Initial Commit

Merge branch 'bugfix-2.0.x' of https://github.com/MarlinFirmware/Marlin into bugfix-2.0.x
🎨 Apply shorthand and cleanups
2021-05-25 09:21:30 -04:00 · 2021-05-23 15:06:33 -04:00 · 2021-05-23 03:04:36 -05:00 · 2021-05-23 03:04:36 -05:00 · 2021-05-23 03:04:31 -05:00 · 2021-05-23 01:15:23 +00:00
905 changed files with 15750 additions and 8244 deletions
@@ -4,10 +4,10 @@ root = true
 [{*.patch,syntax_test_*}]
 trim_trailing_whitespace = false

-[{*.c,*.cpp,*.h}]
+[{*.c,*.cpp,*.h,*.ino}]
 charset = utf-8

-[{*.c,*.cpp,*.h,Makefile}]
+[{*.c,*.cpp,*.h,*.ino,Makefile}]
 trim_trailing_whitespace = true
 insert_final_newline = true
 end_of_line = lf
@@ -72,6 +72,7 @@ jobs:

        # STM32 (ST) Environments

+        - STM32F103RC_btt_stm32
        - STM32F407VE_black
        - STM32F401VE_STEVAL
        - BIGTREE_BTT002
@@ -86,10 +87,12 @@ jobs:
        - FLYF407ZG
        - rumba32
        - LERDGEX
+        - LERDGEK
        - mks_robin_nano35_stm32
        - NUCLEO_F767ZI
        - REMRAM_V1
        - BTT_SKR_SE_BX
+        - chitu_f103

        # Put lengthy tests last

@@ -122,29 +122,6 @@ tags
 .gcc-flags.json
 /lib/

-# Workaround for Deviot+platformio quirks
-Marlin/lib
-Marlin/platformio.ini
-Marlin/*/platformio.ini
-Marlin/*/*/platformio.ini
-Marlin/*/*/*/platformio.ini
-Marlin/*/*/*/*/platformio.ini
-Marlin/.travis.yml
-Marlin/*/.travis.yml
-Marlin/*/*/.travis.yml
-Marlin/*/*/*/.travis.yml
-Marlin/*/*/*/*/.travis.yml
-Marlin/.gitignore
-Marlin/*/.gitignore
-Marlin/*/*/.gitignore
-Marlin/*/*/*/.gitignore
-Marlin/*/*/*/*/.gitignore
-Marlin/readme.txt
-Marlin/*/readme.txt
-Marlin/*/*/readme.txt
-Marlin/*/*/*/readme.txt
-Marlin/*/*/*/*/readme.txt
-
 # Secure Credentials
 Configuration_Secure.h

@@ -35,7 +35,7 @@
 *
 * Advanced settings can be found in Configuration_adv.h
 */
-#define CONFIGURATION_H_VERSION 020008
+#define CONFIGURATION_H_VERSION 02000801

 //===========================================================================
 //============================= Getting Started =============================
@@ -69,7 +69,7 @@
 // @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 "Insanity Automation" // Who made the changes.
 //#define CUSTOM_VERSION_FILE Version.h // Path from the root directory (no quotes)

 /**
@@ -105,14 +105,9 @@
 #define SERIAL_PORT 0

 /**
- * 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]
- */
-//#define SERIAL_PORT_2 -1
-
-/**
- * This setting determines the communication speed of the printer.
+ * Serial Port Baud Rate
+ * This is the default communication speed for all serial ports.
+ * Set the baud rate defaults for additional serial ports below.
 *
 * 250000 works in most cases, but you might try a lower speed if
 * you commonly experience drop-outs during host printing.
@@ -121,13 +116,30 @@
 * :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000]
 */
 #define BAUDRATE 250000
+//#define BAUD_RATE_GCODE     // Enable G-code M575 to set the baud rate
+
+/**
+ * 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]
+ */
+//#define SERIAL_PORT_2 -1
+//#define BAUDRATE_2 250000   // 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]
+ */
+//#define SERIAL_PORT_3 1
+//#define BAUDRATE_3 250000   // Enable to override BAUDRATE

 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH

 // Choose the name from boards.h that matches your setup
 #ifndef MOTHERBOARD
-  #define MOTHERBOARD BOARD_RAMPS_14_EFB
+  #define MOTHERBOARD BOARD_ORTUR_4
 #endif

 // Name displayed in the LCD "Ready" message and Info menu
@@ -417,7 +429,7 @@
 #define TEMP_SENSOR_5 0
 #define TEMP_SENSOR_6 0
 #define TEMP_SENSOR_7 0
-#define TEMP_SENSOR_BED 0
+#define TEMP_SENSOR_BED 1
 #define TEMP_SENSOR_PROBE 0
 #define TEMP_SENSOR_CHAMBER 0
 #define TEMP_SENSOR_COOLER 0
@@ -437,11 +449,11 @@
 //#define TEMP_SENSOR_1_AS_REDUNDANT
 #define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10

-#define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
-#define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer
+#define TEMP_RESIDENCY_TIME         5  // (seconds) Time to wait for hotend to "settle" in M109
+#define TEMP_WINDOW                  2  // (°C) Temperature proximity for the "temperature reached" timer
 #define TEMP_HYSTERESIS              3  // (°C) Temperature proximity considered "close enough" to the target

-#define TEMP_BED_RESIDENCY_TIME     10  // (seconds) Time to wait for bed to "settle" in M190
+#define TEMP_BED_RESIDENCY_TIME     5  // (seconds) Time to wait for bed to "settle" in M190
 #define TEMP_BED_WINDOW              1  // (°C) Temperature proximity for the "temperature reached" timer
 #define TEMP_BED_HYSTERESIS          3  // (°C) Temperature proximity considered "close enough" to the target

@@ -473,7 +485,7 @@
 #define HEATER_5_MAXTEMP 275
 #define HEATER_6_MAXTEMP 275
 #define HEATER_7_MAXTEMP 275
-#define BED_MAXTEMP      150
+#define BED_MAXTEMP      120
 #define CHAMBER_MAXTEMP  60

 /**
@@ -498,8 +510,8 @@
 #define PID_K1 0.95      // Smoothing factor within any PID loop

 #if ENABLED(PIDTEMP)
-  //#define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of PROGMEM)
-  //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM)
+  #define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of PROGMEM)
+  #define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM)
  //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
                                  // Set/get with gcode: M301 E[extruder number, 0-2]

@@ -533,7 +545,7 @@
 * heater. If your configuration is significantly different than this and you don't understand
 * the issues involved, don't use bed PID until someone else verifies that your hardware works.
 */
-//#define PIDTEMPBED
+#define PIDTEMPBED

 //#define BED_LIMIT_SWITCHING

@@ -551,9 +563,9 @@

  // 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_bedKp 87.23
+  #define DEFAULT_bedKi 13.31
+  #define DEFAULT_bedKd 381.14

  // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
 #endif // PIDTEMPBED
@@ -710,13 +722,13 @@
 #endif

 // Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
-#define X_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Y_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Z_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define X_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define Y_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define Z_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.
+#define Z_MIN_PROBE_ENDSTOP_INVERTING true // Set to true to invert the logic of the probe.

 /**
 * Stepper Drivers
@@ -799,14 +811,14 @@
 * Override with M92
 *                                      X, Y, Z, E0 [, E1[, E2...]]
 */
-#define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
+#define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 95 }

 /**
 * Default Max Feed Rate (mm/s)
 * Override with M203
 *                                      X, Y, Z, E0 [, E1[, E2...]]
 */
-#define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
+#define DEFAULT_MAX_FEEDRATE          { 500, 500, 10, 65 }

 //#define LIMITED_MAX_FR_EDITING        // Limit edit via M203 or LCD to DEFAULT_MAX_FEEDRATE * 2
 #if ENABLED(LIMITED_MAX_FR_EDITING)
@@ -819,7 +831,7 @@
 * Override with M201
 *                                      X, Y, Z, E0 [, E1[, E2...]]
 */
-#define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
+#define DEFAULT_MAX_ACCELERATION      { 2500, 2500, 18000, 8000 }

 //#define LIMITED_MAX_ACCEL_EDITING     // Limit edit via M201 or LCD to DEFAULT_MAX_ACCELERATION * 2
 #if ENABLED(LIMITED_MAX_ACCEL_EDITING)
@@ -834,8 +846,8 @@
 *   M204 R    Retract Acceleration
 *   M204 T    Travel Acceleration
 */
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  3000    // E acceleration for retracts
+#define DEFAULT_ACCELERATION          2000    // X, Y, Z and E acceleration for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  2000    // E acceleration for retracts
 #define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration for travel (non printing) moves

 /**
@@ -846,10 +858,10 @@
 * When changing speed and direction, if the difference is less than the
 * value set here, it may happen instantaneously.
 */
-//#define CLASSIC_JERK
+#define CLASSIC_JERK
 #if ENABLED(CLASSIC_JERK)
-  #define DEFAULT_XJERK 10.0
-  #define DEFAULT_YJERK 10.0
+  #define DEFAULT_XJERK 15.0
+  #define DEFAULT_YJERK 15.0
  #define DEFAULT_ZJERK  0.3

  //#define TRAVEL_EXTRA_XYJERK 0.0     // Additional jerk allowance for all travel moves
@@ -883,7 +895,7 @@
 *
 * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
 */
-//#define S_CURVE_ACCELERATION
+#define S_CURVE_ACCELERATION

 //===========================================================================
 //============================= Z Probe Options =============================
@@ -899,7 +911,7 @@
 * The probe replaces the Z-MIN endstop and is used for Z homing.
 * (Automatically enables USE_PROBE_FOR_Z_HOMING.)
 */
-#define Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
+//#define Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN

 // Force the use of the probe for Z-axis homing
 //#define USE_PROBE_FOR_Z_HOMING
@@ -934,13 +946,12 @@
 * or (with LCD_BED_LEVELING) the LCD controller.
 */
 //#define PROBE_MANUALLY
-//#define MANUAL_PROBE_START_Z 0.2

 /**
 * A Fix-Mounted Probe either doesn't deploy or needs manual deployment.
 *   (e.g., an inductive probe or a nozzle-based probe-switch.)
 */
-//#define FIX_MOUNTED_PROBE
+#define FIX_MOUNTED_PROBE

 /**
 * Use the nozzle as the probe, as with a conductive
@@ -1049,17 +1060,17 @@
 *     |    [-]    |
 *     O-- FRONT --+
 */
-#define NOZZLE_TO_PROBE_OFFSET { 10, 10, 0 }
+#define NOZZLE_TO_PROBE_OFFSET { -25, 0, 0 }

 // 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
+#define PROBING_MARGIN 8

 // X and Y axis travel speed (mm/min) between probes
 #define XY_PROBE_FEEDRATE (133*60)

 // Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2)
-#define Z_PROBE_FEEDRATE_FAST (4*60)
+#define Z_PROBE_FEEDRATE_FAST (10*60)

 // Feedrate (mm/min) for the "accurate" probe of each point
 #define Z_PROBE_FEEDRATE_SLOW (Z_PROBE_FEEDRATE_FAST / 2)
@@ -1100,7 +1111,7 @@
 * A total of 2 does fast/slow probes with a weighted average.
 * A total of 3 or more adds more slow probes, taking the average.
 */
-//#define MULTIPLE_PROBING 2
+#define MULTIPLE_PROBING 2
 //#define EXTRA_PROBING    1

 /**
@@ -1117,16 +1128,16 @@
 * 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 // Z Clearance for Deploy/Stow
+#define Z_CLEARANCE_DEPLOY_PROBE   5 // Z Clearance for Deploy/Stow
 #define Z_CLEARANCE_BETWEEN_PROBES  5 // Z Clearance between probe points
 #define Z_CLEARANCE_MULTI_PROBE     5 // Z Clearance between multiple probes
 //#define Z_AFTER_PROBING           5 // Z position after probing is done

-#define Z_PROBE_LOW_POINT          -2 // Farthest distance below the trigger-point to go before stopping
+#define Z_PROBE_LOW_POINT          -4 // Farthest distance below the trigger-point to go before stopping

 // For M851 give a range for adjusting the Z probe offset
-#define Z_PROBE_OFFSET_RANGE_MIN -20
-#define Z_PROBE_OFFSET_RANGE_MAX 20
+#define Z_PROBE_OFFSET_RANGE_MIN -9
+#define Z_PROBE_OFFSET_RANGE_MAX 9

 // Enable the M48 repeatability test to test probe accuracy
 //#define Z_MIN_PROBE_REPEATABILITY_TEST
@@ -1186,12 +1197,12 @@
 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
 #define INVERT_X_DIR false
 #define INVERT_Y_DIR true
-#define INVERT_Z_DIR false
+#define INVERT_Z_DIR true

 // @section extruder

 // For direct drive extruder v9 set to true, for geared extruder set to false.
-#define INVERT_E0_DIR false
+#define INVERT_E0_DIR true
 #define INVERT_E1_DIR false
 #define INVERT_E2_DIR false
 #define INVERT_E3_DIR false
@@ -1225,17 +1236,17 @@

 // @section machine

-// The size of the print bed
-#define X_BED_SIZE 200
-#define Y_BED_SIZE 200
+// The size of the printable area
+#define X_BED_SIZE 255
+#define Y_BED_SIZE 300

 // Travel limits (mm) after homing, corresponding to endstop positions.
-#define X_MIN_POS 0
-#define Y_MIN_POS 0
+#define X_MIN_POS -10.5
+#define Y_MIN_POS -9
 #define Z_MIN_POS 0
-#define X_MAX_POS X_BED_SIZE
-#define Y_MAX_POS Y_BED_SIZE
-#define Z_MAX_POS 200
+#define X_MAX_POS 260
+#define Y_MAX_POS 310
+#define Z_MAX_POS 295

 /**
 * Software Endstops
@@ -1263,7 +1274,7 @@
 #endif

 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
-  //#define SOFT_ENDSTOPS_MENU_ITEM  // Enable/Disable software endstops from the LCD
+  #define SOFT_ENDSTOPS_MENU_ITEM  // Enable/Disable software endstops from the LCD
 #endif

 /**
@@ -1279,7 +1290,7 @@
 * RAMPS-based boards use SERVO3_PIN for the first runout sensor.
 * For other boards you may need to define FIL_RUNOUT_PIN, FIL_RUNOUT2_PIN, etc.
 */
-//#define FILAMENT_RUNOUT_SENSOR
+#define FILAMENT_RUNOUT_SENSOR
 #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  #define FIL_RUNOUT_ENABLED_DEFAULT true // Enable the sensor on startup. Override with M412 followed by M500.
  #define NUM_RUNOUT_SENSORS   1          // Number of sensors, up to one per extruder. Define a FIL_RUNOUT#_PIN for each.
@@ -1331,7 +1342,7 @@
  // After a runout is detected, continue printing this length of filament
  // before executing the runout script. Useful for a sensor at the end of
  // a feed tube. Requires 4 bytes SRAM per sensor, plus 4 bytes overhead.
-  //#define FILAMENT_RUNOUT_DISTANCE_MM 25
+  #define FILAMENT_RUNOUT_DISTANCE_MM 5

  #ifdef FILAMENT_RUNOUT_DISTANCE_MM
    // Enable this option to use an encoder disc that toggles the runout pin
@@ -1381,7 +1392,7 @@
 */
 //#define AUTO_BED_LEVELING_3POINT
 //#define AUTO_BED_LEVELING_LINEAR
-//#define AUTO_BED_LEVELING_BILINEAR
+#define AUTO_BED_LEVELING_BILINEAR
 //#define AUTO_BED_LEVELING_UBL
 //#define MESH_BED_LEVELING

@@ -1390,13 +1401,13 @@
 * these options to restore the prior leveling state or to always enable
 * leveling immediately after G28.
 */
-//#define RESTORE_LEVELING_AFTER_G28
+#define RESTORE_LEVELING_AFTER_G28
 //#define ENABLE_LEVELING_AFTER_G28

 /**
 * Auto-leveling needs preheating
 */
-//#define PREHEAT_BEFORE_LEVELING
+#define PREHEAT_BEFORE_LEVELING
 #if ENABLED(PREHEAT_BEFORE_LEVELING)
  #define LEVELING_NOZZLE_TEMP 120   // (°C) Only applies to E0 at this time
  #define LEVELING_BED_TEMP     50
@@ -1409,13 +1420,18 @@
 */
 //#define DEBUG_LEVELING_FEATURE

+#if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL, PROBE_MANUALLY)
+  // Set a height for the start of manual adjustment
+  #define MANUAL_PROBE_START_Z 0.2  // (mm) Comment out to use the last-measured height
+#endif
+
 #if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, AUTO_BED_LEVELING_UBL)
  // Gradually reduce leveling correction until a set height is reached,
  // at which point movement will be level to the machine's XY plane.
  // The height can be set with M420 Z<height>
  #define ENABLE_LEVELING_FADE_HEIGHT
  #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-    #define DEFAULT_LEVELING_FADE_HEIGHT 10.0 // (mm) Default fade height.
+    #define DEFAULT_LEVELING_FADE_HEIGHT 0.0 // (mm) Default fade height.
  #endif

  // For Cartesian machines, instead of dividing moves on mesh boundaries,
@@ -1443,7 +1459,7 @@
 #if EITHER(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_BILINEAR)

  // Set the number of grid points per dimension.
-  #define GRID_MAX_POINTS_X 3
+  #define GRID_MAX_POINTS_X 5
  #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X

  // Probe along the Y axis, advancing X after each column
@@ -1487,6 +1503,8 @@
  //#define UBL_Z_RAISE_WHEN_OFF_MESH 2.5 // When the nozzle is off the mesh, this value is used
                                          // as the Z-Height correction value.

+  //#define UBL_MESH_WIZARD         // Run several commands in a row to get a complete mesh
+
 #elif ENABLED(MESH_BED_LEVELING)

  //===========================================================================
@@ -1505,27 +1523,27 @@
 * Add a bed leveling sub-menu for ABL or MBL.
 * Include a guided procedure if manual probing is enabled.
 */
-//#define LCD_BED_LEVELING
+#define LCD_BED_LEVELING

 #if ENABLED(LCD_BED_LEVELING)
  #define MESH_EDIT_Z_STEP  0.025 // (mm) Step size while manually probing Z axis.
  #define LCD_PROBE_Z_RANGE 4     // (mm) Z Range centered on Z_MIN_POS for LCD Z adjustment
-  //#define MESH_EDIT_MENU        // Add a menu to edit mesh points
+  #define MESH_EDIT_MENU        // Add a menu to edit mesh points
 #endif

 // Add a menu item to move between bed corners for manual bed adjustment
-//#define LEVEL_BED_CORNERS
+#define LEVEL_BED_CORNERS

 #if ENABLED(LEVEL_BED_CORNERS)
  #define LEVEL_CORNERS_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
  #define LEVEL_CORNERS_HEIGHT      0.0   // (mm) Z height of nozzle at leveling points
  #define LEVEL_CORNERS_Z_HOP       4.0   // (mm) Z height of nozzle between leveling points
  //#define LEVEL_CENTER_TOO              // Move to the center after the last corner
-  //#define LEVEL_CORNERS_USE_PROBE
+  #define LEVEL_CORNERS_USE_PROBE
  #if ENABLED(LEVEL_CORNERS_USE_PROBE)
    #define LEVEL_CORNERS_PROBE_TOLERANCE 0.1
    #define LEVEL_CORNERS_VERIFY_RAISED   // After adjustment triggers the probe, re-probe to verify
-    //#define LEVEL_CORNERS_AUDIO_FEEDBACK
+    #define LEVEL_CORNERS_AUDIO_FEEDBACK
  #endif

  /**
@@ -1659,12 +1677,12 @@
 *   M501 - Read settings from EEPROM. (i.e., Throw away unsaved changes)
 *   M502 - Revert settings to "factory" defaults. (Follow with M500 to init the EEPROM.)
 */
-//#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
+#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
 //#define DISABLE_M503        // Saves ~2700 bytes of PROGMEM. Disable for release!
 #define EEPROM_CHITCHAT       // Give feedback on EEPROM commands. Disable to save PROGMEM.
 #define EEPROM_BOOT_SILENT    // Keep M503 quiet and only give errors during first load
 #if ENABLED(EEPROM_SETTINGS)
-  //#define EEPROM_AUTO_INIT  // Init EEPROM automatically on any errors.
+  #define EEPROM_AUTO_INIT  // Init EEPROM automatically on any errors.
 #endif

 //
@@ -1715,11 +1733,11 @@
 *    P1  Raise the nozzle always to Z-park height.
 *    P2  Raise the nozzle by Z-park amount, limited to Z_MAX_POS.
 */
-//#define NOZZLE_PARK_FEATURE
+#define NOZZLE_PARK_FEATURE

 #if ENABLED(NOZZLE_PARK_FEATURE)
  // Specify a park position as { X, Y, Z_raise }
-  #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 }
+  #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MIN_POS + 10), 5 }
  //#define NOZZLE_PARK_X_ONLY          // X move only is required to park
  //#define NOZZLE_PARK_Y_ONLY          // Y move only is required to park
  #define NOZZLE_PARK_Z_RAISE_MIN   2   // (mm) Always raise Z by at least this distance
@@ -1923,7 +1941,7 @@
 * 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
+#define SDSUPPORT

 /**
 * SD CARD: ENABLE CRC
@@ -1970,7 +1988,7 @@
 //
 //  Set this option if CLOCKWISE causes values to DECREASE
 //
-//#define REVERSE_ENCODER_DIRECTION
+#define REVERSE_ENCODER_DIRECTION

 //
 // This option reverses the encoder direction for navigating LCD menus.
@@ -1993,7 +2011,7 @@
 //
 // Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu.
 //
-//#define INDIVIDUAL_AXIS_HOMING_MENU
+#define INDIVIDUAL_AXIS_HOMING_MENU

 //
 // SPEAKER/BUZZER
@@ -2001,7 +2019,7 @@
 // If you have a speaker that can produce tones, enable it here.
 // By default Marlin assumes you have a buzzer with a fixed frequency.
 //
-//#define SPEAKER
+#define SPEAKER

 //
 // The duration and frequency for the UI feedback sound.
@@ -2182,7 +2200,7 @@
 // RepRapDiscount FULL GRAPHIC Smart Controller
 // https://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
 //
-//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
+#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER

 //
 // K.3D Full Graphic Smart Controller
@@ -2254,7 +2272,8 @@
 // MKS LCD12864A/B with graphic controller and SD support. Follows MKS_MINI_12864 pinout.
 // https://www.aliexpress.com/item/33018110072.html
 //
-//#define MKS_LCD12864
+//#define MKS_LCD12864A
+//#define MKS_LCD12864B

 //
 // FYSETC variant of the MINI12864 graphic controller with SD support
@@ -2557,7 +2576,7 @@
 //#define DWIN_CREALITY_LCD

 //
-// ADS7843/XPT2046 ADC Touchscreen such as ILI9341 2.8
+// Touch Screen Settings
 //
 //#define TOUCH_SCREEN
 #if ENABLED(TOUCH_SCREEN)
@@ -30,7 +30,7 @@
 *
 * Basic settings can be found in Configuration.h
 */
-#define CONFIGURATION_ADV_H_VERSION 020008
+#define CONFIGURATION_ADV_H_VERSION 02000801

 //===========================================================================
 //============================= Thermal Settings ============================
@@ -239,11 +239,11 @@
 */
 #if ENABLED(THERMAL_PROTECTION_HOTENDS)
  #define THERMAL_PROTECTION_PERIOD 40        // Seconds
-  #define THERMAL_PROTECTION_HYSTERESIS 4     // Degrees Celsius
+  #define THERMAL_PROTECTION_HYSTERESIS 15     // Degrees Celsius

-  //#define ADAPTIVE_FAN_SLOWING              // Slow part cooling fan if temperature drops
+  #define ADAPTIVE_FAN_SLOWING              // Slow part cooling fan if temperature drops
  #if BOTH(ADAPTIVE_FAN_SLOWING, PIDTEMP)
-    //#define NO_FAN_SLOWING_IN_PID_TUNING    // Don't slow fan speed during M303
+    #define NO_FAN_SLOWING_IN_PID_TUNING    // Don't slow fan speed during M303
  #endif

  /**
@@ -437,9 +437,9 @@
 * Hotend Idle Timeout
 * Prevent filament in the nozzle from charring and causing a critical jam.
 */
-//#define HOTEND_IDLE_TIMEOUT
+#define HOTEND_IDLE_TIMEOUT
 #if ENABLED(HOTEND_IDLE_TIMEOUT)
-  #define HOTEND_IDLE_TIMEOUT_SEC (5*60)    // (seconds) Time without extruder movement to trigger protection
+  #define HOTEND_IDLE_TIMEOUT_SEC (15*60)    // (seconds) Time without extruder movement to trigger protection
  #define HOTEND_IDLE_MIN_TRIGGER   180     // (°C) Minimum temperature to enable hotend protection
  #define HOTEND_IDLE_NOZZLE_TARGET   0     // (°C) Safe temperature for the nozzle after timeout
  #define HOTEND_IDLE_BED_TARGET      0     // (°C) Safe temperature for the bed after timeout
@@ -648,7 +648,7 @@
 //
 // For Z set the number of stepper drivers
 //
-#define NUM_Z_STEPPER_DRIVERS 1   // (1-4) Z options change based on how many
+#define NUM_Z_STEPPER_DRIVERS 2   // (1-4) Z options change based on how many

 #if NUM_Z_STEPPER_DRIVERS > 1
  // Enable if Z motor direction signals are the opposite of Z1
@@ -741,7 +741,7 @@

 //#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm) Backoff from endstops after homing

-//#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
+#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
 //#define HOME_Z_FIRST                        // Home Z first. Requires a Z-MIN endstop (not a probe).
 //#define CODEPENDENT_XY_HOMING               // If X/Y can't home without homing Y/X first
@@ -821,7 +821,7 @@
 * Z Steppers Auto-Alignment
 * Add the G34 command to align multiple Z steppers using a bed probe.
 */
-//#define Z_STEPPER_AUTO_ALIGN
+#define Z_STEPPER_AUTO_ALIGN
 #if ENABLED(Z_STEPPER_AUTO_ALIGN)
  // Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]]
  // If not defined, probe limits will be used.
@@ -965,19 +965,22 @@
 // Backlash Compensation
 // Adds extra movement to axes on direction-changes to account for backlash.
 //
-//#define BACKLASH_COMPENSATION
+#define BACKLASH_COMPENSATION
 #if ENABLED(BACKLASH_COMPENSATION)
  // Define values for backlash distance and correction.
  // If BACKLASH_GCODE is enabled these values are the defaults.
  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
-  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+  #define BACKLASH_CORRECTION    0.1       // 0.0 = no correction; 1.0 = full correction
+
+  // Add steps for motor direction changes on CORE kinematics
+  //#define CORE_BACKLASH

  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
  //#define BACKLASH_SMOOTHING_MM 3 // (mm)

  // Add runtime configuration and tuning of backlash values (M425)
-  //#define BACKLASH_GCODE
+  #define BACKLASH_GCODE

  #if ENABLED(BACKLASH_GCODE)
    // Measure the Z backlash when probing (G29) and set with "M425 Z"
@@ -1172,7 +1175,7 @@
  #endif

  // Include a page of printer information in the LCD Main Menu
-  //#define LCD_INFO_MENU
+  #define LCD_INFO_MENU
  #if ENABLED(LCD_INFO_MENU)
    //#define LCD_PRINTER_INFO_IS_BOOTSCREEN // Show bootscreen(s) instead of Printer Info pages
  #endif
@@ -1226,13 +1229,13 @@
  #endif

  // Scroll a longer status message into view
-  //#define STATUS_MESSAGE_SCROLLING
+  #define STATUS_MESSAGE_SCROLLING

  // On the Info Screen, display XY with one decimal place when possible
  //#define LCD_DECIMAL_SMALL_XY

  // Add an 'M73' G-code to set the current percentage
-  //#define LCD_SET_PROGRESS_MANUALLY
+  #define LCD_SET_PROGRESS_MANUALLY

  // Show the E position (filament used) during printing
  //#define LCD_SHOW_E_TOTAL
@@ -1298,6 +1301,8 @@

  //#define BROWSE_MEDIA_ON_INSERT          // Open the file browser when media is inserted

+  //#define MEDIA_MENU_AT_TOP               // Force the media menu to be listed on the top of the main menu
+
  #define EVENT_GCODE_SD_ABORT "G28XY"      // G-code to run on SD Abort Print (e.g., "G28XY" or "G27")

  #if ENABLED(PRINTER_EVENT_LEDS)
@@ -1312,7 +1317,7 @@
   * an option on the LCD screen to continue the print from the last-known
   * point in the file.
   */
-  //#define POWER_LOSS_RECOVERY
+  #define POWER_LOSS_RECOVERY
  #if ENABLED(POWER_LOSS_RECOVERY)
    #define PLR_ENABLED_DEFAULT   false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
    //#define BACKUP_POWER_SUPPLY       // Backup power / UPS to move the steppers on power loss
@@ -1378,10 +1383,10 @@
  //#define UTF_FILENAME_SUPPORT

  // This allows hosts to request long names for files and folders with M33
-  //#define LONG_FILENAME_HOST_SUPPORT
+  #define LONG_FILENAME_HOST_SUPPORT

  // Enable this option to scroll long filenames in the SD card menu
-  //#define SCROLL_LONG_FILENAMES
+  #define SCROLL_LONG_FILENAMES

  // Leave the heaters on after Stop Print (not recommended!)
  //#define SD_ABORT_NO_COOLDOWN
@@ -1403,7 +1408,7 @@
  /**
   * Auto-report SdCard status with M27 S<seconds>
   */
-  //#define AUTO_REPORT_SD_STATUS
+  #define AUTO_REPORT_SD_STATUS

  /**
   * Support for USB thumb drives using an Arduino USB Host Shield or
@@ -1483,8 +1488,8 @@
  #if ENABLED(MULTI_VOLUME)
    #define VOLUME_SD_ONBOARD
    #define VOLUME_USB_FLASH_DRIVE
-    #define DEFAULT_VOLUME SD_ONBOARD
-    #define DEFAULT_SHARED_VOLUME USB_FLASH_DRIVE
+    #define DEFAULT_VOLUME SV_SD_ONBOARD
+    #define DEFAULT_SHARED_VOLUME SV_USB_FLASH_DRIVE
  #endif

 #endif // SDSUPPORT
@@ -1617,6 +1622,31 @@
  #endif
 #endif // HAS_DGUS_LCD

+//
+// Additional options for AnyCubic Chiron TFT displays
+//
+#if ENABLED(ANYCUBIC_LCD_CHIRON)
+  // By default the type of panel is automatically detected.
+  // Enable one of these options if you know the panel type.
+  //#define CHIRON_TFT_STANDARD
+  //#define CHIRON_TFT_NEW
+
+  // Enable the longer Anycubic powerup startup tune
+  //#define AC_DEFAULT_STARTUP_TUNE
+
+  /**
+   * Display Folders
+   * By default the file browser lists all G-code files (including those in subfolders) in a flat list.
+   * Enable this option to display a hierarchical file browser.
+   *
+   * NOTES:
+   * - Without this option it helps to enable SDCARD_SORT_ALPHA so files are sorted before/after folders.
+   * - When used with the "new" panel, folder names will also have '.gcode' appended to their names.
+   *   This hack is currently required to force the panel to show folders.
+   */
+  #define AC_SD_FOLDER_VIEW
+#endif
+
 //
 // Specify additional languages for the UI. Default specified by LCD_LANGUAGE.
 //
@@ -1762,18 +1792,18 @@
 *
 * Warning: Does not respect endstops!
 */
-//#define BABYSTEPPING
+#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
-  //#define INTEGRATED_BABYSTEPPING         // EXPERIMENTAL integration of babystepping into the Stepper ISR
+  #define INTEGRATED_BABYSTEPPING         // EXPERIMENTAL integration of babystepping into the Stepper ISR
  //#define BABYSTEP_WITHOUT_HOMING
-  //#define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement).
+  #define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement).
  //#define BABYSTEP_XY                     // Also enable X/Y Babystepping. Not supported on DELTA!
  #define BABYSTEP_INVERT_Z false           // Change if Z babysteps should go the other way
  //#define BABYSTEP_MILLIMETER_UNITS       // Specify BABYSTEP_MULTIPLICATOR_(XY|Z) in mm instead of micro-steps
  #define BABYSTEP_MULTIPLICATOR_Z  1       // (steps or mm) Steps or millimeter distance for each Z babystep
  #define BABYSTEP_MULTIPLICATOR_XY 1       // (steps or mm) Steps or millimeter distance for each XY babystep

-  //#define DOUBLECLICK_FOR_Z_BABYSTEPPING  // Double-click on the Status Screen for Z Babystepping.
+  #define DOUBLECLICK_FOR_Z_BABYSTEPPING  // Double-click on the Status Screen for Z Babystepping.
  #if ENABLED(DOUBLECLICK_FOR_Z_BABYSTEPPING)
    #define DOUBLECLICK_MAX_INTERVAL 1250   // Maximum interval between clicks, in milliseconds.
                                            // Note: Extra time may be added to mitigate controller latency.
@@ -1785,10 +1815,10 @@

  //#define BABYSTEP_DISPLAY_TOTAL          // Display total babysteps since last G28

-  //#define BABYSTEP_ZPROBE_OFFSET          // Combine M851 Z and Babystepping
+  #define BABYSTEP_ZPROBE_OFFSET          // Combine M851 Z and Babystepping
  #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
    //#define BABYSTEP_HOTEND_Z_OFFSET      // For multiple hotends, babystep relative Z offsets
-    //#define BABYSTEP_ZPROBE_GFX_OVERLAY   // Enable graphical overlay on Z-offset editor
+    #define BABYSTEP_ZPROBE_GFX_OVERLAY   // Enable graphical overlay on Z-offset editor
  #endif
 #endif

@@ -2086,9 +2116,6 @@
  //#define SERIAL_XON_XOFF
 #endif

-// Add M575 G-code to change the baud rate
-//#define BAUD_RATE_GCODE
-
 #if ENABLED(SDSUPPORT)
  // Enable this option to collect and display the maximum
  // RX queue usage after transferring a file to SD.
@@ -2113,11 +2140,22 @@
 * Currently handles M108, M112, M410, M876
 * NOTE: Not yet implemented for all platforms.
 */
-//#define EMERGENCY_PARSER
+#define EMERGENCY_PARSER

 /**
- * Realtime Reporting
- * Add support for commands S000 State, P000 Pause, and R000 Resume
+ * Realtime Reporting (requires EMERGENCY_PARSER)
+ *
+ * - Report position and state of the machine (like Grbl).
+ * - Auto-report position during long moves.
+ * - Useful for CNC/LASER.
+ *
+ * Adds support for commands:
+ *  S000 : Report State and Position while moving.
+ *  P000 : Instant Pause / Hold while moving.
+ *  R000 : Resume from Pause / Hold.
+ *
+ * - During Hold all Emergency Parser commands are available, as usual.
+ * - Enable NANODLP_Z_SYNC and NANODLP_ALL_AXIS for move command end-state reports.
 */
 //#define REALTIME_REPORTING_COMMANDS
 #if ENABLED(REALTIME_REPORTING_COMMANDS)
@@ -2131,7 +2169,7 @@
 //#define NO_TIMEOUTS 1000 // Milliseconds

 // Some clients will have this feature soon. This could make the NO_TIMEOUTS unnecessary.
-//#define ADVANCED_OK
+#define ADVANCED_OK

 // Printrun may have trouble receiving long strings all at once.
 // This option inserts short delays between lines of serial output.
@@ -2262,16 +2300,17 @@
 #endif // HAS_MULTI_EXTRUDER

 /**
- * Advanced Pause
- * Experimental feature for filament change support and for parking the nozzle when paused.
- * Adds the GCode M600 for initiating filament change.
- * If PARK_HEAD_ON_PAUSE enabled, adds the GCode M125 to pause printing and park the nozzle.
+ * Advanced Pause for Filament Change
+ *  - Adds the G-code M600 Filament Change to initiate a filament change.
+ *  - This feature is required for the default FILAMENT_RUNOUT_SCRIPT.
 *
- * Requires an LCD display.
- * Requires NOZZLE_PARK_FEATURE.
- * This feature is required for the default FILAMENT_RUNOUT_SCRIPT.
+ * Requirements:
+ *  - For Filament Change parking enable and configure NOZZLE_PARK_FEATURE.
+ *  - For user interaction enable an LCD display, HOST_PROMPT_SUPPORT, or EMERGENCY_PARSER.
+ *
+ * Enable PARK_HEAD_ON_PAUSE to add the G-code M125 Pause and Park.
 */
-//#define ADVANCED_PAUSE_FEATURE
+#define ADVANCED_PAUSE_FEATURE
 #if ENABLED(ADVANCED_PAUSE_FEATURE)
  #define PAUSE_PARK_RETRACT_FEEDRATE         60  // (mm/s) Initial retract feedrate.
  #define PAUSE_PARK_RETRACT_LENGTH            2  // (mm) Initial retract.
@@ -2306,14 +2345,14 @@
  #define FILAMENT_UNLOAD_PURGE_FEEDRATE      25  // (mm/s) feedrate to purge before unload

  #define PAUSE_PARK_NOZZLE_TIMEOUT           45  // (seconds) Time limit before the nozzle is turned off for safety.
-  #define FILAMENT_CHANGE_ALERT_BEEPS         10  // Number of alert beeps to play when a response is needed.
+  #define FILAMENT_CHANGE_ALERT_BEEPS         2  // Number of alert beeps to play when a response is needed.
  #define PAUSE_PARK_NO_STEPPER_TIMEOUT           // Enable for XYZ steppers to stay powered on during filament change.

-  //#define PARK_HEAD_ON_PAUSE                    // Park the nozzle during pause and filament change.
-  //#define HOME_BEFORE_FILAMENT_CHANGE           // If needed, home before parking for filament change
+  #define PARK_HEAD_ON_PAUSE                    // Park the nozzle during pause and filament change.
+  #define HOME_BEFORE_FILAMENT_CHANGE           // If needed, home before parking for filament change

-  //#define FILAMENT_LOAD_UNLOAD_GCODES           // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu.
-  //#define FILAMENT_UNLOAD_ALL_EXTRUDERS         // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
+  #define FILAMENT_LOAD_UNLOAD_GCODES           // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu.
+  #define FILAMENT_UNLOAD_ALL_EXTRUDERS         // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
 #endif

 // @section tmc
@@ -2803,7 +2842,7 @@

  /**
   * Enable M122 debugging command for TMC stepper drivers.
-   * M122 S0/1 will enable continous reporting.
+   * M122 S0/1 will enable continuous reporting.
   */
  //#define TMC_DEBUG

@@ -3124,10 +3163,22 @@

  #define SPINDLE_LASER_FREQUENCY       2500   // (Hz) Spindle/laser frequency (only on supported HALs: AVR and LPC)

-  //#define SPINDLE_SERVO         // A servo converting an angle to spindle power
+  //#define AIR_EVACUATION                     // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11
+  #if ENABLED(AIR_EVACUATION)
+    #define AIR_EVACUATION_ACTIVE       LOW    // Set to "HIGH" if the on/off function is active HIGH
+    //#define AIR_EVACUATION_PIN        42     // Override the default Cutter Vacuum or Laser Blower pin
+  #endif
+
+  //#define AIR_ASSIST                         // Air Assist control with G-codes M8-M9
+  #if ENABLED(AIR_ASSIST)
+    #define AIR_ASSIST_ACTIVE           LOW    // Active state on air assist pin
+    //#define AIR_ASSIST_PIN            44     // Override the default Air Assist pin
+  #endif
+
+  //#define SPINDLE_SERVO                      // A servo converting an angle to spindle power
  #ifdef SPINDLE_SERVO
-    #define SPINDLE_SERVO_NR   0  // Index of servo used for spindle control
-    #define SPINDLE_SERVO_MIN 10  // Minimum angle for servo spindle
+    #define SPINDLE_SERVO_NR   0               // Index of servo used for spindle control
+    #define SPINDLE_SERVO_MIN 10               // Minimum angle for servo spindle
  #endif

  /**
@@ -3342,6 +3393,15 @@
  #define POWER_MONITOR_VOLTAGE_OFFSET  0         // Offset (in volts) applied to the calculated voltage
 #endif

+/**
+ * Stepper Driver Anti-SNAFU Protection
+ *
+ * If the SAFE_POWER_PIN is defined for your board, Marlin will check
+ * that stepper drivers are properly plugged in before applying power.
+ * Disable protection if your stepper drivers don't support the feature.
+ */
+//#define DISABLE_DRIVER_SAFE_POWER_PROTECT
+
 /**
 * CNC Coordinate Systems
 *
@@ -3355,6 +3415,11 @@
 */
 #define AUTO_REPORT_TEMPERATURES

+/**
+ * Auto-report position with M154 S<seconds>
+ */
+//#define AUTO_REPORT_POSITION
+
 /**
 * Include capabilities in M115 output
 */
@@ -3424,7 +3489,7 @@
 #define PROPORTIONAL_FONT_RATIO 1.0

 /**
- * Spend 28 bytes of SRAM to optimize the GCode parser
+ * Spend 28 bytes of SRAM to optimize the G-code parser
 */
 #define FASTER_GCODE_PARSER

@@ -3584,10 +3649,10 @@
 * Host Prompt Support enables Marlin to use the host for user prompts so
 * filament runout and other processes can be managed from the host side.
 */
-//#define HOST_ACTION_COMMANDS
+#define HOST_ACTION_COMMANDS
 #if ENABLED(HOST_ACTION_COMMANDS)
-  //#define HOST_PROMPT_SUPPORT
-  //#define HOST_START_MENU_ITEM  // Add a menu item that tells the host to start
+  #define HOST_PROMPT_SUPPORT
+  #define HOST_START_MENU_ITEM  // Add a menu item that tells the host to start
 #endif

 /**
@@ -3596,6 +3661,9 @@
 * Implement M486 to allow Marlin to skip objects
 */
 //#define CANCEL_OBJECTS
+#if ENABLED(CANCEL_OBJECTS)
+  #define CANCEL_OBJECTS_REPORTING // Emit the current object as a status message
+#endif

 /**
 * I2C position encoders for closed loop control.
@@ -3717,6 +3785,16 @@
  #define GANTRY_CALIBRATION_COMMANDS_POST  "G28"     // G28 highly recommended to ensure an accurate position
 #endif

+/**
+ * Instant freeze / unfreeze functionality
+ * Specified pin has pullup and connecting to ground will instantly pause motion.
+ * Potentially useful for emergency stop that allows being resumed.
+ */
+//#define FREEZE_FEATURE
+#if ENABLED(FREEZE_FEATURE)
+  //#define FREEZE_PIN 41   // Override the default (KILL) pin here
+#endif
+
 /**
 * MAX7219 Debug Matrix
 *
@@ -3753,14 +3831,13 @@
 /**
 * NanoDLP Sync support
 *
- * Add support for Synchronized Z moves when using with NanoDLP. G0/G1 axis moves will output "Z_move_comp"
- * string to enable synchronization with DLP projector exposure. This change will allow to use
- * [[WaitForDoneMessage]] instead of populating your gcode with M400 commands
+ * Support for Synchronized Z moves when used with NanoDLP. G0/G1 axis moves will
+ * output a "Z_move_comp" string to enable synchronization with DLP projector exposure.
+ * This feature allows you to use [[WaitForDoneMessage]] instead of M400 commands.
 */
 //#define NANODLP_Z_SYNC
 #if ENABLED(NANODLP_Z_SYNC)
-  //#define NANODLP_ALL_AXIS  // Enables "Z_move_comp" output on any axis move.
-                              // Default behavior is limited to Z axis only.
+  //#define NANODLP_ALL_AXIS  // Send a "Z_move_comp" report for any axis move (not just Z).
 #endif

 /**
@@ -3924,7 +4001,7 @@
 //
 // M43 - display pin status, toggle pins, watch pins, watch endstops & toggle LED, test servo probe
 //
-//#define PINS_DEBUGGING
+#define PINS_DEBUGGING

 // Enable Marlin dev mode which adds some special commands
 //#define MARLIN_DEV_MODE
@@ -3935,3 +4012,9 @@
 * a crash from a remote location. Requires ~400 bytes of SRAM and 5Kb of flash.
 */
 //#define POSTMORTEM_DEBUGGING
+
+/**
+ * Software Reset options
+ */
+//#define SOFT_RESET_VIA_SERIAL         // 'KILL' and '^X' commands will soft-reset the controller
+//#define SOFT_RESET_ON_KILL            // Use a digital button to soft-reset the controller after KILL
@@ -993,5 +993,5 @@ clean:

 .PHONY: all build elf hex eep lss sym program coff extcoff clean depend sizebefore sizeafter

-# Automaticaly include the dependency files created by gcc
+# Automatically include the dependency files created by gcc
 -include ${patsubst %.o, %.d, ${OBJ}}
@@ -58,6 +58,15 @@ void HAL_init() {
  #endif
 }

+void HAL_reboot() {
+  #if ENABLED(USE_WATCHDOG)
+    while (1) { /* run out the watchdog */ }
+  #else
+    void (*resetFunc)() = 0;  // Declare resetFunc() at address 0
+    resetFunc();              // Jump to address 0
+  #endif
+}
+
 #if ENABLED(SDSUPPORT)

  #include "../../sd/SdFatUtil.h"
@@ -93,28 +93,35 @@ typedef int8_t pin_t;
  #define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0)
 #else
  #if !WITHIN(SERIAL_PORT, -1, 3)
-    #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
  #endif
  #define MYSERIAL1 customizedSerial1

  #ifdef SERIAL_PORT_2
    #if !WITHIN(SERIAL_PORT_2, -1, 3)
-      #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
+      #error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial."
    #endif
    #define MYSERIAL2 customizedSerial2
  #endif
+
+  #ifdef SERIAL_PORT_3
+    #if !WITHIN(SERIAL_PORT_3, -1, 3)
+      #error "SERIAL_PORT_3 must be from 0 to 3, or -1 for USB Serial."
+    #endif
+    #define MYSERIAL3 customizedSerial3
+  #endif
 #endif

 #ifdef MMU2_SERIAL_PORT
  #if !WITHIN(MMU2_SERIAL_PORT, -1, 3)
-    #error "MMU2_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "MMU2_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
  #endif
  #define MMU2_SERIAL mmuSerial
 #endif

 #ifdef LCD_SERIAL_PORT
  #if !WITHIN(LCD_SERIAL_PORT, -1, 3)
-    #error "LCD_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "LCD_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
  #endif
  #define LCD_SERIAL lcdSerial
  #if HAS_DGUS_LCD
@@ -135,7 +142,7 @@ void HAL_init();
 inline void HAL_clear_reset_source() { MCUSR = 0; }
 inline uint8_t HAL_get_reset_source() { return MCUSR; }

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

 #if GCC_VERSION <= 50000
  #pragma GCC diagnostic push
@@ -567,7 +567,7 @@ ISR(SERIAL_REGNAME(USART, SERIAL_PORT, _UDRE_vect)) {

 // Because of the template definition above, it's required to instantiate the template to have all methods generated
 template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT> >;
-MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
+MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser);

 #ifdef SERIAL_PORT_2

@@ -582,7 +582,24 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);

  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> >;
  MSerialT2 customizedSerial2(MSerialT2::HasEmergencyParser);
-#endif
+
+#endif // SERIAL_PORT_2
+
+#ifdef SERIAL_PORT_3
+
+  // Hookup ISR handlers
+  ISR(SERIAL_REGNAME(USART, SERIAL_PORT_3, _RX_vect)) {
+    MarlinSerial<MarlinSerialCfg<SERIAL_PORT_3>>::store_rxd_char();
+  }
+
+  ISR(SERIAL_REGNAME(USART, SERIAL_PORT_3, _UDRE_vect)) {
+    MarlinSerial<MarlinSerialCfg<SERIAL_PORT_3>>::_tx_udr_empty_irq();
+  }
+
+  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> >;
+  MSerialT3 customizedSerial3(MSerialT3::HasEmergencyParser);
+
+#endif // SERIAL_PORT_3

 #ifdef MMU2_SERIAL_PORT

@@ -595,8 +612,9 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
  }

  template class MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> >;
-  MSerialT3 mmuSerial(MSerialT3::HasEmergencyParser);
-#endif
+  MSerialMMU2 mmuSerial(MSerialMMU2::HasEmergencyParser);
+
+#endif // MMU2_SERIAL_PORT

 #ifdef LCD_SERIAL_PORT

@@ -609,7 +627,7 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
  }

  template class MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> >;
-  MSerialT4 lcdSerial(MSerialT4::HasEmergencyParser);
+  MSerialLCD lcdSerial(MSerialLCD::HasEmergencyParser);

  #if HAS_DGUS_LCD
    template<typename Cfg>
@@ -622,13 +640,13 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
    }
  #endif

-#endif
+#endif // LCD_SERIAL_PORT

 #endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)

 // For AT90USB targets use the UART for BT interfacing
 #if defined(USBCON) && ENABLED(BLUETOOTH)
-  MSerialT5 bluetoothSerial(false);
+  MSerialBT bluetoothSerial(false);
 #endif

 #endif // __AVR__
@@ -238,14 +238,19 @@
    static constexpr bool MAX_RX_QUEUED     = ENABLED(SERIAL_STATS_MAX_RX_QUEUED);
  };

-  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
-  extern MSerialT customizedSerial1;
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT1;
+  extern MSerialT1 customizedSerial1;

  #ifdef SERIAL_PORT_2
    typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
    extern MSerialT2 customizedSerial2;
  #endif

+  #ifdef SERIAL_PORT_3
+    typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> > > MSerialT3;
+    extern MSerialT3 customizedSerial3;
+  #endif
+
 #endif // !USBCON

 #ifdef MMU2_SERIAL_PORT
@@ -262,8 +267,8 @@
    static constexpr bool RX_OVERRUNS       = false;
  };

-  typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialT3;
-  extern MSerialT3 mmuSerial;
+  typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialMMU2;
+  extern MSerialMMU2 mmuSerial;
 #endif

 #ifdef LCD_SERIAL_PORT
@@ -281,12 +286,12 @@
    static constexpr bool RX_OVERRUNS       = BOTH(HAS_DGUS_LCD, SERIAL_STATS_RX_BUFFER_OVERRUNS);
  };

-  typedef Serial1Class< MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> > > MSerialT4;
-  extern MSerialT4 lcdSerial;
+  typedef Serial1Class< MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> > > MSerialLCD;
+  extern MSerialLCD lcdSerial;
 #endif

 // Use the UART for Bluetooth in AT90USB configurations
 #if defined(USBCON) && ENABLED(BLUETOOTH)
-  typedef Serial1Class<HardwareSerial> MSerialT5;
-  extern MSerialT5 bluetoothSerial;
+  typedef Serial1Class<HardwareSerial> MSerialBT;
+  extern MSerialBT bluetoothSerial;
 #endif
@@ -38,7 +38,7 @@
  // portModeRegister takes a different argument
  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
-  #define digitalPinToPort_DEBUG(p) digitalPinToPort_Teensy(p)
+  #define digitalPinToPort_DEBUG(p) digitalPinToPort(p)
  #define GET_PINMODE(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin))

 #elif AVR_ATmega2560_FAMILY_PLUS_70   // So we can access/display all the pins on boards using more than 70
@@ -77,6 +77,8 @@ uint8_t HAL_get_reset_source() {
  }
 }

+void HAL_reboot() { rstc_start_software_reset(RSTC); }
+
 void _delay_ms(const int delay_ms) {
  // Todo: port for Due?
  delay(delay_ms);
@@ -50,13 +50,12 @@ extern DefaultSerial4 MSerial3;
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)

-// Define MYSERIAL1/2 before MarlinSerial includes!
 #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 -1 to 3. Please update your configuration."
+  #error "The required SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
 #endif

 #ifdef SERIAL_PORT_2
@@ -65,7 +64,17 @@ extern DefaultSerial4 MSerial3;
  #elif WITHIN(SERIAL_PORT_2, 0, 3)
    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
  #else
-    #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
+    #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

@@ -73,17 +82,15 @@ extern DefaultSerial4 MSerial3;
  #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. Please update your configuration."
+    #error "MMU2_SERIAL_PORT must be from 0 to 3."
  #endif
 #endif

 #ifdef LCD_SERIAL_PORT
-  #if LCD_SERIAL_PORT == -1
-    #define LCD_SERIAL lcdSerial
-  #elif WITHIN(LCD_SERIAL_PORT, 0, 3)
+  #if WITHIN(LCD_SERIAL_PORT, 0, 3)
    #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
  #else
-    #error "LCD_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "LCD_SERIAL_PORT must be from 0 to 3."
  #endif
 #endif

@@ -113,7 +120,7 @@ void sei();                     // Enable interrupts
 void HAL_clear_reset_source();  // clear reset reason
 uint8_t HAL_get_reset_source(); // get reset reason

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

 //
 // ADC
@@ -478,7 +478,7 @@ void MarlinSerial<Cfg>::flushTX() {
 // If not using the USB port as serial port
 #if defined(SERIAL_PORT) && SERIAL_PORT >= 0
  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT> >;
-  MSerialT customizedSerial1(MarlinSerialCfg<SERIAL_PORT>::EMERGENCYPARSER);
+  MSerialT1 customizedSerial1(MarlinSerialCfg<SERIAL_PORT>::EMERGENCYPARSER);
 #endif

 #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
@@ -486,4 +486,9 @@ void MarlinSerial<Cfg>::flushTX() {
  MSerialT2 customizedSerial2(MarlinSerialCfg<SERIAL_PORT_2>::EMERGENCYPARSER);
 #endif

+#if defined(SERIAL_PORT_3) && SERIAL_PORT_3 >= 0
+  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> >;
+  MSerialT3 customizedSerial3(MarlinSerialCfg<SERIAL_PORT_3>::EMERGENCYPARSER);
+#endif
+
 #endif // ARDUINO_ARCH_SAM
@@ -141,11 +141,16 @@ struct MarlinSerialCfg {
 };

 #if defined(SERIAL_PORT) && SERIAL_PORT >= 0
-  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
-  extern MSerialT customizedSerial1;
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT1;
+  extern MSerialT1 customizedSerial1;
 #endif

 #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
  extern MSerialT2 customizedSerial2;
 #endif
+
+#if defined(SERIAL_PORT_3) && SERIAL_PORT_3 >= 0
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> > > MSerialT3;
+  extern MSerialT3 customizedSerial3;
+#endif
@@ -19,13 +19,13 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
+#ifdef ARDUINO_ARCH_SAM

 /**
 * MarlinSerial_Due.cpp - Hardware serial library for Arduino DUE
 * Copyright (c) 2017 Eduardo José Tagle. All right reserved
 * Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti.  All right reserved.
 */
-#ifdef ARDUINO_ARCH_SAM

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

@@ -65,7 +65,7 @@ int MarlinSerialUSB::peek() {

  pending_char = udi_cdc_getc();

-  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT*>(this)->emergency_state, (char)pending_char));
+  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT1*>(this)->emergency_state, (char)pending_char));

  return pending_char;
 }
@@ -87,7 +87,7 @@ int MarlinSerialUSB::read() {

  int c = udi_cdc_getc();

-  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT*>(this)->emergency_state, (char)c));
+  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT1*>(this)->emergency_state, (char)c));

  return c;
 }
@@ -129,10 +129,13 @@ size_t MarlinSerialUSB::write(const uint8_t c) {

 // Preinstantiate
 #if SERIAL_PORT == -1
-  MSerialT customizedSerial1(TERN0(EMERGENCY_PARSER, true));
+  MSerialT1 customizedSerial1(TERN0(EMERGENCY_PARSER, true));
 #endif
 #if SERIAL_PORT_2 == -1
-  MSerialT customizedSerial2(TERN0(EMERGENCY_PARSER, true));
+  MSerialT2 customizedSerial2(TERN0(EMERGENCY_PARSER, true));
+#endif
+#if SERIAL_PORT_3 == -1
+  MSerialT3 customizedSerial3(TERN0(EMERGENCY_PARSER, true));
 #endif

 #endif // HAS_USB_SERIAL
@@ -27,11 +27,9 @@
 */

 #include "../../inc/MarlinConfig.h"
-#if HAS_USB_SERIAL
-
-#include <WString.h>
 #include "../../core/serial_hook.h"

+#include <WString.h>

 struct MarlinSerialUSB {
  void begin(const long);
@@ -50,14 +48,18 @@ struct MarlinSerialUSB {
    FORCE_INLINE int rxMaxEnqueued() { return 0; }
  #endif
 };
-typedef Serial1Class<MarlinSerialUSB> MSerialT;

 #if SERIAL_PORT == -1
-  extern MSerialT customizedSerial1;
+  typedef Serial1Class<MarlinSerialUSB> MSerialT1;
+  extern MSerialT1 customizedSerial1;
 #endif

 #if SERIAL_PORT_2 == -1
-  extern MSerialT customizedSerial2;
+  typedef Serial1Class<MarlinSerialUSB> MSerialT2;
+  extern MSerialT2 customizedSerial2;
 #endif

-#endif // HAS_USB_SERIAL
+#if SERIAL_PORT_3 == -1
+  typedef Serial1Class<MarlinSerialUSB> MSerialT3;
+  extern MSerialT3 customizedSerial3;
+#endif
@@ -33,7 +33,7 @@
 * For ARDUINO_ARCH_SAM
 * Note the code here was specifically crafted by disassembling what GCC produces
 * out of it, so GCC is able to optimize it out as much as possible to the least
- * amount of instructions. Be very carefull if you modify them, as "clean code"
+ * amount of instructions. Be very careful if you modify them, as "clean code"
 * leads to less efficient compiled code!!
 */

@@ -141,6 +141,8 @@ void HAL_clear_reset_source() { }

 uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }

+void HAL_reboot() { ESP.restart(); }
+
 void _delay_ms(int delay_ms) { delay(delay_ms); }

 // return free memory between end of heap (or end bss) and whatever is current
@@ -101,7 +101,7 @@ void HAL_clear_reset_source();
 // reset reason
 uint8_t HAL_get_reset_source();

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

 void _delay_ms(int delay);

@@ -29,7 +29,7 @@
 #include "wifi.h"
 #include <ESPAsyncWebServer.h>

-MSerialT webSocketSerial(false);
+MSerialWebSocketT webSocketSerial(false);
 AsyncWebSocket ws("/ws"); // TODO Move inside the class.

 // RingBuffer impl
@@ -81,5 +81,5 @@ public:
  #endif
 };

-typedef Serial1Class<WebSocketSerial> MSerialT;
-extern MSerialT webSocketSerial;
+typedef Serial1Class<WebSocketSerial> MSerialWebSocketT;
+extern MSerialWebSocketT webSocketSerial;
@@ -73,4 +73,6 @@ void HAL_pwm_init() {

 }

+void HAL_reboot() { /* Reset the application state and GPIO */ }
+
 #endif // __PLAT_LINUX__
@@ -107,7 +107,7 @@ uint16_t HAL_adc_get_result();
 inline void HAL_clear_reset_source(void) {}
 inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot(); // Reset the application state and GPIO

 /* ---------------- Delay in cycles */
 FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
@@ -67,7 +67,7 @@ void flashFirmware(const int16_t) {
  delay(500);          // Give OS time to disconnect
  USB_Connect(false);  // USB clear connection
  delay(1000);         // Give OS time to notice
-  NVIC_SystemReset();
+  HAL_reboot();
 }

 void HAL_clear_reset_source(void) {
@@ -81,4 +81,6 @@ uint8_t HAL_get_reset_source(void) {
  return RST_POWER_ON;
 }

+void HAL_reboot() { NVIC_SystemReset(); }
+
 #endif // TARGET_LPC1768
@@ -71,7 +71,7 @@ extern DefaultSerial1 USBSerial;
 #elif WITHIN(SERIAL_PORT, 0, 3)
  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
-  #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
+  #error "SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
 #endif

 #ifdef SERIAL_PORT_2
@@ -80,7 +80,17 @@ extern DefaultSerial1 USBSerial;
  #elif WITHIN(SERIAL_PORT_2, 0, 3)
    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
  #else
-    #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
+    #error "SERIAL_PORT_2 must be from 0 to 3. You can also use -1 if the board supports Native USB."
+  #endif
+#endif
+
+#ifdef SERIAL_PORT_3
+  #if SERIAL_PORT_3 == -1
+    #define MYSERIAL3 USBSerial
+  #elif WITHIN(SERIAL_PORT_3, 0, 3)
+    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #else
+    #error "SERIAL_PORT_3 must be from 0 to 3. You can also use -1 if the board supports Native USB."
  #endif
 #endif

@@ -90,7 +100,7 @@ extern DefaultSerial1 USBSerial;
  #elif WITHIN(MMU2_SERIAL_PORT, 0, 3)
    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
  #else
-    #error "MMU2_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "MMU2_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
  #endif
 #endif

@@ -100,7 +110,7 @@ extern DefaultSerial1 USBSerial;
  #elif WITHIN(LCD_SERIAL_PORT, 0, 3)
    #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
  #else
-    #error "LCD_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
  #endif
  #if HAS_DGUS_LCD
    #define SERIAL_GET_TX_BUFFER_FREE() MSerial0.available()
@@ -218,4 +228,4 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255,
 void HAL_clear_reset_source(void);
 uint8_t HAL_get_reset_source(void);

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
@@ -21,6 +21,7 @@
 */
 #ifdef TARGET_LPC1768

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

 #if ENABLED(POSTMORTEM_DEBUGGING)
@@ -26,9 +26,9 @@
 #include "../../inc/MarlinConfig.h"

 #if USING_HW_SERIAL0
-  MarlinSerial _MSerial(LPC_UART0);
-  MSerialT MSerial0(true, _MSerial);
-  extern "C" void UART0_IRQHandler() { _MSerial.IRQHandler(); }
+  MarlinSerial _MSerial0(LPC_UART0);
+  MSerialT MSerial0(true, _MSerial0);
+  extern "C" void UART0_IRQHandler() { _MSerial0.IRQHandler(); }
 #endif
 #if USING_HW_SERIAL1
  MarlinSerial _MSerial1((LPC_UART_TypeDef *) LPC_UART1);
@@ -52,7 +52,7 @@
    // Need to figure out which serial port we are and react in consequence (Marlin does not have CONTAINER_OF macro)
    if (false) {}
    #if USING_HW_SERIAL0
-      else if (this == &_MSerial) emergency_parser.update(MSerial0.emergency_state, c);
+      else if (this == &_MSerial0) emergency_parser.update(MSerial0.emergency_state, c);
    #endif
    #if USING_HW_SERIAL1
      else if (this == &_MSerial1) emergency_parser.update(MSerial1.emergency_state, c);
@@ -60,8 +60,8 @@ extern MSerialT MSerial1;
 extern MSerialT MSerial2;
 extern MSerialT MSerial3;

-// Consequently, we can't use a RuntimeSerial either. The workaround would be to use a RuntimeSerial<ForwardSerial<MarlinSerial>> type here
-// Right now, let's ignore this until it's actually required.
+// Consequently, we can't use a RuntimeSerial either. The workaround would be to use
+// a RuntimeSerial<ForwardSerial<MarlinSerial>> type here. Ignore for now until it's actually required.
 #if ENABLED(SERIAL_RUNTIME_HOOK)
  #error "SERIAL_RUNTIME_HOOK is not yet supported for LPC176x."
 #endif
@@ -144,7 +144,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o
    #error "Serial port pins (2) conflict with Z4 pins!"
  #elif ANY_RX(2, X_DIR_PIN, Y_DIR_PIN)
    #error "Serial port pins (2) conflict with other pins!"
-  #elif Y_HOME_DIR < 0 && IS_TX2(Y_STOP_PIN)
+  #elif Y_HOME_TO_MIN && IS_TX2(Y_STOP_PIN)
    #error "Serial port pins (2) conflict with Y endstop pin!"
  #elif HAS_CUSTOM_PROBE_PIN && IS_TX2(Z_MIN_PROBE_PIN)
    #error "Serial port pins (2) conflict with probe pin!"
@@ -117,7 +117,7 @@ void HAL_init() {
    PinCfg.Pinmode = 2;    // no pull-up/pull-down
    PINSEL_ConfigPin(&PinCfg);
    // now set CLKOUT_EN bit
-    LPC_SC->CLKOUTCFG |= (1<<8);
+    SBI(LPC_SC->CLKOUTCFG, 8);
  #endif

  USB_Init();                               // USB Initialization
@@ -22,7 +22,7 @@

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

-#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS
+#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS

 #include "xpt2046.h"
 #include <SPI.h>
@@ -20,101 +20,104 @@ def print_error(e):
 		  'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \
 		  %(e, env.get('PIOENV')))

-try:
-	#
-	# Find a disk for upload
-	#
-	upload_disk = 'Disk not found'
-	target_file_found = False
-	target_drive_found = False
-	if current_OS == 'Windows':
+def before_upload(source, target, env):
+	try:
 		#
-		# platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:'
-		#   Windows - doesn't care about the disk's name, only cares about the drive letter
-		import subprocess,string
-		from ctypes import windll
+		# Find a disk for upload
+		#
+		upload_disk = 'Disk not found'
+		target_file_found = False
+		target_drive_found = False
+		if current_OS == 'Windows':
+			#
+			# platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:'
+			#   Windows - doesn't care about the disk's name, only cares about the drive letter
+			import subprocess,string
+			from ctypes import windll

-		# getting list of drives
-		# https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python
-		drives = []
-		bitmask = windll.kernel32.GetLogicalDrives()
-		for letter in string.ascii_uppercase:
-			if bitmask & 1:
-				drives.append(letter)
-			bitmask >>= 1
+			# getting list of drives
+			# https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python
+			drives = []
+			bitmask = windll.kernel32.GetLogicalDrives()
+			for letter in string.ascii_uppercase:
+				if bitmask & 1:
+					drives.append(letter)
+				bitmask >>= 1

-		for drive in drives:
-			final_drive_name = drive + ':\\'
-			# print ('disc check: {}'.format(final_drive_name))
-			try:
-				volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT))
-			except Exception as e:
-				print ('error:{}'.format(e))
-				continue
-			else:
-				if target_drive in volume_info and not target_file_found:  # set upload if not found target file yet
-					target_drive_found = True
-					upload_disk = final_drive_name
-				if target_filename in volume_info:
-					if not target_file_found:
+			for drive in drives:
+				final_drive_name = drive + ':\\'
+				# print ('disc check: {}'.format(final_drive_name))
+				try:
+					volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT))
+				except Exception as e:
+					print ('error:{}'.format(e))
+					continue
+				else:
+					if target_drive in volume_info and not target_file_found:  # set upload if not found target file yet
+						target_drive_found = True
 						upload_disk = final_drive_name
-					target_file_found = True
+					if target_filename in volume_info:
+						if not target_file_found:
+							upload_disk = final_drive_name
+						target_file_found = True

-	elif current_OS == 'Linux':
-		#
-		# platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive'
-		#
-		drives = os.listdir(os.path.join(os.sep, 'media', getpass.getuser()))
-		if target_drive in drives:  # If target drive is found, use it.
-			target_drive_found = True
-			upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), target_drive) + os.sep
-		else:
+		elif current_OS == 'Linux':
+			#
+			# platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive'
+			#
+			drives = os.listdir(os.path.join(os.sep, 'media', getpass.getuser()))
+			if target_drive in drives:  # If target drive is found, use it.
+				target_drive_found = True
+				upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), target_drive) + os.sep
+			else:
+				for drive in drives:
+					try:
+						files = os.listdir(os.path.join(os.sep, 'media', getpass.getuser(), drive))
+					except:
+						continue
+					else:
+						if target_filename in files:
+							upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), drive) + os.sep
+							target_file_found = True
+							break
+			#
+			# set upload_port to drive if found
+			#
+
+			if target_file_found or target_drive_found:
+				env.Replace(
+					UPLOAD_FLAGS="-P$UPLOAD_PORT"
+				)
+
+		elif current_OS == 'Darwin':  # MAC
+			#
+			# platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive'
+			#
+			drives = os.listdir('/Volumes')  # human readable names
+			if target_drive in drives and not target_file_found:  # set upload if not found target file yet
+				target_drive_found = True
+				upload_disk = '/Volumes/' + target_drive + '/'
 			for drive in drives:
 				try:
-					files = os.listdir(os.path.join(os.sep, 'media', getpass.getuser(), drive))
+					filenames = os.listdir('/Volumes/' + drive + '/')   # will get an error if the drive is protected
 				except:
 					continue
 				else:
-					if target_filename in files:
-						upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), drive) + os.sep
+					if target_filename in filenames:
+						if not target_file_found:
+							upload_disk = '/Volumes/' + drive + '/'
 						target_file_found = True
-						break
-		#
-		# set upload_port to drive if found
-		#

+		#
+		# Set upload_port to drive if found
+		#
 		if target_file_found or target_drive_found:
-			env.Replace(
-				UPLOAD_FLAGS="-P$UPLOAD_PORT"
-			)
+			env.Replace(UPLOAD_PORT=upload_disk)
+			print('\nUpload disk: ', upload_disk, '\n')
+		else:
+			print_error('Autodetect Error')

-	elif current_OS == 'Darwin':  # MAC
-		#
-		# platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive'
-		#
-		drives = os.listdir('/Volumes')  # human readable names
-		if target_drive in drives and not target_file_found:  # set upload if not found target file yet
-			target_drive_found = True
-			upload_disk = '/Volumes/' + target_drive + '/'
-		for drive in drives:
-			try:
-				filenames = os.listdir('/Volumes/' + drive + '/')   # will get an error if the drive is protected
-			except:
-				continue
-			else:
-				if target_filename in filenames:
-					if not target_file_found:
-						upload_disk = '/Volumes/' + drive + '/'
-					target_file_found = True
+	except Exception as e:
+		print_error(str(e))

-	#
-	# Set upload_port to drive if found
-	#
-	if target_file_found or target_drive_found:
-		env.Replace(UPLOAD_PORT=upload_disk)
-		print('\nUpload disk: ', upload_disk, '\n')
-	else:
-		print_error('Autodetect Error')
-
-except Exception as e:
-	print_error(str(e))
+env.AddPreAction("upload", before_upload)
@@ -436,6 +436,8 @@ uint8_t HAL_get_reset_source() {
 }
 #pragma pop_macro("WDT")

+void HAL_reboot() { NVIC_SystemReset(); }
+
 extern "C" {
  void * _sbrk(int incr);

@@ -43,8 +43,6 @@
  extern DefaultSerial4 MSerial3;
  extern DefaultSerial5 MSerial4;

-  // MYSERIAL1 required before MarlinSerial includes!
-
  #define __MSERIAL(X) MSerial##X
  #define _MSERIAL(X) __MSERIAL(X)
  #define MSERIAL(X) _MSERIAL(INCREMENT(X))
@@ -54,7 +52,7 @@
  #elif WITHIN(SERIAL_PORT, 0, 3)
    #define MYSERIAL1 MSERIAL(SERIAL_PORT)
  #else
-    #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
  #endif

  #ifdef SERIAL_PORT_2
@@ -63,7 +61,7 @@
    #elif WITHIN(SERIAL_PORT_2, 0, 3)
      #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
    #else
-      #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
+      #error "SERIAL_PORT_2 must be from 0 to 3. You can also use -1 if the board supports Native USB."
    #endif
  #endif

@@ -73,7 +71,7 @@
    #elif WITHIN(MMU2_SERIAL_PORT, 0, 3)
      #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
    #else
-      #error "MMU2_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+      #error "MMU2_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
    #endif
  #endif

@@ -83,7 +81,7 @@
    #elif WITHIN(LCD_SERIAL_PORT, 0, 3)
      #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
    #else
-      #error "LCD_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+      #error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
    #endif
  #endif

@@ -109,7 +107,7 @@ typedef int8_t pin_t;
 void HAL_clear_reset_source();  // clear reset reason
 uint8_t HAL_get_reset_source(); // get reset reason

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

 //
 // ADC
@@ -96,6 +96,12 @@ void HAL_init() {
  #if HAS_SD_HOST_DRIVE
    MSC_SD_init();                         // Enable USB SD card access
  #endif
+
+  #if PIN_EXISTS(USB_CONNECT)
+    OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING);  // USB clear connection
+    delay(1000);                                         // Give OS time to notice
+    WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
+  #endif
 }

 // HAL idle task
@@ -133,6 +139,8 @@ uint8_t HAL_get_reset_source() {
  ;
 }

+void HAL_reboot() { NVIC_SystemReset(); }
+
 void _delay_ms(const int delay_ms) { delay(delay_ms); }

 extern "C" {
@@ -147,8 +155,8 @@ extern "C" {
 void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); }
 uint16_t HAL_adc_get_result() { return HAL_adc_result; }

-// Reset the system (to initiate a firmware flash)
-void flashFirmware(const int16_t) { NVIC_SystemReset(); }
+// Reset the system to initiate a firmware flash
+void flashFirmware(const int16_t) { HAL_reboot(); }

 // Maple Compatibility
 volatile uint32_t systick_uptime_millis = 0;
@@ -37,6 +37,9 @@

 #include <stdint.h>

+//
+// Serial Ports
+//
 #ifdef USBCON
  #include <USBSerial.h>
  #include "../../core/serial_hook.h"
@@ -44,9 +47,6 @@
  extern DefaultSerial1 MSerial0;
 #endif

-// ------------------------
-// Defines
-// ------------------------
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)

@@ -55,7 +55,7 @@
 #elif WITHIN(SERIAL_PORT, 1, 6)
  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
-  #error "SERIAL_PORT must be -1 or from 1 to 6. Please update your configuration."
+  #error "SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB."
 #endif

 #ifdef SERIAL_PORT_2
@@ -64,7 +64,17 @@
  #elif WITHIN(SERIAL_PORT_2, 1, 6)
    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
  #else
-    #error "SERIAL_PORT_2 must be -1 or from 1 to 6. Please update your configuration."
+    #error "SERIAL_PORT_2 must be from 1 to 6. You can also use -1 if the board supports Native USB."
+  #endif
+#endif
+
+#ifdef SERIAL_PORT_3
+  #if SERIAL_PORT_3 == -1
+    #define MYSERIAL3 MSerial0
+  #elif WITHIN(SERIAL_PORT_3, 1, 6)
+    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #else
+    #error "SERIAL_PORT_3 must be from 1 to 6. You can also use -1 if the board supports Native USB."
  #endif
 #endif

@@ -74,7 +84,7 @@
  #elif WITHIN(MMU2_SERIAL_PORT, 1, 6)
    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
  #else
-    #error "MMU2_SERIAL_PORT must be -1 or from 1 to 6. Please update your configuration."
+    #error "MMU2_SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB."
  #endif
 #endif

@@ -84,7 +94,7 @@
  #elif WITHIN(LCD_SERIAL_PORT, 1, 6)
    #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
  #else
-    #error "LCD_SERIAL_PORT must be -1 or from 1 to 6. Please update your configuration."
+    #error "LCD_SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB."
  #endif
  #if HAS_DGUS_LCD
    #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite()
@@ -144,7 +154,7 @@ void HAL_clear_reset_source();
 // Reset reason
 uint8_t HAL_get_reset_source();

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

 void _delay_ms(const int delay);

@@ -71,8 +71,8 @@ static void TXBegin() {
      volatile uint32_t ICER[32];
    };

-    NVICMin * nvicBase = (NVICMin*)0xE000E100;
-    nvicBase->ICER[nvicIndex / 32] |= _BV32(nvicIndex % 32);
+    NVICMin *nvicBase = (NVICMin*)0xE000E100;
+    SBI32(nvicBase->ICER[nvicIndex >> 5], nvicIndex & 0x1F);

    // We NEED memory barriers to ensure Interrupts are actually disabled!
    // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
@@ -38,7 +38,7 @@ public:
        return &card.media_usbFlashDrive;
      #endif
    #else
-      return diskIODriver();
+      return card.diskIODriver();
    #endif
  }

@@ -0,0 +1,202 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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/>.
+ *
+ */
+#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(TFT_TOUCH_DEVICE_GT911)
+
+#include "gt911.h"
+#include "pinconfig.h"
+
+SW_IIC::SW_IIC(uint16_t sda, uint16_t scl) {
+  scl_pin = scl;
+  sda_pin = sda;
+}
+
+// Software I2C hardware io init
+void SW_IIC::init() {
+  OUT_WRITE(scl_pin, HIGH);
+  OUT_WRITE(sda_pin, HIGH);
+}
+
+// Software I2C start signal
+void SW_IIC::start() {
+  write_sda(HIGH); // SDA = 1
+  write_scl(HIGH); // SCL = 1
+  iic_delay(2);
+  write_sda(LOW); // SDA = 0
+  iic_delay(1);
+  write_scl(LOW); // SCL = 0  // keep SCL low, avoid false stop caused by level jump caused by SDA switching IN/OUT
+}
+
+// Software I2C stop signal
+void SW_IIC::stop() {
+  write_scl(LOW); // SCL = 0
+  iic_delay(2);
+  write_sda(LOW); // SDA = 0
+  iic_delay(2);
+  write_scl(HIGH); // SCL = 1
+  iic_delay(2);
+  write_sda(HIGH); // SDA = 1
+}
+
+// Software I2C sends ACK or NACK signal
+void SW_IIC::send_ack(bool ack) {
+  write_sda(ack ? LOW : HIGH); // SDA = !ack
+  iic_delay(2);
+  write_scl(HIGH); // SCL = 1
+  iic_delay(2);
+  write_scl(LOW); // SCL = 0
+}
+
+// Software I2C read ACK or NACK signal
+bool SW_IIC::read_ack() {
+  bool error = 0;
+  set_sda_in();
+
+  iic_delay(2);
+
+  write_scl(HIGH); // SCL = 1
+  error = read_sda();
+
+  iic_delay(2);
+
+  write_scl(LOW);  // SCL = 0
+
+  set_sda_out();
+  return error;
+}
+
+void SW_IIC::send_byte(uint8_t txd) {
+  LOOP_L_N(i, 8) {
+    write_sda(txd & 0x80); // write data bit
+    txd <<= 1;
+    iic_delay(1);
+    write_scl(HIGH); // SCL = 1
+    iic_delay(2);
+    write_scl(LOW); // SCL = 0
+    iic_delay(1);
+  }
+
+  read_ack();  // wait ack
+}
+
+uint8_t SW_IIC::read_byte(bool ack) {
+  uint8_t data = 0;
+
+  set_sda_in();
+  LOOP_L_N(i, 8) {
+    write_scl(HIGH); // SCL = 1
+    iic_delay(1);
+    data <<= 1;
+    if (read_sda()) data++;
+    write_scl(LOW); // SCL = 0
+    iic_delay(2);
+  }
+  set_sda_out();
+
+  send_ack(ack);
+
+  return data;
+}
+
+GT911_REG_MAP GT911::reg;
+SW_IIC GT911::sw_iic = SW_IIC(GT911_SW_I2C_SDA_PIN, GT911_SW_I2C_SCL_PIN);
+
+void GT911::write_reg(uint16_t reg, uint8_t reg_len, uint8_t* w_data, uint8_t w_len) {
+  sw_iic.start();
+  sw_iic.send_byte(gt911_slave_address);  // Set IIC Slave address
+  LOOP_L_N(i, reg_len) {  // Set reg address
+    uint8_t r = (reg >> (8 * (reg_len - 1 - i))) & 0xFF;
+    sw_iic.send_byte(r);
+  }
+
+  LOOP_L_N(i, w_len) {  // Write data to reg
+    sw_iic.send_byte(w_data[i]);
+  }
+  sw_iic.stop();
+}
+
+void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_len) {
+  sw_iic.start();
+  sw_iic.send_byte(gt911_slave_address);  // Set IIC Slave address
+  LOOP_L_N(i, reg_len) {  // Set reg address
+    uint8_t r = (reg >> (8 * (reg_len - 1 - i))) & 0xFF;
+    sw_iic.send_byte(r);
+  }
+
+  sw_iic.start();
+  sw_iic.send_byte(gt911_slave_address + 1);  // Set read mode
+
+  LOOP_L_N(i, r_len) {
+    r_data[i] = sw_iic.read_byte(1);  // Read data from reg
+  }
+  sw_iic.stop();
+}
+
+void GT911::Init() {
+  OUT_WRITE(GT911_RST_PIN, LOW);
+  OUT_WRITE(GT911_INT_PIN, LOW);
+  delay(20);
+  WRITE(GT911_RST_PIN, HIGH);
+  SET_INPUT(GT911_INT_PIN);
+
+  sw_iic.init();
+
+  uint8_t clear_reg = 0x0000;
+  write_reg(0x814E, 2, &clear_reg, 2); // Reset to 0 for start
+}
+
+bool GT911::getFirstTouchPoint(int16_t *x, int16_t *y) {
+  read_reg(0x814E, 2, &reg.REG.status, 1);
+
+  if (reg.REG.status & 0x80) {
+    uint8_t clear_reg = 0x00;
+    write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start
+    read_reg(0x8150, 2, reg.map + 2, 8 * (reg.REG.status & 0x0F));
+
+    // First touch point
+    *x = ((reg.REG.point[0].xh & 0x0F) << 8) | reg.REG.point[0].xl;
+    *y = ((reg.REG.point[0].yh & 0x0F) << 8) | reg.REG.point[0].yl;
+    return true;
+  }
+  return false;
+}
+
+bool GT911::getPoint(int16_t *x, int16_t *y) {
+  static bool touched = 0;
+  static int16_t read_x = 0, read_y = 0;
+  static millis_t next_time = 0;
+
+  if (ELAPSED(millis(), next_time)) {
+    touched = getFirstTouchPoint(&read_x, &read_y);
+    next_time = millis() + 20;
+  }
+
+  *x = read_x;
+  *y = read_y;
+  return touched;
+}
+
+#endif // TFT_TOUCH_DEVICE_GT911
+#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
@@ -0,0 +1,120 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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/MarlinConfig.h"
+
+#define GT911_SLAVE_ADDRESS   0xBA
+
+#if !PIN_EXISTS(GT911_RST)
+  #error "GT911_RST_PIN is not defined."
+#elif !PIN_EXISTS(GT911_INT)
+  #error "GT911_INT_PIN is not defined."
+#elif !PIN_EXISTS(GT911_SW_I2C_SCL)
+  #error "GT911_SW_I2C_SCL_PIN is not defined."
+#elif !PIN_EXISTS(GT911_SW_I2C_SDA)
+  #error "GT911_SW_I2C_SDA_PIN is not defined."
+#endif
+
+class SW_IIC {
+  private:
+    uint16_t scl_pin;
+    uint16_t sda_pin;
+    void write_scl(bool level)
+    {
+      WRITE(scl_pin, level);
+    }
+    void write_sda(bool level)
+    {
+      WRITE(sda_pin, level);
+    }
+    bool read_sda()
+    {
+      return READ(sda_pin);
+    }
+    void set_sda_out()
+    {
+      SET_OUTPUT(sda_pin);
+    }
+    void set_sda_in()
+    {
+      SET_INPUT_PULLUP(sda_pin);
+    }
+    static void iic_delay(uint8_t t)
+    {
+      delayMicroseconds(t);
+    }
+
+  public:
+    SW_IIC(uint16_t sda, uint16_t scl);
+    // setSCL/SDA have to be called before begin()
+    void setSCL(uint16_t scl)
+    {
+      scl_pin = scl;
+    };
+    void setSDA(uint16_t sda)
+    {
+      sda_pin = sda;
+    };
+    void init();                // Initialize the IO port of IIC
+    void start();               // Send IIC start signal
+    void stop();                // Send IIC stop signal
+    void send_byte(uint8_t txd); // IIC sends a byte
+    uint8_t read_byte(bool ack); // IIC reads a byte
+    void send_ack(bool ack);            // IIC sends ACK or NACK signal
+    bool read_ack();
+};
+
+typedef struct __attribute__((__packed__)) {
+  uint8_t xl;
+  uint8_t xh;
+  uint8_t yl;
+  uint8_t yh;
+  uint8_t sizel;
+  uint8_t sizeh;
+  uint8_t reserved;
+  uint8_t track_id;
+} GT911_POINT;
+
+typedef union __attribute__((__packed__)) {
+  uint8_t map[42];
+  struct {
+    uint8_t status;    // 0x814E
+    uint8_t track_id;  // 0x814F
+
+    GT911_POINT point[5]; // [0]:0x8150 - 0x8157 / [1]:0x8158 - 0x815F / [2]:0x8160 - 0x8167 / [3]:0x8168 - 0x816F / [4]:0x8170 - 0x8177
+ } REG;
+} GT911_REG_MAP;
+
+class GT911 {
+  private:
+    static const uint8_t gt911_slave_address = GT911_SLAVE_ADDRESS;
+    static GT911_REG_MAP reg;
+    static SW_IIC sw_iic;
+    static void write_reg(uint16_t reg, uint8_t reg_len, uint8_t* w_data, uint8_t w_len);
+    static void read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_len);
+
+  public:
+    static void Init();
+    static bool getFirstTouchPoint(int16_t *x, int16_t *y);
+    static bool getPoint(int16_t *x, int16_t *y);
+};
@@ -45,7 +45,6 @@
 #define SDRAM_MODEREG_WRITEBURST_MODE_PROGRAMMED ((uint16_t)0x0000)
 #define SDRAM_MODEREG_WRITEBURST_MODE_SINGLE     ((uint16_t)0x0200)

-
 void SDRAM_Initialization_Sequence(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_CommandTypeDef *Command) {

  __IO uint32_t tmpmrd =0;
@@ -192,7 +191,7 @@ void LTDC_Config() {

  hltdc_F.Instance = LTDC;

-/* Layer0 Configuration ------------------------------------------------------*/
+  /* Layer0 Configuration ------------------------------------------------------*/

  /* Windowing configuration */
  pLayerCfg.WindowX0 = 0;
@@ -289,22 +288,21 @@ void TFT_LTDC::DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint
  uint16_t offline = TFT_WIDTH - (ex - sx);
  uint32_t addr = (uint32_t)&framebuffer[(TFT_WIDTH * sy) + sx];

-  DMA2D->CR &= ~(1 << 0);
+  CBI(DMA2D->CR, 0);
  DMA2D->CR = 3 << 16;
  DMA2D->OPFCCR = 0X02;
  DMA2D->OOR = offline;
  DMA2D->OMAR = addr;
  DMA2D->NLR = (ey - sy) | ((ex - sx) << 16);
  DMA2D->OCOLR = color;
-  DMA2D->CR |= 1<<0;
+  SBI(DMA2D->CR, 0);

  uint32_t timeout = 0;
-  while((DMA2D->ISR & (1<<1)) == 0)
-  {
+  while (!TEST(DMA2D->ISR, 1)) {
    timeout++;
-    if(timeout>0X1FFFFF)break;
+    if (timeout > 0x1FFFFF) break;
  }
-  DMA2D->IFCR |= 1<<1;
+  SBI(DMA2D->IFCR, 1);
 }

 void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors) {
@@ -314,7 +312,7 @@ void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uin
  uint16_t offline = TFT_WIDTH - (ex - sx);
  uint32_t addr = (uint32_t)&framebuffer[(TFT_WIDTH * sy) + sx];

-  DMA2D->CR &= ~(1 << 0);
+  CBI(DMA2D->CR, 0);
  DMA2D->CR = 0 << 16;
  DMA2D->FGPFCCR = 0X02;
  DMA2D->FGOR = 0;
@@ -322,15 +320,14 @@ void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uin
  DMA2D->FGMAR = (uint32_t)colors;
  DMA2D->OMAR = addr;
  DMA2D->NLR = (ey - sy) | ((ex - sx) << 16);
-  DMA2D->CR |= 1<<0;
+  SBI(DMA2D->CR, 0);

  uint32_t timeout = 0;
-  while((DMA2D->ISR & (1<<1)) == 0)
-  {
+  while (!TEST(DMA2D->ISR, 1)) {
    timeout++;
-    if(timeout>0X1FFFFF)break;
+    if (timeout > 0x1FFFFF) break;
  }
-  DMA2D->IFCR |= 1<<1;
+  SBI(DMA2D->IFCR, 1);
 }

 void TFT_LTDC::WriteData(uint16_t data) {
@@ -23,7 +23,7 @@

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

-#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS
+#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS

 #include "xpt2046.h"
 #include "pinconfig.h"
@@ -21,15 +21,12 @@
 */
 #pragma once

-#include <stdint.h>
 #include "../../inc/MarlinConfig.h"

 // ------------------------
 // Defines
 // ------------------------

-#define FORCE_INLINE __attribute__((always_inline)) inline
-
 // STM32 timers may be 16 or 32 bit. Limiting HAL_TIMER_TYPE_MAX to 16 bits
 // avoids issues with STM32F0 MCUs, which seem to pause timers if UINT32_MAX
 // is written to the register. STM32F4 timers do not manifest this issue,
@@ -110,7 +110,7 @@ uint8_t BulkStorage::Read(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t bl
 }

 uint8_t BulkStorage::Write(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, const uint8_t * buf) {
-  return USBH_MSC_Write(&hUsbHost, lun, addr, const_cast <uint8_t*>(buf), blocks) != USBH_OK;
+  return USBH_MSC_Write(&hUsbHost, lun, addr, const_cast<uint8_t*>(buf), blocks) != USBH_OK;
 }

 #endif // USE_OTG_USB_HOST && USBHOST
@@ -293,7 +293,7 @@ void HAL_init() {
  #if PIN_EXISTS(USB_CONNECT)
    OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING);  // USB clear connection
    delay(1000);                                         // Give OS time to notice
-    OUT_WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
+    WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
  #endif
  TERN_(POSTMORTEM_DEBUGGING, install_min_serial());    // Install the minimal serial handler
 }
@@ -453,6 +453,8 @@ void analogWrite(pin_t pin, int pwm_val8) {
    analogWrite(uint8_t(pin), pwm_val8);
 }

-void flashFirmware(const int16_t) { nvic_sys_reset(); }
+void HAL_reboot() { nvic_sys_reset(); }
+
+void flashFirmware(const int16_t) { HAL_reboot(); }

 #endif // __STM32F1__
@@ -36,7 +36,6 @@
 #include "fastio.h"
 #include "watchdog.h"

-
 #include <stdint.h>
 #include <util/atomic.h>

@@ -63,11 +62,10 @@
 #ifdef SERIAL_USB
  typedef ForwardSerial1Class< USBSerial > DefaultSerial1;
  extern DefaultSerial1 MSerial0;
-
-  #if !HAS_SD_HOST_DRIVE
-    #define UsbSerial MSerial0
-  #else
+  #if HAS_SD_HOST_DRIVE
    #define UsbSerial MarlinCompositeSerial
+  #else
+    #define UsbSerial MSerial0
  #endif
 #endif

@@ -86,11 +84,7 @@
  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
  #define MYSERIAL1 MSERIAL(1) // dummy port
-  #if NUM_UARTS == 5
-    #error "SERIAL_PORT must be -1 or from 1 to 5. Please update your configuration."
-  #else
-    #error "SERIAL_PORT must be -1 or from 1 to 3. Please update your configuration."
-  #endif
+  static_assert(false, "SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
 #endif

 #ifdef SERIAL_PORT_2
@@ -100,11 +94,18 @@
    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
  #else
    #define MYSERIAL2 MSERIAL(1) // dummy port
-    #if NUM_UARTS == 5
-      #error "SERIAL_PORT_2 must be -1 or from 1 to 5. Please update your configuration."
-    #else
-      #error "SERIAL_PORT_2 must be -1 or from 1 to 3. Please update your configuration."
-    #endif
+    static_assert(false, "SERIAL_PORT_2 must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
+  #endif
+#endif
+
+#ifdef SERIAL_PORT_3
+  #if SERIAL_PORT_3 == -1
+    #define MYSERIAL3 UsbSerial
+  #elif WITHIN(SERIAL_PORT_3, 1, NUM_UARTS)
+    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #else
+    #define MYSERIAL3 MSERIAL(1) // dummy port
+    static_assert(false, "SERIAL_PORT_3 must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
  #endif
 #endif

@@ -115,11 +116,7 @@
    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
  #else
    #define MMU2_SERIAL MSERIAL(1) // dummy port
-    #if NUM_UARTS == 5
-      #error "MMU2_SERIAL_PORT must be -1 or from 1 to 5. Please update your configuration."
-    #else
-      #error "MMU2_SERIAL_PORT must be -1 or from 1 to 3. Please update your configuration."
-    #endif
+    static_assert(false, "MMU2_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
  #endif
 #endif

@@ -130,11 +127,7 @@
    #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
  #else
    #define LCD_SERIAL MSERIAL(1) // dummy port
-    #if NUM_UARTS == 5
-      #error "LCD_SERIAL_PORT must be -1 or from 1 to 5. Please update your configuration."
-    #else
-      #error "LCD_SERIAL_PORT must be -1 or from 1 to 3. Please update your configuration."
-    #endif
+    static_assert(false, "LCD_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
  #endif
  #if HAS_DGUS_LCD
    #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite()
@@ -207,7 +200,7 @@ void HAL_clear_reset_source();
 // Reset reason
 uint8_t HAL_get_reset_source();

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

 void _delay_ms(const int delay);

@@ -55,7 +55,7 @@ static void TXBegin() {
    nvic_irq_disable(dev->irq_num);

    // Use this if removing libmaple
-    //NVIC_BASE->ICER[1] |= _BV(irq - 32);
+    //SBI(NVIC_BASE->ICER[1], irq - 32);

    // We NEED memory barriers to ensure Interrupts are actually disabled!
    // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
@@ -60,7 +60,7 @@ static inline __always_inline void my_usart_irq(ring_buffer *rb, ring_buffer *wb
  }
  else if (srflags & USART_SR_ORE) {
    // overrun and empty data, just do a dummy read to clear ORE
-    // and prevent a raise condition where a continous interrupt stream (due to ORE set) occurs
+    // and prevent a raise condition where a continuous interrupt stream (due to ORE set) occurs
    // (see chapter "Overrun error" ) in STM32 reference manual
    regs->DR;
  }
@@ -22,7 +22,7 @@

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

-#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS
+#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS

 #include "xpt2046.h"
 #include <SPI.h>
@@ -25,9 +25,10 @@
 * HAL for stm32duino.com based on Libmaple and compatible (STM32F1)
 */

-#include <stdint.h>
+#include "../../inc/MarlinConfig.h"
+#include "HAL.h"
+
 #include <libmaple/timer.h>
-#include "../../core/boards.h"

 // ------------------------
 // Defines
@@ -37,7 +38,6 @@
 * TODO: Check and confirm what timer we will use for each Temps and stepper driving.
 * We should probable drive temps with PWM.
 */
-#define FORCE_INLINE __attribute__((always_inline)) inline

 typedef uint16_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFF
@@ -80,7 +80,7 @@ typedef uint16_t hal_timer_t;
  //#define TEMP_TIMER_NUM      4  // 2->4, Timer 2 for Stepper Current PWM
 #endif

-#if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE)
+#if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE, MKS_ROBIN_E3D, MKS_ROBIN_E3)
  // SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM.
  #ifdef STM32_HIGH_DENSITY
    #define SERVO0_TIMER_NUM 8  // tone.cpp uses Timer 4
@@ -35,6 +35,8 @@
 #define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
 #if WITHIN(SERIAL_PORT, 0, 3)
  IMPLEMENT_SERIAL(SERIAL_PORT);
+#else
+  #error "SERIAL_PORT must be from 0 to 3."
 #endif
 USBSerialType USBSerial(false, SerialUSB);

@@ -76,6 +78,8 @@ uint8_t HAL_get_reset_source() {
  return 0;
 }

+void HAL_reboot() { _reboot_Teensyduino_(); }
+
 extern "C" {
  extern char __bss_end;
  extern char __heap_start;
@@ -34,7 +34,6 @@
 #include "fastio.h"
 #include "watchdog.h"

-
 #include <stdint.h>

 #define ST7920_DELAY_1 DELAY_NS(600)
@@ -69,6 +68,8 @@ extern USBSerialType USBSerial;
 #elif WITHIN(SERIAL_PORT, 0, 3)
  DECLARE_SERIAL(SERIAL_PORT);
  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
+#else
+  #error "The required SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
 #endif

 #define HAL_SERVO_LIB libServo
@@ -93,7 +94,7 @@ void HAL_clear_reset_source();
 // Get the reason for the reset
 uint8_t HAL_get_reset_source();

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

 FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }

@@ -21,11 +21,12 @@
 */
 #ifdef __MK20DX256__

+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+
 #include <SPI.h>
 #include <pins_arduino.h>
 #include "spi_pins.h"
-#include "../../core/macros.h"

 static SPISettings spiConfig;

@@ -86,6 +86,8 @@ uint8_t HAL_get_reset_source() {
  return 0;
 }

+void HAL_reboot() { _reboot_Teensyduino_(); }
+
 extern "C" {
  extern char __bss_end;
  extern char __heap_start;
@@ -72,6 +72,8 @@ extern USBSerialType USBSerial;
 #elif WITHIN(SERIAL_PORT, 0, 3)
  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
  DECLARE_SERIAL(SERIAL_PORT);
+#else
+  #error "SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
 #endif

 #define HAL_SERVO_LIB libServo
@@ -99,7 +101,7 @@ void HAL_clear_reset_source();
 // Reset reason
 uint8_t HAL_get_reset_source();

-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

 FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }

@@ -26,11 +26,12 @@

 #if defined(__MK64FX512__) || defined(__MK66FX1M0__)

+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+
 #include <SPI.h>
 #include <pins_arduino.h>
 #include "spi_pins.h"
-#include "../../core/macros.h"

 static SPISettings spiConfig;

@@ -26,10 +26,11 @@

 #ifdef __IMXRT1062__

+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+
 #include "../shared/Delay.h"
 #include "timers.h"
-
 #include <Wire.h>

 #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
@@ -120,6 +121,8 @@ uint8_t HAL_get_reset_source() {
  return 0;
 }

+void HAL_reboot() { _reboot_Teensyduino_(); }
+
 #define __bss_end _ebss

 extern "C" {
@@ -74,7 +74,7 @@ extern USBSerialType USBSerial;
  DECLARE_SERIAL(SERIAL_PORT);
  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
-  #error "The required SERIAL_PORT must be from -1 to 8. Please update your configuration."
+  #error "The required SERIAL_PORT must be from 0 to 8, or -1 for Native USB."
 #endif

 #ifdef SERIAL_PORT_2
@@ -85,7 +85,7 @@ extern USBSerialType USBSerial;
  #elif WITHIN(SERIAL_PORT_2, 0, 8)
    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
  #else
-    #error "SERIAL_PORT_2 must be from -2 to 8. Please update your configuration."
+    #error "SERIAL_PORT_2 must be from 0 to 8, or -1 for Native USB, or -2 for Ethernet."
  #endif
 #endif

@@ -121,6 +121,8 @@ void HAL_clear_reset_source();
 // Reset reason
 uint8_t HAL_get_reset_source();

+void HAL_reboot();
+
 FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }

 #if GCC_VERSION <= 50000
@@ -26,11 +26,12 @@

 #ifdef __IMXRT1062__

+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+
 #include <SPI.h>
 #include <pins_arduino.h>
 #include "spi_pins.h"
-#include "../../core/macros.h"

 static SPISettings spiConfig;

@@ -82,4 +82,8 @@
  #define UNUSED(x) ((void)(x))
 #endif

+#ifndef FORCE_INLINE
+  #define FORCE_INLINE inline __attribute__((always_inline))
+#endif
+
 #include "progmem.h"
@@ -30,11 +30,17 @@
 #if ENABLED(I2C_EEPROM)

 #include "eeprom_if.h"
-#include <Wire.h>
+
+#if ENABLED(SOFT_I2C_EEPROM)
+  #include <SlowSoftWire.h>
+  SlowSoftWire Wire = SlowSoftWire(I2C_SDA_PIN, I2C_SCL_PIN, true);
+#else
+  #include <Wire.h>
+#endif

 void eeprom_init() {
  Wire.begin(
-    #if PINS_EXIST(I2C_SCL, I2C_SDA)
+    #if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM)
      uint8_t(I2C_SDA_PIN), uint8_t(I2C_SCL_PIN)
    #endif
  );
@@ -68,9 +68,9 @@
 #endif

 #if HAS_TFT_LVGL_UI
-  #include "lcd/extui/lib/mks_ui/tft_lvgl_configuration.h"
-  #include "lcd/extui/lib/mks_ui/draw_ui.h"
-  #include "lcd/extui/lib/mks_ui/mks_hardware_test.h"
+  #include "lcd/extui/mks_ui/tft_lvgl_configuration.h"
+  #include "lcd/extui/mks_ui/draw_ui.h"
+  #include "lcd/extui/mks_ui/mks_hardware_test.h"
  #include <lvgl.h>
 #endif

@@ -229,7 +229,11 @@
 #endif

 #if ENABLED(DGUS_LCD_UI_MKS)
-  #include "lcd/extui/lib/dgus/DGUSScreenHandler.h"
+  #include "lcd/extui/dgus/DGUSScreenHandler.h"
+#endif
+
+#if HAS_DRIVER_SAFE_POWER_PROTECT
+  #include "feature/stepper_driver_safety.h"
 #endif

 PGMSTR(M112_KILL_STR, "M112 Shutdown");
@@ -327,18 +331,14 @@ void disable_all_steppers() {
 }

 /**
- * A Print Job exists when the timer is running or SD printing
+ * A Print Job exists when the timer is running or SD is printing
 */
-bool printJobOngoing() {
-  return print_job_timer.isRunning() || IS_SD_PRINTING();
-}
+bool printJobOngoing() { return print_job_timer.isRunning() || IS_SD_PRINTING(); }

 /**
- * Printing is active when the print job timer is running
+ * Printing is active when a job is underway but not paused
 */
-bool printingIsActive() {
-  return !did_pause_print && (print_job_timer.isRunning() || IS_SD_PRINTING());
-}
+bool printingIsActive() { return !did_pause_print && printJobOngoing(); }

 /**
 * Printing is paused according to SD or host indicators
@@ -363,7 +363,7 @@ void startOrResumeJob() {

  inline void abortSDPrinting() {
    IF_DISABLED(NO_SD_AUTOSTART, card.autofile_cancel());
-    card.endFilePrint(TERN_(SD_RESORT, true));
+    card.abortFilePrintNow(TERN_(SD_RESORT, true));

    queue.clear();
    quickstop_stepper();
@@ -386,8 +386,8 @@ void startOrResumeJob() {
  }

  inline void finishSDPrinting() {
-    if (queue.enqueue_one_P(PSTR("M1001"))) {
-      marlin_state = MF_RUNNING;
+    if (queue.enqueue_one_P(PSTR("M1001"))) { // Keep trying until it gets queued
+      marlin_state = MF_RUNNING;              // Signal to stop trying
      TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine());
      TERN_(DGUS_LCD_UI_MKS, ScreenHandler.SDPrintingFinished());
    }
@@ -453,7 +453,8 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
      already_shutdown_steppers = false;
  }

-  #if PIN_EXISTS(CHDK) // Check if pin should be set to LOW (after M240 set it HIGH)
+  #if ENABLED(PHOTO_GCODE) && PIN_EXISTS(CHDK)
+    // Check if CHDK should be set to LOW (after M240 set it HIGH)
    extern millis_t chdk_timeout;
    if (chdk_timeout && ELAPSED(ms, chdk_timeout)) {
      chdk_timeout = 0;
@@ -482,6 +483,10 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
    }
  #endif

+  #if HAS_FREEZE_PIN
+    Stepper::frozen = !READ(FREEZE_PIN);
+  #endif
+
  #if HAS_HOME
    // Handle a standalone HOME button
    constexpr millis_t HOME_DEBOUNCE_DELAY = 1000UL;
@@ -599,7 +604,7 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
  TERN_(HOTEND_IDLE_TIMEOUT, hotend_idle.check());

  #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
-    if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
+    if (thermalManager.degHotend(active_extruder) > (EXTRUDER_RUNOUT_MINTEMP)
      && ELAPSED(ms, gcode.previous_move_ms + SEC_TO_MS(EXTRUDER_RUNOUT_SECONDS))
      && !planner.has_blocks_queued()
    ) {
@@ -743,7 +748,7 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {

  // Handle Power-Loss Recovery
  #if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS)
-    if (printJobOngoing()) recovery.outage();
+    if (IS_SD_PRINTING()) recovery.outage();
  #endif

  // Run StallGuard endstop checks
@@ -791,6 +796,7 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {
    if (!gcode.autoreport_paused) {
      TERN_(AUTO_REPORT_TEMPERATURES, thermalManager.auto_reporter.tick());
      TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick());
+      TERN_(AUTO_REPORT_POSITION, position_auto_reporter.tick());
    }
  #endif

@@ -820,18 +826,19 @@ void kill(PGM_P const lcd_error/*=nullptr*/, PGM_P const lcd_component/*=nullptr

  TERN_(HAS_CUTTER, cutter.kill()); // Full cutter shutdown including ISR control

-  SERIAL_ERROR_MSG(STR_ERR_KILLED);
+  // Echo the LCD message to serial for extra context
+  if (lcd_error) { SERIAL_ECHO_START(); SERIAL_ECHOLNPGM_P(lcd_error); }

  #if HAS_DISPLAY
    ui.kill_screen(lcd_error ?: GET_TEXT(MSG_KILLED), lcd_component ?: NUL_STR);
  #else
-    UNUSED(lcd_error);
-    UNUSED(lcd_component);
+    UNUSED(lcd_error); UNUSED(lcd_component);
  #endif

-  #if HAS_TFT_LVGL_UI
-    lv_draw_error_message(lcd_error);
-  #endif
+  TERN_(HAS_TFT_LVGL_UI, lv_draw_error_message(lcd_error));
+
+  // "Error:Printer halted. kill() called!"
+  SERIAL_ERROR_MSG(STR_ERR_KILLED);

  #ifdef ACTION_ON_KILL
    host_action_kill();
@@ -862,20 +869,22 @@ void minkill(const bool steppers_off/*=false*/) {

  TERN_(HAS_SUICIDE, suicide());

-  #if HAS_KILL
+  #if EITHER(HAS_KILL, SOFT_RESET_ON_KILL)

-    // Wait for kill to be released
-    while (kill_state()) watchdog_refresh();
+    // Wait for both KILL and ENC to be released
+    while (TERN0(HAS_KILL, !kill_state()) || TERN0(SOFT_RESET_ON_KILL, !ui.button_pressed()))
+      watchdog_refresh();

-    // Wait for kill to be pressed
-    while (!kill_state()) watchdog_refresh();
+    // Wait for either KILL or ENC press
+    while (TERN1(HAS_KILL, kill_state()) && TERN1(SOFT_RESET_ON_KILL, ui.button_pressed()))
+      watchdog_refresh();

-    void (*resetFunc)() = 0;      // Declare resetFunc() at address 0
-    resetFunc();                  // Jump to address 0
+    // Reboot the board
+    HAL_reboot();

  #else

-    for (;;) watchdog_refresh();  // Wait for reset
+    for (;;) watchdog_refresh();  // Wait for RESET button or power-cycle

  #endif
 }
@@ -893,7 +902,7 @@ void stop() {
    thermalManager.set_fans_paused(false); // Un-pause fans for safety
  #endif

-  if (IsRunning()) {
+  if (!IsStopped()) {
    SERIAL_ERROR_MSG(STR_ERR_STOPPED);
    LCD_MESSAGEPGM(MSG_STOPPED);
    safe_delay(350);       // allow enough time for messages to get out before stopping
@@ -1064,9 +1073,20 @@ void setup() {
  while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }

  #if HAS_MULTI_SERIAL && !HAS_ETHERNET
-    MYSERIAL2.begin(BAUDRATE);
+    #ifndef BAUDRATE_2
+      #define BAUDRATE_2 BAUDRATE
+    #endif
+    MYSERIAL2.begin(BAUDRATE_2);
    serial_connect_timeout = millis() + 1000UL;
    while (!MYSERIAL2.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+    #ifdef SERIAL_PORT_3
+      #ifndef BAUDRATE_3
+        #define BAUDRATE_3 BAUDRATE
+      #endif
+      MYSERIAL3.begin(BAUDRATE_3);
+      serial_connect_timeout = millis() + 1000UL;
+      while (!MYSERIAL3.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+    #endif
  #endif
  SERIAL_ECHOLNPGM("start");

@@ -1080,6 +1100,10 @@ void setup() {
    #endif
  #endif

+  #if HAS_FREEZE_PIN
+    SET_INPUT_PULLUP(FREEZE_PIN);
+  #endif
+
  #if HAS_SUICIDE
    SETUP_LOG("SUICIDE_PIN");
    OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING);
@@ -1213,12 +1237,22 @@ void setup() {
    DWIN_UpdateLCD();     // Show bootscreen (first image)
  #else
    SETUP_RUN(ui.init());
-    #if HAS_WIRED_LCD && ENABLED(SHOW_BOOTSCREEN)
+    #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN)
      SETUP_RUN(ui.show_bootscreen());
+      const millis_t bootscreen_ms = millis();
    #endif
    SETUP_RUN(ui.reset_status());     // Load welcome message early. (Retained if no errors exist.)
  #endif

+  #if PIN_EXISTS(SAFE_POWER)
+    #if HAS_DRIVER_SAFE_POWER_PROTECT
+      SETUP_RUN(stepper_driver_backward_check());
+    #else
+      SETUP_LOG("SAFE_POWER");
+      OUT_WRITE(SAFE_POWER_PIN, HIGH);
+    #endif
+  #endif
+
  #if ENABLED(PROBE_TARE)
    SETUP_RUN(probe.tare_init());
  #endif
@@ -1460,7 +1494,11 @@ void setup() {
  #endif

  #if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF)
-    SETUP_RUN(test_tmc_connection(true, true, true, true));
+    SETUP_RUN(test_tmc_connection());
+  #endif
+
+  #if HAS_DRIVER_SAFE_POWER_PROTECT
+    SETUP_RUN(stepper_driver_backward_report());
  #endif

  #if HAS_PRUSA_MMU2
@@ -1500,6 +1538,14 @@ void setup() {
    SETUP_RUN(tft_lvgl_init());
  #endif

+  #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN)
+    const millis_t elapsed = millis() - bootscreen_ms;
+    #if ENABLED(MARLIN_DEV_MODE)
+      SERIAL_ECHOLNPAIR("elapsed=", elapsed);
+    #endif
+    SETUP_RUN(ui.bootscreen_completion(elapsed));
+  #endif
+
  #if ENABLED(PASSWORD_ON_STARTUP)
    SETUP_RUN(password.lock_machine());      // Will not proceed until correct password provided
  #endif
@@ -56,20 +56,21 @@ void minkill(const bool steppers_off=false);

 // Global State of the firmware
 enum MarlinState : uint8_t {
-  MF_INITIALIZING =  0,
-  MF_RUNNING      = _BV(0),
-  MF_PAUSED       = _BV(1),
-  MF_WAITING      = _BV(2),
-  MF_STOPPED      = _BV(3),
-  MF_SD_COMPLETE  = _BV(4),
-  MF_KILLED       = _BV(7)
+  MF_INITIALIZING = 0,
+  MF_STOPPED,
+  MF_KILLED,
+  MF_RUNNING,
+  MF_SD_COMPLETE,
+  MF_PAUSED,
+  MF_WAITING,
 };

 extern MarlinState marlin_state;
-inline bool IsRunning() { return marlin_state == MF_RUNNING; }
-inline bool IsStopped() { return marlin_state != MF_RUNNING; }
+inline bool IsRunning() { return marlin_state >= MF_RUNNING; }
+inline bool IsStopped() { return marlin_state == MF_STOPPED; }

 bool printingIsActive();
+bool printJobOngoing();
 bool printingIsPaused();
 void startOrResumeJob();

@@ -363,24 +363,29 @@
 #define BOARD_BLACK_STM32F407VE       4204  // BLACK_STM32F407VE
 #define BOARD_BLACK_STM32F407ZE       4205  // BLACK_STM32F407ZE
 #define BOARD_STEVAL_3DP001V1         4206  // STEVAL-3DP001V1 3D PRINTER BOARD
-#define BOARD_BTT_SKR_PRO_V1_1        4207  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
-#define BOARD_BTT_SKR_PRO_V1_2        4208  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
-#define BOARD_BTT_BTT002_V1_0         4209  // BigTreeTech BTT002 v1.0 (STM32F407VG)
-#define BOARD_BTT_GTR_V1_0            4210  // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_LERDGE_K                4211  // Lerdge K (STM32F407ZG)
-#define BOARD_LERDGE_S                4212  // Lerdge S (STM32F407VE)
-#define BOARD_LERDGE_X                4213  // Lerdge X (STM32F407VE)
-#define BOARD_VAKE403D                4214  // VAkE 403D (STM32F446VET6)
-#define BOARD_FYSETC_S6               4215  // FYSETC S6 (STM32F446VET6)
-#define BOARD_FYSETC_S6_V2_0          4216  // FYSETC S6 v2.0 (STM32F446VET6)
-#define BOARD_FYSETC_SPIDER           4217  // FYSETC Spider (STM32F446VET6)
-#define BOARD_FLYF407ZG               4218  // FLYF407ZG (STM32F407ZG)
-#define BOARD_MKS_ROBIN2              4219  // MKS_ROBIN2 (STM32F407ZE)
-#define BOARD_MKS_ROBIN_PRO_V2        4220  // MKS Robin Pro V2 (STM32F407VE)
-#define BOARD_MKS_ROBIN_NANO_V3       4221  // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_ANET_ET4                4222  // ANET ET4 V1.x (STM32F407VGT6)
-#define BOARD_ANET_ET4P               4223  // ANET ET4P V1.x (STM32F407VGT6)
-#define BOARD_FYSETC_CHEETAH_V20      4224  // FYSETC Cheetah V2.0
+#define BOARD_BTT_SKR_PRO_V1_1        4207  // BigTreeTech SKR Pro v1.1 (STM32F407ZGT6)
+#define BOARD_BTT_SKR_PRO_V1_2        4208  // BigTreeTech SKR Pro v1.2 (STM32F407ZGT6)
+#define BOARD_BTT_BTT002_V1_0         4209  // BigTreeTech BTT002 v1.0 (STM32F407VGT6)
+#define BOARD_BTT_E3_RRF              4210  // BigTreeTech E3 RRF (STM32F407VGT6)
+#define BOARD_BTT_SKR_V2_0_REV_A      4211  // BigTreeTech SKR v2.0 Rev A (STM32F407VGT6)
+#define BOARD_BTT_SKR_V2_0_REV_B      4212  // BigTreeTech SKR v2.0 Rev B (STM32F407VGT6)
+#define BOARD_BTT_GTR_V1_0            4213  // BigTreeTech GTR v1.0 (STM32F407IGT)
+#define BOARD_BTT_OCTOPUS_V1_0        4214  // BigTreeTech Octopus v1.0 (STM32F446ZET6)
+#define BOARD_LERDGE_K                4215  // Lerdge K (STM32F407ZG)
+#define BOARD_LERDGE_S                4216  // Lerdge S (STM32F407VE)
+#define BOARD_LERDGE_X                4217  // Lerdge X (STM32F407VE)
+#define BOARD_VAKE403D                4218  // VAkE 403D (STM32F446VET6)
+#define BOARD_FYSETC_S6               4219  // FYSETC S6 (STM32F446VET6)
+#define BOARD_FYSETC_S6_V2_0          4220  // FYSETC S6 v2.0 (STM32F446VET6)
+#define BOARD_FYSETC_SPIDER           4221  // FYSETC Spider (STM32F446VET6)
+#define BOARD_FLYF407ZG               4222  // FLYF407ZG (STM32F407ZG)
+#define BOARD_MKS_ROBIN2              4223  // MKS_ROBIN2 (STM32F407ZE)
+#define BOARD_MKS_ROBIN_PRO_V2        4224  // MKS Robin Pro V2 (STM32F407VE)
+#define BOARD_MKS_ROBIN_NANO_V3       4225  // MKS Robin Nano V3 (STM32F407VG)
+#define BOARD_ANET_ET4                4226  // ANET ET4 V1.x (STM32F407VGT6)
+#define BOARD_ANET_ET4P               4227  // ANET ET4P V1.x (STM32F407VGT6)
+#define BOARD_FYSETC_CHEETAH_V20      4228  // FYSETC Cheetah V2.0
+

 //
 // ARM Cortex M7
@@ -44,6 +44,6 @@ private:
      SERIAL_ECHOPGM_P(the_msg);
    }
    SERIAL_CHAR(' ');
-    print_xyz(current_position);
+    print_pos(current_position);
  }
 };
@@ -140,25 +140,7 @@
 #define STR_RESEND                          "Resend: "
 #define STR_UNKNOWN_COMMAND                 "Unknown command: \""
 #define STR_ACTIVE_EXTRUDER                 "Active Extruder: "
-#define STR_X_MIN                           "x_min"
-#define STR_X_MAX                           "x_max"
-#define STR_X2_MIN                          "x2_min"
-#define STR_X2_MAX                          "x2_max"
-#define STR_Y_MIN                           "y_min"
-#define STR_Y_MAX                           "y_max"
-#define STR_Y2_MIN                          "y2_min"
-#define STR_Y2_MAX                          "y2_max"
-#define STR_Z_MIN                           "z_min"
-#define STR_Z_MAX                           "z_max"
-#define STR_Z2_MIN                          "z2_min"
-#define STR_Z2_MAX                          "z2_max"
-#define STR_Z3_MIN                          "z3_min"
-#define STR_Z3_MAX                          "z3_max"
-#define STR_Z4_MIN                          "z4_min"
-#define STR_Z4_MAX                          "z4_max"
-#define STR_Z_PROBE                         "z_probe"
-#define STR_PROBE_EN                        "probe_en"
-#define STR_FILAMENT_RUNOUT_SENSOR          "filament"
+
 #define STR_PROBE_OFFSET                    "Probe Offset"
 #define STR_SKEW_MIN                        "min_skew_factor: "
 #define STR_SKEW_MAX                        "max_skew_factor: "
@@ -277,14 +259,30 @@
 #define STR_REMINDER_SAVE_SETTINGS          "Remember to save!"
 #define STR_PASSWORD_SET                    "Password is "

-// LCD Menu Messages
-
-#define LANGUAGE_DATA_INCL_(M) STRINGIFY_(fontdata/langdata_##M.h)
-#define LANGUAGE_DATA_INCL(M) LANGUAGE_DATA_INCL_(M)
-
-#define LANGUAGE_INCL_(M) STRINGIFY_(../lcd/language/language_##M.h)
-#define LANGUAGE_INCL(M) LANGUAGE_INCL_(M)
+//
+// Endstop Names used by Endstops::report_states
+//
+#define STR_X_MIN                           "x_min"
+#define STR_X_MAX                           "x_max"
+#define STR_X2_MIN                          "x2_min"
+#define STR_X2_MAX                          "x2_max"
+#define STR_Y_MIN                           "y_min"
+#define STR_Y_MAX                           "y_max"
+#define STR_Y2_MIN                          "y2_min"
+#define STR_Y2_MAX                          "y2_max"
+#define STR_Z_MIN                           "z_min"
+#define STR_Z_MAX                           "z_max"
+#define STR_Z2_MIN                          "z2_min"
+#define STR_Z2_MAX                          "z2_max"
+#define STR_Z3_MIN                          "z3_min"
+#define STR_Z3_MAX                          "z3_max"
+#define STR_Z4_MIN                          "z4_min"
+#define STR_Z4_MAX                          "z4_max"
+#define STR_Z_PROBE                         "z_probe"
+#define STR_PROBE_EN                        "probe_en"
+#define STR_FILAMENT_RUNOUT_SENSOR          "filament"

+// General axis names
 #define STR_X "X"
 #define STR_Y "Y"
 #define STR_Z "Z"
@@ -386,6 +384,14 @@
 #define LCD_STR_E6 "E" LCD_STR_N6
 #define LCD_STR_E7 "E" LCD_STR_N7

+// Include localized LCD Menu Messages
+
+#define LANGUAGE_DATA_INCL_(M) STRINGIFY_(fontdata/langdata_##M.h)
+#define LANGUAGE_DATA_INCL(M) LANGUAGE_DATA_INCL_(M)
+
+#define LANGUAGE_INCL_(M) STRINGIFY_(../lcd/language/language_##M.h)
+#define LANGUAGE_INCL(M) LANGUAGE_INCL_(M)
+
 // Use superscripts, if possible. Evaluated at point of use.
 #define SUPERSCRIPT_TWO   TERN(NOT_EXTENDED_ISO10646_1_5X7, "^2", "²")
 #define SUPERSCRIPT_THREE TERN(NOT_EXTENDED_ISO10646_1_5X7, "^3", "³")
@@ -237,6 +237,38 @@
    memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \
  }while(0)

+#define CODE_9( A,B,C,D,E,F,G,H,I,...) A; B; C; D; E; F; G; H; I
+#define CODE_8( A,B,C,D,E,F,G,H,...) A; B; C; D; E; F; G; H
+#define CODE_7( A,B,C,D,E,F,G,...) A; B; C; D; E; F; G
+#define CODE_6( A,B,C,D,E,F,...) A; B; C; D; E; F
+#define CODE_5( A,B,C,D,E,...) A; B; C; D; E
+#define CODE_4( A,B,C,D,...) A; B; C; D
+#define CODE_3( A,B,C,...) A; B; C
+#define CODE_2( A,B,...) A; B
+#define CODE_1( A,...) A
+#define _CODE_N(N,V...) CODE_##N(V)
+#define CODE_N(N,V...) _CODE_N(N,V)
+
+#define GANG_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A B C D E F G H I J K L M N O P
+#define GANG_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A B C D E F G H I J K L M N O
+#define GANG_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A B C D E F G H I J K L M N
+#define GANG_13(A,B,C,D,E,F,G,H,I,J,K,L,M...) A B C D E F G H I J K L M
+#define GANG_12(A,B,C,D,E,F,G,H,I,J,K,L...) A B C D E F G H I J K L
+#define GANG_11(A,B,C,D,E,F,G,H,I,J,K,...) A B C D E F G H I J K
+#define GANG_10(A,B,C,D,E,F,G,H,I,J,...) A B C D E F G H I J
+#define GANG_9( A,B,C,D,E,F,G,H,I,...) A B C D E F G H I
+#define GANG_8( A,B,C,D,E,F,G,H,...) A B C D E F G H
+#define GANG_7( A,B,C,D,E,F,G,...) A B C D E F G
+#define GANG_6( A,B,C,D,E,F,...) A B C D E F
+#define GANG_5( A,B,C,D,E,...) A B C D E
+#define GANG_4( A,B,C,D,...) A B C D
+#define GANG_3( A,B,C,...) A B C
+#define GANG_2( A,B,...) A B
+#define GANG_1( A,...) A
+#define _GANG_N(N,V...) GANG_##N(V)
+#define GANG_N(N,V...) _GANG_N(N,V)
+#define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
+
 // Macros for initializing arrays
 #define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P
 #define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O
@@ -254,10 +286,13 @@
 #define LIST_3( A,B,C,...) A,B,C
 #define LIST_2( A,B,...) A,B
 #define LIST_1( A,...) A
+#define LIST_0(...)

 #define _LIST_N(N,V...) LIST_##N(V)
 #define LIST_N(N,V...) _LIST_N(N,V)
+#define LIST_N_1(N,K) _LIST_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
 #define ARRAY_N(N,V...) { _LIST_N(N,V) }
+#define ARRAY_N_1(N,K)  { LIST_N_1(N,K) }

 #define _JOIN_1(O)         (O)
 #define JOIN_N(N,C,V...)   (DO(JOIN,C,LIST_N(N,V)))
@@ -301,8 +336,12 @@
 #define HYPOT(x,y)  SQRT(HYPOT2(x,y))

 // Use NUM_ARGS(__VA_ARGS__) to get the number of variadic arguments
-#define _NUM_ARGS(_,Z,Y,X,W,V,U,T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,B,A,OUT,...) OUT
-#define NUM_ARGS(V...) _NUM_ARGS(0,V,26,25,24,23,22,21,20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0)
+#define _NUM_ARGS(_,n,m,l,k,j,i,h,g,f,e,d,c,b,a,Z,Y,X,W,V,U,T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,B,A,OUT,...) OUT
+#define NUM_ARGS(V...) _NUM_ARGS(0,V,40,39,38,37,36,35,34,33,32,31,30,29,28,27,26,25,24,23,22,21,20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0)
+
+// Use TWO_ARGS(__VA_ARGS__) to get whether there are 1, 2, or >2 arguments
+#define _TWO_ARGS(_,n,m,l,k,j,i,h,g,f,e,d,c,b,a,Z,Y,X,W,V,U,T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,B,A,OUT,...) OUT
+#define TWO_ARGS(V...) _TWO_ARGS(0,V,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,2,1,0)

 #ifdef __cplusplus

@@ -414,31 +453,19 @@

 #else

-  #define MIN_2(a,b)      ((a)<(b)?(a):(b))
-  #define MIN_3(a,V...)   MIN_2(a,MIN_2(V))
-  #define MIN_4(a,V...)   MIN_2(a,MIN_3(V))
-  #define MIN_5(a,V...)   MIN_2(a,MIN_4(V))
-  #define MIN_6(a,V...)   MIN_2(a,MIN_5(V))
-  #define MIN_7(a,V...)   MIN_2(a,MIN_6(V))
-  #define MIN_8(a,V...)   MIN_2(a,MIN_7(V))
-  #define MIN_9(a,V...)   MIN_2(a,MIN_8(V))
-  #define MIN_10(a,V...)  MIN_2(a,MIN_9(V))
  #define __MIN_N(N,V...) MIN_##N(V)
  #define _MIN_N(N,V...)  __MIN_N(N,V)
-  #define _MIN(V...)      _MIN_N(NUM_ARGS(V), V)
+  #define _MIN_N_REF()    _MIN_N
+  #define _MIN(V...)      EVAL(_MIN_N(TWO_ARGS(V),V))
+  #define MIN_2(a,b)      ((a)<(b)?(a):(b))
+  #define MIN_3(a,V...)   MIN_2(a,DEFER2(_MIN_N_REF)()(TWO_ARGS(V),V))

-  #define MAX_2(a,b)      ((a)>(b)?(a):(b))
-  #define MAX_3(a,V...)   MAX_2(a,MAX_2(V))
-  #define MAX_4(a,V...)   MAX_2(a,MAX_3(V))
-  #define MAX_5(a,V...)   MAX_2(a,MAX_4(V))
-  #define MAX_6(a,V...)   MAX_2(a,MAX_5(V))
-  #define MAX_7(a,V...)   MAX_2(a,MAX_6(V))
-  #define MAX_8(a,V...)   MAX_2(a,MAX_7(V))
-  #define MAX_9(a,V...)   MAX_2(a,MAX_8(V))
-  #define MAX_10(a,V...)  MAX_2(a,MAX_9(V))
  #define __MAX_N(N,V...) MAX_##N(V)
  #define _MAX_N(N,V...)  __MAX_N(N,V)
-  #define _MAX(V...)      _MAX_N(NUM_ARGS(V), V)
+  #define _MAX_N_REF()    _MAX_N
+  #define _MAX(V...)      EVAL(_MAX_N(TWO_ARGS(V),V))
+  #define MAX_2(a,b)      ((a)>(b)?(a):(b))
+  #define MAX_3(a,V...)   MAX_2(a,DEFER2(_MAX_N_REF)()(TWO_ARGS(V),V))

 #endif

@@ -473,6 +500,9 @@
 #define ADD8(N)  ADD4(ADD4(N))
 #define ADD9(N)  ADD4(ADD5(N))
 #define ADD10(N) ADD5(ADD5(N))
+#define SUM(A,B) _CAT(ADD,A)(B)
+#define DOUBLE_(n) ADD##n(n)
+#define DOUBLE(n) DOUBLE_(n)

 // Macros for subtracting
 #define DEC_0   0
@@ -581,6 +611,7 @@
 // Repeat a macro passing S...N-1.
 #define REPEAT_S(S,N,OP)        EVAL(_REPEAT(S,SUB##S(N),OP))
 #define REPEAT(N,OP)            REPEAT_S(0,N,OP)
+#define REPEAT_1(N,OP)          REPEAT_S(1,INCREMENT(N),OP)

 // Repeat a macro passing 0...N-1 plus additional arguments.
 #define REPEAT2_S(S,N,OP,V...)  EVAL(_REPEAT2(S,SUB##S(N),OP,V))
@@ -44,6 +44,9 @@ PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMST
 #if ENABLED(MEATPACK_ON_SERIAL_PORT_2)
  SerialLeafT2 mpSerial2(false, _SERIAL_LEAF_2);
 #endif
+#if ENABLED(MEATPACK_ON_SERIAL_PORT_3)
+  SerialLeafT3 mpSerial3(false, _SERIAL_LEAF_3);
+#endif

 // Step 2: For multiserial, handle the second serial port as well
 #if HAS_MULTI_SERIAL
@@ -52,7 +55,14 @@ PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMST
    SerialLeafT2 msSerial2(ethernet.have_telnet_client, MYSERIAL2, false);
  #endif

-  SerialOutputT multiSerial(SERIAL_LEAF_1, SERIAL_LEAF_2);
+  #define __S_LEAF(N) ,SERIAL_LEAF_##N
+  #define _S_LEAF(N) __S_LEAF(N)
+
+  SerialOutputT multiSerial( SERIAL_LEAF_1 REPEAT_S(2, INCREMENT(NUM_SERIAL), _S_LEAF) );
+
+  #undef __S_LEAF
+  #undef _S_LEAF
+
 #endif

 void serialprintPGM(PGM_P str) {
@@ -91,7 +101,7 @@ void print_bin(uint16_t val) {
  }
 }

-void print_xyz(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
+void print_pos(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
  if (prefix) serialprintPGM(prefix);
  SERIAL_ECHOPAIR_P(SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z);
  if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
@@ -62,11 +62,11 @@ extern uint8_t marlin_debug_flags;
 //
 // Serial redirection
 //
-// Step 1: Find what's the first serial leaf
+// Step 1: Find out what the first serial leaf is
 #if BOTH(HAS_MULTI_SERIAL, SERIAL_CATCHALL)
-  #define _SERIAL_LEAF_1  MYSERIAL
+  #define _SERIAL_LEAF_1 MYSERIAL
 #else
-  #define _SERIAL_LEAF_1  MYSERIAL1
+  #define _SERIAL_LEAF_1 MYSERIAL1
 #endif

 // Hook Meatpack if it's enabled on the first leaf
@@ -78,7 +78,8 @@ extern uint8_t marlin_debug_flags;
  #define SERIAL_LEAF_1 _SERIAL_LEAF_1
 #endif

-// Step 2: For multiserial, handle the second serial port as well
+// Step 2: For multiserial wrap all serial ports in a single
+//         interface with the ability to output to multiple serial ports.
 #if HAS_MULTI_SERIAL
  #define _PORT_REDIRECT(n,p) REMEMBER(n,multiSerial.portMask,p)
  #define _PORT_RESTORE(n,p)  RESTORE(n)
@@ -86,18 +87,17 @@ extern uint8_t marlin_debug_flags;
  // If we have a catchall, use that directly
  #ifdef SERIAL_CATCHALL
    #define _SERIAL_LEAF_2 SERIAL_CATCHALL
+  #elif HAS_ETHERNET
+    typedef ConditionalSerial<decltype(MYSERIAL2)> SerialLeafT2;  // We need to create an instance here
+    extern SerialLeafT2 msSerial2;
+    #define _SERIAL_LEAF_2 msSerial2
  #else
-    #if HAS_ETHERNET
-      // We need to create an instance here
-      typedef ConditionalSerial<decltype(MYSERIAL2)> SerialLeafT2;
-      extern SerialLeafT2 msSerial2;
-      #define _SERIAL_LEAF_2 msSerial2
-    #else
-      // Don't create a useless instance here, directly use the existing instance
-      #define _SERIAL_LEAF_2 MYSERIAL2
-    #endif
+    #define _SERIAL_LEAF_2 MYSERIAL2 // Don't create a useless instance here, directly use the existing instance
  #endif

+  // Nothing complicated here
+  #define _SERIAL_LEAF_3 MYSERIAL3
+
  // Hook Meatpack if it's enabled on the second leaf
  #if ENABLED(MEATPACK_ON_SERIAL_PORT_2)
    typedef MeatpackSerial<decltype(_SERIAL_LEAF_2)> SerialLeafT2;
@@ -107,7 +107,23 @@ extern uint8_t marlin_debug_flags;
    #define SERIAL_LEAF_2 _SERIAL_LEAF_2
  #endif

-  typedef MultiSerial<decltype(SERIAL_LEAF_1), decltype(SERIAL_LEAF_2), 0> SerialOutputT;
+  // Hook Meatpack if it's enabled on the third leaf
+  #if ENABLED(MEATPACK_ON_SERIAL_PORT_3)
+    typedef MeatpackSerial<decltype(_SERIAL_LEAF_3)> SerialLeafT3;
+    extern SerialLeafT3 mpSerial3;
+    #define SERIAL_LEAF_3 mpSerial3
+  #else
+    #define SERIAL_LEAF_3 _SERIAL_LEAF_3
+  #endif
+
+  #define __S_MULTI(N) decltype(SERIAL_LEAF_##N),
+  #define _S_MULTI(N) __S_MULTI(N)
+
+  typedef MultiSerial< REPEAT_1(NUM_SERIAL, _S_MULTI) 0> SerialOutputT;
+
+  #undef __S_MULTI
+  #undef _S_MULTI
+
  extern SerialOutputT        multiSerial;
  #define SERIAL_IMPL         multiSerial
 #else
@@ -166,139 +182,45 @@ inline void SERIAL_FLUSHTX()  { SERIAL_IMPL.flushTX(); }
 // Print a single PROGMEM string to serial
 void serialprintPGM(PGM_P str);

-// SERIAL_ECHOPAIR / SERIAL_ECHOPAIR_P is used to output a key value pair. The key must be a string and the value can be anything
-// Print up to 12 pairs of values. Odd elements auto-wrapped in PSTR().
-#define __SEP_N(N,V...)   _SEP_##N(V)
-#define _SEP_N(N,V...)    __SEP_N(N,V)
-#define _SEP_1(PRE)       SERIAL_ECHOPGM(PRE)
-#define _SEP_2(PRE,V)     serial_echopair_PGM(PSTR(PRE),V)
-#define _SEP_3(a,b,c)     do{ _SEP_2(a,b); SERIAL_ECHOPGM(c); }while(0)
-#define _SEP_4(a,b,V...)  do{ _SEP_2(a,b); _SEP_2(V); }while(0)
-#define _SEP_5(a,b,V...)  do{ _SEP_2(a,b); _SEP_3(V); }while(0)
-#define _SEP_6(a,b,V...)  do{ _SEP_2(a,b); _SEP_4(V); }while(0)
-#define _SEP_7(a,b,V...)  do{ _SEP_2(a,b); _SEP_5(V); }while(0)
-#define _SEP_8(a,b,V...)  do{ _SEP_2(a,b); _SEP_6(V); }while(0)
-#define _SEP_9(a,b,V...)  do{ _SEP_2(a,b); _SEP_7(V); }while(0)
-#define _SEP_10(a,b,V...) do{ _SEP_2(a,b); _SEP_8(V); }while(0)
-#define _SEP_11(a,b,V...) do{ _SEP_2(a,b); _SEP_9(V); }while(0)
-#define _SEP_12(a,b,V...) do{ _SEP_2(a,b); _SEP_10(V); }while(0)
-#define _SEP_13(a,b,V...) do{ _SEP_2(a,b); _SEP_11(V); }while(0)
-#define _SEP_14(a,b,V...) do{ _SEP_2(a,b); _SEP_12(V); }while(0)
-#define _SEP_15(a,b,V...) do{ _SEP_2(a,b); _SEP_13(V); }while(0)
-#define _SEP_16(a,b,V...) do{ _SEP_2(a,b); _SEP_14(V); }while(0)
-#define _SEP_17(a,b,V...) do{ _SEP_2(a,b); _SEP_15(V); }while(0)
-#define _SEP_18(a,b,V...) do{ _SEP_2(a,b); _SEP_16(V); }while(0)
-#define _SEP_19(a,b,V...) do{ _SEP_2(a,b); _SEP_17(V); }while(0)
-#define _SEP_20(a,b,V...) do{ _SEP_2(a,b); _SEP_18(V); }while(0)
-#define _SEP_21(a,b,V...) do{ _SEP_2(a,b); _SEP_19(V); }while(0)
-#define _SEP_22(a,b,V...) do{ _SEP_2(a,b); _SEP_20(V); }while(0)
-#define _SEP_23(a,b,V...) do{ _SEP_2(a,b); _SEP_21(V); }while(0)
-#define _SEP_24(a,b,V...) do{ _SEP_2(a,b); _SEP_22(V); }while(0)
+//
+// SERIAL_ECHOPAIR... macros are used to output string-value pairs.
+//

-#define SERIAL_ECHOPAIR(V...) _SEP_N(NUM_ARGS(V),V)
+// Print up to 20 pairs of values. Odd elements must be literal strings.
+#define __SEP_N(N,V...)           _SEP_##N(V)
+#define _SEP_N(N,V...)            __SEP_N(N,V)
+#define _SEP_N_REF()              _SEP_N
+#define _SEP_1(s)                 SERIAL_ECHOPGM(s);
+#define _SEP_2(s,v)               serial_echopair_PGM(PSTR(s),v);
+#define _SEP_3(s,v,V...)          _SEP_2(s,v); DEFER2(_SEP_N_REF)()(TWO_ARGS(V),V);
+#define SERIAL_ECHOPAIR(V...)     do{ EVAL(_SEP_N(TWO_ARGS(V),V)); }while(0)

-// Print up to 12 pairs of values. Odd elements must be PSTR pointers.
-#define __SEP_N_P(N,V...)   _SEP_##N##_P(V)
-#define _SEP_N_P(N,V...)    __SEP_N_P(N,V)
-#define _SEP_1_P(PRE)       serialprintPGM(PRE)
-#define _SEP_2_P(PRE,V)     serial_echopair_PGM(PRE,V)
-#define _SEP_3_P(a,b,c)     do{ _SEP_2_P(a,b); serialprintPGM(c); }while(0)
-#define _SEP_4_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_2_P(V); }while(0)
-#define _SEP_5_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_3_P(V); }while(0)
-#define _SEP_6_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_4_P(V); }while(0)
-#define _SEP_7_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_5_P(V); }while(0)
-#define _SEP_8_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_6_P(V); }while(0)
-#define _SEP_9_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_7_P(V); }while(0)
-#define _SEP_10_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_8_P(V); }while(0)
-#define _SEP_11_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_9_P(V); }while(0)
-#define _SEP_12_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_10_P(V); }while(0)
-#define _SEP_13_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_11_P(V); }while(0)
-#define _SEP_14_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_12_P(V); }while(0)
-#define _SEP_15_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_13_P(V); }while(0)
-#define _SEP_16_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_14_P(V); }while(0)
-#define _SEP_17_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_15_P(V); }while(0)
-#define _SEP_18_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_16_P(V); }while(0)
-#define _SEP_19_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_17_P(V); }while(0)
-#define _SEP_20_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_18_P(V); }while(0)
-#define _SEP_21_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_19_P(V); }while(0)
-#define _SEP_22_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_20_P(V); }while(0)
-#define _SEP_23_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_21_P(V); }while(0)
-#define _SEP_24_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_22_P(V); }while(0)
+// Print up to 20 pairs of values followed by newline. Odd elements must be literal strings.
+#define __SELP_N(N,V...)          _SELP_##N(V)
+#define _SELP_N(N,V...)           __SELP_N(N,V)
+#define _SELP_N_REF()             _SELP_N
+#define _SELP_1(s)                SERIAL_ECHOLNPGM(s);
+#define _SELP_2(s,v)              serial_echopair_PGM(PSTR(s),v); SERIAL_EOL();
+#define _SELP_3(s,v,V...)         _SEP_2(s,v); DEFER2(_SELP_N_REF)()(TWO_ARGS(V),V);
+#define SERIAL_ECHOLNPAIR(V...)   do{ EVAL(_SELP_N(TWO_ARGS(V),V)); }while(0)

-// SERIAL_ECHOPAIR_P is used to output a key value pair. Unlike SERIAL_ECHOPAIR, the key must be a PGM string already and the value can be anything
-#define SERIAL_ECHOPAIR_P(V...) _SEP_N_P(NUM_ARGS(V),V)
+// Print up to 20 pairs of values. Odd elements must be PSTR pointers.
+#define __SEP_N_P(N,V...)         _SEP_##N##_P(V)
+#define _SEP_N_P(N,V...)          __SEP_N_P(N,V)
+#define _SEP_N_P_REF()            _SEP_N_P
+#define _SEP_1_P(s)               serialprintPGM(s);
+#define _SEP_2_P(s,v)             serial_echopair_PGM(s,v);
+#define _SEP_3_P(s,v,V...)        _SEP_2_P(s,v); DEFER2(_SEP_N_P_REF)()(TWO_ARGS(V),V);
+#define SERIAL_ECHOPAIR_P(V...)   do{ EVAL(_SEP_N_P(TWO_ARGS(V),V)); }while(0)

-// Print up to 12 pairs of values followed by newline
-#define __SELP_N(N,V...)   _SELP_##N(V)
-#define _SELP_N(N,V...)    __SELP_N(N,V)
-#define _SELP_1(PRE)       SERIAL_ECHOLNPGM(PRE)
-#define _SELP_2(PRE,V)     do{ serial_echopair_PGM(PSTR(PRE),V); SERIAL_EOL(); }while(0)
-#define _SELP_3(a,b,c)     do{ _SEP_2(a,b); SERIAL_ECHOLNPGM(c); }while(0)
-#define _SELP_4(a,b,V...)  do{ _SEP_2(a,b); _SELP_2(V); }while(0)
-#define _SELP_5(a,b,V...)  do{ _SEP_2(a,b); _SELP_3(V); }while(0)
-#define _SELP_6(a,b,V...)  do{ _SEP_2(a,b); _SELP_4(V); }while(0)
-#define _SELP_7(a,b,V...)  do{ _SEP_2(a,b); _SELP_5(V); }while(0)
-#define _SELP_8(a,b,V...)  do{ _SEP_2(a,b); _SELP_6(V); }while(0)
-#define _SELP_9(a,b,V...)  do{ _SEP_2(a,b); _SELP_7(V); }while(0)
-#define _SELP_10(a,b,V...) do{ _SEP_2(a,b); _SELP_8(V); }while(0)
-#define _SELP_11(a,b,V...) do{ _SEP_2(a,b); _SELP_9(V); }while(0)
-#define _SELP_12(a,b,V...) do{ _SEP_2(a,b); _SELP_10(V); }while(0)
-#define _SELP_13(a,b,V...) do{ _SEP_2(a,b); _SELP_11(V); }while(0)
-#define _SELP_14(a,b,V...) do{ _SEP_2(a,b); _SELP_12(V); }while(0)
-#define _SELP_15(a,b,V...) do{ _SEP_2(a,b); _SELP_13(V); }while(0)
-#define _SELP_16(a,b,V...) do{ _SEP_2(a,b); _SELP_14(V); }while(0)
-#define _SELP_17(a,b,V...) do{ _SEP_2(a,b); _SELP_15(V); }while(0)
-#define _SELP_18(a,b,V...) do{ _SEP_2(a,b); _SELP_16(V); }while(0)
-#define _SELP_19(a,b,V...) do{ _SEP_2(a,b); _SELP_17(V); }while(0)
-#define _SELP_20(a,b,V...) do{ _SEP_2(a,b); _SELP_18(V); }while(0)
-#define _SELP_21(a,b,V...) do{ _SEP_2(a,b); _SELP_19(V); }while(0)
-#define _SELP_22(a,b,V...) do{ _SEP_2(a,b); _SELP_20(V); }while(0)
-#define _SELP_23(a,b,V...) do{ _SEP_2(a,b); _SELP_21(V); }while(0)
-#define _SELP_24(a,b,V...) do{ _SEP_2(a,b); _SELP_22(V); }while(0)
-#define _SELP_25(a,b,V...) do{ _SEP_2(a,b); _SELP_23(V); }while(0)
-#define _SELP_26(a,b,V...) do{ _SEP_2(a,b); _SELP_24(V); }while(0)
-#define _SELP_27(a,b,V...) do{ _SEP_2(a,b); _SELP_25(V); }while(0)
-#define _SELP_28(a,b,V...) do{ _SEP_2(a,b); _SELP_26(V); }while(0)
-#define _SELP_29(a,b,V...) do{ _SEP_2(a,b); _SELP_27(V); }while(0)
-#define _SELP_30(a,b,V...) do{ _SEP_2(a,b); _SELP_28(V); }while(0) // Eat two args, pass the rest up
-
-#define SERIAL_ECHOLNPAIR(V...) _SELP_N(NUM_ARGS(V),V)
-
-// Print up to 12 pairs of values followed by newline
-#define __SELP_N_P(N,V...)   _SELP_##N##_P(V)
-#define _SELP_N_P(N,V...)    __SELP_N_P(N,V)
-#define _SELP_1_P(PRE)       serialprintPGM(PRE)
-#define _SELP_2_P(PRE,V)     do{ serial_echopair_PGM(PRE,V); SERIAL_EOL(); }while(0)
-#define _SELP_3_P(a,b,c)     do{ _SEP_2_P(a,b); serialprintPGM(c); }while(0)
-#define _SELP_4_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_2_P(V); }while(0)
-#define _SELP_5_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_3_P(V); }while(0)
-#define _SELP_6_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_4_P(V); }while(0)
-#define _SELP_7_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_5_P(V); }while(0)
-#define _SELP_8_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_6_P(V); }while(0)
-#define _SELP_9_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_7_P(V); }while(0)
-#define _SELP_10_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_8_P(V); }while(0)
-#define _SELP_11_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_9_P(V); }while(0)
-#define _SELP_12_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_10_P(V); }while(0)
-#define _SELP_13_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_11_P(V); }while(0)
-#define _SELP_14_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_12_P(V); }while(0)
-#define _SELP_15_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_13_P(V); }while(0)
-#define _SELP_16_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_14_P(V); }while(0)
-#define _SELP_17_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_15_P(V); }while(0)
-#define _SELP_18_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_16_P(V); }while(0)
-#define _SELP_19_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_17_P(V); }while(0)
-#define _SELP_20_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_18_P(V); }while(0)
-#define _SELP_21_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_19_P(V); }while(0)
-#define _SELP_22_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_20_P(V); }while(0)
-#define _SELP_23_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_21_P(V); }while(0)
-#define _SELP_24_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_22_P(V); }while(0)
-#define _SELP_25_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_23_P(V); }while(0)
-#define _SELP_26_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_24_P(V); }while(0)
-#define _SELP_27_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_25_P(V); }while(0)
-#define _SELP_28_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_26_P(V); }while(0)
-#define _SELP_29_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_27_P(V); }while(0)
-#define _SELP_30_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_28_P(V); }while(0) // Eat two args, pass the rest up
-
-#define SERIAL_ECHOLNPAIR_P(V...) _SELP_N_P(NUM_ARGS(V),V)
+// Print up to 20 pairs of values followed by newline. Odd elements must be PSTR pointers.
+#define __SELP_N_P(N,V...)        _SELP_##N##_P(V)
+#define _SELP_N_P(N,V...)         __SELP_N_P(N,V)
+#define _SELP_N_P_REF()           _SELP_N_P
+#define _SELP_1_P(s)              { serialprintPGM(s); SERIAL_EOL(); }
+#define _SELP_2_P(s,v)            { serial_echopair_PGM(s,v); SERIAL_EOL(); }
+#define _SELP_3_P(s,v,V...)       { _SEP_2_P(s,v); DEFER2(_SELP_N_P_REF)()(TWO_ARGS(V),V); }
+#define SERIAL_ECHOLNPAIR_P(V...) do{ EVAL(_SELP_N_P(TWO_ARGS(V),V)); }while(0)

 #ifdef AllowDifferentTypeInList

@@ -388,11 +310,11 @@ void serialprint_truefalse(const bool tf);
 void serial_spaces(uint8_t count);

 void print_bin(const uint16_t val);
-void print_xyz(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
+void print_pos(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);

-inline void print_xyz(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
-  print_xyz(xyz.x, xyz.y, xyz.z, prefix, suffix);
+inline void print_pos(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
+  print_pos(xyz.x, xyz.y, xyz.z, prefix, suffix);
 }

-#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(VAR, PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)
-#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(V, PSTR(PREFIX), nullptr); }while(0)
+#define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)
+#define SERIAL_XYZ(PREFIX,V...) do { print_pos(V, PSTR(PREFIX), nullptr); }while(0)
@@ -67,7 +67,7 @@ struct BaseSerial : public SerialBase< BaseSerial<SerialT> >, public SerialT {

  SerialFeature features(serial_index_t index) const { return CALL_IF_EXISTS(SerialFeature, static_cast<const SerialT*>(this), features, index);  }

-  // We have 2 implementation of the same method in both base class, let's say which one we want
+  // Two implementations of the same method exist in both base classes so indicate the right one
  using SerialT::available;
  using SerialT::read;
  using SerialT::begin;
@@ -134,7 +134,7 @@ struct ForwardSerial : public SerialBase< ForwardSerial<SerialT> > {
  ForwardSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {}
 };

-// A class that's can be hooked and unhooked at runtime, useful to capturing the output of the serial interface
+// A class that can be hooked and unhooked at runtime, useful to capture the output of the serial interface
 template <class SerialT>
 struct RuntimeSerial : public SerialBase< RuntimeSerial<SerialT> >, public SerialT {
  typedef SerialBase< RuntimeSerial<SerialT> > BaseClassT;
@@ -195,54 +195,71 @@ struct RuntimeSerial : public SerialBase< RuntimeSerial<SerialT> >, public Seria
  RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...), writeHook(0), eofHook(0), userPointer(0) {}
 };

-// A class that duplicates its output conditionally to 2 serial interfaces
-template <class Serial0T, class Serial1T, const uint8_t offset = 0, const uint8_t step = 1>
-struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset, step> > {
-  typedef SerialBase< MultiSerial<Serial0T, Serial1T, offset, step> > BaseClassT;
+#define _S_CLASS(N) class Serial##N##T,
+#define _S_NAME(N) Serial##N##T,
+
+template < REPEAT(NUM_SERIAL, _S_CLASS) const uint8_t offset=0, const uint8_t step=1 >
+struct MultiSerial : public SerialBase< MultiSerial< REPEAT(NUM_SERIAL, _S_NAME) offset, step > > {
+  typedef SerialBase< MultiSerial< REPEAT(NUM_SERIAL, _S_NAME) offset, step > > BaseClassT;
+
+  #undef _S_CLASS
+  #undef _S_NAME

  SerialMask portMask;
-  Serial0T & serial0;
-  Serial1T & serial1;

-  static constexpr uint8_t Usage         =  ((1 << step) - 1); // A bit mask containing as many bits as step
-  static constexpr uint8_t FirstOutput   = (Usage << offset);
-  static constexpr uint8_t SecondOutput  = (Usage << (offset + step));
-  static constexpr uint8_t Both          = FirstOutput | SecondOutput;
+  #define _S_DECLARE(N) Serial##N##T & serial##N;
+  REPEAT(NUM_SERIAL, _S_DECLARE);
+  #undef _S_DECLARE
+
+  static constexpr uint8_t Usage = _BV(step) - 1; // A bit mask containing 'step' bits
+
+  #define _OUT_PORT(N) (Usage << (offset + (step * N))),
+  static constexpr uint8_t output[] = { REPEAT(NUM_SERIAL, _OUT_PORT) };
+  #undef _OUT_PORT
+
+  #define _OUT_MASK(N) | output[N]
+  static constexpr uint8_t ALL = 0 REPEAT(NUM_SERIAL, _OUT_MASK);
+  #undef _OUT_MASK

  NO_INLINE void write(uint8_t c) {
-    if (portMask.enabled(FirstOutput))   serial0.write(c);
-    if (portMask.enabled(SecondOutput))  serial1.write(c);
+    #define _S_WRITE(N) if (portMask.enabled(output[N])) serial##N.write(c);
+    REPEAT(NUM_SERIAL, _S_WRITE);
+    #undef _S_WRITE
  }
  NO_INLINE void msgDone() {
-    if (portMask.enabled(FirstOutput))   serial0.msgDone();
-    if (portMask.enabled(SecondOutput))  serial1.msgDone();
+    #define _S_DONE(N) if (portMask.enabled(output[N])) serial##N.msgDone();
+    REPEAT(NUM_SERIAL, _S_DONE);
+    #undef _S_DONE
  }
  int available(serial_index_t index) {
-    if (index.within(0 + offset, step + offset - 1))
-      return serial0.available(index);
-    else if (index.within(step + offset, 2 * step + offset - 1))
-      return serial1.available(index);
+    uint8_t pos = offset;
+    #define _S_AVAILABLE(N) if (index.within(pos, pos + step - 1)) return serial##N.available(index); else pos += step;
+    REPEAT(NUM_SERIAL, _S_AVAILABLE);
+    #undef _S_AVAILABLE
    return false;
  }
  int read(serial_index_t index) {
-    if (index.within(0 + offset, step + offset - 1))
-      return serial0.read(index);
-    else if (index.within(step + offset, 2 * step + offset - 1))
-      return serial1.read(index);
+    uint8_t pos = offset;
+    #define _S_READ(N) if (index.within(pos, pos + step - 1)) return serial##N.read(index); else pos += step;
+    REPEAT(NUM_SERIAL, _S_READ);
+    #undef _S_READ
    return -1;
  }
  void begin(const long br) {
-    if (portMask.enabled(FirstOutput))   serial0.begin(br);
-    if (portMask.enabled(SecondOutput))  serial1.begin(br);
+    #define _S_BEGIN(N) if (portMask.enabled(output[N])) serial##N.begin(br);
+    REPEAT(NUM_SERIAL, _S_BEGIN);
+    #undef _S_BEGIN
  }
  void end() {
-    if (portMask.enabled(FirstOutput))   serial0.end();
-    if (portMask.enabled(SecondOutput))  serial1.end();
+    #define _S_END(N) if (portMask.enabled(output[N])) serial##N.end();
+    REPEAT(NUM_SERIAL, _S_END);
+    #undef _S_END
  }
  bool connected() {
    bool ret = true;
-    if (portMask.enabled(FirstOutput))   ret = CALL_IF_EXISTS(bool, &serial0, connected);
-    if (portMask.enabled(SecondOutput))  ret = ret && CALL_IF_EXISTS(bool, &serial1, connected);
+    #define _S_CONNECTED(N) if (portMask.enabled(output[N]) && !CALL_IF_EXISTS(bool, &serial##N, connected)) ret = false;
+    REPEAT(NUM_SERIAL, _S_CONNECTED);
+    #undef _S_CONNECTED
    return ret;
  }

@@ -250,27 +267,32 @@ struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset,
  using BaseClassT::read;

  // Redirect flush
-  NO_INLINE void flush()      {
-    if (portMask.enabled(FirstOutput))   serial0.flush();
-    if (portMask.enabled(SecondOutput))  serial1.flush();
+  NO_INLINE void flush() {
+    #define _S_FLUSH(N) if (portMask.enabled(output[N])) serial##N.flush();
+    REPEAT(NUM_SERIAL, _S_FLUSH);
+    #undef _S_FLUSH
  }
-  NO_INLINE void flushTX()    {
-    if (portMask.enabled(FirstOutput))   CALL_IF_EXISTS(void, &serial0, flushTX);
-    if (portMask.enabled(SecondOutput))  CALL_IF_EXISTS(void, &serial1, flushTX);
+  NO_INLINE void flushTX() {
+    #define _S_FLUSHTX(N) if (portMask.enabled(output[N])) CALL_IF_EXISTS(void, &serial0, flushTX);
+    REPEAT(NUM_SERIAL, _S_FLUSHTX);
+    #undef _S_FLUSHTX
  }

  // Forward feature queries
-  SerialFeature features(serial_index_t index) const  {
-    if (index.within(0 + offset, step + offset - 1))
-      return serial0.features(index);
-    else if (index.within(step + offset, 2 * step + offset - 1))
-      return serial1.features(index);
+  SerialFeature features(serial_index_t index) const {
+    uint8_t pos = offset;
+    #define _S_FEATURES(N) if (index.within(pos, pos + step - 1)) return serial##N.features(index); else pos += step;
+    REPEAT(NUM_SERIAL, _S_FEATURES);
+    #undef _S_FEATURES
    return SerialFeature::None;
  }

-  MultiSerial(Serial0T & serial0, Serial1T & serial1, const SerialMask mask = Both, const bool e = false) :
-    BaseClassT(e),
-    portMask(mask), serial0(serial0), serial1(serial1) {}
+  #define _S_REFS(N) Serial##N##T & serial##N,
+  #define _S_INIT(N) ,serial##N (serial##N)
+
+  MultiSerial(REPEAT(NUM_SERIAL, _S_REFS) const SerialMask mask = ALL, const bool e = false)
+    : BaseClassT(e), portMask(mask) REPEAT(NUM_SERIAL, _S_INIT) {}
+
 };

 // Build the actual serial object depending on current configuration
@@ -278,4 +300,7 @@ struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset,
 #define ForwardSerial1Class TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, ForwardSerial)
 #ifdef HAS_MULTI_SERIAL
  #define Serial2Class ConditionalSerial
+  #if NUM_SERIAL >= 3
+    #define Serial3Class ConditionalSerial
+  #endif
 #endif
@@ -29,34 +29,6 @@
 class __FlashStringHelper;
 typedef const __FlashStringHelper *progmem_str;

-//
-// Enumerated axis indices
-//
-//  - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
-//  - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
-//  - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
-//
-enum AxisEnum : uint8_t {
-  X_AXIS   = 0, A_AXIS = 0,
-  Y_AXIS   = 1, B_AXIS = 1,
-  Z_AXIS   = 2, C_AXIS = 2,
-  E_AXIS   = 3,
-  X_HEAD   = 4, Y_HEAD = 5, Z_HEAD = 6,
-  E0_AXIS  = 3,
-  E1_AXIS, E2_AXIS, E3_AXIS, E4_AXIS, E5_AXIS, E6_AXIS, E7_AXIS,
-  ALL_AXES = 0xFE, NO_AXIS = 0xFF
-};
-
-//
-// Loop over XYZE axes
-//
-#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
-#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
-#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
-#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
-#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
-#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)
-
 //
 // Conditional type assignment magic. For example...
 //
@@ -67,6 +39,32 @@ struct IF { typedef R type; };
 template <class L, class R>
 struct IF<true, L, R> { typedef L type; };

+//
+// Enumerated axis indices
+//
+//  - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
+//  - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
+//  - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
+//
+enum AxisEnum : uint8_t {
+  X_AXIS = 0, A_AXIS = X_AXIS,
+  Y_AXIS = 1, B_AXIS = Y_AXIS,
+  Z_AXIS = 2, C_AXIS = Z_AXIS,
+  E_AXIS,
+  X_HEAD, Y_HEAD, Z_HEAD,
+  E0_AXIS = E_AXIS,
+  E1_AXIS, E2_AXIS, E3_AXIS, E4_AXIS, E5_AXIS, E6_AXIS, E7_AXIS,
+  ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF
+};
+
+//
+// Loop over axes
+//
+#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
+#define LOOP_LINEAR_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LINEAR_AXES)
+#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES)
+#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES)
+
 //
 // feedRate_t is just a humble float
 //
@@ -77,6 +75,7 @@ typedef float feedRate_t;
 // For more resolition (e.g., for a chocolate printer) this may later be changed to Celsius x 100
 //
 typedef int16_t celsius_t;
+typedef float celsius_float_t;

 //
 // On AVR pointers are only 2 bytes so use 'const float &' for 'const float'
@@ -87,17 +86,18 @@ typedef int16_t celsius_t;
  typedef const float const_float_t;
 #endif
 typedef const_float_t const_feedRate_t;
+typedef const_float_t const_celsius_float_t;

 // Conversion macros
-#define MMM_TO_MMS(MM_M) feedRate_t(float(MM_M) / 60.0f)
-#define MMS_TO_MMM(MM_S) (float(MM_S) * 60.0f)
+#define MMM_TO_MMS(MM_M) feedRate_t(static_cast<float>(MM_M) / 60.0f)
+#define MMS_TO_MMM(MM_S) (static_cast<float>(MM_S) * 60.0f)

 //
 // Coordinates structures for XY, XYZ, XYZE...
 //

 // Helpers
-#define _RECIP(N) ((N) ? 1.0f / float(N) : 0.0f)
+#define _RECIP(N) ((N) ? 1.0f / static_cast<float>(N) : 0.0f)
 #define _ABS(N) ((N) < 0 ? -(N) : (N))
 #define _LS(N)  (N = (T)(uint32_t(N) << v))
 #define _RS(N)  (N = (T)(uint32_t(N) >> v))
@@ -199,8 +199,8 @@ struct XYval {
  FI void set(const T (&arr)[XY])                       { x = arr[0]; y = arr[1]; }
  FI void set(const T (&arr)[XYZ])                      { x = arr[0]; y = arr[1]; }
  FI void set(const T (&arr)[XYZE])                     { x = arr[0]; y = arr[1]; }
-  #if XYZE_N > XYZE
-    FI void set(const T (&arr)[XYZE_N])                 { x = arr[0]; y = arr[1]; }
+  #if DISTINCT_AXES > LOGICAL_AXES
+    FI void set(const T (&arr)[DISTINCT_AXES])          { x = arr[0]; y = arr[1]; }
  #endif
  FI void reset()                                       { x = y = 0; }
  FI T magnitude()                                const { return (T)sqrtf(x*x + y*y); }
@@ -214,8 +214,8 @@ struct XYval {
  FI XYval<int32_t>   asLong()                    const { return { int32_t(x), int32_t(y) }; }
  FI XYval<int32_t>   ROUNDL()                          { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; }
  FI XYval<int32_t>   ROUNDL()                    const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; }
-  FI XYval<float>    asFloat()                          { return {   float(x),   float(y) }; }
-  FI XYval<float>    asFloat()                    const { return {   float(x),   float(y) }; }
+  FI XYval<float>    asFloat()                          { return { static_cast<float>(x), static_cast<float>(y) }; }
+  FI XYval<float>    asFloat()                    const { return { static_cast<float>(x), static_cast<float>(y) }; }
  FI XYval<float> reciprocal()                    const { return {  _RECIP(x),  _RECIP(y) }; }
  FI XYval<float>  asLogical()                    const { XYval<float> o = asFloat(); toLogical(o); return o; }
  FI XYval<float>   asNative()                    const { XYval<float> o = asFloat(); toNative(o);  return o; }
@@ -310,8 +310,8 @@ struct XYZval {
  FI void set(const T (&arr)[XY])                      { x = arr[0]; y = arr[1]; }
  FI void set(const T (&arr)[XYZ])                     { x = arr[0]; y = arr[1]; z = arr[2]; }
  FI void set(const T (&arr)[XYZE])                    { x = arr[0]; y = arr[1]; z = arr[2]; }
-  #if XYZE_N > XYZE
-    FI void set(const T (&arr)[XYZE_N])                { x = arr[0]; y = arr[1]; z = arr[2]; }
+  #if DISTINCT_AXES > XYZE
+    FI void set(const T (&arr)[DISTINCT_AXES])         { x = arr[0]; y = arr[1]; z = arr[2]; }
  #endif
  FI void reset()                                      { x = y = z = 0; }
  FI T magnitude()                               const { return (T)sqrtf(x*x + y*y + z*z); }
@@ -325,8 +325,8 @@ struct XYZval {
  FI XYZval<int32_t>  asLong()                   const { return { int32_t(x), int32_t(y), int32_t(z) }; }
  FI XYZval<int32_t>  ROUNDL()                         { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)) }; }
  FI XYZval<int32_t>  ROUNDL()                   const { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)) }; }
-  FI XYZval<float>   asFloat()                         { return {   float(x),   float(y),   float(z) }; }
-  FI XYZval<float>   asFloat()                   const { return {   float(x),   float(y),   float(z) }; }
+  FI XYZval<float>   asFloat()                         { return { static_cast<float>(x), static_cast<float>(y), static_cast<float>(z) }; }
+  FI XYZval<float>   asFloat()                   const { return { static_cast<float>(x), static_cast<float>(y), static_cast<float>(z) }; }
  FI XYZval<float> reciprocal()                  const { return {  _RECIP(x),  _RECIP(y),  _RECIP(z) }; }
  FI XYZval<float> asLogical()                   const { XYZval<float> o = asFloat(); toLogical(o); return o; }
  FI XYZval<float>  asNative()                   const { XYZval<float> o = asFloat(); toNative(o);  return o; }
@@ -425,8 +425,8 @@ struct XYZEval {
  FI void set(const T (&arr)[XY])                             { x = arr[0]; y = arr[1]; }
  FI void set(const T (&arr)[XYZ])                            { x = arr[0]; y = arr[1]; z = arr[2]; }
  FI void set(const T (&arr)[XYZE])                           { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; }
-  #if XYZE_N > XYZE
-    FI void set(const T (&arr)[XYZE_N])                       { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; }
+  #if DISTINCT_AXES > XYZE
+    FI void set(const T (&arr)[DISTINCT_AXES])                { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; }
  #endif
  FI XYZEval<T>          copy()                         const { return *this; }
  FI XYZEval<T>           ABS()                         const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(e)) }; }
@@ -436,8 +436,8 @@ struct XYZEval {
  FI XYZEval<int32_t>  asLong()                         const { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
  FI XYZEval<int32_t>  ROUNDL()                               { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(e)) }; }
  FI XYZEval<int32_t>  ROUNDL()                         const { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(e)) }; }
-  FI XYZEval<float>   asFloat()                               { return {   float(x),   float(y),   float(z),   float(e) }; }
-  FI XYZEval<float>   asFloat()                         const { return {   float(x),   float(y),   float(z),   float(e) }; }
+  FI XYZEval<float>   asFloat()                               { return { static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(e) }; }
+  FI XYZEval<float>   asFloat()                         const { return { static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(e) }; }
  FI XYZEval<float> reciprocal()                        const { return {  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(e) }; }
  FI XYZEval<float> asLogical()                         const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
  FI XYZEval<float>  asNative()                         const { XYZEval<float> o = asFloat(); toNative(o);  return o; }
@@ -516,4 +516,4 @@ struct XYZEval {
 #undef FI

 const xyze_char_t axis_codes { 'X', 'Y', 'Z', 'E' };
-#define XYZ_CHAR(A) ((char)('X' + A))
+#define AXIS_CHAR(A) ((char)('X' + A))
@@ -123,9 +123,9 @@ void safe_delay(millis_t ms) {
        #endif
        #if ABL_PLANAR
          SERIAL_ECHOPGM("ABL Adjustment X");
-          LOOP_XYZ(a) {
+          LOOP_LINEAR_AXES(a) {
            const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
-            SERIAL_CHAR(' ', XYZ_CHAR(a));
+            SERIAL_CHAR(' ', AXIS_CHAR(a));
            if (v > 0) SERIAL_CHAR('+');
            SERIAL_DECIMAL(v);
          }
@@ -25,8 +25,7 @@
 #include "../core/types.h"
 #include "../core/millis_t.h"

-// Delay that ensures heaters and watchdog are kept alive
-void safe_delay(millis_t ms);
+void safe_delay(millis_t ms);           // Delay ensuring that temperatures are updated and the watchdog is kept alive.

 #if ENABLED(SERIAL_OVERRUN_PROTECTION)
  void serial_delay(const millis_t ms);
@@ -63,10 +63,24 @@ Backlash backlash;
 void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block) {
  static uint8_t last_direction_bits;
  uint8_t changed_dir = last_direction_bits ^ dm;
-  // Ignore direction change if no steps are taken in that direction
-  if (da == 0) CBI(changed_dir, X_AXIS);
-  if (db == 0) CBI(changed_dir, Y_AXIS);
-  if (dc == 0) CBI(changed_dir, Z_AXIS);
+  // Ignore direction change unless steps are taken in that direction
+  #if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
+    if (!da) CBI(changed_dir, X_AXIS);
+    if (!db) CBI(changed_dir, Y_AXIS);
+    if (!dc) CBI(changed_dir, Z_AXIS);
+  #elif CORE_IS_XY
+    if (!(da + db)) CBI(changed_dir, X_AXIS);
+    if (!(da - db)) CBI(changed_dir, Y_AXIS);
+    if (!dc)        CBI(changed_dir, Z_AXIS);
+  #elif CORE_IS_XZ
+    if (!(da + dc)) CBI(changed_dir, X_AXIS);
+    if (!(da - dc)) CBI(changed_dir, Z_AXIS);
+    if (!db)        CBI(changed_dir, Y_AXIS);
+  #elif CORE_IS_YZ
+    if (!(db + dc)) CBI(changed_dir, Y_AXIS);
+    if (!(db - dc)) CBI(changed_dir, Z_AXIS);
+    if (!da)        CBI(changed_dir, X_AXIS);
+  #endif
  last_direction_bits ^= changed_dir;

  if (correction == 0) return;
@@ -90,7 +104,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const

  const float f_corr = float(correction) / 255.0f;

-  LOOP_XYZ(axis) {
+  LOOP_LINEAR_AXES(axis) {
    if (distance_mm[axis]) {
      const bool reversing = TEST(dm,axis);

@@ -105,18 +119,35 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
          // Take up a portion of the residual_error in this segment, but only when
          // the current segment travels in the same direction as the correction
          if (reversing == (error_correction < 0)) {
-            if (segment_proportion == 0)
-              segment_proportion = _MIN(1.0f, block->millimeters / smoothing_mm);
+            if (segment_proportion == 0) segment_proportion = _MIN(1.0f, block->millimeters / smoothing_mm);
            error_correction = CEIL(segment_proportion * error_correction);
          }
          else
            error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
        }
      #endif
-      // Making a correction reduces the residual error and adds block steps
+
+      // This correction reduces the residual error and adds block steps
      if (error_correction) {
        block->steps[axis] += ABS(error_correction);
-        residual_error[axis] -= error_correction;
+        #if ENABLED(CORE_BACKLASH)
+          switch (axis) {
+            case CORE_AXIS_1:
+              //block->steps[CORE_AXIS_2] += influence_distance_mm[axis] * planner.settings.axis_steps_per_mm[CORE_AXIS_2];
+              //SERIAL_ECHOLNPAIR("CORE_AXIS_1 dir change. distance=", distance_mm[axis], " r.err=", residual_error[axis],
+              //  " da=", da, " db=", db, " block->steps[axis]=", block->steps[axis], " err_corr=", error_correction);
+              break;
+            case CORE_AXIS_2:
+              //block->steps[CORE_AXIS_1] += influence_distance_mm[axis] * planner.settings.axis_steps_per_mm[CORE_AXIS_1];;
+              //SERIAL_ECHOLNPAIR("CORE_AXIS_2 dir change. distance=", distance_mm[axis], " r.err=", residual_error[axis],
+              //  " da=", da, " db=", db, " block->steps[axis]=", block->steps[axis], " err_corr=", error_correction);
+              break;
+            case NORMAL_AXIS: break;
+          }
+          residual_error[axis] = 0; // No residual_error needed for next CORE block, I think...
+        #else
+          residual_error[axis] -= error_correction;
+        #endif
      }
    }
  }
@@ -213,27 +213,27 @@ void reset_bed_level() {

  void _manual_goto_xy(const xy_pos_t &pos) {

+    // Get the resting Z position for after the XY move
    #ifdef MANUAL_PROBE_START_Z
-      constexpr float startz = _MAX(0, MANUAL_PROBE_START_Z);
-      #if MANUAL_PROBE_HEIGHT > 0
-        do_blocking_move_to_xy_z(pos, MANUAL_PROBE_HEIGHT);
-        do_blocking_move_to_z(startz);
-      #else
-        do_blocking_move_to_xy_z(pos, startz);
-      #endif
-    #elif MANUAL_PROBE_HEIGHT > 0
-      const float prev_z = current_position.z;
-      do_blocking_move_to_xy_z(pos, MANUAL_PROBE_HEIGHT);
-      do_blocking_move_to_z(prev_z);
+      constexpr float finalz = _MAX(0, MANUAL_PROBE_START_Z); // If a MANUAL_PROBE_START_Z value is set, always respect it
    #else
-      do_blocking_move_to_xy(pos);
+      #warning "It's recommended to set some MANUAL_PROBE_START_Z value for manual leveling."
+    #endif
+    #if Z_CLEARANCE_BETWEEN_MANUAL_PROBES > 0     // A probe/obstacle clearance exists so there is a raise:
+      #ifndef MANUAL_PROBE_START_Z
+        const float finalz = current_position.z;  // - Use the current Z for starting-Z if no MANUAL_PROBE_START_Z was provided
+      #endif
+      do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_MANUAL_PROBES); // - Raise Z, then move to the new XY
+      do_blocking_move_to_z(finalz);              // - Lower down to the starting Z height, ready for adjustment!
+    #elif defined(MANUAL_PROBE_START_Z)           // A starting-Z was provided, but there's no raise:
+      do_blocking_move_to_xy_z(pos, finalz);      // - Move in XY then down to the starting Z height, ready for adjustment!
+    #else                                         // Zero raise and no starting Z height either:
+      do_blocking_move_to_xy(pos);                // - Move over with no raise, ready for adjustment!
    #endif
-
-    current_position = pos;

    TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
  }

-#endif
+#endif // MESH_BED_LEVELING || PROBE_MANUALLY

 #endif // HAS_LEVELING
@@ -35,6 +35,7 @@ unified_bed_leveling ubl;
 #include "../../../module/planner.h"
 #include "../../../module/motion.h"
 #include "../../../module/probe.h"
+#include "../../../module/temperature.h"

 #if ENABLED(EXTENSIBLE_UI)
  #include "../../../lcd/extui/ui_api.h"
@@ -254,4 +255,48 @@ bool unified_bed_leveling::sanity_check() {
  return !!error_flag;
 }

+#if ENABLED(UBL_MESH_WIZARD)
+
+  /**
+   * M1004: UBL Mesh Wizard - One-click mesh creation with or without a probe
+   */
+  void GcodeSuite::M1004() {
+
+    #define ALIGN_GCODE TERN(Z_STEPPER_AUTO_ALIGN, "G34", "")
+    #define PROBE_GCODE TERN(HAS_BED_PROBE, "G29P1\nG29P3", "G29P4R255")
+
+    #if HAS_HOTEND
+      if (parser.seenval('H')) {                          // Handle H# parameter to set Hotend temp
+        const celsius_t hotend_temp = parser.value_int(); // Marlin never sends itself F or K, always C
+        thermalManager.setTargetHotend(hotend_temp, 0);
+        thermalManager.wait_for_hotend(false);
+      }
+    #endif
+
+    #if HAS_HEATED_BED
+      if (parser.seenval('B')) {                        // Handle B# parameter to set Bed temp
+        const celsius_t bed_temp = parser.value_int();  // Marlin never sends itself F or K, always C
+        thermalManager.setTargetBed(bed_temp);
+        thermalManager.wait_for_bed(false);
+      }
+    #endif
+
+    process_subcommands_now_P(G28_STR);               // Home
+    process_subcommands_now_P(PSTR(ALIGN_GCODE "\n"   // Align multi z axis if available
+                                   PROBE_GCODE "\n"   // Build mesh with available hardware
+                                   "G29P3\nG29P3"));  // Ensure mesh is complete by running smart fill twice
+
+    if (parser.seenval('S')) {
+      char umw_gcode[32];
+      sprintf_P(umw_gcode, PSTR("G29S%i"), parser.value_int());
+      queue.inject(umw_gcode);
+    }
+
+    process_subcommands_now_P(PSTR("G29A\nG29F10\n"   // Set UBL Active & Fade 10
+                                   "M140S0\nM104S0\n" // Turn off heaters
+                                   "M500"));          // Store settings
+  }
+
+#endif // UBL_MESH_WIZARD
+
 #endif // AUTO_BED_LEVELING_UBL
@@ -32,7 +32,7 @@
 #define UBL_OK false
 #define UBL_ERR true

-enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
+enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP, CLOSEST };

 // External references

@@ -306,7 +306,7 @@ void unified_bed_leveling::G29() {
  if (G29_parse_parameters()) return; // Abort on parameter error

  const int8_t p_val = parser.intval('P', -1);
-  const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J');
+  const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen_test('J');
  #if ENABLED(HAS_MULTI_HOTEND)
    const uint8_t old_tool_index = active_extruder;
  #endif
@@ -315,7 +315,7 @@ void unified_bed_leveling::G29() {
  if (may_move) {
    planner.synchronize();
    // Send 'N' to force homing before G29 (internal only)
-    if (axes_should_home() || parser.seen('N')) gcode.home_all_axes();
+    if (axes_should_home() || parser.seen_test('N')) gcode.home_all_axes();
    TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0));
  }

@@ -380,7 +380,7 @@ void unified_bed_leveling::G29() {
        // Allow the user to specify the height because 10mm is a little extreme in some cases.
        for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++)     // Create a rectangular raised area in
          for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) { // the center of the bed
-            z_values[x][y] += parser.seen('C') ? param.C_constant : 9.99f;
+            z_values[x][y] += parser.seen_test('C') ? param.C_constant : 9.99f;
            TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
          }
        break;
@@ -389,7 +389,7 @@ void unified_bed_leveling::G29() {

  #if HAS_BED_PROBE

-    if (parser.seen('J')) {
+    if (parser.seen_test('J')) {
      save_ubl_active_state_and_disable();
      tilt_mesh_based_on_probed_grid(param.J_grid_size == 0); // Zero size does 3-Point
      restore_ubl_active_state_and_leave();
@@ -402,7 +402,7 @@ void unified_bed_leveling::G29() {

  #endif // HAS_BED_PROBE

-  if (parser.seen('P')) {
+  if (parser.seen_test('P')) {
    if (WITHIN(param.P_phase, 0, 1) && storage_slot == -1) {
      storage_slot = 0;
      SERIAL_ECHOLNPGM("Default storage slot 0 selected.");
@@ -423,7 +423,7 @@ void unified_bed_leveling::G29() {
          //
          // Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
          //
-          if (!parser.seen('C')) {
+          if (!parser.seen_test('C')) {
            invalidate();
            SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh.");
          }
@@ -433,7 +433,7 @@ void unified_bed_leveling::G29() {
            SERIAL_DECIMAL(param.XY_pos.y);
            SERIAL_ECHOLNPGM(").\n");
          }
-          probe_entire_mesh(param.XY_pos, parser.seen('T'), parser.seen('E'), parser.seen('U'));
+          probe_entire_mesh(param.XY_pos, parser.seen_test('T'), parser.seen_test('E'), parser.seen_test('U'));

          report_current_position();
          probe_deployed = true;
@@ -449,7 +449,7 @@ void unified_bed_leveling::G29() {
          SERIAL_ECHOLNPGM("Manually probing unreachable points.");
          do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);

-          if (parser.seen('C') && !param.XY_seen) {
+          if (parser.seen_test('C') && !param.XY_seen) {

            /**
             * Use a good default location for the path.
@@ -483,7 +483,7 @@ void unified_bed_leveling::G29() {
          }

          const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES);
-          manually_probe_remaining_mesh(param.XY_pos, height, param.B_shim_thickness, parser.seen('T'));
+          manually_probe_remaining_mesh(param.XY_pos, height, param.B_shim_thickness, parser.seen_test('T'));

          SERIAL_ECHOLNPGM("G29 P2 finished.");

@@ -555,7 +555,7 @@ void unified_bed_leveling::G29() {

      case 4: // Fine Tune (i.e., Edit) the Mesh
        #if HAS_LCD_MENU
-          fine_tune_mesh(param.XY_pos, parser.seen('T'));
+          fine_tune_mesh(param.XY_pos, parser.seen_test('T'));
        #else
          SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present.");
          return;
@@ -574,7 +574,7 @@ void unified_bed_leveling::G29() {
    // Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
    // good to have the extra information. Soon... we prune this to just a few items
    //
-    if (parser.seen('W')) g29_what_command();
+    if (parser.seen_test('W')) g29_what_command();

    //
    // When we are fully debugged, this may go away. But there are some valid
@@ -640,7 +640,7 @@ void unified_bed_leveling::G29() {
    SERIAL_ECHOLNPGM("Done.");
  }

-  if (parser.seen('T'))
+  if (parser.seen_test('T'))
    display_map(param.T_map_type);

  LEAVE:
@@ -915,7 +915,7 @@ void set_message_with_feedback(PGM_P const msg_P) {

      if (do_ubl_mesh_map) display_map(param.T_map_type);   // Show user where we're probing

-      if (parser.seen('B')) {
+      if (parser.seen_test('B')) {
        SERIAL_ECHOPGM_P(GET_TEXT(MSG_UBL_BC_INSERT));
        LCD_MESSAGEPGM(MSG_UBL_BC_INSERT);
      }
@@ -954,7 +954,7 @@ void set_message_with_feedback(PGM_P const msg_P) {
   *          NOTE: Blocks the G-code queue and captures Marlin UI during use.
   */
  void unified_bed_leveling::fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) {
-    if (!parser.seen('R'))        // fine_tune_mesh() is special. If no repetition count flag is specified
+    if (!parser.seen_test('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
      param.R_repetition = 1;   // do exactly one mesh location. Otherwise use what the parser decided.

    #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
@@ -1091,7 +1091,7 @@ bool unified_bed_leveling::G29_parse_parameters() {
    }
  }

-  param.V_verbosity = parser.seen('V') ? parser.value_int() : 0;
+  param.V_verbosity = parser.intval('V');
  if (!WITHIN(param.V_verbosity, 0, 4)) {
    SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).\n");
    err_flag = true;
@@ -1153,15 +1153,15 @@ bool unified_bed_leveling::G29_parse_parameters() {
   *       Leveling is being enabled here with old data, possibly
   *       none. Error handling should disable for safety...
   */
-  if (parser.seen('A')) {
-    if (parser.seen('D')) {
+  if (parser.seen_test('A')) {
+    if (parser.seen_test('D')) {
      SERIAL_ECHOLNPGM("?Can't activate and deactivate at the same time.\n");
      return UBL_ERR;
    }
    set_bed_leveling_enabled(true);
    report_state();
  }
-  else if (parser.seen('D')) {
+  else if (parser.seen_test('D')) {
    set_bed_leveling_enabled(false);
    report_state();
  }
@@ -1282,7 +1282,7 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {

  static bool test_func(uint8_t i, uint8_t j, void *data) {
    find_closest_t *d = (find_closest_t*)data;
-    if ( (d->type == (isnan(ubl.z_values[i][j]) ? INVALID : REAL))
+    if (  d->type == CLOSEST || d->type == (isnan(ubl.z_values[i][j]) ? INVALID : REAL)
      || (d->type == SET_IN_BITMAP && !d->done_flags->marked(i, j))
    ) {
      // Found a Mesh Point of the specified type!
@@ -1326,7 +1326,7 @@ mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const Mesh
    float best_so_far = 99999.99f;

    GRID_LOOP(i, j) {
-      if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL))
+      if (  type == CLOSEST || type == (isnan(z_values[i][j]) ? INVALID : REAL)
        || (type == SET_IN_BITMAP && !done_flags->marked(i, j))
      ) {
        // Found a Mesh Point of the specified type!
@@ -1520,7 +1520,7 @@ void unified_bed_leveling::smart_fill_mesh() {
            SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n");
            TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points));

-            measured_z = probe.probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling
+            measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling

            abort_flag = isnan(measured_z);

@@ -43,7 +43,7 @@ void CancelObject::set_active_object(const int8_t obj) {
  else
    skipping = false;

-  #if HAS_STATUS_MESSAGE
+  #if BOTH(HAS_STATUS_MESSAGE, CANCEL_OBJECTS_REPORTING)
    if (active_object >= 0)
      ui.status_printf_P(0, PSTR(S_FMT " %i"), GET_TEXT(MSG_PRINTING_OBJECT), int(active_object));
    else
@@ -28,10 +28,6 @@

 CaseLight caselight;

-#if CASE_LIGHT_IS_COLOR_LED
-  #include "leds/leds.h"
-#endif
-
 #if CASELIGHT_USES_BRIGHTNESS && !defined(CASE_LIGHT_DEFAULT_BRIGHTNESS)
  #define CASE_LIGHT_DEFAULT_BRIGHTNESS 0 // For use on PWM pin as non-PWM just sets a default
 #endif
@@ -43,17 +39,9 @@ CaseLight caselight;
 bool CaseLight::on = CASE_LIGHT_DEFAULT_ON;

 #if CASE_LIGHT_IS_COLOR_LED
-  LEDColor CaseLight::color =
-    #ifdef CASE_LIGHT_DEFAULT_COLOR
-      CASE_LIGHT_DEFAULT_COLOR
-    #else
-      { 255, 255, 255, 255 }
-    #endif
-  ;
-#endif
-
-#ifndef INVERT_CASE_LIGHT
-  #define INVERT_CASE_LIGHT false
+  #include "leds/leds.h"
+  constexpr uint8_t init_case_light[] = CASE_LIGHT_DEFAULT_COLOR;
+  LEDColor CaseLight::color = { init_case_light[0], init_case_light[1], init_case_light[2], TERN_(HAS_WHITE_LED, init_case_light[3]) };
 #endif

 void CaseLight::update(const bool sflag) {
@@ -72,15 +60,13 @@ void CaseLight::update(const bool sflag) {
    if (sflag && on)
      brightness = brightness_sav;  // Restore last brightness for M355 S1

-    const uint8_t i = on ? brightness : 0, n10ct = INVERT_CASE_LIGHT ? 255 - i : i;
+    const uint8_t i = on ? brightness : 0, n10ct = ENABLED(INVERT_CASE_LIGHT) ? 255 - i : i;
+    UNUSED(n10ct);
  #endif

  #if CASE_LIGHT_IS_COLOR_LED

-    leds.set_color(
-      MakeLEDColor(color.r, color.g, color.b, color.w, n10ct),
-      false
-    );
+    leds.set_color(MakeLEDColor(color.r, color.g, color.b, color.w, n10ct));

  #else // !CASE_LIGHT_IS_COLOR_LED

@@ -96,7 +82,7 @@ void CaseLight::update(const bool sflag) {
      else
    #endif
      {
-        const bool s = on ? !INVERT_CASE_LIGHT : INVERT_CASE_LIGHT;
+        const bool s = on ? TERN(INVERT_CASE_LIGHT, LOW, HIGH) : TERN(INVERT_CASE_LIGHT, HIGH, LOW);
        WRITE(CASE_LIGHT_PIN, s ? HIGH : LOW);
      }

@@ -27,7 +27,7 @@
  #include "leds/leds.h" // for LEDColor
 #endif

-#if DISABLED(CASE_LIGHT_NO_BRIGHTNESS) || ENABLED(CASE_LIGHT_USE_NEOPIXEL)
+#if NONE(CASE_LIGHT_NO_BRIGHTNESS, CASE_LIGHT_IS_COLOR_LED) || ENABLED(CASE_LIGHT_USE_NEOPIXEL)
  #define CASELIGHT_USES_BRIGHTNESS 1
 #endif

@@ -66,14 +66,14 @@ uint8_t MCP4728::analogWrite(const uint8_t channel, const uint16_t value) {
 }

 /**
- * Write all input resistor values to EEPROM using SequencialWrite method.
+ * Write all input resistor values to EEPROM using SequentialWrite method.
 * This will update both input register and EEPROM value
 * This will also write current Vref, PowerDown, Gain settings to EEPROM
 */
 uint8_t MCP4728::eepromWrite() {
  Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
  Wire.write(SEQWRITE);
-  LOOP_XYZE(i) {
+  LOOP_LOGICAL_AXES(i) {
    Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(dac_values[i]));
    Wire.write(lowByte(dac_values[i]));
  }
@@ -135,7 +135,7 @@ void MCP4728::setDrvPct(xyze_uint_t &pct) {
 */
 uint8_t MCP4728::fastWrite() {
  Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
-  LOOP_XYZE(i) {
+  LOOP_LOGICAL_AXES(i) {
    Wire.write(highByte(dac_values[i]));
    Wire.write(lowByte(dac_values[i]));
  }
@@ -51,7 +51,7 @@ int StepperDAC::init() {
  mcp4728.setVref_all(DAC_STEPPER_VREF);
  mcp4728.setGain_all(DAC_STEPPER_GAIN);

-  if (mcp4728.getDrvPct(0) < 1 || mcp4728.getDrvPct(1) < 1 || mcp4728.getDrvPct(2) < 1 || mcp4728.getDrvPct(3) < 1 ) {
+  if (mcp4728.getDrvPct(0) < 1 || mcp4728.getDrvPct(1) < 1 || mcp4728.getDrvPct(2) < 1 || mcp4728.getDrvPct(3) < 1) {
    mcp4728.setDrvPct(dac_channel_pct);
    mcp4728.eepromWrite();
  }
@@ -77,7 +77,7 @@ static float dac_amps(int8_t n) { return mcp4728.getValue(dac_order[n]) * 0.125

 uint8_t StepperDAC::get_current_percent(const AxisEnum axis) { return mcp4728.getDrvPct(dac_order[axis]); }
 void StepperDAC::set_current_percents(xyze_uint8_t &pct) {
-  LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]];
+  LOOP_LOGICAL_AXES(i) dac_channel_pct[i] = pct[dac_order[i]];
  mcp4728.setDrvPct(dac_channel_pct);
 }

@@ -34,7 +34,7 @@ public:
  static void set_current_value(const uint8_t channel, uint16_t val);
  static void print_values();
  static void commit_eeprom();
-  static uint8_t get_current_percent(AxisEnum axis);
+  static uint8_t get_current_percent(const AxisEnum axis);
  static void set_current_percents(xyze_uint8_t &pct);
 };

@@ -40,6 +40,9 @@
 #elif MB(AZTEEG_X5_MINI, AZTEEG_X5_MINI_WIFI)
  #define DIGIPOT_I2C_FACTOR      113.5f
  #define DIGIPOT_I2C_MAX_CURRENT   2.0f
+#elif MB(AZTEEG_X5_GT)
+  #define DIGIPOT_I2C_FACTOR       51.0f
+  #define DIGIPOT_I2C_MAX_CURRENT   3.0f
 #else
  #define DIGIPOT_I2C_FACTOR      106.7f
  #define DIGIPOT_I2C_MAX_CURRENT   2.5f
@@ -41,6 +41,8 @@ extern bool wait_for_user, wait_for_heatup;
  void quickresume_stepper();
 #endif

+void HAL_reboot();
+
 class EmergencyParser {

 public:
@@ -62,6 +64,10 @@ public:
      EP_R, EP_R0, EP_R00, EP_GRBL_RESUME,
      EP_P, EP_P0, EP_P00, EP_GRBL_PAUSE,
    #endif
+    #if ENABLED(SOFT_RESET_VIA_SERIAL)
+      EP_ctrl,
+      EP_K, EP_KI, EP_KIL, EP_KILL,
+    #endif
    EP_IGNORE // to '\n'
  };

@@ -89,6 +95,10 @@ public:
            case 'P': state = EP_P; break;
            case 'R': state = EP_R; break;
          #endif
+          #if ENABLED(SOFT_RESET_VIA_SERIAL)
+            case '^': state = EP_ctrl; break;
+            case 'K': state = EP_K; break;
+          #endif
          default: state = EP_IGNORE;
        }
        break;
@@ -121,6 +131,13 @@ public:
        case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE  : EP_IGNORE; break;
      #endif

+      #if ENABLED(SOFT_RESET_VIA_SERIAL)
+        case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break;
+        case EP_K:    state = (c == 'I') ? EP_KI   : EP_IGNORE; break;
+        case EP_KI:   state = (c == 'L') ? EP_KIL  : EP_IGNORE; break;
+        case EP_KIL:  state = (c == 'L') ? EP_KILL : EP_IGNORE; break;
+      #endif
+
      case EP_M:
        switch (c) {
          case ' ': break;
@@ -189,6 +206,9 @@ public:
              case EP_GRBL_PAUSE: quickpause_stepper(); break;
              case EP_GRBL_RESUME: quickresume_stepper(); break;
            #endif
+            #if ENABLED(SOFT_RESET_VIA_SERIAL)
+              case EP_KILL: HAL_reboot(); break;
+            #endif
            default: break;
          }
          state = EP_RESET;
@@ -337,7 +337,7 @@ bool I2CPositionEncoder::test_axis() {
  ec = false;

  xyze_pos_t startCoord, endCoord;
-  LOOP_XYZ(a) {
+  LOOP_LINEAR_AXES(a) {
    startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
    endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
  }
@@ -392,7 +392,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
  travelDistance = endDistance - startDistance;

  xyze_pos_t startCoord, endCoord;
-  LOOP_XYZ(a) {
+  LOOP_LINEAR_AXES(a) {
    startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
    endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
  }
@@ -819,11 +819,11 @@ int8_t I2CPositionEncodersMgr::parse() {
 void I2CPositionEncodersMgr::M860() {
  if (parse()) return;

-  const bool hasU = parser.seen('U'), hasO = parser.seen('O');
+  const bool hasU = parser.seen_test('U'), hasO = parser.seen_test('O');

  if (I2CPE_idx == 0xFF) {
-    LOOP_XYZE(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+    LOOP_LOGICAL_AXES(i) {
+      if (!I2CPE_anyaxis || parser.seen_test(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) report_position(idx, hasU, hasO);
      }
@@ -849,7 +849,7 @@ void I2CPositionEncodersMgr::M861() {
  if (parse()) return;

  if (I2CPE_idx == 0xFF) {
-    LOOP_XYZE(i) {
+    LOOP_LOGICAL_AXES(i) {
      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) report_status(idx);
@@ -877,7 +877,7 @@ void I2CPositionEncodersMgr::M862() {
  if (parse()) return;

  if (I2CPE_idx == 0xFF) {
-    LOOP_XYZE(i) {
+    LOOP_LOGICAL_AXES(i) {
      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) test_axis(idx);
@@ -908,7 +908,7 @@ void I2CPositionEncodersMgr::M863() {
  const uint8_t iterations = constrain(parser.byteval('P', 1), 1, 10);

  if (I2CPE_idx == 0xFF) {
-    LOOP_XYZE(i) {
+    LOOP_LOGICAL_AXES(i) {
      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations);
@@ -956,10 +956,10 @@ void I2CPositionEncodersMgr::M864() {
    return;
  }
  else {
-         if (parser.seen('X')) newAddress = I2CPE_PRESET_ADDR_X;
-    else if (parser.seen('Y')) newAddress = I2CPE_PRESET_ADDR_Y;
-    else if (parser.seen('Z')) newAddress = I2CPE_PRESET_ADDR_Z;
-    else if (parser.seen('E')) newAddress = I2CPE_PRESET_ADDR_E;
+         if (parser.seen_test('X')) newAddress = I2CPE_PRESET_ADDR_X;
+    else if (parser.seen_test('Y')) newAddress = I2CPE_PRESET_ADDR_Y;
+    else if (parser.seen_test('Z')) newAddress = I2CPE_PRESET_ADDR_Z;
+    else if (parser.seen_test('E')) newAddress = I2CPE_PRESET_ADDR_E;
    else return;
  }

@@ -984,7 +984,7 @@ void I2CPositionEncodersMgr::M865() {
  if (parse()) return;

  if (!I2CPE_addr) {
-    LOOP_XYZE(i) {
+    LOOP_LOGICAL_AXES(i) {
      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address());
@@ -1012,10 +1012,10 @@ void I2CPositionEncodersMgr::M865() {
 void I2CPositionEncodersMgr::M866() {
  if (parse()) return;

-  const bool hasR = parser.seen('R');
+  const bool hasR = parser.seen_test('R');

  if (I2CPE_idx == 0xFF) {
-    LOOP_XYZE(i) {
+    LOOP_LOGICAL_AXES(i) {
      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) {
@@ -1053,7 +1053,7 @@ void I2CPositionEncodersMgr::M867() {
  const int8_t onoff = parser.seenval('S') ? parser.value_int() : -1;

  if (I2CPE_idx == 0xFF) {
-    LOOP_XYZE(i) {
+    LOOP_LOGICAL_AXES(i) {
      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) {
@@ -1089,7 +1089,7 @@ void I2CPositionEncodersMgr::M868() {
  const float newThreshold = parser.seenval('T') ? parser.value_float() : -9999;

  if (I2CPE_idx == 0xFF) {
-    LOOP_XYZE(i) {
+    LOOP_LOGICAL_AXES(i) {
      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) {
@@ -1123,7 +1123,7 @@ void I2CPositionEncodersMgr::M869() {
  if (parse()) return;

  if (I2CPE_idx == 0xFF) {
-    LOOP_XYZE(i) {
+    LOOP_LOGICAL_AXES(i) {
      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
        const uint8_t idx = idx_from_axis(AxisEnum(i));
        if ((int8_t)idx >= 0) report_error(idx);
@@ -212,10 +212,10 @@ void FWRetract::retract(const bool retracting
 */
 void FWRetract::M207() {
  if (!parser.seen("FSWZ")) return M207_report();
-  if (parser.seen('S')) settings.retract_length = parser.value_axis_units(E_AXIS);
-  if (parser.seen('F')) settings.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
-  if (parser.seen('Z')) settings.retract_zraise = parser.value_linear_units();
-  if (parser.seen('W')) settings.swap_retract_length = parser.value_axis_units(E_AXIS);
+  if (parser.seenval('S')) settings.retract_length        = parser.value_axis_units(E_AXIS);
+  if (parser.seenval('F')) settings.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
+  if (parser.seenval('Z')) settings.retract_zraise        = parser.value_linear_units();
+  if (parser.seenval('W')) settings.swap_retract_length   = parser.value_axis_units(E_AXIS);
 }

 void FWRetract::M207_report(const bool forReplay/*=false*/) {
@@ -238,10 +238,10 @@ void FWRetract::M207_report(const bool forReplay/*=false*/) {
 */
 void FWRetract::M208() {
  if (!parser.seen("FSRW")) return M208_report();
-  if (parser.seen('S')) settings.retract_recover_extra = parser.value_axis_units(E_AXIS);
-  if (parser.seen('F')) settings.retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
+  if (parser.seen('S')) settings.retract_recover_extra              = parser.value_axis_units(E_AXIS);
+  if (parser.seen('F')) settings.retract_recover_feedrate_mm_s      = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  if (parser.seen('R')) settings.swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
-  if (parser.seen('W')) settings.swap_retract_recover_extra = parser.value_axis_units(E_AXIS);
+  if (parser.seen('W')) settings.swap_retract_recover_extra         = parser.value_axis_units(E_AXIS);
 }

 void FWRetract::M208_report(const bool forReplay/*=false*/) {
@@ -149,13 +149,13 @@ void host_action(PGM_P const pstr, const bool eol) {
        switch (response) {

          case 0: // "Purge More" button
-            #if BOTH(HAS_LCD_MENU, ADVANCED_PAUSE_FEATURE)
+            #if BOTH(M600_PURGE_MORE_RESUMABLE, ADVANCED_PAUSE_FEATURE)
              pause_menu_response = PAUSE_RESPONSE_EXTRUDE_MORE;  // Simulate menu selection (menu exits, doesn't extrude more)
            #endif
            break;

          case 1: // "Continue" / "Disable Runout" button
-            #if BOTH(HAS_LCD_MENU, ADVANCED_PAUSE_FEATURE)
+            #if BOTH(M600_PURGE_MORE_RESUMABLE, ADVANCED_PAUSE_FEATURE)
              pause_menu_response = PAUSE_RESPONSE_RESUME_PRINT;  // Simulate menu selection
            #endif
            #if HAS_FILAMENT_SENSOR
@@ -45,7 +45,7 @@ void HotendIdleProtection::check_hotends(const millis_t &ms) {
  bool do_prot = false;
  HOTEND_LOOP() {
    const bool busy = (TERN0(HAS_RESUME_CONTINUE, wait_for_user) || planner.has_blocks_queued());
-    if (thermalManager.degHotend(e) >= HOTEND_IDLE_MIN_TRIGGER && !busy) {
+    if (thermalManager.degHotend(e) >= (HOTEND_IDLE_MIN_TRIGGER) && !busy) {
      do_prot = true; break;
    }
  }
@@ -163,13 +163,8 @@ Joystick joystick;
    // norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
    xyz_float_t move_dist{0};
    float hypot2 = 0;
-    LOOP_XYZ(i) if (norm_jog[i]) {
-      move_dist[i] = seg_time * norm_jog[i] *
-        #if ENABLED(EXTENSIBLE_UI)
-          manual_feedrate_mm_s[i];
-        #else
-          planner.settings.max_feedrate_mm_s[i];
-        #endif
+    LOOP_LINEAR_AXES(i) if (norm_jog[i]) {
+      move_dist[i] = seg_time * norm_jog[i] * TERN(EXTENSIBLE_UI, manual_feedrate_mm_s, planner.settings.max_feedrate_mm_s)[i];
      hypot2 += sq(move_dist[i]);
    }

@@ -53,7 +53,7 @@
  );
 #endif

-#if EITHER(LED_CONTROL_MENU, PRINTER_EVENT_LEDS)
+#if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED)
  LEDColor LEDLights::color;
  bool LEDLights::lights_on;
 #endif
@@ -187,7 +187,7 @@ public:
    static inline LEDColor get_color() { return lights_on ? color : LEDColorOff(); }
  #endif

-  #if EITHER(LED_CONTROL_MENU, PRINTER_EVENT_LEDS)
+  #if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED)
    static LEDColor color; // last non-off color
    static bool lights_on; // the last set color was "on"
  #endif
@@ -40,9 +40,9 @@ PrinterEventLEDs printerEventLEDs;

  uint8_t PrinterEventLEDs::old_intensity = 0;

-  inline uint8_t pel_intensity(const_float_t start, const_float_t current, const_float_t target) {
-    if (uint16_t(start) == uint16_t(target)) return 255;
-    return (uint8_t)map(constrain(current, start, target), start, target, 0.f, 255.f);
+  inline uint8_t pel_intensity(const celsius_t start, const celsius_t current, const celsius_t target) {
+    if (start == target) return 255;
+    return (uint8_t)map(constrain(current, start, target), start, target, 0, 255);
  }

  inline void pel_set_rgb(const uint8_t r, const uint8_t g, const uint8_t b) {
@@ -58,7 +58,7 @@ PrinterEventLEDs printerEventLEDs;

 #if HAS_TEMP_HOTEND

-  void PrinterEventLEDs::onHotendHeating(const_float_t start, const_float_t current, const_float_t target) {
+  void PrinterEventLEDs::onHotendHeating(const celsius_t start, const celsius_t current, const celsius_t target) {
    const uint8_t blue = pel_intensity(start, current, target);
    if (blue != old_intensity) {
      old_intensity = blue;
@@ -70,7 +70,7 @@ PrinterEventLEDs printerEventLEDs;

 #if HAS_HEATED_BED

-  void PrinterEventLEDs::onBedHeating(const_float_t start, const_float_t current, const_float_t target) {
+  void PrinterEventLEDs::onBedHeating(const celsius_t start, const celsius_t current, const celsius_t target) {
    const uint8_t red = pel_intensity(start, current, target);
    if (red != old_intensity) {
      old_intensity = red;
@@ -82,7 +82,7 @@ PrinterEventLEDs printerEventLEDs;

 #if HAS_HEATED_CHAMBER

-  void PrinterEventLEDs::onChamberHeating(const_float_t start, const_float_t current, const_float_t target) {
+  void PrinterEventLEDs::onChamberHeating(const celsius_t start, const celsius_t current, const celsius_t target) {
    const uint8_t green = pel_intensity(start, current, target);
    if (green != old_intensity) {
      old_intensity = green;
@@ -36,32 +36,26 @@ private:
    static bool leds_off_after_print;
  #endif

-  static inline void set_done() {
-    #if ENABLED(LED_COLOR_PRESETS)
-      leds.set_default();
-    #else
-      leds.set_off();
-    #endif
-  }
+  static inline void set_done() { TERN(LED_COLOR_PRESETS, leds.set_default(), leds.set_off()); }

 public:
  #if HAS_TEMP_HOTEND
    static inline LEDColor onHotendHeatingStart() { old_intensity = 0; return leds.get_color(); }
-    static void onHotendHeating(const_float_t start, const_float_t current, const_float_t target);
+    static void onHotendHeating(const celsius_t start, const celsius_t current, const celsius_t target);
  #endif

  #if HAS_HEATED_BED
    static inline LEDColor onBedHeatingStart() { old_intensity = 127; return leds.get_color(); }
-    static void onBedHeating(const_float_t start, const_float_t current, const_float_t target);
+    static void onBedHeating(const celsius_t start, const celsius_t current, const celsius_t target);
  #endif

  #if HAS_HEATED_CHAMBER
    static inline LEDColor onChamberHeatingStart() { old_intensity = 127; return leds.get_color(); }
-    static void onChamberHeating(const_float_t start, const_float_t current, const_float_t target);
+    static void onChamberHeating(const celsius_t start, const celsius_t current, const celsius_t target);
  #endif

  #if HAS_TEMP_HOTEND || HAS_HEATED_BED || HAS_HEATED_CHAMBER
-    static inline void onHeatingDone() { leds.set_white(); }
+    static inline void onHeatingDone()             { leds.set_white(); }
    static inline void onPidTuningDone(LEDColor c) { leds.set_color(c); }
  #endif

@@ -36,10 +36,10 @@ void handle_status_leds() {
  static millis_t next_status_led_update_ms = 0;
  if (ELAPSED(millis(), next_status_led_update_ms)) {
    next_status_led_update_ms += 500; // Update every 0.5s
-    float max_temp = TERN0(HAS_HEATED_BED, _MAX(thermalManager.degTargetBed(), thermalManager.degBed()));
+    celsius_t max_temp = TERN0(HAS_HEATED_BED, _MAX(thermalManager.degTargetBed(), thermalManager.wholeDegBed()));
    HOTEND_LOOP()
-      max_temp = _MAX(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
-    const int8_t new_red = (max_temp > 55.0) ? HIGH : (max_temp < 54.0 || old_red < 0) ? LOW : old_red;
+      max_temp = _MAX(max_temp, thermalManager.wholeDegHotend(e), thermalManager.degTargetHotend(e));
+    const int8_t new_red = (max_temp > 55) ? HIGH : (max_temp < 54 || old_red < 0) ? LOW : old_red;
    if (new_red != old_red) {
      old_red = new_red;
      #if PIN_EXISTS(STAT_LED_RED)
@@ -159,7 +159,7 @@ void MMU2::mmu_loop() {
        MMU2_COMMAND("S1");   // Read Version
        state = -2;
      }
-      else if (millis() > 3000000) {
+      else if (millis() > 30000) { // 30sec after reset disable MMU
        SERIAL_ECHOLNPGM("MMU not responding - DISABLED");
        state = 0;
      }
@@ -75,7 +75,7 @@

 static xyze_pos_t resume_position;

-#if HAS_LCD_MENU
+#if M600_PURGE_MORE_RESUMABLE
  PauseMenuResponse pause_menu_response;
  PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
 #endif
@@ -143,7 +143,7 @@ static bool ensure_safe_temperature(const bool wait=true, const PauseMode mode=P

  // Allow interruption by Emergency Parser M108
  wait_for_heatup = TERN1(PREVENT_COLD_EXTRUSION, !thermalManager.allow_cold_extrude);
-  while (wait_for_heatup && ABS(thermalManager.degHotend(active_extruder) - thermalManager.degTargetHotend(active_extruder)) > TEMP_WINDOW)
+  while (wait_for_heatup && ABS(thermalManager.wholeDegHotend(active_extruder) - thermalManager.degTargetHotend(active_extruder)) > (TEMP_WINDOW))
    idle();
  wait_for_heatup = false;

@@ -257,18 +257,22 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load

      TERN_(HOST_PROMPT_SUPPORT, filament_load_host_prompt()); // Initiate another host prompt.

-      #if HAS_LCD_MENU
+      #if M600_PURGE_MORE_RESUMABLE
        if (show_lcd) {
          // Show "Purge More" / "Resume" menu and wait for reply
          KEEPALIVE_STATE(PAUSED_FOR_USER);
          wait_for_user = false;
-          ui.pause_show_message(PAUSE_MESSAGE_OPTION);
+          #if HAS_LCD_MENU
+            ui.pause_show_message(PAUSE_MESSAGE_OPTION); // Also sets PAUSE_RESPONSE_WAIT_FOR
+          #else
+            pause_menu_response = PAUSE_RESPONSE_WAIT_FOR;
+          #endif
          while (pause_menu_response == PAUSE_RESPONSE_WAIT_FOR) idle_no_sleep();
        }
      #endif

      // Keep looping if "Purge More" was selected
-    } while (TERN0(HAS_LCD_MENU, show_lcd && pause_menu_response == PAUSE_RESPONSE_EXTRUDE_MORE));
+    } while (TERN0(M600_PURGE_MORE_RESUMABLE, show_lcd && pause_menu_response == PAUSE_RESPONSE_EXTRUDE_MORE));

  #endif
  TERN_(HOST_PROMPT_SUPPORT, host_action_prompt_end());
@@ -312,7 +316,7 @@ bool unload_filament(const_float_t unload_length, const bool show_lcd/*=false*/,
  );

  #if !BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)
-    constexpr float mix_multiplier = 1.0;
+    constexpr float mix_multiplier = 1.0f;
  #endif

  if (!ensure_safe_temperature(false, mode)) {
@@ -367,7 +371,7 @@ bool unload_filament(const_float_t unload_length, const bool show_lcd/*=false*/,
 */
 uint8_t did_pause_print = 0;

-bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float_t unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) {
+bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool show_lcd/*=false*/, const_float_t unload_length/*=0*/ DXC_ARGS) {
  DEBUG_SECTION(pp, "pause_print", true);
  DEBUG_ECHOLNPAIR("... park.x:", park_point.x, " y:", park_point.y, " z:", park_point.z, " unloadlen:", unload_length, " showlcd:", show_lcd DXC_SAY);

@@ -390,7 +394,8 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float

  // Pause the print job and timer
  #if ENABLED(SDSUPPORT)
-    if (IS_SD_PRINTING()) {
+    const bool was_sd_printing = IS_SD_PRINTING();
+    if (was_sd_printing) {
      card.pauseSDPrint();
      ++did_pause_print; // Indicate SD pause also
    }
@@ -401,6 +406,15 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float
  // Save current position
  resume_position = current_position;

+  // Will the nozzle be parking?
+  const bool do_park = !axes_should_home();
+
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    // Save PLR info in case the power goes out while parked
+    const float park_raise = do_park ? nozzle.park_mode_0_height(park_point.z) - current_position.z : POWER_LOSS_ZRAISE;
+    if (was_sd_printing && recovery.enabled) recovery.save(true, park_raise, do_park);
+  #endif
+
  // Wait for buffered blocks to complete
  planner.synchronize();

@@ -414,9 +428,8 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float
    unscaled_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
  }

-  // Park the nozzle by moving up by z_lift and then moving to (x_pos, y_pos)
-  if (!axes_should_home())
-    nozzle.park(0, park_point);
+  // If axes don't need to home then the nozzle can park
+  if (do_park) nozzle.park(0, park_point); // Park the nozzle by doing a Minimum Z Raise followed by an XY Move

  #if ENABLED(DUAL_X_CARRIAGE)
    const int8_t saved_ext        = active_extruder;
@@ -424,7 +437,8 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float
    set_duplication_enabled(false, DXC_ext);
  #endif

-  if (unload_length)   // Unload the filament
+  // Unload the filament, if specified
+  if (unload_length)
    unload_filament(unload_length, show_lcd, PAUSE_MODE_CHANGE_FILAMENT);

  #if ENABLED(DUAL_X_CARRIAGE)
@@ -598,7 +612,7 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_

  if (!axes_should_home()) {
    // Move XY back to saved position
-    destination.set(resume_position.x, resume_position.y, current_position.z);
+    destination.set(resume_position.x, resume_position.y, current_position.z, current_position.e);
    prepare_internal_move_to_destination(NOZZLE_PARK_XY_FEEDRATE);

    // Move Z back to saved position
@@ -626,9 +640,6 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_
  // Set extruder to saved position
  planner.set_e_position_mm((destination.e = current_position.e = resume_position.e));

-  // Write PLR now to update the z axis value
-  TERN_(POWER_LOSS_RECOVERY, if (recovery.enabled) recovery.save(true));
-
  ui.pause_show_message(PAUSE_MESSAGE_STATUS);

  #ifdef ACTION_ON_RESUMED
@@ -641,8 +652,16 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_

  TERN_(HOST_PROMPT_SUPPORT, host_prompt_open(PROMPT_INFO, PSTR("Resuming"), DISMISS_STR));

+  // Resume the print job timer if it was running
+  if (print_job_timer.isPaused()) print_job_timer.start();
+
  #if ENABLED(SDSUPPORT)
-    if (did_pause_print) { card.startFileprint(); --did_pause_print; }
+    if (did_pause_print) {
+      --did_pause_print;
+      card.startOrResumeFilePrinting();
+      // Write PLR now to update the z axis value
+      TERN_(POWER_LOSS_RECOVERY, if (recovery.enabled) recovery.save(true));
+    }
  #endif

  #if ENABLED(ADVANCED_PAUSE_FANS_PAUSE) && HAS_FAN
@@ -651,9 +670,6 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_

  TERN_(HAS_FILAMENT_SENSOR, runout.reset());

-  // Resume the print job timer if it was running
-  if (print_job_timer.isPaused()) print_job_timer.start();
-
  TERN_(HAS_STATUS_MESSAGE, ui.reset_status());
  TERN_(HAS_LCD_MENU, ui.return_to_status());
 }
@@ -59,7 +59,7 @@ enum PauseMessage : char {
  PAUSE_MESSAGE_HEATING
 };

-#if HAS_LCD_MENU
+#if M600_PURGE_MORE_RESUMABLE
  enum PauseMenuResponse : char {
    PAUSE_RESPONSE_WAIT_FOR,
    PAUSE_RESPONSE_EXTRUDE_MORE,
@@ -85,19 +85,47 @@ extern uint8_t did_pause_print;
  #define DXC_SAY
 #endif

-bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float_t unload_length=0, const bool show_lcd=false DXC_PARAMS);
+// Pause the print. If unload_length is set, do a Filament Unload
+bool pause_print(
+  const_float_t   retract,                                    // (mm) Retraction length
+  const xyz_pos_t &park_point,                                // Parking XY Position and Z Raise
+  const bool      show_lcd=false,                             // Set LCD status messages?
+  const_float_t   unload_length=0                             // (mm) Filament Change Unload Length - 0 to skip
+  DXC_PARAMS                                                  // Dual-X-Carriage extruder index
+);

-void wait_for_confirmation(const bool is_reload=false, const int8_t max_beep_count=0 DXC_PARAMS);
+void wait_for_confirmation(
+  const bool      is_reload=false,                            // Reload Filament? (otherwise Resume Print)
+  const int8_t    max_beep_count=0                            // Beep alert for attention
+  DXC_PARAMS                                                  // Dual-X-Carriage extruder index
+);

-void resume_print(const_float_t slow_load_length=0, const_float_t fast_load_length=0, const_float_t extrude_length=ADVANCED_PAUSE_PURGE_LENGTH,
-                    const int8_t max_beep_count=0, const celsius_t targetTemp=0 DXC_PARAMS);
+void resume_print(
+  const_float_t   slow_load_length=0,                         // (mm) Slow Load Length for finishing move
+  const_float_t   fast_load_length=0,                         // (mm) Fast Load Length for initial move
+  const_float_t   extrude_length=ADVANCED_PAUSE_PURGE_LENGTH, // (mm) Purge length
+  const int8_t    max_beep_count=0,                           // Beep alert for attention
+  const celsius_t targetTemp=0                                // (°C) A target temperature for the hotend
+  DXC_PARAMS                                                  // Dual-X-Carriage extruder index
+);

-bool load_filament(const_float_t slow_load_length=0, const_float_t fast_load_length=0, const_float_t extrude_length=0, const int8_t max_beep_count=0,
-                    const bool show_lcd=false, const bool pause_for_user=false, const PauseMode mode=PAUSE_MODE_PAUSE_PRINT DXC_PARAMS);
+bool load_filament(
+  const_float_t   slow_load_length=0,                         // (mm) Slow Load Length for finishing move
+  const_float_t   fast_load_length=0,                         // (mm) Fast Load Length for initial move
+  const_float_t   extrude_length=0,                           // (mm) Purge length
+  const int8_t    max_beep_count=0,                           // Beep alert for attention
+  const bool      show_lcd=false,                             // Set LCD status messages?
+  const bool      pause_for_user=false,                       // Pause for user before returning?
+  const PauseMode mode=PAUSE_MODE_PAUSE_PRINT                 // Pause Mode to apply
+  DXC_PARAMS                                                  // Dual-X-Carriage extruder index
+);

-bool unload_filament(const_float_t unload_length, const bool show_lcd=false, const PauseMode mode=PAUSE_MODE_PAUSE_PRINT
+bool unload_filament(
+  const_float_t   unload_length,                              // (mm) Filament Unload Length - 0 to skip
+  const bool      show_lcd=false,                             // Set LCD status messages?
+  const PauseMode mode=PAUSE_MODE_PAUSE_PRINT                 // Pause Mode to apply
  #if BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)
-    , const_float_t mix_multiplier=1.0
+    , const_float_t mix_multiplier=1.0f                       // Extrusion multiplier (for a Mixing Extruder)
  #endif
 );

--- a/Show More
+++ b/Show More