verbose on debug

cleanup
Fix Z Pos corruption on use of default z_measured_min
2024-11-12 17:47:03 -06:00 · 2024-11-12 17:46:58 -06:00 · 2024-11-06 14:22:34 -05:00 · 2024-11-04 00:28:52 +00:00 · 2024-11-03 16:38:21 -06:00 · 2024-11-03 16:06:47 -06:00
1429 changed files with 62779 additions and 36715 deletions
@@ -0,0 +1,21 @@
+# Build artifacts
+buildroot/
+*.o
+*.a
+*.so
+*.dylib
+*.dll
+*.exe
+
+# Web assets
+*.min.js
+*.min.css
+
+# Generated files
+__pycache__/
+*.pyc
+.DS_Store
+
+# IDE files
+.vscode/
+.idea/
@@ -7,7 +7,7 @@ contact_links:
    url: https://www.facebook.com/groups/1049718498464482
    about: Please ask and answer questions here.
  - name: 🕹 Marlin on Discord
-    url: https://discord.gg/n5NJ59y
+    url: https://discord.com/servers/marlin-firmware-461605380783472640
    about: Join the Discord server for support and discussion.
  - name: 🔗 Marlin Discussion Forum
    url: https://reprap.org/forum/list.php?415
@@ -43,7 +43,7 @@ We have a Message Board and a Facebook group where our knowledgable user communi

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

-* Use the link https://discord.gg/n5NJ59y to join up as a General User.
+* Use the link https://discord.com/servers/marlin-firmware-461605380783472640 to join up as a General User.
 * Even though our Discord is pretty active, it may take a while for community members to respond &mdash; please be patient!
 * Use the `#general` channel for general questions or discussion about Marlin.
 * Other channels exist for certain topics or are limited to Patrons. Check the channel list.
@@ -1,40 +0,0 @@
-#
-# Configuration for Lock Threads - https://github.com/dessant/lock-threads-app
-#
-
-# Number of days of inactivity before a closed issue or pull request is locked
-daysUntilLock: 60
-
-# Skip issues and pull requests created before a given timestamp. Timestamp must
-# follow ISO 8601 (`YYYY-MM-DD`). Set to `false` to disable
-skipCreatedBefore: false
-
-# Issues and pull requests with these labels will be ignored. Set to `[]` to disable
-exemptLabels: [ 'no-locking' ]
-
-# Label to add before locking, such as `outdated`. Set to `false` to disable
-lockLabel: false
-
-# Comment to post before locking. Set to `false` to disable
-lockComment: >
-  This thread has been automatically locked since there has not been
-  any recent activity after it was closed. Please open a new issue for
-  related bugs.
-
-# Assign `resolved` as the reason for locking. Set to `false` to disable
-setLockReason: true
-
-# Limit to only `issues` or `pulls`
-# only: issues
-
-# Optionally, specify configuration settings just for `issues` or `pulls`
-# issues:
-#   exemptLabels:
-#     - help-wanted
-#   lockLabel: outdated
-
-# pulls:
-#   daysUntilLock: 30
-
-# Repository to extend settings from
-# _extends: repo
@@ -14,7 +14,7 @@ jobs:
  autolabel:
    name: Auto Label
    if: github.repository == 'MarlinFirmware/Marlin'
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
    steps:
    - name: Auto Label for [BUG]
      uses: actions/github-script@v7
@@ -14,12 +14,12 @@ jobs:
    name: Bump Distribution Date
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:

    - name: Check out bugfix-2.0.x
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
      with:
        ref: bugfix-2.0.x

@@ -39,7 +39,7 @@ jobs:
        exit 0

    - name: Check out bugfix-2.1.x
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
      with:
        ref: bugfix-2.1.x

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

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

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

-name: CI
+name: CI - Build Tests

 on:
  pull_request:
@@ -14,6 +14,8 @@ on:
    - config/**
    - data/**
    - docs/**
+    - test/**
+    - Marlin/tests/**
    - '**/*.md'
  push:
    branches:
@@ -23,21 +25,28 @@ on:
    - config/**
    - data/**
    - docs/**
+    - test/**
+    - Marlin/tests/**
    - '**/*.md'

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

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

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

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

        # AVR
        - mega2560
@@ -100,9 +109,9 @@ jobs:

        # STM32F4
        - ARMED
-        - BIGTREE_BTT002
-        - BIGTREE_GTR_V1_0
-        - BIGTREE_SKR_PRO
+        - BTT_BTT002
+        - BTT_GTR_V1_0
+        - BTT_SKR_PRO
        - FLYF407ZG
        - FYSETC_S6
        - LERDGEK
@@ -152,7 +161,7 @@ jobs:
      uses: actions/checkout@v4

    - name: Cache pip
-      uses: actions/cache@v3
+      uses: actions/cache@v4
      with:
        path: ~/.cache/pip
        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
@@ -160,13 +169,13 @@ jobs:
          ${{ runner.os }}-pip-

    - name: Cache PlatformIO
-      uses: actions/cache@v3
+      uses: actions/cache@v4
      with:
        path: ~/.platformio
        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}

    - name: Select Python 3.9
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
      with:
        python-version: '3.9'
        architecture: 'x64'
@@ -177,6 +186,13 @@ jobs:
        pio upgrade --dev
        pio pkg update --global

+    - name: Install Simulator dependencies
+      run: |
+        sudo apt-get install build-essential
+        sudo apt-get install libsdl2-dev
+        sudo apt-get install libsdl2-net-dev
+        sudo apt-get install libglm-dev
+
    - name: Run ${{ matrix.test-platform }} Tests
      run: |
        make tests-single-ci TEST_TARGET=${{ matrix.test-platform }}
@@ -0,0 +1,73 @@
+#
+# ci-unit-tests.yml
+# Build and execute unit tests to catch functional issues in code
+#
+
+name: CI - Unit Tests
+
+on:
+  pull_request:
+    branches:
+    - bugfix-2.1.x
+    # Cannot be enabled on 2.1.x until it contains the unit test framework
+    #- 2.1.x
+    paths-ignore:
+    - config/**
+    - data/**
+    - docs/**
+    - '**/*.md'
+  push:
+    branches:
+    - bugfix-2.1.x
+    # Cannot be enabled on 2.1.x until it contains the unit test framework
+    #- 2.1.x
+    paths-ignore:
+    - config/**
+    - data/**
+    - docs/**
+    - '**/*.md'
+
+jobs:
+  # This runs all unit tests as a single job. While it should be possible to break this up into
+  # multiple jobs, they currently run quickly and finish long before the compilation tests.
+  run_unit_tests:
+    name: Unit Test
+    # These tests will only be able to run on the bugfix-2.1.x branch, until the next release
+    # pulls them into additional branches.
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Check out the PR
+      uses: actions/checkout@v4
+
+    - name: Cache pip
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: Cache PlatformIO
+      uses: actions/cache@v4
+      with:
+        path: ~/.platformio
+        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
+
+    - name: Select Python 3.9
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.9'
+        architecture: 'x64'
+
+    - name: Install PlatformIO
+      run: |
+        pip install -U platformio
+        pio upgrade --dev
+        pio pkg update --global
+
+    - name: Run All Unit Tests
+      run: |
+        make unit-test-all-local
@@ -0,0 +1,48 @@
+#
+# ci-validate-boards.yml
+# Validate boards.h to make sure it's all set up correctly
+#
+
+name: CI - Validate boards.h
+
+# We can do the on: section as two items, one for pull requests and one for pushes...
+on:
+  pull_request:
+    branches:
+    - bugfix-2.1.x
+    paths:
+    - 'Marlin/src/core/boards.h'
+  push:
+    branches:
+    - bugfix-2.1.x
+    paths:
+    - 'Marlin/src/core/boards.h'
+
+jobs:
+  validate_pins_files:
+    name: Validate boards.h
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Check out the PR
+      uses: actions/checkout@v4
+
+    - name: Cache pip
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: Select Python 3.9
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.9'
+        architecture: 'x64'
+
+    - name: Validate core/boards.h
+      run: |
+        make validate-boards -j
@@ -0,0 +1,51 @@
+#
+# ci-validate-pins.yml
+# Validate that all of the pins files are unchanged by pinsformat.py
+#
+
+name: CI - Validate Pins Files
+
+on:
+  pull_request:
+    branches:
+    - bugfix-2.1.x
+    # Cannot be enabled on 2.1.x until it contains the unit test framework
+    #- 2.1.x
+    paths:
+    - 'Marlin/src/pins/*/**'
+  push:
+    branches:
+    - bugfix-2.1.x
+    # Cannot be enabled on 2.1.x until it contains the unit test framework
+    #- 2.1.x
+    paths:
+    - 'Marlin/src/pins/*/**'
+
+jobs:
+  validate_pins_files:
+    name: Validate Pins Files
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Check out the PR
+      uses: actions/checkout@v4
+
+    - name: Cache pip
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: Select Python 3.9
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.9'
+        architecture: 'x64'
+
+    - name: Validate all pins files
+      run: |
+        make validate-pins -j
@@ -13,7 +13,7 @@ on:

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

    strategy:
      matrix:
@@ -32,7 +32,7 @@ jobs:
          - "Needs: Work"

    steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
      - name: Remove Labels
        uses: actions-ecosystem/action-remove-labels@v1
        with:
@@ -14,10 +14,10 @@ jobs:
    name: Close Stale Issues
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:
-    - uses: actions/stale@v8
+    - uses: actions/stale@v9
      with:
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        stale-issue-message: |
@@ -14,18 +14,18 @@ jobs:
    name: Lock Closed Issues
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:
-    - uses: dessant/lock-threads@v2
+    - uses: dessant/lock-threads@v5
      with:
        github-token: ${{ github.token }}
        process-only: 'issues'
-        issue-lock-inactive-days: '60'
-        issue-exclude-created-before: ''
-        issue-exclude-labels: 'no-locking'
-        issue-lock-labels: ''
-        issue-lock-comment: >
+        issue-inactive-days: '60'
+        exclude-issue-created-before: ''
+        exclude-any-issue-labels: 'no-locking'
+        add-issue-labels: ''
+        issue-comment: >
          This issue has been automatically locked since there
          has not been any recent activity after it was closed.
          Please open a new issue for related bugs.
@@ -14,7 +14,7 @@ jobs:
    name: Unlock Reopened
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:
    - uses: OSDKDev/unlock-issues@v1.1
@@ -125,6 +125,7 @@ vc-fileutils.settings
 # Visual Studio Code
 .vscode/*
 !.vscode/extensions.json
+*.code-workspace

 # Simulation files
 imgui.ini
@@ -168,3 +169,6 @@ __pycache__
 tags
 *.logs
 *.bak
+.aider*
+!.aiderignore
+.env
@@ -0,0 +1,16 @@
+/**
+ * Marlin-specific settings for Zed
+ *
+ * For a full list of overridable settings, and general information on folder-specific settings,
+ * see the documentation: https://zed.dev/docs/configuring-zed#settings-files
+ */
+{
+  "languages": {
+    "C": {
+      "enable_language_server": false
+    },
+    "C++": {
+      "enable_language_server": false
+    }
+  }
+}
@@ -2,16 +2,24 @@ SCRIPTS_DIR := buildroot/share/scripts
 CONTAINER_RT_BIN := docker
 CONTAINER_RT_OPTS := --rm -v $(PWD):/code -v platformio-cache:/root/.platformio
 CONTAINER_IMAGE := marlin-dev
+UNIT_TEST_CONFIG ?= default

 help:
 	@echo "Tasks for local development:"
-	@echo "* format-pins:                 Reformat all pins files"
-	@echo "* tests-single-ci:             Run a single test from inside the CI"
-	@echo "* tests-single-local:          Run a single test locally"
-	@echo "* tests-single-local-docker:   Run a single test locally, using docker"
-	@echo "* tests-all-local:             Run all tests locally"
-	@echo "* tests-all-local-docker:      Run all tests locally, using docker"
-	@echo "* setup-local-docker:          Build the local docker image"
+	@echo "make marlin                    : Build Marlin for the configured board"
+	@echo "make format-pins -j            : Reformat all pins files (-j for parallel execution)"
+	@echo "make validate-pins -j          : Validate all pins files, fails if any require reformatting"
+	@echo "make validate-boards -j        : Validate boards.h and pins.h for standards compliance"
+	@echo "make tests-single-ci           : Run a single test from inside the CI"
+	@echo "make tests-single-local        : Run a single test locally"
+	@echo "make tests-single-local-docker : Run a single test locally, using docker"
+	@echo "make tests-all-local           : Run all tests locally"
+	@echo "make tests-all-local-docker    : Run all tests locally, using docker"
+	@echo "make unit-test-single-local    : Run unit tests for a single config locally"
+	@echo "make unit-test-single-local-docker : Run unit tests for a single config locally, using docker"
+	@echo "make unit-test-all-local      : Run all code tests locally"
+	@echo "make unit-test-all-local-docker : Run all code tests locally, using docker"
+	@echo "make setup-local-docker        : Setup local docker using buildx"
 	@echo ""
 	@echo "Options for testing:"
 	@echo "  TEST_TARGET          Set when running tests-single-*, to select the"
@@ -21,49 +29,85 @@ help:
 	@echo "                       run on GitHub CI"
 	@echo "  ONLY_TEST            Limit tests to only those that contain this, or"
 	@echo "                       the index of the test (1-based)"
+	@echo "  UNIT_TEST_CONFIG     Set the name of the config from the test folder, without"
+	@echo "                       the leading number. Default is 'default'". Used with the
+	@echo "                       unit-test-single-* tasks"
 	@echo "  VERBOSE_PLATFORMIO   If you want the full PIO output, set any value"
 	@echo "  GIT_RESET_HARD       Used by CI: reset all local changes. WARNING:"
 	@echo "                       THIS WILL UNDO ANY CHANGES YOU'VE MADE!"
-.PHONY: help
+
+marlin:
+	./buildroot/bin/mftest -a
+.PHONY: marlin

 tests-single-ci:
 	export GIT_RESET_HARD=true
 	$(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) PLATFORMIO_BUILD_FLAGS=-DGITHUB_ACTION
-.PHONY: tests-single-ci

 tests-single-local:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-all-local" ; return 1; fi
 	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
 	  && run_tests . $(TEST_TARGET) "$(ONLY_TEST)"
-.PHONY: tests-single-local

 tests-single-local-docker:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-all-local-docker" ; return 1; fi
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
-	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"
-.PHONY: tests-single-local-docker
+	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) make tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"

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

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

 setup-local-docker:
-	$(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
-.PHONY: setup-local-docker
+	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .

 PINS := $(shell find Marlin/src/pins -mindepth 2 -name '*.h')

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

 $(PINS): %:
-	@echo "Formatting $@" && node buildroot/share/scripts/pinsformat.js $@
+	@echo "Formatting $@"
+	@python $(SCRIPTS_DIR)/pinsformat.py $< $@

 format-pins: $(PINS)
+
+validate-pins: format-pins
+	@echo "Validating pins files"
+	@git diff --exit-code || (git status && echo "\nError: Pins files are not formatted correctly. Run \"make format-pins\" to fix.\n" && exit 1)
+
+BOARDS_FILE := Marlin/src/core/boards.h
+
+.PHONY: validate-boards
+
+validate-boards:
+	@echo "Validating boards.h file"
+	@python $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)
@@ -50,7 +50,7 @@
 *
 * Calibration Guides:  https://reprap.org/wiki/Calibration
 *                      https://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
- *                      https://web.archive.org/web/20220907014303/https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
+ *                      https://web.archive.org/web/20220907014303/sites.google.com/site/repraplogphase/calibration-of-your-reprap
 *                      https://youtu.be/wAL9d7FgInk
 *                      https://teachingtechyt.github.io/calibration.html
 *
@@ -61,7 +61,7 @@
 // @section info

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

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

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

@@ -99,19 +101,29 @@
 /**
 * Select a secondary serial port on the board to use for communication with the host.
 * Currently Ethernet (-2) is only supported on Teensy 4.1 boards.
- * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 //#define SERIAL_PORT_2 -1
 //#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

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

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

@@ -135,9 +147,9 @@
 * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100,
 *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
 *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
- *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
- *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ *          TMC2660, TMC2660_STANDALONE, TMC5130, TMC5130_STANDALONE,
+ *          TMC5160, TMC5160_STANDALONE
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
 */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988
@@ -375,14 +387,15 @@
 *   PRUSA_MMU1           : Průša MMU1 (The "multiplexer" version)
 *   PRUSA_MMU2           : Průša MMU2
 *   PRUSA_MMU2S          : Průša MMU2S (Requires MK3S extruder with motion sensor, EXTRUDERS = 5)
+ *   PRUSA_MMU3           : Průša MMU3  (Requires MK3S extruder with motion sensor and MMU firmware version 3.x.x, EXTRUDERS = 5)
 *   EXTENDABLE_EMU_MMU2  : MMU with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
 *   EXTENDABLE_EMU_MMU2S : MMUS with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
 *
 * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
 * See additional options in Configuration_adv.h.
- * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
+ * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "PRUSA_MMU3", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
 */
-//#define MMU_MODEL PRUSA_MMU2
+//#define MMU_MODEL PRUSA_MMU3

 // @section psu control

@@ -401,9 +414,18 @@
  //#define PS_OFF_SOUND            // Beep 1s when power off
  #define PSU_ACTIVE_STATE LOW      // Set 'LOW' for ATX, 'HIGH' for X-Box

-  //#define PSU_DEFAULT_OFF               // Keep power off until enabled directly with M80
-  //#define PSU_POWERUP_DELAY      250    // (ms) Delay for the PSU to warm up to full power
-  //#define LED_POWEROFF_TIMEOUT 10000    // (ms) Turn off LEDs after power-off, with this amount of delay
+  //#define PSU_DEFAULT_OFF             // Keep power off until enabled directly with M80
+  //#define PSU_POWERUP_DELAY      250  // (ms) Delay for the PSU to warm up to full power
+  //#define LED_POWEROFF_TIMEOUT 10000  // (ms) Turn off LEDs after power-off, with this amount of delay
+
+  //#define PSU_OFF_REDUNDANT           // Second pin for redundant power control
+  //#define PSU_OFF_REDUNDANT_INVERTED  // Redundant pin state is the inverse of PSU_ACTIVE_STATE
+
+  //#define PS_ON1_PIN               6  // Redundant pin required to enable power in combination with PS_ON_PIN
+
+  //#define PS_ON_EDM_PIN            8  // External Device Monitoring pins for external power control relay feedback. Fault on mismatch.
+  //#define PS_ON1_EDM_PIN           9
+  #define PS_EDM_RESPONSE          250  // (ms) Time to allow for relay action

  //#define POWER_OFF_TIMER               // Enable M81 D<seconds> to power off after a delay
  //#define POWER_OFF_WAIT_FOR_COOLDOWN   // Enable M81 S to power off only after cooldown
@@ -663,7 +685,7 @@
 * MPCTEMP : Predictive Model temperature control. (~1.8K without auto-tune)
 */
 #define PIDTEMP           // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning
-//#define MPCTEMP         // ** EXPERIMENTAL ** See https://marlinfw.org/docs/features/model_predictive_control.html
+//#define MPCTEMP         // See https://marlinfw.org/docs/features/model_predictive_control.html

 #define PID_MAX  255      // Limit hotend current while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #define PID_K1     0.95   // Smoothing factor within any PID loop
@@ -694,10 +716,13 @@
 * Use a physical model of the hotend to control temperature. When configured correctly this gives
 * better responsiveness and stability than PID and removes the need for PID_EXTRUSION_SCALING
 * and PID_FAN_SCALING. Enable MPC_AUTOTUNE and use M306 T to autotune the model.
- * @section mpctemp
+ * @section mpc temp
 */
 #if ENABLED(MPCTEMP)
  #define MPC_AUTOTUNE                                // Include a method to do MPC auto-tuning (~6.3K bytes of flash)
+  #if ENABLED(MPC_AUTOTUNE)
+    //#define MPC_AUTOTUNE_DEBUG                      // Enable MPC debug logging (~870 bytes of flash)
+  #endif
  //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1.3K bytes of flash)
  //#define MPC_AUTOTUNE_MENU                         // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash)

@@ -779,6 +804,40 @@
  //#define BED_LIMIT_SWITCHING   // Keep the bed temperature within BED_HYSTERESIS of the target
 #endif

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

@@ -819,14 +878,16 @@
  // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element
  // and placed inside the small Creality printer enclosure tent.
  //
-  #define DEFAULT_chamberKp 37.04
-  #define DEFAULT_chamberKi 1.40
+  #define DEFAULT_chamberKp  37.04
+  #define DEFAULT_chamberKi   1.40
  #define DEFAULT_chamberKd 655.17
  // M309 P37.04 I1.04 D655.17

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

+// @section pid temp
+
 #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER)
  //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
@@ -882,7 +943,7 @@
 //============================= Mechanical Settings =========================
 //===========================================================================

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

 // Enable one of the options below for CoreXY, CoreXZ, or CoreYZ kinematics,
 // either in the usual order or reversed
@@ -906,6 +967,15 @@
 // Enable for a belt style printer with endless "Z" motion
 //#define BELTPRINTER

+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
+// @section polargraph
+
 // Enable for Polargraph Kinematics
 //#define POLARGRAPH
 #if ENABLED(POLARGRAPH)
@@ -1006,9 +1076,6 @@
    // Radius around the center where the arm cannot reach
    #define MIDDLE_DEAD_ZONE_R   0  // (mm)

-    #define THETA_HOMING_OFFSET  0  // Calculated from Calibration Guide and M360 / M114. See https://www.morgan3dp.com/morgan-calibration-guide/
-    #define PSI_HOMING_OFFSET    0  // Calculated from Calibration Guide and M364 / M114. See https://www.morgan3dp.com/morgan-calibration-guide/
-
  #elif ENABLED(MP_SCARA)

    #define SCARA_OFFSET_THETA1  12 // degrees
@@ -1027,23 +1094,19 @@
  #define DEFAULT_SEGMENTS_PER_SECOND 200

  // Length of inner and outer support arms. Measure arm lengths precisely.
-  #define TPARA_LINKAGE_1 120       // (mm)
-  #define TPARA_LINKAGE_2 120       // (mm)
+  #define TPARA_LINKAGE_1 120     // (mm)
+  #define TPARA_LINKAGE_2 120     // (mm)

-  // SCARA tower offset (position of Tower relative to bed zero position)
-  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
-  #define TPARA_OFFSET_X    0       // (mm)
-  #define TPARA_OFFSET_Y    0       // (mm)
-  #define TPARA_OFFSET_Z    0       // (mm)
+  // TPARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
+  #define TPARA_OFFSET_X    0     // (mm)
+  #define TPARA_OFFSET_Y    0     // (mm)
+  #define TPARA_OFFSET_Z    0     // (mm)

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

  // Radius around the center where the arm cannot reach
  #define MIDDLE_DEAD_ZONE_R   0  // (mm)
-
-  // Calculated from Calibration Guide and M360 / M114. See https://www.morgan3dp.com/morgan-calibration-guide/
-  #define THETA_HOMING_OFFSET  0
-  #define PSI_HOMING_OFFSET    0
 #endif

 // @section polar
@@ -1099,15 +1162,6 @@
  #define FEEDRATE_SCALING                  // Convert XY feedrate from mm/s to degrees/s on the fly
 #endif

-// @section machine
-
-// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
-//#define ARTICULATED_ROBOT_ARM
-
-// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
-// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
-//#define FOAMCUTTER_XYUV
-
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================
@@ -1231,11 +1285,16 @@

 /**
 * Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°)
- * Override with M92
+ * Override with M92 (when enabled below)
 *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
 */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }

+/**
+ * Enable support for M92. Disable to save at least ~530 bytes of flash.
+ */
+#define EDITABLE_STEPS_PER_UNIT
+
 /**
 * Default Max Feed Rate (linear=mm/s, rotational=°/s)
 * Override with M203
@@ -1286,6 +1345,7 @@
  #define DEFAULT_XJERK 10.0
  #define DEFAULT_YJERK 10.0
  #define DEFAULT_ZJERK  0.3
+  #define DEFAULT_EJERK  5.0
  //#define DEFAULT_IJERK  0.3
  //#define DEFAULT_JJERK  0.3
  //#define DEFAULT_KJERK  0.3
@@ -1301,8 +1361,6 @@
  #endif
 #endif

-#define DEFAULT_EJERK    5.0  // May be used by Linear Advance
-
 /**
 * Junction Deviation Factor
 *
@@ -1442,6 +1500,18 @@
  //#define BD_SENSOR_PROBE_NO_STOP // Probe bed without stopping at each probe point
 #endif

+/**
+ * BIQU MicroProbe
+ *
+ * A lightweight, solenoid-driven probe.
+ * For information about this sensor https://github.com/bigtreetech/MicroProbe
+ *
+ * Also requires PROBE_ENABLE_DISABLE
+ * With FT_MOTION requires ENDSTOP_INTERRUPTS_FEATURE
+ */
+//#define BIQU_MICROPROBE_V1  // Triggers HIGH
+//#define BIQU_MICROPROBE_V2  // Triggers LOW
+
 // A probe that is deployed and stowed with a solenoid pin (SOL1_PIN)
 //#define SOLENOID_PROBE

@@ -1576,7 +1646,8 @@
 // with NOZZLE_AS_PROBE this can be negative for a wider probing area.
 #define PROBING_MARGIN 10

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

 // Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2)
@@ -1607,6 +1678,7 @@
  #define PROBE_TARE_DELAY 200    // (ms) Delay after tare before
  #define PROBE_TARE_STATE HIGH   // State to write pin for tare
  //#define PROBE_TARE_PIN PA5    // Override default pin
+  //#define PROBE_TARE_MENU       // Display a menu item to tare the probe
  #if ENABLED(PROBE_ACTIVATION_SWITCH)
    //#define PROBE_TARE_ONLY_WHILE_INACTIVE  // Fail to tare/probe if PROBE_ACTIVATION_SWITCH is active
  #endif
@@ -1644,8 +1716,8 @@
 * probe Z Offset set with NOZZLE_TO_PROBE_OFFSET, M851, or the LCD.
 * Only integer values >= 1 are valid here.
 *
- * Example: `M851 Z-5` with a CLEARANCE of 4  =>  9mm from bed to nozzle.
- *     But: `M851 Z+1` with a CLEARANCE of 2  =>  2mm from bed to nozzle.
+ * Example: 'M851 Z-5' with a CLEARANCE of 4  =>  9mm from bed to nozzle.
+ *     But: 'M851 Z+1' with a CLEARANCE of 2  =>  2mm from bed to nozzle.
 */
 #define Z_CLEARANCE_DEPLOY_PROBE   10 // (mm) Z Clearance for Deploy/Stow
 #define Z_CLEARANCE_BETWEEN_PROBES  5 // (mm) Z Clearance between probe points
@@ -1696,6 +1768,8 @@
  #define PROBING_BED_TEMP     50
 #endif

+// @section stepper drivers
+
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 // :{ 0:'Low', 1:'High' }
 #define X_ENABLE_ON 0
@@ -1869,6 +1943,8 @@
 #endif

 /**
+ * @section filament runout sensors
+ *
 * Filament Runout Sensors
 * Mechanical or opto endstops are used to check for the presence of filament.
 *
@@ -1980,9 +2056,9 @@
        //#define FIL_MOTION8_PULLUP
        //#define FIL_MOTION8_PULLDOWN
      #endif
-    #endif
-  #endif
-#endif
+    #endif // FILAMENT_MOTION_SENSOR
+  #endif // FILAMENT_RUNOUT_DISTANCE_MM
+#endif // FILAMENT_RUNOUT_SENSOR

 //===========================================================================
 //=============================== Bed Leveling ==============================
@@ -2032,7 +2108,7 @@
 * Commands to execute at the end of G29 probing.
 * Useful to retract or move the Z probe out of the way.
 */
-//#define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10"
+//#define EVENT_GCODE_AFTER_G29 "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10"

 /**
 * Normally G28 leaves leveling disabled on completion. Enable one of
@@ -2054,7 +2130,7 @@
 /**
 * Enable detailed logging of G28, G29, M48, etc.
 * Turn on with the command 'M111 S32'.
- * NOTE: Requires a lot of PROGMEM!
+ * NOTE: Requires a lot of flash!
 */
 //#define DEBUG_LEVELING_FEATURE

@@ -2201,7 +2277,7 @@
 #if ENABLED(LCD_BED_TRAMMING)
  #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
  #define BED_TRAMMING_HEIGHT      0.0        // (mm) Z height of nozzle at tramming points
-  #define BED_TRAMMING_Z_HOP       4.0        // (mm) Z height of nozzle between tramming points
+  #define BED_TRAMMING_Z_HOP       4.0        // (mm) Z raise between tramming points
  //#define BED_TRAMMING_INCLUDE_CENTER       // Move to the center after the last corner
  //#define BED_TRAMMING_USE_PROBE
  #if ENABLED(BED_TRAMMING_USE_PROBE)
@@ -2265,6 +2341,9 @@
 // Homing speeds (linear=mm/min, rotational=°/min)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }

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

@@ -2343,7 +2422,7 @@
 */
 //#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
 //#define DISABLE_M503        // Saves ~2700 bytes of flash. Disable for release!
-#define EEPROM_CHITCHAT       // Give feedback on EEPROM commands. Disable to save PROGMEM.
+#define EEPROM_CHITCHAT       // Give feedback on EEPROM commands. Disable to save flash.
 #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.
@@ -2391,9 +2470,9 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255

-// @section motion
-
 /**
+ * @section nozzle park
+ *
 * Nozzle Park
 *
 * Park the nozzle at the given XYZ position on idle or G27.
@@ -2416,6 +2495,8 @@
 #endif

 /**
+ * @section nozzle clean
+ *
 * Clean Nozzle Feature
 *
 * Adds the G12 command to perform a nozzle cleaning process.
@@ -2576,9 +2657,24 @@
  //#include "Configuration_Secure.h"       // External file with PASSWORD_DEFAULT_VALUE
 #endif

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

 // @section interface

@@ -2619,27 +2715,12 @@
 #define DISPLAY_CHARSET_HD44780 JAPANESE

 /**
- * Info Screen Style (0:Classic, 1:Průša)
+ * Info Screen Style (0:Classic, 1:Průša, 2:CNC)
 *
- * :[0:'Classic', 1:'Průša']
+ * :[0:'Classic', 1:'Průša', 2:'CNC']
 */
 #define LCD_INFO_SCREEN_STYLE 0

-/**
- * SD CARD
- *
- * SD Card support is disabled by default. If your controller has an SD slot,
- * you must uncomment the following option or it won't work.
- */
-//#define SDSUPPORT
-
-/**
- * SD CARD: ENABLE CRC
- *
- * Use CRC checks and retries on the SD communication.
- */
-//#define SD_CHECK_AND_RETRY
-
 /**
 * LCD Menu Items
 *
@@ -2768,7 +2849,7 @@

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

@@ -2834,7 +2915,7 @@

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

@@ -2966,7 +3047,7 @@

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

@@ -3015,9 +3096,14 @@
 //
 //#define BTT_MINI_12864

+//
+// BEEZ MINI 12864 is an alias for FYSETC_MINI_12864_2_1. Type A/B. NeoPixel RGB Backlight.
+//
+//#define BEEZ_MINI_12864
+
 //
 // Factory display for Creality CR-10 / CR-7 / Ender-3
-// https://www.aliexpress.com/item/32833148327.html
+// https://marlinfw.org/docs/hardware/controllers.html#cr10_stockdisplay
 //
 // Connect to EXP1 on RAMPS and compatible boards.
 //
@@ -3198,6 +3284,11 @@
 //
 //#define ANYCUBIC_LCD_VYPER

+//
+// Sovol SV-06 Resistive Touch Screen
+//
+//#define SOVOL_SV06_RTS
+
 //
 // 320x240 Nextion 2.8" serial TFT Resistive Touch Screen NX3224T028
 //
@@ -3369,6 +3460,8 @@
 *   TFT_ROTATE_180, TFT_ROTATE_180_MIRROR_X, TFT_ROTATE_180_MIRROR_Y,
 *   TFT_ROTATE_270, TFT_ROTATE_270_MIRROR_X, TFT_ROTATE_270_MIRROR_Y,
 *   TFT_MIRROR_X, TFT_MIRROR_Y, TFT_NO_ROTATION
+ *
+ * :{ 'TFT_NO_ROTATION':'None', 'TFT_ROTATE_90':'90°', 'TFT_ROTATE_90_MIRROR_X':'90° (Mirror X)', 'TFT_ROTATE_90_MIRROR_Y':'90° (Mirror Y)', 'TFT_ROTATE_180':'180°', 'TFT_ROTATE_180_MIRROR_X':'180° (Mirror X)', 'TFT_ROTATE_180_MIRROR_Y':'180° (Mirror Y)', 'TFT_ROTATE_270':'270°', 'TFT_ROTATE_270_MIRROR_X':'270° (Mirror X)', 'TFT_ROTATE_270_MIRROR_Y':'270° (Mirror Y)', 'TFT_MIRROR_X':'Mirror X', 'TFT_MIRROR_Y':'Mirror Y' }
 */
 //#define TFT_ROTATION TFT_NO_ROTATION

@@ -3393,8 +3486,9 @@
  #define BUTTON_DELAY_EDIT      50 // (ms) Button repeat delay for edit screens
  #define BUTTON_DELAY_MENU     250 // (ms) Button repeat delay for menus

-  //#define DISABLE_ENCODER         // Disable the click encoder, if any
-  //#define TOUCH_IDLE_SLEEP_MINS 5 // (minutes) Display Sleep after a period of inactivity. Set with M255 S.
+  #if ANY(TFT_CLASSIC_UI, TFT_COLOR_UI)
+    //#define NO_BACK_MENU_ITEM     // Don't display a top menu item to go back to the parent menu
+  #endif

  #define TOUCH_SCREEN_CALIBRATION

@@ -47,8 +47,9 @@
 *  2 = config.ini - File format for PlatformIO preprocessing.
 *  3 = schema.json - The entire configuration schema. (13 = pattern groups)
 *  4 = schema.yml - The entire configuration schema.
+ *  5 = Config.h - Minimal configuration by popular demand.
 */
-//#define CONFIG_EXPORT 2 // :[1:'JSON', 2:'config.ini', 3:'schema.json', 4:'schema.yml']
+//#define CONFIG_EXPORT 105 // :[1:'JSON', 2:'config.ini', 3:'schema.json', 4:'schema.yml', 5:'Config.h']

 //===========================================================================
 //============================= Thermal Settings ============================
@@ -202,7 +203,7 @@
 //
 #if DISABLED(PIDTEMPBED)
  #define BED_CHECK_INTERVAL 5000   // (ms) Interval between checks in bang-bang control
-  #if ENABLED(BED_LIMIT_SWITCHING)
+  #if ANY(BED_LIMIT_SWITCHING, PELTIER_BED)
    #define BED_HYSTERESIS 2        // (°C) Only set the relevant heater state when ABS(T-target) > BED_HYSTERESIS
  #endif
 #endif
@@ -303,9 +304,9 @@
 * If you get false positives for "Thermal Runaway", increase
 * THERMAL_PROTECTION_HYSTERESIS and/or THERMAL_PROTECTION_PERIOD
 */
-#if ENABLED(THERMAL_PROTECTION_HOTENDS)
-  #define THERMAL_PROTECTION_PERIOD 40        // (seconds)
-  #define THERMAL_PROTECTION_HYSTERESIS 4     // (°C)
+#if ALL(HAS_HOTEND, THERMAL_PROTECTION_HOTENDS)
+  #define THERMAL_PROTECTION_PERIOD        40 // (seconds)
+  #define THERMAL_PROTECTION_HYSTERESIS     4 // (°C)

  //#define ADAPTIVE_FAN_SLOWING              // Slow down the part-cooling fan if the temperature drops
  #if ENABLED(ADAPTIVE_FAN_SLOWING)
@@ -334,7 +335,7 @@
 /**
 * Thermal Protection parameters for the bed are just as above for hotends.
 */
-#if ENABLED(THERMAL_PROTECTION_BED)
+#if TEMP_SENSOR_BED && ENABLED(THERMAL_PROTECTION_BED)
  #define THERMAL_PROTECTION_BED_PERIOD        20 // (seconds)
  #define THERMAL_PROTECTION_BED_HYSTERESIS     2 // (°C)

@@ -348,7 +349,7 @@
 /**
 * Thermal Protection parameters for the heated chamber.
 */
-#if ENABLED(THERMAL_PROTECTION_CHAMBER)
+#if TEMP_SENSOR_CHAMBER && ENABLED(THERMAL_PROTECTION_CHAMBER)
  #define THERMAL_PROTECTION_CHAMBER_PERIOD    20 // (seconds)
  #define THERMAL_PROTECTION_CHAMBER_HYSTERESIS 2 // (°C)

@@ -362,7 +363,7 @@
 /**
 * Thermal Protection parameters for the laser cooler.
 */
-#if ENABLED(THERMAL_PROTECTION_COOLER)
+#if TEMP_SENSOR_COOLER && ENABLED(THERMAL_PROTECTION_COOLER)
  #define THERMAL_PROTECTION_COOLER_PERIOD     10 // (seconds)
  #define THERMAL_PROTECTION_COOLER_HYSTERESIS  3 // (°C)

@@ -459,7 +460,7 @@
      #define PID_FAN_SCALING_LIN_FACTOR (PID_FAN_SCALING_AT_FULL_SPEED-DEFAULT_Kf)/255.0

    #else
-      #define PID_FAN_SCALING_LIN_FACTOR (0)             // Power loss due to cooling = Kf * (fan_speed)
+      #define PID_FAN_SCALING_LIN_FACTOR (0)             // Power-loss due to cooling = Kf * (fan_speed)
      #define DEFAULT_Kf 10                              // A constant value added to the PID-tuner
      #define PID_FAN_SCALING_MIN_SPEED 10               // Minimum fan speed at which to enable PID_FAN_SCALING
    #endif
@@ -590,6 +591,8 @@
  // Use TEMP_SENSOR_SOC as a trigger for enabling the controller fan
  //#define CONTROLLER_FAN_MIN_SOC_TEMP 40  // (°C) Turn on the fan if the SoC reaches this temperature

+  #define CONTROLLER_FAN_BED_HEATING        // Turn on the fan when heating the bed
+
  //#define CONTROLLER_FAN_EDITABLE         // Enable M710 configurable settings
  #if ENABLED(CONTROLLER_FAN_EDITABLE)
    #define CONTROLLER_FAN_MENU             // Enable the Controller Fan submenu
@@ -604,6 +607,8 @@
 */
 //#define FAN_KICKSTART_TIME  100  // (ms)
 //#define FAN_KICKSTART_POWER 180  // 64-255
+//#define FAN_KICKSTART_LINEAR     // Set kickstart time linearly based on the speed, e.g., for 20% (51) it will be FAN_KICKSTART_TIME * 0.2.
+                                   // Useful for quick speed up to low speed. Kickstart power must be set to 255.

 // Some coolers may require a non-zero "off" state.
 //#define FAN_OFF_PWM  1
@@ -1079,9 +1084,11 @@
  #define HOME_AFTER_G34
 #endif

-//
-// Add the G35 command to read bed corners to help adjust screws. Requires a bed probe.
-//
+/**
+ * Assisted Tramming
+ *
+ * Add the G35 command to measure bed corners and help adjust screws. Requires a bed probe.
+ */
 //#define ASSISTED_TRAMMING
 #if ENABLED(ASSISTED_TRAMMING)

@@ -1102,29 +1109,35 @@
  //#define ASSISTED_TRAMMING_WAIT_POSITION { X_CENTER, Y_CENTER, 30 } // Move the nozzle out of the way for adjustment

  /**
-   * Screw thread:
-   *   M3: 30 = Clockwise, 31 = Counter-Clockwise
-   *   M4: 40 = Clockwise, 41 = Counter-Clockwise
-   *   M5: 50 = Clockwise, 51 = Counter-Clockwise
+   * Screw Thread. Use one of the following defines:
+   *
+   *   M3_CW = M3 Clockwise, M3_CCW = M3 Counter-Clockwise
+   *   M4_CW = M4 Clockwise, M4_CCW = M4 Counter-Clockwise
+   *   M5_CW = M5 Clockwise, M5_CCW = M5 Counter-Clockwise
+   *
+   * :{'M3_CW':'M3 Clockwise','M3_CCW':'M3 Counter-Clockwise','M4_CW':'M4 Clockwise','M4_CCW':'M4 Counter-Clockwise','M5_CW':'M5 Clockwise','M5_CCW':'M5 Counter-Clockwise'}
   */
-  #define TRAMMING_SCREW_THREAD 30
+  #define TRAMMING_SCREW_THREAD M3_CW

 #endif

 // @section motion control

 /**
- * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Fixed-time-based Motion Control -- BETA FEATURE
 * Enable/disable and set parameters with G-code M493.
+ * See ft_types.h for named values used by FTM options.
 */
 //#define FT_MOTION
 #if ENABLED(FT_MOTION)
-  #define FTM_DEFAULT_MODE        ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
-  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
-  #define FTM_SHAPING_DEFAULT_X_FREQ   37.0f      // (Hz) Default peak frequency used by input shapers
-  #define FTM_SHAPING_DEFAULT_Y_FREQ   37.0f      // (Hz) Default peak frequency used by input shapers
+  //#define FTM_IS_DEFAULT_MOTION                 // Use FT Motion as the factory default?
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
+  #define FTM_DEFAULT_SHAPER_X      ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
+  #define FTM_DEFAULT_SHAPER_Y      ftMotionShaper_NONE // Default shaper mode on Y axis
+  #define FTM_SHAPING_DEFAULT_FREQ_X   37.0f      // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_DEFAULT_FREQ_Y   37.0f      // (Hz) Default peak frequency used by input shapers
  #define FTM_LINEAR_ADV_DEFAULT_ENA   false      // Default linear advance enable (true) or disable (false)
-  #define FTM_LINEAR_ADV_DEFAULT_K      0.0f      // Default linear advance gain
+  #define FTM_LINEAR_ADV_DEFAULT_K      0.0f      // Default linear advance gain. (Acceleration-based scaling factor.)
  #define FTM_SHAPING_ZETA_X            0.1f      // Zeta used by input shapers for X axis
  #define FTM_SHAPING_ZETA_Y            0.1f      // Zeta used by input shapers for Y axis

@@ -1147,18 +1160,13 @@
  #define FTM_FS                     1000         // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
  #define FTM_TS                        0.001f    // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)

-  // These values may be configured to adjust the duration of loop().
-  #define FTM_STEPS_PER_LOOP           60         // Number of stepper commands to generate each loop()
-  #define FTM_POINTS_PER_LOOP         100         // Number of trajectory points to generate each loop()
-
  #if DISABLED(COREXY)
    #define FTM_STEPPER_FS          20000         // (Hz) Frequency for stepper I/O update

    // Use this to adjust the time required to consume the command buffer.
    // Try increasing this value if stepper motion is choppy.
    #define FTM_STEPPERCMD_BUFF_SIZE 3000         // Size of the stepper command buffers
-                                                  // (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
-                                                  // If you run out of memory, fall back to 3000 and increase progressively
+
  #else
    // CoreXY motion needs a larger buffer size. These values are based on our testing.
    #define FTM_STEPPER_FS          30000
@@ -1180,38 +1188,37 @@
 #endif

 /**
- * Input Shaping -- EXPERIMENTAL
+ * Input Shaping
 *
 * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
 *
 * This option uses a lot of SRAM for the step buffer. The buffer size is
- * calculated automatically from SHAPING_FREQ_[XY], DEFAULT_AXIS_STEPS_PER_UNIT,
+ * calculated automatically from SHAPING_FREQ_[XYZ], DEFAULT_AXIS_STEPS_PER_UNIT,
 * DEFAULT_MAX_FEEDRATE and ADAPTIVE_STEP_SMOOTHING. The default calculation can
 * be overridden by setting SHAPING_MIN_FREQ and/or SHAPING_MAX_FEEDRATE.
 * The higher the frequency and the lower the feedrate, the smaller the buffer.
 * If the buffer is too small at runtime, input shaping will have reduced
 * effectiveness during high speed movements.
 *
- * Tune with M593 D<factor> F<frequency>:
- *
- *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
- *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
- *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
- *  X<1>         Set the given parameters only for the X axis.
- *  Y<1>         Set the given parameters only for the Y axis.
+ * Tune with M593 D<factor> F<frequency>
 */
 //#define INPUT_SHAPING_X
 //#define INPUT_SHAPING_Y
-#if ANY(INPUT_SHAPING_X, INPUT_SHAPING_Y)
+//#define INPUT_SHAPING_Z
+#if ANY(INPUT_SHAPING_X, INPUT_SHAPING_Y, INPUT_SHAPING_Z)
  #if ENABLED(INPUT_SHAPING_X)
-    #define SHAPING_FREQ_X  40          // (Hz) The default dominant resonant frequency on the X axis.
-    #define SHAPING_ZETA_X  0.15f       // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+    #define SHAPING_FREQ_X  40.0        // (Hz) The default dominant resonant frequency on the X axis.
+    #define SHAPING_ZETA_X   0.15       // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
  #endif
  #if ENABLED(INPUT_SHAPING_Y)
-    #define SHAPING_FREQ_Y  40          // (Hz) The default dominant resonant frequency on the Y axis.
-    #define SHAPING_ZETA_Y  0.15f       // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+    #define SHAPING_FREQ_Y  40.0        // (Hz) The default dominant resonant frequency on the Y axis.
+    #define SHAPING_ZETA_Y   0.15       // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
  #endif
-  //#define SHAPING_MIN_FREQ  20        // By default the minimum of the shaping frequencies. Override to affect SRAM usage.
+  #if ENABLED(INPUT_SHAPING_Z)
+    #define SHAPING_FREQ_Z  40.0        // (Hz) The default dominant resonant frequency on the Z axis.
+    #define SHAPING_ZETA_Z   0.15       // Damping ratio of the Z axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #endif
+  //#define SHAPING_MIN_FREQ  20.0      // (Hz) By default the minimum of the shaping frequencies. Override to affect SRAM usage.
  //#define SHAPING_MAX_STEPRATE 10000  // By default the maximum total step rate of the shaped axes. Override to affect SRAM usage.
  //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
@@ -1253,8 +1260,8 @@
 #define DISABLE_IDLE_E    // Shut down all idle extruders

 // Default Minimum Feedrates for printing and travel moves
-#define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s. °/s for rotational-only moves) Minimum feedrate. Set with M205 S.
-#define DEFAULT_MINTRAVELFEEDRATE     0.0     // (mm/s. °/s for rotational-only moves) Minimum travel feedrate. Set with M205 T.
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s) Minimum feedrate. Set with M205 S.
+#define DEFAULT_MINTRAVELFEEDRATE     0.0     // (mm/s) Minimum travel feedrate. Set with M205 T.

 // Minimum time that a segment needs to take as the buffer gets emptied
 #define DEFAULT_MINSEGMENTTIME        20000   // (µs) Set with M205 B.
@@ -1270,11 +1277,11 @@
 * XY Frequency limit
 * Reduce resonance by limiting the frequency of small zigzag infill moves.
 * See https://hydraraptor.blogspot.com/2010/12/frequency-limit.html
- * Use M201 F<freq> G<min%> to change limits at runtime.
+ * Use M201 F<freq> S<min%> to change limits at runtime.
 */
 //#define XY_FREQUENCY_LIMIT      10 // (Hz) Maximum frequency of small zigzag infill moves. Set with M201 F<hertz>.
 #ifdef XY_FREQUENCY_LIMIT
-  #define XY_FREQUENCY_MIN_PERCENT 5 // (%) Minimum FR percentage to apply. Set with M201 G<min%>.
+  #define XY_FREQUENCY_MIN_PERCENT 5 // (%) Minimum FR percentage to apply. Set with M201 S<min%>.
 #endif

 //
@@ -1332,8 +1339,6 @@
  //#define CALIBRATION_SCRIPT_PRE  "M117 Starting Auto-Calibration\nT0\nG28\nG12\nM117 Calibrating..."
  //#define CALIBRATION_SCRIPT_POST "M500\nM117 Calibration data saved"

-  #define CALIBRATION_MEASUREMENT_RESOLUTION     0.01 // mm
-
  #define CALIBRATION_FEEDRATE_SLOW             60    // mm/min
  #define CALIBRATION_FEEDRATE_FAST           1200    // mm/min
  #define CALIBRATION_FEEDRATE_TRAVEL         3000    // mm/min
@@ -1342,7 +1347,7 @@
  #define CALIBRATION_NOZZLE_TIP_HEIGHT          1.0  // mm
  #define CALIBRATION_NOZZLE_OUTER_DIAMETER      2.0  // mm

-  // Uncomment to enable reporting (required for "G425 V", but consumes PROGMEM).
+  // Uncomment to enable reporting (required for "G425 V", but consumes flash).
  //#define CALIBRATION_REPORTING

  // The true location and dimension the cube/bolt/washer on the bed.
@@ -1474,6 +1479,7 @@
  #if IS_ULTIPANEL
    #define MANUAL_E_MOVES_RELATIVE // Display extruder move distance rather than "position"
    #define ULTIPANEL_FEEDMULTIPLY  // Encoder sets the feedrate multiplier on the Status Screen
+    //#define ULTIPANEL_FLOWPERCENT // Encoder sets the flow percentage on the Status Screen
  #endif
 #endif

@@ -1491,8 +1497,17 @@
  #define FEEDRATE_CHANGE_BEEP_FREQUENCY 440
 #endif

+/**
+ * Probe Offset Wizard
+ * Add a Probe Z Offset calibration option to the LCD menu.
+ * Use this helper to get a perfect 'M851 Z' probe offset.
+ * When launched this powerful wizard:
+ *  - Measures the bed height at the configured position with the probe.
+ *  - Moves the nozzle to the same position for a "paper" measurement.
+ *  - The difference is used to set the probe Z offset.
+ */
 #if HAS_BED_PROBE && ANY(HAS_MARLINUI_MENU, HAS_TFT_LVGL_UI)
-  //#define PROBE_OFFSET_WIZARD       // Add a Probe Z Offset calibration option to the LCD menu
+  //#define PROBE_OFFSET_WIZARD
  #if ENABLED(PROBE_OFFSET_WIZARD)
    /**
     * Enable to init the Probe Z-Offset when starting the Wizard.
@@ -1509,6 +1524,10 @@
 #if HAS_MARLINUI_MENU

  #if HAS_BED_PROBE
+
+    // Show Deploy / Stow Probe options in the Motion menu.
+    #define PROBE_DEPLOY_STOW_MENU
+
    // Add calibration in the Probe Offsets menu to compensate for X-axis twist.
    //#define X_AXIS_TWIST_COMPENSATION
    #if ENABLED(X_AXIS_TWIST_COMPENSATION)
@@ -1523,8 +1542,6 @@
      #define XATC_Z_OFFSETS { 0, 0, 0 }    // Z offsets for X axis sample points
    #endif

-    // Show Deploy / Stow Probe options in the Motion menu.
-    #define PROBE_DEPLOY_STOW_MENU
  #endif

  // Include a page of printer information in the LCD Main Menu
@@ -1539,6 +1556,7 @@
   * Axis moves <= 1/2 the axis length and Extruder moves <= EXTRUDE_MAXLENGTH
   * will be shown in the move submenus.
   */
+
  #define MANUAL_MOVE_DISTANCE_MM                    10, 1.0, 0.1  // (mm)
  //#define MANUAL_MOVE_DISTANCE_MM         100, 50, 10, 1.0, 0.1  // (mm)
  //#define MANUAL_MOVE_DISTANCE_MM    500, 100, 50, 10, 1.0, 0.1  // (mm)
@@ -1554,6 +1572,9 @@
  // BACK menu items keep the highlight at the top
  //#define TURBO_BACK_MENU_ITEM

+  // BACK menu items show "Back" instead of the previous menu name
+  //#define GENERIC_BACK_MENU_ITEM
+
  // Insert a menu for preheating at the top level to allow for quick access
  //#define PREHEAT_SHORTCUT_MENU_ITEM

@@ -1582,7 +1603,7 @@
    #if HAS_MARLINUI_U8GLIB
      //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash.
    #endif
-    #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE)
+    #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE, HAS_MARLINUI_HD44780)
      //#define SHOW_CUSTOM_BOOTSCREEN    // Show the bitmap in Marlin/_Bootscreen.h on startup.
    #endif
  #endif
@@ -1743,19 +1764,25 @@
   */
  //#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
-    //#define POWER_LOSS_ZRAISE       2 // (mm) Z axis raise on resume (on power loss with UPS)
-    //#define POWER_LOSS_PIN         44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module.
-    //#define POWER_LOSS_STATE     HIGH // State of pin indicating power loss
-    //#define POWER_LOSS_PULLUP         // Set pullup / pulldown as appropriate for your sensor
+    #define PLR_ENABLED_DEFAULT       false // Power-Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
+    //#define PLR_BED_THRESHOLD BED_MAXTEMP // (°C) Skip user confirmation at or above this bed temperature (0 to disable)
+
+    //#define POWER_LOSS_PIN             44 // Pin to detect power-loss. Set to -1 to disable default pin on boards without module, or comment to use board default.
+    //#define POWER_LOSS_STATE         HIGH // State of pin indicating power-loss
+    //#define POWER_LOSS_PULLUP             // Set pullup / pulldown as appropriate for your sensor
    //#define POWER_LOSS_PULLDOWN
-    //#define POWER_LOSS_PURGE_LEN   20 // (mm) Length of filament to purge on resume
-    //#define POWER_LOSS_RETRACT_LEN 10 // (mm) Length of filament to retract on fail. Requires backup power.
+
+    //#define POWER_LOSS_ZRAISE        2    // (mm) Z axis raise on resume (on power-loss with UPS)
+    //#define POWER_LOSS_PURGE_LEN    20    // (mm) Length of filament to purge on resume

    // Without a POWER_LOSS_PIN the following option helps reduce wear on the SD card,
    // especially with "vase mode" printing. Set too high and vases cannot be continued.
-    #define POWER_LOSS_MIN_Z_CHANGE 0.05 // (mm) Minimum Z change before saving power-loss data
+    #define POWER_LOSS_MIN_Z_CHANGE    0.05 // (mm) Minimum Z change before saving power-loss data
+
+    //#define BACKUP_POWER_SUPPLY           // Backup power / UPS to move the steppers on power-loss
+    #if ENABLED(BACKUP_POWER_SUPPLY)
+      //#define POWER_LOSS_RETRACT_LEN   10 // (mm) Length of filament to retract on fail
+    #endif

    // Enable if Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
    //#define POWER_LOSS_RECOVER_ZHOME
@@ -1962,17 +1989,6 @@
  // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese.
  //#define USE_SMALL_INFOFONT

-  /**
-   * Graphical Display Sleep
-   *
-   * The U8G library provides sleep / wake functions for SH1106, SSD1306,
-   * SSD1309, and some other DOGM displays.
-   * Enable this option to save energy and prevent OLED pixel burn-in.
-   * Adds the menu item Configuration > LCD Timeout (m) to set a wait period
-   * from 0 (disabled) to 99 minutes.
-   */
-  //#define DISPLAY_SLEEP_MINUTES 2  // (minutes) Timeout before turning off the screen. Set with M255 S.
-
  /**
   * ST7920-based LCDs can emulate a 16 x 4 character display using
   * the ST7920 character-generator for very fast screen updates.
@@ -2221,13 +2237,20 @@
  //#define TFT_BTOKMENU_COLOR 0x145F // 00010 100010 11111 Cyan
 #endif

-//
-// LCD Backlight Timeout
-// Requires a display with a controllable backlight
-//
+/**
+ * Display Sleep
+ * Enable this option to save energy and prevent OLED pixel burn-in.
+ */
+//#define DISPLAY_SLEEP_MINUTES 2       // (minutes) Timeout before turning off the screen
+
+/**
+ * LCD Backlight Timeout
+ * Requires a display with a controllable backlight
+ */
 //#define LCD_BACKLIGHT_TIMEOUT_MINS 1  // (minutes) Timeout before turning off the backlight
+
 #if defined(DISPLAY_SLEEP_MINUTES) || defined(LCD_BACKLIGHT_TIMEOUT_MINS)
-  #define EDITABLE_DISPLAY_TIMEOUT      // Edit timeout with M255 S<minutes> and a menu item
+  #define EDITABLE_DISPLAY_TIMEOUT      // Edit sleep / backlight timeout with M255 S<minutes> and a menu item
 #endif

 //
@@ -2318,7 +2341,6 @@
  #endif
  //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with M900 L.
  //#define LA_DEBUG              // Print debug information to serial during operation. Disable for production use.
-  //#define ALLOW_LOW_EJERK       // Allow a DEFAULT_EJERK value of <10. Recommended for direct drive hotends.
  //#define EXPERIMENTAL_I2S_LA   // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz.
 #endif

@@ -2327,6 +2349,7 @@
 *
 * Control extrusion rate based on instantaneous extruder velocity. Can be used to correct for
 * underextrusion at high extruder speeds that are otherwise well-behaved (i.e., not skipping).
+ * For better results also enable ADAPTIVE_STEP_SMOOTHING.
 */
 //#define NONLINEAR_EXTRUSION

@@ -2554,27 +2577,28 @@
 //#define MINIMUM_STEPPER_PRE_DIR_DELAY 650

 /**
- * Minimum stepper driver pulse width (in µs)
- *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
- *   0 : Minimum 500ns for LV8729, adjusted in stepper.h
- *   1 : Minimum for A4988 and A5984 stepper drivers
- *   2 : Minimum for DRV8825 stepper drivers
- *   3 : Minimum for TB6600 stepper drivers
- *  30 : Minimum for TB6560 stepper drivers
+ * Minimum stepper driver pulse width (in ns)
+ * If undefined, these defaults (from Conditionals-4-adv.h) apply:
+ *     100 : Minimum for TMC2xxx stepper drivers
+ *     500 : Minimum for LV8729
+ *    1000 : Minimum for A4988 and A5984 stepper drivers
+ *    2000 : Minimum for DRV8825 stepper drivers
+ *    3000 : Minimum for TB6600 stepper drivers
+ *   30000 : Minimum for TB6560 stepper drivers
 *
 * Override the default value based on the driver type set in Configuration.h.
 */
-//#define MINIMUM_STEPPER_PULSE 2
+//#define MINIMUM_STEPPER_PULSE_NS 2000

 /**
 * Maximum stepping rate (in Hz) the stepper driver allows
- *  If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
+ * If undefined, these defaults (from Conditionals-4-adv.h) apply:
 *  5000000 : Maximum for TMC2xxx stepper drivers
 *  1000000 : Maximum for LV8729 stepper driver
- *  500000  : Maximum for A4988 stepper driver
- *  250000  : Maximum for DRV8825 stepper driver
- *  150000  : Maximum for TB6600 stepper driver
- *   15000  : Maximum for TB6560 stepper driver
+ *   500000 : Maximum for A4988 stepper driver
+ *   250000 : Maximum for DRV8825 stepper driver
+ *   150000 : Maximum for TB6600 stepper driver
+ *    15000 : Maximum for TB6560 stepper driver
 *
 * Override the default value based on the driver type set in Configuration.h.
 */
@@ -2695,14 +2719,14 @@
 * This feature is EXPERIMENTAL so use with caution and test thoroughly.
 * Enable this option to receive data on the serial ports via the onboard DMA
 * controller for more stable and reliable high-speed serial communication.
- * Only some STM32 MCUs are currently supported.
+ * Support is currently limited to some STM32 MCUs and all HC32 MCUs.
 * Note: This has no effect on emulated USB serial ports.
 */
 //#define SERIAL_DMA

 /**
 * Set the number of proportional font spaces required to fill up a typical character space.
- * This can help to better align the output of commands like `G29 O` Mesh Output.
+ * This can help to better align the output of commands like 'G29 O' Mesh Output.
 *
 * For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0.
 * Otherwise, adjust according to your client and font.
@@ -2929,6 +2953,7 @@

  //#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 CONFIGURE_FILAMENT_CHANGE               // Add M603 G-code and menu items. Requires ~1.3K bytes of flash.
 #endif

 // @section tmc_smart
@@ -2949,15 +2974,12 @@
 *    Some boards have simple jumper connections! See your board's documentation.
 *  - These drivers can also be used with Hardware Serial.
 *
- * The TMC26XStepper library is required for TMC26X stepper drivers.
- *   https://github.com/MarlinFirmware/TMC26XStepper
- *
 * The TMCStepper library is required for other TMC stepper drivers.
 *   https://github.com/teemuatlut/TMCStepper
 *
 * @section tmc/config
 */
-#if HAS_TRINAMIC_CONFIG || HAS_TMC26X
+#if HAS_TRINAMIC_CONFIG

  #define HOLD_MULTIPLIER    0.5  // Scales down the holding current from run current

@@ -2969,9 +2991,9 @@

  #if AXIS_IS_TMC_CONFIG(X)
    #define X_CURRENT       800        // (mA) RMS current. Multiply by 1.414 for peak current.
-    #define X_CURRENT_HOME  X_CURRENT  // (mA) RMS current for sensorless homing
+    #define X_CURRENT_HOME  X_CURRENT  // (mA) RMS current for homing. (Typically lower than *_CURRENT.)
    #define X_MICROSTEPS     16        // 0..256
-    #define X_RSENSE          0.11     // Multiplied x1000 for TMC26X
+    #define X_RSENSE          0.11
    #define X_CHAIN_POS      -1        // -1..0: Not chained. 1: MCU MOSI connected. 2: Next in chain, ...
    //#define X_INTERPOLATE  true      // Enable to override 'INTERPOLATE' for the X axis
    //#define X_HOLD_MULTIPLIER 0.5    // Enable to override 'HOLD_MULTIPLIER' for the X axis
@@ -3179,6 +3201,13 @@
    //#define E7_HOLD_MULTIPLIER 0.5
  #endif

+  /**
+   * Use the homing current for all probing. (e.g., Current may be reduced to the
+   * point where a collision makes the motor skip instead of damaging the bed,
+   * though this is unlikely to save delicate probes from being damaged.
+   */
+  //#define PROBING_USE_CURRENT_HOME
+
  // @section tmc/spi

  /**
@@ -3443,7 +3472,7 @@
  /**
   * Step on both rising and falling edge signals (as with a square wave).
   */
-  //#define EDGE_STEPPING
+  #define EDGE_STEPPING

  /**
   * Enable M122 debugging command for TMC stepper drivers.
@@ -3464,7 +3493,7 @@
   */
  #define TMC_ADV() {  }

-#endif // HAS_TRINAMIC_CONFIG || HAS_TMC26X
+#endif // HAS_TRINAMIC_CONFIG

 // @section i2cbus

@@ -3525,7 +3554,7 @@
  //#define PHOTOGRAPH_PIN 23

  // Canon Hack Development Kit
-  // https://web.archive.org/web/20200920094805/https://captain-slow.dk/2014/03/09/3d-printing-timelapses/
+  // https://web.archive.org/web/20200920094805/captain-slow.dk/2014/03/09/3d-printing-timelapses/
  //#define CHDK_PIN        4

  // Optional second move with delay to trigger the camera shutter
@@ -3557,7 +3586,7 @@
 * Add the M3, M4, and M5 commands to turn the spindle/laser on and off, and
 * to set spindle speed, spindle direction, and laser power.
 *
- * SuperPid is a router/spindle speed controller used in the CNC milling community.
+ * SuperPID is a router/spindle speed controller used in the CNC milling community.
 * Marlin can be used to turn the spindle on and off. It can also be used to set
 * the spindle speed from 5,000 to 30,000 RPM.
 *
@@ -3835,38 +3864,6 @@
 */
 //#define CNC_COORDINATE_SYSTEMS

-// @section reporting
-
-/**
- * Auto-report fan speed with M123 S<seconds>
- * Requires fans with tachometer pins
- */
-//#define AUTO_REPORT_FANS
-
-/**
- * Auto-report temperatures with M155 S<seconds>
- */
-#define AUTO_REPORT_TEMPERATURES
-#if ENABLED(AUTO_REPORT_TEMPERATURES) && TEMP_SENSOR_REDUNDANT
-  //#define AUTO_REPORT_REDUNDANT // Include the "R" sensor in the auto-report
-#endif
-
-/**
- * Auto-report position with M154 S<seconds>
- */
-//#define AUTO_REPORT_POSITION
-#if ENABLED(AUTO_REPORT_POSITION)
-  //#define AUTO_REPORT_REAL_POSITION // Auto-report the real position
-#endif
-
-/**
- * Include capabilities in M115 output
- */
-#define EXTENDED_CAPABILITIES_REPORT
-#if ENABLED(EXTENDED_CAPABILITIES_REPORT)
-  //#define M115_GEOMETRY_REPORT
-#endif
-
 // @section security

 /**
@@ -3909,13 +3906,50 @@

 // @section reporting

-// Extra options for the M114 "Current Position" report
+/**
+ * Extra options for the M114 "Current Position" report
+ */
 //#define M114_DETAIL         // Use 'M114` for details to check planner calculations
 //#define M114_REALTIME       // Real current position based on forward kinematics
 //#define M114_LEGACY         // M114 used to synchronize on every call. Enable if needed.

+/**
+ * Auto-report fan speed with M123 S<seconds>
+ * Requires fans with tachometer pins
+ */
+//#define AUTO_REPORT_FANS
+
 //#define REPORT_FAN_CHANGE   // Report the new fan speed when changed by M106 (and others)

+/**
+ * Auto-report temperatures with M155 S<seconds>
+ */
+#define AUTO_REPORT_TEMPERATURES
+#if ENABLED(AUTO_REPORT_TEMPERATURES) && TEMP_SENSOR_REDUNDANT
+  //#define AUTO_REPORT_REDUNDANT // Include the "R" sensor in the auto-report
+#endif
+
+/**
+ * Auto-report position with M154 S<seconds>
+ */
+//#define AUTO_REPORT_POSITION
+#if ENABLED(AUTO_REPORT_POSITION)
+  //#define AUTO_REPORT_REAL_POSITION // Auto-report the real position
+#endif
+
+/**
+ * M115 - Report capabilites. Disable to save ~1150 bytes of flash.
+ *        Some hosts (and serial TFT displays) rely on this feature.
+ */
+#define CAPABILITIES_REPORT
+#if ENABLED(CAPABILITIES_REPORT)
+  // Include capabilities in M115 output
+  #define EXTENDED_CAPABILITIES_REPORT
+  #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
+    //#define M115_GEOMETRY_REPORT
+  #endif
+#endif
+
 // @section gcode

 /**
@@ -3927,7 +3961,9 @@
  //#define GCODE_QUOTED_STRINGS  // Support for quoted string parameters
 #endif

-// Support for MeatPack G-code compression (https://github.com/scottmudge/OctoPrint-MeatPack)
+/**
+ * Support for MeatPack G-code compression (https://github.com/scottmudge/OctoPrint-MeatPack)
+ */
 //#define MEATPACK_ON_SERIAL_PORT_1
 //#define MEATPACK_ON_SERIAL_PORT_2

@@ -3935,6 +3971,12 @@

 //#define REPETIER_GCODE_M360     // Add commands originally from Repetier FW

+/**
+ * Enable M111 debug flags 1=ECHO, 2=INFO, 4=ERRORS (unimplemented).
+ * Disable to save some flash. Some hosts (Repetier Host) may rely on this feature.
+ */
+#define DEBUG_FLAGS_GCODE
+
 /**
 * Enable this option for a leaner build of Marlin that removes
 * workspace offsets to slightly optimize performance.
@@ -3962,8 +4004,6 @@
  //#define VARIABLE_G0_FEEDRATE // The G0 feedrate is set by F in G0 motion mode
 #endif

-// @section gcode
-
 /**
 * Startup commands
 *
@@ -4249,7 +4289,8 @@

 /**
 * Instant freeze / unfreeze functionality
- * Potentially useful for emergency stop that allows being resumed.
+ * Potentially useful for rapid stop that allows being resumed. Halts stepper movement.
+ * Note this does NOT pause spindles, lasers, fans, heaters or any other auxiliary device.
 * @section interface
 */
 //#define FREEZE_FEATURE
@@ -4296,6 +4337,7 @@
                                          // See class CodeProfiler.
  //#define MAX7219_DEBUG_MULTISTEPPING 6 // Show multi-stepping 1 to 128 on this LED matrix row.
  //#define MAX7219_DEBUG_SLOWDOWN      6 // Count (mod 16) how many times SLOWDOWN has reduced print speed.
+  //#define MAX7219_REINIT_ON_POWERUP     // Re-initialize MAX7129 when power supply turns on
 #endif

 /**
@@ -4329,7 +4371,7 @@
 * Extras for an ESP32-based motherboard with WIFISUPPORT
 * These options don't apply to add-on WiFi modules based on ESP32 WiFi101.
 */
-#if ENABLED(WIFISUPPORT)
+#if ANY(WIFISUPPORT, ESP3D_WIFISUPPORT)
  //#define WEBSUPPORT          // Start a webserver (which may include auto-discovery) using SPIFFS
  //#define OTASUPPORT          // Support over-the-air firmware updates
  //#define WIFI_CUSTOM_COMMAND // Accept feature config commands (e.g., WiFi ESP3D) from the host
@@ -4365,58 +4407,81 @@
  //#define E_MUX0_PIN 40  // Always Required
  //#define E_MUX1_PIN 42  // Needed for 3 to 8 inputs
  //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
-#elif HAS_PRUSA_MMU2
-  // Serial port used for communication with MMU2.
-  #define MMU2_SERIAL_PORT 2

-  // Use hardware reset for MMU if a pin is defined for it
-  //#define MMU2_RST_PIN 23
+#elif HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3
+  // Common settings for MMU2/MMU2S/MMU3
+  // Serial port used for communication with MMU2/MMU2S/MMU3.
+  #define MMU_SERIAL_PORT 2
+  #define MMU_BAUD 115200

-  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
-  //#define MMU2_MODE_12V
+  //#define MMU_RST_PIN 23    // Define this pin to use Hardware Reset for MMU2/MMU2S/MMU3

-  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
-  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+  //#define MMU_MENUS         // Add an LCD menu for MMU2/MMU2S/MMU3

-  // Add an LCD menu for MMU2
-  //#define MMU2_MENUS
+  //#define MMU_DEBUG         // Write debug info to serial output

-  // Settings for filament load / unload from the LCD menu.
-  // This is for Průša MK3-style extruders. Customize for your hardware.
-  #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
-  #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
-    {  7.2, 1145 }, \
-    { 14.4,  871 }, \
-    { 36.0, 1393 }, \
-    { 14.4,  871 }, \
-    { 50.0,  198 }
+  // Options pertaining to MMU2 and MMU2S
+  #if HAS_PRUSA_MMU2
+    // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+    //#define MMU2_MODE_12V

-  #define MMU2_RAMMING_SEQUENCE \
-    {   1.0, 1000 }, \
-    {   1.0, 1500 }, \
-    {   2.0, 2000 }, \
-    {   1.5, 3000 }, \
-    {   2.5, 4000 }, \
-    { -15.0, 5000 }, \
-    { -14.0, 1200 }, \
-    {  -6.0,  600 }, \
-    {  10.0,  700 }, \
-    { -10.0,  400 }, \
-    { -50.0, 2000 }
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Průša MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+
+    // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+    #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+    // MMU2 sequences use mm/min. Not compatible with MMU3, which use mm/sec.
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  4.4,  871 }, \
+      { 10.0, 1393 }, \
+      {  4.4,  871 }, \
+      { 10.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif // HAS_PRUSA_MMU2

  /**
-   * Using a sensor like the MMU2S
-   * This mode requires a MK3S extruder with a sensor at the extruder idler, like the MMU2S.
+   * Options pertaining to MMU2S devices
+   * Requires the MK3S extruder with a sensor at the extruder idler, like the MMU2S.
   * See https://help.prusa3d.com/guide/3b-mk3s-mk2-5s-extruder-upgrade_41560#42048, step 11
   */
  #if HAS_PRUSA_MMU2S
    #define MMU2_C0_RETRY   5             // Number of retries (total time = timeout*retries)

+    /**
+     * This is called after the filament runout sensor is triggered to check if
+     * the filament has been loaded properly by moving the filament back and
+     * forth to see if the filament runout sensor is going to get triggered
+     * again, which should not occur if the filament is properly loaded.
+     *
+     * Thus, the MMU2_CAN_LOAD_SEQUENCE should contain some forward and
+     * backward moves. The forward moves should be greater than the backward
+     * moves.
+     *
+     * This is useless if your filament runout sensor is way behind the gears.
+     * In that case use {0, MMU2_CAN_LOAD_FEEDRATE}
+     *
+     * Adjust MMU2_CAN_LOAD_SEQUENCE according to your setup.
+     */
    #define MMU2_CAN_LOAD_FEEDRATE 800    // (mm/min)
    #define MMU2_CAN_LOAD_SEQUENCE \
-      {  0.1, MMU2_CAN_LOAD_FEEDRATE }, \
-      {  60.0, MMU2_CAN_LOAD_FEEDRATE }, \
-      { -52.0, MMU2_CAN_LOAD_FEEDRATE }
+      {   5.0, MMU2_CAN_LOAD_FEEDRATE }, \
+      {  15.0, MMU2_CAN_LOAD_FEEDRATE }, \
+      { -10.0, MMU2_CAN_LOAD_FEEDRATE }

    #define MMU2_CAN_LOAD_RETRACT   6.0   // (mm) Keep under the distance between Load Sequence values
    #define MMU2_CAN_LOAD_DEVIATION 0.8   // (mm) Acceptable deviation
@@ -4427,10 +4492,90 @@

    // Continue unloading if sensor detects filament after the initial unload move
    //#define MMU_IR_UNLOAD_MOVE
-  #else
+
+  #elif HAS_PRUSA_MMU3
+
+    // MMU3 settings
+
+    #define MMU3_HAS_CUTTER     // Enable cutter related functionality
+
+    #define MMU3_MAX_RETRIES 3  // Number of retries (total time = timeout*retries)
+
+    // As discussed with our PrusaSlicer profile specialist
+    // - ToolChange shall not try to push filament into the very tip of the nozzle
+    // to have some space for additional G-code to tune the extruded filament length
+    // in the profile
+    // Beware - this value is used to initialize the MMU logic layer - it will be sent to the MMU upon line up (written into its 8bit register 0x0b)
+    // However - in the G-code we can get a request to set the extra load distance at runtime to something else (M708 A0xb Xsomething).
+    // The printer intercepts such a call and sets its extra load distance to match the new value as well.
+    #define MMU3_FILAMENT_SENSOR_E_POSITION  0   // (mm)
+    #define _MMU3_LOAD_DISTANCE_PAST_GEARS   5   // (mm)
+    #define MMU3_TOOL_CHANGE_LOAD_LENGTH (MMU3_FILAMENT_SENSOR_E_POSITION + _MMU3_LOAD_DISTANCE_PAST_GEARS) // (mm)
+
+    #define MMU3_LOAD_TO_NOZZLE_FEED_RATE        20.0 // (mm/s)
+
+    #define MMU3_VERIFY_LOAD_TO_NOZZLE_FEED_RATE 50.0 // (mm/s)
+    #define _MMU3_VERIFY_LOAD_TO_NOZZLE_TWEAK    -5.0 // (mm) Amount to adjust the length for verifying load-to-nozzle
+
+    // The first thing the MMU does is initialize its axis.
+    // Meanwhile the E-motor will unload 20mm of filament in about 1 second.
+    #define MMU3_RETRY_UNLOAD_TO_FINDA_LENGTH    80.0 // (mm)
+    #define MMU3_RETRY_UNLOAD_TO_FINDA_FEED_RATE 80.0 // (mm/s)
+
+    // After loading a new filament, the printer will extrude this length of filament
+    // then retract to the original position. This is used to check if the filament sensor
+    // reading flickers or filament is jammed.
+    #define _MMU_EXTRUDER_PTFE_LENGTH            42.3 // (mm)
+    #define _MMU_EXTRUDER_HEATBREAK_LENGTH       17.7 // (mm)
+    #define MMU3_CHECK_FILAMENT_PRESENCE_EXTRUSION_LENGTH (MMU3_FILAMENT_SENSOR_E_POSITION + _MMU_EXTRUDER_PTFE_LENGTH + _MMU_EXTRUDER_HEATBREAK_LENGTH + _MMU3_VERIFY_LOAD_TO_NOZZLE_TWEAK) // (mm)

    /**
-     * MMU1 Extruder Sensor
+     * SpoolJoin Consumes All Filament -- EXPERIMENTAL
+     *
+     * SpoolJoin normally triggers when FINDA sensor untriggers while printing.
+     * This is the default behaviour and it doesn't consume all the filament
+     * before triggering a filament change. This leaves some filament in the
+     * current slot and before switching to the next slot it is unloaded.
+     *
+     * Enabling this option will trigger the filament change when both FINDA
+     * and Filament Runout Sensor triggers during the print and it allows the
+     * filament in the current slot to be completely consumed before doing the
+     * filament change. But this can cause problems as a little bit of filament
+     * will be left between the extruder gears (thinking that the filament
+     * sensor is triggered through the gears) and the end of the PTFE tube and
+     * can cause filament load issues.
+     */
+    //#define MMU3_SPOOL_JOIN_CONSUMES_ALL_FILAMENT
+
+    // MMU3 sequences use mm/sec. Not compatible with MMU2 which use mm/min.
+    #define MMU3_LOAD_TO_NOZZLE_SEQUENCE \
+      { _MMU_EXTRUDER_PTFE_LENGTH,      MMM_TO_MMS(810) }, /* (13.5 mm/s) Fast load ahead of heatbreak */ \
+      { _MMU_EXTRUDER_HEATBREAK_LENGTH, MMM_TO_MMS(198) }  /* ( 3.3 mm/s) Slow load after heatbreak */
+
+    #define MMU3_RAMMING_SEQUENCE \
+      { 0.2816,  MMM_TO_MMS(1339.0) }, \
+      { 0.3051,  MMM_TO_MMS(1451.0) }, \
+      { 0.3453,  MMM_TO_MMS(1642.0) }, \
+      { 0.3990,  MMM_TO_MMS(1897.0) }, \
+      { 0.4761,  MMM_TO_MMS(2264.0) }, \
+      { 0.5767,  MMM_TO_MMS(2742.0) }, \
+      { 0.5691,  MMM_TO_MMS(3220.0) }, \
+      { 0.1081,  MMM_TO_MMS(3220.0) }, \
+      { 0.7644,  MMM_TO_MMS(3635.0) }, \
+      { 0.8248,  MMM_TO_MMS(3921.0) }, \
+      { 0.8483,  MMM_TO_MMS(4033.0) }, \
+      { -15.0,   MMM_TO_MMS(6000.0) }, \
+      { -24.5,   MMM_TO_MMS(1200.0) }, \
+      {  -7.0,   MMM_TO_MMS( 600.0) }, \
+      {  -3.5,   MMM_TO_MMS( 360.0) }, \
+      {  20.0,   MMM_TO_MMS( 454.0) }, \
+      { -20.0,   MMM_TO_MMS( 303.0) }, \
+      { -35.0,   MMM_TO_MMS(2000.0) }
+
+  #else // MMU2 (not MMU2S)
+
+    /**
+     * MMU2 Extruder Sensor
     *
     * Support for a Průša (or other) IR Sensor to detect filament near the extruder
     * and make loading more reliable. Suitable for an extruder equipped with a filament
@@ -4440,16 +4585,14 @@
     * move up to the gears. If no filament is detected, the MMU2 can make some more attempts.
     * If all attempts fail, a filament runout will be triggered.
     */
-    //#define MMU_EXTRUDER_SENSOR
-    #if ENABLED(MMU_EXTRUDER_SENSOR)
-      #define MMU_LOADING_ATTEMPTS_NR 5 // max. number of attempts to load filament if first load fail
+    //#define MMU2_EXTRUDER_SENSOR
+    #if ENABLED(MMU2_EXTRUDER_SENSOR)
+      #define MMU2_LOADING_ATTEMPTS_NR 5  // Number of times to try loading filament before failure
    #endif

  #endif

-  //#define MMU2_DEBUG  // Write debug info to serial output
-
-#endif // HAS_PRUSA_MMU2
+#endif // HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3

 /**
 * Advanced Print Counter settings
@@ -4512,3 +4655,6 @@

 // Report uncleaned reset reason from register r2 instead of MCUSR. Supported by Optiboot on AVR.
 //#define OPTIBOOT_RESET_REASON
+
+// Shrink the build for smaller boards by sacrificing some serial feedback
+//#define MARLIN_SMALL_BUILD
@@ -187,6 +187,17 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1033)
 # RAMPS Plus 3DYMY (Power outputs: Spindle, Controller Fan)
 else ifeq ($(HARDWARE_MOTHERBOARD),1034)

+# RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1035)
+# RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1036)
+# RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1)
+else ifeq ($(HARDWARE_MOTHERBOARD),1037)
+# RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan)
+else ifeq ($(HARDWARE_MOTHERBOARD),1038)
+# RAMPS 1.6+ (Power outputs: Spindle, Controller Fan)
+else ifeq ($(HARDWARE_MOTHERBOARD),1039)
+
 #
 # RAMPS Derivatives - ATmega1280, ATmega2560
 #
@@ -221,108 +232,113 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1112)
 else ifeq ($(HARDWARE_MOTHERBOARD),1113)
 # BigTreeTech or BIQU KFB2.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1114)
-# zrib V2.0 (Chinese RAMPS replica)
+# Zonestar zrib V2.0 (Chinese RAMPS replica)
 else ifeq ($(HARDWARE_MOTHERBOARD),1115)
-# zrib V5.2 (Chinese RAMPS replica)
+# Zonestar zrib V5.2 (Chinese RAMPS replica)
 else ifeq ($(HARDWARE_MOTHERBOARD),1116)
-# Felix 2.0+ Electronics Board (RAMPS like)
+# Zonestar zrib V5.3 (Chinese RAMPS replica)
 else ifeq ($(HARDWARE_MOTHERBOARD),1117)
-# Invent-A-Part RigidBoard
+# Felix 2.0+ Electronics Board (RAMPS like)
 else ifeq ($(HARDWARE_MOTHERBOARD),1118)
-# Invent-A-Part RigidBoard V2
+# Invent-A-Part RigidBoard
 else ifeq ($(HARDWARE_MOTHERBOARD),1119)
-# Sainsmart 2-in-1 board
+# Invent-A-Part RigidBoard V2
 else ifeq ($(HARDWARE_MOTHERBOARD),1120)
-# Ultimaker
+# Sainsmart 2-in-1 board
 else ifeq ($(HARDWARE_MOTHERBOARD),1121)
-# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+# Ultimaker
 else ifeq ($(HARDWARE_MOTHERBOARD),1122)
+# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+else ifeq ($(HARDWARE_MOTHERBOARD),1123)
  MCU              ?= atmega1280
  PROG_MCU         ?= m1280
 # Azteeg X3
-else ifeq ($(HARDWARE_MOTHERBOARD),1123)
-# Azteeg X3 Pro
 else ifeq ($(HARDWARE_MOTHERBOARD),1124)
-# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
+# Azteeg X3 Pro
 else ifeq ($(HARDWARE_MOTHERBOARD),1125)
-# Rumba
+# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
 else ifeq ($(HARDWARE_MOTHERBOARD),1126)
-# Raise3D N series Rumba derivative
+# Rumba
 else ifeq ($(HARDWARE_MOTHERBOARD),1127)
-# Rapide Lite 200 (v1, low-cost RUMBA clone with drv)
+# Raise3D N series Rumba derivative
 else ifeq ($(HARDWARE_MOTHERBOARD),1128)
-# Formbot T-Rex 2 Plus
+# Rapide Lite 200 (v1, low-cost RUMBA clone with drv)
 else ifeq ($(HARDWARE_MOTHERBOARD),1129)
-# Formbot T-Rex 3
+# Formbot T-Rex 2 Plus
 else ifeq ($(HARDWARE_MOTHERBOARD),1130)
-# Formbot Raptor
+# Formbot T-Rex 3
 else ifeq ($(HARDWARE_MOTHERBOARD),1131)
-# Formbot Raptor 2
+# Formbot Raptor
 else ifeq ($(HARDWARE_MOTHERBOARD),1132)
-# bq ZUM Mega 3D
+# Formbot Raptor 2
 else ifeq ($(HARDWARE_MOTHERBOARD),1133)
-# MakeBoard Mini v2.1.2 by MicroMake
+# bq ZUM Mega 3D
 else ifeq ($(HARDWARE_MOTHERBOARD),1134)
-# TriGorilla Anycubic version 1.3-based on RAMPS EFB
+# MakeBoard Mini v2.1.2 by MicroMake
 else ifeq ($(HARDWARE_MOTHERBOARD),1135)
-#   ... Ver 1.4
+# TriGorilla Anycubic version 1.3-based on RAMPS EFB
 else ifeq ($(HARDWARE_MOTHERBOARD),1136)
-#   ... Rev 1.1 (new servo pin order)
+#   ... Ver 1.4
 else ifeq ($(HARDWARE_MOTHERBOARD),1137)
-# Creality: Ender-4, CR-8
+#   ... Rev 1.1 (new servo pin order)
 else ifeq ($(HARDWARE_MOTHERBOARD),1138)
-# Creality: CR10S, CR20, CR-X
+# Creality: Ender-4, CR-8
 else ifeq ($(HARDWARE_MOTHERBOARD),1139)
-# Dagoma F5
+# Creality: CR10S, CR20, CR-X
 else ifeq ($(HARDWARE_MOTHERBOARD),1140)
-# FYSETC F6 1.3
+# Dagoma F5
 else ifeq ($(HARDWARE_MOTHERBOARD),1141)
-# FYSETC F6 1.4
+# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
 else ifeq ($(HARDWARE_MOTHERBOARD),1142)
-# Wanhao Duplicator i3 Plus
+# FYSETC F6 1.3
 else ifeq ($(HARDWARE_MOTHERBOARD),1143)
-# VORON Design
+# FYSETC F6 1.4
 else ifeq ($(HARDWARE_MOTHERBOARD),1144)
-# Tronxy TRONXY-V3-1.0
+# Wanhao Duplicator i3 Plus
 else ifeq ($(HARDWARE_MOTHERBOARD),1145)
-# Z-Bolt X Series
+# VORON Design
 else ifeq ($(HARDWARE_MOTHERBOARD),1146)
-# TT OSCAR
+# Tronxy TRONXY-V3-1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1147)
-# Overlord/Overlord Pro
+# Z-Bolt X Series
 else ifeq ($(HARDWARE_MOTHERBOARD),1148)
-# ADIMLab Gantry v1
+# TT OSCAR
 else ifeq ($(HARDWARE_MOTHERBOARD),1149)
-# ADIMLab Gantry v2
-else ifeq ($(HARDWARE_MOTHERBOARD),1150)
 # BIQU Tango V1
-else ifeq ($(HARDWARE_MOTHERBOARD),1151)
+else ifeq ($(HARDWARE_MOTHERBOARD),1150)
 # MKS GEN L V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1152)
+else ifeq ($(HARDWARE_MOTHERBOARD),1151)
 # MKS GEN L V2.1
-else ifeq ($(HARDWARE_MOTHERBOARD),1153)
+else ifeq ($(HARDWARE_MOTHERBOARD),1152)
 # Copymaster 3D
-else ifeq ($(HARDWARE_MOTHERBOARD),1154)
+else ifeq ($(HARDWARE_MOTHERBOARD),1153)
 # Ortur 4
-else ifeq ($(HARDWARE_MOTHERBOARD),1155)
+else ifeq ($(HARDWARE_MOTHERBOARD),1154)
 # Tenlog D3 Hero IDEX printer
+else ifeq ($(HARDWARE_MOTHERBOARD),1155)
+# Tenlog D3, D5, D6 IDEX Printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1156)
-# Tenlog D3,5,6 Pro IDEX printers
-else ifeq ($(HARDWARE_MOTHERBOARD),1157)
 # Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1158)
+else ifeq ($(HARDWARE_MOTHERBOARD),1157)
 # Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1159)
+else ifeq ($(HARDWARE_MOTHERBOARD),1158)
 # Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1160)
+else ifeq ($(HARDWARE_MOTHERBOARD),1159)
 # Longer LK1 PRO / Alfawise U20 Pro (PRO version)
-else ifeq ($(HARDWARE_MOTHERBOARD),1161)
+else ifeq ($(HARDWARE_MOTHERBOARD),1160)
 # Longer LKx PRO / Alfawise Uxx Pro (PRO version)
-else ifeq ($(HARDWARE_MOTHERBOARD),1162)
-# Zonestar zrib V5.3 (Chinese RAMPS replica)
-else ifeq ($(HARDWARE_MOTHERBOARD),1163)
+else ifeq ($(HARDWARE_MOTHERBOARD),1161)
 # Pxmalion Core I3
+else ifeq ($(HARDWARE_MOTHERBOARD),1162)
+# Panowin Cutlass (as found in the Panowin F1)
+else ifeq ($(HARDWARE_MOTHERBOARD),1163)
+# Kodama Bardo V1.x (as found in the Kodama Trinus)
 else ifeq ($(HARDWARE_MOTHERBOARD),1164)
+# XTLW MFF V1.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1165)
+# XTLW MFF V2.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1166)
+

 #
 # RAMBo and derivatives
@@ -340,7 +356,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1203)
 else ifeq ($(HARDWARE_MOTHERBOARD),1204)
 # abee Scoovo X9H
 else ifeq ($(HARDWARE_MOTHERBOARD),1205)
-# Rambo ThinkerV2
+# ThinkerV2
 else ifeq ($(HARDWARE_MOTHERBOARD),1206)

 #
@@ -383,30 +399,40 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1315)
 else ifeq ($(HARDWARE_MOTHERBOARD),1316)
 # Geeetech GT2560 Rev B for A10(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1317)
-# Geeetech GT2560 Rev B for A10(M/T/D)
-else ifeq ($(HARDWARE_MOTHERBOARD),1318)
 # Geeetech GT2560 Rev B for Mecreator2
+else ifeq ($(HARDWARE_MOTHERBOARD),1318)
+# Geeetech GT2560 Rev B for A20(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1319)
-# Geeetech GT2560 Rev B for A20(M/T/D)
+# Geeetech GT2560 Rev B for A10(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1320)
-# Einstart retrofit
-else ifeq ($(HARDWARE_MOTHERBOARD),1321)
-# Wanhao 0ne+ i3 Mini
-else ifeq ($(HARDWARE_MOTHERBOARD),1322)
-# Leapfrog Xeed 2015
-else ifeq ($(HARDWARE_MOTHERBOARD),1323)
-# PICA Shield (original version)
-else ifeq ($(HARDWARE_MOTHERBOARD),1324)
-# PICA Shield (rev C or later)
-else ifeq ($(HARDWARE_MOTHERBOARD),1325)
-# Intamsys 4.0 (Funmat HT)
-else ifeq ($(HARDWARE_MOTHERBOARD),1326)
-# Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
-else ifeq ($(HARDWARE_MOTHERBOARD),1327)
 # Geeetech GT2560 Rev B for A20(M/T/D)
+else ifeq ($(HARDWARE_MOTHERBOARD),1321)
+# Einstart retrofit
+else ifeq ($(HARDWARE_MOTHERBOARD),1322)
+# Wanhao 0ne+ i3 Mini
+else ifeq ($(HARDWARE_MOTHERBOARD),1323)
+# Overlord/Overlord Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1324)
+# ADIMLab Gantry v1
+else ifeq ($(HARDWARE_MOTHERBOARD),1325)
+# ADIMLab Gantry v2
+else ifeq ($(HARDWARE_MOTHERBOARD),1326)
+# Leapfrog Xeed 2015
+else ifeq ($(HARDWARE_MOTHERBOARD),1327)
+# PICA Shield (original version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1328)
-# Mega controller & Protoneer CNC Shield V3.00
+# PICA Shield (rev C or later)
 else ifeq ($(HARDWARE_MOTHERBOARD),1329)
+# Intamsys 4.0 (Funmat HT)
+else ifeq ($(HARDWARE_MOTHERBOARD),1330)
+# Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
+else ifeq ($(HARDWARE_MOTHERBOARD),1331)
+# Mega controller & Protoneer CNC Shield V3.00
+else ifeq ($(HARDWARE_MOTHERBOARD),1332)
+# WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
+else ifeq ($(HARDWARE_MOTHERBOARD),1333)
+# Geeetech GT2560 V4.1B for A10(M/T/D)
+else ifeq ($(HARDWARE_MOTHERBOARD),1334)

 #
 # ATmega1281, ATmega2561
@@ -440,7 +466,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1502)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega644p
  PROG_MCU         ?= m644p
-# Melzi V2.0
+# Melzi V2
 else ifeq ($(HARDWARE_MOTHERBOARD),1503)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
@@ -450,36 +476,41 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1504)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Melzi Creality3D board (for CR-10 etc)
+# Melzi Creality3D (for CR-10 etc)
 else ifeq ($(HARDWARE_MOTHERBOARD),1505)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Melzi Malyan M150 board
+# Melzi Creality3D (for Ender-2)
 else ifeq ($(HARDWARE_MOTHERBOARD),1506)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Tronxy X5S
+# Melzi Malyan M150
 else ifeq ($(HARDWARE_MOTHERBOARD),1507)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# STB V1.1
+# Tronxy X5S
 else ifeq ($(HARDWARE_MOTHERBOARD),1508)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Azteeg X1
+# STB V1.1
 else ifeq ($(HARDWARE_MOTHERBOARD),1509)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
-# Anet 1.0 (Melzi clone)
+# Azteeg X1
 else ifeq ($(HARDWARE_MOTHERBOARD),1510)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
+# Anet 1.0 (Melzi clone)
+else ifeq ($(HARDWARE_MOTHERBOARD),1511)
+  HARDWARE_VARIANT ?= Sanguino
+  MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 # ZoneStar ZMIB V2
 else ifeq ($(HARDWARE_MOTHERBOARD),1511)
  HARDWARE_VARIANT ?= Sanguino
@@ -995,7 +1026,7 @@ extcoff: $(TARGET).elf
 	$(NM) -n $< > $@

 # Link: create ELF output file from library.
-
+LDFLAGS+= -Wl,-V
 $(BUILD_DIR)/$(TARGET).elf: $(OBJ) Configuration.h
 	$(Pecho) "  CXX   $@"
 	$P $(CXX) $(LD_PREFIX) $(ALL_CXXFLAGS) -o $@ -L. $(OBJ) $(LDFLAGS) $(LD_SUFFIX)
@@ -2,7 +2,7 @@

  Marlin Firmware

-  (c) 2011-2023 MarlinFirmware
+  (c) 2011-2024 MarlinFirmware
  Portions of Marlin are (c) by their respective authors.
  All code complies with GPLv2 and/or GPLv3

@@ -41,7 +41,14 @@
 * here we define this default string as the date where the latest release
 * version was tagged.
 */
-//#define STRING_DISTRIBUTION_DATE "2024-01-01"
+//#define STRING_DISTRIBUTION_DATE "2024-11-04"
+
+/**
+ * The protocol for communication to the host. Protocol indicates communication
+ * standards such as the use of ASCII, "echo:" and "error:" line prefixes, etc.
+ * (Other behaviors are given by the firmware version and capabilities report.)
+ */
+//#define PROTOCOL_VERSION "1.0"

 /**
 * Defines a generic printer name to be output to the LCD after booting Marlin.
@@ -68,8 +75,8 @@
 //#define WEBSITE_URL "marlinfw.org"

 /**
- * Set the vendor info the serial USB interface, if changable
- * Currently only supported by DUE platform
+ * Set the vendor info the serial USB interface, if changeable.
+ * Currently only supported by DUE platform.
 */
 //#define USB_DEVICE_VENDOR_ID           0x0000
 //#define USB_DEVICE_PRODUCT_ID          0x0000
@@ -81,6 +81,12 @@ void MarlinHAL::init() {
  #if HAS_SERVO_3
    OUT_WRITE(SERVO3_PIN, LOW);
  #endif
+  #if HAS_SERVO_4
+    OUT_WRITE(SERVO4_PIN, LOW);
+  #endif
+  #if HAS_SERVO_5
+    OUT_WRITE(SERVO5_PIN, LOW);
+  #endif

  init_pwm_timers();   // Init user timers to default frequency - 1000HZ

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

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

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

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

 #ifdef __AVR_AT90USB1286__
  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
@@ -119,7 +119,6 @@ void spiBegin() {
    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
  }

-
  /** begin spi transaction */
  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
    // Based on Arduino SPI library
@@ -175,7 +174,6 @@ void spiBegin() {
    SPSR = clockDiv | 0x01;
  }

-
 #else // SOFTWARE_SPI || FORCE_SOFT_SPI

  // ------------------------
@@ -601,20 +601,20 @@ MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser);

 #endif // SERIAL_PORT_3

-#ifdef MMU2_SERIAL_PORT
+#ifdef MMU_SERIAL_PORT

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

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

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

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

 #ifdef LCD_SERIAL_PORT

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

-  #if HAS_DGUS_LCD
+  #if ANY(HAS_DGUS_LCD, EXTENSIBLE_UI)
    template<typename Cfg>
    typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::get_tx_buffer_free() {
      const ring_buffer_pos_t t = tx_buffer.tail,  // next byte to send.
@@ -205,7 +205,7 @@
    static ring_buffer_pos_t available();
    static void write(const uint8_t c);
    static void flushTX();
-    #if HAS_DGUS_LCD
+    #if ANY(HAS_DGUS_LCD, EXTENSIBLE_UI)
      static ring_buffer_pos_t get_tx_buffer_free();
    #endif

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

 #endif // !USBCON

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

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

@@ -63,7 +63,6 @@

 static volatile int8_t Channel[_Nbr_16timers];              // counter for the servo being pulsed for each timer (or -1 if refresh interval)

-
 /************ static functions common to all instances ***********************/

 static inline void handle_interrupts(const timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
@@ -35,14 +35,14 @@
 #ifndef MARLIN_EEPROM_SIZE
  #define MARLIN_EEPROM_SIZE size_t(E2END + 1)
 #endif
-size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE - eeprom_exclude_size; }
 bool PersistentStore::access_start()  { return true; }
 bool PersistentStore::access_finish() { return true; }

 bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
  uint16_t written = 0;
  while (size--) {
-    uint8_t * const p = (uint8_t * const)pos;
+    uint8_t * const p = (uint8_t * const)REAL_EEPROM_ADDR(pos);
    uint8_t v = *value;
    if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
      eeprom_write_byte(p, v);
@@ -61,7 +61,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui

 bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
  do {
-    uint8_t c = eeprom_read_byte((uint8_t*)pos);
+    const uint8_t c = eeprom_read_byte((uint8_t*)REAL_EEPROM_ADDR(pos));
    if (writing) *value = c;
    crc16(crc, &c, 1);
    pos++;
@@ -91,7 +91,6 @@ void endstop_ISR() { endstops.update(); }

 #endif

-
 // Install Pin change interrupt for a pin. Can be called multiple times.
 void pciSetup(const int8_t pin) {
  if (digitalPinHasPCICR(pin)) {
@@ -346,6 +345,14 @@ void setup_endstop_interrupts() {
      pciSetup(Z_MIN_PROBE_PIN);
    #endif
  #endif
+  #if USE_CALIBRATION
+    #if (digitalPinToInterrupt(CALIBRATION_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(CALIBRATION_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(CALIBRATION_PIN), "CALIBRATION_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
+      pciSetup(CALIBRATION_PIN);
+    #endif
+  #endif

  // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
 }
@@ -150,7 +150,7 @@ void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
      else {
        if (p == 32 || p == 128) continue;                    // Skip TIMER2 specific prescalers when not TIMER2
        const uint16_t rft = (F_CPU) / (p * f_desired);
-        DEBUG_ECHOLNPGM("(Not Timer 2) F_CPU=" STRINGIFY(F_CPU), " prescaler=", p, " f_desired=", f_desired);
+        DEBUG_ECHOLNPGM("(Not Timer 2) F_CPU=", STRINGIFY(F_CPU), " prescaler=", p, " f_desired=", f_desired);
        res_fast_temp = rft - 1;
        res_pc_temp = rft / 2;
      }
@@ -28,9 +28,6 @@
 *   Port          : E0 E1 E4 E5 G5 E3 H3 H4 H5 H6 B4 B5 B6 B7 J1 J0 H1 H0 D3 D2 D1 D0 A0 A1 A2 A3 A4 A5 A6 A7 C7 C6 C5 C4 C3 C2 C1 C0 D7 G2 G1 G0 L7 L6 L5 L4 L3 L2 L1 L0 B3 B2 B1 B0 F0 F1 F2 F3 F4 F5 F6 F7 K0 K1 K2 K3 K4 K5 K6 K7 | E2 E6 E7 xx xx H2 H7 G3 G4 xx xx xx xx xx D4 D5 D6 xx xx J2 J3 J4 J5 J6 J7 xx xx xx xx xx
 *   Logical Pin   : 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | 78 79 80 xx xx 84 85 71 70 xx xx xx xx xx 81 82 83 xx xx 72 73 75 76 77 74 xx xx xx xx xx
 *   Analog Input  :                                                                                                                                                                    0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15
- *
- * Arduino Pin Layout video: https://youtu.be/rIqeVCX09FA
- * AVR alternate pin function overview video: https://youtu.be/1yd8wuI5Plg
 */

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

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

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

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

 #include "../fastio.h"
@@ -679,7 +676,6 @@
 #define PF7_PWM     0
 #define PF7_DDR     DDRF

-
 /**
 * Some of the pin mapping functions of the Teensduino extension to the Arduino IDE
 * do not function the same as the other Arduino extensions.
@@ -0,0 +1,22 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
@@ -22,7 +22,23 @@
 #pragma once

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

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

 #elif AVR_ATmega2560_FAMILY_PLUS_70   // So we can access/display all the pins on boards using more than 70

  #include "pinsDebug_plus_70.h"
-  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer_plus_70(p)
-  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask_plus_70(p)
-  #define digitalPinToPort_DEBUG(p) digitalPinToPort_plus_70(p)
-  bool GET_PINMODE(int8_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
+  #define digitalPinToTimer_DEBUG(P) digitalPinToTimer_plus_70(P)
+  #define digitalPinToBitMask_DEBUG(P) digitalPinToBitMask_plus_70(P)
+  #define digitalPinToPort_DEBUG(P) digitalPinToPort_plus_70(P)
+  bool getValidPinMode(pin_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }

 #else

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

 #endif

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

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

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

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

  switch (digitalPinToTimer_DEBUG(pin)) {
@@ -163,7 +179,6 @@ bool pwm_status(uint8_t pin) {
  SERIAL_ECHO_SP(2);
 } // pwm_status

-
 const volatile uint8_t* const PWM_other[][3] PROGMEM = {
    { &TCCR0A, &TCCR0B, &TIMSK0 },
    { &TCCR1A, &TCCR1B, &TIMSK1 },
@@ -181,7 +196,6 @@ const volatile uint8_t* const PWM_other[][3] PROGMEM = {
  #endif
 };

-
 const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {

  #ifdef TIMER0A
@@ -217,7 +231,6 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {
  #endif
 };

-
 #define TCCR_A(T)   pgm_read_word(&PWM_other[T][0])
 #define TCCR_B(T)   pgm_read_word(&PWM_other[T][1])
 #define TIMSK(T)    pgm_read_word(&PWM_other[T][2])
@@ -279,7 +292,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N -
  if (TEST(*TMSK, TOIE)) err_prob_interrupt();
 }

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

    #if ABTEST(0)
@@ -350,7 +363,7 @@ void pwm_details(uint8_t pin) {
  #else
    UNUSED(print_is_also_tied);
  #endif
-} // pwm_details
+} // printPinPWM

 #ifndef digitalRead_mod                   // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs
  int digitalRead_mod(const pin_t pin) {  // same as digitalRead except the PWM stop section has been removed
@@ -359,7 +372,7 @@ void pwm_details(uint8_t pin) {
  }
 #endif

-void print_port(const pin_t pin) {   // print port number
+void printPinPort(const pin_t pin) {   // print port number
  #ifdef digitalPinToPort_DEBUG
    uint8_t x;
    SERIAL_ECHOPGM("  Port: ");
@@ -389,7 +402,7 @@ void print_port(const pin_t pin) {   // print port number
  #endif
 }

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

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

 // digitalPinToBitMask(pin) is OK

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

 // portModeRegister(pin) is OK
@@ -120,8 +120,7 @@ void u8g_spiSend_sw_AVR_mode_3(uint8_t val) {
  U8G_ATOMIC_END();
 }

-
-#if ENABLED(FYSETC_MINI_12864)
+#if U8G_SPI_USE_MODE_3
  #define SPISEND_SW_AVR u8g_spiSend_sw_AVR_mode_3
 #else
  #define SPISEND_SW_AVR u8g_spiSend_sw_AVR_mode_0
@@ -144,9 +143,9 @@ uint8_t u8g_com_HAL_AVR_sw_sp_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
      break;

    case U8G_COM_MSG_CHIP_SELECT:
-      #if ENABLED(FYSETC_MINI_12864)           // LCD SPI is running mode 3 while SD card is running mode 0
-        if (arg_val) {                         //   SCK idle state needs to be set to the proper idle state before
-                                               //   the next chip select goes active
+      #if U8G_SPI_USE_MODE_3                                  // LCD SPI is running mode 3 while SD card is running mode 0
+        if (arg_val) {                                        // SCK idle state needs to be set to the proper idle state before
+                                                              //  the next chip select goes active
          u8g_com_arduino_digital_write(u8g, U8G_PI_SCK, 1);  // Set SCK to mode 3 idle state before CS goes active
          u8g_com_arduino_digital_write(u8g, U8G_PI_CS, LOW);
        }
@@ -81,11 +81,11 @@ extern DefaultSerial4 MSerial3;
  #endif
 #endif

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

@@ -127,7 +127,7 @@ typedef Servo hal_servo_t;
 #define HAL_ADC_RESOLUTION  10

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

 //
@@ -42,7 +42,7 @@
 // Public functions
 // ------------------------

-#if ANY(DUE_SOFTWARE_SPI, FORCE_SOFT_SPI)
+#if ANY(SOFTWARE_SPI, FORCE_SOFT_SPI)

  // ------------------------
  // Software SPI
@@ -474,7 +474,6 @@ 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> >;
@@ -50,7 +50,7 @@
 static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset

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

@@ -958,14 +958,14 @@ static void ee_Init() {
 #ifndef MARLIN_EEPROM_SIZE
  #define MARLIN_EEPROM_SIZE 0x1000 // 4KB
 #endif
-size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE - eeprom_exclude_size; }
 bool PersistentStore::access_start()  { ee_Init();  return true; }
 bool PersistentStore::access_finish() { ee_Flush(); return true; }

 bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
  uint16_t written = 0;
  while (size--) {
-    uint8_t * const p = (uint8_t * const)pos;
+    uint8_t * const p = (uint8_t * const)REAL_EEPROM_ADDR(pos);
    uint8_t v = *value;
    if (v != ee_Read(uint32_t(p))) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
      ee_Write(uint32_t(p), v);
@@ -984,7 +984,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui

 bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
  do {
-    uint8_t c = ee_Read(uint32_t(pos));
+    uint8_t c = ee_Read(uint32_t(REAL_EEPROM_ADDR(pos)));
    if (writing) *value = c;
    crc16(crc, &c, 1);
    pos++;
@@ -36,14 +36,14 @@
 #ifndef MARLIN_EEPROM_SIZE
  #error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM."
 #endif
-size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE - eeprom_exclude_size; }
 bool PersistentStore::access_start()  { eeprom_init(); return true; }
 bool PersistentStore::access_finish() { return true; }

 bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
  uint16_t written = 0;
  while (size--) {
-    uint8_t * const p = (uint8_t * const)pos;
+    uint8_t * const p = (uint8_t * const)REAL_EEPROM_ADDR(pos);
    uint8_t v = *value;
    if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
      eeprom_write_byte(p, v);
@@ -62,7 +62,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui

 bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
  do {
-    uint8_t c = eeprom_read_byte((uint8_t*)pos);
+    const uint8_t c = eeprom_read_byte((uint8_t*)REAL_EEPROM_ADDR(pos));
    if (writing) *value = c;
    crc16(crc, &c, 1);
    pos++;
@@ -64,6 +64,7 @@ void setup_endstop_interrupts() {
  TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
  TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
  TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
  TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
  TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
  TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));
@@ -61,7 +61,7 @@
 #else
  #define G2_PWM_Z 0
 #endif
-#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
+#if HAS_MOTOR_CURRENT_PWM_E
  #define G2_PWM_E 1
 #else
  #define G2_PWM_E 0
@@ -49,7 +49,6 @@ extern volatile uint32_t *SODR_A, *SODR_B, *CODR_A, *CODR_B;

 #define PWM_MAP_INIT_ROW(IO,ZZ) { ZZ == 'A' ? SODR_A : SODR_B,  ZZ == 'A' ? CODR_A : CODR_B, 1 << _PIN(IO) }

-
 #define PWM_MAP_INIT {  PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_X_PIN, 'B'), \
                        PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_Y_PIN, 'B'), \
                        PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_Z_PIN, 'B'), \
@@ -168,7 +168,6 @@ const G2_PinDescription G2_g_APinDescription[] = {
  { PIOB, PIO_PB21,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 52
  { PIOB, PIO_PB14,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 53

-
  // 54 .. 65 - Analog pins
  // ----------------------
  { PIOA, PIO_PA16X1_AD7,    ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC0,   ADC7,   NOT_ON_PWM,  NOT_ON_TIMER }, // AD0
@@ -0,0 +1,22 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
@@ -68,16 +68,15 @@
 * Usually the hardware SPI pins are only available to the LCD. This makes the DUE hard SPI used at the same time
 * as the TMC2130 soft SPI the most common setup.
 */
-#define _IS_HW_SPI(P) (defined(TMC_SPI_##P) && (TMC_SPI_##P == SD_MOSI_PIN || TMC_SPI_##P == SD_MISO_PIN || TMC_SPI_##P == SD_SCK_PIN))
-
 #if HAS_MEDIA && HAS_DRIVER(TMC2130)
-  #if ENABLED(TMC_USE_SW_SPI)
-    #if DISABLED(DUE_SOFTWARE_SPI) && (_IS_HW_SPI(MOSI) || _IS_HW_SPI(MISO) || _IS_HW_SPI(SCK))
-      #error "DUE hardware SPI is required but is incompatible with TMC2130 software SPI. Either disable TMC_USE_SW_SPI or use separate pins for the two SPIs."
-    #endif
-  #elif ENABLED(DUE_SOFTWARE_SPI)
+  #define _IS_HW_SPI(P) (defined(TMC_SPI_##P) && (TMC_SPI_##P == SD_MOSI_PIN || TMC_SPI_##P == SD_MISO_PIN || TMC_SPI_##P == SD_SCK_PIN))
+  #if DISABLED(SOFTWARE_SPI) && ENABLED(TMC_USE_SW_SPI) && (_IS_HW_SPI(MOSI) || _IS_HW_SPI(MISO) || _IS_HW_SPI(SCK))
+    #error "DUE hardware SPI is required but is incompatible with TMC2130 software SPI. Either disable TMC_USE_SW_SPI or use separate pins for the two SPIs."
+  #endif
+  #if ENABLED(SOFTWARE_SPI) && DISABLED(TMC_USE_SW_SPI)
    #error "DUE software SPI is required but is incompatible with TMC2130 hardware SPI. Enable TMC_USE_SW_SPI to fix."
  #endif
+  #undef _IS_HW_SPI
 #endif

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

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

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

 #define NUMBER_PINS_TOTAL PINS_COUNT

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

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

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

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

 /**
 * DUE Board pin   |  PORT  | Label
@@ -24,7 +24,7 @@
 /**
 * Define SPI Pins: SCK, MISO, MOSI, SS
 *
- * Available chip select pins for HW SPI are 4 10 52 77
+ * Available chip select pins for HW SPI are 4 10 52 77 87
 */
 #if SDSS == 4 || SDSS == 10 || SDSS == 52 || SDSS == 77 || SDSS == 87
  #if SDSS == 4
@@ -48,7 +48,7 @@
  #define SD_MOSI_PIN       75
 #else
  // defaults
-  #define DUE_SOFTWARE_SPI
+  #define SOFTWARE_SPI
  #ifndef SD_SCK_PIN
    #define SD_SCK_PIN      52
  #endif
@@ -66,7 +66,7 @@

 #include <U8glib-HAL.h>

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

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

    if current_OS == 'Windows':

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

        # Use bossac.exe on Windows
        env.Replace(
@@ -0,0 +1,29 @@
+# USB Files Source Documentation
+
+## Source
+
+We sourced the USB files in Marlin from the Atmel ASF (Advanced Software Framework). The framework provides a variety of examples which were utilized in this project.
+
+Atmel doesn't provide these files in a source repository but they can be extracted from ASF, which can be downloaded from Atmel.
+
+[Advanced Software Framework](https://www.microchip.com/en-us/tools-resources/develop/libraries/advanced-software-framework)
+
+## Modifications
+
+The files are mostly unmodified except for minor cosmetic changes but some more significant changes were needed.
+
+The changes that prompted the addition of this README file are listed below. Other changes may have been made prior to this.
+
+1. Modified `uotghs_device_due.c` to resolve race conditions that could leave interrupts asserted when freezing the peripheral clock, resulting in hangs and watchdog resets due to the ensuing interrupt storm.
+
+## Version Information
+
+We don't know the exact version of ASF used as the source. However, the copyright information in the files indicates they are from 2015.
+
+## Upgrade Considerations
+
+We looked at the ASF 3.52.0 files released in 2022 but saw no immediate benefits to justify an upgrade. It's important to note that the files in Marlin don't follow the same folder structure as the files in ASF, which complicates the process of comparing and applying updated files.
+
+When these files are updated it's important to carefully compare them to Marlin's versions so any improvements in the Marlin sources are brought forward.
+
+It would be best to make Marlin's directory structure align with ASF or at least document the source of each file to ease future updates.
@@ -142,7 +142,6 @@
 */
 #define COMPILER_PACK_RESET()          COMPILER_PRAGMA(pack())

-
 /**
 * \brief Set aligned boundary.
 */
@@ -283,7 +282,6 @@ typedef double                  F64;  //!< 64-bit floating-point number.
 typedef uint32_t                iram_size_t;
 //! @}

-
 /*! \name Status Types
 */
 //! @{
@@ -291,7 +289,6 @@ typedef bool                Status_bool_t;  //!< Boolean status.
 typedef U8                  Status_t;       //!< 8-bit-coded status.
 //! @}

-
 /*! \name Aliasing Aggregate Types
 */
 //! @{
@@ -462,7 +459,6 @@ typedef struct
 #endif
 //! @}

-
 #ifndef __ASSEMBLY__ // not for assembling.

 //! \name Optimization Control
@@ -581,7 +577,6 @@ typedef struct

 //! @}

-
 /*! \name Zero-Bit Counting
 *
 * Under GCC, __builtin_clz and __builtin_ctz behave like macros when
@@ -692,7 +687,6 @@ typedef struct

 //! @}

-
 /*! \name Bit Reversing
 */
 //! @{
@@ -732,7 +726,6 @@ typedef struct

 //! @}

-
 /*! \name Alignment
 */
 //! @{
@@ -798,7 +791,6 @@ typedef struct
 */
 #define Long_call(addr)                   ((*(void (*)(void))(addr))())

-
 /*! \name MCU Endianism Handling
 * ARM is MCU little endianism.
 */
@@ -868,7 +860,6 @@ typedef struct
 #define  CPU_TO_BE32(x) swap32(x)
 //! @}

-
 /*! \name Endianism Conversion
 *
 * The same considerations as for clz and ctz apply here but GCC's
@@ -955,7 +946,6 @@ typedef struct

 //! @}

-
 /*! \name Target Abstraction
 */
 //! @{
@@ -997,7 +987,6 @@ typedef U8                  Byte;       //!< 8-bit unsigned integer.

 #endif  // #ifndef __ASSEMBLY__

-
 #ifdef __ICCARM__
 #define SHORTENUM           __packed
 #elif defined(__GNUC__)
@@ -81,7 +81,6 @@
 #define LUN_0_NAME                              "\"SD/MMC Card\""
 //! @}

-
 /*! \name Actions Associated with Memory Accesses
 *
 * Write here the action to associate with each memory access.
@@ -112,5 +111,4 @@
 #define GLOBAL_WR_PROTECT    false   //!< Management of a global write protection.
 //! @}

-
 #endif // _CONF_ACCESS_H_
@@ -96,5 +96,4 @@
 // - UPLL frequency: 480MHz
 // - USB clock: 480 / 1 = 480MHz

-
 #endif /* CONF_CLOCK_H_INCLUDED */
@@ -88,7 +88,6 @@
 #endif
 //@}

-
 /**
 * USB Device Callbacks definitions (Optional)
 * @{
@@ -150,7 +149,6 @@

 //@}

-
 /**
 * USB Interface Configuration
 * @{
@@ -210,7 +208,6 @@
  //@}
  //@}

-
  /**
   * Configuration of MSC interface
   * @{
@@ -245,7 +242,6 @@

  //@}

-
  /**
   * Description of Composite Device
   * @{
@@ -68,7 +68,6 @@
 #endif
 #include "ctrl_access.h"

-
 //_____ D E F I N I T I O N S ______________________________________________

 #ifdef FREERTOS_USED
@@ -112,7 +111,6 @@ static xSemaphoreHandle ctrl_access_semphr = NULL;

 #endif  // FREERTOS_USED

-
 #if MAX_LUN

 /*! \brief Initializes an entry of the LUN descriptor table.
@@ -242,17 +240,14 @@ static const struct

 #endif

-
 #if GLOBAL_WR_PROTECT == true
 bool g_wr_protect;
 #endif

-
 /*! \name Control Interface
 */
 //! @{

-
 #ifdef FREERTOS_USED

 bool ctrl_access_init(void)
@@ -270,7 +265,6 @@ bool ctrl_access_init(void)
  return true;
 }

-
 /*! \brief Locks accesses to LUNs.
 *
 * \return \c true if the access was successfully locked, else \c false.
@@ -288,7 +282,6 @@ static bool ctrl_access_lock(void)

 #endif  // FREERTOS_USED

-
 U8 get_nb_lun(void)
 {
 #if MEM_USB == ENABLE
@@ -309,13 +302,11 @@ U8 get_nb_lun(void)
 #endif
 }

-
 U8 get_cur_lun(void)
 {
  return LUN_ID_0;
 }

-
 Ctrl_status mem_test_unit_ready(U8 lun)
 {
  Ctrl_status status;
@@ -337,7 +328,6 @@ Ctrl_status mem_test_unit_ready(U8 lun)
  return status;
 }

-
 Ctrl_status mem_read_capacity(U8 lun, U32 *u32_nb_sector)
 {
  Ctrl_status status;
@@ -359,7 +349,6 @@ Ctrl_status mem_read_capacity(U8 lun, U32 *u32_nb_sector)
  return status;
 }

-
 U8 mem_sector_size(U8 lun)
 {
  U8 sector_size;
@@ -381,7 +370,6 @@ U8 mem_sector_size(U8 lun)
  return sector_size;
 }

-
 bool mem_unload(U8 lun, bool unload)
 {
  bool unloaded;
@@ -433,7 +421,6 @@ bool mem_wr_protect(U8 lun)
  return wr_protect;
 }

-
 bool mem_removal(U8 lun)
 {
  bool removal;
@@ -458,7 +445,6 @@ bool mem_removal(U8 lun)
  return removal;
 }

-
 const char *mem_name(U8 lun)
 {
 #if MAX_LUN==0
@@ -475,17 +461,14 @@ const char *mem_name(U8 lun)
 #endif
 }

-
 //! @}

-
 #if ACCESS_USB == true

 /*! \name MEM <-> USB Interface
 */
 //! @{

-
 Ctrl_status memory_2_usb(U8 lun, U32 addr, U16 nb_sector)
 {
  Ctrl_status status;
@@ -505,7 +488,6 @@ Ctrl_status memory_2_usb(U8 lun, U32 addr, U16 nb_sector)
  return status;
 }

-
 Ctrl_status usb_2_memory(U8 lun, U32 addr, U16 nb_sector)
 {
  Ctrl_status status;
@@ -525,19 +507,16 @@ Ctrl_status usb_2_memory(U8 lun, U32 addr, U16 nb_sector)
  return status;
 }

-
 //! @}

 #endif  // ACCESS_USB == true

-
 #if ACCESS_MEM_TO_RAM == true

 /*! \name MEM <-> RAM Interface
 */
 //! @{

-
 Ctrl_status memory_2_ram(U8 lun, U32 addr, void *ram)
 {
  Ctrl_status status;
@@ -564,7 +543,6 @@ Ctrl_status memory_2_ram(U8 lun, U32 addr, void *ram)
  return status;
 }

-
 Ctrl_status ram_2_memory(U8 lun, U32 addr, const void *ram)
 {
  Ctrl_status status;
@@ -591,19 +569,16 @@ Ctrl_status ram_2_memory(U8 lun, U32 addr, const void *ram)
  return status;
 }

-
 //! @}

 #endif  // ACCESS_MEM_TO_RAM == true

-
 #if ACCESS_STREAM == true

 /*! \name Streaming MEM <-> MEM Interface
 */
 //! @{

-
  #if ACCESS_MEM_TO_MEM == true

 #include "fat.h"
@@ -625,21 +600,18 @@ Ctrl_status stream_mem_to_mem(U8 src_lun, U32 src_addr, U8 dest_lun, U32 dest_ad

  #endif  // ACCESS_MEM_TO_MEM == true

-
 Ctrl_status stream_state(U8 id)
 {
  UNUSED(id);
  return CTRL_GOOD;
 }

-
 U16 stream_stop(U8 id)
 {
  UNUSED(id);
  return 0;
 }

-
 //! @}

 #endif // ACCESS_STREAM
@@ -56,7 +56,6 @@
 * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
 */

-
 #ifndef _CTRL_ACCESS_H_
 #define _CTRL_ACCESS_H_

@@ -89,7 +88,6 @@ typedef enum
  CTRL_BUSY       = FAIL + 2  //!< Memory not initialized or changed.
 } Ctrl_status;

-
 // FYI: Each Logical Unit Number (LUN) corresponds to a memory.

 // Check LUN defines.
@@ -136,7 +134,6 @@ typedef enum
 #define LUN_ID_USB      (MAX_LUN)           //!< First dynamic LUN (USB host mass storage).
 //! @}

-
 // Include LUN header files.
 #if LUN_0 == ENABLE
  #include LUN_0_INCLUDE
@@ -166,13 +163,11 @@ typedef enum
  #include LUN_USB_INCLUDE
 #endif

-
 // Check the configuration of write protection in conf_access.h.
 #ifndef GLOBAL_WR_PROTECT
  #error GLOBAL_WR_PROTECT must be defined as true or false in conf_access.h
 #endif

-
 #if GLOBAL_WR_PROTECT == true

 //! Write protect.
@@ -180,7 +175,6 @@ extern bool g_wr_protect;

 #endif

-
 /*! \name Control Interface
 */
 //! @{
@@ -279,7 +273,6 @@ extern const char *mem_name(U8 lun);

 //! @}

-
 #if ACCESS_USB == true

 /*! \name MEM <-> USB Interface
@@ -310,7 +303,6 @@ extern Ctrl_status usb_2_memory(U8 lun, U32 addr, U16 nb_sector);

 #endif  // ACCESS_USB == true

-
 #if ACCESS_MEM_TO_RAM == true

 /*! \name MEM <-> RAM Interface
@@ -341,7 +333,6 @@ extern Ctrl_status ram_2_memory(U8 lun, U32 addr, const void *ram);

 #endif  // ACCESS_MEM_TO_RAM == true

-
 #if ACCESS_STREAM == true

 /*! \name Streaming MEM <-> MEM Interface
@@ -57,7 +57,6 @@

 #include "preprocessor.h"

-
 //! Maximal number of repetitions supported by MREPEAT.
 #define MREPEAT_LIMIT   256

@@ -128,7 +128,6 @@ static inline void osc_enable(uint32_t ul_id) {
    pmc_switch_sclk_to_32kxtal(PMC_OSC_BYPASS);
    break;

-
  case OSC_MAINCK_4M_RC:
    pmc_switch_mainck_to_fastrc(CKGR_MOR_MOSCRCF_4_MHz);
    break;
@@ -141,7 +140,6 @@ static inline void osc_enable(uint32_t ul_id) {
    pmc_switch_mainck_to_fastrc(CKGR_MOR_MOSCRCF_12_MHz);
    break;

-
  case OSC_MAINCK_XTAL:
    pmc_switch_mainck_to_xtal(PMC_OSC_XTAL/*,
      pmc_us_to_moscxtst(BOARD_OSC_STARTUP_US,
@@ -51,5 +51,4 @@
 #include "stringz.h"
 #include "mrepeat.h"

-
 #endif  // _PREPROCESSOR_H_
@@ -86,7 +86,6 @@ enum scsi_sbc_mode {
  SCSI_MS_MODE_CACHING = 0x08,    //!< Caching mode page
 };

-
 //! \name SBC-2 Device-Specific Parameter
 //@{
 #define SCSI_MS_SBC_WP              0x80    //!< Write Protected
@@ -18,30 +18,30 @@ extern "C" {
 void sd_mmc_spi_mem_init() {
 }

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

 bool sd_mmc_spi_unload(bool) { return true; }

 bool sd_mmc_spi_wr_protect() { return false; }

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

 #if ACCESS_USB == true
@@ -61,8 +61,7 @@ Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector) {
  #ifdef DISABLE_DUE_SD_MMC
    return CTRL_NO_PRESENT;
  #endif
-  if (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted())
-    return CTRL_NO_PRESENT;
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;

  #ifdef DEBUG_MMC
  {
@@ -101,8 +100,7 @@ Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector) {
  #ifdef DISABLE_DUE_SD_MMC
    return CTRL_NO_PRESENT;
  #endif
-  if (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted())
-    return CTRL_NO_PRESENT;
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;

  #ifdef DEBUG_MMC
  {
@@ -45,7 +45,6 @@
 * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
 */

-
 #ifndef _SD_MMC_SPI_MEM_H_
 #define _SD_MMC_SPI_MEM_H_

@@ -63,22 +62,19 @@
  #error sd_mmc_spi_mem.h is #included although SD_MMC_SPI_MEM is disabled
 #endif

-
 #include "ctrl_access.h"

-
 //_____ D E F I N I T I O N S ______________________________________________

 #define   SD_MMC_REMOVED       0
 #define   SD_MMC_INSERTED      1
 #define   SD_MMC_REMOVING      2

-
 //---- CONTROL FUNCTIONS ----
 //!
 //! @brief This function initializes the hw/sw resources required to drive the SD_MMC_SPI.
 //!/
-extern void           sd_mmc_spi_mem_init(void);
+void sd_mmc_spi_mem_init();

 //!
 //! @brief This function tests the state of the SD_MMC memory and sends it to the Host.
@@ -91,7 +87,7 @@ extern void           sd_mmc_spi_mem_init(void);
 //!   Media not present    ->    CTRL_NO_PRESENT
 //!   Media has changed    ->    CTRL_BUSY
 //!/
-extern Ctrl_status    sd_mmc_spi_test_unit_ready(void);
+Ctrl_status sd_mmc_spi_test_unit_ready();

 //!
 //! @brief This function gives the address of the last valid sector.
@@ -102,7 +98,7 @@ extern Ctrl_status    sd_mmc_spi_test_unit_ready(void);
 //!   Media ready          ->  CTRL_GOOD
 //!   Media not present    ->  CTRL_NO_PRESENT
 //!/
-extern Ctrl_status    sd_mmc_spi_read_capacity(uint32_t *nb_sector);
+Ctrl_status sd_mmc_spi_read_capacity(uint32_t *nb_sector);

 /*! \brief Unload/Load the SD/MMC card selected
 *
@@ -113,7 +109,7 @@ extern Ctrl_status    sd_mmc_spi_read_capacity(uint32_t *nb_sector);
 *
 * \return \c true if unload/load done success.
 */
-extern bool sd_mmc_spi_unload(bool unload);
+bool sd_mmc_spi_unload(bool unload);

 //!
 //! @brief This function returns the write protected status of the memory.
@@ -124,15 +120,14 @@ extern bool sd_mmc_spi_unload(bool unload);
 //!
 //! @return false  -> the memory is not write-protected (always)
 //!/
-extern bool           sd_mmc_spi_wr_protect(void);
+bool sd_mmc_spi_wr_protect();

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

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

@@ -152,7 +147,7 @@ extern bool           sd_mmc_spi_removal(void);
 //!   It is ready    ->    CTRL_GOOD
 //!   A error occur  ->    CTRL_FAIL
 //!
-extern Ctrl_status    sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector);
+Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector);

 //! This function initializes the SD/MMC memory for a write operation
 //!
@@ -166,7 +161,7 @@ extern Ctrl_status    sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector);
 //!   It is ready    ->    CTRL_GOOD
 //!   An error occurs  ->    CTRL_FAIL
 //!
-extern Ctrl_status    sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector);
+Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector);

 #endif // #if ACCESS_USB == true

@@ -212,7 +212,6 @@ extern "C" {
  #define CONFIG_USBCLK_DIV
 #endif

-
 extern void sysclk_enable_usb(void);
 extern void sysclk_disable_usb(void);

@@ -83,7 +83,6 @@ static usb_iface_desc_t UDC_DESC_STORAGE *udc_ptr_iface;

 //! @}

-
 //! \name Internal structure to store the USB device main strings
 //! @{

@@ -685,6 +685,4 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void);
   } \endcode
 */

-
-
 #endif // _UDC_H_
@@ -213,7 +213,6 @@ void udd_send_remotewakeup(void);
 */
 void udd_set_setup_payload( uint8_t *payload, uint16_t payload_size );

-
 /**
 * \name Endpoint Management
 *
@@ -457,7 +457,6 @@ void udi_cdc_data_sof_notify(void)
 #endif
 }

-
 // ------------------------
 //------- Internal routines to control serial line

@@ -520,7 +519,6 @@ static void udi_cdc_ctrl_state_change(uint8_t port, bool b_set, le16_t bit_mask)
 	udi_cdc_ctrl_state_notify(port, ep_comm);
 }

-
 static void udi_cdc_ctrl_state_notify(uint8_t port, udd_ep_id_t ep)
 {
 #if UDI_CDC_PORT_NB == 1 // To optimize code
@@ -542,7 +540,6 @@ static void udi_cdc_ctrl_state_notify(uint8_t port, udd_ep_id_t ep)
 	}
 }

-
 static void udi_cdc_serial_state_msg_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep)
 {
 	uint8_t port;
@@ -578,11 +575,9 @@ static void udi_cdc_serial_state_msg_sent(udd_ep_status_t status, iram_size_t n,
 	udi_cdc_ctrl_state_notify(port, ep);
 }

-
 // ------------------------
 //------- Internal routines to process data transfer

-
 static bool udi_cdc_rx_start(uint8_t port)
 {
 	irqflags_t flags;
@@ -632,7 +627,6 @@ static bool udi_cdc_rx_start(uint8_t port)
 			udi_cdc_data_received);
 }

-
 static void udi_cdc_data_received(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep)
 {
 	uint8_t buf_sel_trans;
@@ -668,7 +662,6 @@ static void udi_cdc_data_received(udd_ep_status_t status, iram_size_t n, udd_ep_
 	udi_cdc_rx_start(port);
 }

-
 static void udi_cdc_data_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep)
 {
 	uint8_t port;
@@ -700,7 +693,6 @@ static void udi_cdc_data_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t
 	udi_cdc_tx_send(port);
 }

-
 static void udi_cdc_tx_send(uint8_t port)
 {
 	irqflags_t flags;
@@ -780,11 +772,9 @@ static void udi_cdc_tx_send(uint8_t port)
 			udi_cdc_data_sent);
 }

-
 // ------------------------
 //------- Application interface

-
 //------- Application interface

 void udi_cdc_ctrl_signal_dcd(bool b_set)
@@ -106,7 +106,6 @@ typedef struct {
  usb_ep_desc_t ep_notify;
 } udi_cdc_comm_desc_t;

-
 /**
 * \brief Data Class interface descriptor
 *
@@ -121,7 +120,6 @@ typedef struct {
  usb_ep_desc_t ep_out;
 } udi_cdc_data_desc_t;

-
 //! CDC communication endpoints size for all speeds
 #define UDI_CDC_COMM_EP_SIZE        64
 //! CDC data endpoints size for FS speed (8B, 16B, 32B, 64B)
@@ -109,7 +109,6 @@ UDC_DESC_STORAGE usb_dev_desc_t udc_device_desc = {
  .bNumConfigurations = 1
 };

-
 #ifdef USB_DEVICE_HS_SUPPORT
 //! USB Device Qualifier Descriptor for HS
 COMPILER_WORD_ALIGNED
@@ -93,7 +93,6 @@ UDC_DESC_STORAGE usb_dev_desc_t udc_device_desc = {
  .bNumConfigurations        = 1
 };

-
 #ifdef USB_DEVICE_HS_SUPPORT
 //! USB Device Qualifier Descriptor for HS
 COMPILER_WORD_ALIGNED
@@ -147,7 +146,6 @@ UDC_DESC_STORAGE udc_desc_t udc_desc_hs = {
 };
 #endif

-
 /**
 * \name UDC structures which contains all USB Device definitions
 */
@@ -86,7 +86,6 @@ UDC_DESC_STORAGE udi_api_t udi_api_msc = {
 };
 //@}

-
 /**
 * \ingroup udi_msc_group
 * \defgroup udi_msc_group_internal Implementation of UDI MSC
@@ -137,7 +136,6 @@ volatile bool udi_msc_b_reset_trans = true;

 //@}

-
 /**
 * \name Internal routines
 */
@@ -190,7 +188,6 @@ static void udi_msc_cbw_received(udd_ep_status_t status,
 static bool udi_msc_cbw_validate(uint32_t alloc_len, uint8_t dir_flag);
 //@}

-
 /**
 * \name Routines to process small data packet
 */
@@ -217,7 +214,6 @@ static void udi_msc_data_sent(udd_ep_status_t status, iram_size_t nb_sent,
    udd_ep_id_t ep);
 //@}

-
 /**
 * \name Routines to process CSW packet
 */
@@ -250,7 +246,6 @@ static void udi_msc_csw_sent(udd_ep_status_t status, iram_size_t nb_sent,
    udd_ep_id_t ep);
 //@}

-
 /**
 * \name Routines manage sense data
 */
@@ -307,7 +302,6 @@ static void udi_msc_sense_fail_cdb_invalid(void);
 static void udi_msc_sense_command_invalid(void);
 //@}

-
 /**
 * \name Routines manage SCSI Commands
 */
@@ -116,6 +116,23 @@
 //#define dbg_print printf
 #define dbg_print(...)

+// Marlin modification: Redefine the otg_freeze_clock and otg_unfreeze_clock macros
+// to add memory barriers to ensure that any accesses to USB registers aren't re-ordered
+// to occur while the clock is frozen.
+#undef otg_freeze_clock
+#undef otg_unfreeze_clock
+
+#define otg_freeze_clock() do { \
+	__DSB(); \
+	Set_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_FRZCLK); \
+} while (0)
+
+#define otg_unfreeze_clock() \
+do { \
+	Clr_bits(UOTGHS->UOTGHS_CTRL, UOTGHS_CTRL_FRZCLK); \
+	__DSB(); \
+} while (0)
+
 /**
 * \ingroup udd_group
 * \defgroup udd_udphs_group USB On-The-Go High-Speed Port for device mode (UOTGHS)
@@ -276,7 +293,6 @@
 # endif
 #endif

-
 /**
 * \name Power management routine.
 */
@@ -293,7 +309,6 @@ static bool udd_b_idle;
 //! State of sleep manager
 static bool udd_b_sleep_initialized = false;

-
 /*! \brief Authorize or not the CPU powerdown mode
 *
 * \param b_enable true to authorize idle mode
@@ -321,7 +336,6 @@ static void udd_sleep_mode(bool b_idle)

 //@}

-
 /**
 * \name Control endpoint low level management routine.
 *
@@ -393,7 +407,6 @@ static void udd_ctrl_send_zlp_out(void);
 //! \brief Call callback associated to setup request
 static void udd_ctrl_endofrequest(void);

-
 /**
 * \brief Main interrupt routine for control endpoint
 *
@@ -405,7 +418,6 @@ static bool udd_ctrl_interrupt(void);

 //@}

-
 /**
 * \name Management of bulk/interrupt/isochronous endpoints
 *
@@ -443,7 +455,6 @@ typedef struct {
 	uint8_t stall_requested:1;
 } udd_ep_job_t;

-
 //! Array to register a job on bulk/interrupt/isochronous endpoint
 static udd_ep_job_t udd_ep_job[USB_DEVICE_MAX_EP];

@@ -505,7 +516,6 @@ static bool udd_ep_interrupt(void);
 #endif // (0!=USB_DEVICE_MAX_EP)
 //@}

-
 // ------------------------
 //--- INTERNAL ROUTINES TO MANAGED GLOBAL EVENTS

@@ -611,6 +621,18 @@ ISR(UDD_USB_INT_FUN)
 		// The wakeup interrupt is automatic acked when a suspend occur
 		udd_disable_wake_up_interrupt();
 		udd_enable_suspend_interrupt();
+
+		// Marlin modification: The RESET, SOF, and MSOF interrupts were previously
+		// enabled in udd_attach, which caused a race condition where they could
+		// be raised and unclearable with the clock is frozen. They are now
+		// enabled here, after the clock has been unfrozen in response to the wake
+		// interrupt.
+		udd_enable_reset_interrupt();
+		udd_enable_sof_interrupt();
+#ifdef USB_DEVICE_HS_SUPPORT
+		udd_enable_msof_interrupt();
+#endif
+
 		udd_sleep_mode(true); // Enter in IDLE mode
 #ifdef UDC_RESUME_EVENT
 		UDC_RESUME_EVENT();
@@ -642,13 +664,11 @@ udd_interrupt_sof_end:
 	return;
 }

-
 bool udd_include_vbus_monitoring(void)
 {
 	return true;
 }

-
 void udd_enable(void)
 {
 	irqflags_t flags;
@@ -735,7 +755,6 @@ void udd_enable(void)
 	cpu_irq_restore(flags);
 }

-
 void udd_disable(void)
 {
 	irqflags_t flags;
@@ -776,6 +795,27 @@ void udd_disable(void)
 	cpu_irq_restore(flags);
 }

+// Marlin modification: The original implementation did not use a memory
+// barrier between disabling and clearing interrupts. This sometimes
+// allowed interrupts to remain raised and unclearable after the clock
+// was frozen. This helper was added to ensure that memory barriers
+// are used consistently from all places where interrupts are disabled.
+static void disable_and_ack_sync_interrupts()
+{
+	// Disable USB line events
+	udd_disable_reset_interrupt();
+	udd_disable_sof_interrupt();
+#ifdef USB_DEVICE_HS_SUPPORT
+	udd_disable_msof_interrupt();
+#endif
+	__DSB();
+	udd_ack_reset();
+	udd_ack_sof();
+#ifdef USB_DEVICE_HS_SUPPORT
+	udd_ack_msof();
+#endif
+	__DSB();
+}

 void udd_attach(void)
 {
@@ -796,17 +836,16 @@ void udd_attach(void)
 	udd_attach_device();

 	// Enable USB line events
-	udd_enable_reset_interrupt();
 	udd_enable_suspend_interrupt();
 	udd_enable_wake_up_interrupt();
-	udd_enable_sof_interrupt();
-#ifdef USB_DEVICE_HS_SUPPORT
-	udd_enable_msof_interrupt();
-#endif
-	// Reset following interrupts flag
-	udd_ack_reset();
-	udd_ack_sof();
-	udd_ack_msof();
+
+	// Marlin modification: The RESET, SOF, and MSOF interrupts were previously
+	// enabled here, which caused a race condition where they could be raised
+	// and unclearable with the clock is frozen. They are now enabled in the
+	// wake interrupt handler, after the clock has been unfrozen. They are now
+	// explicitly disabled here to ensure that they cannot be raised before
+	// the clock is frozen.
+	disable_and_ack_sync_interrupts();

 	// The first suspend interrupt must be forced
 	// The first suspend interrupt is not detected else raise it
@@ -817,18 +856,22 @@ void udd_attach(void)
 	cpu_irq_restore(flags);
 }

-
 void udd_detach(void)
 {
 	otg_unfreeze_clock();

 	// Detach device from the bus
 	udd_detach_device();
+
+	// Marlin modification: Added the explicit disabling of the RESET, SOF, and
+	// MSOF interrupts here, to ensure that they cannot be raised after the
+	// clock is frozen.
+	disable_and_ack_sync_interrupts();
+
 	otg_freeze_clock();
 	udd_sleep_mode(false);
 }

-
 bool udd_is_high_speed(void)
 {
 #ifdef USB_DEVICE_HS_SUPPORT
@@ -838,7 +881,6 @@ bool udd_is_high_speed(void)
 #endif
 }

-
 void udd_set_address(uint8_t address)
 {
 	udd_disable_address();
@@ -846,13 +888,11 @@ void udd_set_address(uint8_t address)
 	udd_enable_address();
 }

-
 uint8_t udd_getaddress(void)
 {
 	return udd_get_configured_address();
 }

-
 uint16_t udd_get_frame_number(void)
 {
 	return udd_frame_number();
@@ -875,14 +915,12 @@ void udd_send_remotewakeup(void)
 	}
 }

-
 void udd_set_setup_payload(uint8_t *payload, uint16_t payload_size)
 {
 	udd_g_ctrlreq.payload = payload;
 	udd_g_ctrlreq.payload_size = payload_size;
 }

-
 #if (0 != USB_DEVICE_MAX_EP)
 bool udd_ep_alloc(udd_ep_id_t ep, uint8_t bmAttributes,
 		uint16_t MaxEndpointSize)
@@ -1006,7 +1044,6 @@ bool udd_ep_alloc(udd_ep_id_t ep, uint8_t bmAttributes,
 	return true;
 }

-
 void udd_ep_free(udd_ep_id_t ep)
 {
 	uint8_t ep_index = ep & USB_EP_ADDR_MASK;
@@ -1019,14 +1056,12 @@ void udd_ep_free(udd_ep_id_t ep)
 	udd_ep_job[ep_index - 1].stall_requested = false;
 }

-
 bool udd_ep_is_halted(udd_ep_id_t ep)
 {
 	uint8_t ep_index = ep & USB_EP_ADDR_MASK;
 	return Is_udd_endpoint_stall_requested(ep_index);
 }

-
 bool udd_ep_set_halt(udd_ep_id_t ep)
 {
 	uint8_t ep_index = ep & USB_EP_ADDR_MASK;
@@ -1067,7 +1102,6 @@ bool udd_ep_set_halt(udd_ep_id_t ep)
 	return true;
 }

-
 bool udd_ep_clear_halt(udd_ep_id_t ep)
 {
 	uint8_t ep_index = ep & USB_EP_ADDR_MASK;
@@ -1108,7 +1142,6 @@ bool udd_ep_clear_halt(udd_ep_id_t ep)
 	return true;
 }

-
 bool udd_ep_run(udd_ep_id_t ep, bool b_shortpacket,
 		uint8_t * buf, iram_size_t buf_size,
 		udd_callback_trans_t callback)
@@ -1175,7 +1208,6 @@ bool udd_ep_run(udd_ep_id_t ep, bool b_shortpacket,
 #endif
 }

-
 void udd_ep_abort(udd_ep_id_t ep)
 {
 	uint8_t ep_index = ep & USB_EP_ADDR_MASK;
@@ -1204,7 +1236,6 @@ void udd_ep_abort(udd_ep_id_t ep)
 	udd_ep_abort_job(ep);
 }

-
 bool udd_ep_wait_stall_clear(udd_ep_id_t ep,
 		udd_callback_halt_cleared_t callback)
 {
@@ -1239,7 +1270,6 @@ bool udd_ep_wait_stall_clear(udd_ep_id_t ep,
 }
 #endif // (0 != USB_DEVICE_MAX_EP)

-
 #ifdef USB_DEVICE_HS_SUPPORT

 void udd_test_mode_j(void)
@@ -1248,20 +1278,17 @@ void udd_test_mode_j(void)
 	udd_enable_hs_test_mode_j();
 }

-
 void udd_test_mode_k(void)
 {
 	udd_enable_hs_test_mode();
 	udd_enable_hs_test_mode_k();
 }

-
 void udd_test_mode_se0_nak(void)
 {
 	udd_enable_hs_test_mode();
 }

-
 void udd_test_mode_packet(void)
 {
 	uint8_t i;
@@ -1305,8 +1332,6 @@ void udd_test_mode_packet(void)
 }
 #endif // USB_DEVICE_HS_SUPPORT

-
-
 // ------------------------
 //--- INTERNAL ROUTINES TO MANAGED THE CONTROL ENDPOINT

@@ -1356,7 +1381,6 @@ static void udd_ctrl_init(void)
 	udd_ep_control_state = UDD_EPCTRL_SETUP;
 }

-
 static void udd_ctrl_setup_received(void)
 {
 	irqflags_t flags;
@@ -1418,7 +1442,6 @@ static void udd_ctrl_setup_received(void)
 	}
 }

-
 static void udd_ctrl_in_sent(void)
 {
 	static bool b_shortpacket = false;
@@ -1502,7 +1525,6 @@ static void udd_ctrl_in_sent(void)
 	cpu_irq_restore(flags);
 }

-
 static void udd_ctrl_out_received(void)
 {
 	irqflags_t flags;
@@ -1593,7 +1615,6 @@ static void udd_ctrl_out_received(void)
 	cpu_irq_restore(flags);
 }

-
 static void udd_ctrl_underflow(void)
 {
 	if (Is_udd_out_received(0))
@@ -1610,7 +1631,6 @@ static void udd_ctrl_underflow(void)
 	}
 }

-
 static void udd_ctrl_overflow(void)
 {
 	if (Is_udd_in_send(0))
@@ -1626,7 +1646,6 @@ static void udd_ctrl_overflow(void)
 	}
 }

-
 static void udd_ctrl_stall_data(void)
 {
 	// Stall all packets on IN & OUT control endpoint
@@ -1634,7 +1653,6 @@ static void udd_ctrl_stall_data(void)
 	udd_enable_stall_handshake(0);
 }

-
 static void udd_ctrl_send_zlp_in(void)
 {
 	irqflags_t flags;
@@ -1652,7 +1670,6 @@ static void udd_ctrl_send_zlp_in(void)
 	cpu_irq_restore(flags);
 }

-
 static void udd_ctrl_send_zlp_out(void)
 {
 	irqflags_t flags;
@@ -1668,7 +1685,6 @@ static void udd_ctrl_send_zlp_out(void)
 	cpu_irq_restore(flags);
 }

-
 static void udd_ctrl_endofrequest(void)
 {
 	// If a callback is registered then call it
@@ -1677,7 +1693,6 @@ static void udd_ctrl_endofrequest(void)
 	}
 }

-
 static bool udd_ctrl_interrupt(void)
 {

@@ -1728,7 +1743,6 @@ static bool udd_ctrl_interrupt(void)
 	return false;
 }

-
 // ------------------------
 //--- INTERNAL ROUTINES TO MANAGED THE BULK/INTERRUPT/ISOCHRONOUS ENDPOINTS

@@ -1743,7 +1757,6 @@ static void udd_ep_job_table_reset(void)
 	}
 }

-
 static void udd_ep_job_table_kill(void)
 {
 	uint8_t i;
@@ -1754,7 +1767,6 @@ static void udd_ep_job_table_kill(void)
 	}
 }

-
 static void udd_ep_abort_job(udd_ep_id_t ep)
 {
 	ep &= USB_EP_ADDR_MASK;
@@ -1763,7 +1775,6 @@ static void udd_ep_abort_job(udd_ep_id_t ep)
 	udd_ep_finish_job(&udd_ep_job[ep - 1], true, ep);
 }

-
 static void udd_ep_finish_job(udd_ep_job_t * ptr_job, bool b_abort, uint8_t ep_num)
 {
 	if (ptr_job->busy == false) {
@@ -1834,7 +1845,6 @@ static void udd_ep_trans_done(udd_ep_id_t ep)
 		udd_dma_ctrl |= UOTGHS_DEVDMACONTROL_END_BUFFIT |
 				UOTGHS_DEVDMACONTROL_CHANN_ENB;

-
 		// Disable IRQs to have a short sequence
 		// between read of EOT_STA and DMA enable
 		flags = cpu_irq_save();
@@ -2043,6 +2053,12 @@ static bool udd_ep_interrupt(void)
 				dbg_print("I ");
 				udd_disable_in_send_interrupt(ep);
 				// One bank is free then send a ZLP
+
+				// Marlin modification: Add a barrier to ensure in_send is disabled
+				// before it is cleared. This was not an observed problem, but
+				// other interrupts were seen to misbehave without this barrier.
+				__DSB();
+
 				udd_ack_in_send(ep);
 				udd_ack_fifocon(ep);
 				udd_ep_finish_job(ptr_job, false, ep);
@@ -129,7 +129,6 @@ extern "C" {
 #define Is_udd_vbus_transition()          (Tst_bits(UOTGHS->UOTGHS_SR, UOTGHS_SR_VBUSTI))
 //! @}

-
 //! @name UOTGHS device attach control
 //! These macros manage the UOTGHS Device attach.
 //! @{
@@ -141,7 +140,6 @@ extern "C" {
 #define Is_udd_detached()                 (Tst_bits(UOTGHS->UOTGHS_DEVCTRL, UOTGHS_DEVCTRL_DETACH))
 //! @}

-
 //! @name UOTGHS device bus events control
 //! These macros manage the UOTGHS Device bus events.
 //! @{
@@ -246,7 +244,6 @@ extern "C" {
 #define udd_get_configured_address()              (Rd_bitfield(UOTGHS->UOTGHS_DEVCTRL, UOTGHS_DEVCTRL_UADD_Msk))
 //! @}

-
 //! @name UOTGHS Device endpoint drivers
 //! These macros manage the common features of the endpoints.
 //! @{
@@ -330,7 +327,6 @@ extern "C" {
 #define udd_data_toggle(ep)                       (Rd_bitfield(UOTGHS_ARRAY(UOTGHS_DEVEPTISR[0], ep), UOTGHS_DEVEPTISR_DTSEQ_Msk))
 //! @}

-
 //! @name UOTGHS Device control endpoint
 //! These macros control the endpoints.
 //! @{
@@ -530,7 +526,6 @@ extern "C" {
  //! Tests if IN sending interrupt is enabled
 #define Is_udd_in_send_interrupt_enabled(ep)      (Tst_bits(UOTGHS_ARRAY(UOTGHS_DEVEPTIMR[0], ep), UOTGHS_DEVEPTIMR_TXINE))

-
  //! Get 64-, 32-, 16- or 8-bit access to FIFO data register of selected endpoint.
  //! @param ep Endpoint of which to access FIFO data register
  //! @param scale Data scale in bits: 64, 32, 16 or 8
@@ -652,7 +647,6 @@ typedef struct {
 //! @}
 //! @}

-
 /// @cond 0
 /**INDENT-OFF**/
 #ifdef __cplusplus
@@ -53,7 +53,6 @@
 extern "C" {
 #endif

-
 //! \ingroup usb_group
 //! \defgroup otg_group UOTGHS OTG Driver
 //! UOTGHS low-level driver for OTG features
@@ -74,7 +73,6 @@ bool otg_dual_enable(void);
 */
 void otg_dual_disable(void);

-
 //! @name UOTGHS OTG ID pin management
 //! The ID pin come from the USB OTG connector (A and B receptable) and
 //! allows to select the USB mode host or device.
@@ -374,7 +374,6 @@ typedef struct {
  uint8_t bNumDeviceCaps;
 } usb_dev_bos_desc_t;

-
 /**
 * \brief USB Device Capabilities - USB 2.0 Extension Descriptor structure
 *
@@ -411,7 +410,6 @@ typedef struct {
  uint8_t iFunction;        //!< Index of string descriptor
 } usb_association_desc_t;

-
 /**
 * \brief Standard USB configuration descriptor structure
 */
@@ -426,7 +424,6 @@ typedef struct {
  uint8_t bMaxPower;
 } usb_conf_desc_t;

-
 #define  USB_CONFIG_ATTR_MUST_SET         (1 << 7) //!< Must always be set
 #define  USB_CONFIG_ATTR_BUS_POWERED      (0 << 6) //!< Bus-powered
 #define  USB_CONFIG_ATTR_SELF_POWERED     (1 << 6) //!< Self-powered
@@ -475,7 +472,6 @@ typedef struct {
  uint8_t bInterval;
 } usb_ep_desc_t;

-
 /**
 * \brief A standard USB string descriptor structure
 */
@@ -168,7 +168,6 @@ COMPILER_PACK_SET(1)
 //! \name USB CDC Descriptors
 //@{

-
 //! CDC Header Functional Descriptor
 typedef struct {
  uint8_t bFunctionLength;
@@ -203,7 +202,6 @@ typedef struct {
  uint8_t bSlaveInterface0;
 } usb_cdc_union_desc_t;

-
 //! \name USB CDC Call Management Capabilities
 //@{
 //! Device handles call management itself
@@ -278,7 +276,6 @@ typedef struct {
 //@}
 //@}

-
 //! \name USB CDC notification message
 //@{

@@ -47,7 +47,6 @@
 #ifndef _USB_PROTOCOL_MSC_H_
 #define _USB_PROTOCOL_MSC_H_

-
 /**
 * \ingroup usb_protocol_group
 * \defgroup usb_msc_protocol USB Mass Storage Class (MSC) protocol definitions
@@ -89,7 +88,6 @@
 #define MSC_PROTOCOL_BULK           0x50  //!< Bulk-only
 //@}

-
 /**
 * \brief MSC USB requests (bRequest)
 */
@@ -98,7 +96,6 @@ enum usb_reqid_msc {
  USB_REQ_MSC_GET_MAX_LUN = 0xFE  //!< Get Max LUN
 };

-
 COMPILER_PACK_SET(1)

 /**
@@ -122,7 +119,6 @@ struct usb_msc_cbw {
 #define USB_CBW_LEN_MASK            0x1F  //!< Valid bits in bCBWCBLength
 //@}

-
 /**
 * \name A Command Status Wrapper (CSW).
 */
@@ -209,16 +209,17 @@ int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
 // ADC
 // ------------------------

-#define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
-
+// https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32/api-reference/peripherals/adc.html
 adc1_channel_t get_channel(int pin) {
  switch (pin) {
-    case 39: return ADC1_CHANNEL(39);
-    case 36: return ADC1_CHANNEL(36);
-    case 35: return ADC1_CHANNEL(35);
-    case 34: return ADC1_CHANNEL(34);
-    case 33: return ADC1_CHANNEL(33);
-    case 32: return ADC1_CHANNEL(32);
+    case 39: return ADC1_CHANNEL_3;
+    case 36: return ADC1_CHANNEL_0;
+    case 35: return ADC1_CHANNEL_7;
+    case 34: return ADC1_CHANNEL_6;
+    case 33: return ADC1_CHANNEL_5;
+    case 32: return ADC1_CHANNEL_4;
+    case 37: return ADC1_CHANNEL_1;
+    case 38: return ADC1_CHANNEL_2;
  }
  return ADC1_CHANNEL_MAX;
 }
@@ -31,24 +31,28 @@
 #ifndef MARLIN_EEPROM_SIZE
  #define MARLIN_EEPROM_SIZE 0x1000 // 4KB
 #endif
-size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE - eeprom_exclude_size; }

 bool PersistentStore::access_start()  { return EEPROM.begin(MARLIN_EEPROM_SIZE); }
 bool PersistentStore::access_finish() { EEPROM.end(); return true; }

 bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
  for (size_t i = 0; i < size; i++) {
-    EEPROM.write(pos++, value[i]);
+    const int p = REAL_EEPROM_ADDR(pos);
+    EEPROM.write(p, value[i]);
    crc16(crc, &value[i], 1);
+    ++pos;
  }
  return false;
 }

 bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
  for (size_t i = 0; i < size; i++) {
-    uint8_t c = EEPROM.read(pos++);
+    const int p = REAL_EEPROM_ADDR(pos);
+    uint8_t c = EEPROM.read(p);
    if (writing) value[i] = c;
    crc16(crc, &c, 1);
+    ++pos;
  }
  return false;
 }
@@ -59,6 +59,7 @@ void setup_endstop_interrupts() {
  TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
  TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
  TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
  TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
  TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
  TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));
@@ -37,6 +37,10 @@
 // Set pin as output
 #define _SET_OUTPUT(IO)         pinMode(IO, OUTPUT)

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

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

+#define IS_OUTPUT(IO)            _IS_OUTPUT(IO)
+#define IS_INPUT(IO)             _IS_INPUT(IO)
+
 // digitalRead/Write wrappers
 #define extDigitalRead(IO)      digitalRead(IO)
 #define extDigitalWrite(IO,V)   digitalWrite(IO,V)
@@ -34,6 +34,10 @@
 #include <freertos/queue.h>
 #include "../../module/stepper.h"

+#if ENABLED(FT_MOTION)
+  #include "../../module/ft_motion.h"
+#endif
+
 #define DMA_BUF_COUNT 8                                // number of DMA buffers to store data
 #define DMA_BUF_LEN   4092                             // maximum size in bytes
 #define I2S_SAMPLE_SIZE 4                              // 4 bytes, 32 bits per sample
@@ -134,8 +138,8 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {

  if (high_priority_task_awoken == pdTRUE) portYIELD_FROM_ISR();

-  // clear interrupt
-  I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
+  // Clear pending interrupt
+  I2S0.int_clr.val = I2S0.int_st.val;
 }

 void stepperTask(void *parameter) {
@@ -148,29 +152,43 @@ void stepperTask(void *parameter) {
    xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
    dma.rw_pos = 0;

+    const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.active);
+
    while (dma.rw_pos < DMA_SAMPLE_COUNT) {
-      if (!nextMainISR) {
-        Stepper::pulse_phase_isr();
-        nextMainISR = Stepper::block_phase_isr();
-      }
-      #if ENABLED(LIN_ADVANCE)
-        else if (!nextAdvanceISR) {
-          Stepper::advance_isr();
-          nextAdvanceISR = Stepper::la_interval;
+
+      #if ENABLED(FT_MOTION)
+
+        if (using_ftMotion) {
+          if (!nextMainISR) stepper.ftMotion_stepper();
+          nextMainISR = 0;
        }
+
      #endif
-      else
-        i2s_push_sample();

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

-      #if ENABLED(LIN_ADVANCE)
-        if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
-          nextAdvanceISR = Stepper::la_interval;
+        nextMainISR--;

-        if (nextAdvanceISR && nextAdvanceISR != Stepper::LA_ADV_NEVER)
-          nextAdvanceISR--;
-      #endif
+        #if ENABLED(LIN_ADVANCE)
+          if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
+            nextAdvanceISR = Stepper::la_interval;
+
+          if (nextAdvanceISR && nextAdvanceISR != Stepper::LA_ADV_NEVER)
+            nextAdvanceISR--;
+        #endif
+      }
    }
  }
 }
@@ -0,0 +1,22 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
@@ -22,11 +22,15 @@

 #ifdef ARDUINO_ARCH_ESP32

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

 #if ALL(WIFISUPPORT, OTASUPPORT)

-#include <WiFi.h>
 #include <ESPmDNS.h>
 #include <WiFiUdp.h>
 #include <ArduinoOTA.h>
@@ -0,0 +1,71 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#error "PINS_DEBUGGING is not yet supported for ESP32!"
+
+/**
+ * Pins Debugging for ESP32
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
+ */
+
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin
+
+#define digitalRead_mod(P) extDigitalRead(P)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%02d"), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(x) pin_array[x].pin
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
+#define isValidPin(P) (P >= 0 && P < pin_t(NUMBER_PINS_TOTAL))
+#define digitalPinToAnalogIndex(P) int(P - analogInputToDigitalPin(0))
+#define isAnalogPin(P) WITHIN(P, pin_t(analogInputToDigitalPin(0)), pin_t(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
+bool pwm_status(const pin_t) { return false; }
+
+void printPinPort(const pin_t) {}
+
+static bool getValidPinMode(const pin_t pin) {
+  return isValidPin(pin) && !IS_INPUT(pin);
+}
+
+void printPinPWM(const int32_t pin) {
+  if (pwm_status(pin)) {
+    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
+    //SERIAL_ECHOPGM("PWM = ", duty);
+  }
+}
@@ -90,7 +90,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  config.counter_en  = TIMER_PAUSE;
  config.alarm_en    = TIMER_ALARM_EN;
  config.intr_type   = TIMER_INTR_LEVEL;
-  config.auto_reload = true;
+  config.auto_reload = TIMER_AUTORELOAD_EN;

  // Select and initialize the timer
  timer_init(timer.group, timer.idx, &config);
@@ -53,12 +53,11 @@ typedef uint64_t hal_timer_t;
 #if ENABLED(I2S_STEPPER_STREAM)
  #define STEPPER_TIMER_PRESCALE     1
  #define STEPPER_TIMER_RATE         250000                           // 250khz, 4µs pulses of i2s word clock
-  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs // wrong would be 0.25
 #else
  #define STEPPER_TIMER_PRESCALE     40
  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)) // frequency of stepper timer, 2MHz
-  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)              // stepper timer ticks per µs
 #endif
+#define STEPPER_TIMER_TICKS_PER_US   ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs

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

@@ -114,22 +114,19 @@
 // Misc. Functions
 //
 #ifndef analogInputToDigitalPin
-#define analogInputToDigitalPin(p) (p)
+  #define analogInputToDigitalPin(p) pin_t(p)
 #endif

-#define CRITICAL_SECTION_START        \
-  uint32_t primask = __get_PRIMASK(); \
-  (void)__iCliRetVal()
+#define CRITICAL_SECTION_START()        \
+  const bool irqon = !__get_PRIMASK();  \
+  __disable_irq();                      \
+  __DSB();
+#define CRITICAL_SECTION_END()          \
+  __DSB();                              \
+  if (irqon) __enable_irq();

-#define CRITICAL_SECTION_END \
-  if (!primask)              \
-  (void)__iSeiRetVal()
-
-// Disable interrupts
-#define cli() noInterrupts()
-
-// Enable interrupts
-#define sei() interrupts()
+#define cli() __disable_irq()
+#define sei() __enable_irq()

 // bss_end alias
 #define __bss_end __bss_end__
@@ -142,12 +139,31 @@
 // ADC
 //
 #define HAL_ADC_VREF_MV 3300
-#define HAL_ADC_RESOLUTION 10
+#define HAL_ADC_RESOLUTION 12

 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)

+//
+// Debug port disable
+// JTMS / SWDIO = PA13
+// JTCK / SWCLK = PA14
+// JTDI         = PA15
+// JTDO         = PB3
+// NJTRST       = PB4
+//
+#define DBG_SWCLK _BV(0)
+#define DBG_SWDIO _BV(1)
+#define DBG_TDO   _BV(2)
+#define DBG_TDI   _BV(3)
+#define DBG_TRST  _BV(4)
+#define DBG_ALL (DBG_SWCLK | DBG_SWDIO | DBG_TDO | DBG_TDI | DBG_TRST)
+
+#define JTAGSWD_RESET() PORT_DebugPortSetting(DBG_ALL, Enable);
+#define JTAG_DISABLE() PORT_DebugPortSetting(DBG_TDO | DBG_TDI | DBG_TRST, Disable);
+#define JTAGSWD_DISABLE() PORT_DebugPortSetting(DBG_ALL, Disable);
+
 //
 // MarlinHAL implementation
 //
@@ -123,6 +123,11 @@ void MarlinHAL::init() {

  // Register min serial
  TERN_(POSTMORTEM_DEBUGGING, install_min_serial());
+
+  // warn if low memory after init
+  if (freeMemory() < 1024) {
+    SERIAL_WARN_MSG("HAL: low memory after init!\n");
+  }
 }

 void MarlinHAL::init_board() {}
@@ -147,7 +152,31 @@ void MarlinHAL::delay_ms(const int ms) {
  delay(ms);
 }

-void MarlinHAL::idletask() {}
+void MarlinHAL::idletask() {
+  #if ENABLED(MARLIN_DEV_MODE)
+    // check & print serial RX errors
+    MSerialT *serials[] = { &MSerial1, &MSerial2 };
+    for (int serial = 0; serial < 2; serial++) {
+      usart_receive_error_t err = serials[serial]->getReceiveError();
+      if (err != usart_receive_error_t::None) {
+        // "Warning: MSerial[n] RX [Framing|Parity|Overrun] Error"
+        SERIAL_WARN_START();
+        SERIAL_ECHOPGM(" MSerial");
+        SERIAL_ECHO(serial + 1);
+        SERIAL_ECHOPGM(" RX ");
+        switch(err) {
+          case usart_receive_error_t::FramingError: SERIAL_ECHOPGM("Framing"); break;
+          case usart_receive_error_t::ParityError:  SERIAL_ECHOPGM("Parity");  break;
+          case usart_receive_error_t::OverrunError: SERIAL_ECHOPGM("Overrun"); break;
+          case usart_receive_error_t::RxDataDropped: SERIAL_ECHOPGM("DataDropped"); break;
+          default: break;
+        }
+        SERIAL_ECHOPGM(" Error");
+        SERIAL_EOL();
+      }
+    }
+  #endif
+}

 uint8_t MarlinHAL::get_reset_source() {
  // Query reset cause from RMU
@@ -203,7 +232,9 @@ int MarlinHAL::freeMemory() {
  return &top - _sbrk(0);
 }

-void MarlinHAL::adc_init() {}
+void MarlinHAL::adc_init() {
+  analogReadResolution(HAL_ADC_RESOLUTION);
+}

 void MarlinHAL::adc_enable(const pin_t pin) {
  #if TEMP_SENSOR_SOC
@@ -27,7 +27,7 @@

 /**
 * Not every MarlinSerial instance should handle emergency parsing, as
- * it would not make sense to parse GCode from TMC responses
+ * it would not make sense to parse G-Code from TMC responses
 */
 constexpr bool serial_handles_emergency(int port) {
  return false
@@ -46,14 +46,34 @@ constexpr bool serial_handles_emergency(int port) {
 //
 // Define serial ports
 //
-#define DEFINE_HWSERIAL_MARLIN(name, n)      \
+
+// serial port where RX and TX use IRQs
+#define DEFINE_IRQ_SERIAL_MARLIN(name, n)      \
  MSerialT name(serial_handles_emergency(n), \
                &USART##n##_config,          \
                BOARD_USART##n##_TX_PIN,     \
                BOARD_USART##n##_RX_PIN);

-DEFINE_HWSERIAL_MARLIN(MSerial1, 1);
-DEFINE_HWSERIAL_MARLIN(MSerial2, 2);
+// serial port where RX uses DMA and TX uses IRQs
+// all serial ports use DMA1
+// since there are 4 USARTs and 4 DMA channels, we can use the USART number as the DMA channel
+#define DEFINE_DMA_SERIAL_MARLIN(name, n)      \
+  MSerialT name(serial_handles_emergency(n), \
+                &USART##n##_config,          \
+                BOARD_USART##n##_TX_PIN,     \
+                BOARD_USART##n##_RX_PIN,     \
+                M4_DMA1,                     \
+                ((en_dma_channel_t)(n - 1))); // map USART1 to DMA channel 0, USART2 to DMA channel 1, etc.
+
+#define DEFINE_SERIAL_MARLIN(name, n) TERN(SERIAL_DMA, DEFINE_DMA_SERIAL_MARLIN(name, n), DEFINE_IRQ_SERIAL_MARLIN(name, n))
+
+DEFINE_SERIAL_MARLIN(MSerial1, 1);
+DEFINE_SERIAL_MARLIN(MSerial2, 2);
+
+// TODO: remove this warning when SERIAL_DMA has been tested some more
+#if ENABLED(SERIAL_DMA)
+  #warning "SERIAL_DMA may be unstable on HC32F460."
+#endif

 //
 // Serial port assertions
@@ -25,17 +25,42 @@
 #include <drivers/usart/Usart.h>

 // Optionally set uart IRQ priority to reduce overflow errors
-// #define UART_IRQ_PRIO 1
+//#define UART_RX_IRQ_PRIO 1
+//#define UART_TX_IRQ_PRIO 1
+//#define UART_RX_DMA_IRQ_PRIO 1

 struct MarlinSerial : public Usart {
-  MarlinSerial(struct usart_config_t *usart_device, gpio_pin_t tx_pin, gpio_pin_t rx_pin) : Usart(usart_device, tx_pin, rx_pin) {}
+  MarlinSerial(
+    struct usart_config_t *usart_device,
+    gpio_pin_t tx_pin,
+    gpio_pin_t rx_pin
+    #if ENABLED(SERIAL_DMA)
+    , M4_DMA_TypeDef *dma_unit = nullptr,
+    en_dma_channel_t rx_dma_channel = DmaCh0
+    #endif
+  ) : Usart(usart_device, tx_pin, rx_pin) {
+    #if ENABLED(SERIAL_DMA)
+      if (dma_unit != nullptr) {
+        enableRxDma(dma_unit, rx_dma_channel);
+      }
+    #endif
+  }

-  #ifdef UART_IRQ_PRIO
+  #if defined(UART_RX_IRQ_PRIO) || defined(UART_TX_IRQ_PRIO) || defined(UART_RX_DMA_IRQ_PRIO)
    void setPriority() {
-      NVIC_SetPriority(c_dev()->interrupts.rx_data_available.interrupt_number, UART_IRQ_PRIO);
-      NVIC_SetPriority(c_dev()->interrupts.rx_error.interrupt_number, UART_IRQ_PRIO);
-      NVIC_SetPriority(c_dev()->interrupts.tx_buffer_empty.interrupt_number, UART_IRQ_PRIO);
-      NVIC_SetPriority(c_dev()->interrupts.tx_complete.interrupt_number, UART_IRQ_PRIO);
+      #if defined(UART_RX_IRQ_PRIO)
+        NVIC_SetPriority(c_dev()->interrupts.rx_data_available.interrupt_number, UART_RX_IRQ_PRIO);
+        NVIC_SetPriority(c_dev()->interrupts.rx_error.interrupt_number, UART_RX_IRQ_PRIO);
+      #endif
+
+      #if defined(UART_TX_IRQ_PRIO)
+        NVIC_SetPriority(c_dev()->interrupts.tx_buffer_empty.interrupt_number, UART_TX_IRQ_PRIO);
+        NVIC_SetPriority(c_dev()->interrupts.tx_complete.interrupt_number, UART_TX_IRQ_PRIO);
+      #endif
+
+      #if defined(UART_RX_DMA_IRQ_PRIO) && ENABLED(SERIAL_DMA)
+        NVIC_SetPriority(c_dev()->dma.rx.rx_data_available_dma_btc.interrupt_number, UART_RX_DMA_IRQ_PRIO);
+      #endif
    }

    void begin(uint32_t baud) {
@@ -47,7 +72,12 @@ struct MarlinSerial : public Usart {
      Usart::begin(baud, config);
      setPriority();
    }
-  #endif
+
+    void begin(uint32_t baud, const stc_usart_uart_init_t *config, const bool rxNoiseFilter = true) {
+      Usart::begin(baud, config, rxNoiseFilter);
+      setPriority();
+    }
+  #endif // UART_RX_IRQ_PRIO || UART_TX_IRQ_PRIO || UART_RX_DMA_IRQ_PRIO
 };

 typedef Serial1Class<MarlinSerial> MSerialT;
@@ -0,0 +1,75 @@
+/**
+ * app_config.h is included by the hc32f460 arduino build script for every source file.
+ * it is used to configure the arduino core (and ddl) automatically according
+ * to the settings in Configuration.h and Configuration_adv.h.
+ */
+#pragma once
+#ifndef _HC32_APP_CONFIG_H_
+#define _HC32_APP_CONFIG_H_
+
+#include "../../inc/MarlinConfigPre.h"
+
+//
+// dev mode
+//
+#if ENABLED(MARLIN_DEV_MODE)
+  #define __DEBUG 1
+  #define __CORE_DEBUG 1
+#endif
+
+//
+// Fault Handlers and Panic
+//
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  // disable arduino core fault handler, as we define our own
+  #define CORE_DISABLE_FAULT_HANDLER 1
+#endif
+
+// force-enable panic handler so that we can use our custom one (in MinSerial)
+#define PANIC_ENABLE 1
+
+// use short filenames in ddl debug and core panic output
+#define __DEBUG_SHORT_FILENAMES 1
+#define __PANIC_SHORT_FILENAMES 1
+
+// omit panic messages in core panic output
+#define __OMIT_PANIC_MESSAGE 1
+
+//
+// Usart
+//
+
+// disable serial globals (Serial1, Serial2, ...), as we define our own
+#define DISABLE_SERIAL_GLOBALS 1
+
+// increase the size of the Usart buffers (both RX and TX)
+// NOTE:
+// the heap usage will increase by (SERIAL_BUFFER_SIZE - 64) * "number of serial ports used"
+// if running out of heap, the system may become unstable
+//#define SERIAL_BUFFER_SIZE 256
+
+// enable support for Usart Clock Divider / Oversampling auto config
+#define USART_AUTO_CLKDIV_OS_CONFIG 1
+
+// enable USART_RX_DMA_SUPPORT core option when SERIAL_DMA is enabled
+#if ENABLED(SERIAL_DMA)
+  #define USART_RX_DMA_SUPPORT 1
+#endif
+
+//
+// Misc.
+//
+
+// redirect printf to host serial
+#define REDIRECT_PRINTF_TO_SERIAL 1
+
+// F_CPU must be known at compile time, but on HC32F460 it's not.
+// Thus we assume HCLK to be 200MHz, as that's what is configured in
+// 'core_hook_sysclock_init' in 'sysclock.cpp'.
+// If you face issues with this assumption, please double-check with the values
+// printed by 'MarlinHAL::HAL_clock_frequencies_dump'.
+// see also: HAL_TIMER_RATE in timers.h
+#define F_CPU 200000000 // 200MHz HCLK
+
+#endif // _HC32_APP_CONFIG_H_
--- a/Show More
+++ b/Show More