.h"
 #include "../../../module/temperature.h"
-#include "../../../Marlin.h"
+#include "../../../MarlinCore.h"
 #include "../../gcode.h"

 /**
@@ -26,7 +26,7 @@

 #include "../../gcode.h"

-#include "../../../Marlin.h" // for i2c
+#include "../../../MarlinCore.h" // for i2c

 /**
 * M260: Send data to a I2C slave device
@@ -25,7 +25,7 @@
 #if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)

 #include "../../gcode.h"
-#include "../../../Marlin.h"
+#include "../../../MarlinCore.h"
 #include "../../../module/motion.h"
 #include "../../../module/temperature.h"
 #include "../../../feature/pause.h"
@@ -28,6 +28,9 @@
 #include "../../../feature/power_loss_recovery.h"
 #include "../../../module/motion.h"
 #include "../../../lcd/ultralcd.h"
+#if ENABLED(EXTENSIBLE_UI)
+  #include "../../../lcd/extensible_ui/ui_api.h"
+#endif

 #define DEBUG_OUT ENABLED(DEBUG_POWER_LOSS_RECOVERY)
 #include "../../../core/debug_out.h"
@@ -55,6 +58,8 @@ void GcodeSuite::M1000() {
    if (parser.seen('S')) {
      #if HAS_LCD_MENU
        ui.goto_screen(menu_job_recovery);
+      #elif ENABLED(EXTENSIBLE_UI)        
+        ExtUI::OnPowerLossResume();
      #else
        SERIAL_ECHO_MSG("Resume requires LCD.");
      #endif
@@ -44,7 +44,9 @@ void tmc_set_stealthChop(TMC &st, const bool enable) {
 static void set_stealth_status(const bool enable, const int8_t target_extruder) {
  #define TMC_SET_STEALTH(Q) tmc_set_stealthChop(stepper##Q, enable)

-  #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z) || AXIS_HAS_STEALTHCHOP(Z2) || AXIS_HAS_STEALTHCHOP(Z3)
+  #if    AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(X2) \
+      || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Y2) \
+      || AXIS_HAS_STEALTHCHOP(Z) || AXIS_HAS_STEALTHCHOP(Z2) || AXIS_HAS_STEALTHCHOP(Z3)
    const uint8_t index = parser.byteval('I');
  #endif

@@ -49,7 +49,7 @@ GcodeSuite gcode;
  #include "../feature/cancel_object.h"
 #endif

-#include "../Marlin.h" // for idle() and suspend_auto_report
+#include "../MarlinCore.h" // for idle() and suspend_auto_report

 millis_t GcodeSuite::previous_move_ms;

@@ -209,7 +209,7 @@ void GcodeSuite::dwell(millis_t time) {
 // Placeholders for non-migrated codes
 //
 #if ENABLED(M100_FREE_MEMORY_WATCHER)
-  extern void M100_dump_routine(PGM_P const title, char *start, char *end);
+  extern void M100_dump_routine(PGM_P const title, const char * const start, const char * const end);
 #endif

 /**
@@ -865,7 +865,7 @@ void GcodeSuite::process_next_command() {
    SERIAL_ECHOLN(current_command);
    #if ENABLED(M100_FREE_MEMORY_DUMPER)
      SERIAL_ECHOPAIR("slot:", queue.index_r);
-      M100_dump_routine(PSTR("   Command Queue:"), queue.command_buffer, queue.command_buffer + sizeof(queue.command_buffer));
+      M100_dump_routine(PSTR("   Command Queue:"), &queue.command_buffer[0][0], &queue.command_buffer[BUFSIZE - 1][MAX_CMD_SIZE - 1]);
    #endif
  }

@@ -152,7 +152,7 @@ void GcodeSuite::M115() {

    // THERMAL_PROTECTION
    cap_line(PSTR("THERMAL_PROTECTION")
-      #if ENABLED(THERMAL_PROTECTION_HOTENDS) && (ENABLED(THERMAL_PROTECTION_BED) || !HAS_HEATED_BED) && (ENABLED(THERMAL_PROTECTION_CHAMBER) || !HAS_HEATED_CHAMBER)
+      #if (ENABLED(THERMAL_PROTECTION_HOTENDS) || !EXTRUDERS) && (ENABLED(THERMAL_PROTECTION_BED) || !HAS_HEATED_BED) && (ENABLED(THERMAL_PROTECTION_CHAMBER) || !HAS_HEATED_CHAMBER)
        , true
      #endif
    );
@@ -25,7 +25,7 @@
 #if ENABLED(EXPECTED_PRINTER_CHECK)

 #include "../gcode.h"
-#include "../../Marlin.h"
+#include "../../MarlinCore.h"

 /**
 * M16: Expected Printer Check
@@ -25,7 +25,7 @@

 #include "../../feature/host_actions.h"
 #include "../gcode.h"
-#include "../../Marlin.h"
+#include "../../MarlinCore.h"

 /**
 * M876: Handle Prompt Response
@@ -23,7 +23,7 @@
 #include "../gcode.h"
 #include "../../module/motion.h"

-#include "../../Marlin.h"
+#include "../../MarlinCore.h"

 #if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
  #include "../../feature/fwretract.h"
--- a/Show More
+++ b/Show More