Remove extra screen refreshes and obsolete box

[cron] Bump distribution date (2022-04-05)
✨ DOGM Display Sleep (#23992 )
2022-04-09 17:18:13 -04:00 · 2022-04-05 00:01:35 +00:00 · 2022-04-04 15:57:03 -05:00 · 2022-04-03 21:43:42 -05:00 · 2022-04-03 21:03:23 -05:00 · 2022-04-03 21:00:31 -05:00
1151 changed files with 40985 additions and 16967 deletions
@@ -66,7 +66,7 @@ jobs:
        - mks_robin_lite_maple
        - mks_robin_pro_maple
        #- mks_robin_nano35_maple
-        #- STM32F103RET6_creality_maple
+        #- STM32F103RE_creality_maple
        - STM32F103VE_ZM3E4V2_USB_maple

        # STM32 (ST) Environments
@@ -75,7 +75,7 @@ jobs:
        #- STM32F103RC_btt_USB
        - STM32F103RE_btt
        - STM32F103RE_btt_USB
-        - STM32F103RET6_creality
+        - STM32F103RE_creality
        - STM32F103VE_longer
        - STM32F407VE_black
        - STM32F401VE_STEVAL
@@ -113,10 +113,10 @@ jobs:
    steps:

    - name: Check out the PR
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3

    - name: Cache pip
-      uses: actions/cache@v2
+      uses: actions/cache@v3
      with:
        path: ~/.cache/pip
        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
@@ -124,20 +124,20 @@ jobs:
          ${{ runner.os }}-pip-

    - name: Cache PlatformIO
-      uses: actions/cache@v2
+      uses: actions/cache@v3
      with:
        path: ~/.platformio
        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}

    - name: Select Python 3.7
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v3
      with:
        python-version: '3.7' # Version range or exact version of a Python version to use, using semvers version range syntax.
        architecture: 'x64' # optional x64 or x86. Defaults to x64 if not specified

    - name: Install PlatformIO
      run: |
-        pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
+        pip install -U https://github.com/platformio/platformio-core/archive/v5.2.5.zip
        platformio update

    - name: Run ${{ matrix.test-platform }} Tests
@@ -22,12 +22,16 @@
 # Generated files
 _Version.h
 bdf2u8g
+marlin_config.json
+mczip.h
+*.gen
+*.sublime-workspace

 #
 # OS
 #
 applet/
-*.DS_Store
+.DS_Store

 #
 # Misc
@@ -37,7 +41,6 @@ applet/
 *.rej
 *.bak
 *.idea
-*.s
 *.i
 *.ii
 *.swp
@@ -137,20 +140,19 @@ __vm/
 vc-fileutils.settings

 # Visual Studio Code
-.vscode
-.vscode/.browse.c_cpp.db*
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-.vscode/*.db
+.vscode/*
+!.vscode/extensions.json

 #Simulation
 imgui.ini
 eeprom.dat
+spi_flash.bin

 #cmake
 CMakeLists.txt
 src/CMakeLists.txt
 CMakeListsPrivate.txt
+build/

 # CLion
 cmake-build-*
@@ -167,7 +169,3 @@ __pycache__

 # IOLogger logs
 *_log.csv
-
-# Simulation / Native
-eeprom.dat
-imgui.ini
@@ -0,0 +1,11 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "marlinfirmware.auto-build",
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}
@@ -35,7 +35,7 @@
 *
 * Advanced settings can be found in Configuration_adv.h
 */
-#define CONFIGURATION_H_VERSION 02000902
+#define CONFIGURATION_H_VERSION 02010000

 //===========================================================================
 //============================= Getting Started =============================
@@ -94,6 +94,11 @@

 // @section machine

+// Choose the name from boards.h that matches your setup
+#ifndef MOTHERBOARD
+  #define MOTHERBOARD BOARD_RAMPS_14_EFB
+#endif
+
 /**
 * 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.
@@ -137,11 +142,6 @@
 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH

-// Choose the name from boards.h that matches your setup
-#ifndef MOTHERBOARD
-  #define MOTHERBOARD BOARD_RAMPS_14_EFB
-#endif
-
 // Name displayed in the LCD "Ready" message and Info menu
 //#define CUSTOM_MACHINE_NAME "3D Printer"

@@ -150,9 +150,9 @@
 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"

 /**
- * Define the number of coordinated linear axes.
+ * Define the number of coordinated axes.
 * See https://github.com/DerAndere1/Marlin/wiki
- * Each linear axis gets its own stepper control and endstop:
+ * Each axis gets its own stepper control and endstop:
 *
 *   Steppers: *_STEP_PIN, *_ENABLE_PIN, *_DIR_PIN, *_ENABLE_ON
 *   Endstops: *_STOP_PIN, USE_*MIN_PLUG, USE_*MAX_PLUG
@@ -161,31 +161,50 @@
 *             DEFAULT_MAX_ACCELERATION, AXIS_RELATIVE_MODES,
 *             MICROSTEP_MODES, MANUAL_FEEDRATE
 *
- * :[3, 4, 5, 6]
+ * :[3, 4, 5, 6, 7, 8, 9]
 */
-//#define LINEAR_AXES 3
+//#define NUM_AXES 3

 /**
- * Axis codes for additional axes:
- * This defines the axis code that is used in G-code commands to
- * reference a specific axis.
- * 'A' for rotational axis parallel to X
- * 'B' for rotational axis parallel to Y
- * 'C' for rotational axis parallel to Z
- * 'U' for secondary linear axis parallel to X
- * 'V' for secondary linear axis parallel to Y
- * 'W' for secondary linear axis parallel to Z
- * Regardless of the settings, firmware-internal axis IDs are
- * I (AXIS4), J (AXIS5), K (AXIS6).
+ * Additional Axis Settings
+ *
+ * Define AXISn_ROTATES for all axes that rotate or pivot.
+ * Rotational axis coordinates are expressed in degrees.
+ *
+ * AXISn_NAME defines the letter used to refer to the axis in (most) G-code commands.
+ * By convention the names and roles are typically:
+ *   'A' : Rotational axis parallel to X
+ *   'B' : Rotational axis parallel to Y
+ *   'C' : Rotational axis parallel to Z
+ *   'U' : Secondary linear axis parallel to X
+ *   'V' : Secondary linear axis parallel to Y
+ *   'W' : Secondary linear axis parallel to Z
+ *
+ * Regardless of these settings the axes are internally named I, J, K, U, V, W.
 */
-#if LINEAR_AXES >= 4
+#if NUM_AXES >= 4
  #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define AXIS4_ROTATES
 #endif
-#if LINEAR_AXES >= 5
-  #define AXIS5_NAME 'B' // :['A', 'B', 'C', 'U', 'V', 'W']
+#if NUM_AXES >= 5
+  #define AXIS5_NAME 'B' // :['B', 'C', 'U', 'V', 'W']
+  #define AXIS5_ROTATES
 #endif
-#if LINEAR_AXES >= 6
-  #define AXIS6_NAME 'C' // :['A', 'B', 'C', 'U', 'V', 'W']
+#if NUM_AXES >= 6
+  #define AXIS6_NAME 'C' // :['C', 'U', 'V', 'W']
+  #define AXIS6_ROTATES
+#endif
+#if NUM_AXES >= 7
+  #define AXIS7_NAME 'U' // :['U', 'V', 'W']
+  //#define AXIS7_ROTATES
+#endif
+#if NUM_AXES >= 8
+  #define AXIS8_NAME 'V' // :['V', 'W']
+  //#define AXIS8_ROTATES
+#endif
+#if NUM_AXES >= 9
+  #define AXIS9_NAME 'W' // :['W']
+  //#define AXIS9_ROTATES
 #endif

 // @section extruder
@@ -260,7 +279,6 @@

  #define PARKING_EXTRUDER_PARKING_X { -78, 184 }     // X positions for parking the extruders
  #define PARKING_EXTRUDER_GRAB_DISTANCE 1            // (mm) Distance to move beyond the parking point to grab the extruder
-  //#define MANUAL_SOLENOID_CONTROL                   // Manual control of docking solenoids with M380 S / M381

  #if ENABLED(PARKING_EXTRUDER)

@@ -372,8 +390,12 @@
  //#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 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 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

  //#define PSU_POWERUP_GCODE  "M355 S1"  // G-code to run after power-on (e.g., case light on)
  //#define PSU_POWEROFF_GCODE "M355 S0"  // G-code to run before power-off (e.g., case light off)
@@ -385,12 +407,14 @@
    #define AUTO_POWER_CONTROLLERFAN
    #define AUTO_POWER_CHAMBER_FAN
    #define AUTO_POWER_COOLER_FAN
-    //#define AUTO_POWER_E_TEMP        50 // (°C) Turn on PSU if any extruder is over this temperature
-    //#define AUTO_POWER_CHAMBER_TEMP  30 // (°C) Turn on PSU if the chamber is over this temperature
-    //#define AUTO_POWER_COOLER_TEMP   26 // (°C) Turn on PSU if the cooler is over this temperature
    #define POWER_TIMEOUT              30 // (s) Turn off power if the machine is idle for this duration
    //#define POWER_OFF_DELAY          60 // (s) Delay of poweroff after M81 command. Useful to let fans run for extra time.
  #endif
+  #if EITHER(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN)
+    //#define AUTO_POWER_E_TEMP        50 // (°C) PSU on if any extruder is over this temperature
+    //#define AUTO_POWER_CHAMBER_TEMP  30 // (°C) PSU on if the chamber is over this temperature
+    //#define AUTO_POWER_COOLER_TEMP   26 // (°C) PSU on if the cooler is over this temperature
+  #endif
 #endif

 //===========================================================================
@@ -432,6 +456,9 @@
 *     5 : 100kΩ  ATC Semitec 104GT-2/104NT-4-R025H42G - Used in ParCan, J-Head, and E3D, SliceEngineering 300°C
 *   501 : 100kΩ  Zonestar - Tronxy X3A
 *   502 : 100kΩ  Zonestar - used by hot bed in Zonestar Průša P802M
+ *   503 : 100kΩ  Zonestar (Z8XM2) Heated Bed thermistor
+ *   504 : 100kΩ  Zonestar P802QR2 (Part# QWG-104F-B3950) Hotend Thermistor
+ *   505 : 100kΩ  Zonestar P802QR2 (Part# QWG-104F-3950) Bed Thermistor
 *   512 : 100kΩ  RPW-Ultra hotend
 *     6 : 100kΩ  EPCOS - Not as accurate as table #1 (created using a fluke thermocouple)
 *     7 : 100kΩ  Honeywell 135-104LAG-J01
@@ -451,6 +478,7 @@
 *    61 : 100kΩ  Formbot/Vivedino 350°C Thermistor - beta 3950
 *    66 : 4.7MΩ  Dyze Design High Temperature Thermistor
 *    67 : 500kΩ  SliceEngineering 450°C Thermistor
+ *    68 : PT100 amplifier board from Dyze Design
 *    70 : 100kΩ  bq Hephestos 2
 *    75 : 100kΩ  Generic Silicon Heat Pad with NTC100K MGB18-104F39050L32
 *  2000 : 100kΩ  Ultimachine Rambo TDK NTCG104LH104KT1 NTC100K motherboard Thermistor
@@ -580,17 +608,17 @@
 //===========================================================================
 //============================= PID Settings ================================
 //===========================================================================
-// PID Tuning Guide here: https://reprap.org/wiki/PID_Tuning

-// Comment the following line to disable PID and enable bang-bang.
-#define PIDTEMP
+// Enable PIDTEMP for PID control or MPCTEMP for Predictive Model.
+// temperature control. Disable both for bang-bang heating.
+#define PIDTEMP          // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning
+//#define MPCTEMP        // ** EXPERIMENTAL **
+
 #define BANG_MAX 255     // Limits current to nozzle while in bang-bang mode; 255=full current
 #define PID_MAX BANG_MAX // Limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #define PID_K1 0.95      // Smoothing factor within any PID loop

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

@@ -605,7 +633,45 @@
    #define DEFAULT_Ki   1.08
    #define DEFAULT_Kd 114.00
  #endif
-#endif // PIDTEMP
+#endif
+
+/**
+ * Model Predictive Control for hotend
+ *
+ * Use a physical model of the hotend to control temperature. When configured correctly
+ * this gives better responsiveness and stability than PID and it also removes the need
+ * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 to autotune the model.
+ */
+#if ENABLED(MPCTEMP)
+  #define MPC_MAX BANG_MAX                            // (0..255) Current to nozzle while MPC is active.
+  #define MPC_HEATER_POWER { 40.0f }                  // (W) Heat cartridge powers.
+
+  #define MPC_INCLUDE_FAN                             // Model the fan speed?
+
+  // Measured physical constants from M306
+  #define MPC_BLOCK_HEAT_CAPACITY { 16.7f }           // (J/K) Heat block heat capacities.
+  #define MPC_SENSOR_RESPONSIVENESS { 0.22f }         // (K/s per ∆K) Rate of change of sensor temperature from heat block.
+  #define MPC_AMBIENT_XFER_COEFF { 0.068f }           // (W/K) Heat transfer coefficients from heat block to room air with fan off.
+  #if ENABLED(MPC_INCLUDE_FAN)
+    #define MPC_AMBIENT_XFER_COEFF_FAN255 { 0.097f }  // (W/K) Heat transfer coefficients from heat block to room air with fan on full.
+  #endif
+
+  // For one fan and multiple hotends MPC needs to know how to apply the fan cooling effect.
+  #if ENABLED(MPC_INCLUDE_FAN)
+    //#define MPC_FAN_0_ALL_HOTENDS
+    //#define MPC_FAN_0_ACTIVE_HOTEND
+  #endif
+
+  #define FILAMENT_HEAT_CAPACITY_PERMM 5.6e-3f        // 0.0056 J/K/mm for 1.75mm PLA (0.0149 J/K/mm for 2.85mm PLA).
+  //#define FILAMENT_HEAT_CAPACITY_PERMM 3.6e-3f      // 0.0036 J/K/mm for 1.75mm PETG (0.0094 J/K/mm for 2.85mm PETG).
+
+  // Advanced options
+  #define MPC_SMOOTHING_FACTOR 0.5f                   // (0.0...1.0) Noisy temperature sensors may need a lower value for stabilization.
+  #define MPC_MIN_AMBIENT_CHANGE 1.0f                 // (K/s) Modeled ambient temperature rate of change, when correcting model inaccuracies.
+  #define MPC_STEADYSTATE 0.5f                        // (K/s) Temperature change rate for steady state logic to be enforced.
+
+  #define MPC_TUNING_POS { X_CENTER, Y_CENTER, 1.0f } // (mm) M306 Autotuning position, ideally bed center just above the surface.
+#endif

 //===========================================================================
 //====================== PID > Bed Temperature Control ======================
@@ -699,6 +765,9 @@
  //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                  // is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
+
+  //#define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of PROGMEM)
+  //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM)
 #endif

 // @section extruder
@@ -757,6 +826,7 @@
 //#define COREZX
 //#define COREZY
 //#define MARKFORGED_XY  // MarkForged. See https://reprap.org/forum/read.php?152,504042
+//#define MARKFORGED_YX

 // Enable for a belt style printer with endless "Z" motion
 //#define BELTPRINTER
@@ -783,12 +853,18 @@
 //#define USE_IMIN_PLUG
 //#define USE_JMIN_PLUG
 //#define USE_KMIN_PLUG
+//#define USE_UMIN_PLUG
+//#define USE_VMIN_PLUG
+//#define USE_WMIN_PLUG
 //#define USE_XMAX_PLUG
 //#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
 //#define USE_IMAX_PLUG
 //#define USE_JMAX_PLUG
 //#define USE_KMAX_PLUG
+//#define USE_UMAX_PLUG
+//#define USE_VMAX_PLUG
+//#define USE_WMAX_PLUG

 // Enable pullup for all endstops to prevent a floating state
 #define ENDSTOPPULLUPS
@@ -800,12 +876,18 @@
  //#define ENDSTOPPULLUP_IMIN
  //#define ENDSTOPPULLUP_JMIN
  //#define ENDSTOPPULLUP_KMIN
+  //#define ENDSTOPPULLUP_UMIN
+  //#define ENDSTOPPULLUP_VMIN
+  //#define ENDSTOPPULLUP_WMIN
  //#define ENDSTOPPULLUP_XMAX
  //#define ENDSTOPPULLUP_YMAX
  //#define ENDSTOPPULLUP_ZMAX
  //#define ENDSTOPPULLUP_IMAX
  //#define ENDSTOPPULLUP_JMAX
  //#define ENDSTOPPULLUP_KMAX
+  //#define ENDSTOPPULLUP_UMAX
+  //#define ENDSTOPPULLUP_VMAX
+  //#define ENDSTOPPULLUP_WMAX
  //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif

@@ -819,12 +901,18 @@
  //#define ENDSTOPPULLDOWN_IMIN
  //#define ENDSTOPPULLDOWN_JMIN
  //#define ENDSTOPPULLDOWN_KMIN
+  //#define ENDSTOPPULLDOWN_UMIN
+  //#define ENDSTOPPULLDOWN_VMIN
+  //#define ENDSTOPPULLDOWN_WMIN
  //#define ENDSTOPPULLDOWN_XMAX
  //#define ENDSTOPPULLDOWN_YMAX
  //#define ENDSTOPPULLDOWN_ZMAX
  //#define ENDSTOPPULLDOWN_IMAX
  //#define ENDSTOPPULLDOWN_JMAX
  //#define ENDSTOPPULLDOWN_KMAX
+  //#define ENDSTOPPULLDOWN_UMAX
+  //#define ENDSTOPPULLDOWN_VMAX
+  //#define ENDSTOPPULLDOWN_WMAX
  //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif

@@ -835,12 +923,18 @@
 #define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.

 /**
@@ -872,6 +966,9 @@
 //#define I_DRIVER_TYPE  A4988
 //#define J_DRIVER_TYPE  A4988
 //#define K_DRIVER_TYPE  A4988
+//#define U_DRIVER_TYPE  A4988
+//#define V_DRIVER_TYPE  A4988
+//#define W_DRIVER_TYPE  A4988
 #define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988
@@ -923,16 +1020,16 @@
 //#define DISTINCT_E_FACTORS

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

 /**
- * Default Max Feed Rate (mm/s)
+ * Default Max Feed Rate (linear=mm/s, rotational=°/s)
 * Override with M203
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
 */
 #define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }

@@ -942,10 +1039,10 @@
 #endif

 /**
- * Default Max Acceleration (change/s) change = mm/s
+ * Default Max Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
 * (Maximum start speed for accelerated moves)
 * Override with M201
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
 */
 #define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }

@@ -955,7 +1052,7 @@
 #endif

 /**
- * Default Acceleration (change/s) change = mm/s
+ * Default Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
 * Override with M204
 *
 *   M204 P    Acceleration
@@ -968,7 +1065,7 @@

 /**
 * Default Jerk limits (mm/s)
- * Override with M205 X Y Z E
+ * Override with M205 X Y Z . . . E
 *
 * "Jerk" specifies the minimum speed change that requires acceleration.
 * When changing speed and direction, if the difference is less than the
@@ -982,6 +1079,9 @@
  //#define DEFAULT_IJERK  0.3
  //#define DEFAULT_JJERK  0.3
  //#define DEFAULT_KJERK  0.3
+  //#define DEFAULT_UJERK  0.3
+  //#define DEFAULT_VJERK  0.3
+  //#define DEFAULT_WJERK  0.3

  //#define TRAVEL_EXTRA_XYJERK 0.0     // Additional jerk allowance for all travel moves

@@ -1089,6 +1189,17 @@
 */
 //#define BLTOUCH

+/**
+ * MagLev V4 probe by MDD
+ *
+ * This probe is deployed and activated by powering a built-in electromagnet.
+ */
+//#define MAGLEV4
+#if ENABLED(MAGLEV4)
+  //#define MAGLEV_TRIGGER_PIN 11     // Set to the connected digital output
+  #define MAGLEV_TRIGGER_DELAY 15     // Changing this risks overheating the coil
+#endif
+
 /**
 * Touch-MI Probe by hotends.fr
 *
@@ -1221,6 +1332,15 @@
  #endif
 #endif

+/**
+ * Probe Enable / Disable
+ * The probe only provides a triggered signal when enabled.
+ */
+//#define PROBE_ENABLE_DISABLE
+#if ENABLED(PROBE_ENABLE_DISABLE)
+  //#define PROBE_ENABLE_PIN -1   // Override the default pin here
+#endif
+
 /**
 * Multiple Probing
 *
@@ -1300,6 +1420,9 @@
 //#define I_ENABLE_ON 0
 //#define J_ENABLE_ON 0
 //#define K_ENABLE_ON 0
+//#define U_ENABLE_ON 0
+//#define V_ENABLE_ON 0
+//#define W_ENABLE_ON 0

 // Disable axis steppers immediately when they're not being stepped.
 // WARNING: When motors turn off there is a chance of losing position accuracy!
@@ -1309,6 +1432,9 @@
 //#define DISABLE_I false
 //#define DISABLE_J false
 //#define DISABLE_K false
+//#define DISABLE_U false
+//#define DISABLE_V false
+//#define DISABLE_W false

 // Turn off the display blinking that warns about possible accuracy reduction
 //#define DISABLE_REDUCED_ACCURACY_WARNING
@@ -1327,6 +1453,9 @@
 //#define INVERT_I_DIR false
 //#define INVERT_J_DIR false
 //#define INVERT_K_DIR false
+//#define INVERT_U_DIR false
+//#define INVERT_V_DIR false
+//#define INVERT_W_DIR false

 // @section extruder

@@ -1365,6 +1494,9 @@
 //#define I_HOME_DIR -1
 //#define J_HOME_DIR -1
 //#define K_HOME_DIR -1
+//#define U_HOME_DIR -1
+//#define V_HOME_DIR -1
+//#define W_HOME_DIR -1

 // @section machine

@@ -1372,7 +1504,7 @@
 #define X_BED_SIZE 200
 #define Y_BED_SIZE 200

-// Travel limits (mm) after homing, corresponding to endstop positions.
+// Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions.
 #define X_MIN_POS 0
 #define Y_MIN_POS 0
 #define Z_MIN_POS 0
@@ -1385,6 +1517,12 @@
 //#define J_MAX_POS 50
 //#define K_MIN_POS 0
 //#define K_MAX_POS 50
+//#define U_MIN_POS 0
+//#define U_MAX_POS 50
+//#define V_MIN_POS 0
+//#define V_MAX_POS 50
+//#define W_MIN_POS 0
+//#define W_MAX_POS 50

 /**
 * Software Endstops
@@ -1404,6 +1542,9 @@
  #define MIN_SOFTWARE_ENDSTOP_I
  #define MIN_SOFTWARE_ENDSTOP_J
  #define MIN_SOFTWARE_ENDSTOP_K
+  #define MIN_SOFTWARE_ENDSTOP_U
+  #define MIN_SOFTWARE_ENDSTOP_V
+  #define MIN_SOFTWARE_ENDSTOP_W
 #endif

 // Max software endstops constrain movement within maximum coordinate bounds
@@ -1415,6 +1556,9 @@
  #define MAX_SOFTWARE_ENDSTOP_I
  #define MAX_SOFTWARE_ENDSTOP_J
  #define MAX_SOFTWARE_ENDSTOP_K
+  #define MAX_SOFTWARE_ENDSTOP_U
+  #define MAX_SOFTWARE_ENDSTOP_V
+  #define MAX_SOFTWARE_ENDSTOP_W
 #endif

 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
@@ -1729,6 +1873,9 @@
 //#define MANUAL_I_HOME_POS 0
 //#define MANUAL_J_HOME_POS 0
 //#define MANUAL_K_HOME_POS 0
+//#define MANUAL_U_HOME_POS 0
+//#define MANUAL_V_HOME_POS 0
+//#define MANUAL_W_HOME_POS 0

 /**
 * Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
@@ -1744,7 +1891,7 @@
  #define Z_SAFE_HOMING_Y_POINT Y_CENTER  // Y point for Z homing
 #endif

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

 // Validate that endstops are triggered on homing moves
@@ -1828,6 +1975,7 @@
 #define EEPROM_BOOT_SILENT    // Keep M503 quiet and only give errors during first load
 #if ENABLED(EEPROM_SETTINGS)
  //#define EEPROM_AUTO_INIT  // Init EEPROM automatically on any errors.
+  //#define EEPROM_INIT_NOW   // Init EEPROM on first boot after a new build.
 #endif

 //
@@ -1883,8 +2031,7 @@
 #if ENABLED(NOZZLE_PARK_FEATURE)
  // Specify a park position as { X, Y, Z_raise }
  #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 }
-  //#define NOZZLE_PARK_X_ONLY          // X move only is required to park
-  //#define NOZZLE_PARK_Y_ONLY          // Y move only is required to park
+  #define NOZZLE_PARK_MOVE          0   // Park motion: 0 = XY Move, 1 = X Only, 2 = Y Only, 3 = X before Y, 4 = Y before X
  #define NOZZLE_PARK_Z_RAISE_MIN   2   // (mm) Always raise Z by at least this distance
  #define NOZZLE_PARK_XY_FEEDRATE 100   // (mm/s) X and Y axes feedrate (also used for delta Z axis)
  #define NOZZLE_PARK_Z_FEEDRATE    5   // (mm/s) Z axis feedrate (not used for delta printers)
@@ -2450,6 +2597,11 @@
 //#define FYSETC_MINI_12864_2_1    // Type A/B. NeoPixel RGB Backlight
 //#define FYSETC_GENERIC_12864_1_1 // Larger display with basic ON/OFF backlight.

+//
+// BigTreeTech Mini 12864 V1.0 is an alias for FYSETC_MINI_12864_2_1. Type A/B. NeoPixel RGB Backlight.
+//
+//#define BTT_MINI_12864_V1
+
 //
 // Factory display for Creality CR-10
 // https://www.aliexpress.com/item/32833148327.html
@@ -2549,38 +2701,38 @@
 //========================== Extensible UI Displays ===========================
 //=============================================================================

-//
-// DGUS Touch Display with DWIN OS. (Choose one.)
-// ORIGIN : https://www.aliexpress.com/item/32993409517.html
-// FYSETC : https://www.aliexpress.com/item/32961471929.html
-// MKS    : https://www.aliexpress.com/item/1005002008179262.html
-//
-// Flash display with DGUS Displays for Marlin:
-//  - Format the SD card to FAT32 with an allocation size of 4kb.
-//  - Download files as specified for your type of display.
-//  - Plug the microSD card into the back of the display.
-//  - Boot the display and wait for the update to complete.
-//
-// ORIGIN (Marlin DWIN_SET)
-//  - Download https://github.com/coldtobi/Marlin_DGUS_Resources
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// FYSETC (Supplier default)
-//  - Download https://github.com/FYSETC/FYSTLCD-2.0
-//  - Copy the downloaded SCREEN folder to the SD card.
-//
-// HIPRECY (Supplier default)
-//  - Download https://github.com/HiPrecy/Touch-Lcd-LEO
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// MKS (MKS-H43) (Supplier default)
-//  - Download https://github.com/makerbase-mks/MKS-H43
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// RELOADED (T5UID1)
-//  - Download https://github.com/Desuuuu/DGUS-reloaded/releases
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
+/**
+ * DGUS Touch Display with DWIN OS. (Choose one.)
+ * ORIGIN : https://www.aliexpress.com/item/32993409517.html
+ * FYSETC : https://www.aliexpress.com/item/32961471929.html
+ * MKS    : https://www.aliexpress.com/item/1005002008179262.html
+ *
+ * Flash display with DGUS Displays for Marlin:
+ *  - Format the SD card to FAT32 with an allocation size of 4kb.
+ *  - Download files as specified for your type of display.
+ *  - Plug the microSD card into the back of the display.
+ *  - Boot the display and wait for the update to complete.
+ *
+ * ORIGIN (Marlin DWIN_SET)
+ *  - Download https://github.com/coldtobi/Marlin_DGUS_Resources
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * FYSETC (Supplier default)
+ *  - Download https://github.com/FYSETC/FYSTLCD-2.0
+ *  - Copy the downloaded SCREEN folder to the SD card.
+ *
+ * HIPRECY (Supplier default)
+ *  - Download https://github.com/HiPrecy/Touch-Lcd-LEO
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * MKS (MKS-H43) (Supplier default)
+ *  - Download https://github.com/makerbase-mks/MKS-H43
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * RELOADED (T5UID1)
+ *  - Download https://github.com/Desuuuu/DGUS-reloaded/releases
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ */
 //#define DGUS_LCD_UI_ORIGIN
 //#define DGUS_LCD_UI_FYSETC
 //#define DGUS_LCD_UI_HIPRECY
@@ -2642,32 +2794,32 @@
 */

 //
-// 480x320, 3.5", SPI Display From MKS
-// Normally used in MKS Robin Nano V2
+// 480x320, 3.5", SPI Display with Rotary Encoder from MKS
+// Usually paired with MKS Robin Nano V2 & V3
 //
 //#define MKS_TS35_V2_0

 //
 // 320x240, 2.4", FSMC Display From MKS
-// Normally used in MKS Robin Nano V1.2
+// Usually paired with MKS Robin Nano V1.2
 //
 //#define MKS_ROBIN_TFT24

 //
 // 320x240, 2.8", FSMC Display From MKS
-// Normally used in MKS Robin Nano V1.2
+// Usually paired with MKS Robin Nano V1.2
 //
 //#define MKS_ROBIN_TFT28

 //
 // 320x240, 3.2", FSMC Display From MKS
-// Normally used in MKS Robin Nano V1.2
+// Usually paired with MKS Robin Nano V1.2
 //
 //#define MKS_ROBIN_TFT32

 //
 // 480x320, 3.5", FSMC Display From MKS
-// Normally used in MKS Robin Nano V1.2
+// Usually paired with MKS Robin Nano V1.2
 //
 //#define MKS_ROBIN_TFT35

@@ -2678,7 +2830,7 @@

 //
 // 320x240, 3.2", FSMC Display From MKS
-// Normally used in MKS Robin
+// Usually paired with MKS Robin
 //
 //#define MKS_ROBIN_TFT_V1_1R

@@ -2708,10 +2860,15 @@
 //#define ANET_ET5_TFT35

 //
-// 1024x600, 7", RGB Stock Display from BIQU-BX
+// 1024x600, 7", RGB Stock Display with Rotary Encoder from BIQU-BX
 //
 //#define BIQU_BX_TFT70

+//
+// 480x320, 3.5", SPI Stock Display with Rotary Encoder from BIQU B1 SE Series
+//
+//#define BTT_TFT35_SPI_V1_0
+
 //
 // Generic TFT with detailed options
 //
@@ -2766,23 +2923,11 @@
 //
 // Ender-3 v2 OEM display. A DWIN display with Rotary Encoder.
 //
-//#define DWIN_CREALITY_LCD
-
-//
-// Ender-3 v2 OEM display, enhanced.
-//
-//#define DWIN_CREALITY_LCD_ENHANCED
-
-//
-// Ender-3 v2 OEM display with enhancements by Jacob Myers
-//
-//#define DWIN_CREALITY_LCD_JYERSUI
-
-//
-// MarlinUI for Creality's DWIN display (and others)
-//
-//#define DWIN_MARLINUI_PORTRAIT
-//#define DWIN_MARLINUI_LANDSCAPE
+//#define DWIN_CREALITY_LCD           // Creality UI
+//#define DWIN_LCD_PROUI              // Pro UI by MRiscoC
+//#define DWIN_CREALITY_LCD_JYERSUI   // Jyers UI by Jacob Myers
+//#define DWIN_MARLINUI_PORTRAIT      // MarlinUI (portrait orientation)
+//#define DWIN_MARLINUI_LANDSCAPE     // MarlinUI (landscape orientation)

 //
 // Touch Screen Settings
@@ -2792,7 +2937,7 @@
  #define BUTTON_DELAY_EDIT  50 // (ms) Button repeat delay for edit screens
  #define BUTTON_DELAY_MENU 250 // (ms) Button repeat delay for menus

-  //#define TOUCH_IDLE_SLEEP 300 // (secs) Turn off the TFT backlight if set (5mn)
+  //#define TOUCH_IDLE_SLEEP 300 // (s) Turn off the TFT backlight if set (5mn)

  #define TOUCH_SCREEN_CALIBRATION

@@ -2818,6 +2963,11 @@
 //#define REPRAPWORLD_KEYPAD
 //#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // (mm) Distance to move per key-press

+//
+// EasyThreeD ET-4000+ with button input and status LED
+//
+//#define EASYTHREED_UI
+
 //=============================================================================
 //=============================== Extra Features ==============================
 //=============================================================================
@@ -2828,9 +2978,6 @@
 // :[1,2,3,4,5,6,7,8]
 //#define NUM_M106_FANS 1

-// Increase the FAN PWM frequency. Removes the PWM noise but increases heating in the FET/Arduino
-//#define FAST_PWM_FAN
-
 // Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
 // which is not as annoying as with the hardware PWM. On the other hand, if this frequency
 // is too low, you should also increment SOFT_PWM_SCALE.
@@ -132,7 +132,7 @@ CC_MIN:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_MINOR__ | cut -f3 -d\ )
 CC_PATCHLEVEL:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_PATCHLEVEL__ | cut -f3 -d\ )
 CC_VER:=$(shell echo $$(( $(CC_MAJ) * 10000 + $(CC_MIN) * 100 + $(CC_PATCHLEVEL) )))
 ifeq ($(shell test $(CC_VER) -lt 40901 && echo 1),1)
-  @echo This version of GCC is likely broken. Enabling relocation workaround.
+  $(warning This GCC version $(CC_VER) is likely broken. Enabling relocation workaround.)
  RELOC_WORKAROUND = 1
 endif

@@ -191,6 +191,134 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1034)
 # RAMPS Derivatives - ATmega1280, ATmega2560
 #

+# 3Drag Controller
+else ifeq ($(HARDWARE_MOTHERBOARD),1100)
+# Velleman K8200 Controller (derived from 3Drag Controller)
+else ifeq ($(HARDWARE_MOTHERBOARD),1101)
+# Velleman K8400 Controller (derived from 3Drag Controller)
+else ifeq ($(HARDWARE_MOTHERBOARD),1102)
+# Velleman K8600 Controller (Vertex Nano)
+else ifeq ($(HARDWARE_MOTHERBOARD),1103)
+# Velleman K8800 Controller (Vertex Delta)
+else ifeq ($(HARDWARE_MOTHERBOARD),1104)
+# 2PrintBeta BAM&DICE with STK drivers
+else ifeq ($(HARDWARE_MOTHERBOARD),1105)
+# 2PrintBeta BAM&DICE Due with STK drivers
+else ifeq ($(HARDWARE_MOTHERBOARD),1106)
+# MKS BASE v1.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1107)
+# MKS BASE v1.4 with Allegro A4982 stepper drivers
+else ifeq ($(HARDWARE_MOTHERBOARD),1108)
+# MKS BASE v1.5 with Allegro A4982 stepper drivers
+else ifeq ($(HARDWARE_MOTHERBOARD),1109)
+# MKS BASE v1.6 with Allegro A4982 stepper drivers
+else ifeq ($(HARDWARE_MOTHERBOARD),1110)
+# MKS BASE 1.0 with Heroic HR4982 stepper drivers
+else ifeq ($(HARDWARE_MOTHERBOARD),1111)
+# MKS GEN v1.3 or 1.4
+else ifeq ($(HARDWARE_MOTHERBOARD),1112)
+# MKS GEN L
+else ifeq ($(HARDWARE_MOTHERBOARD),1113)
+# BigTreeTech or BIQU KFB2.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1114)
+# zrib V2.0 (Chinese RAMPS replica)
+else ifeq ($(HARDWARE_MOTHERBOARD),1115)
+# zrib V5.2 (Chinese RAMPS replica)
+else ifeq ($(HARDWARE_MOTHERBOARD),1116)
+# Felix 2.0+ Electronics Board (RAMPS like)
+else ifeq ($(HARDWARE_MOTHERBOARD),1117)
+# Invent-A-Part RigidBoard
+else ifeq ($(HARDWARE_MOTHERBOARD),1118)
+# Invent-A-Part RigidBoard V2
+else ifeq ($(HARDWARE_MOTHERBOARD),1119)
+# Sainsmart 2-in-1 board
+else ifeq ($(HARDWARE_MOTHERBOARD),1120)
+# Ultimaker
+else ifeq ($(HARDWARE_MOTHERBOARD),1121)
+# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+else ifeq ($(HARDWARE_MOTHERBOARD),1122)
+  MCU              ?= atmega1280
+  PROG_MCU         ?= m1280
+# Azteeg X3
+else ifeq ($(HARDWARE_MOTHERBOARD),1123)
+# Azteeg X3 Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1124)
+# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
+else ifeq ($(HARDWARE_MOTHERBOARD),1125)
+# Rumba
+else ifeq ($(HARDWARE_MOTHERBOARD),1126)
+# Raise3D N series Rumba derivative
+else ifeq ($(HARDWARE_MOTHERBOARD),1127)
+# Rapide Lite 200 (v1, low-cost RUMBA clone with drv)
+else ifeq ($(HARDWARE_MOTHERBOARD),1128)
+# Formbot T-Rex 2 Plus
+else ifeq ($(HARDWARE_MOTHERBOARD),1129)
+# Formbot T-Rex 3
+else ifeq ($(HARDWARE_MOTHERBOARD),1130)
+# Formbot Raptor
+else ifeq ($(HARDWARE_MOTHERBOARD),1131)
+# Formbot Raptor 2
+else ifeq ($(HARDWARE_MOTHERBOARD),1132)
+# bq ZUM Mega 3D
+else ifeq ($(HARDWARE_MOTHERBOARD),1133)
+# MakeBoard Mini v2.1.2 by MicroMake
+else ifeq ($(HARDWARE_MOTHERBOARD),1134)
+# TriGorilla Anycubic version 1.3-based on RAMPS EFB
+else ifeq ($(HARDWARE_MOTHERBOARD),1135)
+#   ... Ver 1.4
+else ifeq ($(HARDWARE_MOTHERBOARD),1136)
+#   ... Rev 1.1 (new servo pin order)
+else ifeq ($(HARDWARE_MOTHERBOARD),1137)
+# Creality: Ender-4, CR-8
+else ifeq ($(HARDWARE_MOTHERBOARD),1138)
+# Creality: CR10S, CR20, CR-X
+else ifeq ($(HARDWARE_MOTHERBOARD),1139)
+# Dagoma F5
+else ifeq ($(HARDWARE_MOTHERBOARD),1140)
+# FYSETC F6 1.3
+else ifeq ($(HARDWARE_MOTHERBOARD),1141)
+# FYSETC F6 1.4
+else ifeq ($(HARDWARE_MOTHERBOARD),1142)
+# Wanhao Duplicator i3 Plus
+else ifeq ($(HARDWARE_MOTHERBOARD),1143)
+# VORON Design
+else ifeq ($(HARDWARE_MOTHERBOARD),1144)
+# Tronxy TRONXY-V3-1.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1145)
+# Z-Bolt X Series
+else ifeq ($(HARDWARE_MOTHERBOARD),1146)
+# TT OSCAR
+else ifeq ($(HARDWARE_MOTHERBOARD),1147)
+# Overlord/Overlord Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1148)
+# ADIMLab Gantry v1
+else ifeq ($(HARDWARE_MOTHERBOARD),1149)
+# ADIMLab Gantry v2
+else ifeq ($(HARDWARE_MOTHERBOARD),1150)
+# BIQU Tango V1
+else ifeq ($(HARDWARE_MOTHERBOARD),1151)
+# MKS GEN L V2
+else ifeq ($(HARDWARE_MOTHERBOARD),1152)
+# MKS GEN L V2.1
+else ifeq ($(HARDWARE_MOTHERBOARD),1153)
+# Copymaster 3D
+else ifeq ($(HARDWARE_MOTHERBOARD),1154)
+# Ortur 4
+else ifeq ($(HARDWARE_MOTHERBOARD),1155)
+# Tenlog D3 Hero IDEX printer
+else ifeq ($(HARDWARE_MOTHERBOARD),1156)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1157)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1158)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1159)
+# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1160)
+# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1161)
+
+
 # 3Drag Controller
 else ifeq ($(HARDWARE_MOTHERBOARD),1100)
 # Velleman K8200 Controller (derived from 3Drag Controller)
@@ -358,20 +486,38 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1311)
 else ifeq ($(HARDWARE_MOTHERBOARD),1312)
 # Mega controller
 else ifeq ($(HARDWARE_MOTHERBOARD),1313)
-# Geeetech GT2560 Rev B for Mecreator2
+# Geeetech GT2560 Rev A
 else ifeq ($(HARDWARE_MOTHERBOARD),1314)
-# Geeetech GT2560 Rev. A
+# Geeetech GT2560 Rev A+ (with auto level probe)
 else ifeq ($(HARDWARE_MOTHERBOARD),1315)
-# Geeetech GT2560 Rev. A+ (with auto level probe)
+# Geeetech GT2560 Rev B
 else ifeq ($(HARDWARE_MOTHERBOARD),1316)
-# Geeetech GT2560 Rev B for A10(M/D)
+# Geeetech GT2560 Rev B for A10(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1317)
-# Geeetech GT2560 Rev B for A20(M/D)
+# Geeetech GT2560 Rev B for A10(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1318)
-# Einstart retrofit
+# Geeetech GT2560 Rev B for Mecreator2
 else ifeq ($(HARDWARE_MOTHERBOARD),1319)
-# Wanhao 0ne+ i3 Mini
+# Geeetech GT2560 Rev B for A20(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 ($(HARDWARE_MOTHERBOARD),1326)
+# Malyan M180 Mainboard Version 2 (no display function, direct gcode only)
+else ifeq ($(HARDWARE_MOTHERBOARD),1327)
+# Geeetech GT2560 Rev B for A20(M/T/D)
+else ifeq ($(HARDWARE_MOTHERBOARD),1328)
+# Mega controller & Protoneer CNC Shield V3.00
+else ifeq ($(HARDWARE_MOTHERBOARD),1329)

 #
 # ATmega1281, ATmega2561
@@ -445,6 +591,11 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1510)
  HARDWARE_VARIANT ?= Sanguino
  MCU              ?= atmega1284p
  PROG_MCU         ?= m1284p
+# ZoneStar ZMIB V2
+else ifeq ($(HARDWARE_MOTHERBOARD),1511)
+  HARDWARE_VARIANT ?= Sanguino
+  MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p

 #
 # Other ATmega644P, ATmega644, ATmega1284P
@@ -41,7 +41,7 @@
 * here we define this default string as the date where the latest release
 * version was tagged.
 */
-//#define STRING_DISTRIBUTION_DATE "2021-10-13"
+//#define STRING_DISTRIBUTION_DATE "2022-04-05"

 /**
 * Defines a generic printer name to be output to the LCD after booting Marlin.
@@ -35,13 +35,32 @@
 // Public Variables
 // ------------------------

-//uint8_t MCUSR;
+// Don't initialize/override variable (which would happen in .init4)
+uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));

 // ------------------------
 // Public functions
 // ------------------------

-void HAL_init() {
+__attribute__((naked))             // Don't output function pro- and epilogue
+__attribute__((used))              // Output the function, even if "not used"
+__attribute__((section(".init3"))) // Put in an early user definable section
+void save_reset_reason() {
+  #if ENABLED(OPTIBOOT_RESET_REASON)
+    __asm__ __volatile__(
+      A("STS %0, r2")
+      : "=m"(hal.reset_reason)
+    );
+  #else
+    hal.reset_reason = MCUSR;
+  #endif
+
+  // Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
+  hal.clear_reset_source();
+  wdt_disable();
+}
+
+void MarlinHAL::init() {
  // Init Servo Pins
  #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
  #if HAS_SERVO_0
@@ -56,9 +75,11 @@ void HAL_init() {
  #if HAS_SERVO_3
    INIT_SERVO(3);
  #endif
+
+  init_pwm_timers();   // Init user timers to default frequency - 1000HZ
 }

-void HAL_reboot() {
+void MarlinHAL::reboot() {
  #if ENABLED(USE_WATCHDOG)
    while (1) { /* run out the watchdog */ }
  #else
@@ -74,20 +95,20 @@ void HAL_reboot() {

 #else // !SDSUPPORT

-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
+  extern "C" {
+    extern char __bss_end;
+    extern char __heap_start;
+    extern void* __brkval;

-  int freeMemory() {
-    int free_memory;
-    if ((int)__brkval == 0)
-      free_memory = ((int)&free_memory) - ((int)&__bss_end);
-    else
-      free_memory = ((int)&free_memory) - ((int)__brkval);
-    return free_memory;
+    int freeMemory() {
+      int free_memory;
+      if ((int)__brkval == 0)
+        free_memory = ((int)&free_memory) - ((int)&__bss_end);
+      else
+        free_memory = ((int)&free_memory) - ((int)__brkval);
+      return free_memory;
+    }
  }
-}

 #endif // !SDSUPPORT

@@ -74,9 +74,9 @@
  #define CRITICAL_SECTION_START()  unsigned char _sreg = SREG; cli()
  #define CRITICAL_SECTION_END()    SREG = _sreg
 #endif
-#define ISRS_ENABLED() TEST(SREG, SREG_I)
-#define ENABLE_ISRS()  sei()
-#define DISABLE_ISRS() cli()
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()

 // ------------------------
 // Types
@@ -84,16 +84,15 @@

 typedef int8_t pin_t;

-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;

 // ------------------------
-// Public Variables
-// ------------------------
-
-//extern uint8_t MCUSR;
-
 // Serial ports
+// ------------------------
+
 #ifdef USBCON
  #include "../../core/serial_hook.h"
  typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
@@ -142,59 +141,15 @@ typedef int8_t pin_t;
  #endif
 #endif

-// ------------------------
-// Public functions
-// ------------------------
-
-void HAL_init();
-
-//void cli();
-
-//void _delay_ms(const int delay);
-
-inline void HAL_clear_reset_source() { MCUSR = 0; }
-inline uint8_t HAL_get_reset_source() { return MCUSR; }
-
-void HAL_reboot();
-
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-extern "C" int freeMemory();
-
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic pop
-#endif
-
+//
 // ADC
-#ifdef DIDR2
-  #define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0)
-#else
-  #define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind);
-#endif
-
-inline void HAL_adc_init() {
-  ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
-  DIDR0 = 0;
-  #ifdef DIDR2
-    DIDR2 = 0;
-  #endif
-}
-
-#define SET_ADMUX_ADCSRA(ch) ADMUX = _BV(REFS0) | (ch & 0x07); SBI(ADCSRA, ADSC)
-#ifdef MUX5
-  #define HAL_START_ADC(ch) if (ch > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#else
-  #define HAL_START_ADC(ch) ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#endif
-
+//
 #define HAL_ADC_VREF        5.0
 #define HAL_ADC_RESOLUTION 10
-#define HAL_READ_ADC()  ADC
-#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)

+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
@@ -208,23 +163,109 @@ inline void HAL_adc_init() {
 // AVR compatibility
 #define strtof strtod

-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+// ------------------------
+// Class Utilities
+// ------------------------

-/**
- *  set_pwm_frequency
- *  Sets the frequency of the timer corresponding to the provided pin
- *  as close as possible to the provided desired frequency. Internally
- *  calculates the required waveform generation mode, prescaler and
- *  resolution values required and sets the timer registers accordingly.
- *  NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
- *  NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif

-/**
- * set_pwm_duty
- *  Sets the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+extern "C" int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return TEST(SREG, SREG_I); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t reset_reason;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() { MCUSR = 0; }
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
+    DIDR0 = 0;
+    #ifdef DIDR2
+      DIDR2 = 0;
+    #endif
+  }
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {
+    #ifdef DIDR2
+      if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
+    #endif
+    SBI(DIDR0, ch);
+  }
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) {
+    #ifdef MUX5
+      ADCSRB = ch > 7 ? _BV(MUX5) : 0;
+    #else
+      ADCSRB = 0;
+    #endif
+    ADMUX = _BV(REFS0) | (ch & 0x07);
+    SBI(ADCSRA, ADSC);
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return !TEST(ADCSRA, ADSC); }
+
+  // The current value of the ADC register
+  static __typeof__(ADC) adc_value() { return ADC; }
+
+  /**
+   * init_pwm_timers
+   * Set the default frequency for timers 2-5 to 1000HZ
+   */
+  static void init_pwm_timers();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin as close as
+   * possible to the provided desired frequency. Internally calculate
+   * the required waveform generation mode, prescaler, and resolution
+   * values and set timer registers accordingly.
+   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
+   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};
@@ -35,22 +35,20 @@

 void spiBegin() {
  #if PIN_EXISTS(SD_SS)
-    OUT_WRITE(SD_SS_PIN, HIGH);
+    // Do not init HIGH for boards with pin 4 used as Fans or Heaters or otherwise, not likely to have multiple SPI devices anyway.
+    #if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
+      // SS must be in output mode even it is not chip select
+      SET_OUTPUT(SD_SS_PIN);
+    #else
+      // set SS high - may be chip select for another SPI device
+      OUT_WRITE(SD_SS_PIN, HIGH);
+    #endif
  #endif
  SET_OUTPUT(SD_SCK_PIN);
  SET_INPUT(SD_MISO_PIN);
  SET_OUTPUT(SD_MOSI_PIN);

-  #if DISABLED(SOFTWARE_SPI)
-    // SS must be in output mode even it is not chip select
-    //SET_OUTPUT(SD_SS_PIN);
-    // set SS high - may be chip select for another SPI device
-    //#if SET_SPI_SS_HIGH
-      //WRITE(SD_SS_PIN, HIGH);
-    //#endif
-    // set a default rate
-    spiInit(1);
-  #endif
+  IF_DISABLED(SOFTWARE_SPI, spiInit(SPI_HALF_SPEED));
 }

 #if NONE(SOFTWARE_SPI, FORCE_SOFT_SPI)
@@ -486,7 +486,7 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
    const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);

    // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {

      // Make room by polling if it is possible to transmit, and do so!
      while (i == tx_buffer.tail) {
@@ -534,7 +534,7 @@ void MarlinSerial<Cfg>::flushTX() {
    if (!_written) return;

    // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {

      // Wait until everything was transmitted - We must do polling, as interrupts are disabled
      while (tx_buffer.head != tx_buffer.tail || !B_TXC) {
@@ -191,13 +191,13 @@
                   rx_framing_errors;
    static ring_buffer_pos_t rx_max_enqueued;

-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head();
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_head();

    static volatile bool rx_tail_value_not_stable;
    static volatile uint16_t rx_tail_value_backup;

-    static FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value);
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail();
+    FORCE_INLINE static void atomic_set_rx_tail(ring_buffer_pos_t value);
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_tail();

  public:
    FORCE_INLINE static void store_rxd_char();
@@ -217,7 +217,7 @@
    #endif

    enum { HasEmergencyParser = Cfg::EMERGENCYPARSER };
-    static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
+    static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }

    FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
    FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
@@ -213,6 +213,51 @@ void setup_endstop_interrupts() {
      pciSetup(K_MIN_PIN);
    #endif
  #endif
+  #if HAS_U_MAX
+    #if (digitalPinToInterrupt(U_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable");
+      pciSetup(U_MAX_PIN);
+    #endif
+  #elif HAS_U_MIN
+    #if (digitalPinToInterrupt(U_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable");
+      pciSetup(U_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_V_MAX
+    #if (digitalPinToInterrupt(V_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable");
+      pciSetup(V_MAX_PIN);
+    #endif
+  #elif HAS_V_MIN
+    #if (digitalPinToInterrupt(V_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable");
+      pciSetup(V_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_W_MAX
+    #if (digitalPinToInterrupt(W_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable");
+      pciSetup(W_MAX_PIN);
+    #endif
+  #elif HAS_W_MIN
+    #if (digitalPinToInterrupt(W_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable");
+      pciSetup(W_MIN_PIN);
+    #endif
+  #endif
  #if HAS_X2_MAX
    #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
      _ATTACH(X2_MAX_PIN);
@@ -301,5 +346,6 @@ void setup_endstop_interrupts() {
      pciSetup(Z_MIN_PROBE_PIN);
    #endif
  #endif
+
  // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
 }
@@ -21,11 +21,7 @@
 */
 #ifdef __AVR__

-#include "../../inc/MarlinConfigPre.h"
-
-#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
-
-#include "HAL.h"
+#include "../../inc/MarlinConfig.h"

 struct Timer {
  volatile uint8_t* TCCRnQ[3];  // max 3 TCCR registers per timer
@@ -33,250 +29,194 @@ struct Timer {
  volatile uint16_t* ICRn;      // max 1 ICR register per timer
  uint8_t n;                    // the timer number [0->5]
  uint8_t q;                    // the timer output [0->2] (A->C)
+  bool isPWM;                   // True if pin is a "hardware timer"
+  bool isProtected;             // True if timer is protected
 };

+// Macros for the Timer structure
+#define _SET_WGMnQ(T, V) do{ \
+    *(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
+    *(T.TCCRnQ)[1] = (*(T.TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
+  }while(0)
+
+// Set TCCR CS bits
+#define _SET_CSn(T, V) (*(T.TCCRnQ)[1] = (*(T.TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0))
+
+// Set TCCR COM bits
+#define _SET_COMnQ(T, Q, V) (*(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q))))
+
+// Set OCRnQ register
+#define _SET_OCRnQ(T, Q, V) (*(T.OCRnQ)[Q] = int(V) & 0xFFFF)
+
+// Set ICRn register (one per timer)
+#define _SET_ICRn(T, V) (*(T.ICRn) = int(V) & 0xFFFF)
+
 /**
- * get_pwm_timer
- *  Get the timer information and register of the provided pin.
- *  Return a Timer struct containing this information.
- *  Used by set_pwm_frequency, set_pwm_duty
+ * Return a Timer struct describing a pin's timer.
 */
-Timer get_pwm_timer(const pin_t pin) {
+const Timer get_pwm_timer(const pin_t pin) {
+
  uint8_t q = 0;
+
  switch (digitalPinToTimer(pin)) {
-    // Protect reserved timers (TIMER0 & TIMER1)
    #ifdef TCCR0A
-      #if !AVR_AT90USB1286_FAMILY
-        case TIMER0A:
-      #endif
-      case TIMER0B:
+      IF_DISABLED(AVR_AT90USB1286_FAMILY, case TIMER0A:)
    #endif
    #ifdef TCCR1A
      case TIMER1A: case TIMER1B:
    #endif
-                                        break;
-    #if defined(TCCR2) || defined(TCCR2A)
-      #ifdef TCCR2
-        case TIMER2: {
-          Timer timer = {
-            /*TCCRnQ*/  { &TCCR2, nullptr, nullptr },
-            /*OCRnQ*/   { (uint16_t*)&OCR2, nullptr, nullptr },
-            /*ICRn*/      nullptr,
-            /*n, q*/      2, 0
-          };
-        }
-      #elif defined(TCCR2A)
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          case TIMER2A:   break; // protect TIMER2A
-          case TIMER2B: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-              /*n, q*/      2, 1
-            };
-            return timer;
-          }
-        #else
-          case TIMER2B:   ++q;
-          case TIMER2A: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-                            2, q
-            };
-            return timer;
-          }
-        #endif
-      #endif
+
+    break;    // Protect reserved timers (TIMER0 & TIMER1)
+
+    #ifdef TCCR0A
+      case TIMER0B:   // Protected timer, but allow setting the duty cycle on OCR0B for pin D4 only
+        return Timer({ { &TCCR0A, nullptr, nullptr }, { (uint16_t*)&OCR0A, (uint16_t*)&OCR0B, nullptr }, nullptr, 0, 1, true, true });
    #endif
+
+    #if HAS_TCCR2
+      case TIMER2:
+        return Timer({ { &TCCR2, nullptr, nullptr }, { (uint16_t*)&OCR2, nullptr, nullptr }, nullptr, 2, 0, true, false });
+    #elif ENABLED(USE_OCR2A_AS_TOP)
+      case TIMER2A: break; // Protect TIMER2A since its OCR is used by TIMER2B
+      case TIMER2B:
+        return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, 1, true, false });
+    #elif defined(TCCR2A)
+      case TIMER2B: ++q; case TIMER2A:
+        return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, q, true, false });
+    #endif
+
    #ifdef OCR3C
-      case TIMER3C:   ++q;
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  &TCCR3C },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,   &OCR3C },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
+      case TIMER3C: ++q; case TIMER3B: ++q; case TIMER3A:
+        return Timer({ { &TCCR3A, &TCCR3B, &TCCR3C }, { &OCR3A, &OCR3B, &OCR3C  }, &ICR3, 3, q, true, false });
    #elif defined(OCR3B)
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  nullptr },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,  nullptr },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
+      case TIMER3B: ++q; case TIMER3A:
+        return Timer({ { &TCCR3A, &TCCR3B, nullptr }, { &OCR3A, &OCR3B, nullptr }, &ICR3, 3, q, true, false });
    #endif
+
    #ifdef TCCR4A
-      case TIMER4C:   ++q;
-      case TIMER4B:   ++q;
-      case TIMER4A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR4A,  &TCCR4B,  &TCCR4C },
-          /*OCRnQ*/   { &OCR4A,   &OCR4B,   &OCR4C },
-          /*ICRn*/      &ICR4,
-          /*n, q*/      4, q
-        };
-        return timer;
-      }
+      case TIMER4C: ++q; case TIMER4B: ++q; case TIMER4A:
+        return Timer({ { &TCCR4A, &TCCR4B, &TCCR4C }, { &OCR4A, &OCR4B, &OCR4C }, &ICR4, 4, q, true, false });
    #endif
+
    #ifdef TCCR5A
-      case TIMER5C:   ++q;
-      case TIMER5B:   ++q;
-      case TIMER5A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR5A,  &TCCR5B,  &TCCR5C },
-          /*OCRnQ*/   { &OCR5A,   &OCR5B,   &OCR5C },
-          /*ICRn*/      &ICR5,
-          /*n, q*/      5, q
-        };
-        return timer;
-      }
+      case TIMER5C: ++q; case TIMER5B: ++q; case TIMER5A:
+        return Timer({ { &TCCR5A, &TCCR5B, &TCCR5C }, { &OCR5A, &OCR5B, &OCR5C }, &ICR5, 5, q, true, false });
    #endif
  }
-  Timer timer = {
-      /*TCCRnQ*/  { nullptr, nullptr, nullptr },
-      /*OCRnQ*/   { nullptr, nullptr, nullptr },
-      /*ICRn*/      nullptr,
-                    0, 0
-  };
-  return timer;
+
+  return Timer();
 }

-void set_pwm_frequency(const pin_t pin, int f_desired) {
-  Timer timer = get_pwm_timer(pin);
-  if (timer.n == 0) return; // Don't proceed if protected timer or not recognised
-  uint16_t size;
-  if (timer.n == 2) size = 255; else size = 65535;
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+  const Timer timer = get_pwm_timer(pin);
+  if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized

-  uint16_t res = 255;   // resolution (TOP value)
-  uint8_t j = 0;        // prescaler index
-  uint8_t wgm = 1;      // waveform generation mode
+  const bool is_timer2 = timer.n == 2;
+  const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF;
+
+  uint16_t res = 0xFF;        // resolution (TOP value)
+  uint8_t j = CS_NONE;        // prescaler index
+  uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode

  // Calculating the prescaler and resolution to use to achieve closest frequency
  if (f_desired != 0) {
-    int f = (F_CPU) / (2 * 1024 * size) + 1; // Initialize frequency as lowest (non-zero) achievable
-    uint16_t prescaler[] = { 0, 1, 8, /*TIMER2 ONLY*/32, 64, /*TIMER2 ONLY*/128, 256, 1024 };
+    constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 };  // (*) are Timer 2 only
+    uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1;           // Start with the lowest non-zero frequency achievable (1 or 31)

-    // loop over prescaler values
-    LOOP_S_L_N(i, 1, 8) {
-      uint16_t res_temp_fast = 255, res_temp_phase_correct = 255;
-      if (timer.n == 2) {
-        // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-          res_temp_fast = rtf - 1;
-          res_temp_phase_correct = rtf / 2;
+    LOOP_L_N(i, COUNT(prescaler)) {                           // Loop through all prescaler values
+      const uint16_t p = prescaler[i];
+      uint16_t res_fast_temp, res_pc_temp;
+      if (is_timer2) {
+        #if ENABLED(USE_OCR2A_AS_TOP)                         // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
+          const uint16_t rft = (F_CPU) / (p * f_desired);
+          res_fast_temp = rft - 1;
+          res_pc_temp = rft / 2;
+        #else
+          res_fast_temp = res_pc_temp = maxtop;
        #endif
      }
      else {
-        // Skip TIMER2 specific prescalers when not TIMER2
-        if (i == 3 || i == 5) continue;
-        const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-        res_temp_fast = rtf - 1;
-        res_temp_phase_correct = rtf / 2;
+        if (p == 32 || p == 128) continue;                    // Skip TIMER2 specific prescalers when not TIMER2
+        const uint16_t rft = (F_CPU) / (p * f_desired);
+        res_fast_temp = rft - 1;
+        res_pc_temp = rft / 2;
      }

-      LIMIT(res_temp_fast, 1U, size);
-      LIMIT(res_temp_phase_correct, 1U, size);
+      LIMIT(res_fast_temp, 1U, maxtop);
+      LIMIT(res_pc_temp, 1U, maxtop);
+
      // Calculate frequencies of test prescaler and resolution values
-      const int f_temp_fast = (F_CPU) / (prescaler[i] * (1 + res_temp_fast)),
-                f_temp_phase_correct = (F_CPU) / (2 * prescaler[i] * res_temp_phase_correct),
-                f_diff = ABS(f - f_desired),
-                f_fast_diff = ABS(f_temp_fast - f_desired),
-                f_phase_diff = ABS(f_temp_phase_correct - f_desired);
+      const uint32_t f_diff      = _MAX(f, f_desired) - _MIN(f, f_desired),
+                     f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
+                     f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired),
+                     f_pc_temp   = (F_CPU) / (2 * p * res_pc_temp),
+                     f_pc_diff   = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired);

-      // If FAST values are closest to desired f
-      if (f_fast_diff < f_diff && f_fast_diff <= f_phase_diff) {
-        // Remember this combination
-        f = f_temp_fast;
-        res = res_temp_fast;
-        j = i;
+      if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f
        // Set the Wave Generation Mode to FAST PWM
-        if (timer.n == 2) {
-          wgm = (
-            #if ENABLED(USE_OCR2A_AS_TOP)
-              WGM2_FAST_PWM_OCR2A
-            #else
-              WGM2_FAST_PWM
-            #endif
-          );
-        }
-        else wgm = WGM_FAST_PWM_ICRn;
+        wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn);
+        // Remember this combination
+        f = f_fast_temp; res = res_fast_temp; j = i + 1;
      }
-      // If PHASE CORRECT values are closes to desired f
-      else if (f_phase_diff < f_diff) {
-        f = f_temp_phase_correct;
-        res = res_temp_phase_correct;
-        j = i;
+      else if (f_pc_diff < f_diff) {                          // PHASE CORRECT values are closes to desired f
        // Set the Wave Generation Mode to PWM PHASE CORRECT
-        if (timer.n == 2) {
-          wgm = (
-            #if ENABLED(USE_OCR2A_AS_TOP)
-              WGM2_PWM_PC_OCR2A
-            #else
-              WGM2_PWM_PC
-            #endif
-          );
-        }
-        else wgm = WGM_PWM_PC_ICRn;
+        wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn);
+        f = f_pc_temp; res = res_pc_temp; j = i + 1;
      }
    }
  }
-  _SET_WGMnQ(timer.TCCRnQ, wgm);
-  _SET_CSn(timer.TCCRnQ, j);

-  if (timer.n == 2) {
-    #if ENABLED(USE_OCR2A_AS_TOP)
-      _SET_OCRnQ(timer.OCRnQ, 0, res);  // Set OCR2A value (TOP) = res
-    #endif
+  _SET_WGMnQ(timer, wgm);
+  _SET_CSn(timer, j);
+
+  if (is_timer2) {
+    TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer, 0, res)); // Set OCR2A value (TOP) = res
  }
  else
-    _SET_ICRn(timer.ICRn, res);         // Set ICRn value (TOP) = res
+    _SET_ICRn(timer, res);                              // Set ICRn value (TOP) = res
 }

-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
  // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
-  // Note that digitalWrite also disables pwm output for us (sets COM bit to 0)
+  // Note that digitalWrite also disables PWM output for us (sets COM bit to 0)
  if (v == 0)
    digitalWrite(pin, invert);
  else if (v == v_size)
    digitalWrite(pin, !invert);
  else {
-    Timer timer = get_pwm_timer(pin);
-    if (timer.n == 0) return; // Don't proceed if protected timer or not recognised
-    // Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted)
-    _SET_COMnQ(timer.TCCRnQ, (timer.q
-        #ifdef TCCR2
-          + (timer.q == 2) // COM20 is on bit 4 of TCCR2, thus requires q + 1 in the macro
-        #endif
-      ), COM_CLEAR_SET + invert
-    );
-
-    uint16_t top;
-    if (timer.n == 2) { // if TIMER2
-      top = (
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          *timer.OCRnQ[0] // top = OCR2A
-        #else
-          255 // top = 0xFF (max)
-        #endif
-      );
+    const Timer timer = get_pwm_timer(pin);
+    if (timer.isPWM) {
+      if (timer.n == 0) {
+        _SET_COMnQ(timer, timer.q, COM_CLEAR_SET);  // Only allow a TIMER0B select...
+        _SET_OCRnQ(timer, timer.q, v);              // ...and OCR0B duty update. For output pin D4 no frequency changes are permitted.
+      }
+      else if (!timer.isProtected) {
+        const uint16_t top = timer.n == 2 ? TERN(USE_OCR2A_AS_TOP, *timer.OCRnQ[0], 255) : *timer.ICRn;
+        _SET_COMnQ(timer, SUM_TERN(HAS_TCCR2, timer.q, timer.q == 2), COM_CLEAR_SET + invert);   // COM20 is on bit 4 of TCCR2, so +1 for q==2
+        _SET_OCRnQ(timer, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value
+      }
    }
    else
-      top = *timer.ICRn; // top = ICRn
-
-    _SET_OCRnQ(timer.OCRnQ, timer.q, v * float(top) / float(v_size)); // Scale 8/16-bit v to top value
+      digitalWrite(pin, v < v_size / 2 ? LOW : HIGH);
  }
 }

-#endif // NEEDS_HARDWARE_PWM
+void MarlinHAL::init_pwm_timers() {
+  // Init some timer frequencies to a default 1KHz
+  const pin_t pwm_pin[] = {
+    #ifdef __AVR_ATmega2560__
+      10, 5, 6, 46
+    #elif defined(__AVR_ATmega1280__)
+      12, 31
+    #elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega1284__)
+      15, 6
+    #elif defined(__AVR_AT90USB1286__) || defined(__AVR_mega64) || defined(__AVR_mega128)
+      16, 24
+    #endif
+  };
+
+  LOOP_L_N(i, COUNT(pwm_pin))
+    set_pwm_frequency(pwm_pin[i], 1000);
+}
+
 #endif // __AVR__
@@ -245,7 +245,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
  float count = 0;
  if (hz > 0 && (dca || dcb || dcc)) {
    count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
-    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5KHz (>31)
+    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5kHz (>31)

         if (count >= 255. * 256.) { prescaler = 1024; SET_CS(5, PRESCALER_1024); }
    else if (count >= 255. * 64.)  { prescaler = 256;  SET_CS(5,  PRESCALER_256); }
@@ -257,7 +257,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
    const float pwm_top = round(count);   // Get the rounded count

    ICR5 = (uint16_t)pwm_top - 1;         // Subtract 1 for TOP
-    OCR5A = pwm_top * ABS(dca);          // Update and scale DCs
+    OCR5A = pwm_top * ABS(dca);           // Update and scale DCs
    OCR5B = pwm_top * ABS(dcb);
    OCR5C = pwm_top * ABS(dcc);
    _SET_COM(5, A, dca ? (dca < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL); // Set compare modes
@@ -277,7 +277,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
    // Restore the default for Timer 5
    SET_WGM(5, PWM_PC_8);                 // PWM 8-bit (Phase Correct)
    SET_COMS(5, NORMAL, NORMAL, NORMAL);  // Do nothing
-    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250KHz
+    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250kHz
    OCR5A = OCR5B = OCR5C = 0;
  }
  return round(count);
@@ -118,7 +118,7 @@
 */

 // Waveform Generation Modes
-enum WaveGenMode : char {
+enum WaveGenMode : uint8_t {
  WGM_NORMAL,          //  0
  WGM_PWM_PC_8,        //  1
  WGM_PWM_PC_9,        //  2
@@ -138,19 +138,19 @@ enum WaveGenMode : char {
 };

 // Wavefore Generation Modes (Timer 2 only)
-enum WaveGenMode2 : char {
-  WGM2_NORMAL,          // 0
-  WGM2_PWM_PC,          // 1
-  WGM2_CTC_OCR2A,       // 2
-  WGM2_FAST_PWM,        // 3
-  WGM2_reserved_1,      // 4
-  WGM2_PWM_PC_OCR2A,    // 5
-  WGM2_reserved_2,      // 6
-  WGM2_FAST_PWM_OCR2A,  // 7
+enum WaveGenMode2 : uint8_t {
+  WGM2_NORMAL,         // 0
+  WGM2_PWM_PC,         // 1
+  WGM2_CTC_OCR2A,      // 2
+  WGM2_FAST_PWM,       // 3
+  WGM2_reserved_1,     // 4
+  WGM2_PWM_PC_OCR2A,   // 5
+  WGM2_reserved_2,     // 6
+  WGM2_FAST_PWM_OCR2A, // 7
 };

 // Compare Modes
-enum CompareMode : char {
+enum CompareMode : uint8_t {
  COM_NORMAL,          //  0
  COM_TOGGLE,          //  1  Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
  COM_CLEAR_SET,       //  2  Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
@@ -158,7 +158,7 @@ enum CompareMode : char {
 };

 // Clock Sources
-enum ClockSource : char {
+enum ClockSource : uint8_t {
  CS_NONE,             //  0
  CS_PRESCALER_1,      //  1
  CS_PRESCALER_8,      //  2
@@ -170,7 +170,7 @@ enum ClockSource : char {
 };

 // Clock Sources (Timer 2 only)
-enum ClockSource2 : char {
+enum ClockSource2 : uint8_t {
  CS2_NONE,            //  0
  CS2_PRESCALER_1,     //  1
  CS2_PRESCALER_8,     //  2
@@ -203,40 +203,33 @@ enum ClockSource2 : char {
    TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
  }while(0)
 #define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
-// Runtime (see set_pwm_frequency):
-#define _SET_WGMnQ(TCCRnQ, V) do{ \
-    *(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
-    *(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
-  }while(0)

 // Set Clock Select bits
 // Ex: SET_CS3(PRESCALER_64);
+#ifdef TCCR2
+  #define HAS_TCCR2 1
+#endif
 #define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
 #define _SET_CS0(V) _SET_CS(0,V)
 #define _SET_CS1(V) _SET_CS(1,V)
-#ifdef TCCR2
-  #define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
-#else
-  #define _SET_CS2(V) _SET_CS(2,V)
-#endif
 #define _SET_CS3(V) _SET_CS(3,V)
 #define _SET_CS4(V) _SET_CS(4,V)
 #define _SET_CS5(V) _SET_CS(5,V)
 #define SET_CS0(V) _SET_CS0(CS_##V)
 #define SET_CS1(V) _SET_CS1(CS_##V)
-#ifdef TCCR2
+
+#if HAS_TCCR2
+  #define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
  #define SET_CS2(V) _SET_CS2(CS2_##V)
 #else
+  #define _SET_CS2(V) _SET_CS(2,V)
  #define SET_CS2(V) _SET_CS2(CS_##V)
 #endif
+
 #define SET_CS3(V) _SET_CS3(CS_##V)
 #define SET_CS4(V) _SET_CS4(CS_##V)
 #define SET_CS5(V) _SET_CS5(CS_##V)
 #define SET_CS(T,V) SET_CS##T(V)
-// Runtime (see set_pwm_frequency)
-#define _SET_CSn(TCCRnQ, V) do{ \
-    (*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)); \
-  }while(0)

 // Set Compare Mode bits
 // Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
@@ -246,22 +239,6 @@ enum ClockSource2 : char {
 #define SET_COMB(T,V) SET_COM(T,B,V)
 #define SET_COMC(T,V) SET_COM(T,C,V)
 #define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
-// Runtime (see set_pwm_duty)
-#define _SET_COMnQ(TCCRnQ, Q, V) do{ \
-    (*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))); \
-  }while(0)
-
-// Set OCRnQ register
-// Runtime (see set_pwm_duty):
-#define _SET_OCRnQ(OCRnQ, Q, V) do{ \
-    (*(OCRnQ)[(Q)] = (0x0000) | (int(V) & 0xFFFF)); \
-  }while(0)
-
-// Set ICRn register (one per timer)
-// Runtime (see set_pwm_frequency)
-#define _SET_ICRn(ICRn, V) do{ \
-    (*(ICRn) = (0x0000) | (int(V) & 0xFFFF)); \
-  }while(0)

 // Set Noise Canceler bit
 // Ex: SET_ICNC(2,1)
@@ -28,8 +28,16 @@
 /**
 * Checks for FAST PWM
 */
-#if ENABLED(FAST_PWM_FAN) && (ENABLED(USE_OCR2A_AS_TOP) && defined(TCCR2))
-  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2"
+#if ALL(FAST_PWM_FAN, USE_OCR2A_AS_TOP, HAS_TCCR2)
+  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2."
+#endif
+
+/**
+ * Checks for SOFT PWM
+ */
+#if HAS_FAN0 && FAN_PIN == 9 && DISABLED(FAN_SOFT_PWM) && ENABLED(SPEAKER)
+  #error "FAN_PIN 9 Hardware PWM uses Timer 2 which conflicts with Arduino AVR Tone Timer (for SPEAKER)."
+  #error "Disable SPEAKER or enable FAN_SOFT_PWM."
 #endif

 /**
@@ -42,7 +50,7 @@
  #elif NUM_SERVOS > 0 && defined(_useTimer3) && (WITHIN(SPINDLE_LASER_PWM_PIN, 2, 3) || SPINDLE_LASER_PWM_PIN == 5)
    #error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by the servo system."
  #endif
-#elif defined(SPINDLE_LASER_FREQUENCY)
+#elif SPINDLE_LASER_FREQUENCY
  #error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_USE_PWM."
 #endif

@@ -63,3 +71,7 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
  #error "POSTMORTEM_DEBUGGING is not supported on AVR boards."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on AVR boards."
+#endif
@@ -35,7 +35,7 @@
 // C B A is longIn1
 // D C B A is longIn2
 //
-static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
+FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
  uint8_t tmp1;
  uint8_t tmp2;
  uint16_t intRes;
@@ -89,7 +89,7 @@ static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2
 // uses:
 // r26 to store 0
 // r27 to store the byte 1 of the 24 bit result
-static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
+FORCE_INLINE static uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
  uint8_t tmp;
  uint16_t intRes;
  __asm__ __volatile__ (
@@ -74,7 +74,7 @@
 #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) {
-  char *name_mem_pointer = (char*)pgm_read_ptr(&pin_array[x].name);
+  char *name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name);
  LOOP_L_N(y, MAX_NAME_LENGTH) {
    char temp_char = pgm_read_byte(name_mem_pointer + y);
    if (temp_char != 0)
@@ -102,7 +102,7 @@ void PRINT_ARRAY_NAME(uint8_t x) {
      return true;                                              \
    } else return false

-
+#define ABTEST(N) defined(TCCR##N##A) && defined(COM##N##A1)

 /**
 * Print a pin's PWM status.
@@ -113,7 +113,7 @@ static bool pwm_status(uint8_t pin) {

  switch (digitalPinToTimer_DEBUG(pin)) {

-    #if defined(TCCR0A) && defined(COM0A1)
+    #if ABTEST(0)
      #ifdef TIMER0A
        #if !AVR_AT90USB1286_FAMILY  // not available in Teensyduino type IDEs
          PWM_CASE(0, A);
@@ -122,20 +122,20 @@ static bool pwm_status(uint8_t pin) {
      PWM_CASE(0, B);
    #endif

-    #if defined(TCCR1A) && defined(COM1A1)
+    #if ABTEST(1)
      PWM_CASE(1, A);
      PWM_CASE(1, B);
-     #if defined(COM1C1) && defined(TIMER1C)
-      PWM_CASE(1, C);
-     #endif
+      #if defined(COM1C1) && defined(TIMER1C)
+        PWM_CASE(1, C);
+      #endif
    #endif

-    #if defined(TCCR2A) && defined(COM2A1)
+    #if ABTEST(2)
      PWM_CASE(2, A);
      PWM_CASE(2, B);
    #endif

-    #if defined(TCCR3A) && defined(COM3A1)
+    #if ABTEST(3)
      PWM_CASE(3, A);
      PWM_CASE(3, B);
      #ifdef COM3C1
@@ -149,7 +149,7 @@ static bool pwm_status(uint8_t pin) {
      PWM_CASE(4, C);
    #endif

-    #if defined(TCCR5A) && defined(COM5A1)
+    #if ABTEST(5)
      PWM_CASE(5, A);
      PWM_CASE(5, B);
      PWM_CASE(5, C);
@@ -166,16 +166,16 @@ static bool pwm_status(uint8_t pin) {
 const volatile uint8_t* const PWM_other[][3] PROGMEM = {
    { &TCCR0A, &TCCR0B, &TIMSK0 },
    { &TCCR1A, &TCCR1B, &TIMSK1 },
-  #if defined(TCCR2A) && defined(COM2A1)
+  #if ABTEST(2)
    { &TCCR2A, &TCCR2B, &TIMSK2 },
  #endif
-  #if defined(TCCR3A) && defined(COM3A1)
+  #if ABTEST(3)
    { &TCCR3A, &TCCR3B, &TIMSK3 },
  #endif
  #ifdef TCCR4A
    { &TCCR4A, &TCCR4B, &TIMSK4 },
  #endif
-  #if defined(TCCR5A) && defined(COM5A1)
+  #if ABTEST(5)
    { &TCCR5A, &TCCR5B, &TIMSK5 },
  #endif
 };
@@ -195,11 +195,11 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {
   { (const uint8_t*)&OCR1A, (const uint8_t*)&OCR1B, 0 },
  #endif

-  #if defined(TCCR2A) && defined(COM2A1)
+  #if ABTEST(2)
    { &OCR2A, &OCR2B, 0 },
  #endif

-  #if defined(TCCR3A) && defined(COM3A1)
+  #if ABTEST(3)
    #ifdef COM3C1
      { (const uint8_t*)&OCR3A, (const uint8_t*)&OCR3B, (const uint8_t*)&OCR3C },
    #else
@@ -211,7 +211,7 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {
    { (const uint8_t*)&OCR4A, (const uint8_t*)&OCR4B, (const uint8_t*)&OCR4C },
  #endif

-  #if defined(TCCR5A) && defined(COM5A1)
+  #if ABTEST(5)
    { (const uint8_t*)&OCR5A, (const uint8_t*)&OCR5B, (const uint8_t*)&OCR5C },
  #endif
 };
@@ -281,7 +281,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N -
 static void pwm_details(uint8_t pin) {
  switch (digitalPinToTimer_DEBUG(pin)) {

-    #if defined(TCCR0A) && defined(COM0A1)
+    #if ABTEST(0)
      #ifdef TIMER0A
        #if !AVR_AT90USB1286_FAMILY  // not available in Teensyduino type IDEs
          case TIMER0A: timer_prefix(0, 'A', 3); break;
@@ -290,7 +290,7 @@ static void pwm_details(uint8_t pin) {
      case TIMER0B: timer_prefix(0, 'B', 3); break;
    #endif

-    #if defined(TCCR1A) && defined(COM1A1)
+    #if ABTEST(1)
      case TIMER1A: timer_prefix(1, 'A', 4); break;
      case TIMER1B: timer_prefix(1, 'B', 4); break;
      #if defined(COM1C1) && defined(TIMER1C)
@@ -298,12 +298,12 @@ static void pwm_details(uint8_t pin) {
      #endif
    #endif

-    #if defined(TCCR2A) && defined(COM2A1)
+    #if ABTEST(2)
      case TIMER2A: timer_prefix(2, 'A', 3); break;
      case TIMER2B: timer_prefix(2, 'B', 3); break;
    #endif

-    #if defined(TCCR3A) && defined(COM3A1)
+    #if ABTEST(3)
      case TIMER3A: timer_prefix(3, 'A', 4); break;
      case TIMER3B: timer_prefix(3, 'B', 4); break;
      #ifdef COM3C1
@@ -317,7 +317,7 @@ static void pwm_details(uint8_t pin) {
      case TIMER4C: timer_prefix(4, 'C', 4); break;
    #endif

-    #if defined(TCCR5A) && defined(COM5A1)
+    #if ABTEST(5)
      case TIMER5A: timer_prefix(5, 'A', 4); break;
      case TIMER5B: timer_prefix(5, 'B', 4); break;
      case TIMER5C: timer_prefix(5, 'C', 4); break;
@@ -351,7 +351,6 @@ static void pwm_details(uint8_t pin) {
  #endif
 } // pwm_details

-
 #ifndef digitalRead_mod                   // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs
  int digitalRead_mod(const int8_t pin) { // same as digitalRead except the PWM stop section has been removed
    const uint8_t port = digitalPinToPort_DEBUG(pin);
@@ -397,3 +396,5 @@ static void pwm_details(uint8_t pin) {

 #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)
+
+#undef ABTEST
@@ -34,14 +34,14 @@ typedef uint16_t hal_timer_t;

 #define HAL_TIMER_RATE          ((F_CPU) / 8)    // i.e., 2MHz or 2.5MHz

-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        1
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         1
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        0
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         0
 #endif

 #define TEMP_TIMER_FREQUENCY    ((F_CPU) / 64.0 / 256.0)
@@ -58,13 +58,13 @@ typedef uint16_t hal_timer_t;
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
 #define STEPPER_ISR_ENABLED()             TEST(TIMSK1, OCIE1A)

-#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0B)
-#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0B)
-#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0B)
+#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0A)
+#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0A)
+#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0A)

 FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
  switch (timer_num) {
-    case STEP_TIMER_NUM:
+    case MF_TIMER_STEP:
      // waveform generation = 0100 = CTC
      SET_WGM(1, CTC_OCRnA);

@@ -84,10 +84,10 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
      TCNT1 = 0;
      break;

-    case TEMP_TIMER_NUM:
+    case MF_TIMER_TEMP:
      // Use timer0 for temperature measurement
      // Interleave temperature interrupt with millies interrupt
-      OCR0B = 128;
+      OCR0A = 128;
      break;
  }
 }
@@ -109,12 +109,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
 * (otherwise, characters will be lost due to UART overflow).
 * Then: Stepper, Endstops, Temperature, and -finally- all others.
 */
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

-/* 18 cycles maximum latency */
 #ifndef HAL_STEP_TIMER_ISR

+/* 18 cycles maximum latency */
 #define HAL_STEP_TIMER_ISR() \
 extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
 extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
@@ -180,7 +180,7 @@ void TIMER1_COMPA_vect() { \
    :                                   \
    : [timsk0] "i" ((uint16_t)&TIMSK0), \
      [timsk1] "i" ((uint16_t)&TIMSK1), \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)),\
+      [msk0] "M" ((uint8_t)(1<<OCIE0A)),\
      [msk1] "M" ((uint8_t)(1<<OCIE1A)) \
    : \
  ); \
@@ -193,9 +193,9 @@ void TIMER1_COMPA_vect_bottom()

 /* 14 cycles maximum latency */
 #define HAL_TEMP_TIMER_ISR() \
-extern "C" void TIMER0_COMPB_vect() __attribute__ ((signal, naked, used, externally_visible)); \
-extern "C" void TIMER0_COMPB_vect_bottom()  asm ("TIMER0_COMPB_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
-void TIMER0_COMPB_vect() { \
+extern "C" void TIMER0_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
+extern "C" void TIMER0_COMPA_vect_bottom()  asm ("TIMER0_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
+void TIMER0_COMPA_vect() { \
  __asm__ __volatile__ ( \
    A("push r16")                       /* 2 Save R16 */ \
    A("in r16, __SREG__")               /* 1 Get SREG */ \
@@ -223,7 +223,7 @@ void TIMER0_COMPB_vect() { \
    A("push r30")                       \
    A("push r31")                       \
    A("clr r1")                         /* C runtime expects this register to be 0 */ \
-    A("call TIMER0_COMPB_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
+    A("call TIMER0_COMPA_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
    A("pop r31")                        \
    A("pop r30")                        \
    A("pop r27")                        \
@@ -251,10 +251,10 @@ void TIMER0_COMPB_vect() { \
    A("reti")                           /* 4 Return from interrupt */ \
    :                                   \
    : [timsk0] "i"((uint16_t)&TIMSK0),  \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)) \
+      [msk0] "M" ((uint8_t)(1<<OCIE0A)) \
    : \
  ); \
 } \
-void TIMER0_COMPB_vect_bottom()
+void TIMER0_COMPA_vect_bottom()

 #endif // HAL_TEMP_TIMER_ISR
@@ -34,7 +34,7 @@
 // Public Variables
 // ------------------------

-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;

 // ------------------------
 // Public functions
@@ -42,8 +42,7 @@ uint16_t HAL_adc_result;

 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());

-// HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
  // Initialize the USB stack
  #if ENABLED(SDSUPPORT)
    OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
@@ -52,21 +51,15 @@ void HAL_init() {
  TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
 }

-// HAL idle task
-void HAL_idletask() {
-  // Perform USB stack housekeeping
-  usb_task_idle();
+void MarlinHAL::init_board() {
+  #ifdef BOARD_INIT
+    BOARD_INIT();
+  #endif
 }

-// Disable interrupts
-void cli() { noInterrupts(); }
+void MarlinHAL::idletask() { usb_task_idle(); } // Perform USB stack housekeeping

-// Enable interrupts
-void sei() { interrupts(); }
-
-void HAL_clear_reset_source() { }
-
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
  switch ((RSTC->RSTC_SR >> 8) & 0x07) {
    case 0: return RST_POWER_ON;
    case 1: return RST_BACKUP;
@@ -77,12 +70,7 @@ uint8_t HAL_get_reset_source() {
  }
 }

-void HAL_reboot() { rstc_start_software_reset(RSTC); }
-
-void _delay_ms(const int delay_ms) {
-  // Todo: port for Due?
-  delay(delay_ms);
-}
+void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); }

 extern "C" {
  extern unsigned int _ebss; // end of bss section
@@ -94,19 +82,6 @@ int freeMemory() {
  return (int)&free_memory - (heap_end ?: (int)&_ebss);
 }

-// ------------------------
-// ADC
-// ------------------------
-
-void HAL_adc_start_conversion(const uint8_t ch) {
-  HAL_adc_result = analogRead(ch);
-}
-
-uint16_t HAL_adc_get_result() {
-  // nop
-  return HAL_adc_result;
-}
-
 // Forward the default serial ports
 #if USING_HW_SERIAL0
  DefaultSerial1 MSerial0(false, Serial);
@@ -38,6 +38,10 @@

 #include "../../core/serial_hook.h"

+// ------------------------
+// Serial ports
+// ------------------------
+
 typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
 typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
 typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
@@ -97,55 +101,38 @@ extern DefaultSerial4 MSerial3;
 #include "MarlinSerial.h"
 #include "MarlinSerialUSB.h"

-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
+// ------------------------
+// Types
+// ------------------------

 typedef int8_t pin_t;

-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;

 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+#define sei() noInterrupts()
+#define cli() interrupts()

-void cli();                     // Disable interrupts
-void sei();                     // Enable interrupts
-
-void HAL_clear_reset_source();  // clear reset reason
-uint8_t HAL_get_reset_source(); // get reset reason
-
-void HAL_reboot();
+#define CRITICAL_SECTION_START()  const bool _irqon = hal.isr_state(); hal.isr_off()
+#define CRITICAL_SECTION_END()    if (_irqon) hal.isr_on()

 //
 // ADC
 //
-extern uint16_t HAL_adc_result;     // result of last ADC conversion
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10

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

-#define HAL_ANALOG_SELECT(ch)
-
-inline void HAL_adc_init() {}//todo
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(ch)   HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
 //
-// Pin Map
+// Pin Mapping for M42, M43, M226
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -154,30 +141,19 @@ uint16_t HAL_adc_get_result();
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);

-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-void HAL_idletask();
-void HAL_init();
-
-//
-// Utility functions
-//
-void _delay_ms(const int delay);
+// ------------------------
+// Class Utilities
+// ------------------------

+#pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
-  #pragma GCC diagnostic push
  #pragma GCC diagnostic ignored "-Wunused-function"
 #endif

-int freeMemory();
-
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic pop
-#endif
+#pragma GCC diagnostic pop

 #ifdef __cplusplus
  extern "C" {
@@ -186,3 +162,69 @@ char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s
 #ifdef __cplusplus
  }
 #endif
+
+// Return free RAM between end of heap (or end bss) and whatever is current
+int freeMemory();
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();       // Called early in setup()
+  static void init_board(); // Called less early in setup()
+  static void reboot();     // Software reset
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No inverting the duty cycle in this HAL.
+   * No changing the maximum size of the provided value to enable finer PWM duty control in this HAL.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};
@@ -406,7 +406,7 @@ size_t MarlinSerial<Cfg>::write(const uint8_t c) {
    const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);

    // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {

      // Make room by polling if it is possible to transmit, and do so!
      while (i == tx_buffer.tail) {
@@ -454,7 +454,7 @@ void MarlinSerial<Cfg>::flushTX() {
    if (!_written) return;

    // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {

      // Wait until everything was transmitted - We must do polling, as interrupts are disabled
      while (tx_buffer.head != tx_buffer.tail || !(HWUART->UART_SR & UART_SR_TXEMPTY)) {
@@ -118,7 +118,7 @@ public:
  static size_t write(const uint8_t c);
  static void flushTX();

-  static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
+  static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }

  FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
  FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
@@ -41,7 +41,7 @@ extern "C" {
  int udi_cdc_getc();
  bool udi_cdc_is_tx_ready();
  int udi_cdc_putc(int value);
-};
+}

 // Pending character
 static int pending_char = -1;
@@ -35,20 +35,20 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;

-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
  tone_pin = _pin;
  toggles = 2 * frequency * duration / 1000;
-  HAL_timer_start(TONE_TIMER_NUM, 2 * frequency);
+  HAL_timer_start(MF_TIMER_TONE, 2 * frequency);
 }

 void noTone(const pin_t _pin) {
-  HAL_timer_disable_interrupt(TONE_TIMER_NUM);
+  HAL_timer_disable_interrupt(MF_TIMER_TONE);
  extDigitalWrite(_pin, LOW);
 }

 HAL_TONE_TIMER_ISR() {
  static uint8_t pin_state = 0;
-  HAL_timer_isr_prologue(TONE_TIMER_NUM);
+  HAL_timer_isr_prologue(MF_TIMER_TONE);

  if (toggles) {
    toggles--;
@@ -70,4 +70,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
@@ -25,7 +25,7 @@
 * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
 * that interrupt.
 *
- * All PWMs use the same repetition rate.  The G2 needs about 10KHz min in order to
+ * All PWMs use the same repetition rate.  The G2 needs about 10kHz min in order to
 * not have obvious ripple on the Vref signals.
 *
 * The data structures are setup to minimize the computation done by the ISR which
@@ -59,3 +59,7 @@
 #if HAS_TMC_SW_SERIAL
  #error "TMC220x Software Serial is not supported on the DUE platform."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on DUE boards."
+#endif
@@ -53,7 +53,7 @@
 *     The net result is that both the g_pinStatus[pin] array and the PIO_OSR register
 *     needs to be looked at when determining if a pin is an input or an output.
 *
- * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs.  FYI - they run at 1KHz
+ * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs.  FYI - they run at 1kHz
 *
 * c) NUM_DIGITAL_PINS does not include the analog pins
 *
@@ -42,7 +42,7 @@
 // Private Variables
 // ------------------------

-const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
+const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
  { TC0, 0, TC0_IRQn,  3}, // 0 - [servo timer5]
  { TC0, 1, TC1_IRQn,  0}, // 1
  { TC0, 2, TC2_IRQn,  2}, // 2 - stepper
@@ -66,9 +66,9 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
 */

 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
-  Tc *tc = TimerConfig[timer_num].pTimerRegs;
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
-  uint32_t channel = TimerConfig[timer_num].channel;
+  Tc *tc = timer_config[timer_num].pTimerRegs;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+  uint32_t channel = timer_config[timer_num].channel;

  // Disable interrupt, just in case it was already enabled
  NVIC_DisableIRQ(irq);
@@ -86,7 +86,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {

  pmc_set_writeprotect(false);
  pmc_enable_periph_clk((uint32_t)irq);
-  NVIC_SetPriority(irq, TimerConfig [timer_num].priority);
+  NVIC_SetPriority(irq, timer_config[timer_num].priority);

  // wave mode, reset counter on match with RC,
  TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1);
@@ -105,12 +105,12 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
 }

 void HAL_timer_enable_interrupt(const uint8_t timer_num) {
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
  NVIC_EnableIRQ(irq);
 }

 void HAL_timer_disable_interrupt(const uint8_t timer_num) {
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
  NVIC_DisableIRQ(irq);

  // We NEED memory barriers to ensure Interrupts are actually disabled!
@@ -125,7 +125,7 @@ static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
 }

 bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
  return NVIC_GetEnabledIRQ(irq);
 }

@@ -37,35 +37,35 @@ typedef uint32_t hal_timer_t;

 #define HAL_TIMER_RATE         ((F_CPU) / 2)    // frequency of timers peripherals

-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        2  // Timer Index for Stepper
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         2  // Timer Index for Stepper
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        4  // Timer Index for Temperature
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         4  // Timer Index for Temperature
 #endif
-#ifndef TONE_TIMER_NUM
-  #define TONE_TIMER_NUM        6  // index of timer to use for beeper tones
+#ifndef MF_TIMER_TONE
+  #define MF_TIMER_TONE         6  // index of timer to use for beeper tones
 #endif

 #define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency

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

-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                                    // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US

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

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

 #ifndef HAL_STEP_TIMER_ISR
  #define HAL_STEP_TIMER_ISR() void TC2_Handler()
@@ -92,7 +92,7 @@ typedef struct {
 // Public Variables
 // ------------------------

-extern const tTimerConfig TimerConfig[];
+extern const tTimerConfig timer_config[];

 // ------------------------
 // Public functions
@@ -101,17 +101,17 @@ extern const tTimerConfig TimerConfig[];
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);

 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
-  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &timer_config[timer_num];
  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare;
 }

 FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
-  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &timer_config[timer_num];
  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
 }

 FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
-  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &timer_config[timer_num];
  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
 }

@@ -120,9 +120,9 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

 FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
-  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &timer_config[timer_num];
  // Reading the status register clears the interrupt flag
  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }

-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T) NOOP
@@ -4,15 +4,16 @@
 #  Windows: bossac.exe
 #  Other: leave unchanged
 #
+import pioutil
+if pioutil.is_pio_build():
+	import platform
+	current_OS = platform.system()

-import platform
-current_OS = platform.system()
+	if current_OS == 'Windows':

-if current_OS == 'Windows':
+		Import("env")

-	Import("env")
-
-	# Use bossac.exe on Windows
-	env.Replace(
-	    UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE"
-	)
+		# Use bossac.exe on Windows
+		env.Replace(
+			UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE"
+		)
@@ -10,7 +10,7 @@

 #include "../../../sd/cardreader.h"
 extern "C" {
-#include "sd_mmc_spi_mem.h"
+  #include "sd_mmc_spi_mem.h"
 }

 #define SD_MMC_BLOCK_SIZE 512
@@ -52,7 +52,7 @@
 // Externs
 // ------------------------

-portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;

 // ------------------------
 // Local defines
@@ -64,7 +64,7 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
 // Public Variables
 // ------------------------

-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;

 // ------------------------
 // Private Variables
@@ -73,9 +73,16 @@ uint16_t HAL_adc_result;
 esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX];
 adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {};
 uint32_t thresholds[ADC_ATTEN_MAX];
-volatile int numPWMUsed = 0,
-             pwmPins[MAX_PWM_PINS],
-             pwmValues[MAX_PWM_PINS];
+
+volatile int numPWMUsed = 0;
+volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS];
+
+pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32
+
+struct {
+  uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet!
+  uint16_t res;
+} pwmInfo[(CHANNEL_MAX_NUM + 1) / 2];

 // ------------------------
 // Public functions
@@ -95,20 +102,22 @@ volatile int numPWMUsed = 0,
 #endif

 #if ENABLED(USE_ESP32_EXIO)
+
  HardwareSerial YSerial2(2);

  void Write_EXIO(uint8_t IO, uint8_t v) {
-    if (ISRS_ENABLED()) {
-      DISABLE_ISRS();
+    if (hal.isr_state()) {
+      hal.isr_off();
      YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
-      ENABLE_ISRS();
+      hal.isr_on();
    }
    else
      YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
  }
+
 #endif

-void HAL_init_board() {
+void MarlinHAL::init_board() {
  #if ENABLED(USE_ESP32_TASK_WDT)
    esp_task_wdt_init(10, true);
  #endif
@@ -154,27 +163,26 @@ void HAL_init_board() {
  #endif
 }

-void HAL_idletask() {
+void MarlinHAL::idletask() {
  #if BOTH(WIFISUPPORT, OTASUPPORT)
    OTA_handle();
  #endif
  TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask());
 }

-void HAL_clear_reset_source() { }
+uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }

-uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }
-
-void HAL_reboot() { ESP.restart(); }
+void MarlinHAL::reboot() { ESP.restart(); }

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

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

 // ------------------------
 // ADC
 // ------------------------
+
 #define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL

 adc1_channel_t get_channel(int pin) {
@@ -196,22 +204,24 @@ void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) {
  }
 }

-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
  // Configure ADC
  adc1_config_width(ADC_WIDTH_12Bit);

  // Configure channels only if used as (re-)configuring a pin for ADC that is used elsewhere might have adverse effects
-  TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_0,        adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_1,        adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_2,        adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_3,        adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_4,        adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_5,        adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_6,        adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_7,        adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_HEATED_BED,        adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_CHAMBER,      adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_PROBE,        adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_COOLER,       adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_BOARD,        adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
  TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));

  // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
@@ -226,11 +236,16 @@ void HAL_adc_init() {
  }
 }

-void HAL_adc_start_conversion(const uint8_t adc_pin) {
-  const adc1_channel_t chan = get_channel(adc_pin);
+#ifndef ADC_REFERENCE_VOLTAGE
+  #define ADC_REFERENCE_VOLTAGE 3.3
+#endif
+
+void MarlinHAL::adc_start(const pin_t pin) {
+  const adc1_channel_t chan = get_channel(pin);
  uint32_t mv;
  esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
-  HAL_adc_result = mv * 1023.0 / 3300.0;
+
+  adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);

  // Change the attenuation level based on the new reading
  adc_atten_t atten;
@@ -247,25 +262,81 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
  adc1_set_attenuation(chan, atten);
 }

-void analogWrite(pin_t pin, int value) {
-  // Use ledc hardware for internal pins
-  if (pin < 34) {
-    static int cnt_channel = 1, pin_to_channel[40] = { 0 };
-    if (pin_to_channel[pin] == 0) {
-      ledcAttachPin(pin, cnt_channel);
-      ledcSetup(cnt_channel, 490, 8);
-      ledcWrite(cnt_channel, value);
-      pin_to_channel[pin] = cnt_channel++;
+// ------------------------
+// PWM
+// ------------------------
+
+int8_t channel_for_pin(const uint8_t pin) {
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++)
+    if (chan_pin[i] == pin) return i;
+  return -1;
+}
+
+// get PWM channel for pin - if none then attach a new one
+// return -1 if fail or invalid pin#, channel # (0-15) if success
+int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) {
+  if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin!
+  int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) return cid;
+
+  // Find an empty adjacent channel (same timer & freq/res)
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++) {
+    if (chan_pin[i] == 0) {
+      if (chan_pin[i ^ 0x1] != 0) {
+        if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) {
+          chan_pin[i] = pin; // Allocate PWM to this channel
+          ledcAttachPin(pin, i);
+          return i;
+        }
+      }
+      else if (cid == -1)    // Pair of empty channels?
+        cid = i & 0xFE;      // Save lower channel number
    }
-    ledcWrite(pin_to_channel[pin], value);
+  }
+  // not attached, is an empty timer slot avail?
+  if (cid >= 0) {
+    chan_pin[cid] = pin;
+    pwmInfo[cid / 2].freq = freq;
+    pwmInfo[cid / 2].res = res;
+    ledcSetup(cid, freq, res);
+    ledcAttachPin(pin, cid);
+  }
+  return cid; // -1 if no channel avail
+}
+
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
+  const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
+  if (cid >= 0) {
+    uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
+    ledcWrite(cid, duty);
+  }
+}
+
+int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
+  const int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) {
+    if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
+    ledcDetachPin(chan_pin[cid]);
+    chan_pin[cid] = 0;              // remove old freq channel
+  }
+  return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+}
+
+// use hardware PWM if avail, if not then ISR
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution!
+  // Use ledc hardware for internal pins
+  const int8_t cid = get_pwm_channel(pin, freq, res);
+  if (cid >= 0) {
+    ledcWrite(cid, value); // set duty value
    return;
  }

+  // not a hardware PWM pin OR no PWM channels available
  int idx = -1;

  // Search Pin
  for (int i = 0; i < numPWMUsed; ++i)
-    if (pwmPins[i] == pin) { idx = i; break; }
+    if (pwmState[i].pin == pin) { idx = i; break; }

  // not found ?
  if (idx < 0) {
@@ -274,34 +345,34 @@ void analogWrite(pin_t pin, int value) {

    // Take new slot for pin
    idx = numPWMUsed;
-    pwmPins[idx] = pin;
+    pwmState[idx].pin = pin;
    // Start timer on first use
-    if (idx == 0) HAL_timer_start(PWM_TIMER_NUM, PWM_TIMER_FREQUENCY);
+    if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY);

    ++numPWMUsed;
  }

  // Use 7bit internal value - add 1 to have 100% high at 255
-  pwmValues[idx] = (value + 1) / 2;
+  pwmState[idx].value = (value + 1) / 2;
 }

 // Handle PWM timer interrupt
 HAL_PWM_TIMER_ISR() {
-  HAL_timer_isr_prologue(PWM_TIMER_NUM);
+  HAL_timer_isr_prologue(MF_TIMER_PWM);

  static uint8_t count = 0;

  for (int i = 0; i < numPWMUsed; ++i) {
    if (count == 0)                   // Start of interval
-      WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW);
-    else if (pwmValues[i] == count)   // End of duration
-      WRITE(pwmPins[i], LOW);
+      digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW);
+    else if (pwmState[i].value == count)   // End of duration
+      digitalWrite(pwmState[i].pin, LOW);
  }

  // 128 for 7 Bit resolution
  count = (count + 1) & 0x7F;

-  HAL_timer_isr_epilogue(PWM_TIMER_NUM);
+  HAL_timer_isr_epilogue(MF_TIMER_PWM);
 }

 #endif // ARDUINO_ARCH_ESP32
@@ -49,8 +49,6 @@
 // Defines
 // ------------------------

-extern portMUX_TYPE spinlock;
-
 #define MYSERIAL1 flushableSerial

 #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
@@ -65,24 +63,22 @@ extern portMUX_TYPE spinlock;

 #define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&spinlock)
-#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
-#define ENABLE_ISRS()  if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
-#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock)
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+#define PWM_RESOLUTION   10u   // Default PWM bit resolution
+#define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
+#define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34

 // ------------------------
 // Types
 // ------------------------

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

-#define HAL_SERVO_LIB Servo
-
-// ------------------------
-// Public Variables
-// ------------------------
-
-/** result of last ADC conversion */
-extern uint16_t HAL_adc_result;
+class Servo;
+typedef Servo hal_servo_t;

 // ------------------------
 // Public functions
@@ -91,57 +87,18 @@ extern uint16_t HAL_adc_result;
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);

-// clear reset reason
-void HAL_clear_reset_source();
-
-// reset reason
-uint8_t HAL_get_reset_source();
-
-void HAL_reboot();
-
-void _delay_ms(int delay);
-
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
-
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic pop
-#endif
-
-void analogWrite(pin_t pin, int value);
-
-// ADC
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq=PWM_FREQUENCY, const uint16_t res=8);

+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)

-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-#define BOARD_INIT() HAL_init_board();
-void HAL_idletask();
-inline void HAL_init() {}
-void HAL_init_board();
-
 #if ENABLED(USE_ESP32_EXIO)
  void Write_EXIO(uint8_t IO, uint8_t v);
 #endif
@@ -186,3 +143,90 @@ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
  }

 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+void _delay_ms(const int ms);
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init() {}  // Called early in setup()
+  static void init_board();     // Called less early in setup()
+  static void reboot();         // Restart the firmware
+
+  // Interrupts
+  static portMUX_TYPE spinlock;
+  static bool isr_state() { return spinlock.owner == portMUX_FREE_VAL; }
+  static void isr_on()  { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); }
+  static void isr_off() { portENTER_CRITICAL(&spinlock); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory();
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * If not already allocated, allocate a hardware PWM channel
+   * to the pin and set the duty cycle..
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Allocate and set the frequency of a hardware PWM pin
+   * Returns -1 if no pin available.
+   */
+  static int8_t set_pwm_frequency(const pin_t pin, const uint32_t f_desired);
+
+};
@@ -31,20 +31,18 @@
 // so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
 int Servo::channel_next_free = 12;

-Servo::Servo() {
-  channel = channel_next_free++;
-}
+Servo::Servo() {}

 int8_t Servo::attach(const int inPin) {
-  if (channel >= CHANNEL_MAX_NUM) return -1;
  if (inPin > 0) pin = inPin;
-
-  ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
-  ledcAttachPin(pin, channel);
-  return true;
+  channel = get_pwm_channel(pin, 50u, 16u);
+  return channel; // -1 if no PWM avail.
 }

-void Servo::detach() { ledcDetachPin(pin); }
+// leave channel connected to servo - set duty to zero
+void Servo::detach() {
+  if (channel >= 0) ledcWrite(channel, 0);
+}

 int Servo::read() { return degrees; }

@@ -52,7 +50,7 @@ void Servo::write(int inDegrees) {
  degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
  int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
  int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
-  ledcWrite(channel, duty);
+  if (channel >= 0) ledcWrite(channel, duty); // don't save duty for servos!
 }

 void Servo::move(const int value) {
@@ -30,8 +30,7 @@ class Servo {
                   MAX_PULSE_WIDTH = 2400,  // Longest pulse sent to a servo
                   TAU_MSEC = 20,
                   TAU_USEC = (TAU_MSEC * 1000),
-                   MAX_COMPARE = _BV(16) - 1, // 65535
-                   CHANNEL_MAX_NUM = 16;
+                   MAX_COMPARE = _BV(16) - 1; // 65535

 public:
  Servo();
@@ -35,19 +35,19 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;

-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
  tone_pin = _pin;
  toggles = 2 * frequency * duration / 1000;
-  HAL_timer_start(TONE_TIMER_NUM, 2 * frequency);
+  HAL_timer_start(MF_TIMER_TONE, 2 * frequency);
 }

 void noTone(const pin_t _pin) {
-  HAL_timer_disable_interrupt(TONE_TIMER_NUM);
+  HAL_timer_disable_interrupt(MF_TIMER_TONE);
  WRITE(_pin, LOW);
 }

 HAL_TONE_TIMER_ISR() {
-  HAL_timer_isr_prologue(TONE_TIMER_NUM);
+  HAL_timer_isr_prologue(MF_TIMER_TONE);

  if (toggles) {
    toggles--;
@@ -65,4 +65,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
@@ -64,12 +64,9 @@ uint32_t i2s_port_data = 0;
 #define I2S_EXIT_CRITICAL()   portEXIT_CRITICAL(&i2s_spinlock[i2s_num])

 static inline void gpio_matrix_out_check(uint32_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
-  //if pin = -1, do not need to configure
-  if (gpio != -1) {
-    PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
-    gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
-    gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
-  }
+  PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
+  gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
+  gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
 }

 static esp_err_t i2s_reset_fifo(i2s_port_t i2s_num) {
@@ -256,13 +253,7 @@ int i2s_init() {

  I2S0.fifo_conf.dscr_en = 0;

-  I2S0.conf_chan.tx_chan_mod = (
-    #if ENABLED(I2S_STEPPER_SPLIT_STREAM)
-      4
-    #else
-      0
-    #endif
-  );
+  I2S0.conf_chan.tx_chan_mod = TERN(I2S_STEPPER_SPLIT_STREAM, 4, 0);
  I2S0.fifo_conf.tx_fifo_mod = 0;
  I2S0.conf.tx_mono = 0;

@@ -313,9 +304,16 @@ int i2s_init() {
  xTaskCreatePinnedToCore(stepperTask, "StepperTask", 10000, nullptr, 1, nullptr, CONFIG_ARDUINO_RUNNING_CORE); // run I2S stepper task on same core as rest of Marlin

  // Route the i2s pins to the appropriate GPIO
-  gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0);
-  gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0);
-  gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0);
+  // If a pin is not defined, no need to configure
+  #if defined(I2S_DATA) && I2S_DATA >= 0
+    gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0);
+  #endif
+  #if defined(I2S_BCK) && I2S_BCK >= 0
+    gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0);
+  #endif
+  #if defined(I2S_WS) && I2S_WS >= 0
+    gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0);
+  #endif

  // Start the I2S peripheral
  return i2s_start(I2S_NUM_0);
@@ -25,8 +25,8 @@
  #error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue."
 #endif

-#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
-  #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on ESP32."
+#if (ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125) || (ENABLED(FAST_PWM_FAN_FREQUENCY) && FAST_PWM_FAN_FREQUENCY > 78125)
+  #error "SPINDLE_LASER_FREQUENCY and FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32."
 #endif

 #if HAS_TMC_SW_SERIAL
@@ -40,3 +40,11 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
  #error "POSTMORTEM_DEBUGGING is not yet supported on ESP32."
 #endif
+
+#if MB(MKS_TINYBEE) && ENABLED(FAST_PWM_FAN)
+  #error "FAST_PWM_FAN is not available on TinyBee."
+#endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on ESP32 boards."
+#endif
@@ -41,7 +41,7 @@

 static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};

-const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
+const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
  { TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
  { TIMER_GROUP_0, TIMER_1,    TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
  { TIMER_GROUP_1, TIMER_0,     PWM_TIMER_PRESCALE, pwmTC_Handler  }, // 2 - PWM
@@ -53,7 +53,7 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
 // ------------------------

 void IRAM_ATTR timer_isr(void *para) {
-  const tTimerConfig& timer = TimerConfig[(int)para];
+  const tTimerConfig& timer = timer_config[(int)para];

  // Retrieve the interrupt status and the counter value
  // from the timer that reported the interrupt
@@ -81,8 +81,8 @@ void IRAM_ATTR timer_isr(void *para) {
 * @param timer_num timer number to initialize
 * @param frequency frequency of the timer
 */
-void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  const tTimerConfig timer = timer_config[timer_num];

  timer_config_t config;
  config.divider     = timer.divider;
@@ -115,7 +115,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
 * @param count     threshold at which the interrupt is triggered
 */
 void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+  const tTimerConfig timer = timer_config[timer_num];
  timer_set_alarm_value(timer.group, timer.idx, count);
 }

@@ -125,7 +125,7 @@ void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
 * @return           the timer current threshold for the alarm to be triggered
 */
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+  const tTimerConfig timer = timer_config[timer_num];

  uint64_t alarm_value;
  timer_get_alarm_value(timer.group, timer.idx, &alarm_value);
@@ -139,7 +139,7 @@ hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
 * @return           the current counter of the alarm
 */
 hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+  const tTimerConfig timer = timer_config[timer_num];
  uint64_t counter_value;
  timer_get_counter_value(timer.group, timer.idx, &counter_value);
  return counter_value;
@@ -150,7 +150,7 @@ hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
 * @param timer_num timer number to enable interrupts on
 */
 void HAL_timer_enable_interrupt(const uint8_t timer_num) {
-  //const tTimerConfig timer = TimerConfig[timer_num];
+  //const tTimerConfig timer = timer_config[timer_num];
  //timer_enable_intr(timer.group, timer.idx);
 }

@@ -159,12 +159,12 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num) {
 * @param timer_num timer number to disable interrupts on
 */
 void HAL_timer_disable_interrupt(const uint8_t timer_num) {
-  //const tTimerConfig timer = TimerConfig[timer_num];
+  //const tTimerConfig timer = timer_config[timer_num];
  //timer_disable_intr(timer.group, timer.idx);
 }

 bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+  const tTimerConfig timer = timer_config[timer_num];
  return TG[timer.group]->int_ena.val | BIT(timer_num);
 }

@@ -32,20 +32,20 @@
 typedef uint64_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL

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

 #define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
@@ -79,12 +79,12 @@ typedef uint64_t hal_timer_t;
 #define PULSE_TIMER_PRESCALE     STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US

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

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

 #ifndef HAL_TEMP_TIMER_ISR
  #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler()
@@ -121,13 +121,13 @@ typedef struct {
 // Public Variables
 // ------------------------

-extern const tTimerConfig TimerConfig[];
+extern const tTimerConfig timer_config[];

 // ------------------------
 // Public functions
 // ------------------------

-void HAL_timer_start (const uint8_t timer_num, uint32_t frequency);
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
 void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
 hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
@@ -136,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
@@ -0,0 +1,100 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * Copypaste of SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(FYSETC_MINI_12864_2_1)
+
+#include <U8glib-HAL.h>
+#include "Arduino.h"
+#include "../shared/HAL_SPI.h"
+#include "HAL.h"
+#include "SPI.h"
+
+static SPISettings spiConfig;
+
+#define MDOGLCD_MOSI    23
+#define MDOGLCD_SCK     18
+#define MLCD_RESET_PIN   0
+#define MLCD_PINS_DC     4
+#define MDOGLCD_CS      21
+#define MDOGLCD_A0       4
+
+#ifndef LCD_SPI_SPEED
+  #ifdef SD_SPI_SPEED
+    #define LCD_SPI_SPEED SD_SPI_SPEED    // Assume SPI speed shared with SD
+  #else
+    #define LCD_SPI_SPEED SPI_FULL_SPEED  // Use full speed if SD speed is not supplied
+  #endif
+#endif
+
+uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT
+  if (msgInitCount) {
+    if (msg == U8G_COM_MSG_INIT) msgInitCount--;
+    if (msgInitCount) return -1;
+  }
+
+  switch (msg) {
+    case U8G_COM_MSG_STOP: break;
+
+    case U8G_COM_MSG_INIT:
+      OUT_WRITE(MDOGLCD_CS, HIGH);
+      OUT_WRITE(MDOGLCD_A0, HIGH);
+      OUT_WRITE(MLCD_RESET_PIN, HIGH);
+      u8g_Delay(5);
+      spiBegin();
+      spiInit(LCD_SPI_SPEED);
+      break;
+
+    case U8G_COM_MSG_ADDRESS:           /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      WRITE(MDOGLCD_A0, arg_val ? HIGH : LOW);
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:       /* arg_val == 0 means HIGH level of U8G_PI_CS */
+      WRITE(MDOGLCD_CS, arg_val ? LOW : HIGH);
+      break;
+
+    case U8G_COM_MSG_RESET:
+      WRITE(MLCD_RESET_PIN, arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      spiSend((uint8_t)arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ:
+      uint8_t *ptr = (uint8_t*) arg_ptr;
+      while (arg_val > 0) {
+        spiSend(*ptr++);
+        arg_val--;
+      }
+      break;
+  }
+  return 1;
+}
+
+#endif // FYSETC_MINI_12864_2_1
+#endif // ARDUINO_ARCH_ESP32
@@ -24,6 +24,10 @@
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"

+// ------------------------
+// Serial ports
+// ------------------------
+
 MSerialT usb_serial(TERN0(EMERGENCY_PARSER, true));

 // U8glib required functions
@@ -37,42 +41,21 @@ extern "C" {
 //************************//

 // return free heap space
-int freeMemory() {
-  return 0;
-}
+int freeMemory() { return 0; }

 // ------------------------
 // ADC
 // ------------------------

-void HAL_adc_init() {
+uint8_t MarlinHAL::active_ch = 0;

-}
-
-void HAL_adc_enable_channel(const uint8_t ch) {
-
-}
-
-uint8_t active_ch = 0;
-void HAL_adc_start_conversion(const uint8_t ch) {
-  active_ch = ch;
-}
-
-bool HAL_adc_finished() {
-  return true;
-}
-
-uint16_t HAL_adc_get_result() {
-  pin_t pin = analogInputToDigitalPin(active_ch);
+uint16_t MarlinHAL::adc_value() {
+  const pin_t pin = analogInputToDigitalPin(active_ch);
  if (!VALID_PIN(pin)) return 0;
-  uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
+  const uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
  return data;    // return 10bit value as Marlin expects
 }

-void HAL_pwm_init() {
-
-}
-
-void HAL_reboot() { /* Reset the application state and GPIO */ }
+void MarlinHAL::reboot() { /* Reset the application state and GPIO */ }

 #endif // __PLAT_LINUX__
@@ -21,34 +21,13 @@
 */
 #pragma once

-#define CPU_32_BIT
-
-#define F_CPU 100000000UL
-#define SystemCoreClock F_CPU
 #include <iostream>
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>

-void _printf (const  char *format, ...);
-void _putc(uint8_t c);
-uint8_t _getc();
-
-//extern "C" volatile uint32_t _millis;
-
-//arduino: Print.h
-#define DEC 10
-#define HEX 16
-#define OCT  8
-#define BIN  2
-//arduino: binary.h (weird defines)
-#define B01 1
-#define B10 2
-
 #include "hardware/Clock.h"

 #include "../shared/Marduino.h"
@@ -58,58 +37,125 @@ uint8_t _getc();
 #include "watchdog.h"
 #include "serial.h"

-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Defines
+// ------------------------

-extern MSerialT usb_serial;
-#define MYSERIAL1 usb_serial
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000UL
+#define SystemCoreClock F_CPU
+
+#define DELAY_CYCLES(x) Clock::delayCycles(x)

 #define CPU_ST7920_DELAY_1 600
 #define CPU_ST7920_DELAY_2 750
 #define CPU_ST7920_DELAY_3 750

+void _printf(const  char *format, ...);
+void _putc(uint8_t c);
+uint8_t _getc();
+
+//arduino: Print.h
+#define DEC 10
+#define HEX 16
+#define OCT  8
+#define BIN  2
+//arduino: binary.h (weird defines)
+#define B01 1
+#define B10 2
+
+// ------------------------
+// Serial ports
+// ------------------------
+
+extern MSerialT usb_serial;
+#define MYSERIAL1 usb_serial
+
 //
 // Interrupts
 //
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()

-inline void HAL_init() {}
+// ADC
+#define HAL_ADC_VREF           5.0
+#define HAL_ADC_RESOLUTION    10

-// Utility functions
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
-  #pragma GCC diagnostic push
  #pragma GCC diagnostic ignored "-Wunused-function"
 #endif

 int freeMemory();

-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic pop
-#endif
+#pragma GCC diagnostic pop

-// ADC
-#define HAL_ADC_VREF           5.0
-#define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
+// ------------------------
+// MarlinHAL Class
+// ------------------------

-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
+class MarlinHAL {
+public:

-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
+  // Earliest possible init, before setup()
+  MarlinHAL() {}

-void HAL_reboot(); // Reset the application state and GPIO
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();               // Reset the application state and GPIO

-/* ---------------- Delay in cycles */
-FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
-  Clock::delayCycles(x);
-}
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t) {}
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const uint8_t ch) { active_ch = ch; }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to change the resolution or invert the duty cycle.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+  static void set_pwm_frequency(const pin_t, int) {}
+};
@@ -31,9 +31,7 @@ void cli() { } // Disable
 void sei() { } // Enable

 // Time functions
-void _delay_ms(const int delay_ms) {
-  delay(delay_ms);
-}
+void _delay_ms(const int ms) { delay(ms); }

 uint32_t millis() {
  return (uint32_t)Clock::millis();
@@ -59,10 +59,9 @@ typedef uint8_t byte;
 #endif

 #define sq(v) ((v) * (v))
-#define square(v) sq(v)
 #define constrain(value, arg_min, arg_max) ((value) < (arg_min) ? (arg_min) :((value) > (arg_max) ? (arg_max) : (value)))

-//Interrupts
+// Interrupts
 void cli(); // Disable
 void sei(); // Enable
 void attachInterrupt(uint32_t pin, void (*callback)(), uint32_t mode);
@@ -74,8 +73,8 @@ extern "C" {
 }

 // Time functions
-extern "C" void delay(const int milis);
-void _delay_ms(const int delay);
+extern "C" void delay(const int ms);
+void _delay_ms(const int ms);
 void delayMicroseconds(unsigned long);
 uint32_t millis();

@@ -37,14 +37,14 @@ typedef uint32_t hal_timer_t;

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

-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        0  // Timer Index for Stepper
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         0  // Timer Index for Stepper
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        1  // Timer Index for Temperature
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         1  // Timer Index for Temperature
 #endif

 #define TEMP_TIMER_RATE        1000000
@@ -58,12 +58,12 @@ typedef uint32_t hal_timer_t;
 #define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US

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

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

 #ifndef HAL_STEP_TIMER_ISR
  #define HAL_STEP_TIMER_ISR()  extern "C" void TIMER0_IRQHandler()
@@ -77,7 +77,6 @@ typedef uint32_t hal_timer_t;
 #define HAL_PWM_TIMER_ISR()   extern "C" void TIMER3_IRQHandler()
 #define HAL_PWM_TIMER_IRQn

-
 void HAL_timer_init();
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);

@@ -93,5 +92,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
@@ -31,7 +31,7 @@

 DefaultSerial1 USBSerial(false, UsbSerial);

-uint32_t HAL_adc_reading = 0;
+uint32_t MarlinHAL::adc_result = 0;

 // U8glib required functions
 extern "C" {
@@ -41,8 +41,6 @@ extern "C" {
  void u8g_Delay(uint16_t val)       { delay(val); }
 }

-//************************//
-
 // return free heap space
 int freeMemory() {
  char stack_end;
@@ -54,7 +52,27 @@ int freeMemory() {
  return result;
 }

-// scan command line for code
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
+
+uint8_t MarlinHAL::get_reset_source() {
+  #if ENABLED(USE_WATCHDOG)
+    if (watchdog_timed_out()) return RST_WATCHDOG;
+  #endif
+  return RST_POWER_ON;
+}
+
+void MarlinHAL::clear_reset_source() {
+  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
+}
+
+void flashFirmware(const int16_t) {
+  delay(500);          // Give OS time to disconnect
+  USB_Connect(false);  // USB clear connection
+  delay(1000);         // Give OS time to notice
+  hal.reboot();
+}
+
+// For M42/M43, scan command line for pin code
 //   return index into pin map array if found and the pin is valid.
 //   return dval if not found or not a valid pin.
 int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
@@ -63,24 +81,4 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
  return ind > -1 ? ind : dval;
 }

-void flashFirmware(const int16_t) {
-  delay(500);          // Give OS time to disconnect
-  USB_Connect(false);  // USB clear connection
-  delay(1000);         // Give OS time to notice
-  HAL_reboot();
-}
-
-void HAL_clear_reset_source(void) {
-  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
-}
-
-uint8_t HAL_get_reset_source(void) {
-  #if ENABLED(USE_WATCHDOG)
-    if (watchdog_timed_out()) return RST_WATCHDOG;
-  #endif
-  return RST_POWER_ON;
-}
-
-void HAL_reboot() { NVIC_SystemReset(); }
-
 #endif // TARGET_LPC1768
@@ -28,8 +28,6 @@

 #define CPU_32_BIT

-void HAL_init();
-
 #include <stdint.h>
 #include <stdarg.h>
 #include <algorithm>
@@ -47,12 +45,9 @@ extern "C" volatile uint32_t _millis;
 #include <pinmapping.h>
 #include <CDCSerial.h>

-//
-// Default graphical display delays
-//
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
+// ------------------------
+// Serial ports
+// ------------------------

 typedef ForwardSerial1Class< decltype(UsbSerial) > DefaultSerial1;
 extern DefaultSerial1 USBSerial;
@@ -114,28 +109,12 @@ extern DefaultSerial1 USBSerial;
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()

 //
-// Utility functions
-//
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
-
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic pop
-#endif
-
-//
-// ADC API
+// ADC
 //

 #define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
@@ -154,20 +133,9 @@ int freeMemory();
 #define HAL_ADC_RESOLUTION     12   // 15 bit maximum, raw temperature is stored as int16_t
 #define HAL_ADC_FILTERED            // Disable oversampling done in Marlin as ADC values already filtered in HAL

-using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
-extern uint32_t HAL_adc_reading;
-[[gnu::always_inline]] inline void HAL_adc_start_conversion(const pin_t pin) {
-  HAL_adc_reading = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
-}
-[[gnu::always_inline]] inline uint16_t HAL_adc_get_result() {
-  return HAL_adc_reading;
-}
-
-#define HAL_adc_init()
-#define HAL_ANALOG_SELECT(pin) FilteredADC::enable_channel(pin)
-#define HAL_START_ADC(pin)     HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()         HAL_adc_get_result()
-#define HAL_ADC_READY()        (true)
+//
+// Pin Mapping for M42, M43, M226
+//

 // Test whether the pin is valid
 constexpr bool VALID_PIN(const pin_t pin) {
@@ -194,32 +162,101 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
 // P0.6 thru P0.9 are for the onboard SD card
 #define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09,

-#define HAL_IDLETASK 1
-void HAL_idletask();
+// ------------------------
+// Defines
+// ------------------------

 #define PLATFORM_M997_SUPPORT
 void flashFirmware(const int16_t);

 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment

-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Hardware PWM pins run at the same frequency and all
- *  Software PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+// Default graphical display delays
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750

-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+// ------------------------
+// Class Utilities
+// ------------------------

-// Reset source
-void HAL_clear_reset_source(void);
-uint8_t HAL_get_reset_source(void);
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif

-void HAL_reboot();
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();                 // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();               // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {
+    FilteredADC::enable_channel(pin);
+  }
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static uint32_t adc_result;
+  static void adc_start(const pin_t pin) {
+    adc_result = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return uint16_t(adc_result); }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer corresponding to the provided pin
+   * All Hardware PWM pins will run at the same frequency and
+   * All Software PWM pins will run at the same frequency
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};
@@ -65,4 +65,5 @@ class libServo: public Servo {
  }
 };

-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;
@@ -155,4 +155,37 @@ void setup_endstop_interrupts() {
    #endif
    _ATTACH(K_MIN_PIN);
  #endif
+  #if HAS_U_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(U_MAX_PIN)
+      #error "U_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(U_MAX_PIN);
+  #elif HAS_U_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(U_MIN_PIN)
+      #error "U_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(U_MIN_PIN);
+  #endif
+  #if HAS_V_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(V_MAX_PIN)
+      #error "V_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(V_MAX_PIN);
+  #elif HAS_V_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(V_MIN_PIN)
+      #error "V_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(V_MIN_PIN);
+  #endif
+  #if HAS_W_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(W_MAX_PIN)
+      #error "W_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(W_MAX_PIN);
+  #elif HAS_W_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(W_MIN_PIN)
+      #error "W_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(W_MIN_PIN);
+  #endif
 }
@@ -21,19 +21,17 @@
 */
 #ifdef TARGET_LPC1768

-#include "../../inc/MarlinConfigPre.h"
-
-#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
-
+#include "../../inc/MarlinConfig.h"
 #include <pwm.h>

-void set_pwm_frequency(const pin_t pin, int f_desired) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+  if (!LPC176x::pin_is_valid(pin)) return;
+  if (LPC176x::pwm_attach_pin(pin))
+    LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size);  // map 1-254 onto PWM range
+}
+
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
  LPC176x::pwm_set_frequency(pin, f_desired);
 }

-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
-  LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size);
-}
-
-#endif // NEEDS_HARDWARE_PWM
 #endif // TARGET_LPC1768
@@ -113,7 +113,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o
  #define _IS_RX1_1 IS_RX1
  #if IS_TX1(TMC_SW_SCK)
    #error "Serial port pins (1) conflict with other pins!"
-  #elif HAS_WIRED_LCD
+  #elif HAS_ROTARY_ENCODER
    #if IS_TX1(BTN_EN2) || IS_RX1(BTN_EN1)
      #error "Serial port pins (1) conflict with Encoder Buttons!"
    #elif ANY_TX(1, SD_SCK_PIN, LCD_PINS_D4, DOGLCD_SCK, LCD_RESET_PIN, LCD_PINS_RS, SHIFT_CLK_PIN) \
@@ -77,7 +77,7 @@ public:

  //uint32_t spiRate() const { return spi_speed; }

-  static inline uint32_t spiRate2Clock(uint32_t spiRate) {
+  static uint32_t spiRate2Clock(uint32_t spiRate) {
    uint32_t Marlin_speed[7]; // CPSR is always 2
    Marlin_speed[0] = 8333333; //(SCR:  2)  desired: 8,000,000  actual: 8,333,333  +4.2%  SPI_FULL_SPEED
    Marlin_speed[1] = 4166667; //(SCR:  5)  desired: 4,000,000  actual: 4,166,667  +4.2%  SPI_HALF_SPEED
@@ -29,7 +29,7 @@

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

-#if MB(MKS_SBASE)
+#if ENABLED(DIGIPOT_MCP4451) && MB(MKS_SBASE)

 #ifdef __cplusplus
  extern "C" {
@@ -37,35 +37,6 @@

 #include "digipot_mcp4451_I2C_routines.h"

-// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
-// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
-
-static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
-  // Reset STA, STO, SI
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
-
-  // Enter to Master Transmitter mode
-  I2Cx->I2CONSET = I2C_I2CONSET_STA;
-
-  // Wait for complete
-  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
-  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
-}
-
-static void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) {
-  // Make sure start bit is not active
-  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
-    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-
-  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
-}
-
-I2C_M_SETUP_Type transferMCfg;
-
-#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
-
 uint8_t digipot_mcp4451_start(uint8_t sla) {  // send slave address and write bit
  // Sometimes TX data ACK or NAK status is returned.  That mean the start state didn't
  // happen which means only the value of the slave address was send.  Keep looping until
@@ -102,5 +73,5 @@ uint8_t digipot_mcp4451_send_byte(uint8_t data) {
  }
 #endif

-#endif // MB(MKS_SBASE)
+#endif // DIGIPOT_MCP4451 && MKS_SBASE
 #endif // TARGET_LPC1768
@@ -63,6 +63,32 @@ void configure_i2c(const uint8_t clock_option) {
  I2C_Cmd(I2CDEV_M, I2C_MASTER_MODE, ENABLE);
 }

+//////////////////////////////////////////////////////////////////////////////////////
+// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
+// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
+
+uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
+  // Reset STA, STO, SI
+  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
+
+  // Enter to Master Transmitter mode
+  I2Cx->I2CONSET = I2C_I2CONSET_STA;
+
+  // Wait for complete
+  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
+  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
+}
+
+void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) {
+  /* Make sure start bit is not active */
+  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
+    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+
+  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
+  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
+}
+
 #ifdef __cplusplus
  }
 #endif
@@ -51,6 +51,11 @@

 void configure_i2c(const uint8_t clock_option);

+uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx);
+void _I2C_Stop(LPC_I2C_TypeDef *I2Cx);
+
+#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+
 #ifdef __cplusplus
  }
 #endif
@@ -48,7 +48,7 @@ void SysTick_Callback() { disk_timerproc(); }

 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());

-void HAL_init() {
+void MarlinHAL::init() {

  // Init LEDs
  #if PIN_EXISTS(LED)
@@ -130,7 +130,7 @@ void HAL_init() {
  const millis_t usb_timeout = millis() + 2000;
  while (!USB_Configuration && PENDING(millis(), usb_timeout)) {
    delay(50);
-    HAL_idletask();
+    idletask();
    #if PIN_EXISTS(LED)
      TOGGLE(LED_PIN);     // Flash quickly during USB initialization
    #endif
@@ -142,7 +142,7 @@ void HAL_init() {
 }

 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
  #if HAS_SHARED_MEDIA
    // If Marlin is using the SD card we need to lock it to prevent access from
    // a PC via USB.
@@ -65,8 +65,8 @@ private:
  static uint16_t getRawData(const XPTCoordinate coordinate);
  static bool isTouched();

-  static inline void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); };
-  static inline void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); };
+  static void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); };
+  static void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); };
  #if ENABLED(TOUCH_BUTTONS_HW_SPI)
    static uint16_t HardwareIO(uint16_t data);
  #endif
@@ -40,7 +40,7 @@ void HAL_timer_init() {

 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  switch (timer_num) {
-    case 0:
+    case MF_TIMER_STEP:
      LPC_TIM0->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them
      LPC_TIM0->MR0 = uint32_t(STEPPER_TIMER_RATE) / frequency; // Match value (period) to set frequency
      LPC_TIM0->TCR = _BV(SBIT_CNTEN); // Counter Enable
@@ -49,7 +49,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
      NVIC_EnableIRQ(TIMER0_IRQn);
      break;

-    case 1:
+    case MF_TIMER_TEMP:
      LPC_TIM1->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them
      LPC_TIM1->MR0 = uint32_t(TEMP_TIMER_RATE) / frequency;
      LPC_TIM1->TCR = _BV(SBIT_CNTEN); // Counter Enable
@@ -60,17 +60,17 @@ typedef uint32_t hal_timer_t;

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

-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        0  // Timer Index for Stepper
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         0  // Timer Index for Stepper
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        1  // Timer Index for Temperature
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         1  // Timer Index for Temperature
 #endif
-#ifndef PWM_TIMER_NUM
-  #define PWM_TIMER_NUM         3  // Timer Index for PWM
+#ifndef MF_TIMER_PWM
+  #define MF_TIMER_PWM          3  // Timer Index for PWM
 #endif

 #define TEMP_TIMER_RATE        1000000
@@ -84,23 +84,23 @@ typedef uint32_t hal_timer_t;
 #define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US

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

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

 #ifndef HAL_STEP_TIMER_ISR
-  #define HAL_STEP_TIMER_ISR() _HAL_TIMER_ISR(STEP_TIMER_NUM)
+  #define HAL_STEP_TIMER_ISR() _HAL_TIMER_ISR(MF_TIMER_STEP)
 #endif
 #ifndef HAL_TEMP_TIMER_ISR
-  #define HAL_TEMP_TIMER_ISR() _HAL_TIMER_ISR(TEMP_TIMER_NUM)
+  #define HAL_TEMP_TIMER_ISR() _HAL_TIMER_ISR(MF_TIMER_TEMP)
 #endif

 // Timer references by index
-#define STEP_TIMER_PTR _HAL_TIMER(STEP_TIMER_NUM)
-#define TEMP_TIMER_PTR _HAL_TIMER(TEMP_TIMER_NUM)
+#define STEP_TIMER_PTR _HAL_TIMER(MF_TIMER_STEP)
+#define TEMP_TIMER_PTR _HAL_TIMER(MF_TIMER_TEMP)

 // ------------------------
 // Public functions
@@ -110,38 +110,38 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);

 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
  switch (timer_num) {
-    case 0: STEP_TIMER_PTR->MR0 = compare; break; // Stepper Timer Match Register 0
-    case 1: TEMP_TIMER_PTR->MR0 = compare; break; //    Temp Timer Match Register 0
+    case MF_TIMER_STEP: STEP_TIMER_PTR->MR0 = compare; break; // Stepper Timer Match Register 0
+    case MF_TIMER_TEMP: TEMP_TIMER_PTR->MR0 = compare; break; //    Temp Timer Match Register 0
  }
 }

 FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
  switch (timer_num) {
-    case 0: return STEP_TIMER_PTR->MR0; // Stepper Timer Match Register 0
-    case 1: return TEMP_TIMER_PTR->MR0; //    Temp Timer Match Register 0
+    case MF_TIMER_STEP: return STEP_TIMER_PTR->MR0; // Stepper Timer Match Register 0
+    case MF_TIMER_TEMP: return TEMP_TIMER_PTR->MR0; //    Temp Timer Match Register 0
  }
  return 0;
 }

 FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
  switch (timer_num) {
-    case 0: return STEP_TIMER_PTR->TC; // Stepper Timer Count
-    case 1: return TEMP_TIMER_PTR->TC; //    Temp Timer Count
+    case MF_TIMER_STEP: return STEP_TIMER_PTR->TC; // Stepper Timer Count
+    case MF_TIMER_TEMP: return TEMP_TIMER_PTR->TC; //    Temp Timer Count
  }
  return 0;
 }

 FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) {
  switch (timer_num) {
-    case 0: NVIC_EnableIRQ(TIMER0_IRQn); break; // Enable interrupt handler
-    case 1: NVIC_EnableIRQ(TIMER1_IRQn); break; // Enable interrupt handler
+    case MF_TIMER_STEP: NVIC_EnableIRQ(TIMER0_IRQn); break; // Enable interrupt handler
+    case MF_TIMER_TEMP: NVIC_EnableIRQ(TIMER1_IRQn); break; // Enable interrupt handler
  }
 }

 FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) {
  switch (timer_num) {
-    case 0: NVIC_DisableIRQ(TIMER0_IRQn); break; // Disable interrupt handler
-    case 1: NVIC_DisableIRQ(TIMER1_IRQn); break; // Disable interrupt handler
+    case MF_TIMER_STEP: NVIC_DisableIRQ(TIMER0_IRQn); break; // Disable interrupt handler
+    case MF_TIMER_TEMP: NVIC_DisableIRQ(TIMER1_IRQn); break; // Disable interrupt handler
  }

  // We NEED memory barriers to ensure Interrupts are actually disabled!
@@ -157,17 +157,17 @@ FORCE_INLINE static bool NVIC_GetEnableIRQ(IRQn_Type IRQn) {

 FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
  switch (timer_num) {
-    case 0: return NVIC_GetEnableIRQ(TIMER0_IRQn); // Check if interrupt is enabled or not
-    case 1: return NVIC_GetEnableIRQ(TIMER1_IRQn); // Check if interrupt is enabled or not
+    case MF_TIMER_STEP: return NVIC_GetEnableIRQ(TIMER0_IRQn); // Check if interrupt is enabled or not
+    case MF_TIMER_TEMP: return NVIC_GetEnableIRQ(TIMER1_IRQn); // Check if interrupt is enabled or not
  }
  return false;
 }

 FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  switch (timer_num) {
-    case 0: SBI(STEP_TIMER_PTR->IR, SBIT_CNTEN); break;
-    case 1: SBI(TEMP_TIMER_PTR->IR, SBIT_CNTEN); break;
+    case MF_TIMER_STEP: SBI(STEP_TIMER_PTR->IR, SBIT_CNTEN); break;
+    case MF_TIMER_TEMP: SBI(TEMP_TIMER_PTR->IR, SBIT_CNTEN); break;
  }
 }

-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T) NOOP
@@ -36,40 +36,7 @@ extern int millis();

 //////////////////////////////////////////////////////////////////////////////////////

-// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
-// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
-
-static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
-  // Reset STA, STO, SI
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
-
-  // Enter to Master Transmitter mode
-  I2Cx->I2CONSET = I2C_I2CONSET_STA;
-
-  // Wait for complete
-  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
-  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
-}
-
-static void _I2C_Stop (LPC_I2C_TypeDef *I2Cx) {
-  /* Make sure start bit is not active */
-  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
-    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-
-  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-
-#define I2CDEV_S_ADDR   0x78  // from SSD1306  //actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write
-
-#define BUFFER_SIZE                     0x1  // only do single byte transfers with LCDs
-
-I2C_M_SETUP_Type transferMCfg;
-
-#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+#define I2CDEV_S_ADDR   0x78  // From SSD1306 (actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write)

 // Send slave address and write bit
 uint8_t u8g_i2c_start(const uint8_t sla) {
@@ -115,7 +82,6 @@ uint8_t u8g_i2c_send_byte(uint8_t data) {
 void u8g_i2c_stop() {
 }

-
 #ifdef __cplusplus
  }
 #endif
@@ -1,123 +1,127 @@
 #
-# sets output_port
+# upload_extra_script.py
+# set the output_port
 #  if target_filename is found then that drive is used
 #  else if target_drive is found then that drive is used
 #
 from __future__ import print_function

-target_filename = "FIRMWARE.CUR"
-target_drive = "REARM"
+import pioutil
+if pioutil.is_pio_build():

-import os,getpass,platform
+	target_filename = "FIRMWARE.CUR"
+	target_drive = "REARM"

-current_OS = platform.system()
-Import("env")
+	import os,getpass,platform

-def print_error(e):
-	print('\nUnable to find destination disk (%s)\n' \
-		  'Please select it in platformio.ini using the upload_port keyword ' \
-		  '(https://docs.platformio.org/en/latest/projectconf/section_env_upload.html) ' \
-		  'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \
-		  %(e, env.get('PIOENV')))
+	current_OS = platform.system()
+	Import("env")

-def before_upload(source, target, env):
-	try:
-		#
-		# Find a disk for upload
-		#
-		upload_disk = 'Disk not found'
-		target_file_found = False
-		target_drive_found = False
-		if current_OS == 'Windows':
+	def print_error(e):
+		print('\nUnable to find destination disk (%s)\n' \
+			  'Please select it in platformio.ini using the upload_port keyword ' \
+			  '(https://docs.platformio.org/en/latest/projectconf/section_env_upload.html) ' \
+			  'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \
+			  %(e, env.get('PIOENV')))
+
+	def before_upload(source, target, env):
+		try:
 			#
-			# platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:'
-			#   Windows - doesn't care about the disk's name, only cares about the drive letter
-			import subprocess,string
-			from ctypes import windll
+			# Find a disk for upload
+			#
+			upload_disk = 'Disk not found'
+			target_file_found = False
+			target_drive_found = False
+			if current_OS == 'Windows':
+				#
+				# platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:'
+				#   Windows - doesn't care about the disk's name, only cares about the drive letter
+				import subprocess,string
+				from ctypes import windll

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

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

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

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

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

-		#
-		# Set upload_port to drive if found
-		#
-		if target_file_found or target_drive_found:
-			env.Replace(UPLOAD_PORT=upload_disk)
-			print('\nUpload disk: ', upload_disk, '\n')
-		else:
-			print_error('Autodetect Error')
-
-	except Exception as e:
-		print_error(str(e))
-
-env.AddPreAction("upload", before_upload)
+	env.AddPreAction("upload", before_upload)
@@ -21,18 +21,10 @@
 */
 #pragma once

-#define CPU_32_BIT
-#define HAL_IDLETASK
-void HAL_idletask();
-
-#define F_CPU 100000000
-#define SystemCoreClock F_CPU
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 #include "pinmapping.h"

@@ -40,8 +32,6 @@ void _printf (const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();

-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -58,7 +48,23 @@ uint8_t _getc();
 #include "watchdog.h"
 #include "serial.h"

-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000
+#define SystemCoreClock F_CPU
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+// ------------------------
+// Serial ports
+// ------------------------

 extern MSerialT serial_stream_0;
 extern MSerialT serial_stream_1;
@@ -98,44 +104,19 @@ extern MSerialT serial_stream_3;
  #endif
 #endif

-
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
-//
+// ------------------------
 // Interrupts
-//
+// ------------------------
+
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
-
-inline void HAL_init() {}
-
-// Utility functions
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-int freeMemory();
-#pragma GCC diagnostic pop

+// ------------------------
 // ADC
+// ------------------------
+
 #define HAL_ADC_VREF           5.0
 #define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
-
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }

 /* ---------------- Delay in cycles */

@@ -154,29 +135,22 @@ constexpr inline std::size_t strlen_constexpr(const char* str) {
  // https://github.com/gcc-mirror/gcc/blob/5c7634a0e5f202935aa6c11b6ea953b8bf80a00a/libstdc%2B%2B-v3/include/bits/char_traits.h#L329
  if (str != nullptr) {
    std::size_t i = 0;
-    while (str[i] != '\0') {
-      ++i;
-    }
-
+    while (str[i] != '\0') ++i;
    return i;
  }
-
  return 0;
 }

 constexpr inline int strncmp_constexpr(const char* lhs, const char* rhs, std::size_t count) {
  // https://github.com/gcc-mirror/gcc/blob/13b9cbfc32fe3ac4c81c4dd9c42d141c8fb95db4/libstdc%2B%2B-v3/include/bits/char_traits.h#L655
-  if (lhs == nullptr || rhs == nullptr) {
+  if (lhs == nullptr || rhs == nullptr)
    return rhs != nullptr ? -1 : 1;
-  }

-  for (std::size_t i = 0; i < count; ++i) {
-    if (lhs[i] != rhs[i]) {
+  for (std::size_t i = 0; i < count; ++i)
+    if (lhs[i] != rhs[i])
      return lhs[i] < rhs[i] ? -1 : 1;
-    } else if (lhs[i] == '\0') {
+    else if (lhs[i] == '\0')
      return 0;
-    }
-  }

  return 0;
 }
@@ -188,14 +162,11 @@ constexpr inline const char* strstr_constexpr(const char* str, const char* targe
    do {
      char sc = {};
      do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
      } while (sc != c);
    } while (strncmp_constexpr(str, target, len) != 0);
    --str;
  }
-
  return str;
 }

@@ -206,12 +177,87 @@ constexpr inline char* strstr_constexpr(char* str, const char* target) {
    do {
      char sc = {};
      do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
      } while (sc != c);
    } while (strncmp_constexpr(str, target, len) != 0);
    --str;
  }
  return str;
 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch);
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready();
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};
@@ -62,8 +62,8 @@ private:
  static uint16_t getRawData(const XPTCoordinate coordinate);
  static bool isTouched();

-  static inline void DataTransferBegin();
-  static inline void DataTransferEnd();
+  static void DataTransferBegin();
+  static void DataTransferEnd();
  #if ENABLED(TOUCH_BUTTONS_HW_SPI)
    static uint16_t HardwareIO(uint16_t data);
  #endif
@@ -37,17 +37,17 @@ typedef uint64_t hal_timer_t;

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

-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        0  // Timer Index for Stepper
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         0  // Timer Index for Stepper
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        1  // Timer Index for Temperature
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         1  // Timer Index for Temperature
 #endif
-#ifndef SYSTICK_TIMER_NUM
-  #define SYSTICK_TIMER_NUM     2 // Timer Index for Systick
+#ifndef MF_TIMER_SYSTICK
+  #define MF_TIMER_SYSTICK      2  // Timer Index for Systick
 #endif
 #define SYSTICK_TIMER_FREQUENCY 1000

@@ -62,12 +62,12 @@ typedef uint64_t hal_timer_t;
 #define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US

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

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

 #ifndef HAL_STEP_TIMER_ISR
  #define HAL_STEP_TIMER_ISR()  extern "C" void TIMER0_IRQHandler()
@@ -87,5 +87,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
@@ -208,8 +208,11 @@ uint8_t u8g_com_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_pt
  }
 #endif

-#elif !ANY(TFT_COLOR_UI, TFT_CLASSIC_UI, TFT_LVGL_UI, HAS_MARLINUI_HD44780) && HAS_MARLINUI_U8GLIB
+#elif NONE(TFT_COLOR_UI, TFT_CLASSIC_UI, TFT_LVGL_UI, HAS_MARLINUI_HD44780) && HAS_MARLINUI_U8GLIB
+
  #include <U8glib-HAL.h>
  uint8_t u8g_com_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {return 0;}
+
 #endif // HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920
+
 #endif // __PLAT_NATIVE_SIM__
@@ -42,10 +42,6 @@
  #endif
 #endif

-// ------------------------
-// Local defines
-// ------------------------
-
 #define GET_TEMP_0_ADC()          TERN(HAS_TEMP_ADC_0,        PIN_TO_ADC(TEMP_0_PIN),       -1)
 #define GET_TEMP_1_ADC()          TERN(HAS_TEMP_ADC_1,        PIN_TO_ADC(TEMP_1_PIN),       -1)
 #define GET_TEMP_2_ADC()          TERN(HAS_TEMP_ADC_2,        PIN_TO_ADC(TEMP_2_PIN),       -1)
@@ -54,22 +50,28 @@
 #define GET_TEMP_5_ADC()          TERN(HAS_TEMP_ADC_5,        PIN_TO_ADC(TEMP_5_PIN),       -1)
 #define GET_TEMP_6_ADC()          TERN(HAS_TEMP_ADC_6,        PIN_TO_ADC(TEMP_6_PIN),       -1)
 #define GET_TEMP_7_ADC()          TERN(HAS_TEMP_ADC_7,        PIN_TO_ADC(TEMP_7_PIN),       -1)
-#define GET_PROBE_ADC()           TERN(HAS_TEMP_PROBE,        PIN_TO_ADC(TEMP_PROBE_PIN),   -1)
 #define GET_BED_ADC()             TERN(HAS_TEMP_ADC_BED,      PIN_TO_ADC(TEMP_BED_PIN),     -1)
 #define GET_CHAMBER_ADC()         TERN(HAS_TEMP_ADC_CHAMBER,  PIN_TO_ADC(TEMP_CHAMBER_PIN), -1)
+#define GET_PROBE_ADC()           TERN(HAS_TEMP_ADC_PROBE,    PIN_TO_ADC(TEMP_PROBE_PIN),   -1)
 #define GET_COOLER_ADC()          TERN(HAS_TEMP_ADC_COOLER,   PIN_TO_ADC(TEMP_COOLER_PIN),  -1)
+#define GET_BOARD_ADC()           TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),   -1)
 #define GET_FILAMENT_WIDTH_ADC()  TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN),     -1)
 #define GET_BUTTONS_ADC()         TERN(HAS_ADC_BUTTONS,       PIN_TO_ADC(ADC_KEYPAD_PIN),   -1)
+#define GET_JOY_ADC_X()           TERN(HAS_JOY_ADC_X,         PIN_TO_ADC(JOY_X_PIN),        -1)
+#define GET_JOY_ADC_Y()           TERN(HAS_JOY_ADC_Y,         PIN_TO_ADC(JOY_Y_PIN),        -1)
+#define GET_JOY_ADC_Z()           TERN(HAS_JOY_ADC_Z,         PIN_TO_ADC(JOY_Z_PIN),        -1)

 #define IS_ADC_REQUIRED(n) ( \
     GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \
  || GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \
-  || GET_PROBE_ADC() == n          \
-  || GET_BED_ADC() == n            \
-  || GET_CHAMBER_ADC() == n        \
-  || GET_COOLER_ADC() == n         \
+  || GET_BED_ADC() == n \
+  || GET_CHAMBER_ADC() == n \
+  || GET_PROBE_ADC() == n \
+  || GET_COOLER_ADC() == n \
+  || GET_BOARD_ADC() == n \
  || GET_FILAMENT_WIDTH_ADC() == n \
-  || GET_BUTTONS_ADC() == n        \
+  || GET_BUTTONS_ADC() == n \
+  || GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \
 )

 #if IS_ADC_REQUIRED(0)
@@ -89,6 +91,118 @@
  #define DMA_IS_REQUIRED 1
 #endif

+enum ADCIndex {
+  #if GET_TEMP_0_ADC() == 0
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 0
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 0
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 0
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 0
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 0
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 0
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 0
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 0
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 0
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 0
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 0
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 0
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 0
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 0
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 0
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 0
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 0
+    JOY_Z,
+  #endif
+  #if GET_TEMP_0_ADC() == 1
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 1
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 1
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 1
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 1
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 1
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 1
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 1
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 1
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 1
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 1
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 1
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 1
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 1
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 1
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 1
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 1
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 1
+    JOY_Z,
+  #endif
+  ADC_COUNT
+};
+
 // ------------------------
 // Types
 // ------------------------
@@ -106,12 +220,10 @@
 // Private Variables
 // ------------------------

-uint16_t HAL_adc_result;
-
 #if ADC_IS_REQUIRED

  // Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1
-  const uint8_t adc_pins[] = {
+  static constexpr uint8_t adc_pins[ADC_COUNT] = {
    // ADC0 pins
    #if GET_TEMP_0_ADC() == 0
      TEMP_0_PIN,
@@ -137,24 +249,36 @@ uint16_t HAL_adc_result;
    #if GET_TEMP_7_ADC() == 0
      TEMP_7_PIN,
    #endif
-    #if GET_PROBE_ADC() == 0
-      TEMP_PROBE_PIN,
-    #endif
    #if GET_BED_ADC() == 0
      TEMP_BED_PIN,
    #endif
    #if GET_CHAMBER_ADC() == 0
      TEMP_CHAMBER_PIN,
    #endif
+    #if GET_PROBE_ADC() == 0
+      TEMP_PROBE_PIN,
+    #endif
    #if GET_COOLER_ADC() == 0
      TEMP_COOLER_PIN,
    #endif
+    #if GET_BOARD_ADC() == 0
+      TEMP_BOARD_PIN,
+    #endif
    #if GET_FILAMENT_WIDTH_ADC() == 0
      FILWIDTH_PIN,
    #endif
    #if GET_BUTTONS_ADC() == 0
      ADC_KEYPAD_PIN,
    #endif
+    #if GET_JOY_ADC_X() == 0
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 0
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 0
+      JOY_Z_PIN,
+    #endif
    // ADC1 pins
    #if GET_TEMP_0_ADC() == 1
      TEMP_0_PIN,
@@ -180,33 +304,44 @@ uint16_t HAL_adc_result;
    #if GET_TEMP_7_ADC() == 1
      TEMP_7_PIN,
    #endif
-    #if GET_PROBE_ADC() == 1
-      TEMP_PROBE_PIN,
-    #endif
    #if GET_BED_ADC() == 1
      TEMP_BED_PIN,
    #endif
    #if GET_CHAMBER_ADC() == 1
      TEMP_CHAMBER_PIN,
    #endif
+    #if GET_PROBE_ADC() == 1
+      TEMP_PROBE_PIN,
+    #endif
    #if GET_COOLER_ADC() == 1
      TEMP_COOLER_PIN,
    #endif
+    #if GET_BOARD_ADC() == 1
+      TEMP_BOARD_PIN,
+    #endif
    #if GET_FILAMENT_WIDTH_ADC() == 1
      FILWIDTH_PIN,
    #endif
    #if GET_BUTTONS_ADC() == 1
      ADC_KEYPAD_PIN,
    #endif
+    #if GET_JOY_ADC_X() == 1
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 1
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 1
+      JOY_Z_PIN,
+    #endif
  };

-  uint16_t HAL_adc_results[COUNT(adc_pins)];
+  static uint16_t adc_results[ADC_COUNT];

  #if ADC0_IS_REQUIRED
-    Adafruit_ZeroDMA adc0DMAProgram,
-                     adc0DMARead;
+    Adafruit_ZeroDMA adc0DMAProgram, adc0DMARead;

-    const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc0_dma_regs_list[ADC_COUNT] = {
      #if GET_TEMP_0_ADC() == 0
        { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
      #endif
@@ -231,34 +366,45 @@ uint16_t HAL_adc_result;
      #if GET_TEMP_7_ADC() == 0
        { PIN_TO_INPUTCTRL(TEMP_7_PIN) },
      #endif
-      #if GET_PROBE_ADC() == 0
-        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
-      #endif
      #if GET_BED_ADC() == 0
        { PIN_TO_INPUTCTRL(TEMP_BED_PIN) },
      #endif
      #if GET_CHAMBER_ADC() == 0
        { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
      #endif
+      #if GET_PROBE_ADC() == 0
+        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
+      #endif
      #if GET_COOLER_ADC() == 0
        { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) },
      #endif
+      #if GET_BOARD_ADC() == 0
+        { PIN_TO_INPUTCTRL(TEMP_BOARD_PIN) },
+      #endif
      #if GET_FILAMENT_WIDTH_ADC() == 0
        { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
      #endif
      #if GET_BUTTONS_ADC() == 0
        { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
      #endif
+      #if GET_JOY_ADC_X() == 0
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 0
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 0
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
    };

    #define ADC0_AINCOUNT   COUNT(adc0_dma_regs_list)
  #endif // ADC0_IS_REQUIRED

  #if ADC1_IS_REQUIRED
-    Adafruit_ZeroDMA adc1DMAProgram,
-                     adc1DMARead;
+    Adafruit_ZeroDMA adc1DMAProgram, adc1DMARead;

-    const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc1_dma_regs_list[ADC_COUNT] = {
      #if GET_TEMP_0_ADC() == 1
        { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
      #endif
@@ -283,24 +429,36 @@ uint16_t HAL_adc_result;
      #if GET_TEMP_7_ADC() == 1
        { PIN_TO_INPUTCTRL(TEMP_7_PIN) },
      #endif
-      #if GET_PROBE_ADC() == 1
-        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
-      #endif
      #if GET_BED_ADC() == 1
        { PIN_TO_INPUTCTRL(TEMP_BED_PIN) },
      #endif
      #if GET_CHAMBER_ADC() == 1
        { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
      #endif
+      #if GET_PROBE_ADC() == 1
+        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
+      #endif
      #if GET_COOLER_ADC() == 1
        { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) },
      #endif
+      #if GET_BOARD_ADC() == 1
+        { PIN_TO_INPUTCTRL(TEMP_BOARD_PIN) },
+      #endif
      #if GET_FILAMENT_WIDTH_ADC() == 1
        { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
      #endif
      #if GET_BUTTONS_ADC() == 1
        { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
      #endif
+      #if GET_JOY_ADC_X() == 1
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 1
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 1
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
    };

    #define ADC1_AINCOUNT   COUNT(adc1_dma_regs_list)
@@ -312,9 +470,10 @@ uint16_t HAL_adc_result;
 // Private functions
 // ------------------------

-#if DMA_IS_REQUIRED
+void MarlinHAL::dma_init() {
+
+  #if DMA_IS_REQUIRED

-  void dma_init() {
    DmacDescriptor *descriptor;

    #if ADC0_IS_REQUIRED
@@ -343,7 +502,7 @@ uint16_t HAL_adc_result;
      if (adc0DMARead.allocate() == DMA_STATUS_OK) {
        adc0DMARead.addDescriptor(
          (void *)&ADC0->RESULT.reg,          // SRC
-          &HAL_adc_results,                   // DEST
+          &adc_results,                       // DEST
          ADC0_AINCOUNT,                      // CNT
          DMA_BEAT_SIZE_HWORD,
          false,                              // SRCINC
@@ -380,7 +539,7 @@ uint16_t HAL_adc_result;
      if (adc1DMARead.allocate() == DMA_STATUS_OK) {
        adc1DMARead.addDescriptor(
          (void *)&ADC1->RESULT.reg,          // SRC
-          &HAL_adc_results[ADC0_AINCOUNT],    // DEST
+          &adc_results[ADC0_AINCOUNT],        // DEST
          ADC1_AINCOUNT,                      // CNT
          DMA_BEAT_SIZE_HWORD,
          false,                              // SRCINC
@@ -393,16 +552,16 @@ uint16_t HAL_adc_result;
    #endif

    DMAC->PRICTRL0.bit.RRLVLEN0 = true;                         // Activate round robin for DMA channels required by ADCs
-  }

-#endif // DMA_IS_REQUIRED
+  #endif // DMA_IS_REQUIRED
+}

 // ------------------------
 // Public functions
 // ------------------------

 // HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
  TERN_(DMA_IS_REQUIRED, dma_init());
  #if ENABLED(SDSUPPORT)
    #if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT)
@@ -412,17 +571,9 @@ void HAL_init() {
  #endif
 }

-// HAL idle task
-/*
-void HAL_idletask() {
-}
-*/
-
-void HAL_clear_reset_source() { }
-
 #pragma push_macro("WDT")
 #undef WDT    // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
  RSTC_RCAUSE_Type resetCause;

  resetCause.reg = REG_RSTC_RCAUSE;
@@ -436,7 +587,7 @@ uint8_t HAL_get_reset_source() {
 }
 #pragma pop_macro("WDT")

-void HAL_reboot() { NVIC_SystemReset(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }

 extern "C" {
  void * _sbrk(int incr);
@@ -454,9 +605,11 @@ int freeMemory() {
 // ADC
 // ------------------------

-void HAL_adc_init() {
+uint16_t MarlinHAL::adc_result;
+
+void MarlinHAL::adc_init() {
  #if ADC_IS_REQUIRED
-    memset(HAL_adc_results, 0xFF, sizeof(HAL_adc_results));                 // Fill result with invalid values
+    memset(adc_results, 0xFF, sizeof(adc_results));                         // Fill result with invalid values

    LOOP_L_N(pi, COUNT(adc_pins))
      pinPeripheral(adc_pins[pi], PIO_ANALOG);
@@ -491,17 +644,13 @@ void HAL_adc_init() {
  #endif // ADC_IS_REQUIRED
 }

-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+void MarlinHAL::adc_start(const pin_t pin) {
  #if ADC_IS_REQUIRED
-    LOOP_L_N(pi, COUNT(adc_pins)) {
-      if (adc_pin == adc_pins[pi]) {
-        HAL_adc_result = HAL_adc_results[pi];
-        return;
-      }
-    }
+    LOOP_L_N(pi, COUNT(adc_pins))
+      if (pin == adc_pins[pi]) { adc_result = adc_results[pi]; return; }
  #endif

-  HAL_adc_result = 0xFFFF;
+  adc_result = 0xFFFF;
 }

 #endif // __SAMD51__
@@ -89,46 +89,30 @@

 typedef int8_t pin_t;

-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;

 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()

-#define cli() __disable_irq()       // Disable interrupts
-#define sei() __enable_irq()        // Enable interrupts
-
-void HAL_clear_reset_source();  // clear reset reason
-uint8_t HAL_get_reset_source(); // get reset reason
-
-void HAL_reboot();
+#define cli() __disable_irq() // Disable interrupts
+#define sei() __enable_irq()  // Enable interrupts

 //
 // ADC
 //
-extern uint16_t HAL_adc_result;     // Most recent ADC conversion
-
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();

 //#define HAL_ADC_FILTERED          // Disable Marlin's oversampling. The HAL filters ADC values.
 #define HAL_ADC_VREF         3.3
 #define HAL_ADC_RESOLUTION  10      // ... 12
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);

 //
-// Pin Map
+// Pin Mapping for M42, M43, M226
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -137,37 +121,93 @@ void HAL_adc_start_conversion(const uint8_t adc_pin);
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);

-// Enable hooks into idle and setup for HAL
-void HAL_init();
-/*
-#define HAL_IDLETASK 1
-void HAL_idletask();
-*/
-
-//
-// Utility functions
-//
-FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
+// ------------------------
+// Class Utilities
+// ------------------------

+#pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
-  #pragma GCC diagnostic push
  #pragma GCC diagnostic ignored "-Wunused-function"
 #endif

-int freeMemory();
-
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic pop
-#endif
-
 #ifdef __cplusplus
  extern "C" {
 #endif
+
 char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
+
+extern "C" int freeMemory();
+
 #ifdef __cplusplus
  }
 #endif
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+private:
+  static void dma_init();
+};
@@ -53,7 +53,7 @@
 static volatile int8_t currentServoIndex[_Nbr_16timers];    // index for the servo being pulsed for each timer (or -1 if refresh interval)

 FORCE_INLINE static uint16_t getTimerCount() {
-  Tc * const tc = TimerConfig[SERVO_TC].pTc;
+  Tc * const tc = timer_config[SERVO_TC].pTc;

  tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
  SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB || tc->COUNT16.SYNCBUSY.bit.COUNT);
@@ -65,7 +65,7 @@ FORCE_INLINE static uint16_t getTimerCount() {
 // Interrupt handler for the TC
 // ----------------------------
 HAL_SERVO_TIMER_ISR() {
-  Tc * const tc = TimerConfig[SERVO_TC].pTc;
+  Tc * const tc = timer_config[SERVO_TC].pTc;
  const timer16_Sequence_t timer =
    #ifndef _useTimer1
      _timer2
@@ -125,7 +125,7 @@ HAL_SERVO_TIMER_ISR() {
 }

 void initISR(timer16_Sequence_t timer) {
-  Tc * const tc = TimerConfig[SERVO_TC].pTc;
+  Tc * const tc = timer_config[SERVO_TC].pTc;
  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);

  static bool initialized = false;  // Servo TC has been initialized
@@ -202,7 +202,7 @@ void initISR(timer16_Sequence_t timer) {
 }

 void finISR(timer16_Sequence_t timer) {
-  Tc * const tc = TimerConfig[SERVO_TC].pTc;
+  Tc * const tc = timer_config[SERVO_TC].pTc;
  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);

  // Disable the match channel interrupt request
@@ -60,6 +60,12 @@
 #define MATCH_J_MIN_EILINE(P)   TERN0(HAS_J_MIN,  DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
 #define MATCH_K_MAX_EILINE(P)   TERN0(HAS_K_MAX,  DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
 #define MATCH_K_MIN_EILINE(P)   TERN0(HAS_K_MIN,  DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
+#define MATCH_U_MAX_EILINE(P)   TERN0(HAS_U_MAX,  DEFER4(MATCH_EILINE)(P, U_MAX_PIN))
+#define MATCH_U_MIN_EILINE(P)   TERN0(HAS_U_MIN,  DEFER4(MATCH_EILINE)(P, U_MIN_PIN))
+#define MATCH_V_MAX_EILINE(P)   TERN0(HAS_V_MAX,  DEFER4(MATCH_EILINE)(P, V_MAX_PIN))
+#define MATCH_V_MIN_EILINE(P)   TERN0(HAS_V_MIN,  DEFER4(MATCH_EILINE)(P, V_MIN_PIN))
+#define MATCH_W_MAX_EILINE(P)   TERN0(HAS_W_MAX,  DEFER4(MATCH_EILINE)(P, W_MAX_PIN))
+#define MATCH_W_MIN_EILINE(P)   TERN0(HAS_W_MIN,  DEFER4(MATCH_EILINE)(P, W_MIN_PIN))
 #define MATCH_Z2_MAX_EILINE(P)  TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN))
 #define MATCH_Z2_MIN_EILINE(P)  TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN))
 #define MATCH_Z3_MAX_EILINE(P)  TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN))
@@ -75,6 +81,9 @@
  && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P)   \
  && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P)   \
  && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P)   \
+  && !MATCH_U_MAX_EILINE(P) && !MATCH_U_MIN_EILINE(P)   \
+  && !MATCH_V_MAX_EILINE(P) && !MATCH_V_MIN_EILINE(P)   \
+  && !MATCH_W_MAX_EILINE(P) && !MATCH_W_MIN_EILINE(P)   \
  && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
  && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
  && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
@@ -199,4 +208,40 @@ void setup_endstop_interrupts() {
    #endif
    attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
  #endif
+  #if HAS_U_MAX
+    #if !AVAILABLE_EILINE(U_MAX_PIN)
+      #error "U_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(U_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_U_MIN
+    #if !AVAILABLE_EILINE(U_MIN_PIN)
+      #error "U_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(U_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_V_MAX
+    #if !AVAILABLE_EILINE(V_MAX_PIN)
+      #error "V_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(V_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_V_MIN
+    #if !AVAILABLE_EILINE(V_MIN_PIN)
+      #error "V_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(V_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_W_MAX
+    #if !AVAILABLE_EILINE(W_MAX_PIN)
+      #error "W_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(W_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_W_MIN
+    #if !AVAILABLE_EILINE(W_MIN_PIN)
+      #error "W_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(W_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
 }
@@ -36,7 +36,7 @@
  #error "OnBoard SPI BUS can't be shared with other devices."
 #endif

-#if SERVO_TC == RTC_TIMER_NUM
+#if SERVO_TC == MF_TIMER_RTC
  #error "Servos can't use RTC timer"
 #endif

@@ -31,13 +31,13 @@
 // Local defines
 // --------------------------------------------------------------------------

-#define NUM_HARDWARE_TIMERS 8
+#define NUM_HARDWARE_TIMERS 9

 // --------------------------------------------------------------------------
 // Private Variables
 // --------------------------------------------------------------------------

-const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS+1] = {
+const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
  { {.pTc=TC0},  TC0_IRQn, TC_PRIORITY(0) },  // 0 - stepper (assigned priority 2)
  { {.pTc=TC1},  TC1_IRQn, TC_PRIORITY(1) },  // 1 - stepper (needed by 32 bit timers)
  { {.pTc=TC2},  TC2_IRQn, 5              },  // 2 - tone (reserved by framework and fixed assigned priority 5)
@@ -67,19 +67,19 @@ FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
 // --------------------------------------------------------------------------

 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;

  // Disable interrupt, just in case it was already enabled
  Disable_Irq(irq);

-  if (timer_num == RTC_TIMER_NUM) {
-    Rtc * const rtc = TimerConfig[timer_num].pRtc;
+  if (timer_num == MF_TIMER_RTC) {
+    Rtc * const rtc = timer_config[timer_num].pRtc;

    // Disable timer interrupt
    rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;

    // RTC clock setup
-    OSC32KCTRL->RTCCTRL.reg = OSC32KCTRL_RTCCTRL_RTCSEL_XOSC32K;  // External 32.768KHz oscillator
+    OSC32KCTRL->RTCCTRL.reg = OSC32KCTRL_RTCCTRL_RTCSEL_XOSC32K;  // External 32.768kHz oscillator

    // Stop timer, just in case, to be able to reconfigure it
    rtc->MODE0.CTRLA.bit.ENABLE = false;
@@ -101,7 +101,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
    SYNC(rtc->MODE0.SYNCBUSY.bit.ENABLE);
  }
  else {
-    Tc * const tc = TimerConfig[timer_num].pTc;
+    Tc * const tc = timer_config[timer_num].pTc;

    // Disable timer interrupt
    tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
@@ -141,17 +141,17 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  }

  // Finally, enable IRQ
-  NVIC_SetPriority(irq, TimerConfig[timer_num].priority);
+  NVIC_SetPriority(irq, timer_config[timer_num].priority);
  NVIC_EnableIRQ(irq);
 }

 void HAL_timer_enable_interrupt(const uint8_t timer_num) {
-  const IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
  NVIC_EnableIRQ(irq);
 }

 void HAL_timer_disable_interrupt(const uint8_t timer_num) {
-  const IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
  Disable_Irq(irq);
 }

@@ -161,7 +161,7 @@ static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
 }

 bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
-  const IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
  return NVIC_GetEnabledIRQ(irq);
 }

@@ -25,21 +25,22 @@
 // --------------------------------------------------------------------------
 // Defines
 // --------------------------------------------------------------------------
-#define RTC_TIMER_NUM       8   // This is not a TC but a RTC

 typedef uint32_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF

 #define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals

-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        0  // Timer Index for Stepper
+#define MF_TIMER_RTC            8   // This is not a TC but a RTC
+
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         0   // Timer Index for Stepper
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        RTC_TIMER_NUM // Timer Index for Temperature
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         MF_TIMER_RTC // Timer Index for Temperature
 #endif

 #define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
@@ -52,30 +53,29 @@ typedef uint32_t hal_timer_t;
 #define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US

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

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

-#define TC_PRIORITY(t)        t == SERVO_TC ? 1                                     \
-                               : (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2  \
-                               : (t == TEMP_TIMER_NUM) ? 6                          \
-                               : 7
+#define TC_PRIORITY(t)     (  t == SERVO_TC ? 1                              \
+                           : (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \
+                           : (t == MF_TIMER_TEMP) ? 6 : 7 )

 #define _TC_HANDLER(t)          void TC##t##_Handler()
 #define TC_HANDLER(t)           _TC_HANDLER(t)
 #ifndef HAL_STEP_TIMER_ISR
-  #define HAL_STEP_TIMER_ISR()  TC_HANDLER(STEP_TIMER_NUM)
+  #define HAL_STEP_TIMER_ISR()  TC_HANDLER(MF_TIMER_STEP)
 #endif
-#if STEP_TIMER_NUM != PULSE_TIMER_NUM
-  #define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM)
+#if MF_TIMER_STEP != MF_TIMER_PULSE
+  #define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE)
 #endif
-#if TEMP_TIMER_NUM == RTC_TIMER_NUM
+#if MF_TIMER_TEMP == MF_TIMER_RTC
  #define HAL_TEMP_TIMER_ISR()  void RTC_Handler()
 #else
-  #define HAL_TEMP_TIMER_ISR()  TC_HANDLER(TEMP_TIMER_NUM)
+  #define HAL_TEMP_TIMER_ISR()  TC_HANDLER(MF_TIMER_TEMP)
 #endif

 // --------------------------------------------------------------------------
@@ -95,7 +95,7 @@ typedef struct {
 // Public Variables
 // --------------------------------------------------------------------------

-extern const tTimerConfig TimerConfig[];
+extern const tTimerConfig timer_config[];

 // --------------------------------------------------------------------------
 // Public functions
@@ -104,20 +104,20 @@ extern const tTimerConfig TimerConfig[];
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);

 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
-  // Should never be called with timer RTC_TIMER_NUM
-  Tc * const tc = TimerConfig[timer_num].pTc;
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
  tc->COUNT32.CC[0].reg = compare;
 }

 FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
-  // Should never be called with timer RTC_TIMER_NUM
-  Tc * const tc = TimerConfig[timer_num].pTc;
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
  return (hal_timer_t)tc->COUNT32.CC[0].reg;
 }

 FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
-  // Should never be called with timer RTC_TIMER_NUM
-  Tc * const tc = TimerConfig[timer_num].pTc;
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
  tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
  SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT);
  return tc->COUNT32.COUNT.reg;
@@ -128,13 +128,13 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

 FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
-  if (timer_num == RTC_TIMER_NUM) {
-    Rtc * const rtc = TimerConfig[timer_num].pRtc;
+  if (timer_num == MF_TIMER_RTC) {
+    Rtc * const rtc = timer_config[timer_num].pRtc;
    // Clear interrupt flag
    rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0;
  }
  else {
-    Tc * const tc = TimerConfig[timer_num].pTc;
+    Tc * const tc = timer_config[timer_num].pTc;
    // Clear interrupt flag
    tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF;
  }
@@ -53,16 +53,18 @@
 // Public Variables
 // ------------------------

-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;

 // ------------------------
 // Public functions
 // ------------------------

-TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  extern void install_min_serial();
+#endif

 // HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
  // Ensure F_CPU is a constant expression.
  // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
  // So better safe than sorry here.
@@ -87,7 +89,7 @@ void HAL_init() {

  SetTimerInterruptPriorities();

-  #if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC
+  #if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC)
    USB_Hook_init();
  #endif

@@ -103,7 +105,7 @@ void HAL_init() {
 }

 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
  #if HAS_SHARED_MEDIA
    // Stm32duino currently doesn't have a "loop/idle" method
    CDC_resume_receive();
@@ -111,9 +113,9 @@ void HAL_idletask() {
  #endif
 }

-void HAL_clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }

-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
  return
    #ifdef RCC_FLAG_IWDGRST // Some sources may not exist...
      RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)  ? RST_WATCHDOG :
@@ -137,24 +139,14 @@ uint8_t HAL_get_reset_source() {
  ;
 }

-void HAL_reboot() { NVIC_SystemReset(); }
-
-void _delay_ms(const int delay_ms) { delay(delay_ms); }
+void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }

 extern "C" {
  extern unsigned int _ebss; // end of bss section
 }

-// ------------------------
-// ADC
-// ------------------------
-
-// TODO: Make sure this doesn't cause any delay
-void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); }
-uint16_t HAL_adc_get_result() { return HAL_adc_result; }
-
 // Reset the system to initiate a firmware flash
-void flashFirmware(const int16_t) { HAL_reboot(); }
+WEAK void flashFirmware(const int16_t) { hal.reboot(); }

 // Maple Compatibility
 volatile uint32_t systick_uptime_millis = 0;
@@ -44,9 +44,9 @@
 #define CPU_ST7920_DELAY_2  40
 #define CPU_ST7920_DELAY_3 340

-//
-// Serial Ports
-//
+// ------------------------
+// Serial ports
+// ------------------------
 #ifdef USBCON
  #include <USBSerial.h>
  #include "../../core/serial_hook.h"
@@ -115,73 +115,34 @@
  #define analogInputToDigitalPin(p) (p)
 #endif

-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+//
+// Interrupts
+//
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 #define cli() __disable_irq()
 #define sei() __enable_irq()

-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
-
 // ------------------------
 // Types
 // ------------------------

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

-#define HAL_SERVO_LIB libServo
+#ifdef STM32G0B1xx
+  typedef int32_t pin_t;
+#else
+  typedef int16_t pin_t;
+#endif
+
+class libServo;
+typedef libServo hal_servo_t;
 #define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos()
 #define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()

 // ------------------------
-// Public Variables
-// ------------------------
-
-// result of last ADC conversion
-extern uint16_t HAL_adc_result;
-
-// ------------------------
-// Public functions
-// ------------------------
-
-// Memory related
-#define __bss_end __bss_end__
-
-// Enable hooks into  setup for HAL
-void HAL_init();
-#define HAL_IDLETASK 1
-void HAL_idletask();
-
-// Clear reset reason
-void HAL_clear_reset_source();
-
-// Reset reason
-uint8_t HAL_get_reset_source();
-
-void HAL_reboot();
-
-void _delay_ms(const int delay);
-
-extern "C" char* _sbrk(int incr);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-
-static inline int freeMemory() {
-  volatile char top;
-  return &top - reinterpret_cast<char*>(_sbrk(0));
-}
-
-#pragma GCC diagnostic pop
-
-//
 // ADC
-//
-
-#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT)
+// ------------------------

 #ifdef ADC_RESOLUTION
  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
@@ -190,16 +151,10 @@ static inline int freeMemory() {
 #endif

 #define HAL_ADC_VREF         3.3
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-inline void HAL_adc_init() { analogReadResolution(HAL_ADC_RESOLUTION); }
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-
-uint16_t HAL_adc_get_result();

+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
@@ -222,17 +177,92 @@ extern volatile uint32_t systick_uptime_millis;

 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment

-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Timer PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+// ------------------------
+// Class Utilities
+// ------------------------

-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+// Memory related
+#define __bss_end __bss_end__
+
+extern "C" char* _sbrk(int incr);
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+static inline int freeMemory() {
+  volatile char top;
+  return &top - reinterpret_cast<char*>(_sbrk(0));
+}
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();                 // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();               // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    analogReadResolution(HAL_ADC_RESOLUTION);
+  }
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) { pinMode(pin, INPUT); }
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin) { adc_result = analogRead(pin); }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin.
+   * All Timer PWM pins run at the same frequency.
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+
+};
@@ -135,7 +135,7 @@ void install_min_serial() {
  HAL_min_serial_out = &TX;
 }

-#if DISABLED(DYNAMIC_VECTORTABLE) && DISABLED(STM32F0xx) // Cortex M0 can't jump to a symbol that's too far from the current function, so we work around this in exception_arm.cpp
+#if NONE(DYNAMIC_VECTORTABLE, STM32F0xx, STM32G0xx) // Cortex M0 can't jump to a symbol that's too far from the current function, so we work around this in exception_arm.cpp
 extern "C" {
  __attribute__((naked)) void JumpHandler_ASM() {
    __asm__ __volatile__ (
@@ -102,9 +102,9 @@ static SPISettings spiConfig;

  // Soft SPI receive byte
  uint8_t spiRec() {
-    DISABLE_ISRS();                                               // No interrupts during byte receive
+    hal.isr_off();                                                // No interrupts during byte receive
    const uint8_t data = HAL_SPI_STM32_SpiTransfer_Mode_3(0xFF);
-    ENABLE_ISRS();                                                // Enable interrupts
+    hal.isr_on();                                                 // Enable interrupts
    return data;
  }

@@ -116,9 +116,9 @@ static SPISettings spiConfig;

  // Soft SPI send byte
  void spiSend(uint8_t data) {
-    DISABLE_ISRS();                         // No interrupts during byte send
+    hal.isr_off();                          // No interrupts during byte send
    HAL_SPI_STM32_SpiTransfer_Mode_3(data); // Don't care what is received
-    ENABLE_ISRS();                          // Enable interrupts
+    hal.isr_on();                           // Enable interrupts
  }

  // Soft SPI send block
@@ -114,16 +114,19 @@ byte MarlinSPI::transfer(uint8_t _data) {
  return rxData;
 }

+__STATIC_INLINE void LL_SPI_EnableDMAReq_RX(SPI_TypeDef *SPIx) { SET_BIT(SPIx->CR2, SPI_CR2_RXDMAEN); }
+__STATIC_INLINE void LL_SPI_EnableDMAReq_TX(SPI_TypeDef *SPIx) { SET_BIT(SPIx->CR2, SPI_CR2_TXDMAEN); }
+
 uint8_t MarlinSPI::dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16_t length) {
  const uint8_t ff = 0xFF;

-  //if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) //only enable if disabled
+  //if (!LL_SPI_IsEnabled(_spi.handle)) // only enable if disabled
  __HAL_SPI_ENABLE(&_spi.handle);

  if (receiveBuf) {
    setupDma(_spi.handle, _dmaRx, DMA_PERIPH_TO_MEMORY, true);
    HAL_DMA_Start(&_dmaRx, (uint32_t)&(_spi.handle.Instance->DR), (uint32_t)receiveBuf, length);
-    SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_RXDMAEN); /* Enable Rx DMA Request */
+    LL_SPI_EnableDMAReq_RX(_spi.handle.Instance); // Enable Rx DMA Request
  }

  // check for 2 lines transfer
@@ -136,7 +139,7 @@ uint8_t MarlinSPI::dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16
  if (transmitBuf) {
    setupDma(_spi.handle, _dmaTx, DMA_MEMORY_TO_PERIPH, mincTransmit);
    HAL_DMA_Start(&_dmaTx, (uint32_t)transmitBuf, (uint32_t)&(_spi.handle.Instance->DR), length);
-    SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_TXDMAEN);   /* Enable Tx DMA Request */
+    LL_SPI_EnableDMAReq_TX(_spi.handle.Instance); // Enable Tx DMA Request
  }

  if (transmitBuf) {
@@ -160,7 +163,7 @@ uint8_t MarlinSPI::dmaSend(const void * transmitBuf, uint16_t length, bool minc)
  setupDma(_spi.handle, _dmaTx, DMA_MEMORY_TO_PERIPH, minc);
  HAL_DMA_Start(&_dmaTx, (uint32_t)transmitBuf, (uint32_t)&(_spi.handle.Instance->DR), length);
  __HAL_SPI_ENABLE(&_spi.handle);
-  SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_TXDMAEN);   /* Enable Tx DMA Request */
+  LL_SPI_EnableDMAReq_TX(_spi.handle.Instance); // Enable Tx DMA Request
  HAL_DMA_PollForTransfer(&_dmaTx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY);
  HAL_DMA_Abort(&_dmaTx);
  // DeInit objects
@@ -174,9 +174,9 @@ bool PersistentStore::access_finish() {
        UNLOCK_FLASH();

        TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
-        DISABLE_ISRS();
+        hal.isr_off();
        status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError);
-        ENABLE_ISRS();
+        hal.isr_on();
        TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
        if (status != HAL_OK) {
          DEBUG_ECHOLNPGM("HAL_FLASHEx_Erase=", status);
@@ -229,9 +229,9 @@ bool PersistentStore::access_finish() {
      // output. Servo output still glitches with interrupts disabled, but recovers after the
      // erase.
      TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
-      DISABLE_ISRS();
+      hal.isr_off();
      eeprom_buffer_flush();
-      ENABLE_ISRS();
+      hal.isr_on();
      TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());

      eeprom_data_written = false;
@@ -52,4 +52,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
@@ -24,39 +24,65 @@

 #ifdef HAL_STM32

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

-#if NEEDS_HARDWARE_PWM
+// Array to support sticky frequency sets per timer
+static uint16_t timer_freq[TIMER_NUM];

-#include "HAL.h"
-#include "timers.h"
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+  const uint16_t duty = invert ? v_size - v : v;
+  if (PWM_PIN(pin)) {
+    const PinName pin_name = digitalPinToPinName(pin);
+    TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM);

-void set_pwm_frequency(const pin_t pin, int f_desired) {
-  if (!PWM_PIN(pin)) return;            // Don't proceed if no hardware timer
+    const timer_index_t index = get_timer_index(Instance);
+    const bool needs_freq = (HardwareTimer_Handle[index] == nullptr);
+    if (needs_freq) // A new instance must be set to the default frequency of PWM_FREQUENCY
+      HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM));

-  PinName pin_name = digitalPinToPinName(pin);
-  TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance
+    HardwareTimer * const HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this);
+    const uint32_t channel = STM_PIN_CHANNEL(pinmap_function(pin_name, PinMap_PWM));
+    const TimerModes_t previousMode = HT->getMode(channel);
+    if (previousMode != TIMER_OUTPUT_COMPARE_PWM1)
+      HT->setMode(channel, TIMER_OUTPUT_COMPARE_PWM1, pin);

-  LOOP_S_L_N(i, 0, NUM_HARDWARE_TIMERS) // Protect used timers
-    if (timer_instance[i] && timer_instance[i]->getHandle()->Instance == Instance)
-      return;
+    if (needs_freq && timer_freq[index] == 0)     // If the timer is unconfigured and no freq is set then default PWM_FREQUENCY
+      set_pwm_frequency(pin_name, PWM_FREQUENCY); // Set the frequency and save the value to the assigned index no.

-  pwm_start(pin_name, f_desired, 0, RESOLUTION_8B_COMPARE_FORMAT);
-}
-
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
-  PinName pin_name = digitalPinToPinName(pin);
-  TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM);
-  uint16_t adj_val = Instance->ARR * v / v_size;
-  if (invert) adj_val = Instance->ARR - adj_val;
-
-  switch (get_pwm_channel(pin_name)) {
-    case TIM_CHANNEL_1: LL_TIM_OC_SetCompareCH1(Instance, adj_val); break;
-    case TIM_CHANNEL_2: LL_TIM_OC_SetCompareCH2(Instance, adj_val); break;
-    case TIM_CHANNEL_3: LL_TIM_OC_SetCompareCH3(Instance, adj_val); break;
-    case TIM_CHANNEL_4: LL_TIM_OC_SetCompareCH4(Instance, adj_val); break;
+    // Note the resolution is sticky here, the input can be upto 16 bits and that would require RESOLUTION_16B_COMPARE_FORMAT (16)
+    // If such a need were to manifest then we would need to calc the resolution based on the v_size parameter and add code for it.
+    HT->setCaptureCompare(channel, duty, RESOLUTION_8B_COMPARE_FORMAT); // Set the duty, the calc is done in the library :)
+    pinmap_pinout(pin_name, PinMap_PWM); // Make sure the pin output state is set.
+    if (previousMode != TIMER_OUTPUT_COMPARE_PWM1) HT->resume();
+  }
+  else {
+    pinMode(pin, OUTPUT);
+    digitalWrite(pin, duty < v_size / 2 ? LOW : HIGH);
  }
 }

-#endif // NEEDS_HARDWARE_PWM
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+  if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer
+  const PinName pin_name = digitalPinToPinName(pin);
+  TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance
+  const timer_index_t index = get_timer_index(Instance);
+
+  // Protect used timers.
+  #ifdef STEP_TIMER
+    if (index == TIMER_INDEX(STEP_TIMER)) return;
+  #endif
+  #ifdef TEMP_TIMER
+    if (index == TIMER_INDEX(TEMP_TIMER)) return;
+  #endif
+  #if defined(PULSE_TIMER) && MF_TIMER_PULSE != MF_TIMER_STEP
+    if (index == TIMER_INDEX(PULSE_TIMER)) return;
+  #endif
+
+  if (HardwareTimer_Handle[index] == nullptr) // If frequency is set before duty we need to create a handle here.
+    HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM));
+  HardwareTimer * const HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this);
+  HT->setOverflow(f_desired, HERTZ_FORMAT);
+  timer_freq[index] = f_desired; // Save the last frequency so duty will not set the default for this timer number.
+}
+
 #endif // HAL_STM32
@@ -115,7 +115,6 @@ const XrefInfo pin_xref[] PROGMEM = {
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define PRINT_PORT(ANUM) port_print(ANUM)
 #define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1  // will report analog pin number in the print port routine
-#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num

 // x is a variable used to search pin_array
 #define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
@@ -123,6 +122,11 @@ const XrefInfo pin_xref[] PROGMEM = {
 #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 MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin

+//
+// Pin Mapping for M43
+//
+#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
+
 #ifndef M43_NEVER_TOUCH
  #define _M43_NEVER_TOUCH(Index) (Index >= 9 && Index <= 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP)
  #ifdef KILL_PIN
@@ -28,6 +28,8 @@

 #if ENABLED(SDIO_SUPPORT)

+#include "sdio.h"
+
 #include <stdint.h>
 #include <stdbool.h>

@@ -49,14 +51,6 @@
  #error "SDIO only supported with STM32F103xE, STM32F103xG, STM32F4xx, or STM32F7xx."
 #endif

-// Fixed
-#define SDIO_D0_PIN   PC8
-#define SDIO_D1_PIN   PC9
-#define SDIO_D2_PIN   PC10
-#define SDIO_D3_PIN   PC11
-#define SDIO_CK_PIN   PC12
-#define SDIO_CMD_PIN  PD2
-
 SD_HandleTypeDef hsd;  // create SDIO structure
 // F4 supports one DMA for RX and another for TX, but Marlin will never
 // do read and write at same time, so we use the same DMA for both.
@@ -65,7 +59,7 @@ DMA_HandleTypeDef hdma_sdio;
 /*
  SDIO_INIT_CLK_DIV is 118
  SDIO clock frequency is 48MHz / (TRANSFER_CLOCK_DIV + 2)
-  SDIO init clock frequency should not exceed 400KHz = 48MHz / (118 + 2)
+  SDIO init clock frequency should not exceed 400kHz = 48MHz / (118 + 2)

  Default TRANSFER_CLOCK_DIV is 2 (118 / 40)
  Default SDIO clock frequency is 48MHz / (2 + 2) = 12 MHz
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#define SDIO_D0_PIN   PC8
+#define SDIO_D1_PIN   PC9
+#define SDIO_D2_PIN   PC10
+#define SDIO_D3_PIN   PC11
+#define SDIO_CK_PIN   PC12
+#define SDIO_CMD_PIN  PD2
@@ -161,11 +161,11 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
    for (i = 0; i < 4; i++) {
      #if TFT_MISO_PIN != TFT_MOSI_PIN
        //if (hspi->Init.Direction == SPI_DIRECTION_2LINES) {
-          while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {}
+          while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
          SPIx.Instance->DR = 0;
        //}
      #endif
-      while ((SPIx.Instance->SR & SPI_FLAG_RXNE) != SPI_FLAG_RXNE) {}
+      while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_RXNE)) {}
      Data = (Data << 8) | SPIx.Instance->DR;
    }

@@ -195,8 +195,8 @@ bool TFT_SPI::isBusy() {

 void TFT_SPI::Abort() {
  // Wait for any running spi
-  while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {}
-  while ((SPIx.Instance->SR & SPI_FLAG_BSY) == SPI_FLAG_BSY) {}
+  while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
+  while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {}
  // First, abort any running dma
  HAL_DMA_Abort(&DMAtx);
  // DeInit objects
@@ -214,8 +214,8 @@ void TFT_SPI::Transmit(uint16_t Data) {

  SPIx.Instance->DR = Data;

-  while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {}
-  while ((SPIx.Instance->SR & SPI_FLAG_BSY) == SPI_FLAG_BSY) {}
+  while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
+  while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {}

  if (TFT_MISO_PIN != TFT_MOSI_PIN)
    __HAL_SPI_CLEAR_OVRFLAG(&SPIx);   // Clear overrun flag in 2 Lines communication mode because received is not read
@@ -242,5 +242,29 @@ void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Coun
  Abort();
 }

+#if ENABLED(USE_SPI_DMA_TC)
+
+  void TFT_SPI::TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+
+    DMAtx.Init.MemInc = MemoryIncrease;
+    HAL_DMA_Init(&DMAtx);
+
+    if (TFT_MISO_PIN == TFT_MOSI_PIN)
+      SPI_1LINE_TX(&SPIx);
+
+    DataTransferBegin();
+
+    HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+    HAL_DMA_Start_IT(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count);
+    __HAL_SPI_ENABLE(&SPIx);
+
+    SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);   // Enable Tx DMA Request
+  }
+
+  extern "C" void DMA2_Stream3_IRQHandler(void) { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); }
+
+#endif
+
 #endif // HAS_SPI_TFT
 #endif // HAL_STM32
@@ -36,20 +36,25 @@
  #define LCD_READ_ID4 0xD3   // Read display identification information (0xD3 on ILI9341)
 #endif

-#define DATASIZE_8BIT    SPI_DATASIZE_8BIT
-#define DATASIZE_16BIT   SPI_DATASIZE_16BIT
-#define TFT_IO_DRIVER TFT_SPI
+#define DATASIZE_8BIT  SPI_DATASIZE_8BIT
+#define DATASIZE_16BIT SPI_DATASIZE_16BIT
+#define TFT_IO_DRIVER  TFT_SPI

 class TFT_SPI {
 private:
  static SPI_HandleTypeDef SPIx;
-  static DMA_HandleTypeDef DMAtx;
+

  static uint32_t ReadID(uint16_t Reg);
  static void Transmit(uint16_t Data);
  static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
+  #if ENABLED(USE_SPI_DMA_TC)
+    static void TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
+  #endif

 public:
+  static DMA_HandleTypeDef DMAtx;
+
  static void Init();
  static uint32_t GetID();
  static bool isBusy();
@@ -63,6 +68,11 @@ public:
  static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); }

  static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+
+  #if ENABLED(USE_SPI_DMA_TC)
+    static void WriteSequenceIT(uint16_t *Data, uint16_t Count) { TransmitDMA_IT(DMA_MINC_ENABLE, Data, Count); }
+  #endif
+
  static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
  static void WriteMultiple(uint16_t Color, uint32_t Count) {
    static uint16_t Data; Data = Color;
@@ -69,8 +69,8 @@ private:
  static uint16_t getRawData(const XPTCoordinate coordinate);
  static bool isTouched();

-  static inline void DataTransferBegin() { if (SPIx.Instance) { HAL_SPI_Init(&SPIx); } WRITE(TOUCH_CS_PIN, LOW); };
-  static inline void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); };
+  static void DataTransferBegin() { if (SPIx.Instance) { HAL_SPI_Init(&SPIx); } WRITE(TOUCH_CS_PIN, LOW); };
+  static void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); };
  static uint16_t HardwareIO(uint16_t data);
  static uint16_t SoftwareIO(uint16_t data);
  static uint16_t IO(uint16_t data = 0) { return SPIx.Instance ? HardwareIO(data) : SoftwareIO(data); }
@@ -67,17 +67,17 @@
  #endif
 #endif

-#ifdef STM32F0xx
+#if defined(STM32F0xx) || defined(STM32G0xx)
  #define MCU_STEP_TIMER 16
  #define MCU_TEMP_TIMER 17
 #elif defined(STM32F1xx)
  #define MCU_STEP_TIMER  4
  #define MCU_TEMP_TIMER  2
 #elif defined(STM32F401xC) || defined(STM32F401xE)
-  #define MCU_STEP_TIMER  9
+  #define MCU_STEP_TIMER  9           // STM32F401 has no TIM6, TIM7, or TIM8
  #define MCU_TEMP_TIMER 10
 #elif defined(STM32F4xx) || defined(STM32F7xx) || defined(STM32H7xx)
-  #define MCU_STEP_TIMER  6           // STM32F401 has no TIM6, TIM7, or TIM8
+  #define MCU_STEP_TIMER  6
  #define MCU_TEMP_TIMER 14           // TIM7 is consumed by Software Serial if used.
 #endif

@@ -97,9 +97,15 @@
 #define STEP_TIMER_DEV _TIMER_DEV(STEP_TIMER)
 #define TEMP_TIMER_DEV _TIMER_DEV(TEMP_TIMER)

-// ------------------------
+// --------------------------------------------------------------------------
+// Local defines
+// --------------------------------------------------------------------------
+
+#define NUM_HARDWARE_TIMERS 2
+
+// --------------------------------------------------------------------------
 // Private Variables
-// ------------------------
+// --------------------------------------------------------------------------

 HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr };

@@ -110,7 +116,7 @@ HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr };
 uint32_t GetStepperTimerClkFreq() {
  // Timer input clocks vary between devices, and in some cases between timers on the same device.
  // Retrieve at runtime to ensure device compatibility. Cache result to avoid repeated overhead.
-  static uint32_t clkfreq = timer_instance[STEP_TIMER_NUM]->getTimerClkFreq();
+  static uint32_t clkfreq = timer_instance[MF_TIMER_STEP]->getTimerClkFreq();
  return clkfreq;
 }

@@ -118,7 +124,7 @@ uint32_t GetStepperTimerClkFreq() {
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  if (!HAL_timer_initialized(timer_num)) {
    switch (timer_num) {
-      case STEP_TIMER_NUM: // STEPPER TIMER - use a 32bit timer if possible
+      case MF_TIMER_STEP: // STEPPER TIMER - use a 32bit timer if possible
        timer_instance[timer_num] = new HardwareTimer(STEP_TIMER_DEV);
        /* Set the prescaler to the final desired value.
         * This will change the effective ISR callback frequency but when
@@ -137,7 +143,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
        timer_instance[timer_num]->setPrescaleFactor(STEPPER_TIMER_PRESCALE); //the -1 is done internally
        timer_instance[timer_num]->setOverflow(_MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE) /* /frequency */), TICK_FORMAT);
        break;
-      case TEMP_TIMER_NUM: // TEMP TIMER - any available 16bit timer
+      case MF_TIMER_TEMP: // TEMP TIMER - any available 16bit timer
        timer_instance[timer_num] = new HardwareTimer(TEMP_TIMER_DEV);
        // The prescale factor is computed automatically for HERTZ_FORMAT
        timer_instance[timer_num]->setOverflow(frequency, HERTZ_FORMAT);
@@ -157,10 +163,10 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
    // These calls can be removed and replaced with
    // timer_instance[timer_num]->setInterruptPriority
    switch (timer_num) {
-      case STEP_TIMER_NUM:
+      case MF_TIMER_STEP:
        timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0);
        break;
-      case TEMP_TIMER_NUM:
+      case MF_TIMER_TEMP:
        timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0);
        break;
    }
@@ -170,10 +176,10 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
 void HAL_timer_enable_interrupt(const uint8_t timer_num) {
  if (HAL_timer_initialized(timer_num) && !timer_instance[timer_num]->hasInterrupt()) {
    switch (timer_num) {
-      case STEP_TIMER_NUM:
+      case MF_TIMER_STEP:
        timer_instance[timer_num]->attachInterrupt(Step_Handler);
        break;
-      case TEMP_TIMER_NUM:
+      case MF_TIMER_TEMP:
        timer_instance[timer_num]->attachInterrupt(Temp_Handler);
        break;
    }
@@ -40,17 +40,13 @@
 #define hal_timer_t uint32_t
 #define HAL_TIMER_TYPE_MAX UINT16_MAX

-#define NUM_HARDWARE_TIMERS 2
+// Marlin timer_instance[] content (unrelated to timer selection)
+#define MF_TIMER_STEP       0  // Timer Index for Stepper
+#define MF_TIMER_TEMP       1  // Timer Index for Temperature
+#define MF_TIMER_PULSE      MF_TIMER_STEP

-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        0  // Timer Index for Stepper
-#endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
-#endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        1  // Timer Index for Temperature
-#endif
+#define TIMER_INDEX_(T) TIMER##T##_INDEX  // TIMER#_INDEX enums (timer_index_t) depend on TIM#_BASE defines.
+#define TIMER_INDEX(T) TIMER_INDEX_(T)    // Convert Timer ID to HardwareTimer_Handle index.

 #define TEMP_TIMER_FREQUENCY 1000   // Temperature::isr() is expected to be called at around 1kHz

@@ -64,12 +60,12 @@ extern uint32_t GetStepperTimerClkFreq();
 #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US

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

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

 extern void Step_Handler();
 extern void Temp_Handler();
@@ -120,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
  }
 }

-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
@@ -26,7 +26,7 @@

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

-#if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC
+#if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC)

 #include "usb_serial.h"
 #include "../../feature/e_parser.h"
@@ -79,7 +79,7 @@
 #define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */

 // ------------------------
-// Public Variables
+// Serial ports
 // ------------------------

 #if defined(SERIAL_USB) && !HAS_SD_HOST_DRIVE
@@ -112,148 +112,37 @@
  #endif
 #endif

-uint16_t HAL_adc_result;
-
 // ------------------------
-// Private Variables
+// ADC
 // ------------------------
-STM32ADC adc(ADC1);

-const uint8_t adc_pins[] = {
-  #if HAS_TEMP_ADC_0
-    TEMP_0_PIN,
-  #endif
-  #if HAS_TEMP_ADC_PROBE
-    TEMP_PROBE_PIN,
-  #endif
-  #if HAS_HEATED_BED
-    TEMP_BED_PIN,
-  #endif
-  #if HAS_TEMP_CHAMBER
-    TEMP_CHAMBER_PIN,
-  #endif
-  #if HAS_TEMP_COOLER
-    TEMP_COOLER_PIN,
-  #endif
-  #if HAS_TEMP_ADC_1
-    TEMP_1_PIN,
-  #endif
-  #if HAS_TEMP_ADC_2
-    TEMP_2_PIN,
-  #endif
-  #if HAS_TEMP_ADC_3
-    TEMP_3_PIN,
-  #endif
-  #if HAS_TEMP_ADC_4
-    TEMP_4_PIN,
-  #endif
-  #if HAS_TEMP_ADC_5
-    TEMP_5_PIN,
-  #endif
-  #if HAS_TEMP_ADC_6
-    TEMP_6_PIN,
-  #endif
-  #if HAS_TEMP_ADC_7
-    TEMP_7_PIN,
-  #endif
-  #if ENABLED(FILAMENT_WIDTH_SENSOR)
-    FILWIDTH_PIN,
-  #endif
-  #if HAS_ADC_BUTTONS
-    ADC_KEYPAD_PIN,
-  #endif
-  #if HAS_JOY_ADC_X
-    JOY_X_PIN,
-  #endif
-  #if HAS_JOY_ADC_Y
-    JOY_Y_PIN,
-  #endif
-  #if HAS_JOY_ADC_Z
-    JOY_Z_PIN,
-  #endif
-  #if ENABLED(POWER_MONITOR_CURRENT)
-    POWER_MONITOR_CURRENT_PIN,
-  #endif
-  #if ENABLED(POWER_MONITOR_VOLTAGE)
-    POWER_MONITOR_VOLTAGE_PIN,
-  #endif
-};
+// Watch out for recursion here! Our pin_t is signed, so pass through to Arduino -> analogRead(uint8_t)

-enum TempPinIndex : char {
-  #if HAS_TEMP_ADC_0
-    TEMP_0,
-  #endif
-  #if HAS_TEMP_ADC_PROBE
-    TEMP_PROBE,
-  #endif
-  #if HAS_HEATED_BED
-    TEMP_BED,
-  #endif
-  #if HAS_TEMP_CHAMBER
-    TEMP_CHAMBER,
-  #endif
-  #if HAS_TEMP_COOLER
-    TEMP_COOLER_PIN,
-  #endif
-  #if HAS_TEMP_ADC_1
-    TEMP_1,
-  #endif
-  #if HAS_TEMP_ADC_2
-    TEMP_2,
-  #endif
-  #if HAS_TEMP_ADC_3
-    TEMP_3,
-  #endif
-  #if HAS_TEMP_ADC_4
-    TEMP_4,
-  #endif
-  #if HAS_TEMP_ADC_5
-    TEMP_5,
-  #endif
-  #if HAS_TEMP_ADC_6
-    TEMP_6,
-  #endif
-  #if HAS_TEMP_ADC_7
-    TEMP_7,
-  #endif
-  #if ENABLED(FILAMENT_WIDTH_SENSOR)
-    FILWIDTH,
-  #endif
-  #if HAS_ADC_BUTTONS
-    ADC_KEY,
-  #endif
-  #if HAS_JOY_ADC_X
-    JOY_X,
-  #endif
-  #if HAS_JOY_ADC_Y
-    JOY_Y,
-  #endif
-  #if HAS_JOY_ADC_Z
-    JOY_Z,
-  #endif
-  #if ENABLED(POWER_MONITOR_CURRENT)
-    POWERMON_CURRENT,
-  #endif
-  #if ENABLED(POWER_MONITOR_VOLTAGE)
-    POWERMON_VOLTS,
-  #endif
-  ADC_PIN_COUNT
-};
+uint16_t analogRead(const pin_t pin) {
+  const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG;
+  return is_analog ? analogRead(uint8_t(pin)) : 0;
+}

-uint16_t HAL_adc_results[ADC_PIN_COUNT];
+// Wrapper to maple unprotected analogWrite
+void analogWrite(const pin_t pin, int pwm_val8) {
+  if (PWM_PIN(pin)) analogWrite(uint8_t(pin), pwm_val8);
+}
+
+uint16_t MarlinHAL::adc_result;

 // ------------------------
 // Private functions
 // ------------------------
+
 static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
  uint32_t reg_value;
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               // only values 0..7 are used

-  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
-  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
+  reg_value  =  SCB->AIRCR;                                                   // read old register configuration
+  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             // clear bits to change
  reg_value  =  (reg_value                                 |
                ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
-                (PriorityGroupTmp << 8));                                     /* Insert write key & priority group  */
+                (PriorityGroupTmp << 8));                                     // Insert write key & priority group
  SCB->AIRCR =  reg_value;
 }

@@ -261,6 +150,8 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
 // Public functions
 // ------------------------

+void flashFirmware(const int16_t) { hal.reboot(); }
+
 //
 // Leave PA11/PA12 intact if USBSerial is not used
 //
@@ -280,7 +171,11 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {

 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());

-void HAL_init() {
+// ------------------------
+// MarlinHAL class
+// ------------------------
+
+void MarlinHAL::init() {
  NVIC_SetPriorityGrouping(0x3);
  #if PIN_EXISTS(LED)
    OUT_WRITE(LED_PIN, LOW);
@@ -299,7 +194,7 @@ void HAL_init() {
 }

 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
  #if HAS_SHARED_MEDIA
    // If Marlin is using the SD card we need to lock it to prevent access from
    // a PC via USB.
@@ -314,14 +209,7 @@ void HAL_idletask() {
  #endif
 }

-void HAL_clear_reset_source() { }
-
-/**
- * TODO: Check this and change or remove.
- */
-uint8_t HAL_get_reset_source() { return RST_POWER_ON; }
-
-void _delay_ms(const int delay_ms) { delay(delay_ms); }
+void MarlinHAL::reboot() { nvic_sys_reset(); }

 extern "C" {
  extern unsigned int _ebss; // end of bss section
@@ -355,106 +243,99 @@ extern "C" {
 }
 */

-// ------------------------
+//
 // ADC
-// ------------------------
+//
+
+enum ADCIndex : uint8_t {
+  OPTITEM(HAS_TEMP_ADC_0, TEMP_0)
+  OPTITEM(HAS_TEMP_ADC_1, TEMP_1)
+  OPTITEM(HAS_TEMP_ADC_2, TEMP_2)
+  OPTITEM(HAS_TEMP_ADC_3, TEMP_3)
+  OPTITEM(HAS_TEMP_ADC_4, TEMP_4)
+  OPTITEM(HAS_TEMP_ADC_5, TEMP_5)
+  OPTITEM(HAS_TEMP_ADC_6, TEMP_6)
+  OPTITEM(HAS_TEMP_ADC_7, TEMP_7)
+  OPTITEM(HAS_HEATED_BED, TEMP_BED)
+  OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER)
+  OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE)
+  OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER)
+  OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD)
+  OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH)
+  OPTITEM(HAS_ADC_BUTTONS, ADC_KEY)
+  OPTITEM(HAS_JOY_ADC_X, JOY_X)
+  OPTITEM(HAS_JOY_ADC_Y, JOY_Y)
+  OPTITEM(HAS_JOY_ADC_Z, JOY_Z)
+  OPTITEM(POWER_MONITOR_CURRENT, POWERMON_CURRENT)
+  OPTITEM(POWER_MONITOR_VOLTAGE, POWERMON_VOLTS)
+  ADC_COUNT
+};
+
+static uint16_t adc_results[ADC_COUNT];
+
 // Init the AD in continuous capture mode
-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
+  static const uint8_t adc_pins[] = {
+    OPTITEM(HAS_TEMP_ADC_0, TEMP_0_PIN)
+    OPTITEM(HAS_TEMP_ADC_1, TEMP_1_PIN)
+    OPTITEM(HAS_TEMP_ADC_2, TEMP_2_PIN)
+    OPTITEM(HAS_TEMP_ADC_3, TEMP_3_PIN)
+    OPTITEM(HAS_TEMP_ADC_4, TEMP_4_PIN)
+    OPTITEM(HAS_TEMP_ADC_5, TEMP_5_PIN)
+    OPTITEM(HAS_TEMP_ADC_6, TEMP_6_PIN)
+    OPTITEM(HAS_TEMP_ADC_7, TEMP_7_PIN)
+    OPTITEM(HAS_HEATED_BED, TEMP_BED_PIN)
+    OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN)
+    OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN)
+    OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN)
+    OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN)
+    OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN)
+    OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN)
+    OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN)
+    OPTITEM(HAS_JOY_ADC_Y, JOY_Y_PIN)
+    OPTITEM(HAS_JOY_ADC_Z, JOY_Z_PIN)
+    OPTITEM(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN)
+    OPTITEM(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN)
+  };
+  static STM32ADC adc(ADC1);
  // configure the ADC
  adc.calibrate();
-  #if F_CPU > 72000000
-    adc.setSampleRate(ADC_SMPR_71_5); // 71.5 ADC cycles
-  #else
-    adc.setSampleRate(ADC_SMPR_41_5); // 41.5 ADC cycles
-  #endif
-  adc.setPins((uint8_t *)adc_pins, ADC_PIN_COUNT);
-  adc.setDMA(HAL_adc_results, (uint16_t)ADC_PIN_COUNT, (uint32_t)(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr);
+  adc.setSampleRate((F_CPU > 72000000) ? ADC_SMPR_71_5 : ADC_SMPR_41_5); // 71.5 or 41.5 ADC cycles
+  adc.setPins((uint8_t *)adc_pins, ADC_COUNT);
+  adc.setDMA(adc_results, uint16_t(ADC_COUNT), uint32_t(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr);
  adc.setScanMode();
  adc.setContinuous();
  adc.startConversion();
 }

-void HAL_adc_start_conversion(const uint8_t adc_pin) {
-  //TEMP_PINS pin_index;
-  TempPinIndex pin_index;
-  switch (adc_pin) {
+void MarlinHAL::adc_start(const pin_t pin) {
+  #define __TCASE(N,I) case N: pin_index = I; break;
+  #define _TCASE(C,N,I) TERN_(C, __TCASE(N, I))
+  ADCIndex pin_index;
+  switch (pin) {
    default: return;
-    #if HAS_TEMP_ADC_0
-      case TEMP_0_PIN: pin_index = TEMP_0; break;
-    #endif
-    #if HAS_TEMP_ADC_PROBE
-      case TEMP_PROBE_PIN: pin_index = TEMP_PROBE; break;
-    #endif
-    #if HAS_HEATED_BED
-      case TEMP_BED_PIN: pin_index = TEMP_BED; break;
-    #endif
-    #if HAS_TEMP_CHAMBER
-      case TEMP_CHAMBER_PIN: pin_index = TEMP_CHAMBER; break;
-    #endif
-    #if HAS_TEMP_COOLER
-      case TEMP_COOLER_PIN: pin_index = TEMP_COOLER; break;
-    #endif
-    #if HAS_TEMP_ADC_1
-      case TEMP_1_PIN: pin_index = TEMP_1; break;
-    #endif
-    #if HAS_TEMP_ADC_2
-      case TEMP_2_PIN: pin_index = TEMP_2; break;
-    #endif
-    #if HAS_TEMP_ADC_3
-      case TEMP_3_PIN: pin_index = TEMP_3; break;
-    #endif
-    #if HAS_TEMP_ADC_4
-      case TEMP_4_PIN: pin_index = TEMP_4; break;
-    #endif
-    #if HAS_TEMP_ADC_5
-      case TEMP_5_PIN: pin_index = TEMP_5; break;
-    #endif
-    #if HAS_TEMP_ADC_6
-      case TEMP_6_PIN: pin_index = TEMP_6; break;
-    #endif
-    #if HAS_TEMP_ADC_7
-      case TEMP_7_PIN: pin_index = TEMP_7; break;
-    #endif
-    #if HAS_JOY_ADC_X
-      case JOY_X_PIN: pin_index = JOY_X; break;
-    #endif
-    #if HAS_JOY_ADC_Y
-      case JOY_Y_PIN: pin_index = JOY_Y; break;
-    #endif
-    #if HAS_JOY_ADC_Z
-      case JOY_Z_PIN: pin_index = JOY_Z; break;
-    #endif
-    #if ENABLED(FILAMENT_WIDTH_SENSOR)
-      case FILWIDTH_PIN: pin_index = FILWIDTH; break;
-    #endif
-    #if HAS_ADC_BUTTONS
-      case ADC_KEYPAD_PIN: pin_index = ADC_KEY; break;
-    #endif
-    #if ENABLED(POWER_MONITOR_CURRENT)
-      case POWER_MONITOR_CURRENT_PIN: pin_index = POWERMON_CURRENT; break;
-    #endif
-    #if ENABLED(POWER_MONITOR_VOLTAGE)
-      case POWER_MONITOR_VOLTAGE_PIN: pin_index = POWERMON_VOLTS; break;
-    #endif
+    _TCASE(HAS_TEMP_ADC_0,        TEMP_0_PIN,                TEMP_0)
+    _TCASE(HAS_TEMP_ADC_1,        TEMP_1_PIN,                TEMP_1)
+    _TCASE(HAS_TEMP_ADC_2,        TEMP_2_PIN,                TEMP_2)
+    _TCASE(HAS_TEMP_ADC_3,        TEMP_3_PIN,                TEMP_3)
+    _TCASE(HAS_TEMP_ADC_4,        TEMP_4_PIN,                TEMP_4)
+    _TCASE(HAS_TEMP_ADC_5,        TEMP_5_PIN,                TEMP_5)
+    _TCASE(HAS_TEMP_ADC_6,        TEMP_6_PIN,                TEMP_6)
+    _TCASE(HAS_TEMP_ADC_7,        TEMP_7_PIN,                TEMP_7)
+    _TCASE(HAS_HEATED_BED,        TEMP_BED_PIN,              TEMP_BED)
+    _TCASE(HAS_TEMP_CHAMBER,      TEMP_CHAMBER_PIN,          TEMP_CHAMBER)
+    _TCASE(HAS_TEMP_ADC_PROBE,    TEMP_PROBE_PIN,            TEMP_PROBE)
+    _TCASE(HAS_TEMP_COOLER,       TEMP_COOLER_PIN,           TEMP_COOLER)
+    _TCASE(HAS_TEMP_BOARD,        TEMP_BOARD_PIN,            TEMP_BOARD)
+    _TCASE(HAS_JOY_ADC_X,         JOY_X_PIN,                 JOY_X)
+    _TCASE(HAS_JOY_ADC_Y,         JOY_Y_PIN,                 JOY_Y)
+    _TCASE(HAS_JOY_ADC_Z,         JOY_Z_PIN,                 JOY_Z)
+    _TCASE(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN,              FILWIDTH)
+    _TCASE(HAS_ADC_BUTTONS,       ADC_KEYPAD_PIN,            ADC_KEY)
+    _TCASE(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN, POWERMON_CURRENT)
+    _TCASE(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN, POWERMON_VOLTS)
  }
-  HAL_adc_result = HAL_adc_results[(int)pin_index] >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
+  adc_result = (adc_results[(int)pin_index] & 0xFFF) >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
 }

-uint16_t HAL_adc_get_result() { return HAL_adc_result; }
-
-uint16_t analogRead(pin_t pin) {
-  const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG;
-  return is_analog ? analogRead(uint8_t(pin)) : 0;
-}
-
-// Wrapper to maple unprotected analogWrite
-void analogWrite(pin_t pin, int pwm_val8) {
-  if (PWM_PIN(pin))
-    analogWrite(uint8_t(pin), pwm_val8);
-}
-
-void HAL_reboot() { nvic_sys_reset(); }
-
-void flashFirmware(const int16_t) { HAL_reboot(); }
-
 #endif // __STM32F1__
@@ -66,6 +66,10 @@
  #endif
 #endif

+// ------------------------
+// Serial ports
+// ------------------------
+
 #ifdef SERIAL_USB
  typedef ForwardSerial1Class< USBSerial > DefaultSerial1;
  extern DefaultSerial1 MSerial0;
@@ -141,11 +145,6 @@
  #endif
 #endif

-// Set interrupt grouping for this MCU
-void HAL_init();
-#define HAL_IDLETASK 1
-void HAL_idletask();
-
 /**
 * TODO: review this to return 1 for pins that are not analog input
 */
@@ -158,15 +157,7 @@ void HAL_idletask();
  #define NO_COMPILE_TIME_PWM
 #endif

-#define CRITICAL_SECTION_START()  uint32_t primask = __get_primask(); (void)__iCliRetVal()
-#define CRITICAL_SECTION_END()    if (!primask) (void)__iSeiRetVal()
-#define ISRS_ENABLED() (!__get_primask())
-#define ENABLE_ISRS()  ((void)__iSeiRetVal())
-#define DISABLE_ISRS() ((void)__iCliRetVal())
-
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
-
+// Reset Reason
 #define RST_POWER_ON   1
 #define RST_EXTERNAL   2
 #define RST_BROWN_OUT  4
@@ -182,60 +173,17 @@ void HAL_idletask();
 typedef int8_t pin_t;

 // ------------------------
-// Public Variables
+// Interrupts
 // ------------------------

-// Result of last ADC conversion
-extern uint16_t HAL_adc_result;
-
-// ------------------------
-// Public functions
-// ------------------------
-
-// Disable interrupts
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_primask(); (void)__iCliRetVal()
+#define CRITICAL_SECTION_END()    if (!irqon) (void)__iSeiRetVal()
 #define cli() noInterrupts()
-
-// Enable interrupts
 #define sei() interrupts()

-// Memory related
-#define __bss_end __bss_end__
-
-// Clear reset reason
-void HAL_clear_reset_source();
-
-// Reset reason
-uint8_t HAL_get_reset_source();
-
-void HAL_reboot();
-
-void _delay_ms(const int delay);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-
-/*
-extern "C" {
-  int freeMemory();
-}
-*/
-
-extern "C" char* _sbrk(int incr);
-
-static inline int freeMemory() {
-  volatile char top;
-  return &top - _sbrk(0);
-}
-
-#pragma GCC diagnostic pop
-
-//
+// ------------------------
 // ADC
-//
-
-#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT_ANALOG);
-
-void HAL_adc_init();
+// ------------------------

 #ifdef ADC_RESOLUTION
  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
@@ -244,39 +192,115 @@ void HAL_adc_init();
 #endif

 #define HAL_ADC_VREF         3.3
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true

-void HAL_adc_start_conversion(const uint8_t adc_pin);
-uint16_t HAL_adc_get_result();
-
-uint16_t analogRead(pin_t pin); // need HAL_ANALOG_SELECT() first
-void analogWrite(pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!?
+uint16_t analogRead(const pin_t pin); // need hal.adc_enable() first
+void analogWrite(const pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!?

+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)

-#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY)
+#define JTAG_DISABLE()    afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY)
 #define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE)

 #define PLATFORM_M997_SUPPORT
 void flashFirmware(const int16_t);

-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define HAL_CAN_SET_PWM_FREQ      // This HAL supports PWM Frequency adjustment
+#ifndef PWM_FREQUENCY
+  #define PWM_FREQUENCY      1000 // Default PWM Frequency
+#endif

-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Timer PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+// ------------------------
+// Class Utilities
+// ------------------------

-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+// Memory related
+#define __bss_end __bss_end__
+
+void _delay_ms(const int ms);
+
+extern "C" char* _sbrk(int incr);
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+static inline int freeMemory() {
+  volatile char top;
+  return &top - _sbrk(0);
+}
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_primask(); }
+  static void isr_on()  { ((void)__iSeiRetVal()); }
+  static void isr_off() { ((void)__iCliRetVal()); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source() { return RST_POWER_ON; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) { pinMode(pin, INPUT_ANALOG); }
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255]
+   * The timer must be pre-configured with set_pwm_frequency() if the default frequency is not desired.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false);
+
+  /**
+   * Set the frequency of the timer for the given pin.
+   * All Timer PWM pins run at the same frequency.
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+
+};
@@ -91,6 +91,14 @@ static const spi_pins board_spi_pins[] __FLASH__ = {
  static void *_spi3_this;
 #endif

+/**
+ * @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset.
+ */
+static inline void waitSpiTxEnd(spi_dev *spi_d) {
+  while (spi_is_tx_empty(spi_d) == 0) { /* nada */ } // wait until TXE=1
+  while (spi_is_busy(spi_d) != 0) { /* nada */ }     // wait until BSY=0
+}
+
 /**
 * Constructor
 */
@@ -414,12 +414,4 @@ private:
  */
 };

-/**
- * @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset.
- */
-static inline void waitSpiTxEnd(spi_dev *spi_d) {
-  while (spi_is_tx_empty(spi_d) == 0) { /* nada */ } // wait until TXE=1
-  while (spi_is_busy(spi_d) != 0) { /* nada */ }     // wait until BSY=0
-}
-
 extern SPIClass SPI;
@@ -60,7 +60,7 @@ uint8_t ServoCount = 0;
 #define US_TO_ANGLE(us)    int16_t(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, minAngle, maxAngle))

 void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) {
-  #ifdef SERVO0_TIMER_NUM
+  #ifdef MF_TIMER_SERVO0
    if (servoIndex == 0) {
      pwmSetDuty(duty_cycle);
      return;
@@ -74,7 +74,7 @@ void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) {

 libServo::libServo() {
  servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO;
-  timer_set_interrupt_priority(SERVO0_TIMER_NUM, SERVO0_TIMER_IRQ_PRIO);
+  HAL_timer_set_interrupt_priority(MF_TIMER_SERVO0, SERVO0_TIMER_IRQ_PRIO);
 }

 bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32_t inMaxAngle) {
@@ -85,7 +85,7 @@ bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32
  maxAngle = inMaxAngle;
  angle = -1;

-  #ifdef SERVO0_TIMER_NUM
+  #ifdef MF_TIMER_SERVO0
    if (servoIndex == 0 && setupSoftPWM(inPin)) {
      pin = inPin; // set attached()
      return true;
@@ -119,7 +119,7 @@ bool libServo::detach() {

 int32_t libServo::read() const {
  if (attached()) {
-    #ifdef SERVO0_TIMER_NUM
+    #ifdef MF_TIMER_SERVO0
      if (servoIndex == 0) return angle;
    #endif
    timer_dev *tdev = PIN_MAP[pin].timer_device;
@@ -141,9 +141,9 @@ void libServo::move(const int32_t value) {
  }
 }

-#ifdef SERVO0_TIMER_NUM
+#ifdef MF_TIMER_SERVO0
  extern "C" void Servo_IRQHandler() {
-    static timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
+    static timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
    uint16_t SR = timer_get_status(tdev);
    if (SR & TIMER_SR_CC1IF) { // channel 1 off
      #ifdef SERVO0_PWM_OD
@@ -164,7 +164,7 @@ void libServo::move(const int32_t value) {
  }

  bool libServo::setupSoftPWM(const int32_t inPin) {
-    timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
+    timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
    if (!tdev) return false;
    #ifdef SERVO0_PWM_OD
      OUT_WRITE_OD(inPin, 1);
@@ -189,7 +189,7 @@ void libServo::move(const int32_t value) {
  }

  void libServo::pwmSetDuty(const uint16_t duty_cycle) {
-    timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
+    timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
    timer_set_compare(tdev, 1, duty_cycle);
    timer_generate_update(tdev);
    if (duty_cycle) {
@@ -208,7 +208,7 @@ void libServo::move(const int32_t value) {
  }

  void libServo::pauseSoftPWM() { // detach
-    timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
+    timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
    timer_pause(tdev);
    pwmSetDuty(0);
  }
@@ -35,7 +35,8 @@
 #define SERVO_DEFAULT_MIN_ANGLE         0
 #define SERVO_DEFAULT_MAX_ANGLE         180

-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;

 class libServo {
  public:
--- a/Show More
+++ b/Show More