Merge branch 'bugfix-2.1.x' into pr/26943

[cron] Bump distribution date (2026-03-19)
🩹 Fix REPETIER_GCODE M360 (#28353 )
2026-03-25 18:20:53 -05:00 · 2026-03-19 06:29:00 +00:00 · 2026-03-18 23:44:27 -05:00 · 2026-03-18 21:38:27 -05:00 · 2026-03-18 20:01:34 -05:00 · 2026-03-16 06:41:17 +00:00
1885 changed files with 109772 additions and 107121 deletions
@@ -0,0 +1,21 @@
+# Build artifacts
+buildroot/
+*.o
+*.a
+*.so
+*.dylib
+*.dll
+*.exe
+
+# Web assets
+*.min.js
+*.min.css
+
+# Generated files
+__pycache__/
+*.pyc
+.DS_Store
+
+# IDE files
+.vscode/
+.idea/
@@ -38,14 +38,14 @@
    "platformio.platformio-ide",
    "marlinfirmware.auto-build",
    "editorconfig.editorconfig"
-  ],
+  ]

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

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

  // Comment out connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root.
-  // "remoteUser": "vscode"
+  // , "remoteUser": "vscode"
 }
@@ -7,7 +7,7 @@ contact_links:
    url: https://www.facebook.com/groups/1049718498464482
    about: Please ask and answer questions here.
  - name: 🕹 Marlin on Discord
-    url: https://discord.gg/n5NJ59y
+    url: https://discord.com/servers/marlin-firmware-461605380783472640
    about: Join the Discord server for support and discussion.
  - name: 🔗 Marlin Discussion Forum
    url: https://reprap.org/forum/list.php?415
@@ -8,19 +8,19 @@ In the interest of fostering an open and welcoming environment, we as contributo

 Examples of behavior that contributes to creating a positive environment include:

-* Using welcoming and inclusive language
-* Being respectful of differing viewpoints and experiences
-* Gracefully accepting constructive criticism
-* Focusing on what is best for the community
-* Showing empathy towards other community members
+- Using welcoming and inclusive language
+- Being respectful of differing viewpoints and experiences
+- Gracefully accepting constructive criticism
+- Focusing on what is best for the community
+- Showing empathy towards other community members

 Examples of unacceptable behavior by participants include:

-* The use of sexualized language or imagery and unwelcome sexual attention or advances
-* Trolling, insulting/derogatory comments, and personal or political attacks
-* Public or private harassment
-* Publishing others' private information, such as a physical or electronic address, without explicit permission
-* Other conduct which could reasonably be considered inappropriate in a professional setting
+- The use of sexualized language or imagery and unwelcome sexual attention or advances
+- Trolling, insulting/derogatory comments, and personal or political attacks
+- Public or private harassment
+- Publishing others' private information, such as a physical or electronic address, without explicit permission
+- Other conduct which could reasonably be considered inappropriate in a professional setting

 ## Our Responsibilities

@@ -11,18 +11,21 @@ The following is a set of guidelines for contributing to Marlin, hosted by the [
 [I don't want to read this whole thing, I just have a question!!!](#i-dont-want-to-read-this-whole-thing-i-just-have-a-question)

 [How Can I Contribute?](#how-can-i-contribute)
-  * [Reporting Bugs](#reporting-bugs)
-  * [Suggesting Features or Changes](#suggesting-features-or-changes)
-  * [Your First Code Contribution](#your-first-code-contribution)
-  * [Pull Requests](#pull-requests)
+
+- [Reporting Bugs](#reporting-bugs)
+- [Suggesting Features or Changes](#suggesting-features-or-changes)
+- [Your First Code Contribution](#your-first-code-contribution)
+- [Pull Requests](#pull-requests)

 [Styleguides](#styleguides)
-  * [Git Commit Messages](#git-commit-messages)
-  * [C++ Coding Standards](#c++-coding-standards)
-  * [Documentation Styleguide](#documentation)
+
+- [Git Commit Messages](#git-commit-messages)
+- [C++ Coding Standards](#c++-coding-standards)
+- [Documentation Styleguide](#documentation)

 [Additional Notes](#additional-notes)
-  * [Issue and Pull Request Labels](#issue-and-pull-request-labels)
+
+- [Issue and Pull Request Labels](#issue-and-pull-request-labels)

 ## Code of Conduct

@@ -31,6 +34,7 @@ This project and everyone participating in it is governed by the [Marlin Code of
 ## I don't want to read this whole thing I just have a question!!!

 > [!NOTE]
+>
 > Please don't file an issue to ask a question. You'll get faster results by using the resources below.

 We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions.
@@ -43,10 +47,10 @@ We have a Message Board and a Facebook group where our knowledgable user communi

 If chat is more your speed, you can join the MarlinFirmware Discord server:

-* Use the link https://discord.gg/n5NJ59y to join up as a General User.
-* Even though our Discord is pretty active, it may take a while for community members to respond &mdash; please be patient!
-* Use the `#general` channel for general questions or discussion about Marlin.
-* Other channels exist for certain topics or are limited to Patrons. Check the channel list.
+- Use the link https://discord.com/servers/marlin-firmware-461605380783472640 to join up as a General User.
+- Even though our Discord is pretty active, it may take a while for community members to respond &mdash; please be patient!
+- Use the `#general` channel for general questions or discussion about Marlin.
+- Other channels exist for certain topics or are limited to Patrons. Check the channel list.

 ## How Can I Contribute?

@@ -57,6 +61,7 @@ This section guides you through submitting a Bug Report for Marlin. Following th
 Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](ISSUE_TEMPLATE/bug_report.yml), the information it asks for helps us resolve issues faster.

 > [!NOTE]
+>
 > Regressions can happen. If you find a **Closed** issue that seems like your issue, go ahead and open a new issue and include a link to the original issue in the body of your new one. All you need to create a link is the issue number, preceded by #. For example, #8888.

 #### How Do I Submit A (Good) Bug Report?
@@ -65,29 +70,29 @@ Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/).

 Explain the problem and include additional details to help maintainers reproduce the problem:

-* **Use a clear and descriptive title** for the issue to identify the problem.
-* **Describe the exact steps which reproduce the problem** in as many details as possible. For example, start by explaining how you started Marlin, e.g. which command exactly you used in the terminal, or how you started Marlin otherwise. When listing steps, **don't just say what you did, but explain how you did it**. For example, if you moved the cursor to the end of a line, explain if you used the mouse, or a keyboard shortcut or an Marlin command, and if so which one?
-* **Provide specific examples to demonstrate the steps**. Include links to files or GitHub projects, or copy/pasteable snippets, which you use in those examples. If you're providing snippets or log output in the issue, use [Markdown code blocks](https://help.github.com/articles/markdown-basics/#multiple-lines).
-* **Describe the behavior you observed after following the steps** and point out what exactly is the problem with that behavior.
-* **Explain which behavior you expected to see instead and why.**
-* **Include detailed log output** especially for probing and leveling. See below for usage of `DEBUG_LEVELING_FEATURE`.
-* **Include screenshots, links to videos, etc.** which clearly demonstrate the problem.
-* **Include G-code** (if relevant) that reliably causes the problem to show itself.
-* **If the problem wasn't triggered by a specific action**, describe what you were doing before the problem happened and share more information using the guidelines below.
+- **Use a clear and descriptive title** for the issue to identify the problem.
+- **Describe the exact steps which reproduce the problem** in as many details as possible. For example, start by explaining how you started Marlin, e.g. which command exactly you used in the terminal, or how you started Marlin otherwise. When listing steps, **don't just say what you did, but explain how you did it**. For example, if you moved the cursor to the end of a line, explain if you used the mouse, or a keyboard shortcut or an Marlin command, and if so which one?
+- **Provide specific examples to demonstrate the steps**. Include links to files or GitHub projects, or copy/pasteable snippets, which you use in those examples. If you're providing snippets or log output in the issue, use [Markdown code blocks](https://help.github.com/articles/markdown-basics/#multiple-lines).
+- **Describe the behavior you observed after following the steps** and point out what exactly is the problem with that behavior.
+- **Explain which behavior you expected to see instead and why.**
+- **Include detailed log output** especially for probing and leveling. See below for usage of `DEBUG_LEVELING_FEATURE`.
+- **Include screenshots, links to videos, etc.** which clearly demonstrate the problem.
+- **Include G-code** (if relevant) that reliably causes the problem to show itself.
+- **If the problem wasn't triggered by a specific action**, describe what you were doing before the problem happened and share more information using the guidelines below.

 Provide more context:

-* **Can you reproduce the problem with a minimum of options enabled?**
-* **Did the problem start happening recently** (e.g. after updating to a new version of Marlin) or was this always a problem?
-* If the problem started happening recently, **can you reproduce the problem in an older version of Marlin?** What's the most recent version in which the problem doesn't happen? You can download older versions of Marlin from [the releases page](https://github.com/MarlinFirmware/Marlin/releases).
-* **Can you reliably reproduce the issue?** If not, provide details about how often the problem happens and under which conditions it normally happens.
+- **Can you reproduce the problem with a minimum of options enabled?**
+- **Did the problem start happening recently** (e.g. after updating to a new version of Marlin) or was this always a problem?
+- If the problem started happening recently, **can you reproduce the problem in an older version of Marlin?** What's the most recent version in which the problem doesn't happen? You can download older versions of Marlin from [the releases page](https://github.com/MarlinFirmware/Marlin/releases).
+- **Can you reliably reproduce the issue?** If not, provide details about how often the problem happens and under which conditions it normally happens.

 Include details about your configuration and environment:

-* **Which version of Marlin are you using?** Marlin's exact version and build date can be seen in the startup message when a host connects to Marlin, or in the LCD Info menu (if enabled).
-* **What kind of 3D Printer and electronics are you using**?
-* **What kind of add-ons (probe, filament sensor) do you have**?
-* **Include your Configuration files.** Make a ZIP file containing `Configuration.h` and `Configuration_adv.h` and drop it on your reply.
+- **Which version of Marlin are you using?** Marlin's exact version and build date can be seen in the startup message when a host connects to Marlin, or in the LCD Info menu (if enabled).
+- **What kind of 3D Printer and electronics are you using**?
+- **What kind of add-ons (probe, filament sensor) do you have**?
+- **Include your Configuration files.** Make a ZIP file containing `Configuration.h` and `Configuration_adv.h` and drop it on your reply.

 ### Suggesting Features or Changes

@@ -97,52 +102,52 @@ Before creating a suggestion, please check [this list](https://github.com/Marlin

 #### Before Submitting a Feature Request

-* **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html).
-* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
+- **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html).
+- **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.

 #### How Do I Submit A (Good) Feature Request?

 Feature Requests are tracked as [GitHub issues](https://guides.github.com/features/issues/). Please follow these guidelines in your request:

-* **Use a clear and descriptive title** for the issue to identify the suggestion.
-* **Provide a step-by-step description of the requested feature** in as much detail as possible.
-* **Provide specific examples to demonstrate the steps**.
-* **Describe the current behavior** and **explain which behavior you expected to see instead** and why.
-* **Include screenshots and links to videos** which demonstrate the feature or point out the part of Marlin to which the request is related.
-* **Explain why this feature would be useful** to most Marlin users.
-* **Name other firmwares that have this feature, if any.**
+- **Use a clear and descriptive title** for the issue to identify the suggestion.
+- **Provide a step-by-step description of the requested feature** in as much detail as possible.
+- **Provide specific examples to demonstrate the steps**.
+- **Describe the current behavior** and **explain which behavior you expected to see instead** and why.
+- **Include screenshots and links to videos** which demonstrate the feature or point out the part of Marlin to which the request is related.
+- **Explain why this feature would be useful** to most Marlin users.
+- **Name other firmwares that have this feature, if any.**

 ### Your First Code Contribution

 Unsure where to begin contributing to Marlin? You can start by looking through these `good-first-issue` and `help-wanted` issues:

-* [Beginner issues][good-first-issue] - issues which should only require a few lines of code, and a test or two.
-* [Help Wanted issues][help-wanted] - issues which should be a bit more involved than `beginner` issues.
+- [Beginner issues][good-first-issue] - issues which should only require a few lines of code, and a test or two.
+- [Help Wanted issues][help-wanted] - issues which should be a bit more involved than `beginner` issues.

 ### Pull Requests

-Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
+Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and GitHub's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.

-* Fill in [the required template](pull_request_template.md).
-* Don't include issue numbers in the PR title.
-* Include pictures, diagrams, and links to videos in your Pull Request to demonstrate your changes, if needed.
-* Follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website.
-* Document new code with clear and concise comments.
-* End all files with a newline.
+- Fill in [the required template](pull_request_template.md).
+- Don't include issue numbers in the PR title.
+- Include pictures, diagrams, and links to videos in your Pull Request to demonstrate your changes, if needed.
+- Follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website.
+- Document new code with clear and concise comments.
+- End all files with a newline.

 ## Styleguides

 ### Git Commit Messages

-* Use the present tense ("Add feature" not "Added feature").
-* Use the imperative mood ("Move cursor to..." not "Moves cursor to...").
-* Limit the first line to 72 characters or fewer.
-* Reference issues and Pull Requests liberally after the first line.
+- Use the present tense ("Add feature" not "Added feature").
+- Use the imperative mood ("Move cursor to..." not "Moves cursor to...").
+- Limit the first line to 72 characters or fewer.
+- Reference issues and Pull Requests liberally after the first line.

 ### C++ Coding Standards

-* Please read and follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website. Failure to follow these guidelines will delay evaluation and acceptance of Pull Requests.
+- Please read and follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website. Failure to follow these guidelines will delay evaluation and acceptance of Pull Requests.

 ### Documentation

-* Guidelines for documentation are still under development. In-general, be clear, concise, and to-the-point.
+- Guidelines for documentation are still under development. In-general, be clear, concise, and to-the-point.
@@ -14,7 +14,7 @@ jobs:
  autolabel:
    name: Auto Label
    if: github.repository == 'MarlinFirmware/Marlin'
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
    steps:
    - name: Auto Label for [BUG]
      uses: actions/github-script@v7
@@ -14,7 +14,7 @@ jobs:
    name: Bump Distribution Date
    if: github.repository == 'MarlinFirmware/Marlin'

-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04

    steps:

@@ -18,7 +18,7 @@ jobs:
    name: PR Bad Target
    if: github.repository == 'MarlinFirmware/Marlin'

-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04

    steps:
    - uses: superbrothers/close-pull-request@v3
@@ -1,9 +1,9 @@
 #
-# test-builds.yml
+# ci-build-tests.yml
 # Do test builds to catch compile errors
 #

-name: CI
+name: CI - Build Tests

 on:
  pull_request:
@@ -14,30 +14,43 @@ on:
    - config/**
    - data/**
    - docs/**
+    - test/**
+    - Marlin/tests/**
    - '**/*.md'
  push:
    branches:
    - bugfix-2.1.x
    - 2.1.x
+    - release-*
    paths-ignore:
    - config/**
    - data/**
    - docs/**
+    - test/**
+    - Marlin/tests/**
    - '**/*.md'

 jobs:
  test_builds:
-    name: Run All Tests
+    name: Build Test
    if: github.repository == 'MarlinFirmware/Marlin'

-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
+
+    env:
+      CONFIG_BRANCH: ${{ github.base_ref || github.ref_name }}

    strategy:
+      fail-fast: true
      matrix:
        test-platform:

+        # RP2040
+        - SKR_Pico
+
        # Native
        - linux_native
+        - simulator_linux_release

        # AVR
        - mega2560
@@ -45,7 +58,7 @@ jobs:
        - at90usb1286_dfu

        # AVR Extended
-        - FYSETC_F6
+        - mega2560ext
        - melzi_optiboot
        - rambo
        - sanguino1284p
@@ -100,11 +113,11 @@ jobs:

        # STM32F4
        - ARMED
-        - BIGTREE_BTT002
-        - BIGTREE_GTR_V1_0
-        - BIGTREE_SKR_PRO
+        - BTT_BTT002
+        - BTT_GTR_V1_0
+        - BTT_SKR_PRO
        - FLYF407ZG
-        - FYSETC_S6
+        - STM32F446VE_fysetc
        - LERDGEK
        - LERDGEX
        - mks_robin_pro2
@@ -142,6 +155,12 @@ jobs:
        # HC32
        - HC32F460C_aquila_101

+        # GD32F3
+        - GD32F303RE_creality_mfl
+
+        # GD32F1
+        - GD32F103RC_aquila_mfl
+
        # LPC176x - Lengthy tests
        - LPC1768
        - LPC1769
@@ -155,15 +174,20 @@ jobs:
      uses: actions/cache@v4
      with:
        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        key: ${{ runner.os }}-pip-build-v1
        restore-keys: |
-          ${{ runner.os }}-pip-
+          ${{ runner.os }}-pip-build-

    - name: Cache PlatformIO
      uses: actions/cache@v4
      with:
-        path: ~/.platformio
-        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
+        path: |
+          ~/.platformio
+          .pio/build
+          .pio/libdeps
+        key: ${{ runner.os }}-pio-build-v1
+        restore-keys: |
+          ${{ runner.os }}-pio-build-

    - name: Select Python 3.9
      uses: actions/setup-python@v5
@@ -177,6 +201,14 @@ jobs:
        pio upgrade --dev
        pio pkg update --global

+    - name: Install Simulator dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install build-essential
+        sudo apt-get install libsdl2-dev
+        sudo apt-get install libsdl2-net-dev
+        sudo apt-get install libglm-dev
+
    - name: Run ${{ matrix.test-platform }} Tests
      run: |
        make tests-single-ci TEST_TARGET=${{ matrix.test-platform }}
@@ -0,0 +1,78 @@
+#
+# ci-unit-tests.yml
+# Build and execute unit tests to catch functional issues in code
+#
+
+name: CI - Unit Tests
+
+on:
+  pull_request:
+    branches:
+    - bugfix-2.1.x
+    # Cannot be enabled on 2.1.x until it contains the unit test framework
+    #- 2.1.x
+    paths-ignore:
+    - config/**
+    - data/**
+    - docs/**
+    - '**/*.md'
+  push:
+    branches:
+    - bugfix-2.1.x
+    # Cannot be enabled on 2.1.x until it contains the unit test framework
+    #- 2.1.x
+    paths-ignore:
+    - config/**
+    - data/**
+    - docs/**
+    - '**/*.md'
+
+jobs:
+  # This runs all unit tests as a single job. While it should be possible to break this up into
+  # multiple jobs, they currently run quickly and finish long before the compilation tests.
+  run_unit_tests:
+    name: Unit Test
+    # These tests will only be able to run on the bugfix-2.1.x branch, until the next release
+    # pulls them into additional branches.
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Check out the PR
+      uses: actions/checkout@v4
+
+    - name: Cache pip
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-unit-v1
+        restore-keys: |
+          ${{ runner.os }}-pip-unit-
+
+    - name: Cache PlatformIO
+      uses: actions/cache@v4
+      with:
+        path: |
+          ~/.platformio
+          .pio/build
+          .pio/libdeps
+        key: ${{ runner.os }}-pio-tests-v1
+        restore-keys: |
+          ${{ runner.os }}-pio-tests-
+
+    - name: Select Python 3.9
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.9'
+        architecture: 'x64'
+
+    - name: Install PlatformIO
+      run: |
+        pip install -U platformio
+        pio upgrade --dev
+        pio pkg update --global
+
+    - name: Run All Unit Tests
+      run: |
+        make unit-test-all-local
@@ -0,0 +1,48 @@
+#
+# ci-validate-boards.yml
+# Validate boards.h to make sure it's all set up correctly
+#
+
+name: CI - Validate boards.h
+
+# We can do the on: section as two items, one for pull requests and one for pushes...
+on:
+  pull_request:
+    branches:
+      - bugfix-2.1.x
+    paths:
+      - "Marlin/src/core/boards.h"
+  push:
+    branches:
+      - bugfix-2.1.x
+    paths:
+      - "Marlin/src/core/boards.h"
+
+jobs:
+  validate_pins_files:
+    name: Validate boards.h
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Check out the PR
+        uses: actions/checkout@v4
+
+      - name: Cache pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-validation-v1
+          restore-keys: |
+            ${{ runner.os }}-pip-validation-
+
+      - name: Select Python 3.9
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.9"
+          architecture: "x64"
+
+      - name: Validate core/boards.h
+        run: |
+          make validate-boards -j
@@ -0,0 +1,40 @@
+#
+# ci-validate-lines.yml
+# Validate that all text files are unchanged by linesformat.py
+#
+
+name: CI - Validate Source Files
+
+on:
+  pull_request:
+    branches:
+      - bugfix-2.1.x
+      - 2.1.x
+  push:
+    branches:
+      - bugfix-2.1.x
+      - 2.1.x
+
+jobs:
+  validate_source_files:
+    name: Validate Source Files
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Check out the PR
+        uses: actions/checkout@v4
+
+      - name: Cache node_modules
+        uses: actions/cache@v4
+        with:
+          path: node_modules
+          key: ${{ runner.os }}-npm-lines-v1
+          restore-keys: |
+            ${{ runner.os }}-npm-lines-
+
+      - name: Validate text file formatting
+        run: |
+          npm install --save-dev prettier
+          make validate-lines -j
@@ -0,0 +1,51 @@
+#
+# ci-validate-pins.yml
+# Validate that all of the pins files are unchanged by pinsformat.py
+#
+
+name: CI - Validate Pins Files
+
+on:
+  pull_request:
+    branches:
+      - bugfix-2.1.x
+    # Cannot be enabled on 2.1.x until it contains the unit test framework
+    #- 2.1.x
+    paths:
+      - "Marlin/src/pins/*/**"
+  push:
+    branches:
+      - bugfix-2.1.x
+    # Cannot be enabled on 2.1.x until it contains the unit test framework
+    #- 2.1.x
+    paths:
+      - "Marlin/src/pins/*/**"
+
+jobs:
+  validate_pins_files:
+    name: Validate Pins Files
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Check out the PR
+        uses: actions/checkout@v4
+
+      - name: Cache pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-validation-v1
+          restore-keys: |
+            ${{ runner.os }}-pip-validation-
+
+      - name: Select Python 3.9
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.9"
+          architecture: "x64"
+
+      - name: Validate all pins files
+        run: |
+          make validate-pins -j
@@ -13,7 +13,7 @@ on:

 jobs:
  remove_label:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04

    strategy:
      matrix:
@@ -14,7 +14,7 @@ jobs:
    name: Close Stale Issues
    if: github.repository == 'MarlinFirmware/Marlin'

-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04

    steps:
    - uses: actions/stale@v9
@@ -14,7 +14,7 @@ jobs:
    name: Lock Closed Issues
    if: github.repository == 'MarlinFirmware/Marlin'

-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04

    steps:
    - uses: dessant/lock-threads@v5
@@ -14,7 +14,7 @@ jobs:
    name: Unlock Reopened
    if: github.repository == 'MarlinFirmware/Marlin'

-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04

    steps:
    - uses: OSDKDev/unlock-issues@v1.1
@@ -31,6 +31,11 @@ out-language/
 *.gen
 *.sublime-workspace

+# npm
+node_modules/
+package.json
+package-lock.json
+
 # OS
 applet/
 .DS_Store
@@ -125,6 +130,7 @@ vc-fileutils.settings
 # Visual Studio Code
 .vscode/*
 !.vscode/extensions.json
+*.code-workspace

 # Simulation files
 imgui.ini
@@ -168,3 +174,6 @@ __pycache__
 tags
 *.logs
 *.bak
+.aider*
+!.aiderignore
+.env
@@ -0,0 +1,10 @@
+# Prettier Ignore file
+*.min.js
+web-ui/
+buildroot/share/PlatformIO/boards
+buildroot/share/PlatformIO/variants
+*.sublime-project
+*.sublime-syntax
+.github
+.vscode
+launch.json
@@ -0,0 +1,16 @@
+/**
+ * Marlin-specific settings for Zed
+ *
+ * For a full list of overridable settings, and general information on folder-specific settings,
+ * see the documentation: https://zed.dev/docs/configuring-zed#settings-files
+ */
+{
+  "languages": {
+    "C": {
+      "enable_language_server": false
+    },
+    "C++": {
+      "enable_language_server": false
+    }
+  }
+}
@@ -1,18 +1,52 @@
 SCRIPTS_DIR := buildroot/share/scripts
+MAKESCRIPTS_DIR := buildroot/share/make
 CONTAINER_RT_BIN := docker
 CONTAINER_RT_OPTS := --rm -v $(PWD):/code -v platformio-cache:/root/.platformio
 CONTAINER_IMAGE := marlin-dev
+UNIT_TEST_CONFIG ?= default
+
+# Find a Python 3 interpreter
+ifeq ($(OS),Windows_NT)
+	# Windows: use `where` – fall back through the three common names
+	PYTHON := $(shell which python 2>nul || which python3 2>nul || which py 2>nul)
+	# Windows: Use Python script to find pins files
+	PINS := $(shell $(PYTHON) $(MAKESCRIPTS_DIR)/find.py Marlin/src/pins -mindepth 2 -name 'pins_*.h')
+else
+	# POSIX: use `command -v` – prefer python3 over python
+	PYTHON := $(shell command -v python3 2>/dev/null || command -v python 2>/dev/null)
+	# Unix/Linux: Use find command
+	PINS := $(shell find Marlin/src/pins -mindepth 2 -name 'pins_*.h')
+endif
+
+# Check that the found interpreter is Python 3
+# Error if there's no Python 3 available
+ifneq ($(strip $(PYTHON)),)
+	PYTHON_VERSION := $(shell $(PYTHON) -c "import sys; print(sys.version_info[0])" 2>/dev/null)
+	ifneq ($(PYTHON_VERSION),3)
+		$(error $(PYTHON) is not Python 3 – install a Python‑3.x interpreter or adjust your PATH)
+	endif
+else
+	$(error No Python executable found – install Python 3.x and make sure it is in your PATH)
+endif

 help:
 	@echo "Tasks for local development:"
-	@echo "make marlin                    : Build marlin for the configured board"
-	@echo "make format-pins               : Reformat all pins files"
+	@echo "make marlin                    : Build Marlin for the configured board"
+	@echo "make format-pins -j            : Reformat all pins files (-j for parallel execution)"
+	@echo "make validate-lines -j         : Validate line endings, fails on trailing whitespace, etc."
+	@echo "make validate-pins -j          : Validate all pins files, fails if any require reformatting"
+	@echo "make validate-boards -j        : Validate boards.h and pins.h for standards compliance"
+	@echo "make validate-urls             : Validate URLs in source files"
 	@echo "make tests-single-ci           : Run a single test from inside the CI"
 	@echo "make tests-single-local        : Run a single test locally"
 	@echo "make tests-single-local-docker : Run a single test locally, using docker"
 	@echo "make tests-all-local           : Run all tests locally"
 	@echo "make tests-all-local-docker    : Run all tests locally, using docker"
-	@echo "make setup-local-docker        : Build the local docker image"
+	@echo "make unit-test-single-local    : Run unit tests for a single config locally"
+	@echo "make unit-test-single-local-docker : Run unit tests for a single config locally, using docker"
+	@echo "make unit-test-all-local       : Run all code tests locally"
+	@echo "make unit-test-all-local-docker : Run all code tests locally, using docker"
+	@echo "make setup-local-docker        : Setup local docker"
 	@echo ""
 	@echo "Options for testing:"
 	@echo "  TEST_TARGET          Set when running tests-single-*, to select the"
@@ -22,6 +56,9 @@ help:
 	@echo "                       run on GitHub CI"
 	@echo "  ONLY_TEST            Limit tests to only those that contain this, or"
 	@echo "                       the index of the test (1-based)"
+	@echo "  UNIT_TEST_CONFIG     Set the name of the config from the test folder, without"
+	@echo "                       the leading number. Default is 'default'". Used with the
+	@echo "                       unit-test-single-* tasks"
 	@echo "  VERBOSE_PLATFORMIO   If you want the full PIO output, set any value"
 	@echo "  GIT_RESET_HARD       Used by CI: reset all local changes. WARNING:"
 	@echo "                       THIS WILL UNDO ANY CHANGES YOU'VE MADE!"
@@ -30,6 +67,9 @@ marlin:
 	./buildroot/bin/mftest -a
 .PHONY: marlin

+clean:
+	rm -rf .pio/build*
+
 tests-single-ci:
 	export GIT_RESET_HARD=true
 	$(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) PLATFORMIO_BUILD_FLAGS=-DGITHUB_ACTION
@@ -43,23 +83,94 @@ tests-single-local:
 tests-single-local-docker:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-all-local-docker" ; return 1; fi
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
-	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"
+	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) make tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"

 tests-all-local:
+	@$(PYTHON) -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "$(PYTHON) -m pip install pyyaml"' && exit 1)
 	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
-	  && for TEST_TARGET in $$($(SCRIPTS_DIR)/get_test_targets.py) ; do echo "Running tests for $$TEST_TARGET" ; run_tests . $$TEST_TARGET ; done
+	  && for TEST_TARGET in $$($(PYTHON) $(MAKESCRIPTS_DIR)/get_test_targets.py) ; do \
+	    if [ "$$TEST_TARGET" = "linux_native" ] && [ "$$(uname)" = "Darwin" ]; then \
+	      echo "Skipping tests for $$TEST_TARGET on macOS" ; \
+	      continue ; \
+	    fi ; \
+	    echo "Running tests for $$TEST_TARGET" ; \
+	    run_tests . $$TEST_TARGET || exit 1 ; \
+	    sleep 5; \
+	  done

 tests-all-local-docker:
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
-	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) $(MAKE) tests-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD)
+	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) make tests-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD)
+
+unit-test-single-local:
+	platformio run -t marlin_$(UNIT_TEST_CONFIG) -e linux_native_test
+
+unit-test-single-local-docker:
+	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
+	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS)  $(CONTAINER_IMAGE) make unit-test-single-local UNIT_TEST_CONFIG=$(UNIT_TEST_CONFIG)
+
+unit-test-all-local:
+	platformio run -t test-marlin -e linux_native_test
+
+unit-test-all-local-docker:
+	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
+	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS)  $(CONTAINER_IMAGE) make unit-test-all-local
+
+USERNAME := $(shell whoami)
+USER_ID  := $(shell id -u)
+GROUP_ID := $(shell id -g)
+
+.PHONY: setup-local-docker setup-local-docker-old

 setup-local-docker:
-	$(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
+	@echo "Building marlin-dev Docker image..."
+	$(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) \
+	  --build-arg USERNAME=$(USERNAME) \
+	  --build-arg USER_ID=$(USER_ID) \
+	  --build-arg GROUP_ID=$(GROUP_ID) \
+	  -f docker/Dockerfile .
+	@echo
+	@echo "To run all tests in Docker:"
+	@echo "  make tests-all-local-docker"
+	@echo "To run a single test in Docker:"
+	@echo "  make tests-single-local-docker TEST_TARGET=mega2560"

-PINS := $(shell find Marlin/src/pins -mindepth 2 -name '*.h')
+setup-local-docker-old:
+	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
+
+.PHONY: $(PINS) format-pins validate-pins

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

 format-pins: $(PINS)
+	@echo "Processed $(words $(PINS)) pins files"
+
+validate-pins: format-pins
+	@echo "Validating pins files"
+	@git diff --exit-code || (git status && echo "\nError: Pins files are not formatted correctly. Run \"make format-pins\" to fix.\n" && exit 1)
+
+.PHONY: format-lines validate-lines validate-urls
+
+format-lines:
+	@echo "Formatting all sources"
+	@$(PYTHON) $(SCRIPTS_DIR)/linesformat.py buildroot
+	@$(PYTHON) $(SCRIPTS_DIR)/linesformat.py Marlin
+
+validate-lines:
+	@echo "Validating text formatting"
+	@npx prettier --check . --editorconfig --object-wrap preserve --prose-wrap never
+
+validate-urls:
+	@echo "Checking URLs in source files"
+	@$(MAKESCRIPTS_DIR)/check-urls.sh
+
+BOARDS_FILE := Marlin/src/core/boards.h
+
+.PHONY: validate-boards
+
+validate-boards:
+	@echo "Validating boards.h file"
+	@$(PYTHON) $(MAKESCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)
@@ -50,7 +50,7 @@
 *
 * Calibration Guides:  https://reprap.org/wiki/Calibration
 *                      https://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
- *                      https://web.archive.org/web/20220907014303/https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
+ *                      https://web.archive.org/web/20220907014303/sites.google.com/site/repraplogphase/calibration-of-your-reprap
 *                      https://youtu.be/wAL9d7FgInk
 *                      https://teachingtechyt.github.io/calibration.html
 *
@@ -61,7 +61,7 @@
 // @section info

 // Author info of this build printed to the host during boot and M115
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "(MarlinFirmware)" // Original author or contributor.
 //#define CUSTOM_VERSION_FILE Version.h // Path from the root directory (no quotes)

 // @section machine
@@ -71,13 +71,15 @@
  #define MOTHERBOARD BOARD_RAMPS_14_EFB
 #endif

+// @section serial
+
 /**
 * Select the serial port on the board to use for communication with the host.
 * This allows the connection of wireless adapters (for instance) to non-default port pins.
 * Serial port -1 is the USB emulated serial port, if available.
 * Note: The first serial port (-1 or 0) will always be used by the Arduino bootloader.
 *
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 #define SERIAL_PORT 0

@@ -99,24 +101,35 @@
 /**
 * Select a secondary serial port on the board to use for communication with the host.
 * Currently Ethernet (-2) is only supported on Teensy 4.1 boards.
- * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 //#define SERIAL_PORT_2 -1
 //#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

 /**
 * Select a third serial port on the board to use for communication with the host.
- * Currently only supported for AVR, DUE, LPC1768/9 and STM32/STM32F1
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * Currently supported for AVR, DUE, SAMD51, LPC1768/9, STM32/STM32F1/HC32, and Teensy 4.x
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 //#define SERIAL_PORT_3 1
 //#define BAUDRATE_3 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

+/**
+ * Select a serial port to communicate with RS485 protocol
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+ */
+//#define RS485_SERIAL_PORT 1
+#ifdef RS485_SERIAL_PORT
+  //#define M485_PROTOCOL 1   // Check your host for protocol compatibility
+  //#define RS485_BUS_BUFFER_SIZE 128
+#endif
+
 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH

 // Name displayed in the LCD "Ready" message and Info menu
 //#define CUSTOM_MACHINE_NAME "3D Printer"
+//#define CONFIGURABLE_MACHINE_NAME // Add G-code M550 to set/report the machine name

 // Printer's unique ID, used by some programs to differentiate between machines.
 // Choose your own or use a service like https://www.uuidgenerator.net/version4
@@ -135,9 +148,9 @@
 * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100,
 *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
 *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
- *          TMC2660, TMC2660_STANDALONE, TMC5130, TMC5130_STANDALONE,
- *          TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ *          TMC2240, TMC2660, TMC2660_STANDALONE,
+ *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2240', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
 */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988
@@ -247,6 +260,7 @@
  #define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 }   // A pair of angles for { E0, E1 }.
                                                    // For Dual Servo use two pairs: { { lower, raise }, { lower, raise } }
  #define SWITCHING_NOZZLE_SERVO_DWELL 2500         // Dwell time to wait for servo to make physical move
+  #define SWITCHING_NOZZLE_LIFT_TO_PROBE            // Lift toolheads out of the way while probing
 #endif

 // Switch nozzles by bumping the toolhead. Requires EVENT_GCODE_TOOLCHANGE_#.
@@ -291,6 +305,18 @@

 #endif

+/**
+ * Differential Extruder
+ *
+ * The X and E steppers work together to create a differential drive system.
+ * Simple  : E steps = X + E   ; X steps = X  (E drives a loop, X stays the same)
+ * Balanced: E steps = X + E/2 ; X steps = X - E/2  (Dual loop system)
+ */
+//#define DIFFERENTIAL_EXTRUDER
+#if ENABLED(DIFFERENTIAL_EXTRUDER)
+  //#define BALANCED_DIFFERENTIAL_EXTRUDER
+#endif
+
 /**
 * Switching Toolhead
 *
@@ -375,14 +401,15 @@
 *   PRUSA_MMU1           : Průša MMU1 (The "multiplexer" version)
 *   PRUSA_MMU2           : Průša MMU2
 *   PRUSA_MMU2S          : Průša MMU2S (Requires MK3S extruder with motion sensor, EXTRUDERS = 5)
+ *   PRUSA_MMU3           : Průša MMU3  (Requires MK3S extruder with motion sensor and MMU firmware version 3.x.x, EXTRUDERS = 5)
 *   EXTENDABLE_EMU_MMU2  : MMU with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
 *   EXTENDABLE_EMU_MMU2S : MMUS with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
 *
 * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
 * See additional options in Configuration_adv.h.
- * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
+ * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "PRUSA_MMU3", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
 */
-//#define MMU_MODEL PRUSA_MMU2
+//#define MMU_MODEL PRUSA_MMU3

 // @section psu control

@@ -441,7 +468,7 @@
 //===========================================================================
 //============================= Thermal Settings ============================
 //===========================================================================
-// @section temperature
+// @section temperature sensors

 /**
 * Temperature Sensors:
@@ -473,8 +500,8 @@
 *    10 : 100kΩ RS PRO 198-961
 *    11 : 100kΩ Keenovo AC silicone mats, most Wanhao i3 machines - beta 3950, 1%
 *    12 : 100kΩ Vishay 0603 SMD NTCS0603E3104FXT (#8) - calibrated for Makibox hot bed
- *    13 : 100kΩ Hisens up to 300°C - for "Simple ONE" & "All In ONE" hotend - beta 3950, 1%
- *    14 : 100kΩ  (R25), 4092K (beta25), 4.7kΩ pull-up, bed thermistor as used in Ender-5 S1
+ *    13 : 100kΩ Hisense up to 300°C - for "Simple ONE" & "All In ONE" hotend - R25 = 100 kOhm, beta25 = 4100 K, 4.7kΩ pull-up
+ *    14 : 100kΩ (R25), 4092K (beta25), 4.7kΩ pull-up, bed thermistor (as used in Ender-5 S1)
 *    15 : 100kΩ Calibrated for JGAurora A5 hotend
 *    17 : 100kΩ Dagoma NTC white thermistor
 *    18 : 200kΩ ATC Semitec 204GT-2 Dagoma.Fr - MKS_Base_DKU001327
@@ -573,7 +600,7 @@
 #define DUMMY_THERMISTOR_998_VALUE  25
 #define DUMMY_THERMISTOR_999_VALUE 100

-// Resistor values when using MAX31865 sensors (-5) on TEMP_SENSOR_0 / 1
+// Resistor values when using MAX31865 sensors (-5) on TEMP_SENSOR_0 / 1 / 2 / BED
 #if TEMP_SENSOR_IS_MAX_TC(0)
  #define MAX31865_SENSOR_OHMS_0      100 // (Ω) Typically 100 or 1000 (PT100 or PT1000)
  #define MAX31865_CALIBRATION_OHMS_0 430 // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000
@@ -586,6 +613,10 @@
  #define MAX31865_SENSOR_OHMS_2      100
  #define MAX31865_CALIBRATION_OHMS_2 430
 #endif
+#if TEMP_SENSOR_IS_MAX_TC(BED)
+  #define MAX31865_SENSOR_OHMS_BED      100
+  #define MAX31865_CALIBRATION_OHMS_BED 430
+#endif

 #if HAS_E_TEMP_SENSOR
  #define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
@@ -621,6 +652,8 @@
  #define TEMP_SENSOR_REDUNDANT_MAX_DIFF  10  // (°C) Temperature difference that will trigger a print abort.
 #endif

+// @section temperature
+
 // Below this temperature the heater will be switched off
 // because it probably indicates a broken thermistor wire.
 #define HEATER_0_MINTEMP   5
@@ -672,26 +705,28 @@
 * MPCTEMP : Predictive Model temperature control. (~1.8K without auto-tune)
 */
 #define PIDTEMP           // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning
-//#define MPCTEMP         // ** EXPERIMENTAL ** See https://marlinfw.org/docs/features/model_predictive_control.html
+//#define MPCTEMP         // See https://marlinfw.org/docs/features/model_predictive_control.html

 #define PID_MAX  255      // Limit hotend current while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #define PID_K1     0.95   // Smoothing factor within any PID loop

 #if ENABLED(PIDTEMP)
-  //#define PID_DEBUG             // Print PID debug data to the serial port. Use 'M303 D' to toggle activation.
+  //#define MIN_POWER 0           // Min power to improve PID stability (0..PID_MAX).
+                                  // Get the power from the temperature report ('M105' => @:nnn) and try P*2-20 to P*2-10.
+  //#define PID_DEBUG             // Print PID debug data to the serial port. Use 'M303 D' to enable/disable.
  //#define PID_PARAMS_PER_HOTEND // Use separate PID parameters for each extruder (useful for mismatched extruders)
                                  // Set/get with G-code: M301 E[extruder number, 0-2]

  #if ENABLED(PID_PARAMS_PER_HOTEND)
    // Specify up to one value per hotend here, according to your setup.
    // If there are fewer values, the last one applies to the remaining hotends.
-    #define DEFAULT_Kp_LIST {  22.20,  22.20 }
-    #define DEFAULT_Ki_LIST {   1.08,   1.08 }
-    #define DEFAULT_Kd_LIST { 114.00, 114.00 }
+    #define DEFAULT_KP_LIST {  22.20,  22.20 }
+    #define DEFAULT_KI_LIST {   1.08,   1.08 }
+    #define DEFAULT_KD_LIST { 114.00, 114.00 }
  #else
-    #define DEFAULT_Kp  22.20
-    #define DEFAULT_Ki   1.08
-    #define DEFAULT_Kd 114.00
+    #define DEFAULT_KP  22.20
+    #define DEFAULT_KI   1.08
+    #define DEFAULT_KD 114.00
  #endif
 #else
  #define BANG_MAX 255    // Limit hotend current while in bang-bang mode; 255=full current
@@ -703,15 +738,23 @@
 * Use a physical model of the hotend to control temperature. When configured correctly this gives
 * better responsiveness and stability than PID and removes the need for PID_EXTRUSION_SCALING
 * and PID_FAN_SCALING. Enable MPC_AUTOTUNE and use M306 T to autotune the model.
- * @section mpctemp
+ * @section mpc temp
 */
 #if ENABLED(MPCTEMP)
  #define MPC_AUTOTUNE                                // Include a method to do MPC auto-tuning (~6.3K bytes of flash)
+  #if ENABLED(MPC_AUTOTUNE)
+    //#define MPC_AUTOTUNE_DEBUG                      // Enable MPC debug logging (~870 bytes of flash)
+  #endif
  //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1.3K bytes of flash)
  //#define MPC_AUTOTUNE_MENU                         // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash)

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

  #define MPC_INCLUDE_FAN                             // Model the fan speed?

@@ -743,6 +786,7 @@

  #define MPC_TUNING_POS { X_CENTER, Y_CENTER, 1.0f } // (mm) M306 Autotuning position, ideally bed center at first layer height.
  #define MPC_TUNING_END_Z 10.0f                      // (mm) M306 Autotuning final Z position.
+  //#define EVENT_GCODE_AFTER_MPC_TUNE "M84"          // G-code to execute after MPC tune finished and Z raised.
 #endif

 //===========================================================================
@@ -774,20 +818,55 @@
 //#define PIDTEMPBED

 #if ENABLED(PIDTEMPBED)
-  //#define MIN_BED_POWER 0
-  //#define PID_BED_DEBUG // Print Bed PID debug data to the serial port.
+  //#define MIN_BED_POWER 0   // Min power to improve PID stability (0..MAX_BED_POWER).
+                              // Get the power from the temperature report ('M105' => B@:nnn) and try P*2-20 to P*2-10.
+  //#define PID_BED_DEBUG     // Print Bed PID debug data to the serial port. Use 'M303 D' to enable/disable.

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

  // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
 #else
  //#define BED_LIMIT_SWITCHING   // Keep the bed temperature within BED_HYSTERESIS of the target
 #endif

+/**
+ * Peltier Bed - Heating and Cooling
+ *
+ * A Peltier device transfers heat from one side to the other in proportion to the amount of
+ * current flowing through the device and the direction of current flow. So the same device
+ * can both heat and cool.
+ *
+ * When "cooling" in addition to rejecting the heat transferred from the hot side to the cold
+ * side, the dissipated power (voltage * current) must also be rejected. Be sure to set up a
+ * fan that can be powered in sync with the Peltier unit.
+ *
+ * This feature is only set up to run in bang-bang mode because Peltiers don't handle PWM
+ * well without filter circuitry.
+ *
+ * Since existing 3D printers are made to handle relatively high current for the heated bed,
+ * we can use the heated bed power pins to control the Peltier power using the same G-codes
+ * as the heated bed (M140, M190, etc.).
+ *
+ * A second GPIO pin is required to control current direction.
+ * Two configurations are possible: Relay and H-Bridge
+ *
+ * (At this time only relay is supported. H-bridge requires 4 MOS switches configured in H-Bridge.)
+ *
+ * Power is handled by the bang-bang control loop: 0 or 255.
+ * Cooling applications are more common than heating, so the pin states are commonly:
+ *   LOW  = Heating = Relay Energized
+ *   HIGH = Cooling = Relay in "Normal" state
+ */
+//#define PELTIER_BED
+#if ENABLED(PELTIER_BED)
+  #define PELTIER_DIR_PIN           -1  // Relay control pin for Peltier
+  #define PELTIER_DIR_HEAT_STATE   LOW  // The relay pin state that causes the Peltier to heat
+#endif
+
 // Add 'M190 R T' for more gradual M190 R bed cooling.
 //#define BED_ANNEALING_GCODE

@@ -822,24 +901,26 @@
 #define MAX_CHAMBER_POWER 255 // limits duty cycle to chamber heater; 255=full current

 #if ENABLED(PIDTEMPCHAMBER)
-  #define MIN_CHAMBER_POWER 0
-  //#define PID_CHAMBER_DEBUG // Print Chamber PID debug data to the serial port.
+  //#define MIN_CHAMBER_POWER 0 // Min power to improve PID stability. (0..MAX_CHAMBER_POWER)
+                                // Get the power from the temperature report ('M105' => C@:nnn) and try P*2-20 to P*2-10.
+  //#define PID_CHAMBER_DEBUG   // Print Chamber PID debug data to the serial port. Use 'M303 D' to enable/disable.

  // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element
  // and placed inside the small Creality printer enclosure tent.
-  //
-  #define DEFAULT_chamberKp 37.04
-  #define DEFAULT_chamberKi 1.40
-  #define DEFAULT_chamberKd 655.17
+  #define DEFAULT_CHAMBER_KP  37.04
+  #define DEFAULT_CHAMBER_KI   1.40
+  #define DEFAULT_CHAMBER_KD 655.17
  // M309 P37.04 I1.04 D655.17

  // FIND YOUR OWN: "M303 E-2 C8 S50" to run autotune on the chamber at 50 degreesC for 8 cycles.
 #endif // PIDTEMPCHAMBER

+// @section pid temp
+
 #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER)
  //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
-  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
+  #define PID_FUNCTIONAL_RANGE 20 // If the temperature difference between the target temperature and the actual temperature
                                  // is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.

  //#define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of flash)
@@ -875,7 +956,7 @@
 * protect against a broken or disconnected thermistor wire.
 *
 * The issue: If a thermistor falls out, it will report the much lower
- * temperature of the air in the room, and the the firmware will keep
+ * temperature of the air in the room, and the firmware will keep
 * the heater on.
 *
 * If you get "Thermal Runaway" or "Heating failed" errors the
@@ -891,7 +972,7 @@
 //============================= Mechanical Settings =========================
 //===========================================================================

-// @section machine
+// @section kinematics

 // Enable one of the options below for CoreXY, CoreXZ, or CoreYZ kinematics,
 // either in the usual order or reversed
@@ -915,6 +996,15 @@
 // Enable for a belt style printer with endless "Z" motion
 //#define BELTPRINTER

+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
+// @section polargraph
+
 // Enable for Polargraph Kinematics
 //#define POLARGRAPH
 #if ENABLED(POLARGRAPH)
@@ -958,9 +1048,6 @@
  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
  #define PRINTABLE_RADIUS       140.0    // (mm)

-  // Maximum reachable area
-  #define DELTA_MAX_RADIUS       140.0    // (mm)
-
  // Center-to-center distance of the holes in the diagonal push rods.
  #define DELTA_DIAGONAL_ROD 250.0        // (mm)

@@ -980,7 +1067,8 @@
  // Delta radius and diagonal rod adjustments
  //#define DELTA_RADIUS_TRIM_TOWER       { 0.0, 0.0, 0.0 } // (mm)
  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 } // (mm)
-#endif
+
+#endif // DELTA

 // @section scara

@@ -1036,17 +1124,37 @@
  #define TPARA_LINKAGE_1 120     // (mm)
  #define TPARA_LINKAGE_2 120     // (mm)

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

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

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

 // @section polar

@@ -1101,15 +1209,6 @@
  #define FEEDRATE_SCALING                  // Convert XY feedrate from mm/s to degrees/s on the fly
 #endif

-// @section machine
-
-// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
-//#define ARTICULATED_ROBOT_ARM
-
-// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
-// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
-//#define FOAMCUTTER_XYUV
-
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================
@@ -1331,6 +1430,11 @@
 * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
 */
 //#define S_CURVE_ACCELERATION
+#if ENABLED(S_CURVE_ACCELERATION)
+  // Define to use 4th instead of 6th order motion curve
+  //#define S_CURVE_FACTOR 0.25    // Initial and final acceleration factor, ideally 0.1 to 0.4.
+                                   // Shouldn't generally require tuning.
+#endif

 //===========================================================================
 //============================= Z Probe Options =============================
@@ -1454,7 +1558,7 @@
 * A lightweight, solenoid-driven probe.
 * For information about this sensor https://github.com/bigtreetech/MicroProbe
 *
- * Also requires: PROBE_ENABLE_DISABLE
+ * Also requires PROBE_ENABLE_DISABLE
 */
 //#define BIQU_MICROPROBE_V1  // Triggers HIGH
 //#define BIQU_MICROPROBE_V2  // Triggers LOW
@@ -1482,6 +1586,20 @@
  #define PROBE_DEPLOY_FEEDRATE (133*60)  // (mm/min) Probe deploy speed
  #define PROBE_STOW_FEEDRATE   (133*60)  // (mm/min) Probe stow speed

+  /**
+   * Magnetically Mounted Probe with a Servo mechanism
+   * Probe Deploy and Stow both follow the same basic sequence:
+   *  - Rotate the SERVO to its Deployed angle
+   *  - Perform XYZ moves to deploy or stow the PROBE
+   *  - Rotate the SERVO to its Stowed angle
+   */
+  //#define MAG_MOUNTED_PROBE_SERVO_NR 0             // Servo Number for this probe
+  #ifdef MAG_MOUNTED_PROBE_SERVO_NR
+    #define MAG_MOUNTED_PROBE_SERVO_ANGLES { 90, 0 } // Servo Angles for Deployed, Stowed
+    #define MAG_MOUNTED_PRE_DEPLOY { PROBE_DEPLOY_FEEDRATE, { 15, 160, 30 } }  // Safe position for servo activation
+    #define MAG_MOUNTED_PRE_STOW   { PROBE_DEPLOY_FEEDRATE, { 15, 160, 30 } }  // Safe position for servo deactivation
+  #endif
+
  #define MAG_MOUNTED_DEPLOY_1 { PROBE_DEPLOY_FEEDRATE, { 245, 114, 30 } }  // Move to side Dock & Attach probe
  #define MAG_MOUNTED_DEPLOY_2 { PROBE_DEPLOY_FEEDRATE, { 210, 114, 30 } }  // Move probe off dock
  #define MAG_MOUNTED_DEPLOY_3 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
@@ -1545,7 +1663,7 @@
 * Nozzle-to-Probe offsets { X, Y, Z }
 *
 * X and Y offset
- *   Use a caliper or ruler to measure the distance from the tip of
+ *   Use a caliper or ruler to measure the distance (in mm) from the tip of
 *   the Nozzle to the center-point of the Probe in the X and Y axes.
 *
 * Z offset
@@ -1581,7 +1699,7 @@
 *     |    [-]    |
 *     O-- FRONT --+
 */
-#define NOZZLE_TO_PROBE_OFFSET { 10, 10, 0 }
+#define NOZZLE_TO_PROBE_OFFSET { 10, 10, 0 } // (mm) X, Y, Z distance from Nozzle tip to Probe trigger-point

 // Enable and set to use a specific tool for probing. Disable to allow any tool.
 #define PROBING_TOOL 0
@@ -1589,18 +1707,21 @@
  //#define PROBE_TOOLCHANGE_NO_MOVE  // Suppress motion on probe tool-change
 #endif

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

-// X and Y axis travel speed (mm/min) between probes
-#define XY_PROBE_FEEDRATE (133*60)
+// X and Y axis travel speed between probes.
+// Leave undefined to use the average of the current XY homing feedrate.
+#define XY_PROBE_FEEDRATE    (133*60) // (mm/min)

-// Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2)
-#define Z_PROBE_FEEDRATE_FAST (4*60)
+// Feedrate for the first approach when double-probing (MULTIPLE_PROBING == 2)
+#define Z_PROBE_FEEDRATE_FAST  (4*60) // (mm/min)

-// Feedrate (mm/min) for the "accurate" probe of each point
-#define Z_PROBE_FEEDRATE_SLOW (Z_PROBE_FEEDRATE_FAST / 2)
+// Feedrate for the "accurate" probe of each point
+#define Z_PROBE_FEEDRATE_SLOW (Z_PROBE_FEEDRATE_FAST / 2) // (mm/min)

 /**
 * Probe Activation Switch
@@ -1624,6 +1745,7 @@
  #define PROBE_TARE_DELAY 200    // (ms) Delay after tare before
  #define PROBE_TARE_STATE HIGH   // State to write pin for tare
  //#define PROBE_TARE_PIN PA5    // Override default pin
+  //#define PROBE_TARE_MENU       // Display a menu item to tare the probe
  #if ENABLED(PROBE_ACTIVATION_SWITCH)
    //#define PROBE_TARE_ONLY_WHILE_INACTIVE  // Fail to tare/probe if PROBE_ACTIVATION_SWITCH is active
  #endif
@@ -1661,8 +1783,8 @@
 * probe Z Offset set with NOZZLE_TO_PROBE_OFFSET, M851, or the LCD.
 * Only integer values >= 1 are valid here.
 *
- * Example: `M851 Z-5` with a CLEARANCE of 4  =>  9mm from bed to nozzle.
- *     But: `M851 Z+1` with a CLEARANCE of 2  =>  2mm from bed to nozzle.
+ * Example: 'M851 Z-5' with a CLEARANCE of 4  =>  9mm from bed to nozzle.
+ *     But: 'M851 Z+1' with a CLEARANCE of 2  =>  2mm from bed to nozzle.
 */
 #define Z_CLEARANCE_DEPLOY_PROBE   10 // (mm) Z Clearance for Deploy/Stow
 #define Z_CLEARANCE_BETWEEN_PROBES  5 // (mm) Z Clearance between probe points
@@ -1713,18 +1835,20 @@
  #define PROBING_BED_TEMP     50
 #endif

+// @section stepper drivers
+
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
-// :{ 0:'Low', 1:'High' }
-#define X_ENABLE_ON 0
-#define Y_ENABLE_ON 0
-#define Z_ENABLE_ON 0
-#define E_ENABLE_ON 0 // For all extruders
-//#define I_ENABLE_ON 0
-//#define J_ENABLE_ON 0
-//#define K_ENABLE_ON 0
-//#define U_ENABLE_ON 0
-//#define V_ENABLE_ON 0
-//#define W_ENABLE_ON 0
+// :['LOW', 'HIGH']
+#define X_ENABLE_ON LOW
+#define Y_ENABLE_ON LOW
+#define Z_ENABLE_ON LOW
+#define E_ENABLE_ON LOW // For all extruders
+//#define I_ENABLE_ON LOW
+//#define J_ENABLE_ON LOW
+//#define K_ENABLE_ON LOW
+//#define U_ENABLE_ON LOW
+//#define V_ENABLE_ON LOW
+//#define W_ENABLE_ON LOW

 // Disable axis steppers immediately when they're not being stepped.
 // WARNING: When motors turn off there is a chance of losing position accuracy!
@@ -1738,15 +1862,12 @@
 //#define DISABLE_V
 //#define DISABLE_W

-// Turn off the display blinking that warns about possible accuracy reduction
-//#define DISABLE_REDUCED_ACCURACY_WARNING
-
 // @section extruder

 //#define DISABLE_E               // Disable the extruder when not stepping
 #define DISABLE_OTHER_EXTRUDERS   // Keep only the active extruder enabled

-// @section motion
+// @section stepper drivers

 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
 #define INVERT_X_DIR false
@@ -1759,8 +1880,6 @@
 //#define INVERT_V_DIR false
 //#define INVERT_W_DIR false

-// @section extruder
-
 // For direct drive extruder v9 set to true, for geared extruder set to false.
 #define INVERT_E0_DIR false
 #define INVERT_E1_DIR false
@@ -1886,6 +2005,8 @@
 #endif

 /**
+ * @section filament runout sensors
+ *
 * Filament Runout Sensors
 * Mechanical or opto endstops are used to check for the presence of filament.
 *
@@ -1959,8 +2080,11 @@
    //#define FILAMENT_MOTION_SENSOR

    #if ENABLED(FILAMENT_MOTION_SENSOR)
-      //#define FILAMENT_SWITCH_AND_MOTION
+      //#define FILAMENT_SWITCH_AND_MOTION      // Define separate pins below to sense motion
      #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
+
+        #define FILAMENT_MOTION_DISTANCE_MM 3.0 // (mm) Missing distance required to trigger runout
+
        #define NUM_MOTION_SENSORS   1          // Number of sensors, up to one per extruder. Define a FIL_MOTION#_PIN for each.
        //#define FIL_MOTION1_PIN    -1

@@ -1996,10 +2120,10 @@
        //#define FIL_MOTION8_STATE LOW
        //#define FIL_MOTION8_PULLUP
        //#define FIL_MOTION8_PULLDOWN
-      #endif
-    #endif
-  #endif
-#endif
+      #endif // FILAMENT_SWITCH_AND_MOTION
+    #endif // FILAMENT_MOTION_SENSOR
+  #endif // FILAMENT_RUNOUT_DISTANCE_MM
+#endif // FILAMENT_RUNOUT_SENSOR

 //===========================================================================
 //=============================== Bed Leveling ==============================
@@ -2045,6 +2169,12 @@
 //#define AUTO_BED_LEVELING_UBL
 //#define MESH_BED_LEVELING

+/**
+ * Commands to execute at the start of G29 probing,
+ * after switching to the PROBING_TOOL.
+ */
+//#define EVENT_GCODE_BEFORE_G29 "M300 P440 S200"
+
 /**
 * Commands to execute at the end of G29 probing.
 * Useful to retract or move the Z probe out of the way.
@@ -2193,7 +2323,7 @@
  //===========================================================================

  #define MESH_INSET 10          // Set Mesh bounds as an inset region of the bed
-  #define GRID_MAX_POINTS_X 3    // Don't use more than 7 points per axis, implementation limited.
+  #define GRID_MAX_POINTS_X 3
  #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X

  //#define MESH_G28_REST_ORIGIN // After homing all axes ('G28' or 'G28 XYZ') rest Z at Z_MIN_POS
@@ -2216,15 +2346,16 @@
 //#define LCD_BED_TRAMMING

 #if ENABLED(LCD_BED_TRAMMING)
-  #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
  #define BED_TRAMMING_HEIGHT      0.0        // (mm) Z height of nozzle at tramming points
-  #define BED_TRAMMING_Z_HOP       4.0        // (mm) Z height of nozzle between tramming points
+  #define BED_TRAMMING_Z_HOP       4.0        // (mm) Z raise between tramming points
  //#define BED_TRAMMING_INCLUDE_CENTER       // Move to the center after the last corner
  //#define BED_TRAMMING_USE_PROBE
  #if ENABLED(BED_TRAMMING_USE_PROBE)
    #define BED_TRAMMING_PROBE_TOLERANCE 0.1  // (mm)
    #define BED_TRAMMING_VERIFY_RAISED        // After adjustment triggers the probe, re-probe to verify
    //#define BED_TRAMMING_AUDIO_FEEDBACK
+  #else
+    #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
  #endif

  /**
@@ -2282,6 +2413,9 @@
 // Homing speeds (linear=mm/min, rotational=°/min)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }

+// Edit homing feedrates with M210 and MarlinUI menu items
+//#define EDITABLE_HOMING_FEEDRATE
+
 // Validate that endstops are triggered on homing moves
 #define VALIDATE_HOMING_ENDSTOPS

@@ -2391,7 +2525,7 @@
 //
 //#define TEMPERATURE_UNITS_SUPPORT

-// @section temperature
+// @section temperature presets

 //
 // Preheat Constants - Up to 10 are supported without changes
@@ -2408,9 +2542,9 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255

-// @section motion
-
 /**
+ * @section nozzle park
+ *
 * Nozzle Park
 *
 * Park the nozzle at the given XYZ position on idle or G27.
@@ -2433,6 +2567,8 @@
 #endif

 /**
+ * @section nozzle clean
+ *
 * Clean Nozzle Feature
 *
 * Adds the G12 command to perform a nozzle cleaning process.
@@ -2593,9 +2729,24 @@
  //#include "Configuration_Secure.h"       // External file with PASSWORD_DEFAULT_VALUE
 #endif

-//=============================================================================
-//============================= LCD and SD support ============================
-//=============================================================================
+// @section media
+
+/**
+ * SD CARD
+ *
+ * SD Card support is disabled by default. If your controller has an SD slot,
+ * you must uncomment the following option or it won't work.
+ */
+//#define SDSUPPORT
+
+/**
+ * SD CARD: ENABLE CRC
+ *
+ * Use CRC checks and retries on the SD communication.
+ */
+#if ENABLED(SDSUPPORT)
+  //#define SD_CHECK_AND_RETRY
+#endif

 // @section interface

@@ -2604,10 +2755,10 @@
 *
 * Select the language to display on the LCD. These languages are available:
 *
- *   en, an, bg, ca, cz, da, de, el, el_CY, es, eu, fi, fr, gl, hr, hu, it,
+ *   en, an, bg, ca, cz, da, de, el, el_CY, es, eu, fi, fr, gl, hg, hr, hu, id, it,
 *   jp_kana, ko_KR, nl, pl, pt, pt_br, ro, ru, sk, sv, tr, uk, vi, zh_CN, zh_TW
 *
- * :{ 'en':'English', 'an':'Aragonese', 'bg':'Bulgarian', 'ca':'Catalan', 'cz':'Czech', 'da':'Danish', 'de':'German', 'el':'Greek (Greece)', 'el_CY':'Greek (Cyprus)', 'es':'Spanish', 'eu':'Basque-Euskera', 'fi':'Finnish', 'fr':'French', 'gl':'Galician', 'hr':'Croatian', 'hu':'Hungarian', 'it':'Italian', 'jp_kana':'Japanese', 'ko_KR':'Korean (South Korea)', 'nl':'Dutch', 'pl':'Polish', 'pt':'Portuguese', 'pt_br':'Portuguese (Brazilian)', 'ro':'Romanian', 'ru':'Russian', 'sk':'Slovak', 'sv':'Swedish', 'tr':'Turkish', 'uk':'Ukrainian', 'vi':'Vietnamese', 'zh_CN':'Chinese (Simplified)', 'zh_TW':'Chinese (Traditional)' }
+ * :{ 'en':'English', 'an':'Aragonese', 'bg':'Bulgarian', 'ca':'Catalan', 'cz':'Czech', 'da':'Danish', 'de':'German', 'el':'Greek (Greece)', 'el_CY':'Greek (Cyprus)', 'es':'Spanish', 'eu':'Basque-Euskera', 'fi':'Finnish', 'fr':'French', 'gl':'Galician', 'hg':'Hinglish (Hindi-Latin)', 'hr':'Croatian', 'hu':'Hungarian', 'id':'Indonesian', 'it':'Italian', 'jp_kana':'Japanese', 'ko_KR':'Korean (South Korea)', 'nl':'Dutch', 'pl':'Polish', 'pt':'Portuguese', 'pt_br':'Portuguese (Brazilian)', 'ro':'Romanian', 'ru':'Russian', 'sk':'Slovak', 'sv':'Swedish', 'tr':'Turkish', 'uk':'Ukrainian', 'vi':'Vietnamese', 'zh_CN':'Chinese (Simplified)', 'zh_TW':'Chinese (Traditional)' }
 */
 #define LCD_LANGUAGE en

@@ -2642,21 +2793,6 @@
 */
 #define LCD_INFO_SCREEN_STYLE 0

-/**
- * SD CARD
- *
- * SD Card support is disabled by default. If your controller has an SD slot,
- * you must uncomment the following option or it won't work.
- */
-//#define SDSUPPORT
-
-/**
- * SD CARD: ENABLE CRC
- *
- * Use CRC checks and retries on the SD communication.
- */
-//#define SD_CHECK_AND_RETRY
-
 /**
 * LCD Menu Items
 *
@@ -2785,7 +2921,7 @@

 //
 // Original RADDS LCD Display+Encoder+SDCardReader
-// https://web.archive.org/web/20200719145306/http://doku.radds.org/dokumentation/lcd-display/
+// https://web.archive.org/web/20200719145306/doku.radds.org/dokumentation/lcd-display/
 //
 //#define RADDS_DISPLAY

@@ -2824,13 +2960,15 @@
 //
 //#define MAKEBOARD_MINI_2_LINE_DISPLAY_1602

-//
-// ANET and Tronxy 20x4 Controller
-//
-//#define ZONESTAR_LCD            // Requires ADC_KEYPAD_PIN to be assigned to an analog pin.
-                                  // This LCD is known to be susceptible to electrical interference
-                                  // which scrambles the display.  Pressing any button clears it up.
-                                  // This is a LCD2004 display with 5 analog buttons.
+/**
+ * ANET and Tronxy 20x4 Controller
+ * LCD2004 display with 5 analog buttons.
+ *
+ * NOTE: Requires ADC_KEYPAD_PIN to be assigned to an analog pin.
+ * This LCD is known to be susceptible to electrical interference which
+ * scrambles the display. Press any button to clear it up.
+ */
+//#define ZONESTAR_LCD

 //
 // Generic 16x2, 16x4, 20x2, or 20x4 character-based LCD.
@@ -2851,7 +2989,7 @@

 //
 // Elefu RA Board Control Panel
-// https://web.archive.org/web/20140823033947/http://www.elefu.com/index.php?route=product/product&product_id=53
+// https://web.archive.org/web/20140823033947/www.elefu.com/index.php?route=product/product&product_id=53
 //
 //#define RA_CONTROL_PANEL

@@ -2905,6 +3043,18 @@
 //
 //#define FF_INTERFACEBOARD

+//
+// MightyBoard LCD and Interface
+//
+//#define MIGHTYBOARD_LCD
+#if ENABLED(MIGHTYBOARD_LCD)
+  //#define MIGHTYBOARD_DEBUG               // Lightweight debug output for buttons and encoder
+  //#define MIGHTYBOARD_DISABLE_ENC_PULLUP  // Enable if the encoder button is unreliable
+  //#define MIGHTYBOARD_BUTTON_PULLUPS      // Enable if other buttons are unreliable
+  //#define MIGHTYBOARD_BACK_STATUS_BUTTONS // Use LEFT/RIGHT buttons for Back / Home.
+                                            // Otherwise they act like encoder down / up.
+#endif
+
 //
 // TFT GLCD Panel with Marlin UI
 // Panel connected to main board by SPI or I2C interface.
@@ -2983,7 +3133,7 @@

 //
 // Cartesio UI
-// https://web.archive.org/web/20180605050442/http://mauk.cc/webshop/cartesio-shop/electronics/user-interface
+// https://web.archive.org/web/20180605050442/mauk.cc/webshop/cartesio-shop/electronics/user-interface
 //
 //#define CARTESIO_UI

@@ -3018,7 +3168,7 @@

 //
 // FYSETC variant of the MINI12864 graphic controller with SD support
-// https://wiki.fysetc.com/Mini12864_Panel/
+// https://wiki.fysetc.com/docs/Mini12864Panel
 //
 //#define FYSETC_MINI_12864_X_X    // Type C/D/E/F. No tunable RGB Backlight by default
 //#define FYSETC_MINI_12864_1_2    // Type C/D/E/F. Simple RGB Backlight (always on)
@@ -3107,14 +3257,14 @@
 //
 // Tiny, but very sharp OLED display
 //
-//#define MKS_12864OLED          // Uses the SH1106 controller (default)
+//#define MKS_12864OLED          // Uses the SH1106 controller
 //#define MKS_12864OLED_SSD1306  // Uses the SSD1306 controller

 //
 // Zonestar OLED 128×64 Full Graphics Controller
 //
 //#define ZONESTAR_12864LCD           // Graphical (DOGM) with ST7920 controller
-//#define ZONESTAR_12864OLED          // 1.3" OLED with SH1106 controller (default)
+//#define ZONESTAR_12864OLED          // 1.3" OLED with SH1106 controller
 //#define ZONESTAR_12864OLED_SSD1306  // 0.96" OLED with SSD1306 controller

 //
@@ -3192,7 +3342,7 @@
 #endif

 //
-// Touch-screen LCD for Malyan M200/M300 printers
+// LCD for Malyan M200/M300 printers
 //
 //#define MALYAN_LCD

@@ -3220,6 +3370,11 @@
 //
 //#define ANYCUBIC_LCD_VYPER

+//
+// Sovol SV-06 Resistive Touch Screen
+//
+//#define SOVOL_SV06_RTS
+
 //
 // 320x240 Nextion 2.8" serial TFT Resistive Touch Screen NX3224T028
 //
@@ -3358,20 +3513,22 @@

 #if ENABLED(TFT_COLOR_UI)
  /**
-   * TFT Font for Color_UI. Choose one of the following:
+   * TFT Font for Color UI. Choose one of the following:
   *
   * NOTOSANS  - Default font with anti-aliasing. Supports Latin Extended and non-Latin characters.
   * UNIFONT   - Lightweight font, no anti-aliasing. Supports Latin Extended and non-Latin characters.
   * HELVETICA - Lightweight font, no anti-aliasing. Supports Basic Latin (0x0020-0x007F) and Latin-1 Supplement (0x0080-0x00FF) characters only.
+   * :['NOTOSANS', 'UNIFONT', 'HELVETICA']
   */
  #define TFT_FONT  NOTOSANS

  /**
-   * TFT Theme for Color_UI. Choose one of the following or add a new one to 'Marlin/src/lcd/tft/themes' directory
+   * TFT Theme for Color UI. Choose one of the following or add a new one to 'Marlin/src/lcd/tft/themes' directory
   *
   * BLUE_MARLIN  - Default theme with 'midnight blue' background
   * BLACK_MARLIN - Theme with 'black' background
   * ANET_BLACK   - Theme used for Anet ET4/5
+   * :['BLUE_MARLIN', 'BLACK_MARLIN', 'ANET_BLACK']
   */
  #define TFT_THEME BLACK_MARLIN

@@ -3391,6 +3548,8 @@
 *   TFT_ROTATE_180, TFT_ROTATE_180_MIRROR_X, TFT_ROTATE_180_MIRROR_Y,
 *   TFT_ROTATE_270, TFT_ROTATE_270_MIRROR_X, TFT_ROTATE_270_MIRROR_Y,
 *   TFT_MIRROR_X, TFT_MIRROR_Y, TFT_NO_ROTATION
+ *
+ * :{ 'TFT_NO_ROTATION':'None', 'TFT_ROTATE_90':'90°', 'TFT_ROTATE_90_MIRROR_X':'90° (Mirror X)', 'TFT_ROTATE_90_MIRROR_Y':'90° (Mirror Y)', 'TFT_ROTATE_180':'180°', 'TFT_ROTATE_180_MIRROR_X':'180° (Mirror X)', 'TFT_ROTATE_180_MIRROR_Y':'180° (Mirror Y)', 'TFT_ROTATE_270':'270°', 'TFT_ROTATE_270_MIRROR_X':'270° (Mirror X)', 'TFT_ROTATE_270_MIRROR_Y':'270° (Mirror Y)', 'TFT_MIRROR_X':'Mirror X', 'TFT_MIRROR_Y':'Mirror Y' }
 */
 //#define TFT_ROTATION TFT_NO_ROTATION

@@ -3407,6 +3566,11 @@
 //#define DWIN_MARLINUI_PORTRAIT      // MarlinUI (portrait orientation)
 //#define DWIN_MARLINUI_LANDSCAPE     // MarlinUI (landscape orientation)

+#if ENABLED(DWIN_CREALITY_LCD)
+  //#define USE_STRING_HEADINGS       // Use string headings for Creality UI instead of images
+  //#define USE_STRING_TITLES         // Use string titles for Creality UI instead of images
+#endif
+
 //
 // Touch Screen Settings
 //
@@ -3415,7 +3579,9 @@
  #define BUTTON_DELAY_EDIT      50 // (ms) Button repeat delay for edit screens
  #define BUTTON_DELAY_MENU     250 // (ms) Button repeat delay for menus

-  //#define DISABLE_ENCODER         // Disable the click encoder, if any
+  #if ANY(TFT_CLASSIC_UI, TFT_COLOR_UI)
+    //#define NO_BACK_MENU_ITEM     // Don't display a top menu item to go back to the parent menu
+  #endif

  #define TOUCH_SCREEN_CALIBRATION

@@ -3439,7 +3605,9 @@
 // https://reprapworld.com/products/electronics/ramps/keypad_v1_0_fully_assembled/
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // (mm) Distance to move per key-press
+#if ENABLED(REPRAPWORLD_KEYPAD)
+  //#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // (mm) Distance to move per key-press
+#endif

 //
 // EasyThreeD ET-4000+ with button input and status LED
@@ -3456,22 +3624,26 @@
 // :[1,2,3,4,5,6,7,8]
 //#define NUM_M106_FANS 1

-// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
-// which is not as annoying as with the hardware PWM. On the other hand, if this frequency
-// is too low, you should also increment SOFT_PWM_SCALE.
+/**
+ * Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
+ * which is not as annoying as with the hardware PWM. On the other hand, if this frequency
+ * is too low, you should also increment SOFT_PWM_SCALE.
+ */
 //#define FAN_SOFT_PWM

-// Incrementing this by 1 will double the software PWM frequency,
-// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
-// However, control resolution will be halved for each increment;
-// at zero value, there are 128 effective control positions.
-// :[0,1,2,3,4,5,6,7]
+/**
+ * Incrementing this by 1 will double the software PWM frequency, affecting heaters, and
+ * the fan if FAN_SOFT_PWM is enabled. However, control resolution will be halved for each
+ * increment; at zero value, there are 128 effective control positions.
+ * :[0,1,2,3,4,5,6,7]
+ */
 #define SOFT_PWM_SCALE 0

-// If SOFT_PWM_SCALE is set to a value higher than 0, dithering can
-// be used to mitigate the associated resolution loss. If enabled,
-// some of the PWM cycles are stretched so on average the desired
-// duty cycle is attained.
+/**
+ * If SOFT_PWM_SCALE is set to a value higher than 0, dithering can be used to mitigate the
+ * associated resolution loss. If enabled, some of the PWM cycles are stretched so on average
+ * the desired duty cycle is attained.
+ */
 //#define SOFT_PWM_DITHER

 // @section extras
@@ -3481,9 +3653,11 @@

 // @section lights

-// Temperature status LEDs that display the hotend and bed temperature.
-// If all hotends, bed temperature, and target temperature are under 54C
-// then the BLUE led is on. Otherwise the RED led is on. (1C hysteresis)
+/**
+ * Temperature status LEDs that display the hotend and bed temperature.
+ * If all hotends, bed temperature, and target temperature are under 54C
+ * the BLUE led is on. Otherwise the RED led is on. (1C hysteresis)
+ */
 //#define TEMP_STAT_LEDS

 // Support for BlinkM/CyzRgb
@@ -127,9 +127,9 @@ NEOPIXEL           ?= 0
 # on GCC versions:
 #   https://www.avrfreaks.net/comment/1789106#comment-1789106

-CC_MAJ:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC__ | cut -f3 -d\ )
-CC_MIN:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_MINOR__ | cut -f3 -d\ )
-CC_PATCHLEVEL:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_PATCHLEVEL__ | cut -f3 -d\ )
+CC_MAJ:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC__ | cut -f3 -d' ' )
+CC_MIN:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_MINOR__ | cut -f3 -d' ' )
+CC_PATCHLEVEL:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_PATCHLEVEL__ | cut -f3 -d' ' )
 CC_VER:=$(shell echo $$(( $(CC_MAJ) * 10000 + $(CC_MIN) * 100 + $(CC_PATCHLEVEL) )))
 ifeq ($(shell test $(CC_VER) -lt 40901 && echo 1),1)
  $(warning This GCC version $(CC_VER) is likely broken. Enabling relocation workaround.)
@@ -187,6 +187,17 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1033)
 # RAMPS Plus 3DYMY (Power outputs: Spindle, Controller Fan)
 else ifeq ($(HARDWARE_MOTHERBOARD),1034)

+# RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1040)
+# RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1041)
+# RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1)
+else ifeq ($(HARDWARE_MOTHERBOARD),1042)
+# RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan)
+else ifeq ($(HARDWARE_MOTHERBOARD),1043)
+# RAMPS 1.6+ (Power outputs: Spindle, Controller Fan)
+else ifeq ($(HARDWARE_MOTHERBOARD),1044)
+
 #
 # RAMPS Derivatives - ATmega1280, ATmega2560
 #
@@ -221,79 +232,79 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1112)
 else ifeq ($(HARDWARE_MOTHERBOARD),1113)
 # BigTreeTech or BIQU KFB2.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1114)
-# zrib V2.0 (Chinese RAMPS replica)
+# Zonestar zrib V2.0 (Chinese RAMPS replica)
 else ifeq ($(HARDWARE_MOTHERBOARD),1115)
-# zrib V5.2 (Chinese RAMPS replica)
+# Zonestar zrib V5.2 (Chinese RAMPS replica)
 else ifeq ($(HARDWARE_MOTHERBOARD),1116)
-# Felix 2.0+ Electronics Board (RAMPS like)
+# Zonestar zrib V5.3 (Chinese RAMPS replica)
 else ifeq ($(HARDWARE_MOTHERBOARD),1117)
-# Invent-A-Part RigidBoard
+# Felix 2.0+ Electronics Board (RAMPS like)
 else ifeq ($(HARDWARE_MOTHERBOARD),1118)
-# Invent-A-Part RigidBoard V2
+# Invent-A-Part RigidBoard
 else ifeq ($(HARDWARE_MOTHERBOARD),1119)
-# Sainsmart 2-in-1 board
+# Invent-A-Part RigidBoard V2
 else ifeq ($(HARDWARE_MOTHERBOARD),1120)
-# Ultimaker
+# Sainsmart 2-in-1 board
 else ifeq ($(HARDWARE_MOTHERBOARD),1121)
-# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+# Ultimaker
 else ifeq ($(HARDWARE_MOTHERBOARD),1122)
+# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+else ifeq ($(HARDWARE_MOTHERBOARD),1123)
  MCU              ?= atmega1280
  PROG_MCU         ?= m1280
 # Azteeg X3
-else ifeq ($(HARDWARE_MOTHERBOARD),1123)
-# Azteeg X3 Pro
 else ifeq ($(HARDWARE_MOTHERBOARD),1124)
-# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
+# Azteeg X3 Pro
 else ifeq ($(HARDWARE_MOTHERBOARD),1125)
-# Rumba
+# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
 else ifeq ($(HARDWARE_MOTHERBOARD),1126)
-# Raise3D N series Rumba derivative
+# Rumba
 else ifeq ($(HARDWARE_MOTHERBOARD),1127)
-# Rapide Lite 200 (v1, low-cost RUMBA clone with drv)
+# Raise3D N series Rumba derivative
 else ifeq ($(HARDWARE_MOTHERBOARD),1128)
-# Formbot T-Rex 2 Plus
+# Rapide Lite 200 (v1, low-cost RUMBA clone with drv)
 else ifeq ($(HARDWARE_MOTHERBOARD),1129)
-# Formbot T-Rex 3
+# Formbot T-Rex 2 Plus
 else ifeq ($(HARDWARE_MOTHERBOARD),1130)
-# Formbot Raptor
+# Formbot T-Rex 3
 else ifeq ($(HARDWARE_MOTHERBOARD),1131)
-# Formbot Raptor 2
+# Formbot Raptor
 else ifeq ($(HARDWARE_MOTHERBOARD),1132)
-# bq ZUM Mega 3D
+# Formbot Raptor 2
 else ifeq ($(HARDWARE_MOTHERBOARD),1133)
-# MakeBoard Mini v2.1.2 by MicroMake
+# bq ZUM Mega 3D
 else ifeq ($(HARDWARE_MOTHERBOARD),1134)
-# TriGorilla Anycubic version 1.3-based on RAMPS EFB
+# MakeBoard Mini v2.1.2 by MicroMake
 else ifeq ($(HARDWARE_MOTHERBOARD),1135)
-#   ... Ver 1.4
+# TriGorilla Anycubic version 1.3-based on RAMPS EFB
 else ifeq ($(HARDWARE_MOTHERBOARD),1136)
-#   ... Rev 1.1 (new servo pin order)
+#   ... Ver 1.4
 else ifeq ($(HARDWARE_MOTHERBOARD),1137)
-# Creality: Ender-4, CR-8
+#   ... Rev 1.1 (new servo pin order)
 else ifeq ($(HARDWARE_MOTHERBOARD),1138)
-# Creality: CR10S, CR20, CR-X
+# Creality: Ender-4, CR-8
 else ifeq ($(HARDWARE_MOTHERBOARD),1139)
-# Dagoma F5
+# Creality: CR10S, CR20, CR-X
 else ifeq ($(HARDWARE_MOTHERBOARD),1140)
-# FYSETC F6 1.3
+# Creality CR-10 V2, CR-10 V3
 else ifeq ($(HARDWARE_MOTHERBOARD),1141)
-# FYSETC F6 1.4
+# Dagoma F5
 else ifeq ($(HARDWARE_MOTHERBOARD),1142)
-# Wanhao Duplicator i3 Plus
+# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
 else ifeq ($(HARDWARE_MOTHERBOARD),1143)
-# VORON Design
+# FYSETC F6 1.3
 else ifeq ($(HARDWARE_MOTHERBOARD),1144)
-# Tronxy TRONXY-V3-1.0
+# FYSETC F6 1.4
 else ifeq ($(HARDWARE_MOTHERBOARD),1145)
-# Z-Bolt X Series
+# Wanhao Duplicator i3 Plus
 else ifeq ($(HARDWARE_MOTHERBOARD),1146)
-# TT OSCAR
+# VORON Design
 else ifeq ($(HARDWARE_MOTHERBOARD),1147)
-# Overlord/Overlord Pro
+# Tronxy TRONXY-V3-1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1148)
-# ADIMLab Gantry v1
+# Z-Bolt X Series
 else ifeq ($(HARDWARE_MOTHERBOARD),1149)
-# ADIMLab Gantry v2
+# TT OSCAR
 else ifeq ($(HARDWARE_MOTHERBOARD),1150)
 # BIQU Tango V1
 else ifeq ($(HARDWARE_MOTHERBOARD),1151)
@@ -307,7 +318,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1154)
 else ifeq ($(HARDWARE_MOTHERBOARD),1155)
 # Tenlog D3 Hero IDEX printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1156)
-# Tenlog D3,5,6 Pro IDEX printers
+# Tenlog D3, D5, D6 IDEX Printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1157)
 # Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1158)
@@ -319,10 +330,18 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1160)
 else ifeq ($(HARDWARE_MOTHERBOARD),1161)
 # Longer LKx PRO / Alfawise Uxx Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1162)
-# Zonestar zrib V5.3 (Chinese RAMPS replica)
-else ifeq ($(HARDWARE_MOTHERBOARD),1163)
 # Pxmalion Core I3
+else ifeq ($(HARDWARE_MOTHERBOARD),1163)
+# Panowin Cutlass (as found in the Panowin F1)
 else ifeq ($(HARDWARE_MOTHERBOARD),1164)
+# Kodama Bardo V1.x (as found in the Kodama Trinus)
+else ifeq ($(HARDWARE_MOTHERBOARD),1165)
+# XTLW MFF V1.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1166)
+# XTLW MFF V2.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1167)
+# E3D Rumba BigBox
+else ifeq ($(HARDWARE_MOTHERBOARD),1168)

 #
 # RAMBo and derivatives
@@ -340,7 +359,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1203)
 else ifeq ($(HARDWARE_MOTHERBOARD),1204)
 # abee Scoovo X9H
 else ifeq ($(HARDWARE_MOTHERBOARD),1205)
-# Rambo ThinkerV2
+# ThinkerV2
 else ifeq ($(HARDWARE_MOTHERBOARD),1206)

 #
@@ -383,30 +402,42 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1315)
 else ifeq ($(HARDWARE_MOTHERBOARD),1316)
 # Geeetech GT2560 Rev B for A10(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1317)
-# Geeetech GT2560 Rev B for A10(M/T/D)
-else ifeq ($(HARDWARE_MOTHERBOARD),1318)
 # Geeetech GT2560 Rev B for Mecreator2
+else ifeq ($(HARDWARE_MOTHERBOARD),1318)
+# Geeetech GT2560 Rev B for A20(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1319)
-# Geeetech GT2560 Rev B for A20(M/T/D)
+# Geeetech GT2560 Rev B for A10(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1320)
-# Einstart retrofit
-else ifeq ($(HARDWARE_MOTHERBOARD),1321)
-# Wanhao 0ne+ i3 Mini
-else ifeq ($(HARDWARE_MOTHERBOARD),1322)
-# Leapfrog Xeed 2015
-else ifeq ($(HARDWARE_MOTHERBOARD),1323)
-# PICA Shield (original version)
-else ifeq ($(HARDWARE_MOTHERBOARD),1324)
-# PICA Shield (rev C or later)
-else ifeq ($(HARDWARE_MOTHERBOARD),1325)
-# Intamsys 4.0 (Funmat HT)
-else ifeq ($(HARDWARE_MOTHERBOARD),1326)
-# Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
-else ifeq ($(HARDWARE_MOTHERBOARD),1327)
 # Geeetech GT2560 Rev B for A20(M/T/D)
+else ifeq ($(HARDWARE_MOTHERBOARD),1321)
+# Geeetech GT2560 V4.1B for A10(M/T/D)
+else ifeq ($(HARDWARE_MOTHERBOARD),1322)
+# Einstart retrofit
+else ifeq ($(HARDWARE_MOTHERBOARD),1323)
+# Wanhao 0ne+ i3 Mini
+else ifeq ($(HARDWARE_MOTHERBOARD),1324)
+# Wanhao D9 MK2
+else ifeq ($(HARDWARE_MOTHERBOARD),1325)
+# Overlord/Overlord Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1326)
+# ADIMLab Gantry v1
+else ifeq ($(HARDWARE_MOTHERBOARD),1327)
+# ADIMLab Gantry v2
 else ifeq ($(HARDWARE_MOTHERBOARD),1328)
-# Mega controller & Protoneer CNC Shield V3.00
+# Leapfrog Xeed 2015
 else ifeq ($(HARDWARE_MOTHERBOARD),1329)
+# PICA Shield (original version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1330)
+# PICA Shield (rev C or later)
+else ifeq ($(HARDWARE_MOTHERBOARD),1331)
+# Intamsys 4.0 (Funmat HT)
+else ifeq ($(HARDWARE_MOTHERBOARD),1332)
+# Malyan M180 Mainboard Version 2
+else ifeq ($(HARDWARE_MOTHERBOARD),1333)
+# Mega controller & Protoneer CNC Shield V3.00
+else ifeq ($(HARDWARE_MOTHERBOARD),1334)
+# WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
+else ifeq ($(HARDWARE_MOTHERBOARD),1335)

 #
 # ATmega1281, ATmega2561
@@ -440,7 +471,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1502)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega644p
  PROG_MCU         ?= m644p
-# Melzi V2.0
+# Melzi V2
 else ifeq ($(HARDWARE_MOTHERBOARD),1503)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
@@ -450,41 +481,46 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1504)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Melzi Creality3D board (for CR-10 etc)
+# Melzi Creality3D (for CR-10 etc)
 else ifeq ($(HARDWARE_MOTHERBOARD),1505)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Melzi Malyan M150 board
+# Melzi Creality3D (for Ender-2)
 else ifeq ($(HARDWARE_MOTHERBOARD),1506)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Tronxy X5S
+# Melzi Malyan M150
 else ifeq ($(HARDWARE_MOTHERBOARD),1507)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# STB V1.1
+# Tronxy X5S
 else ifeq ($(HARDWARE_MOTHERBOARD),1508)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Azteeg X1
+# STB V1.1
 else ifeq ($(HARDWARE_MOTHERBOARD),1509)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Anet 1.0 (Melzi clone)
+# Azteeg X1
 else ifeq ($(HARDWARE_MOTHERBOARD),1510)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# ZoneStar ZMIB V2
+# Anet 1.0 (Melzi clone)
 else ifeq ($(HARDWARE_MOTHERBOARD),1511)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
+# ZoneStar ZMIB V2
+else ifeq ($(HARDWARE_MOTHERBOARD),1512)
+  HARDWARE_VARIANT ?= Sanguino
+  MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p

 #
 # Other ATmega644P, ATmega644, ATmega1284P
@@ -595,6 +631,10 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1707)
  MCU              ?= at90usb1286
  PROG_MCU         ?= usb1286

+#
+# SAM3X8E ARM Cortex-M3
+#
+
 # UltiMachine Archim1 (with DRV8825 drivers)
 else ifeq ($(HARDWARE_MOTHERBOARD),3023)
  HARDWARE_VARIANT ?= archim
@@ -767,10 +807,10 @@ endif

 ifeq ($(TMC), 1)
  LIB_CXXSRC += TMCStepper.cpp COOLCONF.cpp DRV_STATUS.cpp IHOLD_IRUN.cpp \
-    CHOPCONF.cpp GCONF.cpp PWMCONF.cpp DRV_CONF.cpp DRVCONF.cpp DRVCTRL.cpp \
-    DRVSTATUS.cpp ENCMODE.cpp RAMP_STAT.cpp SGCSCONF.cpp SHORT_CONF.cpp \
-    SMARTEN.cpp SW_MODE.cpp SW_SPI.cpp TMC2130Stepper.cpp TMC2208Stepper.cpp \
-    TMC2209Stepper.cpp TMC2660Stepper.cpp TMC5130Stepper.cpp TMC5160Stepper.cpp
+    CHOPCONF.cpp GCONF.cpp PWMCONF.cpp DRV_CONF.cpp DRVCONF.cpp DRVCTRL.cpp DRVSTATUS.cpp \
+    GLOBAL_SCALER.cpp SLAVECONF.cpp IOIN.cpp ENCMODE.cpp RAMP_STAT.cpp SGCSCONF.cpp \
+    SHORT_CONF.cpp SMARTEN.cpp SW_MODE.cpp SW_SPI.cpp TMC2130Stepper.cpp TMC2208Stepper.cpp \
+    TMC2209Stepper.cpp TMC2240Stepper.cpp TMC2660Stepper.cpp TMC5130Stepper.cpp TMC5160Stepper.cpp
 endif

 ifeq ($(RELOC_WORKAROUND), 1)
@@ -837,8 +877,8 @@ else ifeq ($(HARDWARE_VARIANT), archim)
 endif

 # Add all the source directories as include directories too
-CINCS = ${addprefix -I ,${VPATH}}
-CXXINCS = ${addprefix -I ,${VPATH}}
+CINCS = ${addprefix -I, ${VPATH}}
+CXXINCS = ${addprefix -I, ${VPATH}}

 # Silence warnings for library code (won't work for .h files, unfortunately)
 LIBWARN = -w -Wno-packed-bitfield-compat
@@ -995,7 +1035,7 @@ extcoff: $(TARGET).elf
 	$(NM) -n $< > $@

 # Link: create ELF output file from library.
-
+LDFLAGS+= -Wl,-V
 $(BUILD_DIR)/$(TARGET).elf: $(OBJ) Configuration.h
 	$(Pecho) "  CXX   $@"
 	$P $(CXX) $(LD_PREFIX) $(ALL_CXXFLAGS) -o $@ -L. $(OBJ) $(LDFLAGS) $(LD_SUFFIX)
@@ -41,7 +41,14 @@
 * here we define this default string as the date where the latest release
 * version was tagged.
 */
-//#define STRING_DISTRIBUTION_DATE "2024-04-10"
+//#define STRING_DISTRIBUTION_DATE "2026-03-19"
+
+/**
+ * The protocol for communication to the host. Protocol indicates communication
+ * standards such as the use of ASCII, "echo:" and "error:" line prefixes, etc.
+ * (Other behaviors are given by the firmware version and capabilities report.)
+ */
+//#define PROTOCOL_VERSION "1.0"

 /**
 * Defines a generic printer name to be output to the LCD after booting Marlin.
@@ -51,7 +58,7 @@
 /**
 * The SOURCE_CODE_URL is the location where users will find the Marlin Source
 * Code which is installed on the device. In most cases —unless the manufacturer
- * has a distinct Github fork— the Source Code URL should just be the main
+ * has a distinct GitHub fork— the Source Code URL should just be the main
 * Marlin repository.
 */
 //#define SOURCE_CODE_URL "github.com/MarlinFirmware/Marlin"
@@ -68,8 +75,8 @@
 //#define WEBSITE_URL "marlinfw.org"

 /**
- * Set the vendor info the serial USB interface, if changable
- * Currently only supported by DUE platform
+ * Set the vendor info the serial USB interface, if changeable.
+ * Currently only supported by DUE platform.
 */
 //#define USB_DEVICE_VENDOR_ID           0x0000
 //#define USB_DEVICE_PRODUCT_ID          0x0000
@@ -62,6 +62,11 @@ motherboard                              = BOARD_RAMPS_14_EFB
 serial_port                              = 0
 baudrate                                 = 250000

+string_config_h_author                   = "(default from config.ini)"
+
+capabilities_report                      = on
+extended_capabilities_report             = on
+
 use_watchdog                             = on
 thermal_protection_hotends               = on
 thermal_protection_hysteresis            = 4
@@ -77,18 +82,25 @@ temp_sensor_0                            = 1
 temp_hysteresis                          = 3
 heater_0_mintemp                         = 5
 heater_0_maxtemp                         = 275
-preheat_1_temp_hotend                    = 180

-bang_max                                 = 255
 pidtemp                                  = on
 pid_k1                                   = 0.95
 pid_max                                  = 255
-pid_functional_range                     = 10
+pid_functional_range                     = 20

 default_kp                               = 22.20
 default_ki                               = 1.08
 default_kd                               = 114.00

+temp_sensor_bed                          = 1
+bed_check_interval                       = 5000
+bed_mintemp                              = 5
+bed_maxtemp                              = 150
+
+thermal_protection_bed                   = on
+thermal_protection_bed_hysteresis        = 2
+thermal_protection_bed_period            = 20
+
 x_driver_type                            = A4988
 y_driver_type                            = A4988
 z_driver_type                            = A4988
@@ -121,10 +133,10 @@ default_max_acceleration                 = { 3000, 3000, 100, 10000 }
 homing_feedrate_mm_m                     = { (50*60), (50*60), (4*60) }
 homing_bump_divisor                      = { 2, 2, 4 }

-x_enable_on                              = 0
-y_enable_on                              = 0
-z_enable_on                              = 0
-e_enable_on                              = 0
+x_enable_on                              = LOW
+y_enable_on                              = LOW
+z_enable_on                              = LOW
+e_enable_on                              = LOW

 invert_x_dir                             = false
 invert_y_dir                             = true
@@ -136,11 +148,6 @@ step_state_x                             = HIGH
 step_state_y                             = HIGH
 step_state_z                             = HIGH

-disable_x                                = off
-disable_y                                = off
-disable_z                                = off
-disable_e                                = off
-
 proportional_font_ratio                  = 1.0
 default_nominal_filament_dia             = 1.75

@@ -153,30 +160,33 @@ default_retract_acceleration             = 3000
 default_minimumfeedrate                  = 0.0
 default_mintravelfeedrate                = 0.0

-minimum_planner_speed                    = 0.05
 min_steps_per_segment                    = 6
 default_minsegmenttime                   = 20000

 [config:basic]
+hotend_overshoot                         = 15
 bed_overshoot                            = 10
+max_bed_power                            = 255
+
 busy_while_heating                       = on
-default_ejerk                            = 5.0
+host_keepalive_feature                   = on
 default_keepalive_interval               = 2
-default_leveling_fade_height             = 0.0
-disable_other_extruders                  = on
-display_charset_hd44780                  = JAPANESE
+printjob_timer_autostart                 = on
+
+jd_handle_small_segments                 = on
+validate_homing_endstops                 = on
+editable_steps_per_unit                  = on
+
 eeprom_boot_silent                       = on
 eeprom_chitchat                          = on
+
 endstoppullups                           = on
-extrude_maxlength                        = 200
+
+prevent_cold_extrusion                   = on
 extrude_mintemp                          = 170
-host_keepalive_feature                   = on
-hotend_overshoot                         = 15
-jd_handle_small_segments                 = on
-lcd_info_screen_style                    = 0
-lcd_language                             = en
-max_bed_power                            = 255
-mesh_inset                               = 0
+prevent_lengthy_extrude                  = on
+extrude_maxlength                        = 200
+
 min_software_endstops                    = on
 max_software_endstops                    = on
 min_software_endstop_x                   = on
@@ -185,63 +195,60 @@ min_software_endstop_z                   = on
 max_software_endstop_x                   = on
 max_software_endstop_y                   = on
 max_software_endstop_z                   = on
-preheat_1_fan_speed                      = 0
+
 preheat_1_label                          = "PLA"
+preheat_1_temp_hotend                    = 180
 preheat_1_temp_bed                       = 70
-prevent_cold_extrusion                   = on
-prevent_lengthy_extrude                  = on
-printjob_timer_autostart                 = on
-probing_margin                           = 10
-show_bootscreen                          = on
-soft_pwm_scale                           = 0
-string_config_h_author                   = "(none, default config)"
+preheat_1_fan_speed                      = 0
+
+preheat_2_label                          = "ABS"
+preheat_2_temp_hotend                    = 240
+preheat_2_temp_bed                       = 110
+preheat_2_fan_speed                      = 0
+
 temp_bed_hysteresis                      = 3
 temp_bed_residency_time                  = 10
 temp_bed_window                          = 1
 temp_residency_time                      = 10
 temp_window                              = 1
-validate_homing_endstops                 = on
-xy_probe_feedrate                        = (133*60)
-z_clearance_between_probes               = 5
-z_clearance_deploy_probe                 = 10
-z_clearance_multi_probe                  = 5

 [config:advanced]
 arc_support                              = on
+min_arc_segment_mm                       = 0.1
+max_arc_segment_mm                       = 1.0
+min_circle_segments                      = 72
+n_arc_correction                         = 25
+
 auto_report_temperatures                 = on
+
 autotemp                                 = on
+autotemp_min                             = 210
+autotemp_max                             = 250
+autotemp_factor                          = 0.1f
 autotemp_oldweight                       = 0.98
-bed_check_interval                       = 5000
+
 default_stepper_timeout_sec              = 120
-default_volumetric_extruder_limit        = 0.00
 disable_idle_x                           = on
 disable_idle_y                           = on
 disable_idle_z                           = on
 disable_idle_e                           = on
+
 e0_auto_fan_pin                          = -1
-encoder_100x_steps_per_sec               = 80
-encoder_10x_steps_per_sec                = 30
-encoder_rate_multiplier                  = on
-extended_capabilities_report             = on
-extruder_auto_fan_speed                  = 255
-extruder_auto_fan_temperature            = 50
-fanmux0_pin                              = -1
-fanmux1_pin                              = -1
-fanmux2_pin                              = -1
+
 faster_gcode_parser                      = on
+debug_flags_gcode                        = on
+
 homing_bump_mm                           = { 5, 5, 2 }
-max_arc_segment_mm                       = 1.0
-min_arc_segment_mm                       = 0.1
-min_circle_segments                      = 72
-n_arc_correction                         = 25
-serial_overrun_protection                = on
+
 slowdown                                 = on
 slowdown_divisor                         = 2
-temp_sensor_bed                          = 0
-thermal_protection_bed_hysteresis        = 2
-thermocouple_max_errors                  = 15
+multistepping_limit                      = 16
+
+serial_overrun_protection                = on
 tx_buffer_size                           = 0
+
+watch_temp_increase                      = 2
+watch_temp_period                        = 40
+
 watch_bed_temp_increase                  = 2
 watch_bed_temp_period                    = 60
-watch_temp_increase                      = 2
-watch_temp_period                        = 20
@@ -96,7 +96,7 @@ void MarlinHAL::init() {
    // Might disable other peripherals using the pin; to circumvent that please undefine one of the above things!
    // The true culprit is the AVR ArduinoCore that enables peripherals redundantly.
    // (USART1 on the GeeeTech GT2560)
-    // https://www.youtube.com/watch?v=jMgCvRXkexk
+    // https://youtube.be/jMgCvRXkexk
    _ATmega_savePinAlternate(BEEPER_PIN);

    OUT_WRITE(BEEPER_PIN, LOW);
@@ -119,7 +119,6 @@ void MarlinHAL::reboot() {
 #if ENABLED(USE_WATCHDOG)

  #include <avr/wdt.h>
-  #include "../../MarlinCore.h"

  // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
  void MarlinHAL::watchdog_init() {
@@ -154,7 +153,7 @@ void MarlinHAL::reboot() {
    ISR(WDT_vect) {
      sei();  // With the interrupt driven serial we need to allow interrupts.
      SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
-      minkill();  // interrupt-safe final kill and infinite loop
+      marlin.minkill();  // interrupt-safe final kill and infinite loop
    }
  #endif

@@ -129,11 +129,11 @@ typedef Servo hal_servo_t;
  #endif
 #endif

-#ifdef MMU2_SERIAL_PORT
-  #if !WITHIN(MMU2_SERIAL_PORT, 0, 3)
-    #error "MMU2_SERIAL_PORT must be from 0 to 3"
+#ifdef MMU_SERIAL_PORT
+  #if !WITHIN(MMU_SERIAL_PORT, 0, 3)
+    #error "MMU_SERIAL_PORT must be from 0 to 3"
  #endif
-  #define MMU2_SERIAL mmuSerial
+  #define MMU_SERIAL mmuSerial
 #endif

 #ifdef LCD_SERIAL_PORT
@@ -141,7 +141,7 @@ typedef Servo hal_servo_t;
    #error "LCD_SERIAL_PORT must be from 0 to 3."
  #endif
  #define LCD_SERIAL lcdSerial
-  #if HAS_DGUS_LCD
+  #if ANY(HAS_DGUS_LCD, EXTENSIBLE_UI)
    #define LCD_SERIAL_TX_BUFFER_FREE() LCD_SERIAL.get_tx_buffer_free()
  #endif
 #endif
@@ -159,7 +159,7 @@ typedef Servo hal_servo_t;
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)

-#define HAL_SENSITIVE_PINS 0, 1,
+#define HAL_SENSITIVE_PINS 0, 1

 #ifdef __AVR_AT90USB1286__
  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
@@ -204,9 +204,9 @@ public:
  static void isr_on()  { sei(); }
  static void isr_off() { cli(); }

-  static void delay_ms(const int ms) { _delay_ms(ms); }
+  static void delay_ms(const int ms) { delay(ms); }

-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
  static void idletask() {}

  // Reset
@@ -41,7 +41,6 @@
 #if !defined(USBCON) && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))

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

 #if ENABLED(DIRECT_STEPPING)
  #include "../../feature/direct_stepping.h"
@@ -601,20 +600,20 @@ MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser);

 #endif // SERIAL_PORT_3

-#ifdef MMU2_SERIAL_PORT
+#ifdef MMU_SERIAL_PORT

-  ISR(SERIAL_REGNAME(USART, MMU2_SERIAL_PORT, _RX_vect)) {
-    MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>>::store_rxd_char();
+  ISR(SERIAL_REGNAME(USART, MMU_SERIAL_PORT, _RX_vect)) {
+    MarlinSerial<MMU2SerialCfg<MMU_SERIAL_PORT>>::store_rxd_char();
  }

-  ISR(SERIAL_REGNAME(USART, MMU2_SERIAL_PORT, _UDRE_vect)) {
-    MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>>::_tx_udr_empty_irq();
+  ISR(SERIAL_REGNAME(USART, MMU_SERIAL_PORT, _UDRE_vect)) {
+    MarlinSerial<MMU2SerialCfg<MMU_SERIAL_PORT>>::_tx_udr_empty_irq();
  }

-  template class MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> >;
+  template class MarlinSerial< MMU2SerialCfg<MMU_SERIAL_PORT> >;
  MSerialMMU2 mmuSerial(MSerialMMU2::HasEmergencyParser);

-#endif // MMU2_SERIAL_PORT
+#endif // MMU_SERIAL_PORT

 #ifdef LCD_SERIAL_PORT

@@ -629,7 +628,7 @@ MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser);
  template class MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> >;
  MSerialLCD lcdSerial(MSerialLCD::HasEmergencyParser);

-  #if HAS_DGUS_LCD
+  #if ANY(HAS_DGUS_LCD, EXTENSIBLE_UI)
    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.
@@ -205,7 +205,7 @@
    static ring_buffer_pos_t available();
    static void write(const uint8_t c);
    static void flushTX();
-    #if HAS_DGUS_LCD
+    #if ANY(HAS_DGUS_LCD, EXTENSIBLE_UI)
      static ring_buffer_pos_t get_tx_buffer_free();
    #endif

@@ -246,7 +246,7 @@

 #endif // !USBCON

-#ifdef MMU2_SERIAL_PORT
+#ifdef MMU_SERIAL_PORT
  template <uint8_t serial>
  struct MMU2SerialCfg {
    static constexpr int PORT               = serial;
@@ -260,7 +260,7 @@
    static constexpr bool RX_OVERRUNS       = false;
  };

-  typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialMMU2;
+  typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU_SERIAL_PORT> > > MSerialMMU2;
  extern MSerialMMU2 mmuSerial;
 #endif

@@ -345,6 +345,14 @@ void setup_endstop_interrupts() {
      pciSetup(Z_MIN_PROBE_PIN);
    #endif
  #endif
+  #if USE_CALIBRATION
+    #if (digitalPinToInterrupt(CALIBRATION_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(CALIBRATION_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(CALIBRATION_PIN), "CALIBRATION_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
+      pciSetup(CALIBRATION_PIN);
+    #endif
+  #endif

  // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
 }
@@ -150,7 +150,7 @@ void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
      else {
        if (p == 32 || p == 128) continue;                    // Skip TIMER2 specific prescalers when not TIMER2
        const uint16_t rft = (F_CPU) / (p * f_desired);
-        DEBUG_ECHOLNPGM("(Not Timer 2) F_CPU=" STRINGIFY(F_CPU), " prescaler=", p, " f_desired=", f_desired);
+        DEBUG_ECHOLNPGM("(Not Timer 2) F_CPU=", STRINGIFY(F_CPU), " prescaler=", p, " f_desired=", f_desired);
        res_fast_temp = rft - 1;
        res_pc_temp = rft / 2;
      }
@@ -241,7 +241,7 @@ uint8_t extDigitalRead(const int8_t pin) {
 *
 * DC values -1.0 to 1.0. Negative duty cycle inverts the pulse.
 */
-uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb, const float dcc) {
+uint16_t set_pwm_frequency_hz(const float hz, const float dca, const float dcb, const float dcc) {
  float count = 0;
  if (hz > 0 && (dca || dcb || dcc)) {
    count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
@@ -254,7 +254,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
    else                           { prescaler = 1;    SET_CS(5,    PRESCALER_1); }

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

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

@@ -28,9 +28,6 @@
 *   Port          : E0 E1 E4 E5 G5 E3 H3 H4 H5 H6 B4 B5 B6 B7 J1 J0 H1 H0 D3 D2 D1 D0 A0 A1 A2 A3 A4 A5 A6 A7 C7 C6 C5 C4 C3 C2 C1 C0 D7 G2 G1 G0 L7 L6 L5 L4 L3 L2 L1 L0 B3 B2 B1 B0 F0 F1 F2 F3 F4 F5 F6 F7 K0 K1 K2 K3 K4 K5 K6 K7 | E2 E6 E7 xx xx H2 H7 G3 G4 xx xx xx xx xx D4 D5 D6 xx xx J2 J3 J4 J5 J6 J7 xx xx xx xx xx
 *   Logical Pin   : 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | 78 79 80 xx xx 84 85 71 70 xx xx xx xx xx 81 82 83 xx xx 72 73 75 76 77 74 xx xx xx xx xx
 *   Analog Input  :                                                                                                                                                                    0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15
- *
- * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA
- * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg
 */

 #include "../fastio.h"
@@ -26,9 +26,6 @@
 *
 *   Logical Pin: 38 39 40 41 42 43 44 45 16 10 11 12 06 07 08 09 30 31 32 33 34 35 36 37 17 18 19 20 21 22 23 24 00 01 13 05 02 03 14 15 46 47 48 49 50 51 52 53 25 26 27 28 29 04
 *   Port:        A0 A1 A2 A3 A4 A5 A6 A7 B0 B1 B2 B3 B4 B5 B6 B7 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7 E0 E1 E2 E3 E4 E5 E6 E7 F0 F1 F2 F3 F4 F5 F6 F7 G0 G1 G2 G3 G4 G5
- *
- * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA
- * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg
 */

 #include "../fastio.h"
@@ -26,9 +26,6 @@
 *
 *   Logical Pin: 08 09 10 11 12 13 14 15 16 17 18 19 20 21 00 01 02 03 04 05 06 07
 *   Port:        B0 B1 B2 B3 B4 B5 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7
- *
- * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA
- * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg
 */

 #include "../fastio.h"
@@ -26,9 +26,6 @@
 *
 *   Logical Pin: 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
 *   Port:        B0 B1 B2 B3 B4 B5 B6 B7 D0 D1 D2 D3 D4 D5 D6 D7 C0 C1 C2 C3 C4 C5 C6 C7 A7 A6 A5 A4 A3 A2 A1 A0
- *
- * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA
- * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg
 */

 /**                        ATMega644
@@ -26,10 +26,7 @@
 *
 *   Logical Pin: 28 29 30 31 32 33 34 35 20 21 22 23 24 25 26 27 10 11 12 13 14 15 16 17 00 01 02 03 04 05 06 07 08 09(46*47)36 37 18 19 38 39 40 41 42 43 44 45
 *   Port:        A0 A1 A2 A3 A4 A5 A6 A7 B0 B1 B2 B3 B4 B5 B6 B7 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7 E0 E1 E2 E3 E4 E5 E6 E7 F0 F1 F2 F3 F4 F5 F6 F7
- *            The logical pins 46 and 47 are not supported by Teensyduino, but are supported below as E2 and E3
- *
- * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA
- * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg
+ *            Logical pins 46-47 aren't supported by Teensyduino, but are supported below as E2 and E3
 */

 #include "../fastio.h"
@@ -366,8 +363,11 @@
 #define AIO7_PWM    0
 #define AIO7_DDR    DDRF

-//-- Begin not supported by Teensyduino
-//-- don't use Arduino functions on these pins pinMode/digitalWrite/etc
+//-- 46-47 are not supported by Teensyduino
+//-- Don't use Arduino functions (pinMode, digitalWrite, etc.) on these pins
+#define PIN_E2   46
+#define PIN_E3   47
+
 #define DIO46_PIN   PINE2
 #define DIO46_RPORT PINE
 #define DIO46_WPORT PORTE
@@ -380,10 +380,7 @@
 #define DIO47_PWM   0
 #define DIO47_DDR   DDRE

-#define TEENSY_E2   46
-#define TEENSY_E3   47
-
-//-- end not supported by Teensyduino
+//--

 #undef PA0
 #define PA0_PIN     PINA0
@@ -95,7 +95,7 @@
 /**
 * The Trinamic library includes SoftwareSerial.h, leading to a compile error.
 */
-#if ALL(HAS_TRINAMIC_CONFIG, ENDSTOP_INTERRUPTS_FEATURE)
+#if ALL(HAS_TMC_SW_SERIAL, ENDSTOP_INTERRUPTS_FEATURE)
  #error "TMCStepper includes SoftwareSerial.h which is incompatible with ENDSTOP_INTERRUPTS_FEATURE. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
 #endif

@@ -22,14 +22,30 @@
 #pragma once

 /**
- * PWM print routines for Atmel 8 bit AVR CPUs
+ * Pins Debugging for Atmel 8 bit AVR CPUs
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

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

 #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS

-#if MB(BQ_ZUM_MEGA_3D, MIGHTYBOARD_REVE, MINIRAMBO, SCOOVO_X9H, TRIGORILLA_14)
+#if MB(BQ_ZUM_MEGA_3D, MIGHTYBOARD_REVE, MINIRAMBO, SCOOVO_X9H, TRIGORILLA_14, MIGHTYBOARD_REVG)
  #define AVR_ATmega2560_FAMILY_PLUS_70 1
 #endif

@@ -39,44 +55,44 @@
  #include "pinsDebug_Teensyduino.h"
  // Can't use the "digitalPinToPort" function from the Teensyduino type IDEs
  // portModeRegister takes a different argument
-  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
-  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
-  #define digitalPinToPort_DEBUG(p) digitalPinToPort(p)
-  #define GET_PINMODE(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin))
+  #define digitalPinToTimer_DEBUG(P) digitalPinToTimer(P)
+  #define digitalPinToBitMask_DEBUG(P) digitalPinToBitMask(P)
+  #define digitalPinToPort_DEBUG(P) digitalPinToPort(P)
+  #define getValidPinMode(P) (*portModeRegister(P) & digitalPinToBitMask_DEBUG(P))

 #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)
-  #define digitalPinToPort_DEBUG(p) digitalPinToPort_plus_70(p)
-  bool GET_PINMODE(int8_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
+  #define digitalPinToTimer_DEBUG(P) digitalPinToTimer_plus_70(P)
+  #define digitalPinToBitMask_DEBUG(P) digitalPinToBitMask_plus_70(P)
+  #define digitalPinToPort_DEBUG(P) digitalPinToPort_plus_70(P)
+  bool getValidPinMode(pin_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)
+  #define digitalPinToTimer_DEBUG(P) digitalPinToTimer(P)
+  #define digitalPinToBitMask_DEBUG(P) digitalPinToBitMask(P)
+  #define digitalPinToPort_DEBUG(P) digitalPinToPort(P)
+  bool getValidPinMode(pin_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
+  #define getPinByIndex(x) pgm_read_byte(&pin_array[x].pin)

 #endif

-#define VALID_PIN(pin) (pin >= 0 && pin < NUM_DIGITAL_PINS ? 1 : 0)
+#define isValidPin(P) (P >= 0 && P < NUMBER_PINS_TOTAL)
 #if AVR_ATmega1284_FAMILY
-  #define IS_ANALOG(P) WITHIN(P, analogInputToDigitalPin(7), analogInputToDigitalPin(0))
-  #define DIGITAL_PIN_TO_ANALOG_PIN(P) int(IS_ANALOG(P) ? (P) - analogInputToDigitalPin(7) : -1)
+  #define isAnalogPin(P) WITHIN(P, analogInputToDigitalPin(7), analogInputToDigitalPin(0))
+  #define digitalPinToAnalogIndex(P) int(isAnalogPin(P) ? (P) - analogInputToDigitalPin(7) : -1)
 #else
  #define _ANALOG1(P) WITHIN(P, analogInputToDigitalPin(0), analogInputToDigitalPin(7))
  #define _ANALOG2(P) WITHIN(P, analogInputToDigitalPin(8), analogInputToDigitalPin(15))
-  #define IS_ANALOG(P) (_ANALOG1(P) || _ANALOG2(P))
-  #define DIGITAL_PIN_TO_ANALOG_PIN(P) int(_ANALOG1(P) ? (P) - analogInputToDigitalPin(0) : _ANALOG2(P) ? (P) - analogInputToDigitalPin(8) + 8 : -1)
+  #define isAnalogPin(P) (_ANALOG1(P) || _ANALOG2(P))
+  #define digitalPinToAnalogIndex(P) int(_ANALOG1(P) ? (P) - analogInputToDigitalPin(0) : _ANALOG2(P) ? (P) - analogInputToDigitalPin(8) + 8 : -1)
 #endif
-#define GET_ARRAY_PIN(p) pgm_read_byte(&pin_array[p].pin)
+#define getPinByIndex(x) pgm_read_byte(&pin_array[x].pin)
 #define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin

-void PRINT_ARRAY_NAME(uint8_t x) {
-  PGM_P const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name);
+void printPinNameByIndex(const uint8_t index) {
+  PGM_P const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[index].name);
  for (uint8_t y = 0; y < MAX_NAME_LENGTH; ++y) {
    char temp_char = pgm_read_byte(name_mem_pointer + y);
    if (temp_char != 0)
@@ -88,7 +104,7 @@ void PRINT_ARRAY_NAME(uint8_t x) {
  }
 }

-#define GET_ARRAY_IS_DIGITAL(x)   pgm_read_byte(&pin_array[x].is_digital)
+#define getPinIsDigitalByIndex(x)   pgm_read_byte(&pin_array[x].is_digital)

 #if defined(__AVR_ATmega1284P__)  // 1284 IDE extensions set this to the number of
  #undef NUM_DIGITAL_PINS         // digital only pins while all other CPUs have it
@@ -109,7 +125,7 @@ void PRINT_ARRAY_NAME(uint8_t x) {
 * Print a pin's PWM status.
 * Return true if it's currently a PWM pin.
 */
-bool pwm_status(uint8_t pin) {
+bool pwm_status(const uint8_t pin) {
  char buffer[20];   // for the sprintf statements

  switch (digitalPinToTimer_DEBUG(pin)) {
@@ -276,7 +292,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N -
  if (TEST(*TMSK, TOIE)) err_prob_interrupt();
 }

-void pwm_details(uint8_t pin) {
+void printPinPWM(const uint8_t pin) {
  switch (digitalPinToTimer_DEBUG(pin)) {

    #if ABTEST(0)
@@ -347,7 +363,7 @@ void pwm_details(uint8_t pin) {
  #else
    UNUSED(print_is_also_tied);
  #endif
-} // pwm_details
+} // printPinPWM

 #ifndef digitalRead_mod                   // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs
  int digitalRead_mod(const pin_t pin) {  // same as digitalRead except the PWM stop section has been removed
@@ -356,21 +372,21 @@ void pwm_details(uint8_t pin) {
  }
 #endif

-void print_port(const pin_t pin) {   // print port number
+void printPinPort(const pin_t pin) {   // print port number
  #ifdef digitalPinToPort_DEBUG
    uint8_t x;
    SERIAL_ECHOPGM("  Port: ");
    #if AVR_AT90USB1286_FAMILY
-      x = (pin == 46 || pin == 47) ? 'E' : digitalPinToPort_DEBUG(pin) + 64;
+      x = (pin == PIN_E2 || pin == PIN_E3) ? 'E' : 'A' + digitalPinToPort_DEBUG(pin) - 1;
    #else
-      x = digitalPinToPort_DEBUG(pin) + 64;
+      x = 'A' + digitalPinToPort_DEBUG(pin) - 1;
    #endif
    SERIAL_CHAR(x);

    #if AVR_AT90USB1286_FAMILY
-      if (pin == 46)
+      if (pin == PIN_E2)
        x = '2';
-      else if (pin == 47)
+      else if (pin == PIN_E3)
        x = '3';
      else {
        uint8_t temp = digitalPinToBitMask_DEBUG(pin);
@@ -386,7 +402,7 @@ void print_port(const pin_t pin) {   // print port number
  #endif
 }

-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3d "), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)

 #undef ABTEST
@@ -102,7 +102,7 @@ const uint8_t PROGMEM digital_pin_to_port_PGM[] = {

 // digitalPinToBitMask(pin) is OK

-#define digitalRead_mod(p)  extDigitalRead(p)   // Teensyduino's version of digitalRead doesn't
+#define digitalRead_mod(P)  extDigitalRead(P)   // Teensyduino's version of digitalRead doesn't
                                                // disable the PWMs so we can use it as is

 // portModeRegister(pin) is OK
@@ -25,7 +25,7 @@
 * Structures for 2560 family boards that use more than 70 pins
 */

-#if MB(BQ_ZUM_MEGA_3D, MINIRAMBO, SCOOVO_X9H, TRIGORILLA_14)
+#if MB(BQ_ZUM_MEGA_3D, MINIRAMBO, SCOOVO_X9H, TRIGORILLA_14, MIGHTYBOARD_REVG)
  #undef NUM_DIGITAL_PINS
  #define NUM_DIGITAL_PINS            85
 #elif MB(MIGHTYBOARD_REVE)
@@ -48,92 +48,92 @@
 const uint8_t PROGMEM digital_pin_to_port_PGM_plus_70[] = {
  // PORTLIST
  // ------------------------
-  PE  , // PE 0 ** 0 ** USART0_RX
-  PE  , // PE 1 ** 1 ** USART0_TX
-  PE  , // PE 4 ** 2 ** PWM2
-  PE  , // PE 5 ** 3 ** PWM3
-  PG  , // PG 5 ** 4 ** PWM4
-  PE  , // PE 3 ** 5 ** PWM5
-  PH  , // PH 3 ** 6 ** PWM6
-  PH  , // PH 4 ** 7 ** PWM7
-  PH  , // PH 5 ** 8 ** PWM8
-  PH  , // PH 6 ** 9 ** PWM9
-  PB  , // PB 4 ** 10 ** PWM10
-  PB  , // PB 5 ** 11 ** PWM11
-  PB  , // PB 6 ** 12 ** PWM12
-  PB  , // PB 7 ** 13 ** PWM13
-  PJ  , // PJ 1 ** 14 ** USART3_TX
-  PJ  , // PJ 0 ** 15 ** USART3_RX
-  PH  , // PH 1 ** 16 ** USART2_TX
-  PH  , // PH 0 ** 17 ** USART2_RX
-  PD  , // PD 3 ** 18 ** USART1_TX
-  PD  , // PD 2 ** 19 ** USART1_RX
-  PD  , // PD 1 ** 20 ** I2C_SDA
-  PD  , // PD 0 ** 21 ** I2C_SCL
-  PA  , // PA 0 ** 22 ** D22
-  PA  , // PA 1 ** 23 ** D23
-  PA  , // PA 2 ** 24 ** D24
-  PA  , // PA 3 ** 25 ** D25
-  PA  , // PA 4 ** 26 ** D26
-  PA  , // PA 5 ** 27 ** D27
-  PA  , // PA 6 ** 28 ** D28
-  PA  , // PA 7 ** 29 ** D29
-  PC  , // PC 7 ** 30 ** D30
-  PC  , // PC 6 ** 31 ** D31
-  PC  , // PC 5 ** 32 ** D32
-  PC  , // PC 4 ** 33 ** D33
-  PC  , // PC 3 ** 34 ** D34
-  PC  , // PC 2 ** 35 ** D35
-  PC  , // PC 1 ** 36 ** D36
-  PC  , // PC 0 ** 37 ** D37
-  PD  , // PD 7 ** 38 ** D38
-  PG  , // PG 2 ** 39 ** D39
-  PG  , // PG 1 ** 40 ** D40
-  PG  , // PG 0 ** 41 ** D41
-  PL  , // PL 7 ** 42 ** D42
-  PL  , // PL 6 ** 43 ** D43
-  PL  , // PL 5 ** 44 ** D44
-  PL  , // PL 4 ** 45 ** D45
-  PL  , // PL 3 ** 46 ** D46
-  PL  , // PL 2 ** 47 ** D47
-  PL  , // PL 1 ** 48 ** D48
-  PL  , // PL 0 ** 49 ** D49
-  PB  , // PB 3 ** 50 ** SPI_MISO
-  PB  , // PB 2 ** 51 ** SPI_MOSI
-  PB  , // PB 1 ** 52 ** SPI_SCK
-  PB  , // PB 0 ** 53 ** SPI_SS
-  PF  , // PF 0 ** 54 ** A0
-  PF  , // PF 1 ** 55 ** A1
-  PF  , // PF 2 ** 56 ** A2
-  PF  , // PF 3 ** 57 ** A3
-  PF  , // PF 4 ** 58 ** A4
-  PF  , // PF 5 ** 59 ** A5
-  PF  , // PF 6 ** 60 ** A6
-  PF  , // PF 7 ** 61 ** A7
-  PK  , // PK 0 ** 62 ** A8
-  PK  , // PK 1 ** 63 ** A9
-  PK  , // PK 2 ** 64 ** A10
-  PK  , // PK 3 ** 65 ** A11
-  PK  , // PK 4 ** 66 ** A12
-  PK  , // PK 5 ** 67 ** A13
-  PK  , // PK 6 ** 68 ** A14
-  PK  , // PK 7 ** 69 ** A15
-  PG  , // PG 4 ** 70 **
-  PG  , // PG 3 ** 71 **
-  PJ  , // PJ 2 ** 72 **
-  PJ  , // PJ 3 ** 73 **
-  PJ  , // PJ 7 ** 74 **
-  PJ  , // PJ 4 ** 75 **
-  PJ  , // PJ 5 ** 76 **
-  PJ  , // PJ 6 ** 77 **
-  PE  , // PE 2 ** 78 **
-  PE  , // PE 6 ** 79 **
-  PE  , // PE 7 ** 80 **
-  PD  , // PD 4 ** 81 **
-  PD  , // PD 5 ** 82 **
-  PD  , // PD 6 ** 83 **
-  PH  , // PH 2 ** 84 **
-  PH  , // PH 7 ** 85 **
+  PE, // PE 0 ** 0 ** USART0_RX
+  PE, // PE 1 ** 1 ** USART0_TX
+  PE, // PE 4 ** 2 ** PWM2
+  PE, // PE 5 ** 3 ** PWM3
+  PG, // PG 5 ** 4 ** PWM4
+  PE, // PE 3 ** 5 ** PWM5
+  PH, // PH 3 ** 6 ** PWM6
+  PH, // PH 4 ** 7 ** PWM7
+  PH, // PH 5 ** 8 ** PWM8
+  PH, // PH 6 ** 9 ** PWM9
+  PB, // PB 4 ** 10 ** PWM10
+  PB, // PB 5 ** 11 ** PWM11
+  PB, // PB 6 ** 12 ** PWM12
+  PB, // PB 7 ** 13 ** PWM13
+  PJ, // PJ 1 ** 14 ** USART3_TX
+  PJ, // PJ 0 ** 15 ** USART3_RX
+  PH, // PH 1 ** 16 ** USART2_TX
+  PH, // PH 0 ** 17 ** USART2_RX
+  PD, // PD 3 ** 18 ** USART1_TX
+  PD, // PD 2 ** 19 ** USART1_RX
+  PD, // PD 1 ** 20 ** I2C_SDA
+  PD, // PD 0 ** 21 ** I2C_SCL
+  PA, // PA 0 ** 22 ** D22
+  PA, // PA 1 ** 23 ** D23
+  PA, // PA 2 ** 24 ** D24
+  PA, // PA 3 ** 25 ** D25
+  PA, // PA 4 ** 26 ** D26
+  PA, // PA 5 ** 27 ** D27
+  PA, // PA 6 ** 28 ** D28
+  PA, // PA 7 ** 29 ** D29
+  PC, // PC 7 ** 30 ** D30
+  PC, // PC 6 ** 31 ** D31
+  PC, // PC 5 ** 32 ** D32
+  PC, // PC 4 ** 33 ** D33
+  PC, // PC 3 ** 34 ** D34
+  PC, // PC 2 ** 35 ** D35
+  PC, // PC 1 ** 36 ** D36
+  PC, // PC 0 ** 37 ** D37
+  PD, // PD 7 ** 38 ** D38
+  PG, // PG 2 ** 39 ** D39
+  PG, // PG 1 ** 40 ** D40
+  PG, // PG 0 ** 41 ** D41
+  PL, // PL 7 ** 42 ** D42
+  PL, // PL 6 ** 43 ** D43
+  PL, // PL 5 ** 44 ** D44
+  PL, // PL 4 ** 45 ** D45
+  PL, // PL 3 ** 46 ** D46
+  PL, // PL 2 ** 47 ** D47
+  PL, // PL 1 ** 48 ** D48
+  PL, // PL 0 ** 49 ** D49
+  PB, // PB 3 ** 50 ** SPI_MISO
+  PB, // PB 2 ** 51 ** SPI_MOSI
+  PB, // PB 1 ** 52 ** SPI_SCK
+  PB, // PB 0 ** 53 ** SPI_SS
+  PF, // PF 0 ** 54 ** A0
+  PF, // PF 1 ** 55 ** A1
+  PF, // PF 2 ** 56 ** A2
+  PF, // PF 3 ** 57 ** A3
+  PF, // PF 4 ** 58 ** A4
+  PF, // PF 5 ** 59 ** A5
+  PF, // PF 6 ** 60 ** A6
+  PF, // PF 7 ** 61 ** A7
+  PK, // PK 0 ** 62 ** A8
+  PK, // PK 1 ** 63 ** A9
+  PK, // PK 2 ** 64 ** A10
+  PK, // PK 3 ** 65 ** A11
+  PK, // PK 4 ** 66 ** A12
+  PK, // PK 5 ** 67 ** A13
+  PK, // PK 6 ** 68 ** A14
+  PK, // PK 7 ** 69 ** A15
+  PG, // PG 4 ** 70 **
+  PG, // PG 3 ** 71 **
+  PJ, // PJ 2 ** 72 **
+  PJ, // PJ 3 ** 73 **
+  PJ, // PJ 7 ** 74 **
+  PJ, // PJ 4 ** 75 **
+  PJ, // PJ 5 ** 76 **
+  PJ, // PJ 6 ** 77 **
+  PE, // PE 2 ** 78 **
+  PE, // PE 6 ** 79 **
+  PE, // PE 7 ** 80 **
+  PD, // PD 4 ** 81 **
+  PD, // PD 5 ** 82 **
+  PD, // PD 6 ** 83 **
+  PH, // PH 2 ** 84 **
+  PH, // PH 7 ** 85 **
 };

 #define digitalPinToPort_plus_70(P) ( pgm_read_byte( digital_pin_to_port_PGM_plus_70 + (P) ) )
@@ -141,92 +141,92 @@ const uint8_t PROGMEM digital_pin_to_port_PGM_plus_70[] = {
 const uint8_t PROGMEM digital_pin_to_bit_mask_PGM_plus_70[] = {
  // PIN IN PORT
  // ------------------------
-  _BV( 0 )  , // PE 0 ** 0 ** USART0_RX
-  _BV( 1 )  , // PE 1 ** 1 ** USART0_TX
-  _BV( 4 )  , // PE 4 ** 2 ** PWM2
-  _BV( 5 )  , // PE 5 ** 3 ** PWM3
-  _BV( 5 )  , // PG 5 ** 4 ** PWM4
-  _BV( 3 )  , // PE 3 ** 5 ** PWM5
-  _BV( 3 )  , // PH 3 ** 6 ** PWM6
-  _BV( 4 )  , // PH 4 ** 7 ** PWM7
-  _BV( 5 )  , // PH 5 ** 8 ** PWM8
-  _BV( 6 )  , // PH 6 ** 9 ** PWM9
-  _BV( 4 )  , // PB 4 ** 10 ** PWM10
-  _BV( 5 )  , // PB 5 ** 11 ** PWM11
-  _BV( 6 )  , // PB 6 ** 12 ** PWM12
-  _BV( 7 )  , // PB 7 ** 13 ** PWM13
-  _BV( 1 )  , // PJ 1 ** 14 ** USART3_TX
-  _BV( 0 )  , // PJ 0 ** 15 ** USART3_RX
-  _BV( 1 )  , // PH 1 ** 16 ** USART2_TX
-  _BV( 0 )  , // PH 0 ** 17 ** USART2_RX
-  _BV( 3 )  , // PD 3 ** 18 ** USART1_TX
-  _BV( 2 )  , // PD 2 ** 19 ** USART1_RX
-  _BV( 1 )  , // PD 1 ** 20 ** I2C_SDA
-  _BV( 0 )  , // PD 0 ** 21 ** I2C_SCL
-  _BV( 0 )  , // PA 0 ** 22 ** D22
-  _BV( 1 )  , // PA 1 ** 23 ** D23
-  _BV( 2 )  , // PA 2 ** 24 ** D24
-  _BV( 3 )  , // PA 3 ** 25 ** D25
-  _BV( 4 )  , // PA 4 ** 26 ** D26
-  _BV( 5 )  , // PA 5 ** 27 ** D27
-  _BV( 6 )  , // PA 6 ** 28 ** D28
-  _BV( 7 )  , // PA 7 ** 29 ** D29
-  _BV( 7 )  , // PC 7 ** 30 ** D30
-  _BV( 6 )  , // PC 6 ** 31 ** D31
-  _BV( 5 )  , // PC 5 ** 32 ** D32
-  _BV( 4 )  , // PC 4 ** 33 ** D33
-  _BV( 3 )  , // PC 3 ** 34 ** D34
-  _BV( 2 )  , // PC 2 ** 35 ** D35
-  _BV( 1 )  , // PC 1 ** 36 ** D36
-  _BV( 0 )  , // PC 0 ** 37 ** D37
-  _BV( 7 )  , // PD 7 ** 38 ** D38
-  _BV( 2 )  , // PG 2 ** 39 ** D39
-  _BV( 1 )  , // PG 1 ** 40 ** D40
-  _BV( 0 )  , // PG 0 ** 41 ** D41
-  _BV( 7 )  , // PL 7 ** 42 ** D42
-  _BV( 6 )  , // PL 6 ** 43 ** D43
-  _BV( 5 )  , // PL 5 ** 44 ** D44
-  _BV( 4 )  , // PL 4 ** 45 ** D45
-  _BV( 3 )  , // PL 3 ** 46 ** D46
-  _BV( 2 )  , // PL 2 ** 47 ** D47
-  _BV( 1 )  , // PL 1 ** 48 ** D48
-  _BV( 0 )  , // PL 0 ** 49 ** D49
-  _BV( 3 )  , // PB 3 ** 50 ** SPI_MISO
-  _BV( 2 )  , // PB 2 ** 51 ** SPI_MOSI
-  _BV( 1 )  , // PB 1 ** 52 ** SPI_SCK
-  _BV( 0 )  , // PB 0 ** 53 ** SPI_SS
-  _BV( 0 )  , // PF 0 ** 54 ** A0
-  _BV( 1 )  , // PF 1 ** 55 ** A1
-  _BV( 2 )  , // PF 2 ** 56 ** A2
-  _BV( 3 )  , // PF 3 ** 57 ** A3
-  _BV( 4 )  , // PF 4 ** 58 ** A4
-  _BV( 5 )  , // PF 5 ** 59 ** A5
-  _BV( 6 )  , // PF 6 ** 60 ** A6
-  _BV( 7 )  , // PF 7 ** 61 ** A7
-  _BV( 0 )  , // PK 0 ** 62 ** A8
-  _BV( 1 )  , // PK 1 ** 63 ** A9
-  _BV( 2 )  , // PK 2 ** 64 ** A10
-  _BV( 3 )  , // PK 3 ** 65 ** A11
-  _BV( 4 )  , // PK 4 ** 66 ** A12
-  _BV( 5 )  , // PK 5 ** 67 ** A13
-  _BV( 6 )  , // PK 6 ** 68 ** A14
-  _BV( 7 )  , // PK 7 ** 69 ** A15
-  _BV( 4 )  , // PG 4 ** 70 **
-  _BV( 3 )  , // PG 3 ** 71 **
-  _BV( 2 )  , // PJ 2 ** 72 **
-  _BV( 3 )  , // PJ 3 ** 73 **
-  _BV( 7 )  , // PJ 7 ** 74 **
-  _BV( 4 )  , // PJ 4 ** 75 **
-  _BV( 5 )  , // PJ 5 ** 76 **
-  _BV( 6 )  , // PJ 6 ** 77 **
-  _BV( 2 )  , // PE 2 ** 78 **
-  _BV( 6 )  , // PE 6 ** 79 **
-  _BV( 7 )  , // PE 7 ** 80 **
-  _BV( 4 )  , // PD 4 ** 81 **
-  _BV( 5 )  , // PD 5 ** 82 **
-  _BV( 6 )  , // PD 6 ** 83 **
-  _BV( 2 )  , // PH 2 ** 84 **
-  _BV( 7 )  , // PH 7 ** 85 **
+  _BV( 0 ), // PE 0 ** 0 ** USART0_RX
+  _BV( 1 ), // PE 1 ** 1 ** USART0_TX
+  _BV( 4 ), // PE 4 ** 2 ** PWM2
+  _BV( 5 ), // PE 5 ** 3 ** PWM3
+  _BV( 5 ), // PG 5 ** 4 ** PWM4
+  _BV( 3 ), // PE 3 ** 5 ** PWM5
+  _BV( 3 ), // PH 3 ** 6 ** PWM6
+  _BV( 4 ), // PH 4 ** 7 ** PWM7
+  _BV( 5 ), // PH 5 ** 8 ** PWM8
+  _BV( 6 ), // PH 6 ** 9 ** PWM9
+  _BV( 4 ), // PB 4 ** 10 ** PWM10
+  _BV( 5 ), // PB 5 ** 11 ** PWM11
+  _BV( 6 ), // PB 6 ** 12 ** PWM12
+  _BV( 7 ), // PB 7 ** 13 ** PWM13
+  _BV( 1 ), // PJ 1 ** 14 ** USART3_TX
+  _BV( 0 ), // PJ 0 ** 15 ** USART3_RX
+  _BV( 1 ), // PH 1 ** 16 ** USART2_TX
+  _BV( 0 ), // PH 0 ** 17 ** USART2_RX
+  _BV( 3 ), // PD 3 ** 18 ** USART1_TX
+  _BV( 2 ), // PD 2 ** 19 ** USART1_RX
+  _BV( 1 ), // PD 1 ** 20 ** I2C_SDA
+  _BV( 0 ), // PD 0 ** 21 ** I2C_SCL
+  _BV( 0 ), // PA 0 ** 22 ** D22
+  _BV( 1 ), // PA 1 ** 23 ** D23
+  _BV( 2 ), // PA 2 ** 24 ** D24
+  _BV( 3 ), // PA 3 ** 25 ** D25
+  _BV( 4 ), // PA 4 ** 26 ** D26
+  _BV( 5 ), // PA 5 ** 27 ** D27
+  _BV( 6 ), // PA 6 ** 28 ** D28
+  _BV( 7 ), // PA 7 ** 29 ** D29
+  _BV( 7 ), // PC 7 ** 30 ** D30
+  _BV( 6 ), // PC 6 ** 31 ** D31
+  _BV( 5 ), // PC 5 ** 32 ** D32
+  _BV( 4 ), // PC 4 ** 33 ** D33
+  _BV( 3 ), // PC 3 ** 34 ** D34
+  _BV( 2 ), // PC 2 ** 35 ** D35
+  _BV( 1 ), // PC 1 ** 36 ** D36
+  _BV( 0 ), // PC 0 ** 37 ** D37
+  _BV( 7 ), // PD 7 ** 38 ** D38
+  _BV( 2 ), // PG 2 ** 39 ** D39
+  _BV( 1 ), // PG 1 ** 40 ** D40
+  _BV( 0 ), // PG 0 ** 41 ** D41
+  _BV( 7 ), // PL 7 ** 42 ** D42
+  _BV( 6 ), // PL 6 ** 43 ** D43
+  _BV( 5 ), // PL 5 ** 44 ** D44
+  _BV( 4 ), // PL 4 ** 45 ** D45
+  _BV( 3 ), // PL 3 ** 46 ** D46
+  _BV( 2 ), // PL 2 ** 47 ** D47
+  _BV( 1 ), // PL 1 ** 48 ** D48
+  _BV( 0 ), // PL 0 ** 49 ** D49
+  _BV( 3 ), // PB 3 ** 50 ** SPI_MISO
+  _BV( 2 ), // PB 2 ** 51 ** SPI_MOSI
+  _BV( 1 ), // PB 1 ** 52 ** SPI_SCK
+  _BV( 0 ), // PB 0 ** 53 ** SPI_SS
+  _BV( 0 ), // PF 0 ** 54 ** A0
+  _BV( 1 ), // PF 1 ** 55 ** A1
+  _BV( 2 ), // PF 2 ** 56 ** A2
+  _BV( 3 ), // PF 3 ** 57 ** A3
+  _BV( 4 ), // PF 4 ** 58 ** A4
+  _BV( 5 ), // PF 5 ** 59 ** A5
+  _BV( 6 ), // PF 6 ** 60 ** A6
+  _BV( 7 ), // PF 7 ** 61 ** A7
+  _BV( 0 ), // PK 0 ** 62 ** A8
+  _BV( 1 ), // PK 1 ** 63 ** A9
+  _BV( 2 ), // PK 2 ** 64 ** A10
+  _BV( 3 ), // PK 3 ** 65 ** A11
+  _BV( 4 ), // PK 4 ** 66 ** A12
+  _BV( 5 ), // PK 5 ** 67 ** A13
+  _BV( 6 ), // PK 6 ** 68 ** A14
+  _BV( 7 ), // PK 7 ** 69 ** A15
+  _BV( 4 ), // PG 4 ** 70 **
+  _BV( 3 ), // PG 3 ** 71 **
+  _BV( 2 ), // PJ 2 ** 72 **
+  _BV( 3 ), // PJ 3 ** 73 **
+  _BV( 7 ), // PJ 7 ** 74 **
+  _BV( 4 ), // PJ 4 ** 75 **
+  _BV( 5 ), // PJ 5 ** 76 **
+  _BV( 6 ), // PJ 6 ** 77 **
+  _BV( 2 ), // PE 2 ** 78 **
+  _BV( 6 ), // PE 6 ** 79 **
+  _BV( 7 ), // PE 7 ** 80 **
+  _BV( 4 ), // PD 4 ** 81 **
+  _BV( 5 ), // PD 5 ** 82 **
+  _BV( 6 ), // PD 6 ** 83 **
+  _BV( 2 ), // PH 2 ** 84 **
+  _BV( 7 ), // PH 7 ** 85 **
 };

 #define digitalPinToBitMask_plus_70(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM_plus_70 + (P) ) )
@@ -234,86 +234,86 @@ const uint8_t PROGMEM digital_pin_to_bit_mask_PGM_plus_70[] = {
 const uint8_t PROGMEM digital_pin_to_timer_PGM_plus_70[] = {
  // TIMERS
  // ------------------------
-  NOT_ON_TIMER  , // PE 0 ** 0 ** USART0_RX
-  NOT_ON_TIMER  , // PE 1 ** 1 ** USART0_TX
-  TIMER3B , // PE 4 ** 2 ** PWM2
-  TIMER3C , // PE 5 ** 3 ** PWM3
-  TIMER0B , // PG 5 ** 4 ** PWM4
-  TIMER3A , // PE 3 ** 5 ** PWM5
-  TIMER4A , // PH 3 ** 6 ** PWM6
-  TIMER4B , // PH 4 ** 7 ** PWM7
-  TIMER4C , // PH 5 ** 8 ** PWM8
-  TIMER2B , // PH 6 ** 9 ** PWM9
-  TIMER2A , // PB 4 ** 10 ** PWM10
-  TIMER1A , // PB 5 ** 11 ** PWM11
-  TIMER1B , // PB 6 ** 12 ** PWM12
-  TIMER0A , // PB 7 ** 13 ** PWM13
-  NOT_ON_TIMER  , // PJ 1 ** 14 ** USART3_TX
-  NOT_ON_TIMER  , // PJ 0 ** 15 ** USART3_RX
-  NOT_ON_TIMER  , // PH 1 ** 16 ** USART2_TX
-  NOT_ON_TIMER  , // PH 0 ** 17 ** USART2_RX
-  NOT_ON_TIMER  , // PD 3 ** 18 ** USART1_TX
-  NOT_ON_TIMER  , // PD 2 ** 19 ** USART1_RX
-  NOT_ON_TIMER  , // PD 1 ** 20 ** I2C_SDA
-  NOT_ON_TIMER  , // PD 0 ** 21 ** I2C_SCL
-  NOT_ON_TIMER  , // PA 0 ** 22 ** D22
-  NOT_ON_TIMER  , // PA 1 ** 23 ** D23
-  NOT_ON_TIMER  , // PA 2 ** 24 ** D24
-  NOT_ON_TIMER  , // PA 3 ** 25 ** D25
-  NOT_ON_TIMER  , // PA 4 ** 26 ** D26
-  NOT_ON_TIMER  , // PA 5 ** 27 ** D27
-  NOT_ON_TIMER  , // PA 6 ** 28 ** D28
-  NOT_ON_TIMER  , // PA 7 ** 29 ** D29
-  NOT_ON_TIMER  , // PC 7 ** 30 ** D30
-  NOT_ON_TIMER  , // PC 6 ** 31 ** D31
-  NOT_ON_TIMER  , // PC 5 ** 32 ** D32
-  NOT_ON_TIMER  , // PC 4 ** 33 ** D33
-  NOT_ON_TIMER  , // PC 3 ** 34 ** D34
-  NOT_ON_TIMER  , // PC 2 ** 35 ** D35
-  NOT_ON_TIMER  , // PC 1 ** 36 ** D36
-  NOT_ON_TIMER  , // PC 0 ** 37 ** D37
-  NOT_ON_TIMER  , // PD 7 ** 38 ** D38
-  NOT_ON_TIMER  , // PG 2 ** 39 ** D39
-  NOT_ON_TIMER  , // PG 1 ** 40 ** D40
-  NOT_ON_TIMER  , // PG 0 ** 41 ** D41
-  NOT_ON_TIMER  , // PL 7 ** 42 ** D42
-  NOT_ON_TIMER  , // PL 6 ** 43 ** D43
-  TIMER5C , // PL 5 ** 44 ** D44
-  TIMER5B , // PL 4 ** 45 ** D45
-  TIMER5A , // PL 3 ** 46 ** D46
-  NOT_ON_TIMER  , // PL 2 ** 47 ** D47
-  NOT_ON_TIMER  , // PL 1 ** 48 ** D48
-  NOT_ON_TIMER  , // PL 0 ** 49 ** D49
-  NOT_ON_TIMER  , // PB 3 ** 50 ** SPI_MISO
-  NOT_ON_TIMER  , // PB 2 ** 51 ** SPI_MOSI
-  NOT_ON_TIMER  , // PB 1 ** 52 ** SPI_SCK
-  NOT_ON_TIMER  , // PB 0 ** 53 ** SPI_SS
-  NOT_ON_TIMER  , // PF 0 ** 54 ** A0
-  NOT_ON_TIMER  , // PF 1 ** 55 ** A1
-  NOT_ON_TIMER  , // PF 2 ** 56 ** A2
-  NOT_ON_TIMER  , // PF 3 ** 57 ** A3
-  NOT_ON_TIMER  , // PF 4 ** 58 ** A4
-  NOT_ON_TIMER  , // PF 5 ** 59 ** A5
-  NOT_ON_TIMER  , // PF 6 ** 60 ** A6
-  NOT_ON_TIMER  , // PF 7 ** 61 ** A7
-  NOT_ON_TIMER  , // PK 0 ** 62 ** A8
-  NOT_ON_TIMER  , // PK 1 ** 63 ** A9
-  NOT_ON_TIMER  , // PK 2 ** 64 ** A10
-  NOT_ON_TIMER  , // PK 3 ** 65 ** A11
-  NOT_ON_TIMER  , // PK 4 ** 66 ** A12
-  NOT_ON_TIMER  , // PK 5 ** 67 ** A13
-  NOT_ON_TIMER  , // PK 6 ** 68 ** A14
-  NOT_ON_TIMER  , // PK 7 ** 69 ** A15
-  NOT_ON_TIMER  , // PG 4 ** 70 **
-  NOT_ON_TIMER  , // PG 3 ** 71 **
-  NOT_ON_TIMER  , // PJ 2 ** 72 **
-  NOT_ON_TIMER  , // PJ 3 ** 73 **
-  NOT_ON_TIMER  , // PJ 7 ** 74 **
-  NOT_ON_TIMER  , // PJ 4 ** 75 **
-  NOT_ON_TIMER  , // PJ 5 ** 76 **
-  NOT_ON_TIMER  , // PJ 6 ** 77 **
-  NOT_ON_TIMER  , // PE 2 ** 78 **
-  NOT_ON_TIMER  , // PE 6 ** 79 **
+  NOT_ON_TIMER, // PE 0 ** 0 ** USART0_RX
+  NOT_ON_TIMER, // PE 1 ** 1 ** USART0_TX
+  TIMER3B, // PE 4 ** 2 ** PWM2
+  TIMER3C, // PE 5 ** 3 ** PWM3
+  TIMER0B, // PG 5 ** 4 ** PWM4
+  TIMER3A, // PE 3 ** 5 ** PWM5
+  TIMER4A, // PH 3 ** 6 ** PWM6
+  TIMER4B, // PH 4 ** 7 ** PWM7
+  TIMER4C, // PH 5 ** 8 ** PWM8
+  TIMER2B, // PH 6 ** 9 ** PWM9
+  TIMER2A, // PB 4 ** 10 ** PWM10
+  TIMER1A, // PB 5 ** 11 ** PWM11
+  TIMER1B, // PB 6 ** 12 ** PWM12
+  TIMER0A, // PB 7 ** 13 ** PWM13
+  NOT_ON_TIMER, // PJ 1 ** 14 ** USART3_TX
+  NOT_ON_TIMER, // PJ 0 ** 15 ** USART3_RX
+  NOT_ON_TIMER, // PH 1 ** 16 ** USART2_TX
+  NOT_ON_TIMER, // PH 0 ** 17 ** USART2_RX
+  NOT_ON_TIMER, // PD 3 ** 18 ** USART1_TX
+  NOT_ON_TIMER, // PD 2 ** 19 ** USART1_RX
+  NOT_ON_TIMER, // PD 1 ** 20 ** I2C_SDA
+  NOT_ON_TIMER, // PD 0 ** 21 ** I2C_SCL
+  NOT_ON_TIMER, // PA 0 ** 22 ** D22
+  NOT_ON_TIMER, // PA 1 ** 23 ** D23
+  NOT_ON_TIMER, // PA 2 ** 24 ** D24
+  NOT_ON_TIMER, // PA 3 ** 25 ** D25
+  NOT_ON_TIMER, // PA 4 ** 26 ** D26
+  NOT_ON_TIMER, // PA 5 ** 27 ** D27
+  NOT_ON_TIMER, // PA 6 ** 28 ** D28
+  NOT_ON_TIMER, // PA 7 ** 29 ** D29
+  NOT_ON_TIMER, // PC 7 ** 30 ** D30
+  NOT_ON_TIMER, // PC 6 ** 31 ** D31
+  NOT_ON_TIMER, // PC 5 ** 32 ** D32
+  NOT_ON_TIMER, // PC 4 ** 33 ** D33
+  NOT_ON_TIMER, // PC 3 ** 34 ** D34
+  NOT_ON_TIMER, // PC 2 ** 35 ** D35
+  NOT_ON_TIMER, // PC 1 ** 36 ** D36
+  NOT_ON_TIMER, // PC 0 ** 37 ** D37
+  NOT_ON_TIMER, // PD 7 ** 38 ** D38
+  NOT_ON_TIMER, // PG 2 ** 39 ** D39
+  NOT_ON_TIMER, // PG 1 ** 40 ** D40
+  NOT_ON_TIMER, // PG 0 ** 41 ** D41
+  NOT_ON_TIMER, // PL 7 ** 42 ** D42
+  NOT_ON_TIMER, // PL 6 ** 43 ** D43
+  TIMER5C, // PL 5 ** 44 ** D44
+  TIMER5B, // PL 4 ** 45 ** D45
+  TIMER5A, // PL 3 ** 46 ** D46
+  NOT_ON_TIMER, // PL 2 ** 47 ** D47
+  NOT_ON_TIMER, // PL 1 ** 48 ** D48
+  NOT_ON_TIMER, // PL 0 ** 49 ** D49
+  NOT_ON_TIMER, // PB 3 ** 50 ** SPI_MISO
+  NOT_ON_TIMER, // PB 2 ** 51 ** SPI_MOSI
+  NOT_ON_TIMER, // PB 1 ** 52 ** SPI_SCK
+  NOT_ON_TIMER, // PB 0 ** 53 ** SPI_SS
+  NOT_ON_TIMER, // PF 0 ** 54 ** A0
+  NOT_ON_TIMER, // PF 1 ** 55 ** A1
+  NOT_ON_TIMER, // PF 2 ** 56 ** A2
+  NOT_ON_TIMER, // PF 3 ** 57 ** A3
+  NOT_ON_TIMER, // PF 4 ** 58 ** A4
+  NOT_ON_TIMER, // PF 5 ** 59 ** A5
+  NOT_ON_TIMER, // PF 6 ** 60 ** A6
+  NOT_ON_TIMER, // PF 7 ** 61 ** A7
+  NOT_ON_TIMER, // PK 0 ** 62 ** A8
+  NOT_ON_TIMER, // PK 1 ** 63 ** A9
+  NOT_ON_TIMER, // PK 2 ** 64 ** A10
+  NOT_ON_TIMER, // PK 3 ** 65 ** A11
+  NOT_ON_TIMER, // PK 4 ** 66 ** A12
+  NOT_ON_TIMER, // PK 5 ** 67 ** A13
+  NOT_ON_TIMER, // PK 6 ** 68 ** A14
+  NOT_ON_TIMER, // PK 7 ** 69 ** A15
+  NOT_ON_TIMER, // PG 4 ** 70 **
+  NOT_ON_TIMER, // PG 3 ** 71 **
+  NOT_ON_TIMER, // PJ 2 ** 72 **
+  NOT_ON_TIMER, // PJ 3 ** 73 **
+  NOT_ON_TIMER, // PJ 7 ** 74 **
+  NOT_ON_TIMER, // PJ 4 ** 75 **
+  NOT_ON_TIMER, // PJ 5 ** 76 **
+  NOT_ON_TIMER, // PJ 6 ** 77 **
+  NOT_ON_TIMER, // PE 2 ** 78 **
+  NOT_ON_TIMER, // PE 6 ** 79 **
 };

 #define digitalPinToTimer_plus_70(P) ( pgm_read_byte( digital_pin_to_timer_PGM_plus_70 + (P) ) )
@@ -93,15 +93,15 @@ namespace AVRHelpers {
    typedef T type;
  };
  template <typename T>
-  struct voltype <T, 1u> {
+  struct voltype <T, 1U> {
    typedef uint8_t type;
  };
  template <typename T>
-  struct voltype <T, 2u> {
+  struct voltype <T, 2U> {
    typedef uint16_t type;
  };
  template <typename T>
-  struct voltype <T, 4u> {
+  struct voltype <T, 4U> {
    typedef uint32_t type;
  };

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

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

  #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__)
@@ -23,43 +23,41 @@

 /**
 * Define SPI Pins: SCK, MISO, MOSI, SS
+ * Platform pins have parentheses, e.g., "(53)", so we cannot use them.
 */
 #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
-  #define AVR_SCK_PIN  13
-  #define AVR_MISO_PIN 12
-  #define AVR_MOSI_PIN 11
-  #define AVR_SS_PIN   10
+  #define _PIN_SPI_SCK  13
+  #define _PIN_SPI_MISO 12
+  #define _PIN_SPI_MOSI 11
+  #define _PIN_SPI_SS   10
 #elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
-  #define AVR_SCK_PIN  7
-  #define AVR_MISO_PIN 6
-  #define AVR_MOSI_PIN 5
-  #define AVR_SS_PIN   4
+  #define _PIN_SPI_SCK  7
+  #define _PIN_SPI_MISO 6
+  #define _PIN_SPI_MOSI 5
+  #define _PIN_SPI_SS   4
 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-  #define AVR_SCK_PIN  52
-  #define AVR_MISO_PIN 50
-  #define AVR_MOSI_PIN 51
-  #define AVR_SS_PIN   53
+  #define _PIN_SPI_SCK  52
+  #define _PIN_SPI_MISO 50
+  #define _PIN_SPI_MOSI 51
+  #define _PIN_SPI_SS   53
 #elif defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB647__)
-  #define AVR_SCK_PIN  21
-  #define AVR_MISO_PIN 23
-  #define AVR_MOSI_PIN 22
-  #define AVR_SS_PIN   20
+  #define _PIN_SPI_SCK  21
+  #define _PIN_SPI_MISO 23
+  #define _PIN_SPI_MOSI 22
+  #define _PIN_SPI_SS   20
 #elif defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
-  #define AVR_SCK_PIN  10
-  #define AVR_MISO_PIN 12
-  #define AVR_MOSI_PIN 11
-  #define AVR_SS_PIN   16
+  #define _PIN_SPI_SCK  10
+  #define _PIN_SPI_MISO 12
+  #define _PIN_SPI_MOSI 11
+  #define _PIN_SPI_SS   16
 #endif

 #ifndef SD_SCK_PIN
-  #define SD_SCK_PIN  AVR_SCK_PIN
+  #define SD_SCK_PIN  _PIN_SPI_SCK
 #endif
 #ifndef SD_MISO_PIN
-  #define SD_MISO_PIN AVR_MISO_PIN
+  #define SD_MISO_PIN _PIN_SPI_MISO
 #endif
 #ifndef SD_MOSI_PIN
-  #define SD_MOSI_PIN AVR_MOSI_PIN
-#endif
-#ifndef SD_SS_PIN
-  #define SD_SS_PIN   AVR_SS_PIN
+  #define SD_MOSI_PIN _PIN_SPI_MOSI
 #endif
@@ -28,7 +28,7 @@
 // ------------------------

 typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT16_MAX)

 // ------------------------
 // Defines
@@ -46,15 +46,14 @@ typedef uint16_t hal_timer_t;
  #define MF_TIMER_TEMP         0
 #endif

-#define TEMP_TIMER_FREQUENCY    (((F_CPU) + 0x2000) / 0x4000)
+#define TEMP_TIMER_FREQUENCY        (((F_CPU) + 0x2000) / 0x4000)

-#define STEPPER_TIMER_RATE      HAL_TIMER_RATE
-#define STEPPER_TIMER_PRESCALE  8
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE
+#define STEPPER_TIMER_PRESCALE      8
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs

-#define PULSE_TIMER_RATE         STEPPER_TIMER_RATE
-#define PULSE_TIMER_PRESCALE     STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE

 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  SBI(TIMSK1, OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
@@ -111,8 +110,8 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
 * (otherwise, characters will be lost due to UART overflow).
 * Then: Stepper, Endstops, Temperature, and -finally- all others.
 */
-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

 #ifndef HAL_STEP_TIMER_ISR

@@ -55,12 +55,12 @@

 #if defined(ARDUINO) && !defined(ARDUINO_ARCH_STM32) && !defined(ARDUINO_ARCH_SAM)

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

 #if HAS_MARLINUI_U8GLIB

-#include "../shared/Marduino.h"
-#include "../shared/Delay.h"
+#include "../../shared/Marduino.h"
+#include "../../shared/Delay.h"

 #include <U8glib-HAL.h>

@@ -120,7 +120,7 @@ void u8g_spiSend_sw_AVR_mode_3(uint8_t val) {
  U8G_ATOMIC_END();
 }

-#if ENABLED(FYSETC_MINI_12864)
+#if U8G_SPI_USE_MODE_3
  #define SPISEND_SW_AVR u8g_spiSend_sw_AVR_mode_3
 #else
  #define SPISEND_SW_AVR u8g_spiSend_sw_AVR_mode_0
@@ -143,9 +143,9 @@ uint8_t u8g_com_HAL_AVR_sw_sp_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
      break;

    case U8G_COM_MSG_CHIP_SELECT:
-      #if ENABLED(FYSETC_MINI_12864)           // LCD SPI is running mode 3 while SD card is running mode 0
-        if (arg_val) {                         //   SCK idle state needs to be set to the proper idle state before
-                                               //   the next chip select goes active
+      #if U8G_SPI_USE_MODE_3                                  // LCD SPI is running mode 3 while SD card is running mode 0
+        if (arg_val) {                                        // SCK idle state needs to be set to the proper idle state before
+                                                              //  the next chip select goes active
          u8g_com_arduino_digital_write(u8g, U8G_PI_SCK, 1);  // Set SCK to mode 3 idle state before CS goes active
          u8g_com_arduino_digital_write(u8g, U8G_PI_CS, LOW);
        }
@@ -27,7 +27,6 @@
 #ifdef ARDUINO_ARCH_SAM

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

 #include <Wire.h>
 #include "usb/usb_task.h"
@@ -48,7 +47,7 @@ uint16_t MarlinHAL::adc_result;

 void MarlinHAL::init() {
  #if HAS_MEDIA
-    OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
+    OUT_WRITE(SD_SS_PIN, HIGH);  // Try to set SDSS inactive before any other SPI users start up
  #endif
  usb_task_init();          // Initialize the USB stack
  TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
@@ -102,6 +101,10 @@ void watchdogSetup() {

  #if ENABLED(USE_WATCHDOG)

+    #ifndef WATCHDOG_PIO_RESET
+      #define WATCHDOG_PIO_RESET
+    #endif
+
    // 4 seconds timeout
    uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);

@@ -115,15 +118,16 @@ void watchdogSetup() {
      timeout = 0xFFF;

    // We want to enable the watchdog with the specified timeout
-    uint32_t value =
-      WDT_MR_WDV(timeout) |               // With the specified timeout
-      WDT_MR_WDD(timeout) |               // and no invalid write window
-    #if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
-      WDT_MR_WDRPROC   |                  // WDT fault resets processor only - We want
-                                          // to keep PIO controller state
-    #endif
-      WDT_MR_WDDBGHLT  |                  // WDT stops in debug state.
-      WDT_MR_WDIDLEHLT;                   // WDT stops in idle state.
+    uint32_t value = (0
+      | WDT_MR_WDV(timeout)               // With the specified timeout
+      | WDT_MR_WDD(timeout)               // and no invalid write window
+      #if NONE(WATCHDOG_PIO_RESET, SAMV70, SAMV71, SAME70, SAMS70)
+        | WDT_MR_WDRPROC                  // WDT fault resets processor only with this flag.
+                                          // Omit to also reset the PIO controller.
+      #endif
+      | WDT_MR_WDDBGHLT                   // WDT stops in debug state.
+      | WDT_MR_WDIDLEHLT                  // WDT stops in idle state.
+    );

    #if ENABLED(WATCHDOG_RESET_MANUAL)
      // We enable the watchdog timer, but only for the interrupt.
@@ -35,67 +35,9 @@

 #include <stdint.h>

-#include "../../core/serial_hook.h"
-
-// ------------------------
-// Serial ports
-// ------------------------
-
-typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
-typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
-typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
-typedef ForwardSerial1Class< decltype(Serial3) > DefaultSerial4;
-extern DefaultSerial1 MSerial0;
-extern DefaultSerial2 MSerial1;
-extern DefaultSerial3 MSerial2;
-extern DefaultSerial4 MSerial3;
-
-#define _MSERIAL(X) MSerial##X
-#define MSERIAL(X) _MSERIAL(X)
-
-#if SERIAL_PORT == -1 || ENABLED(EMERGENCY_PARSER)
-  #define MYSERIAL1 customizedSerial1
-#elif WITHIN(SERIAL_PORT, 0, 3)
-  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
-#else
-  #error "The required SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
-#endif
-
-#ifdef SERIAL_PORT_2
-  #if SERIAL_PORT_2 == -1 || ENABLED(EMERGENCY_PARSER)
-    #define MYSERIAL2 customizedSerial2
-  #elif WITHIN(SERIAL_PORT_2, 0, 3)
-    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
-  #else
-    #error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial."
-  #endif
-#endif
-
-#ifdef SERIAL_PORT_3
-  #if SERIAL_PORT_3 == -1 || ENABLED(EMERGENCY_PARSER)
-    #define MYSERIAL3 customizedSerial3
-  #elif WITHIN(SERIAL_PORT_3, 0, 3)
-    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
-  #else
-    #error "SERIAL_PORT_3 must be from 0 to 3, or -1 for USB Serial."
-  #endif
-#endif
-
-#ifdef MMU2_SERIAL_PORT
-  #if WITHIN(MMU2_SERIAL_PORT, 0, 3)
-    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
-  #else
-    #error "MMU2_SERIAL_PORT must be from 0 to 3."
-  #endif
-#endif
-
-#ifdef LCD_SERIAL_PORT
-  #if WITHIN(LCD_SERIAL_PORT, 0, 3)
-    #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
-  #else
-    #error "LCD_SERIAL_PORT must be from 0 to 3."
-  #endif
-#endif
+//
+// Serial Ports
+//

 #include "MarlinSerial.h"
 #include "MarlinSerialUSB.h"
@@ -127,7 +69,7 @@ typedef Servo hal_servo_t;
 #define HAL_ADC_RESOLUTION  10

 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+  #define analogInputToDigitalPin(p) pin_t((p < 12U) ? (p) + 54U : -1)
 #endif

 //
@@ -190,7 +132,7 @@ public:

  static void delay_ms(const int ms) { delay(ms); }

-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
  static void idletask();

  // Reset
@@ -208,8 +208,8 @@
      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
      A("bfi %[bin],%[work],#0,#1")                /* Store read bit as the bit 0 */

-      : [bin]"+r"(bin),
-        [work]"+r"(work)
+      : [bin]"+r"( bin ),
+        [work]"+r"( work )
      : [bitband_miso_port]"r"( BITBAND_MISO_PORT ),
        [sck_mask]"r"( SCK_MASK ),
        [sck_port]"r"( SCK_PORT_PLUS30 )
@@ -350,7 +350,7 @@
  static void spiRxBlock0(uint8_t *ptr, uint32_t todo) {
    uint32_t bin = 0;
    uint32_t work = 0;
-    uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS( ((uint32_t)PORT(SD_MISO_PIN))+0x3C, PIN_SHIFT(SD_MISO_PIN));  /* PDSR of port in bitband area */
+    uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS(((uint32_t)PORT(SD_MISO_PIN))+0x3C, PIN_SHIFT(SD_MISO_PIN)); /* PDSR of port in bitband area */
    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SD_SCK_PIN)) + 0x30;    /* SODR of port */
    uint32_t SCK_MASK = PIN_MASK(SD_SCK_PIN);

@@ -412,10 +412,10 @@
      A("strb.w %[bin], [%[ptr]], #1")             /* Store read value into buffer, increment buffer pointer */
      A("bne.n loop%=")                            /* Repeat until done */

-      : [ptr]"+r"(ptr),
-        [todo]"+r"(todo),
-        [bin]"+r"(bin),
-        [work]"+r"(work)
+      : [ptr]"+r"( ptr ),
+        [todo]"+r"( todo ),
+        [bin]"+r"( bin ),
+        [work]"+r"( work )
      : [bitband_miso_port]"r"( BITBAND_MISO_PORT ),
        [sck_mask]"r"( SCK_MASK ),
        [sck_port]"r"( SCK_PORT_PLUS30 )
@@ -600,9 +600,8 @@
      OUT_WRITE(SPI_EEPROM1_CS_PIN, HIGH);
      OUT_WRITE(SPI_EEPROM2_CS_PIN, HIGH);
      OUT_WRITE(SPI_FLASH_CS_PIN, HIGH);
-      WRITE(SD_SS_PIN, HIGH);
-
-      OUT_WRITE(SDSS, LOW);
+      OUT_WRITE(SD_SS_PIN, HIGH);
+      WRITE(SD_SS_PIN, LOW);

      PIO_Configure(
        g_APinDescription[SPI_PIN].pPort,
@@ -767,7 +766,7 @@

      // Disable PIO on A26 and A27
      REG_PIOA_PDR = 0x0C000000;
-      OUT_WRITE(SDSS, HIGH);
+      OUT_WRITE(SD_SS_PIN, HIGH);

      // Reset SPI0 (from sam lib)
      SPI0->SPI_CR = SPI_CR_SPIDIS;
@@ -31,7 +31,6 @@

 #include "MarlinSerial.h"
 #include "InterruptVectors.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 };
@@ -33,6 +33,21 @@
 #include "../../core/types.h"
 #include "../../core/serial_hook.h"

+typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
+typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
+typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
+typedef ForwardSerial1Class< decltype(Serial3) > DefaultSerial4;
+extern DefaultSerial1 MSerial0;
+extern DefaultSerial2 MSerial1;
+extern DefaultSerial3 MSerial2;
+extern DefaultSerial4 MSerial3;
+
+#define SERIAL_INDEX_MIN 0
+#define SERIAL_INDEX_MAX 3
+#define EP_SERIAL_PORT(N) customizedSerial##N
+#define USB_SERIAL_PORT(N) customizedSerial##N
+#include "../shared/serial_ports.h"
+
 // Define constants and variables for buffering incoming serial data.  We're
 // using a ring buffer (I think), in which rx_buffer_head is the index of the
 // location to which to write the next incoming character and rx_buffer_tail
@@ -50,7 +50,7 @@
 static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset

 // ------------------------
-/// Interrupt handler for the TC0 channel 1.
+// Interrupt handler for the TC0 channel 1.
 // ------------------------
 void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t);

@@ -24,7 +24,7 @@

 /**
 * Description: Tone function for Arduino Due and compatible (SAM3X8E)
- * Derived from https://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
+ * Derived from https://forum.arduino.cc/t/arduino-due-and-tone/133302/13
 */

 #ifdef ARDUINO_ARCH_SAM
@@ -21,7 +21,7 @@
 */
 #ifdef ARDUINO_ARCH_SAM

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

 #if ENABLED(FLASH_EEPROM_EMULATION)

@@ -132,7 +132,7 @@ static uint8_t buffer[256] = {0},   // The RAM buffer to accumulate writes
               curGroup = 0xFF;     // Current FLASH group

 #define DEBUG_OUT ENABLED(EE_EMU_DEBUG)
-#include "../../core/debug_out.h"
+#include "../../../core/debug_out.h"

 static void ee_Dump(const int page, const void *data) {

@@ -291,7 +291,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
      uint32_t *p1 = (uint32_t*)addrflash;
      uint32_t *p2 = (uint32_t*)data;
      int count = 0;
-      for (i =0; i<PageSize >> 2; i++) {
+      for (i = 0; i < PageSize >> 2; i++) {
        if (p1[i] != p2[i]) {
          uint32_t delta = p1[i] ^ p2[i];
          while (delta) {
@@ -953,7 +953,7 @@ static void ee_Init() {

 /* PersistentStore -----------------------------------------------------------*/

-#include "../shared/eeprom_api.h"
+#include "../../shared/eeprom_api.h"

 #ifndef MARLIN_EEPROM_SIZE
  #define MARLIN_EEPROM_SIZE 0x1000 // 4KB
@@ -21,7 +21,7 @@
 */
 #ifdef ARDUINO_ARCH_SAM

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

 #if USE_WIRED_EEPROM

@@ -30,8 +30,8 @@
 * with simple implementations supplied by Marlin.
 */

-#include "../shared/eeprom_if.h"
-#include "../shared/eeprom_api.h"
+#include "../../shared/eeprom_if.h"
+#include "../../shared/eeprom_api.h"

 #ifndef MARLIN_EEPROM_SIZE
  #error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM."
@@ -64,6 +64,7 @@ void setup_endstop_interrupts() {
  TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
  TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
  TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
  TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
  TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
  TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));
@@ -40,11 +40,12 @@
 * Some jitter in the Vref signal is OK so the interrupt priority is left at its default value.
 */

-#include "../../../inc/MarlinConfig.h"
+#include "../../../inc/MarlinConfigPre.h"

 #if MB(PRINTRBOARD_G2)

 #include "G2_PWM.h"
+#include "../../../module/stepper.h"

 #if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
  #define G2_PWM_X 1
@@ -56,16 +57,12 @@
 #else
  #define G2_PWM_Y 0
 #endif
-#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
+#if HAS_MOTOR_CURRENT_PWM_Z
  #define G2_PWM_Z 1
 #else
  #define G2_PWM_Z 0
 #endif
-#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
-  #define G2_PWM_E 1
-#else
-  #define G2_PWM_E 0
-#endif
+#define G2_PWM_E HAS_MOTOR_CURRENT_PWM_E
 #define G2_MASK_X(V) (G2_PWM_X * (V))
 #define G2_MASK_Y(V) (G2_PWM_Y * (V))
 #define G2_MASK_Z(V) (G2_PWM_Z * (V))
@@ -80,17 +77,22 @@ PWM_map ISR_table[NUM_PWMS] = PWM_MAP_INIT;

 void Stepper::digipot_init() {

-  #if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
-    OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, 0);  // init pins
+  #if G2_PWM_X
+    OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, LOW);  // init pins
  #endif
-  #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
-    OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, 0);
+  #if G2_PWM_Y
+    OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, LOW);
  #endif
  #if G2_PWM_Z
-    OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, 0);
+    OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, LOW);
  #endif
  #if G2_PWM_E
-    OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, 0);
+    #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
+      OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, LOW);
+    #endif
+    #if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
+      OUT_WRITE(MOTOR_CURRENT_PWM_E0_PIN, LOW);
+    #endif
  #endif

  #define WPKEY          (0x50574D << 8) // “PWM” in ASCII
@@ -26,10 +26,7 @@
 * PR #7500. It is hardwired for the PRINTRBOARD_G2 Motor Current needs.
 */

-#include "../../../inc/MarlinConfigPre.h"
-#include "../../../module/stepper.h"
-//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\stepper.h
-//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\HAL\HAL_DUE\G2_PWM.h
+#include <stdint.h>

 #define PWM_PERIOD_US  100  // base repetition rate in micro seconds

@@ -68,16 +68,15 @@
 * Usually the hardware SPI pins are only available to the LCD. This makes the DUE hard SPI used at the same time
 * as the TMC2130 soft SPI the most common setup.
 */
-#define _IS_HW_SPI(P) (defined(TMC_SPI_##P) && (TMC_SPI_##P == SD_MOSI_PIN || TMC_SPI_##P == SD_MISO_PIN || TMC_SPI_##P == SD_SCK_PIN))
-
 #if HAS_MEDIA && HAS_DRIVER(TMC2130)
-  #if ENABLED(TMC_USE_SW_SPI)
-    #if DISABLED(SOFTWARE_SPI) && (_IS_HW_SPI(MOSI) || _IS_HW_SPI(MISO) || _IS_HW_SPI(SCK))
-      #error "DUE hardware SPI is required but is incompatible with TMC2130 software SPI. Either disable TMC_USE_SW_SPI or use separate pins for the two SPIs."
-    #endif
-  #elif ENABLED(SOFTWARE_SPI)
+  #define _IS_HW_SPI(P) (defined(TMC_SPI_##P) && (TMC_SPI_##P == SD_MOSI_PIN || TMC_SPI_##P == SD_MISO_PIN || TMC_SPI_##P == SD_SCK_PIN))
+  #if DISABLED(SOFTWARE_SPI) && ENABLED(TMC_USE_SW_SPI) && (_IS_HW_SPI(MOSI) || _IS_HW_SPI(MISO) || _IS_HW_SPI(SCK))
+    #error "DUE hardware SPI is required but is incompatible with TMC2130 software SPI. Either disable TMC_USE_SW_SPI or use separate pins for the two SPIs."
+  #endif
+  #if ENABLED(SOFTWARE_SPI) && DISABLED(TMC_USE_SW_SPI)
    #error "DUE software SPI is required but is incompatible with TMC2130 hardware SPI. Enable TMC_USE_SW_SPI to fix."
  #endif
+  #undef _IS_HW_SPI
 #endif

 #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
@@ -19,13 +19,26 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
+#pragma once

 /**
- * Support routines for Due
- */
-
-/**
- * Translation of routines & variables used by pinsDebug.h
+ * Pins Debugging for DUE
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

 #include "../shared/Marduino.h"
@@ -63,20 +76,20 @@

 #define NUMBER_PINS_TOTAL PINS_COUNT

-#define digitalRead_mod(p) extDigitalRead(p)  // AVR digitalRead disabled PWM before it read the pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
-#define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0))
-#define IS_ANALOG(P) WITHIN(P, char(analogInputToDigitalPin(0)), char(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
-#define pwm_status(pin) (((g_pinStatus[pin] & 0xF) == PIN_STATUS_PWM) && \
-                        ((g_APinDescription[pin].ulPinAttribute & PIN_ATTR_PWM) == PIN_ATTR_PWM))
+#define digitalRead_mod(P) extDigitalRead(P)  // AVR digitalRead disabled PWM before it read the pin
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%02d"), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(x) pin_array[x].pin
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
+#define isValidPin(P) (P >= 0 && P < pin_t(NUMBER_PINS_TOTAL))
+#define digitalPinToAnalogIndex(P) int(P - analogInputToDigitalPin(0))
+#define isAnalogPin(P) WITHIN(P, pin_t(analogInputToDigitalPin(0)), pin_t(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
+#define pwm_status(P) (((g_pinStatus[P] & 0xF) == PIN_STATUS_PWM) && \
+                        ((g_APinDescription[P].ulPinAttribute & PIN_ATTR_PWM) == PIN_ATTR_PWM))
 #define MULTI_NAME_PAD 14 // space needed to be pretty if not first name assigned to a pin

-bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
+bool getValidPinMode(const pin_t pin) {  // 1: output, 0: input
  volatile Pio* port = g_APinDescription[pin].pPort;
  uint32_t mask = g_APinDescription[pin].ulPin;
  uint8_t pin_status = g_pinStatus[pin] & 0xF;
@@ -85,14 +98,14 @@ bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
          || pwm_status(pin));
 }

-void pwm_details(int32_t pin) {
+void printPinPWM(const int32_t pin) {
  if (pwm_status(pin)) {
    uint32_t chan = g_APinDescription[pin].ulPWMChannel;
    SERIAL_ECHOPGM("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY);
  }
 }

-void print_port(const pin_t) {}
+void printPinPort(const pin_t) {}

 /**
 * DUE Board pin   |  PORT  | Label
@@ -24,41 +24,38 @@
 /**
 * Define SPI Pins: SCK, MISO, MOSI, SS
 *
- * Available chip select pins for HW SPI are 4 10 52 77
+ * Available chip select pins for HW SPI are 4 10 52 77 87
 */
-#if SDSS == 4 || SDSS == 10 || SDSS == 52 || SDSS == 77 || SDSS == 87
-  #if SDSS == 4
-    #define SPI_PIN         87
-    #define SPI_CHAN         1
-  #elif SDSS == 10
-    #define SPI_PIN         77
-    #define SPI_CHAN         0
-  #elif SDSS == 52
-    #define SPI_PIN         86
-    #define SPI_CHAN         2
-  #elif SDSS == 77
-    #define SPI_PIN         77
-    #define SPI_CHAN         0
-  #else
-    #define SPI_PIN         87
-    #define SPI_CHAN         1
-  #endif
-  #define SD_SCK_PIN        76
-  #define SD_MISO_PIN       74
-  #define SD_MOSI_PIN       75
-#else
-  // defaults
-  #define SOFTWARE_SPI
-  #ifndef SD_SCK_PIN
-    #define SD_SCK_PIN      52
-  #endif
-  #ifndef SD_MISO_PIN
-    #define SD_MISO_PIN     50
-  #endif
-  #ifndef SD_MOSI_PIN
-    #define SD_MOSI_PIN     51
-  #endif
+#if SD_SS_PIN == 4 || SD_SS_PIN == 10 || SD_SS_PIN == 52 || SD_SS_PIN == 77 || SD_SS_PIN == 87
+  #define SD_SCK_PIN      76
+  #define SD_MISO_PIN     74
+  #define SD_MOSI_PIN     75
 #endif

-/* A.28, A.29, B.21, C.26, C.29 */
-#define SD_SS_PIN         SDSS
+#if SD_SS_PIN == 4
+  #define SPI_PIN         87
+  #define SPI_CHAN         1
+#elif SD_SS_PIN == 10
+  #define SPI_PIN         77
+  #define SPI_CHAN         0
+#elif SD_SS_PIN == 52
+  #define SPI_PIN         86
+  #define SPI_CHAN         2
+#elif SD_SS_PIN == 77
+  #define SPI_PIN         77
+  #define SPI_CHAN         0
+#elif SD_SS_PIN == 87
+  #define SPI_PIN         87
+  #define SPI_CHAN         1
+#else
+  #define SOFTWARE_SPI
+  #ifndef SD_SCK_PIN
+    #define SD_SCK_PIN    52
+  #endif
+  #ifndef SD_MISO_PIN
+    #define SD_MISO_PIN   50
+  #endif
+  #ifndef SD_MOSI_PIN
+    #define SD_MOSI_PIN   51
+  #endif
+#endif
@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT32_MAX)

 #define HAL_TIMER_PRESCALER    2
 #define HAL_TIMER_RATE         ((F_CPU) / (HAL_TIMER_PRESCALER))  // frequency of timers peripherals
@@ -52,19 +52,18 @@ typedef uint32_t hal_timer_t;
  #define MF_TIMER_TONE         6  // index of timer to use for beeper tones
 #endif

-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency

-#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                        // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000)                      // stepper timer ticks per µs
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs
 #define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)

-#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                                    // frequency of pulse timer
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
 #define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US

-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)

 #define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
@@ -127,4 +126,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }

-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -66,7 +66,7 @@

 #include <U8glib-HAL.h>

-#if ENABLED(FYSETC_MINI_12864)
+#if U8G_SPI_USE_MODE_3
  #define SPISEND_SW_DUE u8g_spiSend_sw_DUE_mode_3
 #else
  #define SPISEND_SW_DUE u8g_spiSend_sw_DUE_mode_0
@@ -96,15 +96,15 @@ uint8_t u8g_com_HAL_DUE_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
      break;

    case U8G_COM_MSG_CHIP_SELECT:
-      #if ENABLED(FYSETC_MINI_12864)           // LCD SPI is running mode 3 while SD card is running mode 0
-        if (arg_val) {                        //   SCK idle state needs to be set to the proper idle state before
-                                               //   the next chip select goes active
-          u8g_SetPILevel_DUE(u8g, U8G_PI_SCK, 1);  //set SCK to mode 3 idle state before CS goes active
+      #if U8G_SPI_USE_MODE_3                        // LCD SPI is running mode 3 while SD card is running mode 0
+        if (arg_val) {                              // SCK idle state needs to be set to the proper idle state before
+                                                    //  the next chip select goes active
+          u8g_SetPILevel_DUE(u8g, U8G_PI_SCK, 1);   // Set SCK to mode 3 idle state before CS goes active
          u8g_SetPILevel_DUE(u8g, U8G_PI_CS, LOW);
        }
        else {
          u8g_SetPILevel_DUE(u8g, U8G_PI_CS, HIGH);
-          u8g_SetPILevel_DUE(u8g, U8G_PI_SCK, 0); //set SCK to mode 0 idle state after CS goes inactive
+          u8g_SetPILevel_DUE(u8g, U8G_PI_SCK, 0);   // Set SCK to mode 0 idle state after CS goes inactive
        }
      #else
        u8g_SetPILevel_DUE(u8g, U8G_PI_CS, !arg_val);
@@ -11,7 +11,7 @@ if pioutil.is_pio_build():

    if current_OS == 'Windows':

-        Import("env")
+        env = pioutil.env

        # Use bossac.exe on Windows
        env.Replace(
@@ -0,0 +1,5 @@
+# editorconfig.org
+
+[{*.c,*.cpp,*.h}]
+indent_style = tab
+indent_size = 4
@@ -63,8 +63,8 @@
 #include "compiler.h"
 #include "preprocessor.h"
 #ifdef FREERTOS_USED
-#include "FreeRTOS.h"
-#include "semphr.h"
+#include <FreeRTOS.h>
+#include <semphr.h>
 #endif
 #include "ctrl_access.h"

@@ -18,30 +18,29 @@ extern "C" {
 void sd_mmc_spi_mem_init() {
 }

-Ctrl_status sd_mmc_spi_test_unit_ready() {
-  #ifdef DISABLE_DUE_SD_MMC
-    return CTRL_NO_PRESENT;
-  #endif
-  if (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted())
-    return CTRL_NO_PRESENT;
-  return CTRL_GOOD;
-}
-
-// NOTE: This function is defined as returning the address of the last block
-// in the card, which is cardSize() - 1
-Ctrl_status sd_mmc_spi_read_capacity(uint32_t *nb_sector) {
-  if (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted())
-    return CTRL_NO_PRESENT;
-  *nb_sector = card.diskIODriver()->cardSize() - 1;
-  return CTRL_GOOD;
+inline bool media_ready() {
+  return card.isMounted() && card.isInserted() && !card.isFileOpen() && !card.isStillPrinting();
 }

 bool sd_mmc_spi_unload(bool) { return true; }

 bool sd_mmc_spi_wr_protect() { return false; }

-bool sd_mmc_spi_removal() {
-  return (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted());
+bool sd_mmc_spi_removal() { return !media_ready(); }
+
+Ctrl_status sd_mmc_spi_test_unit_ready() {
+  #if ENABLED(DISABLE_DUE_SD_MMC)
+    return CTRL_NO_PRESENT;
+  #endif
+  return sd_mmc_spi_removal() ? CTRL_NO_PRESENT : CTRL_GOOD;
+}
+
+// NOTE: This function is defined as returning the address of the last block
+// in the card, which is cardSize() - 1
+Ctrl_status sd_mmc_spi_read_capacity(uint32_t *nb_sector) {
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;
+  *nb_sector = card.diskIODriver()->cardSize() - 1;
+  return CTRL_GOOD;
 }

 #if ACCESS_USB == true
@@ -58,11 +57,11 @@ uint8_t sector_buf[SD_MMC_BLOCK_SIZE];
 // #define DEBUG_MMC

 Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector) {
-  #ifdef DISABLE_DUE_SD_MMC
+  #if ENABLED(DISABLE_DUE_SD_MMC)
    return CTRL_NO_PRESENT;
  #endif
-  if (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted())
-    return CTRL_NO_PRESENT;
+
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;

  #ifdef DEBUG_MMC
  {
@@ -98,11 +97,11 @@ Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector) {
 }

 Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector) {
-  #ifdef DISABLE_DUE_SD_MMC
+  #if ENABLED(DISABLE_DUE_SD_MMC)
    return CTRL_NO_PRESENT;
  #endif
-  if (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted())
-    return CTRL_NO_PRESENT;
+
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;

  #ifdef DEBUG_MMC
  {
@@ -74,7 +74,7 @@
 //!
 //! @brief This function initializes the hw/sw resources required to drive the SD_MMC_SPI.
 //!/
-extern void           sd_mmc_spi_mem_init(void);
+void sd_mmc_spi_mem_init();

 //!
 //! @brief This function tests the state of the SD_MMC memory and sends it to the Host.
@@ -87,7 +87,7 @@ extern void           sd_mmc_spi_mem_init(void);
 //!   Media not present    ->    CTRL_NO_PRESENT
 //!   Media has changed    ->    CTRL_BUSY
 //!/
-extern Ctrl_status    sd_mmc_spi_test_unit_ready(void);
+Ctrl_status sd_mmc_spi_test_unit_ready();

 //!
 //! @brief This function gives the address of the last valid sector.
@@ -98,7 +98,7 @@ extern Ctrl_status    sd_mmc_spi_test_unit_ready(void);
 //!   Media ready          ->  CTRL_GOOD
 //!   Media not present    ->  CTRL_NO_PRESENT
 //!/
-extern Ctrl_status    sd_mmc_spi_read_capacity(uint32_t *nb_sector);
+Ctrl_status sd_mmc_spi_read_capacity(uint32_t *nb_sector);

 /*! \brief Unload/Load the SD/MMC card selected
 *
@@ -109,7 +109,7 @@ extern Ctrl_status    sd_mmc_spi_read_capacity(uint32_t *nb_sector);
 *
 * \return \c true if unload/load done success.
 */
-extern bool sd_mmc_spi_unload(bool unload);
+bool sd_mmc_spi_unload(bool unload);

 //!
 //! @brief This function returns the write protected status of the memory.
@@ -120,14 +120,14 @@ extern bool sd_mmc_spi_unload(bool unload);
 //!
 //! @return false  -> the memory is not write-protected (always)
 //!/
-extern bool           sd_mmc_spi_wr_protect(void);
+bool sd_mmc_spi_wr_protect();

 //!
 //! @brief This function tells if the memory has been removed or not.
 //!
 //! @return false  -> The memory isn't removed
 //!
-extern bool           sd_mmc_spi_removal(void);
+bool sd_mmc_spi_removal();

 //---- ACCESS DATA FUNCTIONS ----

@@ -147,7 +147,7 @@ extern bool           sd_mmc_spi_removal(void);
 //!   It is ready    ->    CTRL_GOOD
 //!   A error occur  ->    CTRL_FAIL
 //!
-extern Ctrl_status    sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector);
+Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector);

 //! This function initializes the SD/MMC memory for a write operation
 //!
@@ -161,7 +161,7 @@ extern Ctrl_status    sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector);
 //!   It is ready    ->    CTRL_GOOD
 //!   An error occurs  ->    CTRL_FAIL
 //!
-extern Ctrl_status    sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector);
+Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector);

 #endif // #if ACCESS_USB == true

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

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

 		if (UDD_ENDPOINT_MAX_TRANS < next_trans) {
@@ -34,13 +34,13 @@

 #if ENABLED(WIFISUPPORT)
  #include <ESPAsyncWebServer.h>
-  #include "wifi.h"
+  #include "wifi/wifi.h"
  #if ENABLED(OTASUPPORT)
-    #include "ota.h"
+    #include "wifi/ota.h"
  #endif
  #if ENABLED(WEBSUPPORT)
-    #include "spiffs.h"
-    #include "web.h"
+    #include "wifi/spiffs.h"
+    #include "wifi/web.h"
  #endif
 #endif

@@ -175,8 +175,6 @@ uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }

 void MarlinHAL::reboot() { ESP.restart(); }

-void _delay_ms(const int ms) { delay(ms); }
-
 // return free memory between end of heap (or end bss) and whatever is current
 int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }

@@ -209,16 +207,17 @@ int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
 // ADC
 // ------------------------

-#define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
-
+// https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32/api-reference/peripherals/adc.html
 adc1_channel_t get_channel(int pin) {
  switch (pin) {
-    case 39: return ADC1_CHANNEL(39);
-    case 36: return ADC1_CHANNEL(36);
-    case 35: return ADC1_CHANNEL(35);
-    case 34: return ADC1_CHANNEL(34);
-    case 33: return ADC1_CHANNEL(33);
-    case 32: return ADC1_CHANNEL(32);
+    case 39: return ADC1_CHANNEL_3;
+    case 36: return ADC1_CHANNEL_0;
+    case 35: return ADC1_CHANNEL_7;
+    case 34: return ADC1_CHANNEL_6;
+    case 33: return ADC1_CHANNEL_5;
+    case 32: return ADC1_CHANNEL_4;
+    case 37: return ADC1_CHANNEL_1;
+    case 38: return ADC1_CHANNEL_2;
  }
  return ADC1_CHANNEL_MAX;
 }
@@ -243,12 +242,13 @@ void MarlinHAL::adc_init() {
  TERN_(HAS_TEMP_ADC_5,        adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
  TERN_(HAS_TEMP_ADC_6,        adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
  TERN_(HAS_TEMP_ADC_7,        adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_HEATED_BED,        adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_CHAMBER,      adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_PROBE,        adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_COOLER,       adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_BOARD,        adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
-  TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_BED,      adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_CHAMBER,  adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_PROBE,    adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_COOLER,   adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_BOARD,    adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_FILWIDTH_ADC,      adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_FILWIDTH2_ADC,     adc1_set_attenuation(get_channel(FILWIDTH2_PIN), ADC_ATTEN_11db));

  // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
  // That's why we're not setting it up here.
@@ -271,7 +271,8 @@ void MarlinHAL::adc_start(const pin_t pin) {
  uint32_t mv;
  esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);

-  adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);
+  static constexpr uint32_t adc_divisor = uint32_t((ADC_REFERENCE_VOLTAGE) * 1000UL);
+  adc_result = (mv * 1023UL) / adc_divisor;

  // Change the attenuation level based on the new reading
  adc_atten_t atten;
@@ -37,11 +37,11 @@
 #include "i2s.h"

 #if ENABLED(WIFISUPPORT)
-  #include "WebSocketSerial.h"
+  #include "wifi/WebSocketSerial.h"
 #endif

 #if ENABLED(ESP3D_WIFISUPPORT)
-  #include "esp3dlib.h"
+  #include <esp3dlib.h>
 #endif

 #include "FlushableHardwareSerial.h"
@@ -64,10 +64,10 @@
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&hal.spinlock)

 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
-#define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
-#define PWM_RESOLUTION   10u   // Default PWM bit resolution
-#define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
-#define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
+#define PWM_FREQUENCY  1000U   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+#define PWM_RESOLUTION   10U   // Default PWM bit resolution
+#define CHANNEL_MAX_NUM  15U   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
+#define MAX_PWM_IOPIN    33U   // hardware pwm pins < 34
 #ifndef MAX_EXPANDER_BITS
  #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
 #endif
@@ -76,7 +76,6 @@
 // Types
 // ------------------------

-typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
 typedef int16_t pin_t;

 typedef struct pwm_pin {
@@ -165,8 +164,6 @@ int freeMemory();

 #pragma GCC diagnostic pop

-void _delay_ms(const int ms);
-
 // ------------------------
 // MarlinHAL Class
 // ------------------------
@@ -194,9 +191,9 @@ public:
  static void isr_on()  { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); }
  static void isr_off() { portENTER_CRITICAL(&spinlock); }

-  static void delay_ms(const int ms) { _delay_ms(ms); }
+  static void delay_ms(const int ms) { delay(ms); }

-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
  static void idletask();

  // Reset
@@ -35,7 +35,7 @@ Servo::Servo() {}

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

@@ -24,7 +24,7 @@

 /**
 * Description: Tone function for ESP32
- * Derived from https://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
+ * Derived from https://forum.arduino.cc/t/arduino-due-and-tone/133302/13
 */

 #ifdef ARDUINO_ARCH_ESP32
@@ -59,6 +59,7 @@ void setup_endstop_interrupts() {
  TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
  TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
  TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
  TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
  TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
  TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));
@@ -37,6 +37,10 @@
 // Set pin as output
 #define _SET_OUTPUT(IO)         pinMode(IO, OUTPUT)

+// TODO: Store set modes in an array and use those to get the mode
+#define _IS_OUTPUT(IO)           true
+#define _IS_INPUT(IO)            true
+
 // Set pin as input with pullup mode
 #define _PULLUP(IO, v)          pinMode(IO, v ? INPUT_PULLUP : INPUT)

@@ -70,6 +74,9 @@
 // Set pin as output and init
 #define OUT_WRITE(IO,V)         do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)

+#define IS_OUTPUT(IO)            _IS_OUTPUT(IO)
+#define IS_INPUT(IO)             _IS_INPUT(IO)
+
 // digitalRead/Write wrappers
 #define extDigitalRead(IO)      digitalRead(IO)
 #define extDigitalWrite(IO,V)   digitalWrite(IO,V)
@@ -145,49 +145,54 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
 void stepperTask(void *parameter) {
  uint32_t nextMainISR = 0;
  #if ENABLED(LIN_ADVANCE)
-    uint32_t nextAdvanceISR = Stepper::LA_ADV_NEVER;
+    uint32_t nextAdvanceISR = stepper.LA_ADV_NEVER;
  #endif

  for (;;) {
    xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
    dma.rw_pos = 0;

-    const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.mode);
+    const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.active);

    while (dma.rw_pos < DMA_SAMPLE_COUNT) {

-      #if ENABLED(FT_MOTION)
+      if (using_ftMotion) {

-        if (using_ftMotion) {
+        #if ENABLED(FT_MOTION)
          if (!nextMainISR) stepper.ftMotion_stepper();
          nextMainISR = 0;
-        }
+        #endif

-      #endif
+      }
+      else {

-      if (!using_ftMotion) {
-        if (!nextMainISR) {
-          Stepper::pulse_phase_isr();
-          nextMainISR = Stepper::block_phase_isr();
-        }
-        #if ENABLED(LIN_ADVANCE)
-          else if (!nextAdvanceISR) {
-            Stepper::advance_isr();
-            nextAdvanceISR = Stepper::la_interval;
+        #if HAS_STANDARD_MOTION
+
+          if (!nextMainISR) {
+            stepper.pulse_phase_isr();
+            nextMainISR = stepper.block_phase_isr();
          }
-        #endif
-        else
-          i2s_push_sample();
+          #if ENABLED(LIN_ADVANCE)
+            else if (!nextAdvanceISR) {
+              stepper.advance_isr();
+              nextAdvanceISR = stepper.la_interval;
+            }
+          #endif
+          else
+            i2s_push_sample();

-        nextMainISR--;
+          nextMainISR--;

-        #if ENABLED(LIN_ADVANCE)
-          if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
-            nextAdvanceISR = Stepper::la_interval;
+          #if ENABLED(LIN_ADVANCE)
+            if (nextAdvanceISR == stepper.LA_ADV_NEVER)
+              nextAdvanceISR = stepper.la_interval;
+
+            if (nextAdvanceISR && nextAdvanceISR != stepper.LA_ADV_NEVER)
+              nextAdvanceISR--;
+          #endif
+
+        #endif // HAS_STANDARD_MOTION

-          if (nextAdvanceISR && nextAdvanceISR != Stepper::LA_ADV_NEVER)
-            nextAdvanceISR--;
-        #endif
      }
    }
  }
@@ -57,7 +57,7 @@
 #endif

 #if ALL(I2S_STEPPER_STREAM, LIN_ADVANCE) && DISABLED(EXPERIMENTAL_I2S_LA)
-  #error "I2S stream is currently incompatible with LIN_ADVANCE."
+  #error "I2S stream is currently incompatible with LIN_ADVANCE. Enable EXPERIMENTAL_I2S_LA to proceed anyway."
 #endif

 #if ALL(I2S_STEPPER_STREAM, PRINTCOUNTER) && PRINTCOUNTER_SAVE_INTERVAL > 0 && DISABLED(PRINTCOUNTER_SYNC)
@@ -0,0 +1,71 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#error "PINS_DEBUGGING is not yet supported for ESP32!"
+
+/**
+ * Pins Debugging for ESP32
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
+ */
+
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin
+
+#define digitalRead_mod(P) extDigitalRead(P)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%02d"), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(x) pin_array[x].pin
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
+#define isValidPin(P) (P >= 0 && P < pin_t(NUMBER_PINS_TOTAL))
+#define digitalPinToAnalogIndex(P) int(P - analogInputToDigitalPin(0))
+#define isAnalogPin(P) WITHIN(P, pin_t(analogInputToDigitalPin(0)), pin_t(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
+bool pwm_status(const pin_t) { return false; }
+
+void printPinPort(const pin_t) {}
+
+static bool getValidPinMode(const pin_t pin) {
+  return isValidPin(pin) && !IS_INPUT(pin);
+}
+
+void printPinPWM(const int32_t pin) {
+  if (pwm_status(pin)) {
+    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
+    //SERIAL_ECHOPGM("PWM = ", duty);
+  }
+}
@@ -21,7 +21,16 @@
 */
 #pragma once

-#define SD_SS_PIN   SDSS
-#define SD_SCK_PIN  18
-#define SD_MISO_PIN 19
-#define SD_MOSI_PIN 23
+#define PIN_SPI_SCK  18
+#define PIN_SPI_MISO 19
+#define PIN_SPI_MOSI 23
+
+#ifndef SD_SCK_PIN
+  #define SD_SCK_PIN  PIN_SPI_SCK
+#endif
+#ifndef SD_MISO_PIN
+  #define SD_MISO_PIN PIN_SPI_MISO
+#endif
+#ifndef SD_MOSI_PIN
+  #define SD_MOSI_PIN PIN_SPI_MOSI
+#endif
@@ -78,8 +78,8 @@ void IRAM_ATTR timer_isr(void *para) {

 /**
 * Enable and initialize the timer
- * @param timer_num timer number to initialize
- * @param frequency frequency of the timer
+ * @param timer_num   timer number to initialize
+ * @param frequency   frequency of the timer
 */
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  const tTimerConfig timer = timer_config[timer_num];
@@ -90,7 +90,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  config.counter_en  = TIMER_PAUSE;
  config.alarm_en    = TIMER_ALARM_EN;
  config.intr_type   = TIMER_INTR_LEVEL;
-  config.auto_reload = true;
+  config.auto_reload = TIMER_AUTORELOAD_EN;

  // Select and initialize the timer
  timer_init(timer.group, timer.idx, &config);
@@ -30,42 +30,45 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT64_MAX)

 #ifndef MF_TIMER_STEP
  #define MF_TIMER_STEP         0  // Timer Index for Stepper
 #endif
 #ifndef MF_TIMER_PULSE
-  #define MF_TIMER_PULSE        MF_TIMER_STEP
+  #define MF_TIMER_PULSE        MF_TIMER_STEP // Timer Index for Pulse interval
 #endif
 #ifndef MF_TIMER_TEMP
  #define MF_TIMER_TEMP         1  // Timer Index for Temperature
 #endif
 #ifndef MF_TIMER_PWM
-  #define MF_TIMER_PWM          2  // index of timer to use for PWM outputs
+  #define MF_TIMER_PWM          2  // Timer Index for PWM outputs
 #endif
 #ifndef MF_TIMER_TONE
-  #define MF_TIMER_TONE         3  // index of timer for beeper tones
+  #define MF_TIMER_TONE         3  // Timer Index for beeper tones
 #endif

-#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
+#define HAL_TIMER_RATE APB_CLK_FREQ // Frequency of timer peripherals
+
+#define TEMP_TIMER_PRESCALE    1000 // Prescaler for setting Temp Timer, 72Khz
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency

 #if ENABLED(I2S_STEPPER_STREAM)
  #define STEPPER_TIMER_PRESCALE     1
-  #define STEPPER_TIMER_RATE         250000                           // 250khz, 4µs pulses of i2s word clock
-  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs // wrong would be 0.25
+  #define STEPPER_TIMER_RATE         250'000    // 250khz, 4µs pulses of i2s word clock
+  #define STEPPER_TIMER_TICKS_PER_US 0.25       // (MHz) Stepper Timer ticks per µs
 #else
  #define STEPPER_TIMER_PRESCALE     40
-  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)) // frequency of stepper timer, 2MHz
-  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)              // stepper timer ticks per µs
+  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE))  // (Hz) Frequency of Stepper Timer ISR, 2MHz
+  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1'000'000UL)           // (MHz) Stepper Timer ticks per µs
 #endif

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

-#define TONE_TIMER_PRESCALE    1000 // Arbitrary value, no idea what i'm doing here
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE

-#define TEMP_TIMER_PRESCALE    1000 // prescaler for setting Temp timer, 72Khz
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TONE_TIMER_PRESCALE    1000 // Arbitrary value, no idea what i'm doing here

 #define PWM_TIMER_PRESCALE       10
 #if ENABLED(FAST_PWM_FAN)
@@ -75,13 +78,9 @@ typedef uint64_t hal_timer_t;
 #endif
 #define MAX_PWM_PINS             32 // Number of PWM pin-slots

-#define PULSE_TIMER_RATE         STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE     STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
-
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)

 #define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
@@ -136,5 +135,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
@@ -35,7 +35,7 @@
 #if HAS_MEDIA
  #include "../../sd/cardreader.h"
  #if ENABLED(ESP3D_WIFISUPPORT)
-    #include "sd_ESP32.h"
+    #include <sd_ESP32.h>
  #endif
 #endif

@@ -21,7 +21,7 @@
 */
 #ifdef ARDUINO_ARCH_ESP32

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

 #if ENABLED(WIFISUPPORT)

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

-#include "../../inc/MarlinConfig.h"
-#include "../../core/serial_hook.h"
+#include "../../../inc/MarlinConfig.h"
+#include "../../../core/serial_hook.h"

 #include <Stream.h>

@@ -22,11 +22,15 @@

 #ifdef ARDUINO_ARCH_ESP32

-#include "../../inc/MarlinConfigPre.h"
+#include <WiFi.h>
+
+#undef ENABLED
+#undef DISABLED
+
+#include "../../../inc/MarlinConfigPre.h"

 #if ALL(WIFISUPPORT, OTASUPPORT)

-#include <WiFi.h>
 #include <ESPmDNS.h>
 #include <WiFiUdp.h>
 #include <ArduinoOTA.h>
@@ -21,11 +21,11 @@
 */
 #ifdef ARDUINO_ARCH_ESP32

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

 #if ALL(WIFISUPPORT, WEBSUPPORT)

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

 #include <FS.h>
 #include <SPIFFS.h>
@@ -21,11 +21,11 @@
 */
 #ifdef ARDUINO_ARCH_ESP32

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

 #if ALL(WIFISUPPORT, WEBSUPPORT)

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

 #undef DISABLED  // esp32-hal-gpio.h
 #include <SPIFFS.h>
@@ -21,11 +21,12 @@
 */
 #ifdef ARDUINO_ARCH_ESP32

-#include "../../core/serial.h"
-#include "../../inc/MarlinConfigPre.h"
+#include "../../../inc/MarlinConfigPre.h"

 #if ENABLED(WIFISUPPORT)

+#include "../../../core/serial.h"
+
 #include <WiFi.h>
 #include <ESPmDNS.h>
 #include <ESPAsyncWebServer.h>
@@ -0,0 +1,123 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../platforms.h"
+
+#ifdef ARDUINO_ARCH_MFL
+
+#include "../../inc/MarlinConfig.h"
+#include "../shared/Delay.h"
+
+uint16_t MarlinHAL::adc_result;
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  extern void install_min_serial();
+#endif
+
+#if ENABLED(MARLIN_DEV_MODE)
+  // Dump the clock frequencies of the system, AHB, APB1, APB2, and F_CPU.
+  static inline void HAL_clock_frequencies_dump() {
+    auto& rcuInstance = rcu::RCU::get_instance();
+    uint32_t freq = rcuInstance.get_clock_frequency(rcu::Clock_Frequency::CK_SYS);
+    SERIAL_ECHOPGM("\nSYSTEM_CLOCK=", freq);
+    freq = rcuInstance.get_clock_frequency(rcu::Clock_Frequency::CK_AHB);
+    SERIAL_ECHOPGM("\nABH_CLOCK=", freq);
+    freq = rcuInstance.get_clock_frequency(rcu::Clock_Frequency::CK_APB1);
+    SERIAL_ECHOPGM("\nAPB1_CLOCK=", freq);
+    freq = rcuInstance.get_clock_frequency(rcu::Clock_Frequency::CK_APB2);
+    SERIAL_ECHOPGM("\nAPB2_CLOCK=", freq,
+    "\nF_CPU=", F_CPU);
+    // Done
+    SERIAL_ECHOPGM("\n--\n");
+  }
+#endif  // MARLIN_DEV_MODE
+
+// Initializes the Marlin HAL
+void MarlinHAL::init() {
+  // Ensure F_CPU is a constant expression.
+  // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
+  // So better safe than sorry here.
+  constexpr unsigned int cpuFreq = F_CPU;
+  UNUSED(cpuFreq);
+
+  #if PIN_EXISTS(LED)
+    OUT_WRITE(LED_PIN, LOW);
+  #endif
+
+  SetTimerInterruptPriorities();
+
+  // Print clock frequencies to host serial
+  TERN_(MARLIN_DEV_MODE, HAL_clock_frequencies_dump());
+
+  // Register min serial
+  TERN_(POSTMORTEM_DEBUGGING, install_min_serial());
+}
+
+// Returns the reset source based on the flags set in the RCU module
+uint8_t MarlinHAL::get_reset_source() {
+  return
+    (RCU_I.get_flag(rcu::Status_Flags::FLAG_FWDGTRST)) ? RST_WATCHDOG :
+    (RCU_I.get_flag(rcu::Status_Flags::FLAG_SWRST)) ? RST_SOFTWARE :
+    (RCU_I.get_flag(rcu::Status_Flags::FLAG_EPRST)) ? RST_EXTERNAL :
+    (RCU_I.get_flag(rcu::Status_Flags::FLAG_PORRST)) ? RST_POWER_ON :
+    (RCU_I.get_flag(rcu::Status_Flags::FLAG_LPRST)) ? RST_BROWN_OUT :
+    0;
+}
+
+// Returns the amount of free memory available in bytes
+int MarlinHAL::freeMemory() {
+  volatile char top;
+  return &top - reinterpret_cast<char*>(_sbrk(0));
+}
+
+// Watchdog Timer
+#if ENABLED(USE_WATCHDOG)
+  #define WDT_TIMEOUT_US  TERN(WATCHDOG_DURATION_8S, 8000000, 4000000)  // 4 or 8 second timeout
+
+  #include <FWatchdogTimer.h>
+
+  FWatchdogTimer& watchdogTimer = FWatchdogTimer::get_instance();
+
+  // Initializes the watchdog timer
+  void MarlinHAL::watchdog_init() {
+    IF_DISABLED(DISABLE_WATCHDOG_INIT, watchdogTimer.begin(WDT_TIMEOUT_US));
+  }
+
+  // Refreshes the watchdog timer to prevent system reset
+  void MarlinHAL::watchdog_refresh() {
+    watchdogTimer.reload();
+    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+      TOGGLE(LED_PIN);  // Heartbeat indicator
+    #endif
+  }
+#endif
+
+extern "C" {
+  extern unsigned int _ebss;  // End of bss section
+}
+
+// Resets the system to initiate a firmware flash.
+WEAK void flashFirmware(const int16_t) {
+  hal.reboot();
+}
+
+#endif // ARDUINO_ARCH_MFL
@@ -0,0 +1,159 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#define CPU_32_BIT
+
+#include "../../core/macros.h"
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+
+#include "temp_soc.h"
+#include "fastio.h"
+#include "Servo.h"
+
+#include "../../inc/MarlinConfigPre.h"
+
+#include <stdint.h>
+#include <GPIO.hpp>
+#include <AFIO.hpp>
+
+// Default graphical display delays
+#define CPU_ST7920_DELAY_1 300
+#define CPU_ST7920_DELAY_2  40
+#define CPU_ST7920_DELAY_3 340
+
+// Serial Ports
+#include "MarlinSerial.h"
+
+// Interrupts
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
+
+#define cli() __disable_irq()
+#define sei() __enable_irq()
+
+// Alias of __bss_end__
+#define __bss_end __bss_end__
+
+// Types
+typedef uint8_t pin_t;      // Parity with mfl platform
+
+// Servo
+class libServo;
+typedef libServo hal_servo_t;
+#define PAUSE_SERVO_OUTPUT()  libServo::pause_all_servos()
+#define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()
+
+// Debugging
+#define JTAG_DISABLE()    AFIO_I.set_remap(gpio::Pin_Remap_Select::SWJ_DP_ONLY_REMAP)
+#define JTAGSWD_DISABLE() AFIO_I.set_remap(gpio::Pin_Remap_Select::SWJ_ALL_DISABLED_REMAP)
+#define JTAGSWD_RESET()   AFIO_I.set_remap(gpio::Pin_Remap_Select::FULL_SWJ_REMAP)
+
+// ADC
+#ifdef ADC_RESOLUTION
+  #define HAL_ADC_RESOLUTION  ADC_RESOLUTION
+#else
+  #define HAL_ADC_RESOLUTION  12
+#endif
+
+#define HAL_ADC_VREF_MV   3300
+
+// Disable Marlin's software oversampling.
+// The MFL framework uses 16x hardware oversampling by default
+#ifdef GD32F303RE
+  #define HAL_ADC_FILTERED
+#endif
+
+#define GET_PIN_MAP_PIN(index)        index
+#define GET_PIN_MAP_INDEX(pin)        pin
+#define PARSED_PIN_INDEX(code, dval)  parser.intval(code, dval)
+
+#ifndef PLATFORM_M997_SUPPORT
+  #define PLATFORM_M997_SUPPORT
+#endif
+
+void flashFirmware(const int16_t);
+
+#define HAL_CAN_SET_PWM_FREQ    // This HAL supports PWM Frequency adjustment
+
+extern "C" char* _sbrk(int incr);
+extern "C" char* dtostrf(double val, signed char width, unsigned char prec, char* sout);
+
+// MarlinHAL Class
+class MarlinHAL {
+public:
+  // Before setup()
+  MarlinHAL() = default;
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();                             // called early in setup()
+  static void init_board() {}                     // called less early in setup()
+  static void reboot() { NVIC_SystemReset(); }    // restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on() { sei(); }
+  static void isr_off() { cli(); }
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() { RCU_I.clear_all_reset_flags(); }
+
+  // Free SRAM
+  static int freeMemory();
+
+  // ADC methods
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() { analogReadResolution(HAL_ADC_RESOLUTION); }
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) { pinMode(pin, INPUT); }
+
+  // Called from Temperature::isr to start ADC sampling on the given pin
+  static void adc_start(const pin_t pin) { adc_result = static_cast<uint16_t>(analogRead(pin)); }
+
+  // Check if ADC is ready for reading
+  static bool adc_ready() { return true; }
+
+  // Current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  // Set the PWM duty cycle for the pin to the given value.
+  // Optionally invert the duty cycle [default = false]
+  // Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255]
+  static void set_pwm_duty(const pin_t pin, const uint16_t value, const uint16_t scale = 255U, const bool invert = false);
+
+  // Set the frequency of the timer for the given pin.
+  // All Timer PWM pins run at the same frequency.
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <SPI.h>
+
+using MarlinSPI = SPIClass;
@@ -0,0 +1,97 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../platforms.h"
+
+#ifdef ARDUINO_ARCH_MFL
+
+#include "../../inc/MarlinConfig.h"
+#include "MarlinSerial.h"
+
+#if ENABLED(EMERGENCY_PARSER)
+  #include "../../feature/e_parser.h"
+#endif
+
+using namespace arduino;
+
+auto MarlinSerial::get_instance(usart::USART_Base Base, pin_size_t rxPin, pin_size_t txPin) -> MarlinSerial& {
+  auto& serial = UsartSerial::get_instance(Base, rxPin, txPin);
+  return *reinterpret_cast<MarlinSerial*>(&serial);
+}
+
+#if USING_HW_SERIAL0
+  MSerialT MSerial0(true, MarlinSerial::get_instance(usart::USART_Base::USART0_BASE, NO_PIN, NO_PIN));
+#endif
+#if USING_HW_SERIAL1
+  MSerialT MSerial1(true, MarlinSerial::get_instance(usart::USART_Base::USART1_BASE, NO_PIN, NO_PIN));
+#endif
+#if USING_HW_SERIAL2
+  MSerialT MSerial2(true, MarlinSerial::get_instance(usart::USART_Base::USART2_BASE, NO_PIN, NO_PIN));
+#endif
+#if USING_HW_SERIAL3
+  MSerialT MSerial3(true, MarlinSerial::get_instance(usart::USART_Base::UART3_BASE, NO_PIN, NO_PIN));
+#endif
+#if USING_HW_SERIAL4
+  MSerialT MSerial4(true, MarlinSerial::get_instance(usart::USART_Base::UART4_BASE, NO_PIN, NO_PIN));
+#endif
+
+#if ENABLED(EMERGENCY_PARSER)
+  // This callback needs to access the specific MarlinSerial instance
+  // We'll use a static pointer to track the current instance
+  static MarlinSerial* current_serial_instance = nullptr;
+
+  static void emergency_callback() {
+    if (!current_serial_instance) return;
+    const auto last_data = current_serial_instance->get_last_data();
+    emergency_parser.update(current_serial_instance->emergency_state, last_data);
+  }
+
+  void MarlinSerial::register_emergency_callback(void (*callback)()) {
+    usart_.register_interrupt_callback(usart::Interrupt_Type::INTR_RBNEIE, callback);
+  }
+#endif
+
+void MarlinSerial::begin(unsigned long baudrate, uint16_t config) {
+  UsartSerial::begin(baudrate, config, ENABLED(SERIAL_DMA));
+  #if ENABLED(EMERGENCY_PARSER) && DISABLED(SERIAL_DMA)
+    current_serial_instance = this;
+    register_emergency_callback(emergency_callback);
+  #endif
+}
+
+void MarlinSerial::updateRxDmaBuffer() {
+  #if ENABLED(EMERGENCY_PARSER)
+    // Get the number of bytes available in the receive buffer
+    const size_t available_bytes = usart_.available_for_read(true);
+
+    // Process only the available data
+    for (size_t i = 0; i < available_bytes; ++i) {
+      uint8_t data;
+      if (usart_.read_rx_buffer(data))
+        emergency_parser.update(emergency_state, data);
+    }
+  #endif
+  // Call the base class implementation to handle any additional updates
+  UsartSerial::updateRxDmaBuffer();
+}
+
+#endif // ARDUINO_ARCH_MFL
@@ -0,0 +1,75 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(EMERGENCY_PARSER)
+  #include "../../feature/e_parser.h"
+#endif
+
+#include <UsartSerial.hpp>
+
+#include "../../core/serial_hook.h"
+
+#define SERIAL_INDEX_MIN 0
+#define SERIAL_INDEX_MAX 4
+
+#include "../shared/serial_ports.h"
+
+#if defined(LCD_SERIAL_PORT) && ANY(HAS_DGUS_LCD, EXTENSIBLE_UI)
+  #define LCD_SERIAL_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite()
+#endif
+
+using namespace arduino;
+
+struct MarlinSerial : public UsartSerial {
+  static auto get_instance(usart::USART_Base Base, pin_size_t rxPin = NO_PIN, pin_size_t txPin = NO_PIN) -> MarlinSerial&;
+
+  void begin(unsigned long baudrate, uint16_t config);
+  inline void begin(unsigned long baudrate) { begin(baudrate, SERIAL_8N1); }
+  void updateRxDmaBuffer();
+
+  #if DISABLED(SERIAL_DMA)
+    FORCE_INLINE static uint8_t buffer_overruns() { return 0; }
+  #endif
+
+  #if ENABLED(EMERGENCY_PARSER)
+    EmergencyParser::State emergency_state;
+
+    // Accessor method to get the last received byte
+    auto get_last_data() -> uint8_t { return usart_.get_last_data(); }
+
+    // Register the emergency callback
+    void register_emergency_callback(void (*callback)());
+  #endif
+
+protected:
+  using UsartSerial::UsartSerial;
+};
+
+typedef Serial1Class<MarlinSerial> MSerialT;
+extern MSerialT MSerial0;
+extern MSerialT MSerial1;
+extern MSerialT MSerial2;
+extern MSerialT MSerial3;
+extern MSerialT MSerial4;
@@ -0,0 +1,163 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef ARDUINO_ARCH_MFL
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+#include "../shared/MinSerial.h"
+
+// Base addresses for USART peripherals
+static constexpr uintptr_t USART_base[] = {
+  0x40013800, // USART0
+  0x40004400, // USART1
+  0x40004800, // USART2
+  0x40004C00, // UART3
+  0x40005000  // UART4
+};
+
+// Register offsets
+static constexpr uint32_t STAT0_OFFSET = 0x00U;
+static constexpr uint32_t DATA_OFFSET = 0x04U;
+static constexpr uint32_t BAUD_OFFSET = 0x08U;
+static constexpr uint32_t CTL0_OFFSET = 0x0CU;
+static constexpr uint32_t CTL1_OFFSET = 0x14U;
+
+// Bit positions
+static constexpr uint32_t TBE_BIT = 7;
+static constexpr uint32_t TEN_BIT = 3;
+static constexpr uint32_t UEN_BIT = 13;
+
+// NVIC interrupt numbers for USART
+static constexpr int nvicUART[] = { 37, 38, 39, 52, 53 };
+
+// RCU PCLK values for USART
+static constexpr rcu::RCU_PCLK clockRegs[] = {
+  rcu::RCU_PCLK::PCLK_USART0,
+  rcu::RCU_PCLK::PCLK_USART1,
+  rcu::RCU_PCLK::PCLK_USART2,
+  rcu::RCU_PCLK::PCLK_UART3,
+  rcu::RCU_PCLK::PCLK_UART4
+};
+
+// Memory barrier instructions
+#define isb() __asm__ __volatile__ ("isb" : : : "memory")
+#define dsb() __asm__ __volatile__ ("dsb" : : : "memory")
+#define sw_barrier() __asm__ volatile("" : : : "memory")
+
+// Direct register access macros
+#define USART_REG(offset) (*(volatile uint32_t*)(USART_base[SERIAL_PORT] + (offset)))
+#define USART_STAT0 USART_REG(STAT0_OFFSET)
+#define USART_DATA  USART_REG(DATA_OFFSET)
+#define USART_BAUD  USART_REG(BAUD_OFFSET)
+#define USART_CTL0  USART_REG(CTL0_OFFSET)
+#define USART_CTL1  USART_REG(CTL1_OFFSET)
+
+// Bit manipulation macros
+#define READ_BIT(reg, bit) (((reg) >> (bit)) & 1U)
+#define SET_BIT(reg, bit) ((reg) |= (1U << (bit)))
+#define CLEAR_BIT(reg, bit) ((reg) &= ~(1U << (bit)))
+
+// Initializes the MinSerial interface.
+// This function sets up the USART interface for serial communication.
+// If the selected serial port is not a hardware port, it disables the severe error reporting feature.
+static void MinSerialBegin() {
+  #if !WITHIN(SERIAL_PORT, 0, 4)
+    #warning "Using POSTMORTEM_DEBUGGING requires a physical U(S)ART hardware in case of severe error."
+    #warning "Disabling the severe error reporting feature currently because the used serial port is not a HW port."
+  #else
+    int nvicIndex = nvicUART[SERIAL_PORT];
+
+    // NVIC base address for interrupt disable
+    struct NVICMin {
+      volatile uint32_t ISER[32];
+      volatile uint32_t ICER[32];
+    };
+    NVICMin *nvicBase = (NVICMin*)0xE000E100;
+
+    SBI32(nvicBase->ICER[nvicIndex >> 5], nvicIndex & 0x1F);
+
+    // We require memory barriers to properly disable interrupts
+    // (https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the)
+    dsb();
+    isb();
+
+    // Get the RCU PCLK for this USART
+    rcu::RCU_PCLK pclk = clockRegs[SERIAL_PORT];
+
+    // Disable then enable usart peripheral clocks
+    rcu::RCU_DEVICE.set_pclk_enable(pclk, false);
+    rcu::RCU_DEVICE.set_pclk_enable(pclk, true);
+
+    // Save current baudrate
+    uint32_t baudrate = USART_BAUD;
+
+    // Reset USART control registers
+    USART_CTL0 = 0;
+    USART_CTL1 = 0; // 1 stop bit
+
+    // Restore baudrate
+    USART_BAUD = baudrate;
+
+    // Enable transmitter and USART (8 bits, no parity, 1 stop bit)
+    SET_BIT(USART_CTL0, TEN_BIT);
+    SET_BIT(USART_CTL0, UEN_BIT);
+  #endif
+}
+
+// Writes a single character to the serial port.
+static void MinSerialWrite(char c) {
+  #if WITHIN(SERIAL_PORT, 0, 4)
+    // Wait until transmit buffer is empty
+    while (!READ_BIT(USART_STAT0, TBE_BIT)) {
+      hal.watchdog_refresh();
+      sw_barrier();
+    }
+    // Write character to data register
+    USART_DATA = c;
+  #endif
+}
+
+// Installs the minimum serial interface.
+// Sets the HAL_min_serial_init and HAL_min_serial_out function pointers to MinSerialBegin and MinSerialWrite respectively.
+void install_min_serial() {
+  HAL_min_serial_init = &MinSerialBegin;
+  HAL_min_serial_out = &MinSerialWrite;
+}
+
+extern "C" {
+  // A low-level assembly-based jump handler.
+  // Unconditionally branches to the CommonHandler_ASM function.
+  __attribute__((naked, aligned(4))) void JumpHandler_ASM() {
+    __asm__ __volatile__ ("b CommonHandler_ASM\n");
+  }
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) HardFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) BusFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) UsageFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) MemManage_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) NMI_Handler();
+}
+
+#endif // POSTMORTEM_DEBUGGING
+#endif // ARDUINO_ARCH_MFL
@@ -0,0 +1,9 @@
+# Generic GD32 HAL based on the MFL Arduino Core
+
+This HAL is eventually intended to act as the generic HAL for all GD32 chips using the MFL library.
+
+Currently it supports:
+
+- GD32F303RET6
+
+Targeting the official [MFL Arduino Core](https://github.com/bnmguy/ArduinoCore_MFL).
--- a/Show More
+++ b/Show More