Update Configuration_adv.h

Co-authored-by: Scott Lahteine <github@thinkyhead.com>

Marlin/Configuration.h

@@ -1,5 +1,4 @@
-/**
- * Marlin 3D Printer Firmware
+ /** Marlin 3D Printer Firmware
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
@@ -58,23 +57,18 @@
  */
 
 //===========================================================================
-//============================= DELTA Printer ===============================
+//========================== DELTA / SCARA / TPARA ==========================
 //===========================================================================
-// For a Delta printer, start with one of the configuration files in the config/examples/delta directory
-// from https://github.com/MarlinFirmware/Configurations/branches/all and customize for your machine.
 //
-
-//===========================================================================
-//============================= SCARA Printer ===============================
-//===========================================================================
-// For a SCARA printer, start with one of the configuration files in the config/examples/SCARA directory
-// from https://github.com/MarlinFirmware/Configurations/branches/all and customize for your machine.
+// Download configurations from the link above and customize for your machine.
+// Examples are located in config/examples/delta, .../SCARA, and .../TPARA.
 //
+//===========================================================================
 
 // @section info
 
 // Author info of this build printed to the host during boot and M115
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "3DXtech / Insanity Automation" // Who made the changes.
 //#define CUSTOM_VERSION_FILE Version.h // Path from the root directory (no quotes)
 
 /**
@@ -132,7 +126,7 @@
 
 // Choose the name from boards.h that matches your setup
 #ifndef MOTHERBOARD
-  #define MOTHERBOARD BOARD_RAMPS_14_EFB
+  #define MOTHERBOARD BOARD_INTAMSYS40
 #endif
 
 // Name displayed in the LCD "Ready" message and Info menu
@@ -168,8 +162,8 @@
  *   PRUSA_MMU1      : Průša MMU1 (The "multiplexer" version)
  *   PRUSA_MMU2      : Průša MMU2
  *   PRUSA_MMU2S     : Průša MMU2S (Requires MK3S extruder with motion sensor, EXTRUDERS = 5)
- *   SMUFF_EMU_MMU2  : Technik Gegg SMUFF (Průša MMU2 emulation mode)
- *   SMUFF_EMU_MMU2S : Technik Gegg SMUFF (Průša MMU2S emulation mode)
+ *   SMUFF_EMU_MMU2  : Technik Gegg SMuFF (Průša MMU2 emulation mode)
+ *   SMUFF_EMU_MMU2S : Technik Gegg SMuFF (Průša MMU2S emulation mode)
  *
  * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
  * See additional options in Configuration_adv.h.
@@ -316,27 +310,29 @@
  * Enable and connect the power supply to the PS_ON_PIN.
  * Specify whether the power supply is active HIGH or active LOW.
  */
-//#define PSU_CONTROL
+#define PSU_CONTROL
 //#define PSU_NAME "Power Supply"
 
 #if ENABLED(PSU_CONTROL)
-  #define PSU_ACTIVE_STATE LOW      // Set 'LOW' for ATX, 'HIGH' for X-Box
+  #define PSU_ACTIVE_STATE HIGH      // 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_POWERUP_DELAY 250   // (ms) Delay for the PSU to warm up to full power
 
   //#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)
 
-  //#define AUTO_POWER_CONTROL      // Enable automatic control of the PS_ON pin
+  #define AUTO_POWER_CONTROL      // Enable automatic control of the PS_ON pin
   #if ENABLED(AUTO_POWER_CONTROL)
     #define AUTO_POWER_FANS         // Turn on PSU if fans need power
     #define AUTO_POWER_E_FANS
     #define AUTO_POWER_CONTROLLERFAN
     #define AUTO_POWER_CHAMBER_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 POWER_TIMEOUT              30 // (s) Turn off power if the machine is idle for this duration
+    #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              120 // (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
 #endif
@@ -412,7 +408,7 @@
  *   998 : Dummy Table that ALWAYS reads 25°C or the temperature defined below.
  *   999 : Dummy Table that ALWAYS reads 100°C or the temperature defined below.
  */
-#define TEMP_SENSOR_0 1
+#define TEMP_SENSOR_0 20
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_3 0
@@ -420,9 +416,10 @@
 #define TEMP_SENSOR_5 0
 #define TEMP_SENSOR_6 0
 #define TEMP_SENSOR_7 0
-#define TEMP_SENSOR_BED 0
+#define TEMP_SENSOR_BED 1
 #define TEMP_SENSOR_PROBE 0
-#define TEMP_SENSOR_CHAMBER 0
+#define TEMP_SENSOR_CHAMBER 1
+#define TEMP_SENSOR_COOLER 0
 
 // Dummy thermistor constant temperature readings, for use with 998 and 999
 #define DUMMY_THERMISTOR_998_VALUE  25
@@ -439,14 +436,18 @@
 //#define TEMP_SENSOR_1_AS_REDUNDANT
 #define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
 
-#define TEMP_RESIDENCY_TIME     10  // (seconds) Time to wait for hotend to "settle" in M109
-#define TEMP_WINDOW              1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_HYSTERESIS          3  // (°C) Temperature proximity considered "close enough" to the target
+#define TEMP_RESIDENCY_TIME      3  // (seconds) Time to wait for hotend to "settle" in M109
+#define TEMP_WINDOW              3  // (°C) Temperature proximity for the "temperature reached" timer
+#define TEMP_HYSTERESIS          5  // (°C) Temperature proximity considered "close enough" to the target
 
-#define TEMP_BED_RESIDENCY_TIME 10  // (seconds) Time to wait for bed to "settle" in M190
+#define TEMP_BED_RESIDENCY_TIME  5  // (seconds) Time to wait for bed to "settle" in M190
 #define TEMP_BED_WINDOW          1  // (°C) Temperature proximity for the "temperature reached" timer
 #define TEMP_BED_HYSTERESIS      3  // (°C) Temperature proximity considered "close enough" to the target
 
+#define TEMP_CHAMBER_RESIDENCY_TIME 10  // (seconds) Time to wait for chamber to "settle" in M191
+#define TEMP_CHAMBER_WINDOW      1  // (°C) Temperature proximity for the "temperature reached" timer
+#define TEMP_CHAMBER_HYSTERESIS  5  // (°C) Temperature proximity considered "close enough" to the target
+
 // Below this temperature the heater will be switched off
 // because it probably indicates a broken thermistor wire.
 #define HEATER_0_MINTEMP   5
@@ -458,11 +459,12 @@
 #define HEATER_6_MINTEMP   5
 #define HEATER_7_MINTEMP   5
 #define BED_MINTEMP        5
+#define CHAMBER_MINTEMP    5
 
 // Above this temperature the heater will be switched off.
 // This can protect components from overheating, but NOT from shorts and failures.
 // (Use MINTEMP for thermistor short/failure protection.)
-#define HEATER_0_MAXTEMP 275
+#define HEATER_0_MAXTEMP 415
 #define HEATER_1_MAXTEMP 275
 #define HEATER_2_MAXTEMP 275
 #define HEATER_3_MAXTEMP 275
@@ -471,6 +473,16 @@
 #define HEATER_6_MAXTEMP 275
 #define HEATER_7_MAXTEMP 275
 #define BED_MAXTEMP      150
+#define CHAMBER_MAXTEMP  80
+
+/**
+ * Thermal Overshoot
+ * During heatup (and printing) the temperature can often "overshoot" the target by many degrees
+ * (especially before PID tuning). Setting the target temperature too close to MAXTEMP guarantees
+ * a MAXTEMP shutdown! Use these values to forbid temperatures being set too close to MAXTEMP.
+ */
+#define HOTEND_OVERSHOOT 15   // (°C) Forbid temperatures over MAXTEMP - OVERSHOOT
+#define BED_OVERSHOOT    10   // (°C) Forbid temperatures over MAXTEMP - OVERSHOOT
 
 //===========================================================================
 //============================= PID Settings ================================
@@ -484,8 +496,8 @@
 #define PID_K1 0.95      // Smoothing factor within any PID loop
 
 #if ENABLED(PIDTEMP)
-  //#define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of PROGMEM)
-  //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM)
+  #define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of PROGMEM)
+  #define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM)
   //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
                                   // Set/get with gcode: M301 E[extruder number, 0-2]
 
@@ -496,9 +508,9 @@
     #define DEFAULT_Ki_LIST {   1.08,   1.08 }
     #define DEFAULT_Kd_LIST { 114.00, 114.00 }
   #else
-    #define DEFAULT_Kp  22.20
-    #define DEFAULT_Ki   1.08
-    #define DEFAULT_Kd 114.00
+    #define DEFAULT_Kp 10.5
+  #define DEFAULT_Ki 0.45
+  #define DEFAULT_Kd 70
   #endif
 #endif // PIDTEMP
 
@@ -519,7 +531,7 @@
  * heater. If your configuration is significantly different than this and you don't understand
  * the issues involved, don't use bed PID until someone else verifies that your hardware works.
  */
-//#define PIDTEMPBED
+#define PIDTEMPBED
 
 //#define BED_LIMIT_SWITCHING
 
@@ -535,16 +547,60 @@
   //#define MIN_BED_POWER 0
   //#define PID_BED_DEBUG // Sends debug data to the serial port.
 
-  // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
-  // from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
-  #define DEFAULT_bedKp 10.00
-  #define DEFAULT_bedKi .023
-  #define DEFAULT_bedKd 305.4
+  //120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+  //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
+  #define DEFAULT_bedKp 104.28
+  #define DEFAULT_bedKi 20.53
+  #define DEFAULT_bedKd 353.10
 
   // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
 #endif // PIDTEMPBED
 
-#if EITHER(PIDTEMP, PIDTEMPBED)
+//===========================================================================
+//==================== PID > Chamber Temperature Control ====================
+//===========================================================================
+
+/**
+ * PID Chamber Heating
+ *
+ * If this option is enabled set PID constants below.
+ * If this option is disabled, bang-bang will be used and CHAMBER_LIMIT_SWITCHING will enable
+ * hysteresis.
+ *
+ * The PID frequency will be the same as the extruder PWM.
+ * If PID_dT is the default, and correct for the hardware/configuration, that means 7.689Hz,
+ * which is fine for driving a square wave into a resistive load and does not significantly
+ * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 200W
+ * heater. If your configuration is significantly different than this and you don't understand
+ * the issues involved, don't use chamber PID until someone else verifies that your hardware works.
+ */
+//#define PIDTEMPCHAMBER
+//#define CHAMBER_LIMIT_SWITCHING
+
+/**
+ * Max Chamber Power
+ * Applies to all forms of chamber control (PID, bang-bang, and bang-bang with hysteresis).
+ * When set to any value below 255, enables a form of PWM to the chamber heater that acts like a divider
+ * so don't use it unless you are OK with PWM on your heater. (See the comment on enabling PIDTEMPCHAMBER)
+ */
+#define MAX_CHAMBER_POWER 255 // limits duty cycle to chamber heater; 255=full current
+
+#if ENABLED(PIDTEMPCHAMBER)
+  #define MIN_CHAMBER_POWER 0
+  //#define PID_CHAMBER_DEBUG // Sends debug data to the serial port.
+
+  // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element
+  // and placed inside the small Creality printer enclosure tent.
+  //
+  #define DEFAULT_chamberKp 37.04
+  #define DEFAULT_chamberKi 1.40
+  #define DEFAULT_chamberKd 655.17
+  // M309 P37.04 I1.04 D655.17
+
+  // FIND YOUR OWN: "M303 E-2 C8 S50" to run autotune on the chamber at 50 degreesC for 8 cycles.
+#endif // PIDTEMPCHAMBER
+
+#if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER)
   //#define PID_DEBUG             // Sends debug data to the serial port. Use 'M303 D' to toggle activation.
   //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
   //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
@@ -591,6 +647,7 @@
 #define THERMAL_PROTECTION_HOTENDS // Enable thermal protection for all extruders
 #define THERMAL_PROTECTION_BED     // Enable thermal protection for the heated bed
 #define THERMAL_PROTECTION_CHAMBER // Enable thermal protection for the heated chamber
+#define THERMAL_PROTECTION_COOLER  // Enable thermal protection for the laser cooling
 
 //===========================================================================
 //============================= Mechanical Settings =========================
@@ -651,13 +708,13 @@
 #endif
 
 // Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
-#define X_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Y_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Z_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.
+#define X_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define Y_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define Z_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define X_MAX_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define Y_MAX_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define Z_MAX_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
+#define Z_MIN_PROBE_ENDSTOP_INVERTING true // Set to true to invert the logic of the probe.
 
 /**
  * Stepper Drivers
@@ -740,14 +797,14 @@
  * Override with M92
  *                                      X, Y, Z, E0 [, E1[, E2...]]
  */
-#define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
+#define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 800, 92.6 }
 
 /**
  * Default Max Feed Rate (mm/s)
  * Override with M203
  *                                      X, Y, Z, E0 [, E1[, E2...]]
  */
-#define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
+#define DEFAULT_MAX_FEEDRATE          { 300, 300, 20, 70 }
 
 //#define LIMITED_MAX_FR_EDITING        // Limit edit via M203 or LCD to DEFAULT_MAX_FEEDRATE * 2
 #if ENABLED(LIMITED_MAX_FR_EDITING)
@@ -760,7 +817,7 @@
  * Override with M201
  *                                      X, Y, Z, E0 [, E1[, E2...]]
  */
-#define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
+#define DEFAULT_MAX_ACCELERATION      { 9000, 9000, 100, 10000 }
 
 //#define LIMITED_MAX_ACCEL_EDITING     // Limit edit via M201 or LCD to DEFAULT_MAX_ACCELERATION * 2
 #if ENABLED(LIMITED_MAX_ACCEL_EDITING)
@@ -787,7 +844,7 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-//#define CLASSIC_JERK
+#define CLASSIC_JERK
 #if ENABLED(CLASSIC_JERK)
   #define DEFAULT_XJERK 10.0
   #define DEFAULT_YJERK 10.0
@@ -824,7 +881,7 @@
  *
  * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
  */
-//#define S_CURVE_ACCELERATION
+#define S_CURVE_ACCELERATION
 
 //===========================================================================
 //============================= Z Probe Options =============================
@@ -997,13 +1054,13 @@
 #define PROBING_MARGIN 10
 
 // X and Y axis travel speed (mm/min) between probes
-#define XY_PROBE_SPEED (133*60)
+#define XY_PROBE_FEEDRATE (133*60)
 
 // Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2)
-#define Z_PROBE_SPEED_FAST (4*60)
+#define Z_PROBE_FEEDRATE_FAST (4*60)
 
 // Feedrate (mm/min) for the "accurate" probe of each point
-#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)
+#define Z_PROBE_FEEDRATE_SLOW (Z_PROBE_FEEDRATE_FAST / 2)
 
 /**
  * Probe Activation Switch
@@ -1066,8 +1123,8 @@
 #define Z_PROBE_LOW_POINT          -2 // Farthest distance below the trigger-point to go before stopping
 
 // For M851 give a range for adjusting the Z probe offset
-#define Z_PROBE_OFFSET_RANGE_MIN -20
-#define Z_PROBE_OFFSET_RANGE_MAX 20
+#define Z_PROBE_OFFSET_RANGE_MIN -9
+#define Z_PROBE_OFFSET_RANGE_MAX 9
 
 // Enable the M48 repeatability test to test probe accuracy
 //#define Z_MIN_PROBE_REPEATABILITY_TEST
@@ -1088,6 +1145,7 @@
 //#define PROBING_HEATERS_OFF       // Turn heaters off when probing
 #if ENABLED(PROBING_HEATERS_OFF)
   //#define WAIT_FOR_BED_HEATER     // Wait for bed to heat back up between probes (to improve accuracy)
+  //#define WAIT_FOR_HOTEND         // Wait for hotend to heat back up between probes (to improve accuracy & prevent cold extrude)
 #endif
 //#define PROBING_FANS_OFF          // Turn fans off when probing
 //#define PROBING_STEPPERS_OFF      // Turn steppers off (unless needed to hold position) when probing
@@ -1124,9 +1182,9 @@
 // @section machine
 
 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
-#define INVERT_X_DIR false
-#define INVERT_Y_DIR true
-#define INVERT_Z_DIR false
+#define INVERT_X_DIR true
+#define INVERT_Y_DIR false
+#define INVERT_Z_DIR true
 
 // @section extruder
 
@@ -1144,7 +1202,13 @@
 
 //#define NO_MOTION_BEFORE_HOMING // Inhibit movement until all axes have been homed. Also enable HOME_AFTER_DEACTIVATE for extra safety.
 //#define HOME_AFTER_DEACTIVATE   // Require rehoming after steppers are deactivated. Also enable NO_MOTION_BEFORE_HOMING for extra safety.
-//#define UNKNOWN_Z_NO_RAISE      // Don't raise Z (lower the bed) if Z is "unknown." For beds that fall when Z is powered off.
+
+/**
+ * Set Z_IDLE_HEIGHT if the Z-Axis moves on its own when steppers are disabled.
+ *  - Use a low value (i.e., Z_MIN_POS) if the nozzle falls down to the bed.
+ *  - Use a large value (i.e., Z_MAX_POS) if the bed falls down, away from the nozzle.
+ */
+//#define Z_IDLE_HEIGHT Z_HOME_POS
 
 //#define Z_HOMING_HEIGHT  4      // (mm) Minimal Z height before homing (G28) for Z clearance above the bed, clamps, ...
                                   // Be sure to have this much clearance over your Z_MAX_POS to prevent grinding.
@@ -1160,8 +1224,8 @@
 // @section machine
 
 // The size of the print bed
-#define X_BED_SIZE 200
-#define Y_BED_SIZE 200
+#define X_BED_SIZE 260
+#define Y_BED_SIZE 260
 
 // Travel limits (mm) after homing, corresponding to endstop positions.
 #define X_MIN_POS 0
@@ -1169,7 +1233,7 @@
 #define Z_MIN_POS 0
 #define X_MAX_POS X_BED_SIZE
 #define Y_MAX_POS Y_BED_SIZE
-#define Z_MAX_POS 200
+#define Z_MAX_POS 260
 
 /**
  * Software Endstops
@@ -1197,7 +1261,7 @@
 #endif
 
 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
-  //#define SOFT_ENDSTOPS_MENU_ITEM  // Enable/Disable software endstops from the LCD
+  #define SOFT_ENDSTOPS_MENU_ITEM  // Enable/Disable software endstops from the LCD
 #endif
 
 /**
@@ -1213,7 +1277,7 @@
  * RAMPS-based boards use SERVO3_PIN for the first runout sensor.
  * For other boards you may need to define FIL_RUNOUT_PIN, FIL_RUNOUT2_PIN, etc.
  */
-//#define FILAMENT_RUNOUT_SENSOR
+#define FILAMENT_RUNOUT_SENSOR
 #if ENABLED(FILAMENT_RUNOUT_SENSOR)
   #define FIL_RUNOUT_ENABLED_DEFAULT true // Enable the sensor on startup. Override with M412 followed by M500.
   #define NUM_RUNOUT_SENSORS   1          // Number of sensors, up to one per extruder. Define a FIL_RUNOUT#_PIN for each.
@@ -1221,6 +1285,8 @@
   #define FIL_RUNOUT_STATE     LOW        // Pin state indicating that filament is NOT present.
   #define FIL_RUNOUT_PULLUP               // Use internal pullup for filament runout pins.
   //#define FIL_RUNOUT_PULLDOWN           // Use internal pulldown for filament runout pins.
+  //#define WATCH_ALL_RUNOUT_SENSORS      // Execute runout script on any triggering sensor, not only for the active extruder.
+                                          // This is automatically enabled for MIXING_EXTRUDERs.
 
   // Override individually if the runout sensors vary
   //#define FIL_RUNOUT1_STATE LOW
@@ -1255,14 +1321,15 @@
   //#define FIL_RUNOUT8_PULLUP
   //#define FIL_RUNOUT8_PULLDOWN
 
-  // Set one or more commands to execute on filament runout.
-  // (After 'M412 H' Marlin will ask the host to handle the process.)
+  // Commands to execute on filament runout.
+  // With multiple runout sensors use the %c placeholder for the current tool in commands (e.g., "M600 T%c")
+  // NOTE: After 'M412 H1' the host handles filament runout and this script does not apply.
   #define FILAMENT_RUNOUT_SCRIPT "M600"
 
   // After a runout is detected, continue printing this length of filament
   // before executing the runout script. Useful for a sensor at the end of
   // a feed tube. Requires 4 bytes SRAM per sensor, plus 4 bytes overhead.
-  //#define FILAMENT_RUNOUT_DISTANCE_MM 25
+  #define FILAMENT_RUNOUT_DISTANCE_MM 5
 
   #ifdef FILAMENT_RUNOUT_DISTANCE_MM
     // Enable this option to use an encoder disc that toggles the runout pin
@@ -1314,14 +1381,14 @@
 //#define AUTO_BED_LEVELING_LINEAR
 //#define AUTO_BED_LEVELING_BILINEAR
 //#define AUTO_BED_LEVELING_UBL
-//#define MESH_BED_LEVELING
+#define MESH_BED_LEVELING
 
 /**
  * Normally G28 leaves leveling disabled on completion. Enable one of
  * these options to restore the prior leveling state or to always enable
  * leveling immediately after G28.
  */
-//#define RESTORE_LEVELING_AFTER_G28
+#define RESTORE_LEVELING_AFTER_G28
 //#define ENABLE_LEVELING_AFTER_G28
 
 /**
@@ -1358,7 +1425,7 @@
   /**
    * Enable the G26 Mesh Validation Pattern tool.
    */
-  //#define G26_MESH_VALIDATION
+  #define G26_MESH_VALIDATION
   #if ENABLED(G26_MESH_VALIDATION)
     #define MESH_TEST_NOZZLE_SIZE    0.4  // (mm) Diameter of primary nozzle.
     #define MESH_TEST_LAYER_HEIGHT   0.2  // (mm) Default layer height for G26.
@@ -1423,7 +1490,7 @@
   //===========================================================================
 
   #define MESH_INSET 10          // Set Mesh bounds as an inset region of the bed
-  #define GRID_MAX_POINTS_X 3    // Don't use more than 7 points per axis, implementation limited.
+  #define GRID_MAX_POINTS_X 5    // Don't use more than 7 points per axis, implementation limited.
   #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
 
   //#define MESH_G28_REST_ORIGIN // After homing all axes ('G28' or 'G28 XYZ') rest Z at Z_MIN_POS
@@ -1434,16 +1501,16 @@
  * Add a bed leveling sub-menu for ABL or MBL.
  * Include a guided procedure if manual probing is enabled.
  */
-//#define LCD_BED_LEVELING
+#define LCD_BED_LEVELING
 
 #if ENABLED(LCD_BED_LEVELING)
   #define MESH_EDIT_Z_STEP  0.025 // (mm) Step size while manually probing Z axis.
   #define LCD_PROBE_Z_RANGE 4     // (mm) Z Range centered on Z_MIN_POS for LCD Z adjustment
-  //#define MESH_EDIT_MENU        // Add a menu to edit mesh points
+  #define MESH_EDIT_MENU        // Add a menu to edit mesh points
 #endif
 
 // Add a menu item to move between bed corners for manual bed adjustment
-//#define LEVEL_BED_CORNERS
+#define LEVEL_BED_CORNERS
 
 #if ENABLED(LEVEL_BED_CORNERS)
   #define LEVEL_CORNERS_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
@@ -1588,12 +1655,12 @@
  *   M501 - Read settings from EEPROM. (i.e., Throw away unsaved changes)
  *   M502 - Revert settings to "factory" defaults. (Follow with M500 to init the EEPROM.)
  */
-//#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
+#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
 //#define DISABLE_M503        // Saves ~2700 bytes of PROGMEM. Disable for release!
 #define EEPROM_CHITCHAT       // Give feedback on EEPROM commands. Disable to save PROGMEM.
 #define EEPROM_BOOT_SILENT    // Keep M503 quiet and only give errors during first load
 #if ENABLED(EEPROM_SETTINGS)
-  //#define EEPROM_AUTO_INIT  // Init EEPROM automatically on any errors.
+  #define EEPROM_AUTO_INIT  // Init EEPROM automatically on any errors.
 #endif
 
 //
@@ -1624,11 +1691,13 @@
 #define PREHEAT_1_LABEL       "PLA"
 #define PREHEAT_1_TEMP_HOTEND 180
 #define PREHEAT_1_TEMP_BED     70
+#define PREHEAT_1_TEMP_CHAMBER 35
 #define PREHEAT_1_FAN_SPEED     0 // Value from 0 to 255
 
 #define PREHEAT_2_LABEL       "ABS"
 #define PREHEAT_2_TEMP_HOTEND 240
 #define PREHEAT_2_TEMP_BED    110
+#define PREHEAT_2_TEMP_CHAMBER 45
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255
 
 /**
@@ -1642,11 +1711,11 @@
  *    P1  Raise the nozzle always to Z-park height.
  *    P2  Raise the nozzle by Z-park amount, limited to Z_MAX_POS.
  */
-//#define NOZZLE_PARK_FEATURE
+#define NOZZLE_PARK_FEATURE
 
 #if ENABLED(NOZZLE_PARK_FEATURE)
   // Specify a park position as { X, Y, Z_raise }
-  #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 }
+  #define NOZZLE_PARK_POINT { (X_CENTER), (Y_CENTER), 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_Z_RAISE_MIN   2   // (mm) Always raise Z by at least this distance
@@ -1850,7 +1919,7 @@
  * SD Card support is disabled by default. If your controller has an SD slot,
  * you must uncomment the following option or it won't work.
  */
-//#define SDSUPPORT
+#define SDSUPPORT
 
 /**
  * SD CARD: ENABLE CRC
@@ -1920,7 +1989,7 @@
 //
 // Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu.
 //
-//#define INDIVIDUAL_AXIS_HOMING_MENU
+#define INDIVIDUAL_AXIS_HOMING_MENU
 
 //
 // SPEAKER/BUZZER
@@ -1928,7 +1997,7 @@
 // If you have a speaker that can produce tones, enable it here.
 // By default Marlin assumes you have a buzzer with a fixed frequency.
 //
-//#define SPEAKER
+#define SPEAKER
 
 //
 // The duration and frequency for the UI feedback sound.
@@ -2109,7 +2178,12 @@
 // RepRapDiscount FULL GRAPHIC Smart Controller
 // https://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
 //
-//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
+#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
+
+//
+// K.3D Full Graphic Smart Controller
+//
+//#define K3D_FULL_GRAPHIC_SMART_CONTROLLER
 
 //
 // ReprapWorld Graphical LCD
@@ -2248,7 +2322,7 @@
 //#define OLED_PANEL_TINYBOY2
 
 //
-// MKS OLED 1.3" 128×64 FULL GRAPHICS CONTROLLER
+// MKS OLED 1.3" 128×64 Full Graphics Controller
 // https://reprap.org/wiki/MKS_12864OLED
 //
 // Tiny, but very sharp OLED display
@@ -2257,7 +2331,7 @@
 //#define MKS_12864OLED_SSD1306  // Uses the SSD1306 controller
 
 //
-// Zonestar OLED 128×64 FULL GRAPHICS CONTROLLER
+// Zonestar OLED 128×64 Full Graphics Controller
 //
 //#define ZONESTAR_12864LCD           // Graphical (DOGM) with ST7920 controller
 //#define ZONESTAR_12864OLED          // 1.3" OLED with SH1106 controller (default)
@@ -2274,10 +2348,15 @@
 //#define OVERLORD_OLED
 
 //
-// FYSETC OLED 2.42" 128×64 FULL GRAPHICS CONTROLLER with WS2812 RGB
+// FYSETC OLED 2.42" 128×64 Full Graphics Controller with WS2812 RGB
 // Where to find : https://www.aliexpress.com/item/4000345255731.html
 //#define FYSETC_242_OLED_12864   // Uses the SSD1309 controller
 
+//
+// K.3D SSD1309 OLED 2.42" 128×64 Full Graphics Controller
+//
+//#define K3D_242_OLED_CONTROLLER   // Software SPI
+
 //=============================================================================
 //========================== Extensible UI Displays ===========================
 //=============================================================================
@@ -2290,6 +2369,7 @@
 //#define DGUS_LCD_UI_ORIGIN
 //#define DGUS_LCD_UI_FYSETC
 //#define DGUS_LCD_UI_HIPRECY
+//#define DGUS_LCD_UI_MKS
 
 //
 // Touch-screen LCD for Malyan M200/M300 printers
@@ -2315,6 +2395,14 @@
   //#define ANYCUBIC_LCD_DEBUG
 #endif
 
+//
+// 320x240 Nextion 2.8" serial TFT Resistive Touch Screen NX3224T028
+//
+//#define NEXTION_TFT
+#if ENABLED(NEXTION_TFT)
+  #define LCD_SERIAL_PORT 1  // Default is 1 for Nextion
+#endif
+
 //
 // Third-party or vendor-customized controller interfaces.
 // Sources should be installed in 'src/lcd/extui'.
@@ -2591,6 +2679,7 @@
   // Use a single NeoPixel LED for static (background) lighting
   //#define NEOPIXEL_BKGD_LED_INDEX  0               // Index of the LED to use
   //#define NEOPIXEL_BKGD_COLOR { 255, 255, 255, 0 } // R, G, B, W
+  //#define NEOPIXEL_BKGD_ALWAYS_ON                  // Keep the backlight on when other NeoPixels are off
 #endif
 
 /**

Marlin/Configuration_adv.h

@@ -113,6 +113,12 @@
   #define CHAMBER_BETA                 3950    // Beta value
 #endif
 
+#if TEMP_SENSOR_COOLER == 1000
+  #define COOLER_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
+  #define COOLER_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
+  #define COOLER_BETA                 3950    // Beta value
+#endif
+
 #if TEMP_SENSOR_PROBE == 1000
   #define PROBE_PULLUP_RESISTOR_OHMS   4700    // Pullup resistor
   #define PROBE_RESISTANCE_25C_OHMS    100000  // Resistance at 25C
@@ -143,13 +149,17 @@
 //
 // Heated Chamber options
 //
+#if DISABLED(PIDTEMPCHAMBER)
+  #define CHAMBER_CHECK_INTERVAL 5000   // (ms) Interval between checks in bang-bang control
+  #if ENABLED(CHAMBER_LIMIT_SWITCHING)
+    #define CHAMBER_HYSTERESIS 5        // (°C) Only set the relevant heater state when ABS(T-target) > CHAMBER_HYSTERESIS
+  #endif
+#endif
+
 #if TEMP_SENSOR_CHAMBER
-  #define CHAMBER_MINTEMP             5
-  #define CHAMBER_MAXTEMP            60
-  #define TEMP_CHAMBER_HYSTERESIS     1   // (°C) Temperature proximity considered "close enough" to the target
-  //#define CHAMBER_LIMIT_SWITCHING
-  //#define HEATER_CHAMBER_PIN       44   // Chamber heater on/off pin
+  //#define HEATER_CHAMBER_PIN      P2_04   // Required heater on/off pin (example: SKR 1.4 Turbo HE1 plug)
   //#define HEATER_CHAMBER_INVERTING false
+  //#define FAN1_PIN                   -1   // Remove the fan signal on pin P2_04 (example: SKR 1.4 Turbo HE1 plug)
 
   //#define CHAMBER_FAN               // Enable a fan on the chamber
   #if ENABLED(CHAMBER_FAN)
@@ -175,6 +185,25 @@
   #endif
 #endif
 
+//
+// Laser Cooler options
+//
+#if TEMP_SENSOR_COOLER
+  #define COOLER_MINTEMP           8  // (°C)
+  #define COOLER_MAXTEMP          26  // (°C)
+  #define COOLER_DEFAULT_TEMP     16  // (°C)
+  #define TEMP_COOLER_HYSTERESIS   1  // (°C) Temperature proximity considered "close enough" to the target
+  #define COOLER_PIN               8  // Laser cooler on/off pin used to control power to the cooling element e.g. TEC, External chiller via relay
+  #define COOLER_INVERTING     false
+  #define TEMP_COOLER_PIN         15  // Laser/Cooler temperature sensor pin. ADC is required.
+  #define COOLER_FAN                  // Enable a fan on the cooler, Fan# 0,1,2,3 etc.
+  #define COOLER_FAN_INDEX         0  // FAN number 0, 1, 2 etc. e.g.
+  #if ENABLED(COOLER_FAN)
+    #define COOLER_FAN_BASE      100  // Base Cooler fan PWM (0-255); turns on when Cooler temperature is above the target
+    #define COOLER_FAN_FACTOR     25  // PWM increase per °C above target
+  #endif
+#endif
+
 /**
  * Thermal Protection provides additional protection to your printer from damage
  * and fire. Marlin always includes safe min and max temperature ranges which
@@ -192,12 +221,12 @@
  * THERMAL_PROTECTION_HYSTERESIS and/or THERMAL_PROTECTION_PERIOD
  */
 #if ENABLED(THERMAL_PROTECTION_HOTENDS)
-  #define THERMAL_PROTECTION_PERIOD 40        // Seconds
-  #define THERMAL_PROTECTION_HYSTERESIS 4     // Degrees Celsius
+  #define THERMAL_PROTECTION_PERIOD 70        // Seconds
+  #define THERMAL_PROTECTION_HYSTERESIS 10     // Degrees Celsius
 
-  //#define ADAPTIVE_FAN_SLOWING              // Slow part cooling fan if temperature drops
+  #define ADAPTIVE_FAN_SLOWING              // Slow part cooling fan if temperature drops
   #if BOTH(ADAPTIVE_FAN_SLOWING, PIDTEMP)
-    //#define NO_FAN_SLOWING_IN_PID_TUNING    // Don't slow fan speed during M303
+    #define NO_FAN_SLOWING_IN_PID_TUNING    // Don't slow fan speed during M303
   #endif
 
   /**
@@ -212,7 +241,7 @@
    * and/or decrease WATCH_TEMP_INCREASE. WATCH_TEMP_INCREASE should not be set
    * below 2.
    */
-  #define WATCH_TEMP_PERIOD  20               // Seconds
+  #define WATCH_TEMP_PERIOD 40                // Seconds
   #define WATCH_TEMP_INCREASE 2               // Degrees Celsius
 #endif
 
@@ -220,30 +249,44 @@
  * Thermal Protection parameters for the bed are just as above for hotends.
  */
 #if ENABLED(THERMAL_PROTECTION_BED)
-  #define THERMAL_PROTECTION_BED_PERIOD        20 // Seconds
+  #define THERMAL_PROTECTION_BED_PERIOD        30 // Seconds
   #define THERMAL_PROTECTION_BED_HYSTERESIS     2 // Degrees Celsius
 
   /**
    * As described above, except for the bed (M140/M190/M303).
    */
   #define WATCH_BED_TEMP_PERIOD                60 // Seconds
-  #define WATCH_BED_TEMP_INCREASE               2 // Degrees Celsius
+  #define WATCH_BED_TEMP_INCREASE               1 // Degrees Celsius
 #endif
 
 /**
  * Thermal Protection parameters for the heated chamber.
  */
 #if ENABLED(THERMAL_PROTECTION_CHAMBER)
-  #define THERMAL_PROTECTION_CHAMBER_PERIOD    20 // Seconds
+  #define THERMAL_PROTECTION_CHAMBER_PERIOD    60 // Seconds
   #define THERMAL_PROTECTION_CHAMBER_HYSTERESIS 2 // Degrees Celsius
 
   /**
    * Heated chamber watch settings (M141/M191).
    */
-  #define WATCH_CHAMBER_TEMP_PERIOD            60 // Seconds
+  #define WATCH_CHAMBER_TEMP_PERIOD            360 // Seconds
   #define WATCH_CHAMBER_TEMP_INCREASE           2 // Degrees Celsius
 #endif
 
+/**
+ * Thermal Protection parameters for the laser cooler.
+ */
+#if ENABLED(THERMAL_PROTECTION_COOLER)
+  #define THERMAL_PROTECTION_COOLER_PERIOD    10 // Seconds
+  #define THERMAL_PROTECTION_COOLER_HYSTERESIS 3 // Degrees Celsius
+
+  /**
+   * Laser cooling watch settings (M143/M193).
+   */
+  #define WATCH_COOLER_TEMP_PERIOD            60 // Seconds
+  #define WATCH_COOLER_TEMP_INCREASE           3 // Degrees Celsius
+#endif
+
 #if ENABLED(PIDTEMP)
   // Add an experimental additional term to the heater power, proportional to the extrusion speed.
   // A well-chosen Kc value should add just enough power to melt the increased material volume.
@@ -489,11 +532,15 @@
 #define E6_AUTO_FAN_PIN -1
 #define E7_AUTO_FAN_PIN -1
 #define CHAMBER_AUTO_FAN_PIN -1
+#define COOLER_AUTO_FAN_PIN -1
+#define COOLER_FAN_PIN -1
 
 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
 #define EXTRUDER_AUTO_FAN_SPEED 255   // 255 == full speed
 #define CHAMBER_AUTO_FAN_TEMPERATURE 30
 #define CHAMBER_AUTO_FAN_SPEED 255
+#define COOLER_AUTO_FAN_TEMPERATURE 18
+#define COOLER_AUTO_FAN_SPEED 255
 
 /**
  * Part-Cooling Fan Multiplexer
@@ -509,18 +556,23 @@
 /**
  * M355 Case Light on-off / brightness
  */
-//#define CASE_LIGHT_ENABLE
+#define CASE_LIGHT_ENABLE
 #if ENABLED(CASE_LIGHT_ENABLE)
   //#define CASE_LIGHT_PIN 4                  // Override the default pin if needed
   #define INVERT_CASE_LIGHT false             // Set true if Case Light is ON when pin is LOW
   #define CASE_LIGHT_DEFAULT_ON true          // Set default power-up state on
-  #define CASE_LIGHT_DEFAULT_BRIGHTNESS 105   // Set default power-up brightness (0-255, requires PWM pin)
-  //#define CASE_LIGHT_MAX_PWM 128            // Limit pwm
+  #define CASE_LIGHT_DEFAULT_BRIGHTNESS 255   // Set default power-up brightness (0-255, requires PWM pin)
+  #define CASE_LIGHT_NO_BRIGHTNESS          // Disable brightness control. Enable for non-PWM lighting.
+  //#define CASE_LIGHT_MAX_PWM 128            // Limit PWM duty cycle (0-255)
   //#define CASE_LIGHT_MENU                   // Add Case Light options to the LCD menu
-  //#define CASE_LIGHT_NO_BRIGHTNESS          // Disable brightness control. Enable for non-PWM lighting.
-  //#define CASE_LIGHT_USE_NEOPIXEL           // Use NeoPixel LED as case light, requires NEOPIXEL_LED.
-  #if ENABLED(CASE_LIGHT_USE_NEOPIXEL)
-    #define CASE_LIGHT_NEOPIXEL_COLOR { 255, 255, 255, 255 } // { Red, Green, Blue, White }
+  #if ENABLED(NEOPIXEL_LED)
+    //#define CASE_LIGHT_USE_NEOPIXEL         // Use NeoPixel LED as case light
+  #endif
+  #if EITHER(RGB_LED, RGBW_LED)
+    //#define CASE_LIGHT_USE_RGB_LED          // Use RGB / RGBW LED as case light
+  #endif
+  #if EITHER(CASE_LIGHT_USE_NEOPIXEL, CASE_LIGHT_USE_RGB_LED)
+    #define CASE_LIGHT_DEFAULT_COLOR { 255, 255, 255, 255 } // { Red, Green, Blue, White }
   #endif
 #endif
 
@@ -672,7 +724,7 @@
 
 //#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm) Backoff from endstops after homing
 
-//#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
+#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
 //#define HOME_Z_FIRST                        // Home Z first. Requires a Z-MIN endstop (not a probe).
 //#define CODEPENDENT_XY_HOMING               // If X/Y can't home without homing Y/X first
@@ -736,8 +788,8 @@
   /**
    * Use "HIGH SPEED" mode for probing.
    * Danger: Disable if your probe sometimes fails. Only suitable for stable well-adjusted systems.
-   * This feature was designed for Delta's with very fast Z moves however higher speed cartesians may function
-   * If the machine cannot raise the probe fast enough after a trigger, it may enter a fault state.
+   * This feature was designed for Deltabots with very fast Z moves; however, higher speed Cartesians
+   * might be able to use it. If the machine can't raise Z fast enough the BLTouch may go into ALARM.
    */
   //#define BLTOUCH_HS_MODE
 
@@ -846,10 +898,10 @@
 //#define MULTI_NOZZLE_DUPLICATION
 
 // By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
-#define INVERT_X_STEP_PIN false
-#define INVERT_Y_STEP_PIN false
-#define INVERT_Z_STEP_PIN false
-#define INVERT_E_STEP_PIN false
+#define INVERT_X_STEP_PIN true
+#define INVERT_Y_STEP_PIN true
+#define INVERT_Z_STEP_PIN true
+#define INVERT_E_STEP_PIN true
 
 /**
  * Idle Stepper Shutdown
@@ -862,9 +914,6 @@
 #define DISABLE_INACTIVE_Z true  // Set 'false' if the nozzle could fall onto your printed part!
 #define DISABLE_INACTIVE_E true
 
-// If the Nozzle or Bed falls when the Z stepper is disabled, set its resting position here.
-//#define Z_AFTER_DEACTIVATE Z_HOME_POS
-
 // Default Minimum Feedrates for printing and travel moves
 #define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s) Minimum feedrate. Set with M205 S.
 #define DEFAULT_MINTRAVELFEEDRATE     0.0     // (mm/s) Minimum travel feedrate. Set with M205 T.
@@ -923,7 +972,7 @@
       // increments while checking for the contact to be broken.
       #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
       #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
-      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/min)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_FEEDRATE_SLOW // (mm/min)
     #endif
   #endif
 #endif
@@ -1026,7 +1075,7 @@
  *    M908 - BQ_ZUM_MEGA_3D, RAMBO, PRINTRBOARD_REVF, RIGIDBOARD_V2 & SCOOVO_X9H
  *    M909, M910 & LCD - only PRINTRBOARD_REVF & RIGIDBOARD_V2
  */
-//#define PWM_MOTOR_CURRENT { 1300, 1300, 1250 }          // Values in milliamps
+#define PWM_MOTOR_CURRENT { 1300, 1300, 1250 }          // Values in milliamps
 //#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
 //#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 }    // Default drive percent - X, Y, Z, E axis
 
@@ -1143,11 +1192,14 @@
     #endif
   #endif
 
+  // Insert a menu for preheating at the top level to allow for quick access
+  //#define PREHEAT_SHORTCUT_MENU_ITEM
+
 #endif // HAS_LCD_MENU
 
 #if HAS_DISPLAY
   // The timeout (in ms) to return to the status screen from sub-menus
-  //#define LCD_TIMEOUT_TO_STATUS 15000
+  #define LCD_TIMEOUT_TO_STATUS 15000
 
   #if ENABLED(SHOW_BOOTSCREEN)
     #define BOOTSCREEN_TIMEOUT 4000      // (ms) Total Duration to display the boot screen(s)
@@ -1157,13 +1209,13 @@
   #endif
 
   // Scroll a longer status message into view
-  //#define STATUS_MESSAGE_SCROLLING
+  #define STATUS_MESSAGE_SCROLLING
 
   // On the Info Screen, display XY with one decimal place when possible
   //#define LCD_DECIMAL_SMALL_XY
 
   // Add an 'M73' G-code to set the current percentage
-  //#define LCD_SET_PROGRESS_MANUALLY
+  #define LCD_SET_PROGRESS_MANUALLY
 
   // Show the E position (filament used) during printing
   //#define LCD_SHOW_E_TOTAL
@@ -1247,7 +1299,6 @@
   #if ENABLED(POWER_LOSS_RECOVERY)
     #define PLR_ENABLED_DEFAULT   false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
     //#define BACKUP_POWER_SUPPLY       // Backup power / UPS to move the steppers on power loss
-    //#define POWER_LOSS_RECOVER_ZHOME  // Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
     //#define POWER_LOSS_ZRAISE       2 // (mm) Z axis raise on resume (on power loss with UPS)
     //#define POWER_LOSS_PIN         44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module.
     //#define POWER_LOSS_STATE     HIGH // State of pin indicating power loss
@@ -1259,6 +1310,12 @@
     // Without a POWER_LOSS_PIN the following option helps reduce wear on the SD card,
     // especially with "vase mode" printing. Set too high and vases cannot be continued.
     #define POWER_LOSS_MIN_Z_CHANGE 0.05 // (mm) Minimum Z change before saving power-loss data
+
+    // Enable if Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
+    //#define POWER_LOSS_RECOVER_ZHOME
+    #if ENABLED(POWER_LOSS_RECOVER_ZHOME)
+      //#define POWER_LOSS_ZHOME_POS { 0, 0 } // Safe XY position to home Z while avoiding objects on the bed
+    #endif
   #endif
 
   /**
@@ -1304,10 +1361,10 @@
   //#define UTF_FILENAME_SUPPORT
 
   // This allows hosts to request long names for files and folders with M33
-  //#define LONG_FILENAME_HOST_SUPPORT
+  #define LONG_FILENAME_HOST_SUPPORT
 
   // Enable this option to scroll long filenames in the SD card menu
-  //#define SCROLL_LONG_FILENAMES
+  #define SCROLL_LONG_FILENAMES
 
   // Leave the heaters on after Stop Print (not recommended!)
   //#define SD_ABORT_NO_COOLDOWN
@@ -1329,7 +1386,7 @@
   /**
    * Auto-report SdCard status with M27 S<seconds>
    */
-  //#define AUTO_REPORT_SD_STATUS
+  #define AUTO_REPORT_SD_STATUS
 
   /**
    * Support for USB thumb drives using an Arduino USB Host Shield or
@@ -1481,10 +1538,12 @@
   #define STATUS_BED_ANIM             // Use a second bitmap to indicate bed heating
   #define STATUS_CHAMBER_ANIM         // Use a second bitmap to indicate chamber heating
   //#define STATUS_CUTTER_ANIM        // Use a second bitmap to indicate spindle / laser active
+  //#define STATUS_COOLER_ANIM        // Use a second bitmap to indicate laser cooling
   //#define STATUS_ALT_BED_BITMAP     // Use the alternative bed bitmap
   //#define STATUS_ALT_FAN_BITMAP     // Use the alternative fan bitmap
   //#define STATUS_FAN_FRAMES 3       // :[0,1,2,3,4] Number of fan animation frames
   //#define STATUS_HEAT_PERCENT       // Show heating in a progress bar
+  #define BOOT_MARLIN_LOGO_SMALL    // Show a smaller Marlin logo on the Boot Screen (saving 399 bytes of flash)
   //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~‭3260 (or ~940) bytes of PROGMEM.
 
   // Frivolous Game Options
@@ -1508,12 +1567,12 @@
 
   #define DGUS_UPDATE_INTERVAL_MS  500    // (ms) Interval between automatic screen updates
 
-  #if EITHER(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_HIPRECY)
+  #if ANY(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_MKS, DGUS_LCD_UI_HIPRECY)
     #define DGUS_PRINT_FILENAME           // Display the filename during printing
     #define DGUS_PREHEAT_UI               // Display a preheat screen during heatup
 
-    #if ENABLED(DGUS_LCD_UI_FYSETC)
-      //#define DGUS_UI_MOVE_DIS_OPTION   // Disabled by default for UI_FYSETC
+    #if EITHER(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_MKS)
+      //#define DGUS_UI_MOVE_DIS_OPTION   // Disabled by default for FYSETC and MKS
     #else
       #define DGUS_UI_MOVE_DIS_OPTION     // Enabled by default for UI_HIPRECY
     #endif
@@ -1556,6 +1615,8 @@
   //#define LCD_HAOYU_FT810CB         // Haoyu with 5" (800x480)
   //#define LCD_ALEPHOBJECTS_CLCD_UI  // Aleph Objects Color LCD UI
   //#define LCD_FYSETC_TFT81050       // FYSETC with 5" (800x480)
+  //#define LCD_EVE3_50G              // Matrix Orbital 5.0", 800x480, BT815
+  //#define LCD_EVE2_50G              // Matrix Orbital 5.0", 800x480, FT813
 
   // Correct the resolution if not using the stock TFT panel.
   //#define TOUCH_UI_320x240
@@ -1675,33 +1736,34 @@
  *
  * Warning: Does not respect endstops!
  */
-//#define BABYSTEPPING
+#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
-  //#define INTEGRATED_BABYSTEPPING         // EXPERIMENTAL integration of babystepping into the Stepper ISR
+  #define INTEGRATED_BABYSTEPPING         // EXPERIMENTAL integration of babystepping into the Stepper ISR
   //#define BABYSTEP_WITHOUT_HOMING
-  //#define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement).
+  #define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement).
   //#define BABYSTEP_XY                     // Also enable X/Y Babystepping. Not supported on DELTA!
   #define BABYSTEP_INVERT_Z false           // Change if Z babysteps should go the other way
   //#define BABYSTEP_MILLIMETER_UNITS       // Specify BABYSTEP_MULTIPLICATOR_(XY|Z) in mm instead of micro-steps
-  #define BABYSTEP_MULTIPLICATOR_Z  1       // (steps or mm) Steps or millimeter distance for each Z babystep
+  #define BABYSTEP_MULTIPLICATOR_Z  20       // (steps or mm) Steps or millimeter distance for each Z babystep
   #define BABYSTEP_MULTIPLICATOR_XY 1       // (steps or mm) Steps or millimeter distance for each XY babystep
 
-  //#define DOUBLECLICK_FOR_Z_BABYSTEPPING  // Double-click on the Status Screen for Z Babystepping.
+  #define DOUBLECLICK_FOR_Z_BABYSTEPPING  // Double-click on the Status Screen for Z Babystepping.
   #if ENABLED(DOUBLECLICK_FOR_Z_BABYSTEPPING)
     #define DOUBLECLICK_MAX_INTERVAL 1250   // Maximum interval between clicks, in milliseconds.
                                             // Note: Extra time may be added to mitigate controller latency.
+    #define BABYSTEP_ALWAYS_AVAILABLE     // Allow babystepping at all times (not just during movement).
     //#define MOVE_Z_WHEN_IDLE              // Jump to the move Z menu on doubleclick when printer is idle.
     #if ENABLED(MOVE_Z_WHEN_IDLE)
       #define MOVE_Z_IDLE_MULTIPLICATOR 1   // Multiply 1mm by this factor for the move step size.
     #endif
   #endif
 
-  //#define BABYSTEP_DISPLAY_TOTAL          // Display total babysteps since last G28
+  #define BABYSTEP_DISPLAY_TOTAL          // Display total babysteps since last G28
 
   //#define BABYSTEP_ZPROBE_OFFSET          // Combine M851 Z and Babystepping
   #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
     //#define BABYSTEP_HOTEND_Z_OFFSET      // For multiple hotends, babystep relative Z offsets
-    //#define BABYSTEP_ZPROBE_GFX_OVERLAY   // Enable graphical overlay on Z-offset editor
+    #define BABYSTEP_ZPROBE_GFX_OVERLAY   // Enable graphical overlay on Z-offset editor
   #endif
 #endif
 
@@ -2012,6 +2074,12 @@
   //#define SERIAL_STATS_DROPPED_RX
 #endif
 
+// Monitor RX buffer usage
+// Dump an error to the serial port if the serial receive buffer overflows.
+// If you see these errors, increase the RX_BUFFER_SIZE value.
+// Not supported on all platforms.
+//#define RX_BUFFER_MONITOR
+
 /**
  * Emergency Command Parser
  *
@@ -2020,16 +2088,16 @@
  * Currently handles M108, M112, M410, M876
  * NOTE: Not yet implemented for all platforms.
  */
-//#define EMERGENCY_PARSER
+#define EMERGENCY_PARSER
 
 // Bad Serial-connections can miss a received command by sending an 'ok'
 // Therefore some clients abort after 30 seconds in a timeout.
 // Some other clients start sending commands while receiving a 'wait'.
 // This "wait" is only sent when the buffer is empty. 1 second is a good value here.
-//#define NO_TIMEOUTS 1000 // Milliseconds
+#define NO_TIMEOUTS 1000 // Milliseconds
 
 // Some clients will have this feature soon. This could make the NO_TIMEOUTS unnecessary.
-//#define ADVANCED_OK
+#define ADVANCED_OK
 
 // Printrun may have trouble receiving long strings all at once.
 // This option inserts short delays between lines of serial output.
@@ -2163,7 +2231,7 @@
  * Requires NOZZLE_PARK_FEATURE.
  * This feature is required for the default FILAMENT_RUNOUT_SCRIPT.
  */
-//#define ADVANCED_PAUSE_FEATURE
+#define ADVANCED_PAUSE_FEATURE
 #if ENABLED(ADVANCED_PAUSE_FEATURE)
   #define PAUSE_PARK_RETRACT_FEEDRATE         60  // (mm/s) Initial retract feedrate.
   #define PAUSE_PARK_RETRACT_LENGTH            2  // (mm) Initial retract.
@@ -2189,7 +2257,7 @@
                                                   //   Filament can be extruded repeatedly from the Filament Change menu
                                                   //   until extrusion is consistent, and to purge old filament.
   #define ADVANCED_PAUSE_RESUME_PRIME          0  // (mm) Extra distance to prime nozzle after returning from park.
-  //#define ADVANCED_PAUSE_FANS_PAUSE             // Turn off print-cooling fans while the machine is paused.
+  #define ADVANCED_PAUSE_FANS_PAUSE             // Turn off print-cooling fans while the machine is paused.
 
                                                   // Filament Unload does a Retract, Delay, and Purge first:
   #define FILAMENT_UNLOAD_PURGE_RETRACT       13  // (mm) Unload initial retract length.
@@ -2198,14 +2266,14 @@
   #define FILAMENT_UNLOAD_PURGE_FEEDRATE      25  // (mm/s) feedrate to purge before unload
 
   #define PAUSE_PARK_NOZZLE_TIMEOUT           45  // (seconds) Time limit before the nozzle is turned off for safety.
-  #define FILAMENT_CHANGE_ALERT_BEEPS         10  // Number of alert beeps to play when a response is needed.
+  #define FILAMENT_CHANGE_ALERT_BEEPS          2  // Number of alert beeps to play when a response is needed.
   #define PAUSE_PARK_NO_STEPPER_TIMEOUT           // Enable for XYZ steppers to stay powered on during filament change.
 
-  //#define PARK_HEAD_ON_PAUSE                    // Park the nozzle during pause and filament change.
-  //#define HOME_BEFORE_FILAMENT_CHANGE           // If needed, home before parking for filament change
+  #define PARK_HEAD_ON_PAUSE                    // Park the nozzle during pause and filament change.
+  #define HOME_BEFORE_FILAMENT_CHANGE           // If needed, home before parking for filament change
 
-  //#define FILAMENT_LOAD_UNLOAD_GCODES           // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu.
-  //#define FILAMENT_UNLOAD_ALL_EXTRUDERS         // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
+  #define FILAMENT_LOAD_UNLOAD_GCODES           // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu.
+  #define FILAMENT_UNLOAD_ALL_EXTRUDERS         // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
 #endif
 
 // @section tmc
@@ -2227,7 +2295,7 @@
   #if AXIS_DRIVER_TYPE_X2(TMC26X)
     #define X2_MAX_CURRENT    1000
     #define X2_SENSE_RESISTOR   91
-    #define X2_MICROSTEPS       16
+    #define X2_MICROSTEPS       X_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_Y(TMC26X)
@@ -2239,7 +2307,7 @@
   #if AXIS_DRIVER_TYPE_Y2(TMC26X)
     #define Y2_MAX_CURRENT    1000
     #define Y2_SENSE_RESISTOR   91
-    #define Y2_MICROSTEPS       16
+    #define Y2_MICROSTEPS       Y_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_Z(TMC26X)
@@ -2251,19 +2319,19 @@
   #if AXIS_DRIVER_TYPE_Z2(TMC26X)
     #define Z2_MAX_CURRENT    1000
     #define Z2_SENSE_RESISTOR   91
-    #define Z2_MICROSTEPS       16
+    #define Z2_MICROSTEPS       Z_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_Z3(TMC26X)
     #define Z3_MAX_CURRENT    1000
     #define Z3_SENSE_RESISTOR   91
-    #define Z3_MICROSTEPS       16
+    #define Z3_MICROSTEPS       Z_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_Z4(TMC26X)
     #define Z4_MAX_CURRENT    1000
     #define Z4_SENSE_RESISTOR   91
-    #define Z4_MICROSTEPS       16
+    #define Z4_MICROSTEPS       Z_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_E0(TMC26X)
@@ -2275,43 +2343,43 @@
   #if AXIS_DRIVER_TYPE_E1(TMC26X)
     #define E1_MAX_CURRENT    1000
     #define E1_SENSE_RESISTOR   91
-    #define E1_MICROSTEPS       16
+    #define E1_MICROSTEPS       E0_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_E2(TMC26X)
     #define E2_MAX_CURRENT    1000
     #define E2_SENSE_RESISTOR   91
-    #define E2_MICROSTEPS       16
+    #define E2_MICROSTEPS       E0_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_E3(TMC26X)
     #define E3_MAX_CURRENT    1000
     #define E3_SENSE_RESISTOR   91
-    #define E3_MICROSTEPS       16
+    #define E3_MICROSTEPS       E0_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_E4(TMC26X)
     #define E4_MAX_CURRENT    1000
     #define E4_SENSE_RESISTOR   91
-    #define E4_MICROSTEPS       16
+    #define E4_MICROSTEPS       E0_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_E5(TMC26X)
     #define E5_MAX_CURRENT    1000
     #define E5_SENSE_RESISTOR   91
-    #define E5_MICROSTEPS       16
+    #define E5_MICROSTEPS       E0_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_E6(TMC26X)
     #define E6_MAX_CURRENT    1000
     #define E6_SENSE_RESISTOR   91
-    #define E6_MICROSTEPS       16
+    #define E6_MICROSTEPS       E0_MICROSTEPS
   #endif
 
   #if AXIS_DRIVER_TYPE_E7(TMC26X)
     #define E7_MAX_CURRENT    1000
     #define E7_SENSE_RESISTOR   91
-    #define E7_MICROSTEPS       16
+    #define E7_MICROSTEPS       E0_MICROSTEPS
   #endif
 
 #endif // TMC26X
@@ -2356,7 +2424,7 @@
   #if AXIS_IS_TMC(X2)
     #define X2_CURRENT      800
     #define X2_CURRENT_HOME X2_CURRENT
-    #define X2_MICROSTEPS    16
+    #define X2_MICROSTEPS    X_MICROSTEPS
     #define X2_RSENSE         0.11
     #define X2_CHAIN_POS     -1
     //#define X2_INTERPOLATE true
@@ -2374,7 +2442,7 @@
   #if AXIS_IS_TMC(Y2)
     #define Y2_CURRENT      800
     #define Y2_CURRENT_HOME Y2_CURRENT
-    #define Y2_MICROSTEPS    16
+    #define Y2_MICROSTEPS    Y_MICROSTEPS
     #define Y2_RSENSE         0.11
     #define Y2_CHAIN_POS     -1
     //#define Y2_INTERPOLATE true
@@ -2392,7 +2460,7 @@
   #if AXIS_IS_TMC(Z2)
     #define Z2_CURRENT      800
     #define Z2_CURRENT_HOME Z2_CURRENT
-    #define Z2_MICROSTEPS    16
+    #define Z2_MICROSTEPS    Z_MICROSTEPS
     #define Z2_RSENSE         0.11
     #define Z2_CHAIN_POS     -1
     //#define Z2_INTERPOLATE true
@@ -2401,7 +2469,7 @@
   #if AXIS_IS_TMC(Z3)
     #define Z3_CURRENT      800
     #define Z3_CURRENT_HOME Z3_CURRENT
-    #define Z3_MICROSTEPS    16
+    #define Z3_MICROSTEPS    Z_MICROSTEPS
     #define Z3_RSENSE         0.11
     #define Z3_CHAIN_POS     -1
     //#define Z3_INTERPOLATE true
@@ -2410,7 +2478,7 @@
   #if AXIS_IS_TMC(Z4)
     #define Z4_CURRENT      800
     #define Z4_CURRENT_HOME Z4_CURRENT
-    #define Z4_MICROSTEPS    16
+    #define Z4_MICROSTEPS    Z_MICROSTEPS
     #define Z4_RSENSE         0.11
     #define Z4_CHAIN_POS     -1
     //#define Z4_INTERPOLATE true
@@ -2426,7 +2494,7 @@
 
   #if AXIS_IS_TMC(E1)
     #define E1_CURRENT      800
-    #define E1_MICROSTEPS    16
+    #define E1_MICROSTEPS    E0_MICROSTEPS
     #define E1_RSENSE         0.11
     #define E1_CHAIN_POS     -1
     //#define E1_INTERPOLATE true
@@ -2434,7 +2502,7 @@
 
   #if AXIS_IS_TMC(E2)
     #define E2_CURRENT      800
-    #define E2_MICROSTEPS    16
+    #define E2_MICROSTEPS    E0_MICROSTEPS
     #define E2_RSENSE         0.11
     #define E2_CHAIN_POS     -1
     //#define E2_INTERPOLATE true
@@ -2442,7 +2510,7 @@
 
   #if AXIS_IS_TMC(E3)
     #define E3_CURRENT      800
-    #define E3_MICROSTEPS    16
+    #define E3_MICROSTEPS    E0_MICROSTEPS
     #define E3_RSENSE         0.11
     #define E3_CHAIN_POS     -1
     //#define E3_INTERPOLATE true
@@ -2450,7 +2518,7 @@
 
   #if AXIS_IS_TMC(E4)
     #define E4_CURRENT      800
-    #define E4_MICROSTEPS    16
+    #define E4_MICROSTEPS    E0_MICROSTEPS
     #define E4_RSENSE         0.11
     #define E4_CHAIN_POS     -1
     //#define E4_INTERPOLATE true
@@ -2458,7 +2526,7 @@
 
   #if AXIS_IS_TMC(E5)
     #define E5_CURRENT      800
-    #define E5_MICROSTEPS    16
+    #define E5_MICROSTEPS    E0_MICROSTEPS
     #define E5_RSENSE         0.11
     #define E5_CHAIN_POS     -1
     //#define E5_INTERPOLATE true
@@ -2466,7 +2534,7 @@
 
   #if AXIS_IS_TMC(E6)
     #define E6_CURRENT      800
-    #define E6_MICROSTEPS    16
+    #define E6_MICROSTEPS    E0_MICROSTEPS
     #define E6_RSENSE         0.11
     #define E6_CHAIN_POS     -1
     //#define E6_INTERPOLATE true
@@ -2474,7 +2542,7 @@
 
   #if AXIS_IS_TMC(E7)
     #define E7_CURRENT      800
-    #define E7_MICROSTEPS    16
+    #define E7_MICROSTEPS    E0_MICROSTEPS
     #define E7_RSENSE         0.11
     #define E7_CHAIN_POS     -1
     //#define E7_INTERPOLATE true
@@ -2749,138 +2817,138 @@
   #endif
 
   #if AXIS_IS_L64XX(X2)
-    #define X2_MICROSTEPS      128
-    #define X2_OVERCURRENT    2000
-    #define X2_STALLCURRENT   1500
-    #define X2_MAX_VOLTAGE     127
-    #define X2_CHAIN_POS        -1
-    #define X2_SLEW_RATE         1
+    #define X2_MICROSTEPS     X_MICROSTEPS
+    #define X2_OVERCURRENT            2000
+    #define X2_STALLCURRENT           1500
+    #define X2_MAX_VOLTAGE             127
+    #define X2_CHAIN_POS                -1
+    #define X2_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(Y)
-    #define Y_MICROSTEPS       128
-    #define Y_OVERCURRENT     2000
-    #define Y_STALLCURRENT    1500
-    #define Y_MAX_VOLTAGE      127
-    #define Y_CHAIN_POS         -1
-    #define Y_SLEW_RATE          1
+    #define Y_MICROSTEPS               128
+    #define Y_OVERCURRENT             2000
+    #define Y_STALLCURRENT            1500
+    #define Y_MAX_VOLTAGE              127
+    #define Y_CHAIN_POS                 -1
+    #define Y_SLEW_RATE                  1
   #endif
 
   #if AXIS_IS_L64XX(Y2)
-    #define Y2_MICROSTEPS      128
-    #define Y2_OVERCURRENT    2000
-    #define Y2_STALLCURRENT   1500
-    #define Y2_MAX_VOLTAGE     127
-    #define Y2_CHAIN_POS        -1
-    #define Y2_SLEW_RATE         1
+    #define Y2_MICROSTEPS     Y_MICROSTEPS
+    #define Y2_OVERCURRENT            2000
+    #define Y2_STALLCURRENT           1500
+    #define Y2_MAX_VOLTAGE             127
+    #define Y2_CHAIN_POS                -1
+    #define Y2_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(Z)
-    #define Z_MICROSTEPS       128
-    #define Z_OVERCURRENT     2000
-    #define Z_STALLCURRENT    1500
-    #define Z_MAX_VOLTAGE      127
-    #define Z_CHAIN_POS         -1
-    #define Z_SLEW_RATE          1
+    #define Z_MICROSTEPS               128
+    #define Z_OVERCURRENT             2000
+    #define Z_STALLCURRENT            1500
+    #define Z_MAX_VOLTAGE              127
+    #define Z_CHAIN_POS                 -1
+    #define Z_SLEW_RATE                  1
   #endif
 
   #if AXIS_IS_L64XX(Z2)
-    #define Z2_MICROSTEPS      128
-    #define Z2_OVERCURRENT    2000
-    #define Z2_STALLCURRENT   1500
-    #define Z2_MAX_VOLTAGE     127
-    #define Z2_CHAIN_POS        -1
-    #define Z2_SLEW_RATE         1
+    #define Z2_MICROSTEPS     Z_MICROSTEPS
+    #define Z2_OVERCURRENT            2000
+    #define Z2_STALLCURRENT           1500
+    #define Z2_MAX_VOLTAGE             127
+    #define Z2_CHAIN_POS                -1
+    #define Z2_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(Z3)
-    #define Z3_MICROSTEPS      128
-    #define Z3_OVERCURRENT    2000
-    #define Z3_STALLCURRENT   1500
-    #define Z3_MAX_VOLTAGE     127
-    #define Z3_CHAIN_POS        -1
-    #define Z3_SLEW_RATE         1
+    #define Z3_MICROSTEPS     Z_MICROSTEPS
+    #define Z3_OVERCURRENT            2000
+    #define Z3_STALLCURRENT           1500
+    #define Z3_MAX_VOLTAGE             127
+    #define Z3_CHAIN_POS                -1
+    #define Z3_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(Z4)
-    #define Z4_MICROSTEPS      128
-    #define Z4_OVERCURRENT    2000
-    #define Z4_STALLCURRENT   1500
-    #define Z4_MAX_VOLTAGE     127
-    #define Z4_CHAIN_POS        -1
-    #define Z4_SLEW_RATE         1
+    #define Z4_MICROSTEPS     Z_MICROSTEPS
+    #define Z4_OVERCURRENT            2000
+    #define Z4_STALLCURRENT           1500
+    #define Z4_MAX_VOLTAGE             127
+    #define Z4_CHAIN_POS                -1
+    #define Z4_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(E0)
-    #define E0_MICROSTEPS      128
-    #define E0_OVERCURRENT    2000
-    #define E0_STALLCURRENT   1500
-    #define E0_MAX_VOLTAGE     127
-    #define E0_CHAIN_POS        -1
-    #define E0_SLEW_RATE         1
+    #define E0_MICROSTEPS              128
+    #define E0_OVERCURRENT            2000
+    #define E0_STALLCURRENT           1500
+    #define E0_MAX_VOLTAGE             127
+    #define E0_CHAIN_POS                -1
+    #define E0_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(E1)
-    #define E1_MICROSTEPS      128
-    #define E1_OVERCURRENT    2000
-    #define E1_STALLCURRENT   1500
-    #define E1_MAX_VOLTAGE     127
-    #define E1_CHAIN_POS        -1
-    #define E1_SLEW_RATE         1
+    #define E1_MICROSTEPS    E0_MICROSTEPS
+    #define E1_OVERCURRENT            2000
+    #define E1_STALLCURRENT           1500
+    #define E1_MAX_VOLTAGE             127
+    #define E1_CHAIN_POS                -1
+    #define E1_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(E2)
-    #define E2_MICROSTEPS      128
-    #define E2_OVERCURRENT    2000
-    #define E2_STALLCURRENT   1500
-    #define E2_MAX_VOLTAGE     127
-    #define E2_CHAIN_POS        -1
-    #define E2_SLEW_RATE         1
+    #define E2_MICROSTEPS    E0_MICROSTEPS
+    #define E2_OVERCURRENT            2000
+    #define E2_STALLCURRENT           1500
+    #define E2_MAX_VOLTAGE             127
+    #define E2_CHAIN_POS                -1
+    #define E2_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(E3)
-    #define E3_MICROSTEPS      128
-    #define E3_OVERCURRENT    2000
-    #define E3_STALLCURRENT   1500
-    #define E3_MAX_VOLTAGE     127
-    #define E3_CHAIN_POS        -1
-    #define E3_SLEW_RATE         1
+    #define E3_MICROSTEPS    E0_MICROSTEPS
+    #define E3_OVERCURRENT            2000
+    #define E3_STALLCURRENT           1500
+    #define E3_MAX_VOLTAGE             127
+    #define E3_CHAIN_POS                -1
+    #define E3_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(E4)
-    #define E4_MICROSTEPS      128
-    #define E4_OVERCURRENT    2000
-    #define E4_STALLCURRENT   1500
-    #define E4_MAX_VOLTAGE     127
-    #define E4_CHAIN_POS        -1
-    #define E4_SLEW_RATE         1
+    #define E4_MICROSTEPS    E0_MICROSTEPS
+    #define E4_OVERCURRENT            2000
+    #define E4_STALLCURRENT           1500
+    #define E4_MAX_VOLTAGE             127
+    #define E4_CHAIN_POS                -1
+    #define E4_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(E5)
-    #define E5_MICROSTEPS      128
-    #define E5_OVERCURRENT    2000
-    #define E5_STALLCURRENT   1500
-    #define E5_MAX_VOLTAGE     127
-    #define E5_CHAIN_POS        -1
-    #define E5_SLEW_RATE         1
+    #define E5_MICROSTEPS    E0_MICROSTEPS
+    #define E5_OVERCURRENT            2000
+    #define E5_STALLCURRENT           1500
+    #define E5_MAX_VOLTAGE             127
+    #define E5_CHAIN_POS                -1
+    #define E5_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(E6)
-    #define E6_MICROSTEPS      128
-    #define E6_OVERCURRENT    2000
-    #define E6_STALLCURRENT   1500
-    #define E6_MAX_VOLTAGE     127
-    #define E6_CHAIN_POS        -1
-    #define E6_SLEW_RATE         1
+    #define E6_MICROSTEPS    E0_MICROSTEPS
+    #define E6_OVERCURRENT            2000
+    #define E6_STALLCURRENT           1500
+    #define E6_MAX_VOLTAGE             127
+    #define E6_CHAIN_POS                -1
+    #define E6_SLEW_RATE                 1
   #endif
 
   #if AXIS_IS_L64XX(E7)
-    #define E7_MICROSTEPS      128
-    #define E7_OVERCURRENT    2000
-    #define E7_STALLCURRENT   1500
-    #define E7_MAX_VOLTAGE     127
-    #define E7_CHAIN_POS        -1
-    #define E7_SLEW_RATE         1
+    #define E7_MICROSTEPS    E0_MICROSTEPS
+    #define E7_OVERCURRENT            2000
+    #define E7_STALLCURRENT           1500
+    #define E7_MAX_VOLTAGE             127
+    #define E7_CHAIN_POS                -1
+    #define E7_SLEW_RATE                 1
   #endif
 
   /**
@@ -3307,7 +3375,9 @@
   //#define GCODE_QUOTED_STRINGS  // Support for quoted string parameters
 #endif
 
-//#define MEATPACK                // Support for MeatPack G-code compression (https://github.com/scottmudge/OctoPrint-MeatPack)
+// Support for MeatPack G-code compression (https://github.com/scottmudge/OctoPrint-MeatPack)
+//#define MEATPACK_ON_SERIAL_PORT_1
+//#define MEATPACK_ON_SERIAL_PORT_2
 
 //#define GCODE_CASE_INSENSITIVE  // Accept G-code sent to the firmware in lowercase
 
@@ -3347,6 +3417,37 @@
   #define GCODE_MACROS_SLOT_SIZE  50  // Maximum length of a single macro
 #endif
 
+/**
+ * User-defined buttons to run custom G-code.
+ * Up to 25 may be defined.
+ */
+//#define CUSTOM_USER_BUTTONS
+#if ENABLED(CUSTOM_USER_BUTTONS)
+  //#define BUTTON1_PIN -1
+  #if PIN_EXISTS(BUTTON1)
+    #define BUTTON1_HIT_STATE     LOW       // State of the triggered button. NC=LOW. NO=HIGH.
+    #define BUTTON1_WHEN_PRINTING false     // Button allowed to trigger during printing?
+    #define BUTTON1_GCODE         "G28"
+    #define BUTTON1_DESC          "Homing"  // Optional string to set the LCD status
+  #endif
+
+  //#define BUTTON2_PIN -1
+  #if PIN_EXISTS(BUTTON2)
+    #define BUTTON2_HIT_STATE     LOW
+    #define BUTTON2_WHEN_PRINTING false
+    #define BUTTON2_GCODE         "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND)
+    #define BUTTON2_DESC          "Preheat for " PREHEAT_1_LABEL
+  #endif
+
+  //#define BUTTON3_PIN -1
+  #if PIN_EXISTS(BUTTON3)
+    #define BUTTON3_HIT_STATE     LOW
+    #define BUTTON3_WHEN_PRINTING false
+    #define BUTTON3_GCODE         "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND)
+    #define BUTTON3_DESC          "Preheat for " PREHEAT_2_LABEL
+  #endif
+#endif
+
 /**
  * User-defined menu items to run custom G-code.
  * Up to 25 may be defined, but the actual number is LCD-dependent.
@@ -3356,22 +3457,28 @@
   //#define CUSTOM_USER_MENU_TITLE "Custom Commands"
   #define USER_SCRIPT_DONE "M117 User Script Done"
   #define USER_SCRIPT_AUDIBLE_FEEDBACK
-  //#define USER_SCRIPT_RETURN  // Return to status screen after a script
+  //#define USER_SCRIPT_RETURN    // Return to status screen after a script
+  #define CUSTOM_MENU_ONLY_IDLE   // Only show custom menu when the machine is idle
 
   #define USER_DESC_1 "Home & UBL Info"
   #define USER_GCODE_1 "G28\nG29W"
+  //#define USER_CONFIRM_1        // Show a confirmation dialog before this action
 
   #define USER_DESC_2 "Preheat for " PREHEAT_1_LABEL
   #define USER_GCODE_2 "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND)
+  //#define USER_CONFIRM_2
 
   #define USER_DESC_3 "Preheat for " PREHEAT_2_LABEL
   #define USER_GCODE_3 "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND)
+  //#define USER_CONFIRM_3
 
   #define USER_DESC_4 "Heat Bed/Home/Level"
   #define USER_GCODE_4 "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29"
+  //#define USER_CONFIRM_4
 
   #define USER_DESC_5 "Home & Info"
   #define USER_GCODE_5 "G28\nM503"
+  //#define USER_CONFIRM_5
 #endif
 
 /**
@@ -3388,10 +3495,10 @@
  * Host Prompt Support enables Marlin to use the host for user prompts so
  * filament runout and other processes can be managed from the host side.
  */
-//#define HOST_ACTION_COMMANDS
+#define HOST_ACTION_COMMANDS
 #if ENABLED(HOST_ACTION_COMMANDS)
-  //#define HOST_PROMPT_SUPPORT
-  //#define HOST_START_MENU_ITEM  // Add a menu item that tells the host to start
+  #define HOST_PROMPT_SUPPORT
+  #define HOST_START_MENU_ITEM  // Add a menu item that tells the host to start
 #endif
 
 /**
@@ -3728,7 +3835,14 @@
 //
 // M43 - display pin status, toggle pins, watch pins, watch endstops & toggle LED, test servo probe
 //
-//#define PINS_DEBUGGING
+#define PINS_DEBUGGING
 
 // Enable Marlin dev mode which adds some special commands
 //#define MARLIN_DEV_MODE
+
+/**
+ * Postmortem Debugging captures misbehavior and outputs the CPU status and backtrace to serial.
+ * When running in the debugger it will break for debugging. This is useful to help understand
+ * a crash from a remote location. Requires ~400 bytes of SRAM and 5Kb of flash.
+ */
+//#define POSTMORTEM_DEBUGGING

Marlin/Makefile

@@ -323,6 +323,8 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1203)
 else ifeq ($(HARDWARE_MOTHERBOARD),1204)
 # abee Scoovo X9H
 else ifeq ($(HARDWARE_MOTHERBOARD),1205)
+# Rambo ThinkerV2
+else ifeq ($(HARDWARE_MOTHERBOARD),1206)
 
 #
 # Other ATmega1280, ATmega2560

Marlin/_Bootscreen.h

@@ -0,0 +1,103 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Custom Bitmap for splashscreen
+ *
+ * You may use one of the following tools to generate the C++ bitmap array from
+ * a black and white image:
+ *
+ *  - http://www.marlinfw.org/tools/u8glib/converter.html
+ *  - http://www.digole.com/tools/PicturetoC_Hex_converter.php
+ */
+#include <avr/pgmspace.h>
+
+#define CUSTOM_BOOTSCREEN_TIMEOUT   2500
+#define CUSTOM_BOOTSCREEN_BMPWIDTH  125
+//#define CUSTOM_BOOTSCREEN_INVERTED
+
+const unsigned char custom_start_bmp[] PROGMEM = {
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, // ..............................................................##................................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x60,0x00,0x00,0x00,0x00,0x00,0x00,0x00, // ..............................................................##.##.............................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x88,0x00,0x00,0x00,0x00,0x00,0x00,0x00, // ................................................................#...#...........................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xE7,0x00,0x00,0x00,0x00,0x00,0x00,0x00, // ................................................................###..###........................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x71,0x80,0x00,0x00,0x00,0x00,0x00,0x00, // .................................................................###...##.......................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x40,0x00,0x00,0x00,0x00,0x00,0x00, // ..................................................................##.....#......................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x3C,0x20,0x00,0x00,0x00,0x00,0x00,0x00, // ..................................................................####....#.....................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x20,0x00,0x00,0x00,0x00,0x00,0x00, // ................................................................########..#.....................................................
+  0x00,0x00,0x00,0x00,0x00,0x01,0xF8,0x00,0x87,0xF8,0x00,0x00,0x00,0x00,0x00,0x00, // ...............................................######...........#....########...................................................
+  0x00,0x00,0x00,0x00,0x00,0x03,0x0C,0x00,0x83,0xE0,0x00,0x00,0x00,0x00,0x00,0x00, // ..............................................##....##..........#.....#####.....................................................
+  0x00,0x00,0x00,0x00,0x00,0x06,0x0C,0x00,0x81,0xC0,0x00,0x00,0x00,0x00,0x00,0x00, // .............................................##.....##..........#......###......................................................
+  0x00,0x00,0x00,0x00,0x00,0x0C,0x06,0x00,0x80,0xE3,0x00,0x00,0x00,0x00,0x00,0x00, // ............................................##.......##.........#.......###...##................................................
+  0x00,0x00,0x00,0x00,0x00,0x18,0x06,0x00,0x80,0x6F,0x80,0x00,0x00,0x00,0x00,0x00, // ...........................................##........##.........#........##.#####...............................................
+  0x00,0x00,0x00,0x00,0x1C,0x38,0x02,0x00,0x80,0x3C,0xC0,0x00,0x00,0x00,0x00,0x00, // ...................................###....###.........#.........#.........####..##..............................................
+  0x00,0x00,0x00,0x00,0x1F,0x30,0x03,0x00,0xC0,0x3C,0x60,0x00,0x00,0x00,0x00,0x00, // ...................................#####..##..........##........##........####...##.............................................
+  0x00,0x00,0x00,0x00,0x77,0xB0,0x02,0xFF,0x60,0x3C,0x30,0x00,0x00,0x00,0x00,0x00, // .................................###.####.##..........#.########.##.......####....##............................................
+  0x00,0x00,0x00,0x00,0xE0,0xF8,0x06,0xFF,0xB0,0x3C,0x18,0x00,0x00,0x00,0x00,0x00, // ................................###.....#####........##.#########.##......####.....##...........................................
+  0x00,0x00,0x00,0x00,0xC0,0xD8,0x0D,0x81,0x98,0x1C,0x08,0x00,0x00,0x00,0x00,0x00, // ................................##......##.##.......##.##......##..##......###......#...........................................
+  0x00,0x00,0x00,0x03,0x80,0xD8,0x09,0x80,0xDC,0xFC,0x08,0x00,0x00,0x00,0x00,0x00, // ..............................###.......##.##.......#..##.......##.###..######......#...........................................
+  0x00,0x00,0x00,0x02,0x00,0xD8,0x1B,0x00,0x6F,0xE4,0x0C,0x00,0x00,0x00,0x00,0x00, // ..............................#.........##.##......##.##.........##.#######..#......##..........................................
+  0x00,0x00,0x00,0x02,0x00,0xDF,0xFB,0x00,0x37,0x06,0x0C,0x00,0x00,0x00,0x00,0x00, // ..............................#.........##.##########.##..........##.###.....##.....##..........................................
+  0x00,0x00,0x00,0x06,0x00,0xE7,0xF6,0x00,0x18,0x03,0x04,0x00,0x00,0x00,0x00,0x00, // .............................##.........###..#######.##............##.........##.....#..........................................
+  0x00,0x00,0x00,0x06,0x00,0xE0,0x0E,0x00,0x18,0x0F,0x04,0x00,0x00,0x00,0x00,0x00, // .............................##.........###.........###............##.......####.....#..........................................
+  0x00,0x00,0x00,0x06,0x00,0xC0,0x2E,0x00,0x1B,0xFF,0xC6,0x00,0x00,0x00,0x00,0x00, // .............................##.........##........#.###............##.############...##.........................................
+  0x3F,0xFC,0x1F,0xF6,0x7D,0x81,0xE6,0x00,0x1B,0xC7,0xC6,0x00,0x00,0x00,0x00,0x00, // ..############.....#########.##..#####.##......####..##............##.####...#####...##.........................................
+  0x7F,0xFE,0x3F,0xFF,0x1F,0x8F,0xC3,0xFF,0xFF,0xFF,0xFC,0x1F,0xFF,0x38,0x03,0xC0, // .##############...##############...######...######....################################.....#############..###.........####......
+  0xFF,0xFF,0xFF,0xFF,0x8F,0x1F,0xC7,0xFF,0xFF,0xFF,0xF8,0xFF,0xFF,0x3C,0x03,0xE0, // #################################...####...#######...################################...################..####........#####.....
+  0x10,0x0F,0xF0,0x0F,0x8F,0xFF,0x83,0xFF,0xF7,0xFF,0xF8,0xFF,0xFC,0x3C,0x03,0xE0, // ...#........########........#####...#############.....##############.################...##############....####........#####.....
+  0x00,0x0F,0xF0,0x07,0xFF,0xFF,0x01,0x9E,0x27,0xFC,0xC2,0xF8,0x00,0x3E,0x03,0xE0, // ............########.........###################.......##..####...#..#########..##....#.#####.............#####.......#####.....
+  0x0F,0xFF,0xF0,0x03,0xDF,0xFE,0x01,0xCE,0x6C,0xFC,0x47,0xF8,0x00,0x3F,0xFF,0xE0, // ....################..........####.############........###..###..##.##..######...#...########.............#################.....
+  0x1F,0xFF,0xF0,0x03,0xC3,0xFC,0x00,0xFF,0xCC,0xFF,0xFF,0xF0,0x00,0x3F,0xFF,0xE0, // ...#################..........####....########..........##########..##..####################..............#################.....
+  0x1F,0xFF,0xF0,0x03,0xC3,0xFC,0x00,0x0E,0x1C,0xFF,0xF9,0xE0,0x00,0x3F,0xFF,0xE0, // ...#################..........####....########..............###....###..#############..####...............#################.....
+  0x00,0x0F,0xF0,0x0F,0xC7,0xFC,0x00,0x0E,0x1C,0xFF,0xF1,0xE0,0x00,0x3F,0xFF,0xE0, // ............########........######...#########..............###....###..############...####...............#################.....
+  0x00,0x0F,0xF8,0x0F,0x87,0xFE,0x00,0x0E,0x0C,0xF8,0xF0,0xF0,0x00,0x3C,0x03,0xE0, // ............#########.......#####....##########.............###.....##..#####...####....####..............####........#####.....
+  0x7F,0xFF,0xFF,0xFF,0xBF,0x8F,0x00,0x3F,0xE6,0xF8,0xE0,0xFC,0x00,0x3C,0x03,0xE0, // .################################.#######...####..........#########..##.#####...###.....######............####........#####.....
+  0x7F,0xFF,0xFF,0xFF,0xFF,0x07,0xC0,0xFF,0xE7,0xFF,0xFC,0xFF,0xFF,0x3C,0x03,0xE0, // .#######################################.....#####......###########..#################..################..####........#####.....
+  0xFF,0xFF,0xFF,0xFF,0xFE,0x03,0xE0,0x8E,0x33,0xFF,0xFC,0x1F,0xFF,0x3C,0x03,0xE0, // #######################################.......#####.....#...###...##..################.....#############..####........#####.....
+  0x7F,0xFC,0x3F,0xF0,0x3C,0x01,0xF1,0x9E,0x31,0xFF,0xF9,0x0F,0xFE,0x3C,0x03,0xC0, // .#############....##########......####.........#####...##..####...##...##############..#....###########...####........####......
+  0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x19,0xFF,0xC1,0x00,0x00,0x00,0x00,0x00, // ......................................................##...........##..###########.....#........................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x0C,0xE0,0xC1,0x00,0x00,0x00,0x00,0x00, // ......................................................##............##..###.....##.....#........................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x00,0x0C,0x00,0x42,0x00,0x00,0x00,0x00,0x00, // .....................................................##.............##...........#....#.........................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x00,0x06,0x01,0x62,0x00,0x00,0x00,0x00,0x00, // .....................................................##..............##........#.##...#.........................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x0C,0x00,0x06,0x3F,0x62,0x00,0x00,0x00,0x00,0x00, // ....................................................##...............##...######.##...#.........................................
+  0x00,0x00,0x00,0x00,0x00,0x38,0x0E,0x00,0x0D,0xFD,0xEE,0x00,0x00,0x00,0x00,0x00, // ..........................................###.......###.............##.#######.####.###.........................................
+  0x00,0x00,0x00,0x00,0x00,0x7F,0xE6,0x00,0x19,0x81,0xFC,0x00,0x00,0x00,0x00,0x00, // .........................................##########..##............##..##......#######..........................................
+  0x00,0x00,0x00,0x00,0x00,0xEF,0xF7,0x00,0x1B,0x01,0xF0,0x00,0x00,0x00,0x00,0x00, // ........................................###.########.###...........##.##.......#####............................................
+  0x00,0x00,0x00,0x00,0x00,0xC0,0x33,0x00,0x33,0x01,0xC8,0x00,0x00,0x00,0x00,0x00, // ........................................##........##..##..........##..##.......###..#...........................................
+  0x00,0x00,0x00,0x00,0x00,0x80,0x1B,0x00,0x36,0x01,0x98,0x00,0x00,0x00,0x00,0x00, // ........................................#..........##.##..........##.##........##..##...........................................
+  0x00,0x00,0x00,0x00,0x01,0x80,0x0D,0xFF,0xEC,0x01,0xF0,0x00,0x00,0x00,0x00,0x00, // .......................................##...........##.############.##.........#####............................................
+  0x00,0x00,0x00,0x00,0x01,0x00,0x0E,0xFF,0xD8,0x01,0xE0,0x00,0x00,0x00,0x00,0x00, // .......................................#............###.##########.##..........####.............................................
+  0x00,0x00,0x00,0x01,0xF1,0x80,0x06,0x60,0x38,0x07,0xA0,0x00,0x00,0x00,0x00,0x00, // ...............................#####...##............##..##.......###........####.#.............................................
+  0x00,0x00,0x00,0x01,0xFD,0x80,0x03,0x00,0x18,0x05,0x40,0x00,0x00,0x00,0x00,0x00, // ...............................#######.##.............##...........##........#.#.#..............................................
+  0x00,0x00,0x00,0x01,0x8F,0xC0,0x06,0xFF,0xDC,0x0A,0x80,0x00,0x00,0x00,0x00,0x00, // ...............................##...######...........##.##########.###......#.#.#...............................................
+  0x00,0x00,0x00,0x00,0x81,0xE0,0x0C,0xFF,0xCC,0x1F,0x00,0x00,0x00,0x00,0x00,0x00, // ................................#......####.........##..##########..##.....#####................................................
+  0x00,0x00,0x00,0x00,0x81,0xF0,0x0D,0x80,0x6C,0xFE,0x00,0x00,0x00,0x00,0x00,0x00, // ................................#......#####........##.##........##.##..#######.................................................
+  0x00,0x00,0x00,0x00,0x40,0xFE,0x1B,0x00,0x67,0x8C,0x00,0x00,0x00,0x00,0x00,0x00, // .................................#......#######....##.##.........##..####...##..................................................
+  0x00,0x00,0x00,0x00,0x20,0x7F,0xF6,0x00,0x20,0x18,0x00,0x00,0x00,0x00,0x00,0x00, // ..................................#......###########.##...........#........##...................................................
+  0x00,0x00,0x00,0x00,0x10,0x30,0x6E,0x00,0x3F,0xF0,0x00,0x00,0x00,0x00,0x00,0x00, // ...................................#......##.....##.###...........##########....................................................
+  0x00,0x00,0x00,0x00,0x04,0x30,0x0E,0x00,0xFF,0xA0,0x00,0x00,0x00,0x00,0x00,0x00, // .....................................#....##........###.........#########.#.....................................................
+  0x00,0x00,0x00,0x00,0x03,0x30,0x06,0x00,0xE1,0x00,0x00,0x00,0x00,0x00,0x00,0x00, // ......................................##..##.........##.........###....#........................................................
+  0x00,0x00,0x00,0x00,0x01,0xF0,0x03,0x03,0xE2,0x00,0x00,0x00,0x00,0x00,0x00,0x00, // .......................................#####..........##......#####...#.........................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x01,0xFF,0x88,0x00,0x00,0x00,0x00,0x00,0x00,0x00, // .......................................................##########...#...........................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x02,0x30,0x00,0x00,0x00,0x00,0x00,0x00,0x00, // ..............................................................#...##............................................................
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00  // .............................................................###................................................................
+};

Marlin/_Statusscreen.h

@@ -0,0 +1,72 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Custom Status Screen bitmap
+ *
+ * Place this file in the root with your configuration files
+ * and enable CUSTOM_STATUS_SCREEN_IMAGE in Configuration.h.
+ *
+ * Use the Marlin Bitmap Converter to make your own:
+ * http://marlinfw.org/tools/u8glib/converter.html
+ */
+
+//
+// Status Screen Logo bitmap
+//
+#define STATUS_LOGO_Y            1
+#define STATUS_LOGO_WIDTH       32
+
+const unsigned char status_logo_bmp[] PROGMEM = {
+  0x00,0x00,0x00,0x00, // ................................
+  0x00,0x00,0x00,0x00, // ................................
+  0x00,0x00,0x00,0x00, // ................................
+  0x00,0x00,0x10,0x00, // ...................#............
+  0x00,0x00,0x06,0x00, // .....................##.........
+  0x00,0x00,0x00,0x00, // ................................
+  0x01,0x00,0x00,0x00, // .......#........................
+  0x08,0x00,0x01,0x00, // ....#..................#........
+  0x01,0x00,0x41,0x00, // .......#.........#.....#........
+  0x01,0x00,0x02,0x00, // .......#..............#.........
+  0x00,0xE0,0x00,0x00, // ........###.....................
+  0x80,0x08,0x10,0x80, // #...........#......#....#.......
+  0x04,0x00,0x00,0x40, // .....#...................#......
+  0x08,0x00,0x08,0x00, // ....#...............#...........
+  0x10,0x04,0x00,0x00, // ...#.........#..................
+  0x00,0x00,0x00,0x30, // ..........................##....
+  0x00,0x00,0x00,0x20, // ..........................#.....
+  0x00,0x01,0xE8,0x20, // ...............####.#.....#.....
+  0x00,0x00,0x00,0x60, // .........................##.....
+  0x00,0x00,0x02,0x00, // ......................#.........
+  0x00,0x08,0x00,0x00, // ............#...................
+  0x00,0x00,0x01,0x20, // .......................#..#.....
+  0x02,0xE8,0x10,0x60, // ......#.###.#......#.....##.....
+  0x00,0x00,0x00,0x40, // .........................#......
+  0x00,0x03,0xC0,0x60, // ..............####.......##.....
+  0x64,0x00,0x10,0x00, // .##..#.............#............
+  0x04,0x03,0xC0,0x00, // .....#........####..............
+  0x02,0x00,0x20,0x00, // ......#...........#.............
+  0x00,0x28,0x00,0x00, // ..........#.#...................
+  0x00,0x08,0x20,0x00, // ............#.....#.............
+  0x00,0x00,0x40,0x00, // .................#..............
+  0x00,0x00,0x00,0x00  // ................................
+};

Marlin/src/HAL/AVR/HAL.cpp

@@ -25,7 +25,7 @@
 #include "HAL.h"
 
 #ifdef USBCON
-  DefaultSerial MSerial(false, Serial);
+  DefaultSerial1 MSerial0(false, Serial);
   #ifdef BLUETOOTH
     BTSerial btSerial(false, bluetoothSerial);
   #endif

Marlin/src/HAL/AVR/HAL.h

@@ -83,25 +83,25 @@ typedef int8_t pin_t;
 // Serial ports
 #ifdef USBCON
   #include "../../core/serial_hook.h"
-  typedef ForwardSerial0Type< decltype(Serial) > DefaultSerial;
-  extern DefaultSerial MSerial;
+  typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
+  extern DefaultSerial1 MSerial0;
   #ifdef BLUETOOTH
-    typedef ForwardSerial0Type< decltype(bluetoothSerial) > BTSerial;
+    typedef ForwardSerial1Class< decltype(bluetoothSerial) > BTSerial;
     extern BTSerial btSerial;
   #endif
 
-  #define MYSERIAL0 TERN(BLUETOOTH, btSerial, MSerial)
+  #define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0)
 #else
   #if !WITHIN(SERIAL_PORT, -1, 3)
     #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
   #endif
-  #define MYSERIAL0 customizedSerial1
+  #define MYSERIAL1 customizedSerial1
 
   #ifdef SERIAL_PORT_2
     #if !WITHIN(SERIAL_PORT_2, -1, 3)
       #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
     #endif
-    #define MYSERIAL1 customizedSerial2
+    #define MYSERIAL2 customizedSerial2
   #endif
 #endif
 

Marlin/src/HAL/AVR/MarlinSerial.h

@@ -238,11 +238,11 @@
     static constexpr bool MAX_RX_QUEUED     = ENABLED(SERIAL_STATS_MAX_RX_QUEUED);
   };
 
-  typedef Serial0Type< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
   extern MSerialT customizedSerial1;
 
   #ifdef SERIAL_PORT_2
-    typedef Serial0Type< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
+    typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
     extern MSerialT2 customizedSerial2;
   #endif
 
@@ -252,17 +252,17 @@
   template <uint8_t serial>
   struct MMU2SerialCfg {
     static constexpr int PORT               = serial;
+    static constexpr unsigned int RX_SIZE   = 32;
+    static constexpr unsigned int TX_SIZE   = 32;
     static constexpr bool XONOFF            = false;
     static constexpr bool EMERGENCYPARSER   = false;
     static constexpr bool DROPPED_RX        = false;
     static constexpr bool RX_FRAMING_ERRORS = false;
     static constexpr bool MAX_RX_QUEUED     = false;
-    static constexpr unsigned int RX_SIZE   = 32;
-    static constexpr unsigned int TX_SIZE   = 32;
     static constexpr bool RX_OVERRUNS       = false;
   };
 
-  typedef Serial0Type< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialT3;
+  typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialT3;
   extern MSerialT3 mmuSerial;
 #endif
 
@@ -270,34 +270,23 @@
 
   template <uint8_t serial>
   struct LCDSerialCfg {
-    static constexpr int PORT                 = serial;
-    static constexpr bool XONOFF              = false;
-    static constexpr bool EMERGENCYPARSER     = ENABLED(EMERGENCY_PARSER);
-    static constexpr bool DROPPED_RX          = false;
-    static constexpr bool RX_FRAMING_ERRORS   = false;
-    static constexpr bool MAX_RX_QUEUED       = false;
-    #if HAS_DGUS_LCD
-      static constexpr unsigned int RX_SIZE   = DGUS_RX_BUFFER_SIZE;
-      static constexpr unsigned int TX_SIZE   = DGUS_TX_BUFFER_SIZE;
-      static constexpr bool RX_OVERRUNS       = ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS);
-    #elif EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON)
-      static constexpr unsigned int RX_SIZE   = 64;
-      static constexpr unsigned int TX_SIZE   = 128;
-      static constexpr bool RX_OVERRUNS       = false;
-    #else
-      static constexpr unsigned int RX_SIZE   = 64;
-      static constexpr unsigned int TX_SIZE   = 128;
-      static constexpr bool RX_OVERRUNS       = false
-    #endif
+    static constexpr int PORT               = serial;
+    static constexpr unsigned int RX_SIZE   = TERN(HAS_DGUS_LCD, DGUS_RX_BUFFER_SIZE,  64);
+    static constexpr unsigned int TX_SIZE   = TERN(HAS_DGUS_LCD, DGUS_TX_BUFFER_SIZE, 128);
+    static constexpr bool XONOFF            = false;
+    static constexpr bool EMERGENCYPARSER   = ENABLED(EMERGENCY_PARSER);
+    static constexpr bool DROPPED_RX        = false;
+    static constexpr bool RX_FRAMING_ERRORS = false;
+    static constexpr bool MAX_RX_QUEUED     = false;
+    static constexpr bool RX_OVERRUNS       = BOTH(HAS_DGUS_LCD, SERIAL_STATS_RX_BUFFER_OVERRUNS);
   };
 
-
-  typedef Serial0Type< MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> > > MSerialT4;
+  typedef Serial1Class< MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> > > MSerialT4;
   extern MSerialT4 lcdSerial;
 #endif
 
 // Use the UART for Bluetooth in AT90USB configurations
 #if defined(USBCON) && ENABLED(BLUETOOTH)
-  typedef Serial0Type<HardwareSerial> MSerialT5;
+  typedef Serial1Class<HardwareSerial> MSerialT5;
   extern MSerialT5 bluetoothSerial;
 #endif

Marlin/src/HAL/AVR/fastio.h

@@ -285,7 +285,7 @@ enum ClockSource2 : char {
  */
 
 // Determine which harware PWMs are already in use
-#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN)
+#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN || P == COOLER_AUTO_FAN_PIN)
 #if PIN_EXISTS(CONTROLLER_FAN)
   #define PWM_CHK_FAN_B(P) (_PWM_CHK_FAN_B(P) || P == CONTROLLER_FAN_PIN)
 #else

Marlin/src/HAL/AVR/inc/SanityCheck.h

@@ -56,3 +56,10 @@
 #if BOTH(HAS_TMC_SW_SERIAL, MONITOR_DRIVER_STATUS)
   #error "MONITOR_DRIVER_STATUS causes performance issues when used with SoftwareSerial-connected drivers. Disable MONITOR_DRIVER_STATUS or use hardware serial to continue."
 #endif
+
+/**
+ * Postmortem debugging
+ */
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not supported on AVR boards."
+#endif

Marlin/src/HAL/DUE/DebugMonitor.cpp

@@ -1,342 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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/>.
- *
- */
-#ifdef ARDUINO_ARCH_SAM
-
-#include "../../core/macros.h"
-#include "../../core/serial.h"
-
-#include "../shared/backtrace/unwinder.h"
-#include "../shared/backtrace/unwmemaccess.h"
-
-#include <stdarg.h>
-
-// Debug monitor that dumps to the Programming port all status when
-// an exception or WDT timeout happens - And then resets the board
-
-// All the Monitor routines must run with interrupts disabled and
-// under an ISR execution context. That is why we cannot reuse the
-// Serial interrupt routines or any C runtime, as we don't know the
-// state we are when running them
-
-// A SW memory barrier, to ensure GCC does not overoptimize loops
-#define sw_barrier() __asm__ volatile("": : :"memory");
-
-// (re)initialize UART0 as a monitor output to 250000,n,8,1
-static void TXBegin() {
-
-  // Disable UART interrupt in NVIC
-  NVIC_DisableIRQ( UART_IRQn );
-
-  // We NEED memory barriers to ensure Interrupts are actually disabled!
-  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
-  __DSB();
-  __ISB();
-
-  // Disable clock
-  pmc_disable_periph_clk( ID_UART );
-
-  // Configure PMC
-  pmc_enable_periph_clk( ID_UART );
-
-  // Disable PDC channel
-  UART->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
-
-  // Reset and disable receiver and transmitter
-  UART->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS;
-
-  // Configure mode: 8bit, No parity, 1 bit stop
-  UART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;
-
-  // Configure baudrate (asynchronous, no oversampling) to BAUDRATE bauds
-  UART->UART_BRGR = (SystemCoreClock / (BAUDRATE << 4));
-
-  // Enable receiver and transmitter
-  UART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
-}
-
-// Send character through UART with no interrupts
-static void TX(char c) {
-  while (!(UART->UART_SR & UART_SR_TXRDY)) { WDT_Restart(WDT); sw_barrier(); };
-  UART->UART_THR = c;
-}
-
-// Send String through UART
-static void TX(const char* s) {
-  while (*s) TX(*s++);
-}
-
-static void TXDigit(uint32_t d) {
-  if (d < 10) TX((char)(d+'0'));
-  else if (d < 16) TX((char)(d+'A'-10));
-  else TX('?');
-}
-
-// Send Hex number thru UART
-static void TXHex(uint32_t v) {
-  TX("0x");
-  for (uint8_t i = 0; i < 8; i++, v <<= 4)
-    TXDigit((v >> 28) & 0xF);
-}
-
-// Send Decimal number thru UART
-static void TXDec(uint32_t v) {
-  if (!v) {
-    TX('0');
-    return;
-  }
-
-  char nbrs[14];
-  char *p = &nbrs[0];
-  while (v != 0) {
-    *p++ = '0' + (v % 10);
-    v /= 10;
-  }
-  do {
-    p--;
-    TX(*p);
-  } while (p != &nbrs[0]);
-}
-
-// Dump a backtrace entry
-static bool UnwReportOut(void* ctx, const UnwReport* bte) {
-  int* p = (int*)ctx;
-
-  (*p)++;
-  TX('#'); TXDec(*p); TX(" : ");
-  TX(bte->name?bte->name:"unknown"); TX('@'); TXHex(bte->function);
-  TX('+'); TXDec(bte->address - bte->function);
-  TX(" PC:");TXHex(bte->address); TX('\n');
-  return true;
-}
-
-#ifdef UNW_DEBUG
-  void UnwPrintf(const char* format, ...) {
-    char dest[256];
-    va_list argptr;
-    va_start(argptr, format);
-    vsprintf(dest, format, argptr);
-    va_end(argptr);
-    TX(&dest[0]);
-  }
-#endif
-
-/* Table of function pointers for passing to the unwinder */
-static const UnwindCallbacks UnwCallbacks = {
-  UnwReportOut,
-  UnwReadW,
-  UnwReadH,
-  UnwReadB
-  #ifdef UNW_DEBUG
-   , UnwPrintf
-  #endif
-};
-
-/**
- * HardFaultHandler_C:
- * This is called from the HardFault_HandlerAsm with a pointer the Fault stack
- * as the parameter. We can then read the values from the stack and place them
- * into local variables for ease of reading.
- * We then read the various Fault Status and Address Registers to help decode
- * cause of the fault.
- * The function ends with a BKPT instruction to force control back into the debugger
- */
-extern "C"
-void HardFault_HandlerC(unsigned long *sp, unsigned long lr, unsigned long cause) {
-
-  static const char* causestr[] = {
-    "NMI","Hard","Mem","Bus","Usage","Debug","WDT","RSTC"
-  };
-
-  UnwindFrame btf;
-
-  // Dump report to the Programming port (interrupts are DISABLED)
-  TXBegin();
-  TX("\n\n## Software Fault detected ##\n");
-  TX("Cause: "); TX(causestr[cause]); TX('\n');
-
-  TX("R0   : "); TXHex(((unsigned long)sp[0])); TX('\n');
-  TX("R1   : "); TXHex(((unsigned long)sp[1])); TX('\n');
-  TX("R2   : "); TXHex(((unsigned long)sp[2])); TX('\n');
-  TX("R3   : "); TXHex(((unsigned long)sp[3])); TX('\n');
-  TX("R12  : "); TXHex(((unsigned long)sp[4])); TX('\n');
-  TX("LR   : "); TXHex(((unsigned long)sp[5])); TX('\n');
-  TX("PC   : "); TXHex(((unsigned long)sp[6])); TX('\n');
-  TX("PSR  : "); TXHex(((unsigned long)sp[7])); TX('\n');
-
-  // Configurable Fault Status Register
-  // Consists of MMSR, BFSR and UFSR
-  TX("CFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED28)))); TX('\n');
-
-  // Hard Fault Status Register
-  TX("HFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED2C)))); TX('\n');
-
-  // Debug Fault Status Register
-  TX("DFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED30)))); TX('\n');
-
-  // Auxiliary Fault Status Register
-  TX("AFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED3C)))); TX('\n');
-
-  // Read the Fault Address Registers. These may not contain valid values.
-  // Check BFARVALID/MMARVALID to see if they are valid values
-  // MemManage Fault Address Register
-  TX("MMAR : "); TXHex((*((volatile unsigned long *)(0xE000ED34)))); TX('\n');
-
-  // Bus Fault Address Register
-  TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n');
-
-  TX("ExcLR: "); TXHex(lr); TX('\n');
-  TX("ExcSP: "); TXHex((unsigned long)sp); TX('\n');
-
-  btf.sp = ((unsigned long)sp) + 8*4; // The original stack pointer
-  btf.fp = btf.sp;
-  btf.lr = ((unsigned long)sp[5]);
-  btf.pc = ((unsigned long)sp[6]) | 1; // Force Thumb, as CORTEX only support it
-
-  // Perform a backtrace
-  TX("\nBacktrace:\n\n");
-  int ctr = 0;
-  UnwindStart(&btf, &UnwCallbacks, &ctr);
-
-  // Disable all NVIC interrupts
-  NVIC->ICER[0] = 0xFFFFFFFF;
-  NVIC->ICER[1] = 0xFFFFFFFF;
-
-  // Relocate VTOR table to default position
-  SCB->VTOR = 0;
-
-  // Disable USB
-  otg_disable();
-
-  // Restart watchdog
-  WDT_Restart(WDT);
-
-  // Reset controller
-  NVIC_SystemReset();
-  for (;;) WDT_Restart(WDT);
-}
-
-__attribute__((naked)) void NMI_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#0")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void HardFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#1")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void MemManage_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#2")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void BusFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#3")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void UsageFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#4")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void DebugMon_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#5")
-    A("b HardFault_HandlerC")
-  );
-}
-
-/* This is NOT an exception, it is an interrupt handler - Nevertheless, the framing is the same */
-__attribute__((naked)) void WDT_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#6")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void RSTC_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#7")
-    A("b HardFault_HandlerC")
-  );
-}
-
-#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/HAL.cpp

@@ -40,6 +40,8 @@ uint16_t HAL_adc_result;
 // Public functions
 // ------------------------
 
+TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+
 // HAL initialization task
 void HAL_init() {
   // Initialize the USB stack
@@ -47,6 +49,7 @@ void HAL_init() {
     OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
   #endif
   usb_task_init();
+  TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
 }
 
 // HAL idle task
@@ -104,16 +107,16 @@ uint16_t HAL_adc_get_result() {
 
 // Forward the default serial ports
 #if ANY_SERIAL_IS(0)
-  DefaultSerial MSerial(false, Serial);
+  DefaultSerial1 MSerial0(false, Serial);
 #endif
 #if ANY_SERIAL_IS(1)
-  DefaultSerial1 MSerial1(false, Serial1);
+  DefaultSerial2 MSerial1(false, Serial1);
 #endif
 #if ANY_SERIAL_IS(2)
-  DefaultSerial2 MSerial2(false, Serial2);
+  DefaultSerial3 MSerial2(false, Serial2);
 #endif
 #if ANY_SERIAL_IS(3)
-  DefaultSerial3 MSerial3(false, Serial3);
+  DefaultSerial4 MSerial3(false, Serial3);
 #endif
 
 #endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/HAL.h

@@ -38,33 +38,32 @@
 
 #include "../../core/serial_hook.h"
 
-typedef ForwardSerial0Type< decltype(Serial) > DefaultSerial;
-typedef ForwardSerial0Type< decltype(Serial1) > DefaultSerial1;
-typedef ForwardSerial0Type< decltype(Serial2) > DefaultSerial2;
-typedef ForwardSerial0Type< decltype(Serial3) > DefaultSerial3;
-extern DefaultSerial MSerial;
-extern DefaultSerial1 MSerial1;
-extern DefaultSerial2 MSerial2;
-extern DefaultSerial3 MSerial3;
+typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
+typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
+typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
+typedef ForwardSerial1Class< decltype(Serial3) > DefaultSerial4;
+extern DefaultSerial1 MSerial0;
+extern DefaultSerial2 MSerial1;
+extern DefaultSerial3 MSerial2;
+extern DefaultSerial4 MSerial3;
 
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)
-#define MSerial0 MSerial
 
-// Define MYSERIAL0/1 before MarlinSerial includes!
+// Define MYSERIAL1/2 before MarlinSerial includes!
 #if SERIAL_PORT == -1 || ENABLED(EMERGENCY_PARSER)
-  #define MYSERIAL0 customizedSerial1
+  #define MYSERIAL1 customizedSerial1
 #elif WITHIN(SERIAL_PORT, 0, 3)
-  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
   #error "The required SERIAL_PORT must be from -1 to 3. Please update your configuration."
 #endif
 
 #ifdef SERIAL_PORT_2
   #if SERIAL_PORT_2 == -1 || ENABLED(EMERGENCY_PARSER)
-    #define MYSERIAL1 customizedSerial2
+    #define MYSERIAL2 customizedSerial2
   #elif WITHIN(SERIAL_PORT_2, 0, 3)
-    #define MYSERIAL1 MSERIAL(SERIAL_PORT_2)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
   #else
     #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
   #endif

Marlin/src/HAL/DUE/HAL_MinSerial.cpp

@@ -0,0 +1,91 @@
+/**
+ * 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/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+
+#include "../shared/HAL_MinSerial.h"
+
+#include <stdarg.h>
+
+static void TXBegin() {
+  // Disable UART interrupt in NVIC
+  NVIC_DisableIRQ( UART_IRQn );
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+
+  // Disable clock
+  pmc_disable_periph_clk( ID_UART );
+
+  // Configure PMC
+  pmc_enable_periph_clk( ID_UART );
+
+  // Disable PDC channel
+  UART->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
+
+  // Reset and disable receiver and transmitter
+  UART->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS;
+
+  // Configure mode: 8bit, No parity, 1 bit stop
+  UART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;
+
+  // Configure baudrate (asynchronous, no oversampling) to BAUDRATE bauds
+  UART->UART_BRGR = (SystemCoreClock / (BAUDRATE << 4));
+
+  // Enable receiver and transmitter
+  UART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
+}
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() __asm__ volatile("": : :"memory");
+static void TX(char c) {
+  while (!(UART->UART_SR & UART_SR_TXRDY)) { WDT_Restart(WDT); sw_barrier(); };
+  UART->UART_THR = c;
+}
+
+void install_min_serial() {
+  HAL_min_serial_init = &TXBegin;
+  HAL_min_serial_out = &TX;
+}
+
+#if DISABLED(DYNAMIC_VECTORTABLE)
+extern "C" {
+  __attribute__((naked)) void JumpHandler_ASM() {
+    __asm__ __volatile__ (
+      "b CommonHandler_ASM\n"
+    );
+  }
+  void __attribute__((naked, alias("JumpHandler_ASM"))) HardFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) BusFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) UsageFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) MemManage_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) NMI_Handler();
+}
+#endif
+
+#endif // POSTMORTEM_DEBUGGING
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/MarlinSerial.h

@@ -141,11 +141,11 @@ struct MarlinSerialCfg {
 };
 
 #if SERIAL_PORT >= 0
-  typedef Serial0Type< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
   extern MSerialT customizedSerial1;
 #endif
 
 #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
-  typedef Serial0Type< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
   extern MSerialT2 customizedSerial2;
 #endif

Marlin/src/HAL/DUE/MarlinSerialUSB.cpp

@@ -92,12 +92,11 @@ int MarlinSerialUSB::read() {
   return c;
 }
 
-bool MarlinSerialUSB::available() {
-    /* If Pending chars */
-  return pending_char >= 0 ||
-    /* or USB CDC enumerated and configured on the PC side and some
-       bytes where sent to us */
-      (usb_task_cdc_isenabled() && udi_cdc_is_rx_ready());
+int MarlinSerialUSB::available() {
+  if (pending_char > 0) return pending_char;
+  return pending_char == 0 ||
+    // or USB CDC enumerated and configured on the PC side and some bytes where sent to us */
+    (usb_task_cdc_isenabled() && udi_cdc_is_rx_ready());
 }
 
 void MarlinSerialUSB::flush() { }

Marlin/src/HAL/DUE/MarlinSerialUSB.h

@@ -39,7 +39,7 @@ struct MarlinSerialUSB {
   int peek();
   int read();
   void flush();
-  bool available();
+  int available();
   size_t write(const uint8_t c);
 
   #if ENABLED(SERIAL_STATS_DROPPED_RX)
@@ -50,7 +50,7 @@ struct MarlinSerialUSB {
     FORCE_INLINE int rxMaxEnqueued() { return 0; }
   #endif
 };
-typedef Serial0Type<MarlinSerialUSB> MSerialT;
+typedef Serial1Class<MarlinSerialUSB> MSerialT;
 
 #if SERIAL_PORT == -1
   extern MSerialT customizedSerial1;

Marlin/src/HAL/DUE/inc/SanityCheck.h

@@ -57,5 +57,5 @@
 #endif
 
 #if HAS_TMC_SW_SERIAL
-  #error "TMC220x Software Serial is not supported on this platform."
+  #error "TMC220x Software Serial is not supported on the DUE platform."
 #endif

Marlin/src/HAL/ESP32/FlushableHardwareSerial.cpp

@@ -20,11 +20,10 @@
  *
  */
 
-#include "FlushableHardwareSerial.h"
-
 #ifdef ARDUINO_ARCH_ESP32
 
+#include "FlushableHardwareSerial.h"
 
-Serial0Type<FlushableHardwareSerial> flushableSerial(false, 0);
+Serial1Class<FlushableHardwareSerial> flushableSerial(false, 0);
 
-#endif // ARDUINO_ARCH_ESP32
+#endif

Marlin/src/HAL/ESP32/FlushableHardwareSerial.h

@@ -21,9 +21,9 @@
  */
 #pragma once
 
-#ifdef ARDUINO_ARCH_ESP32
-
 #include <HardwareSerial.h>
+
+#include "../shared/Marduino.h"
 #include "../../core/serial_hook.h"
 
 class FlushableHardwareSerial : public HardwareSerial {
@@ -31,6 +31,4 @@ public:
   FlushableHardwareSerial(int uart_nr) : HardwareSerial(uart_nr) {}
 };
 
-extern Serial0Type<FlushableHardwareSerial> flushableSerial;
-
-#endif // ARDUINO_ARCH_ESP32
+extern Serial1Class<FlushableHardwareSerial> flushableSerial;

Marlin/src/HAL/ESP32/HAL.cpp

@@ -41,7 +41,7 @@
 #endif
 
 #if ENABLED(ESP3D_WIFISUPPORT)
-  DefaultSerial MSerial(false, Serial2Socket);
+  DefaultSerial1 MSerial0(false, Serial2Socket);
 #endif
 
 // ------------------------
@@ -185,6 +185,7 @@ void HAL_adc_init() {
   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_(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.

Marlin/src/HAL/ESP32/HAL.h

@@ -51,15 +51,15 @@
 
 extern portMUX_TYPE spinlock;
 
-#define MYSERIAL0 flushableSerial
+#define MYSERIAL1 flushableSerial
 
 #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
   #if ENABLED(ESP3D_WIFISUPPORT)
-    typedef ForwardSerial0Type< decltype(Serial2Socket) > DefaultSerial;
-    extern DefaultSerial MSerial;
-    #define MYSERIAL1 MSerial
+    typedef ForwardSerial1Class< decltype(Serial2Socket) > DefaultSerial1;
+    extern DefaultSerial1 MSerial0;
+    #define MYSERIAL2 MSerial0
   #else
-    #define MYSERIAL1 webSocketSerial
+    #define MYSERIAL2 webSocketSerial
   #endif
 #endif
 

Marlin/src/HAL/ESP32/WebSocketSerial.h

@@ -81,5 +81,5 @@ public:
   #endif
 };
 
-typedef Serial0Type<WebSocketSerial> MSerialT;
+typedef Serial1Class<WebSocketSerial> MSerialT;
 extern MSerialT webSocketSerial;

Marlin/src/HAL/ESP32/inc/SanityCheck.h

@@ -30,9 +30,13 @@
 #endif
 
 #if HAS_TMC_SW_SERIAL
-  #error "TMC220x Software Serial is not supported on this platform."
+  #error "TMC220x Software Serial is not supported on ESP32."
 #endif
 
 #if BOTH(WIFISUPPORT, ESP3D_WIFISUPPORT)
   #error "Only enable one WiFi option, either WIFISUPPORT or ESP3D_WIFISUPPORT."
 #endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on ESP32."
+#endif

Marlin/src/HAL/HAL.h

@@ -29,12 +29,6 @@
 
 #include HAL_PATH(.,HAL.h)
 
-#ifdef SERIAL_PORT_2
-  #define NUM_SERIAL 2
-#else
-  #define NUM_SERIAL 1
-#endif
-
 #define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION)
 
 #ifndef I2C_ADDRESS

Marlin/src/HAL/LINUX/HAL.h

@@ -61,7 +61,7 @@ uint8_t _getc();
 #define SHARED_SERVOS HAS_SERVOS
 
 extern MSerialT usb_serial;
-#define MYSERIAL0 usb_serial
+#define MYSERIAL1 usb_serial
 
 #define ST7920_DELAY_1 DELAY_NS(600)
 #define ST7920_DELAY_2 DELAY_NS(750)

Marlin/src/HAL/LINUX/inc/SanityCheck.h

@@ -35,5 +35,9 @@
 #endif
 
 #if HAS_TMC_SW_SERIAL
-  #error "TMC220x Software Serial is not supported on this platform."
+  #error "TMC220x Software Serial is not supported on LINUX."
+#endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on LINUX."
 #endif

Marlin/src/HAL/LINUX/include/serial.h

@@ -115,4 +115,4 @@ struct HalSerial {
   volatile bool host_connected;
 };
 
-typedef Serial0Type<HalSerial> MSerialT;
+typedef Serial1Class<HalSerial> MSerialT;

Marlin/src/HAL/LINUX/main.cpp

@@ -105,8 +105,8 @@ int main() {
   std::thread write_serial (write_serial_thread);
   std::thread read_serial (read_serial_thread);
 
-  #ifdef MYSERIAL0
-    MYSERIAL0.begin(BAUDRATE);
+  #ifdef MYSERIAL1
+    MYSERIAL1.begin(BAUDRATE);
     SERIAL_ECHOLNPGM("x86_64 Initialized");
     SERIAL_FLUSHTX();
   #endif

Marlin/src/HAL/LPC1768/DebugMonitor.cpp

@@ -1,322 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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/>.
- *
- */
-#ifdef TARGET_LPC1768
-
-#include "../../core/macros.h"
-#include "../../core/serial.h"
-#include <stdarg.h>
-
-#include "../shared/backtrace/unwinder.h"
-#include "../shared/backtrace/unwmemaccess.h"
-#include "watchdog.h"
-#include <debug_frmwrk.h>
-
-
-// Debug monitor that dumps to the Programming port all status when
-// an exception or WDT timeout happens - And then resets the board
-
-// All the Monitor routines must run with interrupts disabled and
-// under an ISR execution context. That is why we cannot reuse the
-// Serial interrupt routines or any C runtime, as we don't know the
-// state we are when running them
-
-// A SW memory barrier, to ensure GCC does not overoptimize loops
-#define sw_barrier() __asm__ volatile("": : :"memory");
-
-// (re)initialize UART0 as a monitor output to 250000,n,8,1
-static void TXBegin() {
-}
-
-// Send character through UART with no interrupts
-static void TX(char c) {
-  _DBC(c);
-}
-
-// Send String through UART
-static void TX(const char* s) {
-  while (*s) TX(*s++);
-}
-
-static void TXDigit(uint32_t d) {
-  if (d < 10) TX((char)(d+'0'));
-  else if (d < 16) TX((char)(d+'A'-10));
-  else TX('?');
-}
-
-// Send Hex number thru UART
-static void TXHex(uint32_t v) {
-  TX("0x");
-  for (uint8_t i = 0; i < 8; i++, v <<= 4)
-    TXDigit((v >> 28) & 0xF);
-}
-
-// Send Decimal number thru UART
-static void TXDec(uint32_t v) {
-  if (!v) {
-    TX('0');
-    return;
-  }
-
-  char nbrs[14];
-  char *p = &nbrs[0];
-  while (v != 0) {
-    *p++ = '0' + (v % 10);
-    v /= 10;
-  }
-  do {
-    p--;
-    TX(*p);
-  } while (p != &nbrs[0]);
-}
-
-// Dump a backtrace entry
-static bool UnwReportOut(void* ctx, const UnwReport* bte) {
-  int* p = (int*)ctx;
-
-  (*p)++;
-  TX('#'); TXDec(*p); TX(" : ");
-  TX(bte->name?bte->name:"unknown"); TX('@'); TXHex(bte->function);
-  TX('+'); TXDec(bte->address - bte->function);
-  TX(" PC:");TXHex(bte->address); TX('\n');
-  return true;
-}
-
-#ifdef UNW_DEBUG
-  void UnwPrintf(const char* format, ...) {
-    char dest[256];
-    va_list argptr;
-    va_start(argptr, format);
-    vsprintf(dest, format, argptr);
-    va_end(argptr);
-    TX(&dest[0]);
-  }
-#endif
-
-/* Table of function pointers for passing to the unwinder */
-static const UnwindCallbacks UnwCallbacks = {
-  UnwReportOut,
-  UnwReadW,
-  UnwReadH,
-  UnwReadB
-  #ifdef UNW_DEBUG
-   ,UnwPrintf
-  #endif
-};
-
-
-/**
- * HardFaultHandler_C:
- * This is called from the HardFault_HandlerAsm with a pointer the Fault stack
- * as the parameter. We can then read the values from the stack and place them
- * into local variables for ease of reading.
- * We then read the various Fault Status and Address Registers to help decode
- * cause of the fault.
- * The function ends with a BKPT instruction to force control back into the debugger
- */
-extern "C"
-void HardFault_HandlerC(unsigned long *sp, unsigned long lr, unsigned long cause) {
-
-  static const char* causestr[] = {
-    "NMI","Hard","Mem","Bus","Usage","Debug","WDT","RSTC"
-  };
-
-  UnwindFrame btf;
-
-  // Dump report to the Programming port (interrupts are DISABLED)
-  TXBegin();
-  TX("\n\n## Software Fault detected ##\n");
-  TX("Cause: "); TX(causestr[cause]); TX('\n');
-
-  TX("R0   : "); TXHex(((unsigned long)sp[0])); TX('\n');
-  TX("R1   : "); TXHex(((unsigned long)sp[1])); TX('\n');
-  TX("R2   : "); TXHex(((unsigned long)sp[2])); TX('\n');
-  TX("R3   : "); TXHex(((unsigned long)sp[3])); TX('\n');
-  TX("R12  : "); TXHex(((unsigned long)sp[4])); TX('\n');
-  TX("LR   : "); TXHex(((unsigned long)sp[5])); TX('\n');
-  TX("PC   : "); TXHex(((unsigned long)sp[6])); TX('\n');
-  TX("PSR  : "); TXHex(((unsigned long)sp[7])); TX('\n');
-
-  // Configurable Fault Status Register
-  // Consists of MMSR, BFSR and UFSR
-  TX("CFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED28)))); TX('\n');
-
-  // Hard Fault Status Register
-  TX("HFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED2C)))); TX('\n');
-
-  // Debug Fault Status Register
-  TX("DFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED30)))); TX('\n');
-
-  // Auxiliary Fault Status Register
-  TX("AFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED3C)))); TX('\n');
-
-  // Read the Fault Address Registers. These may not contain valid values.
-  // Check BFARVALID/MMARVALID to see if they are valid values
-  // MemManage Fault Address Register
-  TX("MMAR : "); TXHex((*((volatile unsigned long *)(0xE000ED34)))); TX('\n');
-
-  // Bus Fault Address Register
-  TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n');
-
-  TX("ExcLR: "); TXHex(lr); TX('\n');
-  TX("ExcSP: "); TXHex((unsigned long)sp); TX('\n');
-
-  btf.sp = ((unsigned long)sp) + 8*4; // The original stack pointer
-  btf.fp = btf.sp;
-  btf.lr = ((unsigned long)sp[5]);
-  btf.pc = ((unsigned long)sp[6]) | 1; // Force Thumb, as CORTEX only support it
-
-  // Perform a backtrace
-  TX("\nBacktrace:\n\n");
-  int ctr = 0;
-  UnwindStart(&btf, &UnwCallbacks, &ctr);
-
-  // Disable all NVIC interrupts
-  NVIC->ICER[0] = 0xFFFFFFFF;
-  NVIC->ICER[1] = 0xFFFFFFFF;
-
-  // Relocate VTOR table to default position
-  SCB->VTOR = 0;
-
-  // Clear cause of reset to prevent entering smoothie bootstrap
-  HAL_clear_reset_source();
-
-  // Restart watchdog
-  #if ENABLED(USE_WATCHDOG)
-    //WDT_Restart(WDT);
-    watchdog_init();
-  #endif
-
-  // Reset controller
-  NVIC_SystemReset();
-
-  // Nothing below here is compiled because NVIC_SystemReset loops forever
-
-  for (;;) { TERN_(USE_WATCHDOG, watchdog_init()); }
-}
-
-extern "C" {
-__attribute__((naked)) void NMI_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#0")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void HardFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#1")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void MemManage_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#2")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void BusFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#3")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void UsageFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#4")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void DebugMon_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#5")
-    A("b HardFault_HandlerC")
-  );
-}
-
-/* This is NOT an exception, it is an interrupt handler - Nevertheless, the framing is the same */
-__attribute__((naked)) void WDT_IRQHandler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#6")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void RSTC_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#7")
-    A("b HardFault_HandlerC")
-  );
-}
-}
-#endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/HAL.cpp

@@ -29,7 +29,7 @@
   #include "watchdog.h"
 #endif
 
-DefaultSerial USBSerial(false, UsbSerial);
+DefaultSerial1 USBSerial(false, UsbSerial);
 
 uint32_t HAL_adc_reading = 0;
 

Marlin/src/HAL/LPC1768/HAL.h

@@ -60,26 +60,25 @@ extern "C" volatile uint32_t _millis;
   #define ST7920_DELAY_3 DELAY_NS(750)
 #endif
 
-typedef ForwardSerial0Type< decltype(UsbSerial) > DefaultSerial;
-extern DefaultSerial USBSerial;
+typedef ForwardSerial1Class< decltype(UsbSerial) > DefaultSerial1;
+extern DefaultSerial1 USBSerial;
 
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)
-#define MSerial0 MSerial
 
 #if SERIAL_PORT == -1
-  #define MYSERIAL0 USBSerial
+  #define MYSERIAL1 USBSerial
 #elif WITHIN(SERIAL_PORT, 0, 3)
-  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
   #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
 #endif
 
 #ifdef SERIAL_PORT_2
   #if SERIAL_PORT_2 == -1
-    #define MYSERIAL1 USBSerial
+    #define MYSERIAL2 USBSerial
   #elif WITHIN(SERIAL_PORT_2, 0, 3)
-    #define MYSERIAL1 MSERIAL(SERIAL_PORT_2)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
   #else
     #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
   #endif

Marlin/src/HAL/LPC1768/HAL_MinSerial.cpp

@@ -0,0 +1,50 @@
+/**
+ * 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/>.
+ *
+ */
+#ifdef TARGET_LPC1768
+
+#include "HAL.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+
+#include "../shared/HAL_MinSerial.h"
+#include <debug_frmwrk.h>
+
+static void TX(char c) { _DBC(c); }
+void install_min_serial() { HAL_min_serial_out = &TX; }
+
+#if DISABLED(DYNAMIC_VECTORTABLE)
+extern "C" {
+  __attribute__((naked)) void JumpHandler_ASM() {
+    __asm__ __volatile__ (
+      "b CommonHandler_ASM\n"
+    );
+  }
+  void __attribute__((naked, alias("JumpHandler_ASM"))) HardFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) BusFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) UsageFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) MemManage_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) NMI_Handler();
+}
+#endif
+
+#endif // POSTMORTEM_DEBUGGING
+#endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/MarlinSerial.cpp

@@ -25,20 +25,46 @@
 #include "MarlinSerial.h"
 
 #if ANY_SERIAL_IS(0)
-  MSerialT MSerial(true, LPC_UART0);
-  extern "C" void UART0_IRQHandler() { MSerial.IRQHandler(); }
+  MarlinSerial _MSerial(LPC_UART0);
+  MSerialT MSerial0(true, _MSerial);
+  extern "C" void UART0_IRQHandler() { _MSerial.IRQHandler(); }
 #endif
 #if ANY_SERIAL_IS(1)
-  MSerialT MSerial1(true, (LPC_UART_TypeDef *) LPC_UART1);
-  extern "C" void UART1_IRQHandler() { MSerial1.IRQHandler(); }
+  MarlinSerial _MSerial1((LPC_UART_TypeDef *) LPC_UART1);
+  MSerialT MSerial1(true, _MSerial1);
+  extern "C" void UART1_IRQHandler() { _MSerial1.IRQHandler(); }
 #endif
 #if ANY_SERIAL_IS(2)
-  MSerialT MSerial2(true, LPC_UART2);
-  extern "C" void UART2_IRQHandler() { MSerial2.IRQHandler(); }
+  MarlinSerial _MSerial2(LPC_UART2);
+  MSerialT MSerial2(true, _MSerial2);
+  extern "C" void UART2_IRQHandler() { _MSerial2.IRQHandler(); }
 #endif
 #if ANY_SERIAL_IS(3)
-  MSerialT MSerial3(true, LPC_UART3);
-  extern "C" void UART3_IRQHandler() { MSerial3.IRQHandler(); }
+  MarlinSerial _MSerial3(LPC_UART3);
+  MSerialT MSerial3(true, _MSerial3);
+  extern "C" void UART3_IRQHandler() { _MSerial3.IRQHandler(); }
+#endif
+
+#if ENABLED(EMERGENCY_PARSER)
+
+  bool MarlinSerial::recv_callback(const char c) {
+    // Need to figure out which serial port we are and react in consequence (Marlin does not have CONTAINER_OF macro)
+    if (false) {}
+    #if ANY_SERIAL_IS(0)
+      else if (this == &_MSerial) emergency_parser.update(MSerial0.emergency_state, c);
+    #endif
+    #if ANY_SERIAL_IS(1)
+      else if (this == &_MSerial1) emergency_parser.update(MSerial1.emergency_state, c);
+    #endif
+    #if ANY_SERIAL_IS(2)
+      else if (this == &_MSerial2) emergency_parser.update(MSerial2.emergency_state, c);
+    #endif
+    #if ANY_SERIAL_IS(3)
+      else if (this == &_MSerial3) emergency_parser.update(MSerial3.emergency_state, c);
+    #endif
+    return true;
+  }
+
 #endif
 
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/MarlinSerial.h

@@ -47,15 +47,21 @@ public:
   void end() {}
 
   #if ENABLED(EMERGENCY_PARSER)
-    bool recv_callback(const char c) override {
-      emergency_parser.update(static_cast<Serial0Type<MarlinSerial> *>(this)->emergency_state, c);
-      return true; // do not discard character
-    }
+    bool recv_callback(const char c) override;
   #endif
 };
 
-typedef Serial0Type<MarlinSerial> MSerialT;
-extern MSerialT MSerial;
+// On LPC176x framework, HardwareSerial does not implement the same interface as Arduino's Serial, so overloads
+// of 'available' and 'read' method are not used in this multiple inheritance scenario.
+// Instead, use a ForwardSerial here that adapts the interface.
+typedef ForwardSerial1Class<MarlinSerial> MSerialT;
+extern MSerialT MSerial0;
 extern MSerialT MSerial1;
 extern MSerialT MSerial2;
 extern MSerialT MSerial3;
+
+// Consequently, we can't use a RuntimeSerial either. The workaround would be to use a RuntimeSerial<ForwardSerial<MarlinSerial>> type here
+// Right now, let's ignore this until it's actually required.
+#if ENABLED(SERIAL_RUNTIME_HOOK)
+  #error "SERIAL_RUNTIME_HOOK is not yet supported for LPC176x."
+#endif

Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp

@@ -83,14 +83,13 @@ bool PersistentStore::access_finish() {
 static void debug_rw(const bool write, int &pos, const uint8_t *value, const size_t size, const FRESULT s, const size_t total=0) {
   PGM_P const rw_str = write ? PSTR("write") : PSTR("read");
   SERIAL_CHAR(' ');
-  serialprintPGM(rw_str);
+  SERIAL_ECHOPGM_P(rw_str);
   SERIAL_ECHOLNPAIR("_data(", pos, ",", value, ",", size, ", ...)");
   if (total) {
     SERIAL_ECHOPGM(" f_");
-    serialprintPGM(rw_str);
+    SERIAL_ECHOPGM_P(rw_str);
     SERIAL_ECHOPAIR("()=", s, "\n size=", size, "\n bytes_");
-    serialprintPGM(write ? PSTR("written=") : PSTR("read="));
-    SERIAL_ECHOLN(total);
+    SERIAL_ECHOLNPAIR_P(write ? PSTR("written=") : PSTR("read="), total);
   }
   else
     SERIAL_ECHOLNPAIR(" f_lseek()=", s);

Marlin/src/HAL/LPC1768/inc/Conditionals_post.h

@@ -30,6 +30,5 @@
 // LPC1768 boards seem to lose steps when saving to EEPROM during print (issue #20785)
 // TODO: Which other boards are incompatible?
 #if defined(MCU_LPC1768) && PRINTCOUNTER_SAVE_INTERVAL > 0
-  #warning "To prevent step loss, motion will pause for PRINTCOUNTER auto-save."
   #define PRINTCOUNTER_SYNC 1
 #endif

Marlin/src/HAL/LPC1768/inc/SanityCheck.h

@@ -270,7 +270,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o
 #endif
 
 #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
-  #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on this platform."
+  #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on LPC176x."
 #elif ENABLED(SERIAL_STATS_DROPPED_RX)
-  #error "SERIAL_STATS_DROPPED_RX is not supported on this platform."
+  #error "SERIAL_STATS_DROPPED_RX is not supported on LPX176x."
 #endif

Marlin/src/HAL/LPC1768/main.cpp

@@ -46,6 +46,8 @@ extern "C" {
 
 void SysTick_Callback() { disk_timerproc(); }
 
+TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+
 void HAL_init() {
 
   // Init LEDs
@@ -123,9 +125,7 @@ void HAL_init() {
   delay(1000);                              // Give OS time to notice
   USB_Connect(true);
 
-  #if HAS_SD_HOST_DRIVE
-    MSC_SD_Init(0);                         // Enable USB SD card access
-  #endif
+  TERN_(HAS_SD_HOST_DRIVE, MSC_SD_Init(0)); // Enable USB SD card access
 
   const millis_t usb_timeout = millis() + 2000;
   while (!USB_Configuration && PENDING(millis(), usb_timeout)) {
@@ -137,6 +137,8 @@ void HAL_init() {
   }
 
   HAL_timer_init();
+
+  TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
 }
 
 // HAL idle task

Marlin/src/HAL/LPC1768/upload_extra_script.py

@@ -8,9 +8,7 @@ from __future__ import print_function
 target_filename = "FIRMWARE.CUR"
 target_drive = "REARM"
 
-import os
-import getpass
-import platform
+import os,getpass,platform
 
 current_OS = platform.system()
 Import("env")
@@ -33,9 +31,8 @@ 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
+		import subprocess,string
 		from ctypes import windll
-		import string
 
 		# getting list of drives
 		# https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python

Marlin/src/HAL/LPC1768/usb_serial.cpp

@@ -29,8 +29,8 @@
 
 EmergencyParser::State emergency_state;
 
-bool CDC_RecvCallback(const char buffer) {
-  emergency_parser.update(emergency_state, buffer);
+bool CDC_RecvCallback(const char c) {
+  emergency_parser.update(emergency_state, c);
   return true;
 }
 

Marlin/src/HAL/SAMD51/HAL.cpp

@@ -26,19 +26,19 @@
 
 #ifdef ADAFRUIT_GRAND_CENTRAL_M4
   #if ANY_SERIAL_IS(-1)
-    DefaultSerial MSerial(false, Serial);
+    DefaultSerial1 MSerial0(false, Serial);
   #endif
   #if ANY_SERIAL_IS(0)
-    DefaultSerial1 MSerial1(false, Serial1);
+    DefaultSerial2 MSerial1(false, Serial1);
   #endif
   #if ANY_SERIAL_IS(1)
-    DefaultSerial2 MSerial2(false, Serial2);
+    DefaultSerial3 MSerial2(false, Serial2);
   #endif
   #if ANY_SERIAL_IS(2)
-    DefaultSerial3 MSerial3(false, Serial3);
+    DefaultSerial4 MSerial3(false, Serial3);
   #endif
   #if ANY_SERIAL_IS(3)
-    DefaultSerial4 MSerial4(false, Serial4);
+    DefaultSerial5 MSerial4(false, Serial4);
   #endif
 #endif
 
@@ -57,6 +57,7 @@
 #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_COOLER_ADC()          TERN(HAS_TEMP_ADC_COOLER,   PIN_TO_ADC(TEMP_COOLER_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)
 
@@ -66,6 +67,7 @@
   || GET_PROBE_ADC() == n          \
   || GET_BED_ADC() == n            \
   || GET_CHAMBER_ADC() == n        \
+  || GET_COOLER_ADC() == n         \
   || GET_FILAMENT_WIDTH_ADC() == n \
   || GET_BUTTONS_ADC() == n        \
 )
@@ -144,6 +146,9 @@ uint16_t HAL_adc_result;
     #if GET_CHAMBER_ADC() == 0
       TEMP_CHAMBER_PIN,
     #endif
+    #if GET_COOLER_ADC() == 0
+      TEMP_COOLER_PIN,
+    #endif
     #if GET_FILAMENT_WIDTH_ADC() == 0
       FILWIDTH_PIN,
     #endif
@@ -184,6 +189,9 @@ uint16_t HAL_adc_result;
     #if GET_CHAMBER_ADC() == 1
       TEMP_CHAMBER_PIN,
     #endif
+    #if GET_COOLER_ADC() == 1
+      TEMP_COOLER_PIN,
+    #endif
     #if GET_FILAMENT_WIDTH_ADC() == 1
       FILWIDTH_PIN,
     #endif
@@ -232,6 +240,9 @@ uint16_t HAL_adc_result;
       #if GET_CHAMBER_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
       #endif
+      #if GET_COOLER_ADC() == 0
+        { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) },
+      #endif
       #if GET_FILAMENT_WIDTH_ADC() == 0
         { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
       #endif
@@ -281,6 +292,9 @@ uint16_t HAL_adc_result;
       #if GET_CHAMBER_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
       #endif
+      #if GET_COOLER_ADC() == 1
+        { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) },
+      #endif
       #if GET_FILAMENT_WIDTH_ADC() == 1
         { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
       #endif

Marlin/src/HAL/SAMD51/HAL.h

@@ -32,36 +32,36 @@
   #include "MarlinSerial_AGCM4.h"
 
   // Serial ports
-  typedef ForwardSerial0Type< decltype(Serial) > DefaultSerial;
-  typedef ForwardSerial0Type< decltype(Serial1) > DefaultSerial1;
-  typedef ForwardSerial0Type< decltype(Serial2) > DefaultSerial2;
-  typedef ForwardSerial0Type< decltype(Serial3) > DefaultSerial3;
-  typedef ForwardSerial0Type< decltype(Serial4) > DefaultSerial4;
-  extern DefaultSerial MSerial;
-  extern DefaultSerial1 MSerial1;
-  extern DefaultSerial2 MSerial2;
-  extern DefaultSerial3 MSerial3;
-  extern DefaultSerial4 MSerial4;
+  typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
+  typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
+  typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
+  typedef ForwardSerial1Class< decltype(Serial3) > DefaultSerial4;
+  typedef ForwardSerial1Class< decltype(Serial4) > DefaultSerial5;
+  extern DefaultSerial1 MSerial0;
+  extern DefaultSerial2 MSerial1;
+  extern DefaultSerial3 MSerial2;
+  extern DefaultSerial4 MSerial3;
+  extern DefaultSerial5 MSerial4;
 
-  // MYSERIAL0 required before MarlinSerial includes!
+  // MYSERIAL1 required before MarlinSerial includes!
 
   #define __MSERIAL(X) MSerial##X
   #define _MSERIAL(X) __MSERIAL(X)
   #define MSERIAL(X) _MSERIAL(INCREMENT(X))
 
   #if SERIAL_PORT == -1
-    #define MYSERIAL0 MSerial
+    #define MYSERIAL1 MSerial0
   #elif WITHIN(SERIAL_PORT, 0, 3)
-    #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+    #define MYSERIAL1 MSERIAL(SERIAL_PORT)
   #else
     #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
   #endif
 
   #ifdef SERIAL_PORT_2
     #if SERIAL_PORT_2 == -1
-      #define MYSERIAL1 MSerial
+      #define MYSERIAL2 MSerial0
     #elif WITHIN(SERIAL_PORT_2, 0, 3)
-      #define MYSERIAL1 MSERIAL(SERIAL_PORT_2)
+      #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
     #else
       #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
     #endif
@@ -69,7 +69,7 @@
 
   #ifdef MMU2_SERIAL_PORT
     #if MMU2_SERIAL_PORT == -1
-      #define MMU2_SERIAL MSerial
+      #define MMU2_SERIAL MSerial0
     #elif WITHIN(MMU2_SERIAL_PORT, 0, 3)
       #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
     #else
@@ -79,7 +79,7 @@
 
   #ifdef LCD_SERIAL_PORT
     #if LCD_SERIAL_PORT == -1
-      #define LCD_SERIAL MSerial
+      #define LCD_SERIAL MSerial0
     #elif WITHIN(LCD_SERIAL_PORT, 0, 3)
       #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
     #else

Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h

@@ -22,7 +22,7 @@
 
 #include "../../core/serial_hook.h"
 
-typedef Serial0Type<Uart> UartT;
+typedef Serial1Class<Uart> UartT;
 
 extern UartT Serial2;
 extern UartT Serial3;

Marlin/src/HAL/SAMD51/inc/SanityCheck.h

@@ -50,3 +50,7 @@
 #if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
   #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on SAMD51."
 #endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on AGCM4."
+#endif

Marlin/src/HAL/STM32/HAL.cpp

@@ -29,7 +29,7 @@
 #include "../shared/Delay.h"
 
 #ifdef USBCON
-  DefaultSerial MSerial(false, SerialUSB);
+  DefaultSerial1 MSerial0(false, SerialUSB);
 #endif
 
 #if ENABLED(SRAM_EEPROM_EMULATION)
@@ -57,10 +57,18 @@ uint16_t HAL_adc_result;
 // Public functions
 // ------------------------
 
+TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+
 // HAL initialization task
 void HAL_init() {
   FastIO_init();
 
+  // Ensure F_CPU is a constant expression.
+  // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
+  // So better safe than sorry here.
+  constexpr int cpuFreq = F_CPU;
+  UNUSED(cpuFreq);
+
   #if ENABLED(SDSUPPORT) && DISABLED(SDIO_SUPPORT) && (defined(SDSS) && SDSS != -1)
     OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
   #endif
@@ -83,6 +91,8 @@ void HAL_init() {
     USB_Hook_init();
   #endif
 
+  TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
+
   #if HAS_SD_HOST_DRIVE
     MSC_SD_init();                         // Enable USB SD card access
   #endif

Marlin/src/HAL/STM32/HAL.h

@@ -40,8 +40,8 @@
 #ifdef USBCON
   #include <USBSerial.h>
   #include "../../core/serial_hook.h"
-  typedef ForwardSerial0Type< decltype(SerialUSB) > DefaultSerial;
-  extern DefaultSerial MSerial;
+  typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1;
+  extern DefaultSerial1 MSerial0;
 #endif
 
 // ------------------------
@@ -51,18 +51,18 @@
 #define MSERIAL(X) _MSERIAL(X)
 
 #if SERIAL_PORT == -1
-  #define MYSERIAL0 MSerial
+  #define MYSERIAL1 MSerial0
 #elif WITHIN(SERIAL_PORT, 1, 6)
-  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
   #error "SERIAL_PORT must be -1 or from 1 to 6. Please update your configuration."
 #endif
 
 #ifdef SERIAL_PORT_2
   #if SERIAL_PORT_2 == -1
-    #define MYSERIAL1 MSerial
+    #define MYSERIAL2 MSerial0
   #elif WITHIN(SERIAL_PORT_2, 1, 6)
-    #define MYSERIAL1 MSERIAL(SERIAL_PORT_2)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
   #else
     #error "SERIAL_PORT_2 must be -1 or from 1 to 6. Please update your configuration."
   #endif
@@ -70,7 +70,7 @@
 
 #ifdef MMU2_SERIAL_PORT
   #if MMU2_SERIAL_PORT == -1
-    #define MMU2_SERIAL MSerial
+    #define MMU2_SERIAL MSerial0
   #elif WITHIN(MMU2_SERIAL_PORT, 1, 6)
     #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
   #else
@@ -80,7 +80,7 @@
 
 #ifdef LCD_SERIAL_PORT
   #if LCD_SERIAL_PORT == -1
-    #define LCD_SERIAL MSerial
+    #define LCD_SERIAL MSerial0
   #elif WITHIN(LCD_SERIAL_PORT, 1, 6)
     #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
   #else

Marlin/src/HAL/STM32/HAL_MinSerial.cpp

@@ -0,0 +1,152 @@
+/**
+ * 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
+ * Copyright (c) 2017 Victor Perez
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+
+#include "../shared/HAL_MinSerial.h"
+#include "watchdog.h"
+
+/* Instruction Synchronization Barrier */
+#define isb() __asm__ __volatile__ ("isb" : : : "memory")
+
+/* Data Synchronization Barrier */
+#define dsb() __asm__ __volatile__ ("dsb" : : : "memory")
+
+// Dumb mapping over the registers of a USART device on STM32
+struct USARTMin {
+  volatile uint32_t SR;
+  volatile uint32_t DR;
+  volatile uint32_t BRR;
+  volatile uint32_t CR1;
+  volatile uint32_t CR2;
+};
+
+#if WITHIN(SERIAL_PORT, 1, 6)
+  // Depending on the CPU, the serial port is different for USART1
+  static const uintptr_t regsAddr[] = {
+    TERN(STM32F1xx, 0x40013800, 0x40011000), // USART1
+    0x40004400, // USART2
+    0x40004800, // USART3
+    0x40004C00, // UART4_BASE
+    0x40005000, // UART5_BASE
+    0x40011400  // USART6
+  };
+  static USARTMin * regs = (USARTMin*)regsAddr[SERIAL_PORT - 1];
+#endif
+
+static void TXBegin() {
+  #if !WITHIN(SERIAL_PORT, 1, 6)
+    #warning "Using POSTMORTEM_DEBUGGING requires a physical U(S)ART hardware in case of severe error."
+    #warning "Disabling the severe error reporting feature currently because the used serial port is not a HW port."
+  #else
+    // This is common between STM32F1/STM32F2 and STM32F4
+    const int nvicUART[] = { /* NVIC_USART1 */ 37, /* NVIC_USART2 */ 38, /* NVIC_USART3 */ 39, /* NVIC_UART4 */ 52, /* NVIC_UART5 */ 53, /* NVIC_USART6 */ 71 };
+    int nvicIndex = nvicUART[SERIAL_PORT - 1];
+
+    struct NVICMin {
+      volatile uint32_t ISER[32];
+      volatile uint32_t ICER[32];
+    };
+
+    NVICMin * nvicBase = (NVICMin*)0xE000E100;
+    nvicBase->ICER[nvicIndex / 32] |= _BV32(nvicIndex % 32);
+
+    // We NEED memory barriers to ensure Interrupts are actually disabled!
+    // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+    dsb();
+    isb();
+
+    // Example for USART1 disable:  (RCC->APB2ENR &= ~(RCC_APB2ENR_USART1EN))
+    // Too difficult to reimplement here, let's query the STM32duino macro here
+    #if SERIAL_PORT == 1
+      __HAL_RCC_USART1_CLK_DISABLE();
+      __HAL_RCC_USART1_CLK_ENABLE();
+    #elif SERIAL_PORT == 2
+      __HAL_RCC_USART2_CLK_DISABLE();
+      __HAL_RCC_USART2_CLK_ENABLE();
+    #elif SERIAL_PORT == 3
+      __HAL_RCC_USART3_CLK_DISABLE();
+      __HAL_RCC_USART3_CLK_ENABLE();
+    #elif SERIAL_PORT == 4
+      __HAL_RCC_UART4_CLK_DISABLE(); // BEWARE: UART4 and not USART4 here
+      __HAL_RCC_UART4_CLK_ENABLE();
+    #elif SERIAL_PORT == 5
+      __HAL_RCC_UART5_CLK_DISABLE(); // BEWARE: UART5 and not USART5 here
+      __HAL_RCC_UART5_CLK_ENABLE();
+    #elif SERIAL_PORT == 6
+      __HAL_RCC_USART6_CLK_DISABLE();
+      __HAL_RCC_USART6_CLK_ENABLE();
+    #endif
+
+    uint32_t brr = regs->BRR;
+    regs->CR1 = 0; // Reset the USART
+    regs->CR2 = 0; // 1 stop bit
+
+    // If we don't touch the BRR (baudrate register), we don't need to recompute.
+    regs->BRR = brr;
+
+    regs->CR1 = _BV(3) | _BV(13); // 8 bits, no parity, 1 stop bit (TE | UE)
+  #endif
+}
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() __asm__ volatile("": : :"memory");
+static void TX(char c) {
+  #if WITHIN(SERIAL_PORT, 1, 6)
+    constexpr uint32_t usart_sr_txe = _BV(7);
+    while (!(regs->SR & usart_sr_txe)) {
+      TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+      sw_barrier();
+    }
+    regs->DR = c;
+  #else
+    // Let's hope a mystical guru will fix this, one day by writting interrupt-free USB CDC ACM code (or, at least, by polling the registers since interrupt will be queued but will never trigger)
+    // For now, it's completely lost to oblivion.
+  #endif
+}
+
+void install_min_serial() {
+  HAL_min_serial_init = &TXBegin;
+  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
+extern "C" {
+  __attribute__((naked)) void JumpHandler_ASM() {
+    __asm__ __volatile__ (
+      "b CommonHandler_ASM\n"
+    );
+  }
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) HardFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) BusFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) UsageFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) MemManage_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) NMI_Handler();
+}
+#endif
+
+#endif // POSTMORTEM_DEBUGGING
+#endif // ARDUINO_ARCH_STM32

Marlin/src/HAL/STM32/MarlinSerial.h

@@ -42,7 +42,7 @@ protected:
   usart_rx_callback_t _rx_callback;
 };
 
-typedef Serial0Type<MarlinSerial> MSerialT;
+typedef Serial1Class<MarlinSerial> MSerialT;
 extern MSerialT MSerial1;
 extern MSerialT MSerial2;
 extern MSerialT MSerial3;

Marlin/src/HAL/STM32/eeprom_flash.cpp

@@ -48,7 +48,7 @@
   #include "stm32_def.h"
 
   #define DEBUG_OUT ENABLED(EEPROM_CHITCHAT)
-  #include "src/core/debug_out.h"
+  #include "../../core/debug_out.h"
 
   #ifndef MARLIN_EEPROM_SIZE
     #define MARLIN_EEPROM_SIZE    0x1000 // 4KB

Marlin/src/HAL/STM32/inc/Conditionals_adv.h

@@ -24,3 +24,9 @@
 #if defined(USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE)
   #define HAS_SD_HOST_DRIVE 1
 #endif
+
+// Fix F_CPU not being a compile-time constant in STSTM32 framework
+#ifdef BOARD_F_CPU
+  #undef F_CPU
+  #define F_CPU BOARD_F_CPU
+#endif

Marlin/src/HAL/STM32/inc/SanityCheck.h

@@ -47,9 +47,9 @@
 #endif
 
 #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
-  #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on this platform."
+  #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on STM32."
 #elif ENABLED(SERIAL_STATS_DROPPED_RX)
-  #error "SERIAL_STATS_DROPPED_RX is not supported on this platform."
+  #error "SERIAL_STATS_DROPPED_RX is not supported on STM32."
 #endif
 
 #if ANY(TFT_COLOR_UI, TFT_LVGL_UI, TFT_CLASSIC_UI) && NOT_TARGET(STM32F4xx, STM32F1xx)

Marlin/src/HAL/STM32/tft/tft_spi.cpp

@@ -207,12 +207,12 @@ void TFT_SPI::Transmit(uint16_t Data) {
   while ((SPIx.Instance->SR & SPI_FLAG_BSY) == 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 */
+    __HAL_SPI_CLEAR_OVRFLAG(&SPIx);   // Clear overrun flag in 2 Lines communication mode because received is not read
 }
 
 void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   // Wait last dma finish, to start another
-  while(isBusy()) { }
+  while (isBusy()) { /* nada */ }
 
   DMAtx.Init.MemInc = MemoryIncrease;
   HAL_DMA_Init(&DMAtx);
@@ -225,7 +225,7 @@ void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Coun
   HAL_DMA_Start(&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 */
+  SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);   // Enable Tx DMA Request
 
   HAL_DMA_PollForTransfer(&DMAtx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY);
   Abort();

Marlin/src/HAL/STM32F1/HAL.cpp

@@ -84,7 +84,7 @@
 
 #if defined(SERIAL_USB) && !HAS_SD_HOST_DRIVE
   USBSerial SerialUSB;
-  DefaultSerial MSerial(true, SerialUSB);
+  DefaultSerial1 MSerial0(true, SerialUSB);
 
   #if ENABLED(EMERGENCY_PARSER)
     #include "../libmaple/usb/stm32f1/usb_reg_map.h"
@@ -107,7 +107,7 @@
       len = usb_cdcacm_peek(buf, total);
 
       for (uint32 i = 0; i < len; i++)
-        emergency_parser.update(MSerial.emergency_state, buf[i + total - len]);
+        emergency_parser.update(MSerial0.emergency_state, buf[i + total - len]);
     }
   #endif
 #endif
@@ -132,6 +132,9 @@ const uint8_t adc_pins[] = {
   #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
@@ -189,6 +192,9 @@ enum TempPinIndex : char {
   #if HAS_TEMP_CHAMBER
     TEMP_CHAMBER,
   #endif
+  #if HAS_TEMP_COOLER
+    TEMP_COOLER_PIN,
+  #endif
   #if HAS_TEMP_ADC_1
     TEMP_1,
   #endif
@@ -272,6 +278,8 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
   } }
 #endif
 
+TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+
 void HAL_init() {
   NVIC_SetPriorityGrouping(0x3);
   #if PIN_EXISTS(LED)
@@ -287,6 +295,7 @@ void HAL_init() {
     delay(1000);                                         // Give OS time to notice
     OUT_WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
   #endif
+  TERN_(POSTMORTEM_DEBUGGING, install_min_serial());    // Install the minimal serial handler
 }
 
 // HAL idle task
@@ -382,6 +391,9 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
     #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

Marlin/src/HAL/STM32F1/HAL.h

@@ -61,11 +61,11 @@
 #endif
 
 #ifdef SERIAL_USB
-  typedef ForwardSerial0Type< USBSerial > DefaultSerial;
-  extern DefaultSerial MSerial;
+  typedef ForwardSerial1Class< USBSerial > DefaultSerial1;
+  extern DefaultSerial1 MSerial0;
 
   #if !HAS_SD_HOST_DRIVE
-    #define UsbSerial MSerial
+    #define UsbSerial MSerial0
   #else
     #define UsbSerial MarlinCompositeSerial
   #endif
@@ -81,9 +81,9 @@
 #endif
 
 #if SERIAL_PORT == -1
-  #define MYSERIAL0 UsbSerial
+  #define MYSERIAL1 UsbSerial
 #elif WITHIN(SERIAL_PORT, 1, NUM_UARTS)
-  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #elif NUM_UARTS == 5
   #error "SERIAL_PORT must be -1 or from 1 to 5. Please update your configuration."
 #else
@@ -92,9 +92,9 @@
 
 #ifdef SERIAL_PORT_2
   #if SERIAL_PORT_2 == -1
-    #define MYSERIAL1 UsbSerial
+    #define MYSERIAL2 UsbSerial
   #elif WITHIN(SERIAL_PORT_2, 1, NUM_UARTS)
-    #define MYSERIAL1 MSERIAL(SERIAL_PORT_2)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
   #elif NUM_UARTS == 5
     #error "SERIAL_PORT_2 must be -1 or from 1 to 5. Please update your configuration."
   #else

Marlin/src/HAL/STM32F1/HAL_MinSerial.cpp

@@ -0,0 +1,118 @@
+/**
+ * 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
+ * Copyright (c) 2017 Victor Perez
+ *
+ * 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 __STM32F1__
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+
+#include "../shared/HAL_MinSerial.h"
+#include "watchdog.h"
+
+#include <libmaple/usart.h>
+#include <libmaple/rcc.h>
+#include <libmaple/nvic.h>
+
+/* Instruction Synchronization Barrier */
+#define isb() __asm__ __volatile__ ("isb" : : : "memory")
+
+/* Data Synchronization Barrier */
+#define dsb() __asm__ __volatile__ ("dsb" : : : "memory")
+
+static void TXBegin() {
+  #if !WITHIN(SERIAL_PORT, 1, 6)
+    #warning "Using POSTMORTEM_DEBUGGING requires a physical U(S)ART hardware in case of severe error."
+    #warning "Disabling the severe error reporting feature currently because the used serial port is not a HW port."
+  #else
+    // We use MYSERIAL1 here, so we need to figure out how to get the linked register
+    struct usart_dev* dev = MYSERIAL1.c_dev();
+
+    // Or use this if removing libmaple
+    // int irq = dev->irq_num;
+    // int nvicUART[] = { NVIC_USART1 /* = 37 */, NVIC_USART2 /* = 38 */, NVIC_USART3 /* = 39 */, NVIC_UART4 /* = 52 */, NVIC_UART5 /* = 53 */ };
+    // Disabling irq means setting the bit in the NVIC ICER register located at
+    // Disable UART interrupt in NVIC
+    nvic_irq_disable(dev->irq_num);
+
+    // Use this if removing libmaple
+    //NVIC_BASE->ICER[1] |= _BV(irq - 32);
+
+    // We NEED memory barriers to ensure Interrupts are actually disabled!
+    // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+    dsb();
+    isb();
+
+    rcc_clk_disable(dev->clk_id);
+    rcc_clk_enable(dev->clk_id);
+
+    usart_reg_map *regs = dev->regs;
+    regs->CR1 = 0; // Reset the USART
+    regs->CR2 = 0; // 1 stop bit
+
+    // If we don't touch the BRR (baudrate register), we don't need to recompute. Else we would need to call
+    usart_set_baud_rate(dev, 0, BAUDRATE);
+
+    regs->CR1 = (USART_CR1_TE | USART_CR1_UE); // 8 bits, no parity, 1 stop bit
+  #endif
+}
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() __asm__ volatile("": : :"memory");
+static void TX(char c) {
+  #if WITHIN(SERIAL_PORT, 1, 6)
+    struct usart_dev* dev = MYSERIAL1.c_dev();
+    while (!(dev->regs->SR & USART_SR_TXE)) {
+      TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+      sw_barrier();
+    }
+    dev->regs->DR = c;
+  #endif
+}
+
+void install_min_serial() {
+  HAL_min_serial_init = &TXBegin;
+  HAL_min_serial_out = &TX;
+}
+
+#if DISABLED(DYNAMIC_VECTORTABLE) && DISABLED(STM32F0xx) // Cortex M0 can't branch to a symbol that's too far, so we have a specific hack for them
+extern "C" {
+  __attribute__((naked)) void JumpHandler_ASM() {
+    __asm__ __volatile__ (
+      "b CommonHandler_ASM\n"
+    );
+  }
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_hardfault();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_busfault();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_usagefault();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_memmanage();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_nmi();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception7();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception8();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception9();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception10();
+  void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception13();
+}
+#endif
+
+#endif // POSTMORTEM_DEBUGGING
+#endif // __STM32F1__

Marlin/src/HAL/STM32F1/MarlinSerial.cpp

@@ -134,12 +134,12 @@ constexpr bool IsSerialClassAllowed(const HardwareSerial&) { return false; }
 // If you encounter this error, replace SerialX with MSerialX, for example MSerial3.
 
 // Non-TMC ports were already validated in HAL.h, so do not require verbose error messages.
-#ifdef MYSERIAL0
-  CHECK_CFG_SERIAL(MYSERIAL0);
-#endif
 #ifdef MYSERIAL1
   CHECK_CFG_SERIAL(MYSERIAL1);
 #endif
+#ifdef MYSERIAL2
+  CHECK_CFG_SERIAL(MYSERIAL2);
+#endif
 #ifdef LCD_SERIAL
   CHECK_CFG_SERIAL(LCD_SERIAL);
 #endif

Marlin/src/HAL/STM32F1/MarlinSerial.h

@@ -47,7 +47,7 @@ struct MarlinSerial : public HardwareSerial {
   #endif
 };
 
-typedef Serial0Type<MarlinSerial> MSerialT;
+typedef Serial1Class<MarlinSerial> MSerialT;
 
 extern MSerialT MSerial1;
 extern MSerialT MSerial2;

Marlin/src/HAL/STM32F1/eeprom_if_iic.cpp

@@ -40,7 +40,7 @@ void eeprom_init() { BL24CXX::init(); }
 // Public functions
 // ------------------------
 
-void eeprom_write_byte(uint8_t *pos, unsigned char value) {
+void eeprom_write_byte(uint8_t *pos, uint8_t value) {
   const unsigned eeprom_address = (unsigned)pos;
   return BL24CXX::writeOneByte(eeprom_address, value);
 }

Marlin/src/HAL/STM32F1/inc/SanityCheck.h

@@ -34,9 +34,9 @@
 #endif
 
 #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
-  #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on this platform."
+  #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on the STM32F1 platform."
 #elif ENABLED(SERIAL_STATS_DROPPED_RX)
-  #error "SERIAL_STATS_DROPPED_RX is not supported on this platform."
+  #error "SERIAL_STATS_DROPPED_RX is not supported on the STM32F1 platform."
 #endif
 
 #if ENABLED(NEOPIXEL_LED)

Marlin/src/HAL/STM32F1/msc_sd.cpp

@@ -24,7 +24,7 @@
 #define PRODUCT_ID 0x29
 
 USBMassStorage MarlinMSC;
-Serial0Type<USBCompositeSerial> MarlinCompositeSerial(true);
+Serial1Class<USBCompositeSerial> MarlinCompositeSerial(true);
 
 #include "../../inc/MarlinConfig.h"
 
@@ -43,26 +43,27 @@ Serial0Type<USBCompositeSerial> MarlinCompositeSerial(true);
 
 #if ENABLED(EMERGENCY_PARSER)
 
-// The original callback is not called (no way to retrieve address).
-// That callback detects a special STM32 reset sequence: this functionality is not essential
-// as M997 achieves the same.
-void my_rx_callback(unsigned int, void*) {
-  // max length of 16 is enough to contain all emergency commands
-  uint8 buf[16];
+  // The original callback is not called (no way to retrieve address).
+  // That callback detects a special STM32 reset sequence: this functionality is not essential
+  // as M997 achieves the same.
+  void my_rx_callback(unsigned int, void*) {
+    // max length of 16 is enough to contain all emergency commands
+    uint8 buf[16];
 
-  //rx is usbSerialPart.endpoints[2]
-  uint16 len = usb_get_ep_rx_count(usbSerialPart.endpoints[2].address);
-  uint32 total = composite_cdcacm_data_available();
+    //rx is usbSerialPart.endpoints[2]
+    uint16 len = usb_get_ep_rx_count(usbSerialPart.endpoints[2].address);
+    uint32 total = composite_cdcacm_data_available();
 
-  if (len == 0 || total == 0 || !WITHIN(total, len, COUNT(buf)))
-    return;
+    if (len == 0 || total == 0 || !WITHIN(total, len, COUNT(buf)))
+      return;
 
-  // cannot get character by character due to bug in composite_cdcacm_peek_ex
-  len = composite_cdcacm_peek(buf, total);
+    // cannot get character by character due to bug in composite_cdcacm_peek_ex
+    len = composite_cdcacm_peek(buf, total);
+
+    for (uint32 i = 0; i < len; i++)
+      emergency_parser.update(MarlinCompositeSerial.emergency_state, buf[i+total-len]);
+  }
 
-  for (uint32 i = 0; i < len; i++)
-    emergency_parser.update(MarlinCompositeSerial.emergency_state, buf[i+total-len]);
-}
 #endif
 
 void MSC_SD_init() {
@@ -87,7 +88,7 @@ void MSC_SD_init() {
   MarlinCompositeSerial.registerComponent();
   USBComposite.begin();
   #if ENABLED(EMERGENCY_PARSER)
-  	composite_cdcacm_set_hooks(USBHID_CDCACM_HOOK_RX, my_rx_callback);
+    composite_cdcacm_set_hooks(USBHID_CDCACM_HOOK_RX, my_rx_callback);
   #endif
 }
 

Marlin/src/HAL/STM32F1/msc_sd.h

@@ -21,6 +21,6 @@
 #include "../../core/serial_hook.h"
 
 extern USBMassStorage MarlinMSC;
-extern Serial0Type<USBCompositeSerial> MarlinCompositeSerial;
+extern Serial1Class<USBCompositeSerial> MarlinCompositeSerial;
 
 void MSC_SD_init();

Marlin/src/HAL/TEENSY31_32/HAL.cpp

@@ -31,7 +31,11 @@
 
 #include <Wire.h>
 
-DefaultSerial MSerial(false);
+#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
+#define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
+#if WITHIN(SERIAL_PORT, 0, 3)
+  IMPLEMENT_SERIAL(SERIAL_PORT);
+#endif
 USBSerialType USBSerial(false, SerialUSB);
 
 uint16_t HAL_adc_result;

Marlin/src/HAL/TEENSY31_32/HAL.h

@@ -51,19 +51,24 @@
 #endif
 
 #include "../../core/serial_hook.h"
-typedef Serial0Type<decltype(Serial)> DefaultSerial;
-extern DefaultSerial MSerial;
-typedef ForwardSerial0Type<decltype(SerialUSB)> USBSerialType;
+
+#define Serial0 Serial
+#define _DECLARE_SERIAL(X) \
+  typedef ForwardSerial1Class<decltype(Serial##X)> DefaultSerial##X; \
+  extern DefaultSerial##X MSerial##X
+#define DECLARE_SERIAL(X) _DECLARE_SERIAL(X)
+
+typedef ForwardSerial1Class<decltype(SerialUSB)> USBSerialType;
 extern USBSerialType USBSerial;
 
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)
-#define MSerial0 MSerial
 
 #if SERIAL_PORT == -1
-  #define MYSERIAL0 USBSerial
+  #define MYSERIAL1 USBSerial
 #elif WITHIN(SERIAL_PORT, 0, 3)
-  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+  DECLARE_SERIAL(SERIAL_PORT);
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #endif
 
 #define HAL_SERVO_LIB libServo

Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h

@@ -34,5 +34,9 @@
 #endif
 
 #if HAS_TMC_SW_SERIAL
-  #error "TMC220x Software Serial is not supported on this platform."
+  #error "TMC220x Software Serial is not supported on Teensy 3.1/3.2."
+#endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 3.1/3.2."
 #endif

Marlin/src/HAL/TEENSY35_36/HAL.cpp

@@ -31,7 +31,12 @@
 
 #include <Wire.h>
 
-DefaultSerial MSerial(false);
+#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
+#define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
+#if WITHIN(SERIAL_PORT, 0, 3)
+  IMPLEMENT_SERIAL(SERIAL_PORT);
+#endif
+
 USBSerialType USBSerial(false, SerialUSB);
 
 uint16_t HAL_adc_result, HAL_adc_select;

Marlin/src/HAL/TEENSY35_36/HAL.h

@@ -54,19 +54,24 @@
 #endif
 
 #include "../../core/serial_hook.h"
-typedef Serial0Type<decltype(Serial)> DefaultSerial;
-extern DefaultSerial MSerial;
-typedef ForwardSerial0Type<decltype(SerialUSB)> USBSerialType;
+
+#define Serial0 Serial
+#define _DECLARE_SERIAL(X) \
+  typedef ForwardSerial1Class<decltype(Serial##X)> DefaultSerial##X; \
+  extern DefaultSerial##X MSerial##X
+#define DECLARE_SERIAL(X) _DECLARE_SERIAL(X)
+
+typedef ForwardSerial1Class<decltype(SerialUSB)> USBSerialType;
 extern USBSerialType USBSerial;
 
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)
-#define MSerial0 MSerial
 
 #if SERIAL_PORT == -1
-  #define MYSERIAL0 USBSerial
+  #define MYSERIAL1 USBSerial
 #elif WITHIN(SERIAL_PORT, 0, 3)
-  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
+  DECLARE_SERIAL(SERIAL_PORT);
 #endif
 
 #define HAL_SERVO_LIB libServo

Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h

@@ -34,5 +34,9 @@
 #endif
 
 #if HAS_TMC_SW_SERIAL
-  #error "TMC220x Software Serial is not supported on this platform."
+  #error "TMC220x Software Serial is not supported on Teensy 3.5/3.6."
+#endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 3.5/3.6."
 #endif

Marlin/src/HAL/TEENSY40_41/HAL.cpp

@@ -32,7 +32,11 @@
 
 #include <Wire.h>
 
-DefaultSerial MSerial(false);
+#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
+#define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
+#if WITHIN(SERIAL_PORT, 0, 3)
+  IMPLEMENT_SERIAL(SERIAL_PORT);
+#endif
 USBSerialType USBSerial(false, SerialUSB);
 
 uint16_t HAL_adc_result, HAL_adc_select;

Marlin/src/HAL/TEENSY40_41/HAL.h

@@ -56,30 +56,34 @@
 #endif
 
 #include "../../core/serial_hook.h"
-typedef Serial0Type<decltype(Serial)> DefaultSerial;
-extern DefaultSerial MSerial;
-typedef ForwardSerial0Type<decltype(SerialUSB)> USBSerialType;
+#define Serial0 Serial
+#define _DECLARE_SERIAL(X) \
+  typedef ForwardSerial1Class<decltype(Serial##X)> DefaultSerial##X; \
+  extern DefaultSerial##X MSerial##X
+#define DECLARE_SERIAL(X) _DECLARE_SERIAL(X)
+
+typedef ForwardSerial1Class<decltype(SerialUSB)> USBSerialType;
 extern USBSerialType USBSerial;
 
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)
-#define MSerial0 MSerial
 
 #if SERIAL_PORT == -1
-  #define MYSERIAL0 SerialUSB
+  #define MYSERIAL1 SerialUSB
 #elif WITHIN(SERIAL_PORT, 0, 8)
-  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+  DECLARE_SERIAL(SERIAL_PORT);
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
   #error "The required SERIAL_PORT must be from -1 to 8. Please update your configuration."
 #endif
 
 #ifdef SERIAL_PORT_2
   #if SERIAL_PORT_2 == -1
-    #define MYSERIAL1 usbSerial
+    #define MYSERIAL2 usbSerial
   #elif SERIAL_PORT_2 == -2
-    #define MYSERIAL1 ethernet.telnetClient
+    #define MYSERIAL2 ethernet.telnetClient
   #elif WITHIN(SERIAL_PORT_2, 0, 8)
-    #define MYSERIAL1 MSERIAL(SERIAL_PORT_2)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
   #else
     #error "SERIAL_PORT_2 must be from -2 to 8. Please update your configuration."
   #endif

Marlin/src/HAL/TEENSY40_41/inc/SanityCheck.h

@@ -34,5 +34,9 @@
 #endif
 
 #if HAS_TMC_SW_SERIAL
-  #error "TMC220x Software Serial is not supported on this platform."
+  #error "TMC220x Software Serial is not supported on Teensy 4.0/4.1."
+#endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 4.0/4.1."
 #endif

Marlin/src/HAL/shared/Delay.cpp

@@ -51,7 +51,7 @@
   // Use hardware cycle counter instead, it's much safer
   void delay_dwt(uint32_t count) {
     // Reuse the ASM_CYCLES_PER_ITERATION variable to avoid wasting another useless variable
-    register uint32_t start = HW_REG(_DWT_CYCCNT) - ASM_CYCLES_PER_ITERATION, elapsed;
+    uint32_t start = HW_REG(_DWT_CYCCNT) - ASM_CYCLES_PER_ITERATION, elapsed;
     do {
       elapsed = HW_REG(_DWT_CYCCNT) - start;
     } while (elapsed < count);
@@ -109,12 +109,12 @@
     void dump_delay_accuracy_check() {
       auto report_call_time = [](PGM_P const name, PGM_P const unit, const uint32_t cycles, const uint32_t total, const bool do_flush=true) {
         SERIAL_ECHOPGM("Calling ");
-        serialprintPGM(name);
+        SERIAL_ECHOPGM_P(name);
         SERIAL_ECHOLNPAIR(" for ", cycles);
-        serialprintPGM(unit);
+        SERIAL_ECHOPGM_P(unit);
         SERIAL_ECHOLNPAIR(" took: ", total);
-        serialprintPGM(unit);
-        if (do_flush) SERIAL_FLUSH();
+        SERIAL_ECHOPGM_P(unit);
+        if (do_flush) SERIAL_FLUSHTX();
       };
 
       uint32_t s, e;
@@ -169,10 +169,7 @@
 
   void calibrate_delay_loop() {}
   #if ENABLED(MARLIN_DEV_MODE)
-    void dump_delay_accuracy_check() {
-      static PGMSTR(none, "N/A on this platform");
-      serialprintPGM(none);
-    }
+    void dump_delay_accuracy_check() { SERIAL_ECHOPGM_P(PSTR("N/A on this platform")); }
   #endif
 
 #endif

Marlin/src/HAL/shared/HAL_MinSerial.cpp

@@ -0,0 +1,33 @@
+/**
+ * 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/>.
+ *
+ */
+#include "HAL_MinSerial.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+
+void HAL_min_serial_init_default() {}
+void HAL_min_serial_out_default(char ch) { SERIAL_CHAR(ch); }
+void (*HAL_min_serial_init)() = &HAL_min_serial_init_default;
+void (*HAL_min_serial_out)(char) = &HAL_min_serial_out_default;
+
+bool MinSerial::force_using_default_output = false;
+
+#endif

Marlin/src/HAL/shared/HAL_MinSerial.h

@@ -0,0 +1,79 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../core/serial.h"
+#include <stdint.h>
+
+// Serial stuff here
+// Inside an exception handler, the CPU state is not safe, we can't expect the handler to resume
+// and the software to continue. UART communication can't rely on later callback/interrupt as it might never happen.
+// So, you need to provide some method to send one byte to the usual UART with the interrupts disabled
+// By default, the method uses SERIAL_CHAR but it's 100% guaranteed to break (couldn't be worse than nothing...)7
+extern void (*HAL_min_serial_init)();
+extern void (*HAL_min_serial_out)(char ch);
+
+struct MinSerial {
+  static bool force_using_default_output;
+  // Serial output
+  static void TX(char ch) {
+    if (force_using_default_output)
+      SERIAL_CHAR(ch);
+    else
+      HAL_min_serial_out(ch);
+  }
+  // Send String through UART
+  static void TX(const char* s) { while (*s) TX(*s++); }
+  // Send a digit through UART
+  static void TXDigit(uint32_t d) {
+    if (d < 10) TX((char)(d+'0'));
+    else if (d < 16) TX((char)(d+'A'-10));
+    else TX('?');
+  }
+
+  // Send Hex number through UART
+  static void TXHex(uint32_t v) {
+    TX("0x");
+    for (uint8_t i = 0; i < 8; i++, v <<= 4)
+      TXDigit((v >> 28) & 0xF);
+  }
+
+  // Send Decimal number through UART
+  static void TXDec(uint32_t v) {
+    if (!v) {
+      TX('0');
+      return;
+    }
+
+    char nbrs[14];
+    char *p = &nbrs[0];
+    while (v != 0) {
+      *p++ = '0' + (v % 10);
+      v /= 10;
+    }
+    do {
+      p--;
+      TX(*p);
+    } while (p != &nbrs[0]);
+  }
+  static void init() { if (!force_using_default_output) HAL_min_serial_init(); }
+};

Marlin/src/HAL/shared/backtrace/backtrace.cpp

@@ -25,7 +25,7 @@
 #include "unwinder.h"
 #include "unwmemaccess.h"
 
-#include "../../../core/serial.h"
+#include "../HAL_MinSerial.h"
 #include <stdarg.h>
 
 // Dump a backtrace entry
@@ -34,10 +34,12 @@ static bool UnwReportOut(void* ctx, const UnwReport* bte) {
 
   (*p)++;
 
-  SERIAL_CHAR('#'); SERIAL_ECHO(*p); SERIAL_ECHOPGM(" : ");
-  SERIAL_ECHOPGM(bte->name ? bte->name : "unknown"); SERIAL_ECHOPGM("@0x"); SERIAL_PRINT(bte->function, PrintBase::Hex);
-  SERIAL_CHAR('+'); SERIAL_ECHO(bte->address - bte->function);
-  SERIAL_ECHOPGM(" PC:"); SERIAL_PRINT(bte->address, PrintBase::Hex); SERIAL_CHAR('\n');
+  const uint32_t a = bte->address, f = bte->function;
+  MinSerial::TX('#');    MinSerial::TXDec(*p);    MinSerial::TX(" : ");
+  MinSerial::TX(bte->name?:"unknown");            MinSerial::TX('@');   MinSerial::TXHex(f);
+  MinSerial::TX('+');    MinSerial::TXDec(a - f);
+  MinSerial::TX(" PC:"); MinSerial::TXHex(a);
+  MinSerial::TX('\n');
   return true;
 }
 
@@ -48,7 +50,7 @@ static bool UnwReportOut(void* ctx, const UnwReport* bte) {
     va_start(argptr, format);
     vsprintf(dest, format, argptr);
     va_end(argptr);
-    TX(&dest[0]);
+    MinSerial::TX(&dest[0]);
   }
 #endif
 
@@ -63,10 +65,10 @@ static const UnwindCallbacks UnwCallbacks = {
   #endif
 };
 
+// Perform a backtrace to the serial port
 void backtrace() {
 
-  UnwindFrame btf;
-  uint32_t sp = 0, lr = 0, pc = 0;
+  unsigned long sp = 0, lr = 0, pc = 0;
 
   // Capture the values of the registers to perform the traceback
   __asm__ __volatile__ (
@@ -79,6 +81,12 @@ void backtrace() {
     ::
   );
 
+  backtrace_ex(sp, lr, pc);
+}
+
+void backtrace_ex(unsigned long sp, unsigned long lr, unsigned long pc) {
+  UnwindFrame btf;
+
   // Fill the traceback structure
   btf.sp = sp;
   btf.fp = btf.sp;
@@ -86,7 +94,7 @@ void backtrace() {
   btf.pc = pc | 1; // Force Thumb, as CORTEX only support it
 
   // Perform a backtrace
-  SERIAL_ERROR_MSG("Backtrace:");
+  MinSerial::TX("Backtrace:");
   int ctr = 0;
   UnwindStart(&btf, &UnwCallbacks, &ctr);
 }
@@ -95,4 +103,4 @@ void backtrace() {
 
 void backtrace() {}
 
-#endif
+#endif // __arm__ || __thumb__

Marlin/src/HAL/shared/backtrace/backtrace.h

@@ -23,3 +23,6 @@
 
 // Perform a backtrace to the serial port
 void backtrace();
+
+// Perform a backtrace to the serial port
+void backtrace_ex(unsigned long sp, unsigned long lr, unsigned long pc);

Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp

@@ -41,27 +41,16 @@
   #define START_FLASH_ADDR  0x00000000
   #define END_FLASH_ADDR    0x00080000
 
-#elif 0
-
-  // For STM32F103CBT6
-  //  SRAM  (0x20000000 - 0x20005000) (20kb)
-  //  FLASH (0x00000000 - 0x00020000) (128kb)
-  //
-  #define START_SRAM_ADDR   0x20000000
-  #define END_SRAM_ADDR     0x20005000
-  #define START_FLASH_ADDR  0x00000000
-  #define END_FLASH_ADDR    0x00020000
-
 #elif defined(__STM32F1__) || defined(STM32F1xx) || defined(STM32F0xx)
 
   // For STM32F103ZET6/STM32F103VET6/STM32F0xx
   //  SRAM  (0x20000000 - 0x20010000) (64kb)
-  //  FLASH (0x00000000 - 0x00080000) (512kb)
+  //  FLASH (0x08000000 - 0x08080000) (512kb)
   //
   #define START_SRAM_ADDR   0x20000000
   #define END_SRAM_ADDR     0x20010000
-  #define START_FLASH_ADDR  0x00000000
-  #define END_FLASH_ADDR    0x00080000
+  #define START_FLASH_ADDR  0x08000000
+  #define END_FLASH_ADDR    0x08080000
 
 #elif defined(STM32F4) || defined(STM32F4xx)
 
@@ -142,20 +131,57 @@
   #define START_FLASH_ADDR  0x00000000
   #define END_FLASH_ADDR    0x00100000
 
+#else
+  // Generic ARM code, that's testing if an access to the given address would cause a fault or not
+  // It can't guarantee an address is in RAM or Flash only, but we usually don't care
+
+  #define NVIC_FAULT_STAT         0xE000ED28  // Configurable Fault Status Reg.
+  #define NVIC_CFG_CTRL           0xE000ED14  // Configuration Control Register
+  #define NVIC_FAULT_STAT_BFARV   0x00008000  // BFAR is valid
+  #define NVIC_CFG_CTRL_BFHFNMIGN 0x00000100  // Ignore bus fault in NMI/fault
+  #define HW_REG(X)  (*((volatile unsigned long *)(X)))
+
+  static bool validate_addr(uint32_t read_address) {
+    bool     works = true;
+    uint32_t intDisabled = 0;
+    // Read current interrupt state
+    __asm__ __volatile__ ("MRS %[result], PRIMASK\n\t" : [result]"=r"(intDisabled) :: ); // 0 is int enabled, 1 for disabled
+
+    // Clear bus fault indicator first (write 1 to clear)
+    HW_REG(NVIC_FAULT_STAT) |= NVIC_FAULT_STAT_BFARV;
+    // Ignore bus fault interrupt
+    HW_REG(NVIC_CFG_CTRL) |= NVIC_CFG_CTRL_BFHFNMIGN;
+    // Disable interrupts if not disabled previously
+    if (!intDisabled) __asm__ __volatile__ ("CPSID f");
+    // Probe address
+    *(volatile uint32_t*)read_address;
+    // Check if a fault happened
+    if ((HW_REG(NVIC_FAULT_STAT) & NVIC_FAULT_STAT_BFARV) != 0)
+      works = false;
+    // Enable interrupts again if previously disabled
+    if (!intDisabled) __asm__ __volatile__ ("CPSIE f");
+    // Enable fault interrupt flag
+    HW_REG(NVIC_CFG_CTRL) &= ~NVIC_CFG_CTRL_BFHFNMIGN;
+
+    return works;
+  }
+
 #endif
 
-static bool validate_addr(uint32_t addr) {
+#ifdef START_SRAM_ADDR
+  static bool validate_addr(uint32_t addr) {
 
-  // Address must be in SRAM range
-  if (addr >= START_SRAM_ADDR && addr < END_SRAM_ADDR)
-    return true;
+    // Address must be in SRAM range
+    if (addr >= START_SRAM_ADDR && addr < END_SRAM_ADDR)
+      return true;
 
-  // Or in FLASH range
-  if (addr >= START_FLASH_ADDR && addr < END_FLASH_ADDR)
-    return true;
+    // Or in FLASH range
+    if (addr >= START_FLASH_ADDR && addr < END_FLASH_ADDR)
+      return true;
 
-  return false;
-}
+    return false;
+  }
+#endif
 
 bool UnwReadW(const uint32_t a, uint32_t *v) {
   if (!validate_addr(a))

Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp

@@ -0,0 +1,379 @@
+/**
+ * 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
+ * Copyright (c) 2020 Cyril Russo
+ *
+ * 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/>.
+ *
+ */
+
+/***************************************************************************
+ * ARM CPU Exception handler
+ ***************************************************************************/
+
+#if defined(__arm__) || defined(__thumb__)
+
+
+/*
+  On ARM CPUs exception handling is quite powerful.
+
+  By default, upon a crash, the CPU enters the handlers that have a higher priority than any other interrupts,
+  so, in effect, no (real) interrupt can "interrupt" the handler (it's acting like if interrupts were disabled).
+
+  If the handler is not called as re-entrant (that is, if the crash is not happening inside an interrupt or an handler),
+  then it'll patch the return address to a dumping function (resume_from_fault) and save the crash state.
+  The CPU will exit the handler and, as such, re-allow the other interrupts, and jump to the dumping function.
+  In this function, the usual serial port (USB / HW) will be used to dump the crash (no special configuration required).
+
+  The only case where it requires hardware UART is when it's crashing in an interrupt or a crash handler.
+  In that case, instead of returning to the resume_from_fault function (and thus, re-enabling interrupts),
+  it jumps to this function directly (so with interrupts disabled), after changing the behavior of the serial output
+  wrapper to use the HW uart (and in effect, calling MinSerial::init which triggers a warning if you are using
+  a USB serial port).
+
+  In the case you have a USB serial port, this part will be disabled, and only that part (so that's the reason for
+  the warning).
+  This means that you can't have a crash report if the crash happens in an interrupt or an handler if you are using
+  a USB serial port since it's physically impossible.
+  You will get a crash report in all other cases.
+*/
+
+#include "exception_hook.h"
+#include "../backtrace/backtrace.h"
+#include "../HAL_MinSerial.h"
+
+#define HW_REG(X)  (*((volatile unsigned long *)(X)))
+
+// Default function use the CPU VTOR register to get the vector table.
+// Accessing the CPU VTOR register is done in assembly since it's the only way that's common to all current tool
+unsigned long get_vtor() { return HW_REG(0xE000ED08); } // Even if it looks like an error, it is not an error
+void * hook_get_hardfault_vector_address(unsigned vtor)  { return (void*)(vtor + 0x03); }
+void * hook_get_memfault_vector_address(unsigned vtor)   { return (void*)(vtor + 0x04); }
+void * hook_get_busfault_vector_address(unsigned vtor)   { return (void*)(vtor + 0x05); }
+void * hook_get_usagefault_vector_address(unsigned vtor) { return (void*)(vtor + 0x06); }
+void * hook_get_reserved_vector_address(unsigned vtor)   { return (void*)(vtor + 0x07); }
+
+// Common exception frame for ARM, should work for all ARM CPU
+// Described here (modified for convenience): https://interrupt.memfault.com/blog/cortex-m-fault-debug
+struct __attribute__((packed)) ContextStateFrame {
+  uint32_t r0;
+  uint32_t r1;
+  uint32_t r2;
+  uint32_t r3;
+  uint32_t r12;
+  uint32_t lr;
+  uint32_t pc;
+  uint32_t xpsr;
+};
+
+struct __attribute__((packed)) ContextSavedFrame {
+  uint32_t R0;
+  uint32_t R1;
+  uint32_t R2;
+  uint32_t R3;
+  uint32_t R12;
+  uint32_t LR;
+  uint32_t PC;
+  uint32_t XPSR;
+
+  uint32_t CFSR;
+  uint32_t HFSR;
+  uint32_t DFSR;
+  uint32_t AFSR;
+  uint32_t MMAR;
+  uint32_t BFAR;
+
+  uint32_t ESP;
+  uint32_t ELR;
+};
+
+#if DISABLED(STM32F0xx)
+  extern "C"
+  __attribute__((naked)) void CommonHandler_ASM() {
+    __asm__ __volatile__ (
+      // Bit 2 of LR tells which stack pointer to use (either main or process, only main should be used anyway)
+      "tst lr, #4\n"
+      "ite eq\n"
+      "mrseq r0, msp\n"
+      "mrsne r0, psp\n"
+      // Save the LR in use when being interrupted
+      "mov r1, lr\n"
+      // Get the exception number from the ICSR register
+      "ldr r2, =0xE000ED00\n"
+      "ldr r2, [r2, #4]\n"
+      "b CommonHandler_C\n"
+    );
+  }
+#else // Cortex M0 does not support conditional mov and testing with a constant, so let's have a specific handler for it
+  extern "C"
+  __attribute__((naked)) void CommonHandler_ASM() {
+    __asm__ __volatile__ (
+      ".syntax unified\n"
+      // Save the LR in use when being interrupted
+      "mov  r1, lr\n"
+      // Get the exception number from the ICSR register
+      "ldr  r2, =0xE000ED00\n"
+      "ldr  r2, [r2, #4]\n"
+      "movs r0, #4\n"
+      "tst  r1, r0\n"
+      "beq _MSP\n"
+      "mrs  r0, psp\n"
+      "b CommonHandler_C\n"
+      "_MSP:\n"
+      "mrs  r0, msp\n"
+      "b CommonHandler_C\n"
+    );
+  }
+
+  #if DISABLED(DYNAMIC_VECTORTABLE) // Cortex M0 requires the handler's address to be within 32kB to the actual function to be able to branch to it
+    extern "C" {
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_hardfault();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_busfault();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_usagefault();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_memmanage();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_nmi();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception7();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception8();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception9();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception10();
+      void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception13();
+    }
+    //TODO When going off from libmaple, you'll need to replace those by the one from STM32/HAL_MinSerial.cpp
+  #endif
+#endif
+
+// Must be a macro to avoid creating a function frame
+#define HALT_IF_DEBUGGING()             \
+  do {                                  \
+    if (HW_REG(0xE000EDF0) & _BV(0)) {  \
+      __asm("bkpt 1");                  \
+    }                                   \
+} while (0)
+
+// Resume from a fault (if possible) so we can still use interrupt based code for serial output
+// In that case, we will not jump back to the faulty code, but instead to a dumping code and then a
+// basic loop with watchdog calling or manual resetting
+static ContextSavedFrame savedFrame;
+static uint8_t           lastCause;
+bool resume_from_fault() {
+  static const char* causestr[] = { "Thread", "Rsvd", "NMI", "Hard", "Mem", "Bus", "Usage", "7", "8", "9", "10", "SVC", "Dbg", "13", "PendSV", "SysTk", "IRQ" };
+  // Reinit the serial link (might only work if implemented in each of your boards)
+  MinSerial::init();
+
+  MinSerial::TX("\n\n## Software Fault detected ##\n");
+  MinSerial::TX("Cause: "); MinSerial::TX(causestr[min(lastCause, (uint8_t)16)]); MinSerial::TX('\n');
+
+  MinSerial::TX("R0   : "); MinSerial::TXHex(savedFrame.R0);   MinSerial::TX('\n');
+  MinSerial::TX("R1   : "); MinSerial::TXHex(savedFrame.R1);   MinSerial::TX('\n');
+  MinSerial::TX("R2   : "); MinSerial::TXHex(savedFrame.R2);   MinSerial::TX('\n');
+  MinSerial::TX("R3   : "); MinSerial::TXHex(savedFrame.R3);   MinSerial::TX('\n');
+  MinSerial::TX("R12  : "); MinSerial::TXHex(savedFrame.R12);  MinSerial::TX('\n');
+  MinSerial::TX("LR   : "); MinSerial::TXHex(savedFrame.LR);   MinSerial::TX('\n');
+  MinSerial::TX("PC   : "); MinSerial::TXHex(savedFrame.PC);   MinSerial::TX('\n');
+  MinSerial::TX("PSR  : "); MinSerial::TXHex(savedFrame.XPSR); MinSerial::TX('\n');
+
+  // Configurable Fault Status Register
+  // Consists of MMSR, BFSR and UFSR
+  MinSerial::TX("CFSR : "); MinSerial::TXHex(savedFrame.CFSR); MinSerial::TX('\n');
+
+  // Hard Fault Status Register
+  MinSerial::TX("HFSR : "); MinSerial::TXHex(savedFrame.HFSR); MinSerial::TX('\n');
+
+  // Debug Fault Status Register
+  MinSerial::TX("DFSR : "); MinSerial::TXHex(savedFrame.DFSR); MinSerial::TX('\n');
+
+  // Auxiliary Fault Status Register
+  MinSerial::TX("AFSR : "); MinSerial::TXHex(savedFrame.AFSR); MinSerial::TX('\n');
+
+  // Read the Fault Address Registers. These may not contain valid values.
+  // Check BFARVALID/MMARVALID to see if they are valid values
+  // MemManage Fault Address Register
+  MinSerial::TX("MMAR : "); MinSerial::TXHex(savedFrame.MMAR); MinSerial::TX('\n');
+
+  // Bus Fault Address Register
+  MinSerial::TX("BFAR : "); MinSerial::TXHex(savedFrame.BFAR); MinSerial::TX('\n');
+
+  MinSerial::TX("ExcLR: "); MinSerial::TXHex(savedFrame.ELR); MinSerial::TX('\n');
+  MinSerial::TX("ExcSP: "); MinSerial::TXHex(savedFrame.ESP); MinSerial::TX('\n');
+
+  // The stack pointer is pushed by 8 words upon entering an exception, so we need to revert this
+  backtrace_ex(savedFrame.ESP + 8*4, savedFrame.LR, savedFrame.PC);
+
+  // Call the last resort function here
+  hook_last_resort_func();
+
+  const uint32_t start = millis(), end = start + 100; // 100ms should be enough
+  // We need to wait for the serial buffers to be output but we don't know for how long
+  // So we'll just need to refresh the watchdog for a while and then stop for the system to reboot
+  uint32_t last = start;
+  while (PENDING(last, end)) {
+    watchdog_refresh();
+    while (millis() == last) { /* nada */ }
+    last = millis();
+    MinSerial::TX('.');
+  }
+
+  // Reset now by reinstantiating the bootloader's vector table
+  HW_REG(0xE000ED08) = 0;
+  // Restart watchdog
+  #if DISABLED(USE_WATCHDOG)
+    // No watchdog, let's perform ARMv7 reset instead by writing to AIRCR register with VECTKEY set to SYSRESETREQ
+    HW_REG(0xE000ED0C) = (HW_REG(0xE000ED0C) & 0x0000FFFF) | 0x05FA0004;
+  #endif
+
+  while(1) {} // Bad luck, nothing worked
+}
+
+// Make sure the compiler does not optimize the frame argument away
+extern "C"
+__attribute__((optimize("O0")))
+void CommonHandler_C(ContextStateFrame * frame, unsigned long lr, unsigned long cause) {
+
+  // If you are using it'll stop here
+  HALT_IF_DEBUGGING();
+
+  // Save the state to backtrace later on (don't call memcpy here since the stack can be corrupted)
+  savedFrame.R0  = frame->r0;
+  savedFrame.R1  = frame->r1;
+  savedFrame.R2  = frame->r2;
+  savedFrame.R3  = frame->r3;
+  savedFrame.R12 = frame->r12;
+  savedFrame.LR  = frame->lr;
+  savedFrame.PC  = frame->pc;
+  savedFrame.XPSR= frame->xpsr;
+  lastCause = cause & 0x1FF;
+
+  volatile uint32_t &CFSR = HW_REG(0xE000ED28);
+  savedFrame.CFSR = CFSR;
+  savedFrame.HFSR = HW_REG(0xE000ED2C);
+  savedFrame.DFSR = HW_REG(0xE000ED30);
+  savedFrame.AFSR = HW_REG(0xE000ED3C);
+  savedFrame.MMAR = HW_REG(0xE000ED34);
+  savedFrame.BFAR = HW_REG(0xE000ED38);
+  savedFrame.ESP  = (unsigned long)frame; // Even on return, this should not be overwritten by the CPU
+  savedFrame.ELR  = lr;
+
+  // First check if we can resume from this exception to our own handler safely
+  // If we can, then we don't need to disable interrupts and the usual serial code
+  // can be used
+
+  //const uint32_t non_usage_fault_mask = 0x0000FFFF;
+  //const bool non_usage_fault_occurred = (CFSR & non_usage_fault_mask) != 0;
+  // the bottom 8 bits of the xpsr hold the exception number of the
+  // executing exception or 0 if the processor is in Thread mode
+  const bool faulted_from_exception = ((frame->xpsr & 0xFF) != 0);
+  if (!faulted_from_exception) { // Not sure about the non_usage_fault, we want to try anyway, don't we ? && !non_usage_fault_occurred)
+    // Try to resume to our handler here
+    CFSR |= CFSR; // The ARM programmer manual says you must write to 1 all fault bits to clear them so this instruction is correct
+    // The frame will not be valid when returning anymore, let's clean it
+    savedFrame.CFSR = 0;
+
+    frame->pc = (uint32_t)resume_from_fault; // Patch where to return to
+    frame->lr = 0xDEADBEEF;  // If our handler returns (it shouldn't), let's make it trigger an exception immediately
+    frame->xpsr = _BV(24);   // Need to clean the PSR register to thumb II only
+    MinSerial::force_using_default_output = true;
+    return; // The CPU will resume in our handler hopefully, and we'll try to use default serial output
+  }
+
+  // Sorry, we need to emergency code here since the fault is too dangerous to recover from
+  MinSerial::force_using_default_output = false;
+  resume_from_fault();
+}
+
+void hook_cpu_exceptions() {
+  #if ENABLED(DYNAMIC_VECTORTABLE)
+    // On ARM 32bits CPU, the vector table is like this:
+    // 0x0C => Hardfault
+    // 0x10 => MemFault
+    // 0x14 => BusFault
+    // 0x18 => UsageFault
+
+    // Unfortunately, it's usually run from flash, and we can't write to flash here directly to hook our instruction
+    // We could set an hardware breakpoint, and hook on the fly when it's being called, but this
+    // is hard to get right and would probably break debugger when attached
+
+    // So instead, we'll allocate a new vector table filled with the previous value except
+    // for the fault we are interested in.
+    // Now, comes the issue to figure out what is the current vector table size
+    // There is nothing telling us what is the vector table as it's per-cpu vendor specific.
+    // BUT: we are being called at the end of the setup, so we assume the setup is done
+    // Thus, we can read the current vector table until we find an address that's not in flash, and it would mark the
+    // end of the vector table (skipping the fist entry obviously)
+    // The position of the program in flash is expected to be at 0x08xxx xxxx on all known platform for ARM and the
+    // flash size is available via register 0x1FFFF7E0 on STM32 family, but it's not the case for all ARM boards
+    // (accessing this register might trigger a fault if it's not implemented).
+
+    // So we'll simply mask the top 8 bits of the first handler as an hint of being in the flash or not -that's poor and will
+    // probably break if the flash happens to be more than 128MB, but in this case, we are not magician, we need help from outside.
+
+    unsigned long * vecAddr = (unsigned long*)get_vtor();
+    SERIAL_ECHO("Vector table addr: ");
+    SERIAL_PRINTLN(get_vtor(), HEX);
+
+    #ifdef VECTOR_TABLE_SIZE
+      uint32_t vec_size = VECTOR_TABLE_SIZE;
+      alignas(128) static unsigned long vectable[VECTOR_TABLE_SIZE] ;
+    #else
+      #ifndef IS_IN_FLASH
+        #define IS_IN_FLASH(X) (((unsigned long)X & 0xFF000000) == 0x08000000)
+      #endif
+
+      // When searching for the end of the vector table, this acts as a limit not to overcome
+      #ifndef VECTOR_TABLE_SENTINEL
+        #define VECTOR_TABLE_SENTINEL 80
+      #endif
+
+      // Find the vector table size
+      uint32_t vec_size = 1;
+      while (IS_IN_FLASH(vecAddr[vec_size]) && vec_size < VECTOR_TABLE_SENTINEL)
+        vec_size++;
+
+      // We failed to find a valid vector table size, let's abort hooking up
+      if (vec_size == VECTOR_TABLE_SENTINEL) return;
+      // Poor method that's wasting RAM here, but allocating with malloc and alignment would be worst
+      // 128 bytes alignement is required for writing the VTOR register
+      alignas(128) static unsigned long vectable[VECTOR_TABLE_SENTINEL];
+
+      SERIAL_ECHO("Detected vector table size: ");
+      SERIAL_PRINTLN(vec_size, HEX);
+    #endif
+
+    uint32_t defaultFaultHandler = vecAddr[(unsigned)7];
+    // Copy the current vector table into the new table
+    for (uint32_t i = 0; i < vec_size; i++) {
+      vectable[i] = vecAddr[i];
+      // Replace all default handler by our own handler
+      if (vectable[i] == defaultFaultHandler)
+        vectable[i] = (unsigned long)&CommonHandler_ASM;
+    }
+
+    // Let's hook now with our functions
+    vectable[(unsigned long)hook_get_hardfault_vector_address(0)]  = (unsigned long)&CommonHandler_ASM;
+    vectable[(unsigned long)hook_get_memfault_vector_address(0)]   = (unsigned long)&CommonHandler_ASM;
+    vectable[(unsigned long)hook_get_busfault_vector_address(0)]   = (unsigned long)&CommonHandler_ASM;
+    vectable[(unsigned long)hook_get_usagefault_vector_address(0)] = (unsigned long)&CommonHandler_ASM;
+
+    // Finally swap with our own vector table
+    // This is supposed to be atomic, but let's do that with interrupt disabled
+
+    HW_REG(0xE000ED08) = (unsigned long)vectable | _BV32(29); // 29th bit is for telling the CPU the table is now in SRAM (should be present already)
+
+    SERIAL_ECHOLN("Installed fault handlers");
+  #endif
+}
+
+#endif // __arm__ || __thumb__

Marlin/src/HAL/shared/cpu_exception/exception_hook.cpp

@@ -0,0 +1,28 @@
+/**
+ * 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/>.
+ *
+ */
+#include "exception_hook.h"
+
+void * __attribute__((weak)) hook_get_hardfault_vector_address(unsigned) { return 0; }
+void * __attribute__((weak)) hook_get_memfault_vector_address(unsigned) { return 0; }
+void * __attribute__((weak)) hook_get_busfault_vector_address(unsigned) { return 0; }
+void * __attribute__((weak)) hook_get_usagefault_vector_address(unsigned) { return 0; }
+void __attribute__((weak)) hook_last_resort_func() {}

Marlin/src/HAL/shared/cpu_exception/exception_hook.h

@@ -0,0 +1,54 @@
+/**
+ * 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
+
+/* Here is the expected behavior of a system producing a CPU exception with this hook installed:
+   1. Before the system is crashed
+     1.1 Upon validation (not done yet in this code, but we could be using DEBUG flags here to allow/disallow hooking)
+     1.2 Install the hook by overwriting the vector table exception handler with the hooked function
+   2. Upon system crash (for example, by a dereference of a NULL pointer or anything else)
+     2.1 The CPU triggers its exception and jump into the vector table for the exception type
+     2.2 Instead of finding the default handler, it finds the updated pointer to our hook
+     2.3 The CPU jumps into our hook function (likely a naked function to keep all information about crash point intact)
+     2.4 The hook (naked) function saves the important registers (stack pointer, program counter, current mode) and jumps to a common exception handler (in C)
+     2.5 The common exception handler dumps the registers on the serial link and perform a backtrace around the crashing point
+     2.6 Once the backtrace is performed the last resort function is called (platform specific).
+         On some platform with a LCD screen, this might display the crash information as a QR code or as text for the
+         user to capture by taking a picture
+     2.7 The CPU is reset and/or halted by triggering a debug breakpoint if a debugger is attached */
+
+// Hook into CPU exception interrupt table to call the backtracing code upon an exception
+// Most platform will simply do nothing here, but those who can will install/overwrite the default exception handler
+// with a more performant exception handler
+void hook_cpu_exceptions();
+
+// Some platform might deal without a hard fault handler, in that case, return 0 in your platform here or skip implementing it
+void * __attribute__((weak)) hook_get_hardfault_vector_address(unsigned base_address);
+// Some platform might deal without a memory management fault handler, in that case, return 0 in your platform here or skip implementing it
+void * __attribute__((weak)) hook_get_memfault_vector_address(unsigned base_address);
+// Some platform might deal without a bus fault handler, in that case, return 0 in your platform here or skip implementing it
+void * __attribute__((weak)) hook_get_busfault_vector_address(unsigned base_address);
+// Some platform might deal without a usage fault handler, in that case, return 0 in your platform here or skip implementing it
+void * __attribute__((weak)) hook_get_usagefault_vector_address(unsigned base_address);
+
+// Last resort function that can be called after the exception handler was called.
+void __attribute__((weak)) hook_last_resort_func();

Marlin/src/HAL/shared/eeprom_if.h

@@ -25,5 +25,5 @@
 // EEPROM
 //
 void eeprom_init();
-void eeprom_write_byte(uint8_t *pos, unsigned char value);
+void eeprom_write_byte(uint8_t *pos, uint8_t value);
 uint8_t eeprom_read_byte(uint8_t *pos);

Marlin/src/HAL/shared/eeprom_if_i2c.cpp

@@ -32,7 +32,13 @@
 #include "eeprom_if.h"
 #include <Wire.h>
 
-void eeprom_init() { Wire.begin(); }
+void eeprom_init() {
+  Wire.begin(
+    #if PINS_EXIST(I2C_SCL, I2C_SDA)
+      uint8_t(I2C_SDA_PIN), uint8_t(I2C_SCL_PIN)
+    #endif
+  );
+}
 
 #if ENABLED(USE_SHARED_EEPROM)
 
@@ -49,12 +55,15 @@ static constexpr uint8_t eeprom_device_address = I2C_ADDRESS(EEPROM_DEVICE_ADDRE
 // Public functions
 // ------------------------
 
-void eeprom_write_byte(uint8_t *pos, unsigned char value) {
+static void _eeprom_begin(uint8_t * const pos) {
   const unsigned eeprom_address = (unsigned)pos;
-
   Wire.beginTransmission(eeprom_device_address);
-  Wire.write(int(eeprom_address >> 8));   // MSB
-  Wire.write(int(eeprom_address & 0xFF)); // LSB
+  Wire.write(int(eeprom_address >> 8));   // Address High
+  Wire.write(int(eeprom_address & 0xFF)); // Address Low
+}
+
+void eeprom_write_byte(uint8_t *pos, uint8_t value) {
+  _eeprom_begin(pos);
   Wire.write(value);
   Wire.endTransmission();
 
@@ -64,11 +73,7 @@ void eeprom_write_byte(uint8_t *pos, unsigned char value) {
 }
 
 uint8_t eeprom_read_byte(uint8_t *pos) {
-  const unsigned eeprom_address = (unsigned)pos;
-
-  Wire.beginTransmission(eeprom_device_address);
-  Wire.write(int(eeprom_address >> 8));   // MSB
-  Wire.write(int(eeprom_address & 0xFF)); // LSB
+  _eeprom_begin(pos);
   Wire.endTransmission();
   Wire.requestFrom(eeprom_device_address, (byte)1);
   return Wire.available() ? Wire.read() : 0xFF;

Marlin/src/HAL/shared/eeprom_if_spi.cpp

@@ -43,44 +43,41 @@ void eeprom_init() {}
   #define EEPROM_WRITE_DELAY    7
 #endif
 
-uint8_t eeprom_read_byte(uint8_t* pos) {
-  uint8_t v;
-  uint8_t eeprom_temp[3];
-
-  // set read location
-  // begin transmission from device
-  eeprom_temp[0] = CMD_READ;
-  eeprom_temp[1] = ((unsigned)pos>>8) & 0xFF; // addr High
-  eeprom_temp[2] = (unsigned)pos& 0xFF;       // addr Low
-  WRITE(SPI_EEPROM1_CS, HIGH);
-  WRITE(SPI_EEPROM1_CS, LOW);
+static void _eeprom_begin(uint8_t * const pos, const uint8_t cmd) {
+  const uint8_t eeprom_temp[3] = {
+    cmd,
+    (unsigned(pos) >> 8) & 0xFF,  // Address High
+     unsigned(pos)       & 0xFF   // Address Low
+  };
+  WRITE(SPI_EEPROM1_CS, HIGH);    // Usually free already
+  WRITE(SPI_EEPROM1_CS, LOW);     // Activate the Bus
   spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
+                                  // Leave the Bus in-use
+}
+
+uint8_t eeprom_read_byte(uint8_t* pos) {
+  _eeprom_begin(pos, CMD_READ);   // Set read location and begin transmission
+
+  const uint8_t v = spiRec(SPI_CHAN_EEPROM1); // After READ a value sits on the Bus
+
+  WRITE(SPI_EEPROM1_CS, HIGH);    // Done with device
 
-  v = spiRec(SPI_CHAN_EEPROM1);
-  WRITE(SPI_EEPROM1_CS, HIGH);
   return v;
 }
 
-void eeprom_write_byte(uint8_t* pos, uint8_t value) {
-  uint8_t eeprom_temp[3];
-
-  /*write enable*/
-  eeprom_temp[0] = CMD_WREN;
+void eeprom_write_byte(uint8_t *pos, uint8_t value) {
+  const uint8_t eeprom_temp = CMD_WREN;
   WRITE(SPI_EEPROM1_CS, LOW);
-  spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 1);
-  WRITE(SPI_EEPROM1_CS, HIGH);
-  delay(1);
+  spiSend(SPI_CHAN_EEPROM1, &eeprom_temp, 1); // Write Enable
 
-  /*write addr*/
-  eeprom_temp[0] = CMD_WRITE;
-  eeprom_temp[1] = ((unsigned)pos>>8) & 0xFF;  //addr High
-  eeprom_temp[2] = (unsigned)pos & 0xFF;       //addr Low
-  WRITE(SPI_EEPROM1_CS, LOW);
-  spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3);
+  WRITE(SPI_EEPROM1_CS, HIGH);      // Done with the Bus
+  delay(1);                         // For a small amount of time
 
-  spiSend(SPI_CHAN_EEPROM1, value);
-  WRITE(SPI_EEPROM1_CS, HIGH);
-  delay(EEPROM_WRITE_DELAY);   // wait for page write to complete
+  _eeprom_begin(pos, CMD_WRITE);    // Set write address and begin transmission
+
+  spiSend(SPI_CHAN_EEPROM1, value); // Send the value to be written
+  WRITE(SPI_EEPROM1_CS, HIGH);      // Done with the Bus
+  delay(EEPROM_WRITE_DELAY);        // Give page write time to complete
 }
 
 #endif // USE_SHARED_EEPROM

Marlin/src/MarlinCore.cpp

@@ -36,6 +36,7 @@
 
 #include "HAL/shared/Delay.h"
 #include "HAL/shared/esp_wifi.h"
+#include "HAL/shared/cpu_exception/exception_hook.h"
 
 #ifdef ARDUINO
   #include <pins_arduino.h>
@@ -230,6 +231,10 @@
   #include "feature/password/password.h"
 #endif
 
+#if ENABLED(DGUS_LCD_UI_MKS)
+  #include "lcd/extui/lib/dgus/DGUSScreenHandler.h"
+#endif
+
 PGMSTR(M112_KILL_STR, "M112 Shutdown");
 
 MarlinState marlin_state = MF_INITIALIZING;
@@ -387,6 +392,7 @@ void startOrResumeJob() {
     if (queue.enqueue_one_P(PSTR("M1001"))) {
       marlin_state = MF_RUNNING;
       TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine());
+      TERN_(DGUS_LCD_UI_MKS, ScreenHandler.SDPrintingFinished());
     }
   }
 
@@ -400,13 +406,14 @@ void startOrResumeJob() {
  *  - Check if CHDK_PIN needs to go LOW
  *  - Check for KILL button held down
  *  - Check for HOME button held down
+ *  - Check for CUSTOM USER button held down
  *  - Check if cooling fan needs to be switched on
  *  - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  *  - Pulse FET_SAFETY_PIN if it exists
  */
 inline void manage_inactivity(const bool ignore_stepper_queue=false) {
 
-  if (queue.length < BUFSIZE) queue.get_available_commands();
+  queue.get_available_commands();
 
   const millis_t ms = millis();
 
@@ -492,6 +499,102 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
     }
   #endif
 
+  #if ENABLED(CUSTOM_USER_BUTTONS)
+    // Handle a custom user button if defined
+    const bool printer_not_busy = !printingIsActive();
+    #define HAS_CUSTOM_USER_BUTTON(N) (PIN_EXISTS(BUTTON##N) && defined(BUTTON##N##_HIT_STATE) && defined(BUTTON##N##_GCODE) && defined(BUTTON##N##_DESC))
+    #define CHECK_CUSTOM_USER_BUTTON(N) do{                            \
+      constexpr millis_t CUB_DEBOUNCE_DELAY_##N = 250UL;               \
+      static millis_t next_cub_ms_##N;                                 \
+      if (BUTTON##N##_HIT_STATE == READ(BUTTON##N##_PIN)               \
+        && (ENABLED(BUTTON##N##_WHEN_PRINTING) || printer_not_busy)) { \
+        const millis_t ms = millis();                                  \
+        if (ELAPSED(ms, next_cub_ms_##N)) {                            \
+          next_cub_ms_##N = ms + CUB_DEBOUNCE_DELAY_##N;               \
+          if (strlen(BUTTON##N##_DESC))                                \
+            LCD_MESSAGEPGM_P(PSTR(BUTTON##N##_DESC));                  \
+          queue.inject_P(PSTR(BUTTON##N##_GCODE));                     \
+        }                                                              \
+      }                                                                \
+    }while(0)
+
+    #if HAS_CUSTOM_USER_BUTTON(1)
+      CHECK_CUSTOM_USER_BUTTON(1);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(2)
+      CHECK_CUSTOM_USER_BUTTON(2);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(3)
+      CHECK_CUSTOM_USER_BUTTON(3);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(4)
+      CHECK_CUSTOM_USER_BUTTON(4);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(5)
+      CHECK_CUSTOM_USER_BUTTON(5);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(6)
+      CHECK_CUSTOM_USER_BUTTON(6);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(7)
+      CHECK_CUSTOM_USER_BUTTON(7);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(8)
+      CHECK_CUSTOM_USER_BUTTON(8);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(9)
+      CHECK_CUSTOM_USER_BUTTON(9);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(10)
+      CHECK_CUSTOM_USER_BUTTON(10);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(11)
+      CHECK_CUSTOM_USER_BUTTON(11);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(12)
+      CHECK_CUSTOM_USER_BUTTON(12);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(13)
+      CHECK_CUSTOM_USER_BUTTON(13);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(14)
+      CHECK_CUSTOM_USER_BUTTON(14);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(15)
+      CHECK_CUSTOM_USER_BUTTON(15);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(16)
+      CHECK_CUSTOM_USER_BUTTON(16);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(17)
+      CHECK_CUSTOM_USER_BUTTON(17);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(18)
+      CHECK_CUSTOM_USER_BUTTON(18);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(19)
+      CHECK_CUSTOM_USER_BUTTON(19);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(20)
+      CHECK_CUSTOM_USER_BUTTON(20);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(21)
+      CHECK_CUSTOM_USER_BUTTON(21);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(22)
+      CHECK_CUSTOM_USER_BUTTON(22);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(23)
+      CHECK_CUSTOM_USER_BUTTON(23);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(24)
+      CHECK_CUSTOM_USER_BUTTON(24);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(25)
+      CHECK_CUSTOM_USER_BUTTON(25);
+    #endif
+  #endif
+
   TERN_(USE_CONTROLLER_FAN, controllerFan.update()); // Check if fan should be turned on to cool stepper drivers down
 
   TERN_(AUTO_POWER_CONTROL, powerManager.check());
@@ -786,8 +889,8 @@ void stop() {
 
   print_job_timer.stop();
 
-  #if ENABLED(PROBING_FANS_OFF)
-    if (thermalManager.fans_paused) thermalManager.set_fans_paused(false); // put things back the way they were
+  #if EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE)
+    thermalManager.set_fans_paused(false); // Un-pause fans for safety
   #endif
 
   if (IsRunning()) {
@@ -850,25 +953,97 @@ inline void tmc_standby_setup() {
 }
 
 /**
- * Marlin entry-point: Set up before the program loop
- *  - Set up the kill pin, filament runout, power hold
- *  - Start the serial port
+ * Marlin Firmware entry-point. Abandon Hope All Ye Who Enter Here.
+ * Setup before the program loop:
+ *
+ *  - Call any special pre-init set for the board
+ *  - Put TMC drivers into Low Power Standby mode
+ *  - Init the serial ports (so setup can be debugged)
+ *  - Set up the kill and suicide pins
+ *  - Prepare (disable) board JTAG and Debug ports
+ *  - Init serial for a connected MKS TFT with WiFi
+ *  - Install Marlin custom Exception Handlers, if set.
+ *  - Init Marlin's HAL interfaces (for SPI, i2c, etc.)
+ *  - Init some optional hardware and features:
+ *    • MAX Thermocouple pins
+ *    • Duet Smart Effector
+ *    • Filament Runout Sensor
+ *    • TMC220x Stepper Drivers (Serial)
+ *    • PSU control
+ *    • Power-loss Recovery
+ *    • L64XX Stepper Drivers (SPI)
+ *    • Stepper Driver Reset: DISABLE
+ *    • TMC Stepper Drivers (SPI)
+ *    • Run BOARD_INIT if defined
+ *    • ESP WiFi
+ *  - Get the Reset Reason and report it
  *  - Print startup messages and diagnostics
- *  - Get EEPROM or default settings
- *  - Initialize managers for:
- *    • temperature
- *    • planner
- *    • watchdog
- *    • stepper
- *    • photo pin
- *    • servos
- *    • LCD controller
- *    • Digipot I2C
- *    • Z probe sled
- *    • status LEDs
- *    • Max7219
+ *  - Calibrate the HAL DELAY for precise timing
+ *  - Init the buzzer, possibly a custom timer
+ *  - Init more optional hardware:
+ *    • Color LED illumination
+ *    • Neopixel illumination
+ *    • Controller Fan
+ *    • Creality DWIN LCD (show boot image)
+ *    • Tare the Probe if possible
+ *  - Mount the (most likely external) SD Card
+ *  - Load settings from EEPROM (or use defaults)
+ *  - Init the Ethernet Port
+ *  - Init Touch Buttons (for emulated DOGLCD)
+ *  - Adjust the (certainly wrong) current position by the home offset
+ *  - Init the Planner::position (steps) based on current (native) position
+ *  - Initialize more managers and peripherals:
+ *    • Temperatures
+ *    • Print Job Timer
+ *    • Endstops and Endstop Interrupts
+ *    • Stepper ISR - Kind of Important!
+ *    • Servos
+ *    • Servo-based Probe
+ *    • Photograph Pin
+ *    • Laser/Spindle tool Power / PWM
+ *    • Coolant Control
+ *    • Bed Probe
+ *    • Stepper Driver Reset: ENABLE
+ *    • Digipot I2C - Stepper driver current control
+ *    • Stepper DAC - Stepper driver current control
+ *    • Solenoid (probe, or for other use)
+ *    • Home Pin
+ *    • Custom User Buttons
+ *    • Red/Blue Status LEDs
+ *    • Case Light
+ *    • Prusa MMU filament changer
+ *    • Fan Multiplexer
+ *    • Mixing Extruder
+ *    • BLTouch Probe
+ *    • I2C Position Encoders
+ *    • Custom I2C Bus handlers
+ *    • Enhanced tools or extruders:
+ *      • Switching Extruder
+ *      • Switching Nozzle
+ *      • Parking Extruder
+ *      • Magnetic Parking Extruder
+ *      • Switching Toolhead
+ *      • Electromagnetic Switching Toolhead
+ *    • Watchdog Timer - Also Kind of Important!
+ *    • Closed Loop Controller
+ *  - Run Startup Commands, if defined
+ *  - Tell host to close Host Prompts
+ *  - Test Trinamic driver connections
+ *  - Init Prusa MMU2 filament changer
+ *  - Init and test BL24Cxx EEPROM
+ *  - Init Creality DWIN encoder, show faux progress bar
+ *  - Reset Status Message / Show Service Messages
+ *  - Init MAX7219 LED Matrix
+ *  - Init Direct Stepping (Klipper-style motion control)
+ *  - Init TFT LVGL UI (with 3D Graphics)
+ *  - Apply Password Lock - Hold for Authentication
+ *  - Open Touch Screen Calibration screen, if not calibrated
+ *  - Set Marlin to RUNNING State
  */
 void setup() {
+  #ifdef BOARD_PREINIT
+    BOARD_PREINIT(); // Low-level init (before serial init)
+  #endif
 
   tmc_standby_setup();  // TMC Low Power Standby pins must be set early or they're not usable
 
@@ -876,8 +1051,7 @@ void setup() {
     auto log_current_ms = [&](PGM_P const msg) {
       SERIAL_ECHO_START();
       SERIAL_CHAR('['); SERIAL_ECHO(millis()); SERIAL_ECHOPGM("] ");
-      serialprintPGM(msg);
-      SERIAL_EOL();
+      SERIAL_ECHOLNPGM_P(msg);
     };
     #define SETUP_LOG(M) log_current_ms(PSTR(M))
   #else
@@ -885,14 +1059,14 @@ void setup() {
   #endif
   #define SETUP_RUN(C) do{ SETUP_LOG(STRINGIFY(C)); C; }while(0)
 
-  MYSERIAL0.begin(BAUDRATE);
+  MYSERIAL1.begin(BAUDRATE);
   millis_t serial_connect_timeout = millis() + 1000UL;
-  while (!MYSERIAL0.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+  while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
 
   #if HAS_MULTI_SERIAL && !HAS_ETHERNET
-    MYSERIAL1.begin(BAUDRATE);
+    MYSERIAL2.begin(BAUDRATE);
     serial_connect_timeout = millis() + 1000UL;
-    while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+    while (!MYSERIAL2.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
   #endif
   SERIAL_ECHOLNPGM("start");
 
@@ -911,12 +1085,6 @@ void setup() {
     OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING);
   #endif
 
-  #if ENABLED(PSU_CONTROL)
-    SETUP_LOG("PSU_CONTROL");
-    powersupply_on = ENABLED(PSU_DEFAULT_OFF);
-    if (ENABLED(PSU_DEFAULT_OFF)) PSU_OFF(); else PSU_ON();
-  #endif
-
   #if EITHER(DISABLE_DEBUG, DISABLE_JTAG)
     // Disable any hardware debug to free up pins for IO
     #if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
@@ -935,6 +1103,8 @@ void setup() {
     while (/*!WIFISERIAL && */PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
   #endif
 
+  TERN_(DYNAMIC_VECTORTABLE, hook_cpu_exceptions()); // If supported, install Marlin exception handlers at runtime
+
   SETUP_RUN(HAL_init());
 
   // Init and disable SPI thermocouples; this is still needed
@@ -945,10 +1115,6 @@ void setup() {
     OUT_WRITE(MAX6675_SS2_PIN, HIGH); // Disable
   #endif
 
-  #if HAS_L64XX
-    SETUP_RUN(L64xxManager.init());  // Set up SPI, init drivers
-  #endif
-
   #if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
     OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW);   // Put Smart Effector into NORMAL mode
   #endif
@@ -957,12 +1123,22 @@ void setup() {
     SETUP_RUN(runout.setup());
   #endif
 
+  #if HAS_TMC220x
+    SETUP_RUN(tmc_serial_begin());
+  #endif
+
+  #if ENABLED(PSU_CONTROL)
+    SETUP_LOG("PSU_CONTROL");
+    powersupply_on = ENABLED(PSU_DEFAULT_OFF);
+    if (ENABLED(PSU_DEFAULT_OFF)) PSU_OFF(); else PSU_ON();
+  #endif
+
   #if ENABLED(POWER_LOSS_RECOVERY)
     SETUP_RUN(recovery.setup());
   #endif
 
-  #if HAS_TMC220x
-    SETUP_RUN(tmc_serial_begin());
+  #if HAS_L64XX
+    SETUP_RUN(L64xxManager.init());  // Set up SPI, init drivers
   #endif
 
   #if HAS_STEPPER_RESET
@@ -992,7 +1168,7 @@ void setup() {
   if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET);
   HAL_clear_reset_source();
 
-  serialprintPGM(GET_TEXT(MSG_MARLIN));
+  SERIAL_ECHOPGM_P(GET_TEXT(MSG_MARLIN));
   SERIAL_CHAR(' ');
   SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
   SERIAL_EOL();
@@ -1121,19 +1297,95 @@ void setup() {
     SET_INPUT_PULLUP(HOME_PIN);
   #endif
 
+  #if ENABLED(CUSTOM_USER_BUTTONS)
+    #define INIT_CUSTOM_USER_BUTTON_PIN(N) do{ SET_INPUT(BUTTON##N##_PIN); WRITE(BUTTON##N##_PIN, !BUTTON##N##_HIT_STATE); }while(0)
+
+    #if HAS_CUSTOM_USER_BUTTON(1)
+      INIT_CUSTOM_USER_BUTTON_PIN(1);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(2)
+      INIT_CUSTOM_USER_BUTTON_PIN(2);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(3)
+      INIT_CUSTOM_USER_BUTTON_PIN(3);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(4)
+      INIT_CUSTOM_USER_BUTTON_PIN(4);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(5)
+      INIT_CUSTOM_USER_BUTTON_PIN(5);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(6)
+      INIT_CUSTOM_USER_BUTTON_PIN(6);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(7)
+      INIT_CUSTOM_USER_BUTTON_PIN(7);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(8)
+      INIT_CUSTOM_USER_BUTTON_PIN(8);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(9)
+      INIT_CUSTOM_USER_BUTTON_PIN(9);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(10)
+      INIT_CUSTOM_USER_BUTTON_PIN(10);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(11)
+      INIT_CUSTOM_USER_BUTTON_PIN(11);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(12)
+      INIT_CUSTOM_USER_BUTTON_PIN(12);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(13)
+      INIT_CUSTOM_USER_BUTTON_PIN(13);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(14)
+      INIT_CUSTOM_USER_BUTTON_PIN(14);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(15)
+      INIT_CUSTOM_USER_BUTTON_PIN(15);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(16)
+      INIT_CUSTOM_USER_BUTTON_PIN(16);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(17)
+      INIT_CUSTOM_USER_BUTTON_PIN(17);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(18)
+      INIT_CUSTOM_USER_BUTTON_PIN(18);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(19)
+      INIT_CUSTOM_USER_BUTTON_PIN(19);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(20)
+      INIT_CUSTOM_USER_BUTTON_PIN(20);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(21)
+      INIT_CUSTOM_USER_BUTTON_PIN(21);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(22)
+      INIT_CUSTOM_USER_BUTTON_PIN(22);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(23)
+      INIT_CUSTOM_USER_BUTTON_PIN(23);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(24)
+      INIT_CUSTOM_USER_BUTTON_PIN(24);
+    #endif
+    #if HAS_CUSTOM_USER_BUTTON(25)
+      INIT_CUSTOM_USER_BUTTON_PIN(25);
+    #endif
+  #endif
+
   #if PIN_EXISTS(STAT_LED_RED)
     OUT_WRITE(STAT_LED_RED_PIN, LOW); // OFF
   #endif
-
   #if PIN_EXISTS(STAT_LED_BLUE)
     OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // OFF
   #endif
 
   #if ENABLED(CASE_LIGHT_ENABLE)
-    #if DISABLED(CASE_LIGHT_USE_NEOPIXEL)
-      if (PWM_PIN(CASE_LIGHT_PIN)) SET_PWM(CASE_LIGHT_PIN); else SET_OUTPUT(CASE_LIGHT_PIN);
-    #endif
-    SETUP_RUN(caselight.update_brightness());
+    SETUP_RUN(caselight.init());
   #endif
 
   #if HAS_PRUSA_MMU1
@@ -1180,19 +1432,13 @@ void setup() {
     #endif
   #endif
 
-  #if ENABLED(MAGNETIC_PARKING_EXTRUDER)
-    SETUP_RUN(mpe_settings_init());
-  #endif
-
   #if ENABLED(PARKING_EXTRUDER)
     SETUP_RUN(pe_solenoid_init());
-  #endif
-
-  #if ENABLED(SWITCHING_TOOLHEAD)
+  #elif ENABLED(MAGNETIC_PARKING_EXTRUDER)
+    SETUP_RUN(mpe_settings_init());
+  #elif ENABLED(SWITCHING_TOOLHEAD)
     SETUP_RUN(swt_init());
-  #endif
-
-  #if ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
+  #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
     SETUP_RUN(est_init());
   #endif
 

Marlin/src/core/boards.h

@@ -126,6 +126,7 @@
 #define BOARD_EINSY_RAMBO             1203  // Einsy Rambo
 #define BOARD_EINSY_RETRO             1204  // Einsy Retro
 #define BOARD_SCOOVO_X9H              1205  // abee Scoovo X9H
+#define BOARD_RAMBO_THINKERV2         1206  // ThinkerV2
 
 //
 // Other ATmega1280, ATmega2560
@@ -278,6 +279,7 @@
 #define BOARD_ARCHIM2                 3024  // UltiMachine Archim2 (with TMC2130 drivers)
 #define BOARD_ALLIGATOR               3025  // Alligator Board R2
 #define BOARD_CNCONTROLS_15D          3026  // Cartesio CN Controls V15 on DUE
+#define BOARD_KRATOS32                3027  // K.3D Kratos32 (Arduino Due Shield)
 
 //
 // SAM3X8C ARM Cortex M3

Marlin/src/core/bug_on.h

@@ -0,0 +1,37 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Copyright (c) 2021 X-Ryl669 [https://blog.cyril.by]
+ *
+ * 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
+
+// We need SERIAL_ECHOPAIR and macros.h
+#include "serial.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  // Useful macro for stopping the CPU on an unexpected condition
+  // This is used like SERIAL_ECHOPAIR, that is: a key-value call of the local variables you want
+  // to dump to the serial port before stopping the CPU.
+  #define BUG_ON(V...) do { SERIAL_ECHOPAIR(ONLY_FILENAME, __LINE__, ": "); SERIAL_ECHOLNPAIR(V); SERIAL_FLUSHTX(); *(char*)0 = 42; } while(0)
+#elif ENABLED(MARLIN_DEV_MODE)
+  // Don't stop the CPU here, but at least dump the bug on the serial port
+  #define BUG_ON(V...) do { SERIAL_ECHOPAIR(ONLY_FILENAME, __LINE__, ": BUG!\n"); SERIAL_ECHOLNPAIR(V); SERIAL_FLUSHTX(); } while(0)
+#else
+  // Release mode, let's ignore the bug
+  #define BUG_ON(V...) NOOP
+#endif

Marlin/src/core/debug_out.h

@@ -27,7 +27,7 @@
 //
 
 #undef DEBUG_SECTION
-#undef DEBUG_PRINT_P
+#undef DEBUG_ECHOPGM_P
 #undef DEBUG_ECHO_START
 #undef DEBUG_ERROR_START
 #undef DEBUG_CHAR
@@ -59,7 +59,7 @@
   #include "debug_section.h"
   #define DEBUG_SECTION(N,S,D)    SectionLog N(PSTR(S),D)
 
-  #define DEBUG_PRINT_P(P)        serialprintPGM(P)
+  #define DEBUG_ECHOPGM_P(P)      SERIAL_ECHOPGM_P(P)
   #define DEBUG_ECHO_START        SERIAL_ECHO_START
   #define DEBUG_ERROR_START       SERIAL_ERROR_START
   #define DEBUG_CHAR              SERIAL_CHAR
@@ -89,7 +89,7 @@
 #else
 
   #define DEBUG_SECTION(...)        NOOP
-  #define DEBUG_PRINT_P(P)          NOOP
+  #define DEBUG_ECHOPGM_P(P)          NOOP
   #define DEBUG_ECHO_START()        NOOP
   #define DEBUG_ERROR_START()       NOOP
   #define DEBUG_CHAR(...)           NOOP

Marlin/src/core/debug_section.h

@@ -38,10 +38,10 @@ private:
   bool debug;
 
   void echo_msg(PGM_P const pre) {
-    serialprintPGM(pre);
+    SERIAL_ECHOPGM_P(pre);
     if (the_msg) {
       SERIAL_CHAR(' ');
-      serialprintPGM(the_msg);
+      SERIAL_ECHOPGM_P(the_msg);
     }
     SERIAL_CHAR(' ');
     print_xyz(current_position);

Marlin/src/core/language.h

@@ -131,6 +131,7 @@
 #define STR_WATCHDOG_FIRED                  "Watchdog timeout. Reset required."
 #define STR_ERR_KILLED                      "Printer halted. kill() called!"
 #define STR_ERR_STOPPED                     "Printer stopped due to errors. Fix the error and use M999 to restart. (Temperature is reset. Set it after restarting)"
+#define STR_ERR_SERIAL_MISMATCH             "Serial status mismatch"
 #define STR_BUSY_PROCESSING                 "busy: processing"
 #define STR_BUSY_PAUSED_FOR_USER            "busy: paused for user"
 #define STR_BUSY_PAUSED_FOR_INPUT           "busy: paused for input"
@@ -221,7 +222,7 @@
 
 // temperature.cpp strings
 #define STR_PID_AUTOTUNE_START              "PID Autotune start"
-#define STR_PID_BAD_EXTRUDER_NUM            "PID Autotune failed! Bad extruder number"
+#define STR_PID_BAD_HEATER_ID               "PID Autotune failed! Bad heater id"
 #define STR_PID_TEMP_TOO_HIGH               "PID Autotune failed! Temperature too high"
 #define STR_PID_TIMEOUT                     "PID Autotune failed! timeout"
 #define STR_BIAS                            " bias: "
@@ -246,6 +247,8 @@
 
 #define STR_HEATER_BED                      "bed"
 #define STR_HEATER_CHAMBER                  "chamber"
+#define STR_COOLER                          "cooler"
+#define STR_LASER_TEMP                      "laser temperature"
 
 #define STR_STOPPED_HEATER                  ", system stopped! Heater_ID: "
 #define STR_REDUNDANCY                      "Heater switched off. Temperature difference between temp sensors is too high !"

Marlin/src/core/macros.h

@@ -104,6 +104,7 @@
 #define RADIANS(d) ((d)*float(M_PI)/180.0f)
 #define DEGREES(r) ((r)*180.0f/float(M_PI))
 #define HYPOT2(x,y) (sq(x)+sq(y))
+#define NORMSQ(x,y,z) (sq(x)+sq(y)+sq(z))
 
 #define CIRCLE_AREA(R) (float(M_PI) * sq(float(R)))
 #define CIRCLE_CIRC(R) (2 * float(M_PI) * float(R))
@@ -349,6 +350,31 @@
   #define CALL_IF_EXISTS(Return, That, Method, ...) \
     static_cast<Return>(Private::Call_ ## Method(That, ##__VA_ARGS__))
 
+  // Compile-time string manipulation
+  namespace CompileTimeString {
+    // Simple compile-time parser to find the position of the end of a string
+    constexpr const char* findStringEnd(const char *str) {
+      return *str ? findStringEnd(str + 1) : str;
+    }
+
+    // Check whether a string contains a slash
+    constexpr bool containsSlash(const char *str) {
+      return *str == '/' ? true : (*str ? containsSlash(str + 1) : false);
+    }
+    // Find the last position of the slash
+    constexpr const char* findLastSlashPos(const char* str) {
+      return *str == '/' ? (str + 1) : findLastSlashPos(str - 1);
+    }
+    // Compile-time evaluation of the last part of a file path
+    // Typically used to shorten the path to file in compiled strings
+    // CompileTimeString::baseName(__FILE__) returns "macros.h" and not /path/to/Marlin/src/core/macros.h
+    constexpr const char* baseName(const char* str) {
+      return containsSlash(str) ? findLastSlashPos(findStringEnd(str)) : str;
+    }
+  }
+
+  #define ONLY_FILENAME CompileTimeString::baseName(__FILE__)
+
 #else
 
   #define MIN_2(a,b)      ((a)<(b)?(a):(b))

Marlin/src/core/serial.cpp

@@ -37,19 +37,22 @@ PGMSTR(SP_A_STR, " A");  PGMSTR(SP_B_STR, " B");  PGMSTR(SP_C_STR, " C");
 PGMSTR(SP_X_STR, " X");  PGMSTR(SP_Y_STR, " Y");  PGMSTR(SP_Z_STR, " Z");  PGMSTR(SP_E_STR, " E");
 PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMSTR(SP_E_LBL, " E:");
 
+// Hook Meatpack if it's enabled on the first leaf
+#if ENABLED(MEATPACK_ON_SERIAL_PORT_1)
+  SerialLeafT1 mpSerial1(false, _SERIAL_LEAF_1);
+#endif
+#if ENABLED(MEATPACK_ON_SERIAL_PORT_2)
+  SerialLeafT2 mpSerial2(false, _SERIAL_LEAF_2);
+#endif
+
+// Step 2: For multiserial, handle the second serial port as well
 #if HAS_MULTI_SERIAL
-  #ifdef SERIAL_CATCHALL
-    SerialOutputT multiSerial(MYSERIAL, SERIAL_CATCHALL);
-  #else
-    #if HAS_ETHERNET
-      // Runtime checking of the condition variable
-      ConditionalSerial<decltype(MYSERIAL1)> serialOut1(ethernet.have_telnet_client, MYSERIAL1, false); // Takes reference here
-    #else
-      // Don't pay for runtime checking a true variable, instead use the output directly
-      #define serialOut1 MYSERIAL1
-    #endif
-    SerialOutputT multiSerial(MYSERIAL0, serialOut1);
+  #if HAS_ETHERNET
+    // We need a definition here
+    SerialLeafT2 msSerial2(ethernet.have_telnet_client, MYSERIAL2, false);
   #endif
+
+  SerialOutputT multiSerial(SERIAL_LEAF_1, SERIAL_LEAF_2);
 #endif
 
 void serialprintPGM(PGM_P str) {

Marlin/src/core/serial.h

@@ -24,6 +24,10 @@
 #include "../inc/MarlinConfig.h"
 #include "serial_hook.h"
 
+#if HAS_MEATPACK
+  #include "../feature/meatpack.h"
+#endif
+
 // Commonly-used strings in serial output
 extern const char NUL_STR[], SP_P_STR[], SP_T_STR[],
                   X_STR[], Y_STR[], Z_STR[], E_STR[],
@@ -58,31 +62,66 @@ extern uint8_t marlin_debug_flags;
 //
 // Serial redirection
 //
-typedef int8_t serial_index_t;
-#define SERIAL_ALL 0x7F
-#if HAS_MULTI_SERIAL
-  #define _PORT_REDIRECT(n,p)   REMEMBER(n,multiSerial.portMask,p)
-  #define _PORT_RESTORE(n,p)    RESTORE(n)
-  #define SERIAL_ASSERT(P)      if(multiSerial.portMask!=(P)){ debugger(); }
-  #ifdef SERIAL_CATCHALL
-    typedef MultiSerial<decltype(MYSERIAL), decltype(SERIAL_CATCHALL), 0> SerialOutputT;
-  #else
-    typedef MultiSerial<decltype(MYSERIAL0), TERN(HAS_ETHERNET, ConditionalSerial<decltype(MYSERIAL1)>, decltype(MYSERIAL1)), 0>      SerialOutputT;
-  #endif
-  extern SerialOutputT          multiSerial;
-  #define SERIAL_IMPL           multiSerial
+// Step 1: Find what's the first serial leaf
+#if BOTH(HAS_MULTI_SERIAL, SERIAL_CATCHALL)
+  #define _SERIAL_LEAF_1  MYSERIAL
 #else
-  #define _PORT_REDIRECT(n,p)   NOOP
-  #define _PORT_RESTORE(n)      NOOP
-  #define SERIAL_ASSERT(P)      NOOP
-  #define SERIAL_IMPL           MYSERIAL0
+  #define _SERIAL_LEAF_1  MYSERIAL1
+#endif
+
+// Hook Meatpack if it's enabled on the first leaf
+#if ENABLED(MEATPACK_ON_SERIAL_PORT_1)
+  typedef MeatpackSerial<decltype(_SERIAL_LEAF_1)> SerialLeafT1;
+  extern SerialLeafT1 mpSerial1;
+  #define SERIAL_LEAF_1 mpSerial1
+#else
+  #define SERIAL_LEAF_1 _SERIAL_LEAF_1
+#endif
+
+// Step 2: For multiserial, handle the second serial port as well
+#if HAS_MULTI_SERIAL
+  #define _PORT_REDIRECT(n,p) REMEMBER(n,multiSerial.portMask,p)
+  #define _PORT_RESTORE(n,p)  RESTORE(n)
+  #define SERIAL_ASSERT(P)    if(multiSerial.portMask!=(P)){ debugger(); }
+  // If we have a catchall, use that directly
+  #ifdef SERIAL_CATCHALL
+    #define _SERIAL_LEAF_2 SERIAL_CATCHALL
+  #else
+    #if HAS_ETHERNET
+      // We need to create an instance here
+      typedef ConditionalSerial<decltype(MYSERIAL2)> SerialLeafT2;
+      extern SerialLeafT2 msSerial2;
+      #define _SERIAL_LEAF_2 msSerial2
+    #else
+      // Don't create a useless instance here, directly use the existing instance
+      #define _SERIAL_LEAF_2 MYSERIAL2
+    #endif
+  #endif
+
+  // Hook Meatpack if it's enabled on the second leaf
+  #if ENABLED(MEATPACK_ON_SERIAL_PORT_2)
+    typedef MeatpackSerial<decltype(_SERIAL_LEAF_2)> SerialLeafT2;
+    extern SerialLeafT2 mpSerial2;
+    #define SERIAL_LEAF_2 mpSerial2
+  #else
+    #define SERIAL_LEAF_2 _SERIAL_LEAF_2
+  #endif
+
+  typedef MultiSerial<decltype(SERIAL_LEAF_1), decltype(SERIAL_LEAF_2), 0> SerialOutputT;
+  extern SerialOutputT        multiSerial;
+  #define SERIAL_IMPL         multiSerial
+#else
+  #define _PORT_REDIRECT(n,p) NOOP
+  #define _PORT_RESTORE(n)    NOOP
+  #define SERIAL_ASSERT(P)    NOOP
+  #define SERIAL_IMPL         SERIAL_LEAF_1
 #endif
 
 #define SERIAL_OUT(WHAT, V...)  (void)SERIAL_IMPL.WHAT(V)
 
-#define PORT_REDIRECT(p)        _PORT_REDIRECT(1,p)
-#define PORT_RESTORE()          _PORT_RESTORE(1)
-#define SERIAL_PORTMASK(P)      _BV(P)
+#define PORT_REDIRECT(p)   _PORT_REDIRECT(1,p)
+#define PORT_RESTORE()     _PORT_RESTORE(1)
+#define SERIAL_PORTMASK(P) SerialMask::from(P)
 
 //
 // SERIAL_CHAR - Print one or more individual chars
@@ -295,7 +334,7 @@ void serialprintPGM(PGM_P str);
 #endif
 
 #define SERIAL_ECHOPGM_P(P)         (serialprintPGM(P))
-#define SERIAL_ECHOLNPGM_P(P)       (serialprintPGM(P "\n"))
+#define SERIAL_ECHOLNPGM_P(P)       do{ serialprintPGM(P); SERIAL_EOL(); }while(0)
 
 #define SERIAL_ECHOPGM(S)           (serialprintPGM(PSTR(S)))
 #define SERIAL_ECHOLNPGM(S)         (serialprintPGM(PSTR(S "\n")))

Marlin/src/core/serial_base.h

@@ -22,12 +22,29 @@
 #pragma once
 
 #include "../inc/MarlinConfigPre.h"
-#include "macros.h"
 
 #if ENABLED(EMERGENCY_PARSER)
   #include "../feature/e_parser.h"
 #endif
 
+// Used in multiple places
+// You can build it but not manipulate it.
+// There are only few places where it's required to access the underlying member: GCodeQueue, SerialMask and MultiSerial
+struct serial_index_t {
+  // A signed index, where -1 is a special case meaning no action (neither output or input)
+  int8_t  index;
+
+  // Check if the index is within the range [a ... b]
+  constexpr inline bool within(const int8_t a, const int8_t b) const { return WITHIN(index, a, b); }
+  constexpr inline bool valid() const { return WITHIN(index, 0, 7); } // At most, 8 bits
+
+  // Construction is either from an index
+  constexpr serial_index_t(const int8_t index) : index(index) {}
+
+  // Default to "no index"
+  constexpr serial_index_t() : index(-1) {}
+};
+
 // flushTX is not implemented in all HAL, so use SFINAE to call the method where it is.
 CALL_IF_EXISTS_IMPL(void, flushTX);
 CALL_IF_EXISTS_IMPL(bool, connected, true);
@@ -79,10 +96,10 @@ struct SerialBase {
   void end()                        { static_cast<Child*>(this)->end(); }
   /** Check for available data from the port
       @param index  The port index, usually 0 */
-  bool available(uint8_t index = 0) { return static_cast<Child*>(this)->available(index); }
+  int available(serial_index_t index = 0)  { return static_cast<Child*>(this)->available(index); }
   /** Read a value from the port
       @param index  The port index, usually 0 */
-  int  read(uint8_t index = 0)      { return static_cast<Child*>(this)->read(index); }
+  int  read(serial_index_t index = 0)      { return static_cast<Child*>(this)->read(index); }
   // Check if the serial port is connected (usually bypassed)
   bool connected()                  { return static_cast<Child*>(this)->connected(); }
   // Redirect flush

Marlin/src/core/serial_hook.h

@@ -21,9 +21,33 @@
  */
 #pragma once
 
-#include "macros.h"
 #include "serial_base.h"
 
+// A mask containing a bitmap of the serial port to act upon
+// This is written to ensure a serial index is never used as a serial mask
+class SerialMask {
+  uint8_t mask;
+
+  // This constructor is private to ensure you can't convert an index to a mask
+  // The compiler will stop here if you are mixing index and mask in your code.
+  // If you need to, you'll have to use the explicit static "from" method here
+  SerialMask(const serial_index_t);
+
+public:
+  inline constexpr bool enabled(const SerialMask PortMask) const    { return mask & PortMask.mask; }
+  inline constexpr SerialMask combine(const SerialMask other) const { return SerialMask(mask | other.mask); }
+  inline constexpr SerialMask operator<< (const int offset) const   { return SerialMask(mask << offset); }
+  static inline SerialMask from(const serial_index_t index) {
+    if (index.valid()) return SerialMask(_BV(index.index));
+    return SerialMask(0); // A invalid index mean no output
+  }
+
+  constexpr SerialMask(const uint8_t mask) : mask(mask) {}
+  constexpr SerialMask(const SerialMask & other) : mask(other.mask) {} // Can't use = default here since not all framework support this
+
+  static constexpr uint8_t All = 0xFF;
+};
+
 // The most basic serial class: it dispatch to the base serial class with no hook whatsoever. This will compile to nothing but the base serial class
 template <class SerialT>
 struct BaseSerial : public SerialBase< BaseSerial<SerialT> >, public SerialT {
@@ -35,8 +59,9 @@ struct BaseSerial : public SerialBase< BaseSerial<SerialT> >, public SerialT {
 
   void msgDone() {}
 
-  bool available(uint8_t index) { return index == 0 && SerialT::available(); }
-  int read(uint8_t index)       { return index == 0 ? SerialT::read() : -1; }
+  // We don't care about indices here, since if one can call us, it's the right index anyway
+  int available(serial_index_t) { return (int)SerialT::available(); }
+  int read(serial_index_t)      { return (int)SerialT::read(); }
   bool connected()              { return CALL_IF_EXISTS(bool, static_cast<SerialT*>(this), connected);; }
   void flushTX()                { CALL_IF_EXISTS(void, static_cast<SerialT*>(this), flushTX); }
 
@@ -65,18 +90,18 @@ struct ConditionalSerial : public SerialBase< ConditionalSerial<SerialT> > {
   bool    & condition;
   SerialT & out;
   NO_INLINE size_t write(uint8_t c) { if (condition) return out.write(c); return 0; }
-  void flush()            { if (condition) out.flush();  }
-  void begin(long br)     { out.begin(br); }
-  void end()              { out.end(); }
+  void flush()                      { if (condition) out.flush();  }
+  void begin(long br)               { out.begin(br); }
+  void end()                        { out.end(); }
 
   void msgDone() {}
-  bool connected()              { return CALL_IF_EXISTS(bool, &out, connected); }
-  void flushTX()                { CALL_IF_EXISTS(void, &out, flushTX); }
+  bool connected()          { return CALL_IF_EXISTS(bool, &out, connected); }
+  void flushTX()            { CALL_IF_EXISTS(void, &out, flushTX); }
 
-  bool available(uint8_t index) { return index == 0 && out.available(); }
-  int read(uint8_t index)       { return index == 0 ? out.read() : -1; }
-  using BaseClassT::available;
-  using BaseClassT::read;
+  int available(serial_index_t )  { return (int)out.available(); }
+  int read(serial_index_t )       { return (int)out.read(); }
+  int available()                 { return (int)out.available(); }
+  int read()                      { return (int)out.read(); }
 
   ConditionalSerial(bool & conditionVariable, SerialT & out, const bool e) : BaseClassT(e), condition(conditionVariable), out(out) {}
 };
@@ -97,10 +122,10 @@ struct ForwardSerial : public SerialBase< ForwardSerial<SerialT> > {
   bool connected()              { return Private::HasMember_connected<SerialT>::value ? CALL_IF_EXISTS(bool, &out, connected) : (bool)out; }
   void flushTX()                { CALL_IF_EXISTS(void, &out, flushTX); }
 
-  bool available(uint8_t index) { return index == 0 && out.available(); }
-  int read(uint8_t index)       { return index == 0 ? out.read() : -1; }
-  bool available()              { return out.available(); }
-  int read()                    { return out.read(); }
+  int available(serial_index_t) { return (int)out.available(); }
+  int read(serial_index_t)      { return (int)out.read(); }
+  int available()               { return (int)out.available(); }
+  int read()                    { return (int)out.read(); }
 
   ForwardSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {}
 };
@@ -125,8 +150,8 @@ struct RuntimeSerial : public SerialBase< RuntimeSerial<SerialT> >, public Seria
     if (eofHook) eofHook(userPointer);
   }
 
-  bool available(uint8_t index) { return index == 0 && SerialT::available(); }
-  int read(uint8_t index)       { return index == 0 ? SerialT::read() : -1; }
+  int available(serial_index_t)  { return (int)SerialT::available(); }
+  int read(serial_index_t)       { return (int)SerialT::read(); }
   using SerialT::available;
   using SerialT::read;
   using SerialT::flush;
@@ -157,60 +182,59 @@ struct RuntimeSerial : public SerialBase< RuntimeSerial<SerialT> >, public Seria
 
   // Forward constructor
   template <typename... Args>
-  RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...) {}
+  RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...), writeHook(0), eofHook(0), userPointer(0) {}
 };
 
-// A class that's duplicating its output conditionally to 2 serial interface
-template <class Serial0T, class Serial1T, const uint8_t offset = 0>
-struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset> > {
-  typedef SerialBase< MultiSerial<Serial0T, Serial1T, offset> > BaseClassT;
+// A class that duplicates its output conditionally to 2 serial interfaces
+template <class Serial0T, class Serial1T, const uint8_t offset = 0, const uint8_t step = 1>
+struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset, step> > {
+  typedef SerialBase< MultiSerial<Serial0T, Serial1T, offset, step> > BaseClassT;
 
-  uint8_t    portMask;
+  SerialMask portMask;
   Serial0T & serial0;
   Serial1T & serial1;
 
-  enum Masks {
-    FirstOutputMask   =  (1 << offset),
-    SecondOutputMask  =  (1 << (offset + 1)),
-    AllMask           = FirstOutputMask | SecondOutputMask,
-  };
+  static constexpr uint8_t Usage         =  ((1 << step) - 1); // A bit mask containing as many bits as step
+  static constexpr uint8_t FirstOutput   = (Usage << offset);
+  static constexpr uint8_t SecondOutput  = (Usage << (offset + step));
+  static constexpr uint8_t Both          = FirstOutput | SecondOutput;
 
   NO_INLINE size_t write(uint8_t c) {
     size_t ret = 0;
-    if (portMask & FirstOutputMask)   ret = serial0.write(c);
-    if (portMask & SecondOutputMask)  ret = serial1.write(c) | ret;
+    if (portMask.enabled(FirstOutput))   ret = serial0.write(c);
+    if (portMask.enabled(SecondOutput))  ret = serial1.write(c) | ret;
     return ret;
   }
   NO_INLINE void msgDone() {
-    if (portMask & FirstOutputMask)   serial0.msgDone();
-    if (portMask & SecondOutputMask)  serial1.msgDone();
+    if (portMask.enabled(FirstOutput))   serial0.msgDone();
+    if (portMask.enabled(SecondOutput))  serial1.msgDone();
   }
-  bool available(uint8_t index) {
-    switch(index) {
-      case 0 + offset: return serial0.available();
-      case 1 + offset: return serial1.available();
-      default: return false;
-    }
+  int available(serial_index_t index) {
+    if (index.within(0 + offset, step + offset - 1))
+      return serial0.available(index);
+    else if (index.within(step + offset, 2 * step + offset - 1))
+      return serial1.available(index);
+    return false;
   }
-  NO_INLINE int read(uint8_t index) {
-    switch(index) {
-      case 0 + offset: return serial0.read();
-      case 1 + offset: return serial1.read();
-      default: return -1;
-    }
+  int read(serial_index_t index) {
+    if (index.within(0 + offset, step + offset - 1))
+      return serial0.read(index);
+    else if (index.within(step + offset, 2 * step + offset - 1))
+      return serial1.read(index);
+    return -1;
   }
   void begin(const long br) {
-    if (portMask & FirstOutputMask)   serial0.begin(br);
-    if (portMask & SecondOutputMask)  serial1.begin(br);
+    if (portMask.enabled(FirstOutput))   serial0.begin(br);
+    if (portMask.enabled(SecondOutput))  serial1.begin(br);
   }
   void end() {
-    if (portMask & FirstOutputMask)   serial0.end();
-    if (portMask & SecondOutputMask)  serial1.end();
+    if (portMask.enabled(FirstOutput))   serial0.end();
+    if (portMask.enabled(SecondOutput))  serial1.end();
   }
   bool connected() {
     bool ret = true;
-    if (portMask & FirstOutputMask)   ret = CALL_IF_EXISTS(bool, &serial0, connected);
-    if (portMask & SecondOutputMask)  ret = ret && CALL_IF_EXISTS(bool, &serial1, connected);
+    if (portMask.enabled(FirstOutput))   ret = CALL_IF_EXISTS(bool, &serial0, connected);
+    if (portMask.enabled(SecondOutput))  ret = ret && CALL_IF_EXISTS(bool, &serial1, connected);
     return ret;
   }
 
@@ -219,22 +243,22 @@ struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset>
 
   // Redirect flush
   NO_INLINE void flush()      {
-    if (portMask & FirstOutputMask)   serial0.flush();
-    if (portMask & SecondOutputMask)  serial1.flush();
+    if (portMask.enabled(FirstOutput))   serial0.flush();
+    if (portMask.enabled(SecondOutput))  serial1.flush();
   }
   NO_INLINE void flushTX()    {
-    if (portMask & FirstOutputMask)   CALL_IF_EXISTS(void, &serial0, flushTX);
-    if (portMask & SecondOutputMask)  CALL_IF_EXISTS(void, &serial1, flushTX);
+    if (portMask.enabled(FirstOutput))   CALL_IF_EXISTS(void, &serial0, flushTX);
+    if (portMask.enabled(SecondOutput))  CALL_IF_EXISTS(void, &serial1, flushTX);
   }
 
-  MultiSerial(Serial0T & serial0, Serial1T & serial1, int8_t mask = AllMask, const bool e = false) :
+  MultiSerial(Serial0T & serial0, Serial1T & serial1, const SerialMask mask = Both, const bool e = false) :
     BaseClassT(e),
     portMask(mask), serial0(serial0), serial1(serial1) {}
 };
 
 // Build the actual serial object depending on current configuration
-#define Serial0Type TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, BaseSerial)
-#define ForwardSerial0Type TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, ForwardSerial)
+#define Serial1Class TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, BaseSerial)
+#define ForwardSerial1Class TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, ForwardSerial)
 #ifdef HAS_MULTI_SERIAL
-  #define Serial1Type ConditionalSerial
+  #define Serial2Class ConditionalSerial
 #endif

Marlin/src/core/utility.cpp

@@ -92,9 +92,9 @@ void safe_delay(millis_t ms) {
           SERIAL_ECHOPGM(" (Aligned With");
 
         if (probe.offset_xy.y > 0)
-          serialprintPGM(ENABLED(IS_SCARA) ? PSTR("-Distal") : PSTR("-Back"));
+          SERIAL_ECHOPGM_P(ENABLED(IS_SCARA) ? PSTR("-Distal") : PSTR("-Back"));
         else if (probe.offset_xy.y < 0)
-          serialprintPGM(ENABLED(IS_SCARA) ? PSTR("-Proximal") : PSTR("-Front"));
+          SERIAL_ECHOPGM_P(ENABLED(IS_SCARA) ? PSTR("-Proximal") : PSTR("-Front"));
         else if (probe.offset_xy.x != 0)
           SERIAL_ECHOPGM("-Center");
 
@@ -102,7 +102,7 @@ void safe_delay(millis_t ms) {
 
       #endif
 
-      serialprintPGM(probe.offset.z < 0 ? PSTR("Below") : probe.offset.z > 0 ? PSTR("Above") : PSTR("Same Z as"));
+      SERIAL_ECHOPGM_P(probe.offset.z < 0 ? PSTR("Below") : probe.offset.z > 0 ? PSTR("Above") : PSTR("Same Z as"));
       SERIAL_ECHOLNPGM(" Nozzle)");
 
     #endif

Marlin/src/feature/bedlevel/bedlevel.cpp

@@ -98,7 +98,7 @@ TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(
 
 #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
 
-  void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
+  void set_z_fade_height(const float &zfh, const bool do_report/*=true*/) {
 
     if (planner.z_fade_height == zfh) return;
 

Marlin/src/feature/bedlevel/bedlevel.h

@@ -38,7 +38,7 @@ void set_bed_leveling_enabled(const bool enable=true);
 void reset_bed_level();
 
 #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-  void set_z_fade_height(const float zfh, const bool do_report=true);
+  void set_z_fade_height(const float &zfh, const bool do_report=true);
 #endif
 
 #if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)

Marlin/src/feature/bedlevel/ubl/ubl.cpp

@@ -24,234 +24,234 @@
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
 
-  #include "../bedlevel.h"
+#include "../bedlevel.h"
 
-  unified_bed_leveling ubl;
+unified_bed_leveling ubl;
 
-  #include "../../../MarlinCore.h"
-  #include "../../../gcode/gcode.h"
+#include "../../../MarlinCore.h"
+#include "../../../gcode/gcode.h"
 
-  #include "../../../module/settings.h"
-  #include "../../../module/planner.h"
-  #include "../../../module/motion.h"
-  #include "../../../module/probe.h"
+#include "../../../module/settings.h"
+#include "../../../module/planner.h"
+#include "../../../module/motion.h"
+#include "../../../module/probe.h"
 
+#if ENABLED(EXTENSIBLE_UI)
+  #include "../../../lcd/extui/ui_api.h"
+#endif
+
+#include "math.h"
+
+void unified_bed_leveling::echo_name() { SERIAL_ECHOPGM("Unified Bed Leveling"); }
+
+void unified_bed_leveling::report_current_mesh() {
+  if (!leveling_is_valid()) return;
+  SERIAL_ECHO_MSG("  G29 I999");
+  GRID_LOOP(x, y)
+    if (!isnan(z_values[x][y])) {
+      SERIAL_ECHO_START();
+      SERIAL_ECHOPAIR("  M421 I", x, " J", y);
+      SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4);
+      serial_delay(75); // Prevent Printrun from exploding
+    }
+}
+
+void unified_bed_leveling::report_state() {
+  echo_name();
+  SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n");
+  serial_delay(50);
+}
+
+int8_t unified_bed_leveling::storage_slot;
+
+float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
+
+#define _GRIDPOS(A,N) (MESH_MIN_##A + N * (MESH_##A##_DIST))
+
+const float
+unified_bed_leveling::_mesh_index_to_xpos[GRID_MAX_POINTS_X] PROGMEM = ARRAY_N(GRID_MAX_POINTS_X,
+  _GRIDPOS(X,  0), _GRIDPOS(X,  1), _GRIDPOS(X,  2), _GRIDPOS(X,  3),
+  _GRIDPOS(X,  4), _GRIDPOS(X,  5), _GRIDPOS(X,  6), _GRIDPOS(X,  7),
+  _GRIDPOS(X,  8), _GRIDPOS(X,  9), _GRIDPOS(X, 10), _GRIDPOS(X, 11),
+  _GRIDPOS(X, 12), _GRIDPOS(X, 13), _GRIDPOS(X, 14), _GRIDPOS(X, 15)
+),
+unified_bed_leveling::_mesh_index_to_ypos[GRID_MAX_POINTS_Y] PROGMEM = ARRAY_N(GRID_MAX_POINTS_Y,
+  _GRIDPOS(Y,  0), _GRIDPOS(Y,  1), _GRIDPOS(Y,  2), _GRIDPOS(Y,  3),
+  _GRIDPOS(Y,  4), _GRIDPOS(Y,  5), _GRIDPOS(Y,  6), _GRIDPOS(Y,  7),
+  _GRIDPOS(Y,  8), _GRIDPOS(Y,  9), _GRIDPOS(Y, 10), _GRIDPOS(Y, 11),
+  _GRIDPOS(Y, 12), _GRIDPOS(Y, 13), _GRIDPOS(Y, 14), _GRIDPOS(Y, 15)
+);
+
+volatile int16_t unified_bed_leveling::encoder_diff;
+
+unified_bed_leveling::unified_bed_leveling() { reset(); }
+
+void unified_bed_leveling::reset() {
+  const bool was_enabled = planner.leveling_active;
+  set_bed_leveling_enabled(false);
+  storage_slot = -1;
+  ZERO(z_values);
   #if ENABLED(EXTENSIBLE_UI)
-    #include "../../../lcd/extui/ui_api.h"
+    GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0);
   #endif
+  if (was_enabled) report_current_position();
+}
 
-  #include "math.h"
+void unified_bed_leveling::invalidate() {
+  set_bed_leveling_enabled(false);
+  set_all_mesh_points_to_value(NAN);
+}
 
-  void unified_bed_leveling::echo_name() { SERIAL_ECHOPGM("Unified Bed Leveling"); }
+void unified_bed_leveling::set_all_mesh_points_to_value(const float value) {
+  GRID_LOOP(x, y) {
+    z_values[x][y] = value;
+    TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, value));
+  }
+}
 
-  void unified_bed_leveling::report_current_mesh() {
-    if (!leveling_is_valid()) return;
-    SERIAL_ECHO_MSG("  G29 I999");
-    GRID_LOOP(x, y)
-      if (!isnan(z_values[x][y])) {
-        SERIAL_ECHO_START();
-        SERIAL_ECHOPAIR("  M421 I", x, " J", y);
-        SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4);
-        serial_delay(75); // Prevent Printrun from exploding
-      }
+#if ENABLED(OPTIMIZED_MESH_STORAGE)
+
+  constexpr float mesh_store_scaling = 1000;
+  constexpr int16_t Z_STEPS_NAN = INT16_MAX;
+
+  void unified_bed_leveling::set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values) {
+    auto z_to_store = [](const float &z) {
+      if (isnan(z)) return Z_STEPS_NAN;
+      const int32_t z_scaled = TRUNC(z * mesh_store_scaling);
+      if (z_scaled == Z_STEPS_NAN || !WITHIN(z_scaled, INT16_MIN, INT16_MAX))
+        return Z_STEPS_NAN; // If Z is out of range, return our custom 'NaN'
+      return int16_t(z_scaled);
+    };
+    GRID_LOOP(x, y) stored_values[x][y] = z_to_store(in_values[x][y]);
   }
 
-  void unified_bed_leveling::report_state() {
-    echo_name();
-    SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n");
-    serial_delay(50);
+  void unified_bed_leveling::set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values) {
+    auto store_to_z = [](const int16_t z_scaled) {
+      return z_scaled == Z_STEPS_NAN ? NAN : z_scaled / mesh_store_scaling;
+    };
+    GRID_LOOP(x, y) out_values[x][y] = store_to_z(stored_values[x][y]);
   }
 
-  int8_t unified_bed_leveling::storage_slot;
+#endif // OPTIMIZED_MESH_STORAGE
 
-  float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
+static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {
+  SERIAL_ECHO_SP(sp);
+  SERIAL_CHAR('(');
+  if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }
+  SERIAL_ECHO(x);
+  SERIAL_CHAR(',');
+  if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }
+  SERIAL_ECHO(y);
+  SERIAL_CHAR(')');
+  serial_delay(5);
+}
 
-  #define _GRIDPOS(A,N) (MESH_MIN_##A + N * (MESH_##A##_DIST))
-
-  const float
-  unified_bed_leveling::_mesh_index_to_xpos[GRID_MAX_POINTS_X] PROGMEM = ARRAY_N(GRID_MAX_POINTS_X,
-    _GRIDPOS(X,  0), _GRIDPOS(X,  1), _GRIDPOS(X,  2), _GRIDPOS(X,  3),
-    _GRIDPOS(X,  4), _GRIDPOS(X,  5), _GRIDPOS(X,  6), _GRIDPOS(X,  7),
-    _GRIDPOS(X,  8), _GRIDPOS(X,  9), _GRIDPOS(X, 10), _GRIDPOS(X, 11),
-    _GRIDPOS(X, 12), _GRIDPOS(X, 13), _GRIDPOS(X, 14), _GRIDPOS(X, 15)
-  ),
-  unified_bed_leveling::_mesh_index_to_ypos[GRID_MAX_POINTS_Y] PROGMEM = ARRAY_N(GRID_MAX_POINTS_Y,
-    _GRIDPOS(Y,  0), _GRIDPOS(Y,  1), _GRIDPOS(Y,  2), _GRIDPOS(Y,  3),
-    _GRIDPOS(Y,  4), _GRIDPOS(Y,  5), _GRIDPOS(Y,  6), _GRIDPOS(Y,  7),
-    _GRIDPOS(Y,  8), _GRIDPOS(Y,  9), _GRIDPOS(Y, 10), _GRIDPOS(Y, 11),
-    _GRIDPOS(Y, 12), _GRIDPOS(Y, 13), _GRIDPOS(Y, 14), _GRIDPOS(Y, 15)
-  );
-
-  volatile int16_t unified_bed_leveling::encoder_diff;
-
-  unified_bed_leveling::unified_bed_leveling() { reset(); }
-
-  void unified_bed_leveling::reset() {
-    const bool was_enabled = planner.leveling_active;
-    set_bed_leveling_enabled(false);
-    storage_slot = -1;
-    ZERO(z_values);
-    #if ENABLED(EXTENSIBLE_UI)
-      GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0);
-    #endif
-    if (was_enabled) report_current_position();
-  }
-
-  void unified_bed_leveling::invalidate() {
-    set_bed_leveling_enabled(false);
-    set_all_mesh_points_to_value(NAN);
-  }
-
-  void unified_bed_leveling::set_all_mesh_points_to_value(const float value) {
-    GRID_LOOP(x, y) {
-      z_values[x][y] = value;
-      TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, value));
-    }
-  }
-
-  #if ENABLED(OPTIMIZED_MESH_STORAGE)
-
-    constexpr float mesh_store_scaling = 1000;
-    constexpr int16_t Z_STEPS_NAN = INT16_MAX;
-
-    void unified_bed_leveling::set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values) {
-      auto z_to_store = [](const float &z) {
-        if (isnan(z)) return Z_STEPS_NAN;
-        const int32_t z_scaled = TRUNC(z * mesh_store_scaling);
-        if (z_scaled == Z_STEPS_NAN || !WITHIN(z_scaled, INT16_MIN, INT16_MAX))
-          return Z_STEPS_NAN; // If Z is out of range, return our custom 'NaN'
-        return int16_t(z_scaled);
-      };
-      GRID_LOOP(x, y) stored_values[x][y] = z_to_store(in_values[x][y]);
-    }
-
-    void unified_bed_leveling::set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values) {
-      auto store_to_z = [](const int16_t z_scaled) {
-        return z_scaled == Z_STEPS_NAN ? NAN : z_scaled / mesh_store_scaling;
-      };
-      GRID_LOOP(x, y) out_values[x][y] = store_to_z(stored_values[x][y]);
-    }
-
-  #endif // OPTIMIZED_MESH_STORAGE
-
-  static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {
+static void serial_echo_column_labels(const uint8_t sp) {
+  SERIAL_ECHO_SP(7);
+  LOOP_L_N(i, GRID_MAX_POINTS_X) {
+    if (i < 10) SERIAL_CHAR(' ');
+    SERIAL_ECHO(i);
     SERIAL_ECHO_SP(sp);
-    SERIAL_CHAR('(');
-    if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }
-    SERIAL_ECHO(x);
-    SERIAL_CHAR(',');
-    if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }
-    SERIAL_ECHO(y);
-    SERIAL_CHAR(')');
-    serial_delay(5);
+  }
+  serial_delay(10);
+}
+
+/**
+ * Produce one of these mesh maps:
+ *   0: Human-readable
+ *   1: CSV format for spreadsheet import
+ *   2: TODO: Display on Graphical LCD
+ *   4: Compact Human-Readable
+ */
+void unified_bed_leveling::display_map(const int map_type) {
+  const bool was = gcode.set_autoreport_paused(true);
+
+  constexpr uint8_t eachsp = 1 + 6 + 1,                           // [-3.567]
+                    twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each
+
+  const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;
+
+  SERIAL_ECHOPGM("\nBed Topography Report");
+  if (human) {
+    SERIAL_ECHOLNPGM(":\n");
+    serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);
+    serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);
+    SERIAL_EOL();
+    serial_echo_column_labels(eachsp - 2);
+  }
+  else {
+    SERIAL_ECHOPGM(" for ");
+    SERIAL_ECHOPGM_P(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
   }
 
-  static void serial_echo_column_labels(const uint8_t sp) {
-    SERIAL_ECHO_SP(7);
+  // Add XY probe offset from extruder because probe.probe_at_point() subtracts them when
+  // moving to the XY position to be measured. This ensures better agreement between
+  // the current Z position after G28 and the mesh values.
+  const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy);
+
+  if (!lcd) SERIAL_EOL();
+  for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
+
+    // Row Label (J index)
+    if (human) {
+      if (j < 10) SERIAL_CHAR(' ');
+      SERIAL_ECHO(j);
+      SERIAL_ECHOPGM(" |");
+    }
+
+    // Row Values (I indexes)
     LOOP_L_N(i, GRID_MAX_POINTS_X) {
-      if (i < 10) SERIAL_CHAR(' ');
-      SERIAL_ECHO(i);
-      SERIAL_ECHO_SP(sp);
+
+      // Opening Brace or Space
+      const bool is_current = i == curr.x && j == curr.y;
+      if (human) SERIAL_CHAR(is_current ? '[' : ' ');
+
+      // Z Value at current I, J
+      const float f = z_values[i][j];
+      if (lcd) {
+        // TODO: Display on Graphical LCD
+      }
+      else if (isnan(f))
+        SERIAL_ECHOPGM_P(human ? PSTR("  .   ") : PSTR("NAN"));
+      else if (human || csv) {
+        if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' ');  // Display sign also for positive numbers (' ' for 0)
+        SERIAL_ECHO_F(f, 3);                                    // Positive: 5 digits, Negative: 6 digits
+      }
+      if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');
+
+      // Closing Brace or Space
+      if (human) SERIAL_CHAR(is_current ? ']' : ' ');
+
+      SERIAL_FLUSHTX();
+      idle_no_sleep();
     }
-    serial_delay(10);
-  }
-
-  /**
-   * Produce one of these mesh maps:
-   *   0: Human-readable
-   *   1: CSV format for spreadsheet import
-   *   2: TODO: Display on Graphical LCD
-   *   4: Compact Human-Readable
-   */
-  void unified_bed_leveling::display_map(const int map_type) {
-    const bool was = gcode.set_autoreport_paused(true);
-
-    constexpr uint8_t eachsp = 1 + 6 + 1,                           // [-3.567]
-                      twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each
-
-    const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;
-
-    SERIAL_ECHOPGM("\nBed Topography Report");
-    if (human) {
-      SERIAL_ECHOLNPGM(":\n");
-      serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);
-      serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);
-      SERIAL_EOL();
-      serial_echo_column_labels(eachsp - 2);
-    }
-    else {
-      SERIAL_ECHOPGM(" for ");
-      serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
-    }
-
-    // Add XY probe offset from extruder because probe.probe_at_point() subtracts them when
-    // moving to the XY position to be measured. This ensures better agreement between
-    // the current Z position after G28 and the mesh values.
-    const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy);
-
     if (!lcd) SERIAL_EOL();
-    for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
 
-      // Row Label (J index)
-      if (human) {
-        if (j < 10) SERIAL_CHAR(' ');
-        SERIAL_ECHO(j);
-        SERIAL_ECHOPGM(" |");
-      }
-
-      // Row Values (I indexes)
-      LOOP_L_N(i, GRID_MAX_POINTS_X) {
-
-        // Opening Brace or Space
-        const bool is_current = i == curr.x && j == curr.y;
-        if (human) SERIAL_CHAR(is_current ? '[' : ' ');
-
-        // Z Value at current I, J
-        const float f = z_values[i][j];
-        if (lcd) {
-          // TODO: Display on Graphical LCD
-        }
-        else if (isnan(f))
-          serialprintPGM(human ? PSTR("  .   ") : PSTR("NAN"));
-        else if (human || csv) {
-          if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' ');  // Display sign also for positive numbers (' ' for 0)
-          SERIAL_ECHO_F(f, 3);                                    // Positive: 5 digits, Negative: 6 digits
-        }
-        if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');
-
-        // Closing Brace or Space
-        if (human) SERIAL_CHAR(is_current ? ']' : ' ');
-
-        SERIAL_FLUSHTX();
-        idle_no_sleep();
-      }
-      if (!lcd) SERIAL_EOL();
-
-      // A blank line between rows (unless compact)
-      if (j && human && !comp) SERIAL_ECHOLNPGM("   |");
-    }
-
-    if (human) {
-      serial_echo_column_labels(eachsp - 2);
-      SERIAL_EOL();
-      serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);
-      serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);
-      SERIAL_EOL();
-      SERIAL_EOL();
-    }
-
-    gcode.set_autoreport_paused(was);
+    // A blank line between rows (unless compact)
+    if (j && human && !comp) SERIAL_ECHOLNPGM("   |");
   }
 
-  bool unified_bed_leveling::sanity_check() {
-    uint8_t error_flag = 0;
-
-    if (settings.calc_num_meshes() < 1) {
-      SERIAL_ECHOLNPGM("?Mesh too big for EEPROM.");
-      error_flag++;
-    }
-
-    return !!error_flag;
+  if (human) {
+    serial_echo_column_labels(eachsp - 2);
+    SERIAL_EOL();
+    serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);
+    serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);
+    SERIAL_EOL();
+    SERIAL_EOL();
   }
 
+  gcode.set_autoreport_paused(was);
+}
+
+bool unified_bed_leveling::sanity_check() {
+  uint8_t error_flag = 0;
+
+  if (settings.calc_num_meshes() < 1) {
+    SERIAL_ECHOLNPGM("?Mesh too big for EEPROM.");
+    error_flag++;
+  }
+
+  return !!error_flag;
+}
+
 #endif // AUTO_BED_LEVELING_UBL

Marlin/src/feature/bedlevel/ubl/ubl.h

@@ -46,275 +46,275 @@ struct mesh_index_pair;
 #endif
 
 class unified_bed_leveling {
-  private:
+private:
 
-    static int    g29_verbose_level,
-                  g29_phase_value,
-                  g29_repetition_cnt,
-                  g29_storage_slot,
-                  g29_map_type;
-    static bool   g29_c_flag;
-    static float  g29_card_thickness,
-                  g29_constant;
-    static xy_pos_t g29_pos;
-    static xy_bool_t xy_seen;
+  static int    g29_verbose_level,
+                g29_phase_value,
+                g29_repetition_cnt,
+                g29_storage_slot,
+                g29_map_type;
+  static bool   g29_c_flag;
+  static float  g29_card_thickness,
+                g29_constant;
+  static xy_pos_t g29_pos;
+  static xy_bool_t xy_seen;
 
-    #if HAS_BED_PROBE
-      static int  g29_grid_size;
-    #endif
+  #if HAS_BED_PROBE
+    static int  g29_grid_size;
+  #endif
 
-    #if IS_NEWPANEL
-      static void move_z_with_encoder(const float &multiplier);
-      static float measure_point_with_encoder();
-      static float measure_business_card_thickness();
-      static void manually_probe_remaining_mesh(const xy_pos_t&, const float&, const float&, const bool) _O0;
-      static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0;
-    #endif
+  #if IS_NEWPANEL
+    static void move_z_with_encoder(const float &multiplier);
+    static float measure_point_with_encoder();
+    static float measure_business_card_thickness();
+    static void manually_probe_remaining_mesh(const xy_pos_t&, const float&, const float&, const bool) _O0;
+    static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0;
+  #endif
 
-    static bool g29_parameter_parsing() _O0;
-    static void shift_mesh_height();
-    static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
-    static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
-    static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
-    static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
-    static inline bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) {
-      return smart_fill_one(pos.x, pos.y, dir.x, dir.y);
-    }
-    static void smart_fill_mesh();
+  static bool g29_parameter_parsing() _O0;
+  static void shift_mesh_height();
+  static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
+  static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
+  static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
+  static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
+  static inline bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) {
+    return smart_fill_one(pos.x, pos.y, dir.x, dir.y);
+  }
+  static void smart_fill_mesh();
 
-    #if ENABLED(UBL_DEVEL_DEBUGGING)
-      static void g29_what_command();
-      static void g29_eeprom_dump();
-      static void g29_compare_current_mesh_to_stored_mesh();
-    #endif
+  #if ENABLED(UBL_DEVEL_DEBUGGING)
+    static void g29_what_command();
+    static void g29_eeprom_dump();
+    static void g29_compare_current_mesh_to_stored_mesh();
+  #endif
 
-  public:
+public:
 
-    static void echo_name();
-    static void report_current_mesh();
-    static void report_state();
-    static void save_ubl_active_state_and_disable();
-    static void restore_ubl_active_state_and_leave();
-    static void display_map(const int) _O0;
-    static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
-    static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
-    static void reset();
-    static void invalidate();
-    static void set_all_mesh_points_to_value(const float value);
-    static void adjust_mesh_to_mean(const bool cflag, const float value);
-    static bool sanity_check();
+  static void echo_name();
+  static void report_current_mesh();
+  static void report_state();
+  static void save_ubl_active_state_and_disable();
+  static void restore_ubl_active_state_and_leave();
+  static void display_map(const int) _O0;
+  static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
+  static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
+  static void reset();
+  static void invalidate();
+  static void set_all_mesh_points_to_value(const float value);
+  static void adjust_mesh_to_mean(const bool cflag, const float value);
+  static bool sanity_check();
 
-    static void G29() _O0;                          // O0 for no optimization
-    static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
+  static void G29() _O0;                          // O0 for no optimization
+  static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
 
-    static int8_t storage_slot;
+  static int8_t storage_slot;
 
-    static bed_mesh_t z_values;
-    #if ENABLED(OPTIMIZED_MESH_STORAGE)
-      static void set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values);
-      static void set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values);
-    #endif
-    static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X],
-                       _mesh_index_to_ypos[GRID_MAX_POINTS_Y];
+  static bed_mesh_t z_values;
+  #if ENABLED(OPTIMIZED_MESH_STORAGE)
+    static void set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values);
+    static void set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values);
+  #endif
+  static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X],
+                     _mesh_index_to_ypos[GRID_MAX_POINTS_Y];
 
-    #if HAS_LCD_MENU
-      static bool lcd_map_control;
-      static void steppers_were_disabled();
-    #else
-      static inline void steppers_were_disabled() {}
-    #endif
+  #if HAS_LCD_MENU
+    static bool lcd_map_control;
+    static void steppers_were_disabled();
+  #else
+    static inline void steppers_were_disabled() {}
+  #endif
 
-    static volatile int16_t encoder_diff; // Volatile because buttons may changed it at interrupt time
+  static volatile int16_t encoder_diff; // Volatile because buttons may changed it at interrupt time
 
-    unified_bed_leveling();
+  unified_bed_leveling();
 
-    FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
+  FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
 
-    static int8_t cell_index_x_raw(const float &x) {
-      return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST));
+  static int8_t cell_index_x_raw(const float &x) {
+    return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST));
+  }
+
+  static int8_t cell_index_y_raw(const float &y) {
+    return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST));
+  }
+
+  static int8_t cell_index_x_valid(const float &x) {
+    return WITHIN(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X - 2));
+  }
+
+  static int8_t cell_index_y_valid(const float &y) {
+    return WITHIN(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y - 2));
+  }
+
+  static int8_t cell_index_x(const float &x) {
+    return constrain(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X) - 2);
+  }
+
+  static int8_t cell_index_y(const float &y) {
+    return constrain(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y) - 2);
+  }
+
+  static inline xy_int8_t cell_indexes(const float &x, const float &y) {
+    return { cell_index_x(x), cell_index_y(y) };
+  }
+  static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
+
+  static int8_t closest_x_index(const float &x) {
+    const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST);
+    return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
+  }
+  static int8_t closest_y_index(const float &y) {
+    const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST);
+    return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
+  }
+  static inline xy_int8_t closest_indexes(const xy_pos_t &xy) {
+    return { closest_x_index(xy.x), closest_y_index(xy.y) };
+  }
+
+  /**
+   *                           z2   --|
+   *                 z0        |      |
+   *                  |        |      + (z2-z1)
+   *   z1             |        |      |
+   * ---+-------------+--------+--  --|
+   *   a1            a0        a2
+   *    |<---delta_a---------->|
+   *
+   *  calc_z0 is the basis for all the Mesh Based correction. It is used to
+   *  find the expected Z Height at a position between two known Z-Height locations.
+   *
+   *  It is fairly expensive with its 4 floating point additions and 2 floating point
+   *  multiplications.
+   */
+  FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
+    return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
+  }
+
+  #ifdef UBL_Z_RAISE_WHEN_OFF_MESH
+    #define _UBL_OUTER_Z_RAISE UBL_Z_RAISE_WHEN_OFF_MESH
+  #else
+    #define _UBL_OUTER_Z_RAISE NAN
+  #endif
+
+  /**
+   * z_correction_for_x_on_horizontal_mesh_line is an optimization for
+   * the case where the printer is making a vertical line that only crosses horizontal mesh lines.
+   */
+  static inline float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) {
+    if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
+
+      if (DEBUGGING(LEVELING)) {
+        if (WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("yi"); else DEBUG_ECHOPGM("x1_i");
+        DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")");
+      }
+
+      // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
+      return _UBL_OUTER_Z_RAISE;
     }
 
-    static int8_t cell_index_y_raw(const float &y) {
-      return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST));
+    const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * RECIPROCAL(MESH_X_DIST),
+                z1 = z_values[x1_i][yi];
+
+    return z1 + xratio * (z_values[_MIN(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array
+                                                                                    // If it is, it is clamped to the last element of the
+                                                                                    // z_values[][] array and no correction is applied.
+  }
+
+  //
+  // See comments above for z_correction_for_x_on_horizontal_mesh_line
+  //
+  static inline float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {
+    if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
+
+      if (DEBUGGING(LEVELING)) {
+        if (WITHIN(xi, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("y1_i"); else DEBUG_ECHOPGM("xi");
+        DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")");
+      }
+
+      // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
+      return _UBL_OUTER_Z_RAISE;
     }
 
-    static int8_t cell_index_x_valid(const float &x) {
-      return WITHIN(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X - 2));
-    }
+    const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * RECIPROCAL(MESH_Y_DIST),
+                z1 = z_values[xi][y1_i];
 
-    static int8_t cell_index_y_valid(const float &y) {
-      return WITHIN(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y - 2));
-    }
+    return z1 + yratio * (z_values[xi][_MIN(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array
+                                                                                    // If it is, it is clamped to the last element of the
+                                                                                    // z_values[][] array and no correction is applied.
+  }
 
-    static int8_t cell_index_x(const float &x) {
-      return constrain(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X) - 2);
-    }
-
-    static int8_t cell_index_y(const float &y) {
-      return constrain(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y) - 2);
-    }
-
-    static inline xy_int8_t cell_indexes(const float &x, const float &y) {
-      return { cell_index_x(x), cell_index_y(y) };
-    }
-    static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
-
-    static int8_t closest_x_index(const float &x) {
-      const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST);
-      return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
-    }
-    static int8_t closest_y_index(const float &y) {
-      const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST);
-      return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
-    }
-    static inline xy_int8_t closest_indexes(const xy_pos_t &xy) {
-      return { closest_x_index(xy.x), closest_y_index(xy.y) };
-    }
+  /**
+   * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
+   * does a linear interpolation along both of the bounding X-Mesh-Lines to find the
+   * Z-Height at both ends. Then it does a linear interpolation of these heights based
+   * on the Y position within the cell.
+   */
+  static float get_z_correction(const float &rx0, const float &ry0) {
+    const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped
 
     /**
-     *                           z2   --|
-     *                 z0        |      |
-     *                  |        |      + (z2-z1)
-     *   z1             |        |      |
-     * ---+-------------+--------+--  --|
-     *   a1            a0        a2
-     *    |<---delta_a---------->|
-     *
-     *  calc_z0 is the basis for all the Mesh Based correction. It is used to
-     *  find the expected Z Height at a position between two known Z-Height locations.
-     *
-     *  It is fairly expensive with its 4 floating point additions and 2 floating point
-     *  multiplications.
+     * Check if the requested location is off the mesh.  If so, and
+     * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.
      */
-    FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
-      return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
-    }
-
     #ifdef UBL_Z_RAISE_WHEN_OFF_MESH
-      #define _UBL_OUTER_Z_RAISE UBL_Z_RAISE_WHEN_OFF_MESH
-    #else
-      #define _UBL_OUTER_Z_RAISE NAN
+      if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))
+        return UBL_Z_RAISE_WHEN_OFF_MESH;
     #endif
 
-    /**
-     * z_correction_for_x_on_horizontal_mesh_line is an optimization for
-     * the case where the printer is making a vertical line that only crosses horizontal mesh lines.
-     */
-    static inline float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) {
-      if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
+    const float z1 = calc_z0(rx0,
+                             mesh_index_to_xpos(cx), z_values[cx][cy],
+                             mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]);
 
-        if (DEBUGGING(LEVELING)) {
-          if (WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("yi"); else DEBUG_ECHOPGM("x1_i");
-          DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")");
-        }
+    const float z2 = calc_z0(rx0,
+                             mesh_index_to_xpos(cx), z_values[cx][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1],
+                             mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]);
 
-        // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
-        return _UBL_OUTER_Z_RAISE;
-      }
+    float z0 = calc_z0(ry0,
+                       mesh_index_to_ypos(cy), z1,
+                       mesh_index_to_ypos(cy + 1), z2);
 
-      const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * RECIPROCAL(MESH_X_DIST),
-                  z1 = z_values[x1_i][yi];
-
-      return z1 + xratio * (z_values[_MIN(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array
-                                                                                      // If it is, it is clamped to the last element of the
-                                                                                      // z_values[][] array and no correction is applied.
+    if (DEBUGGING(MESH_ADJUST)) {
+      DEBUG_ECHOPAIR(" raw get_z_correction(", rx0);
+      DEBUG_CHAR(','); DEBUG_ECHO(ry0);
+      DEBUG_ECHOPAIR_F(") = ", z0, 6);
+      DEBUG_ECHOLNPAIR_F(" >>>---> ", z0, 6);
     }
 
-    //
-    // See comments above for z_correction_for_x_on_horizontal_mesh_line
-    //
-    static inline float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {
-      if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
-
-        if (DEBUGGING(LEVELING)) {
-          if (WITHIN(xi, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("y1_i"); else DEBUG_ECHOPGM("xi");
-          DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")");
-        }
-
-        // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
-        return _UBL_OUTER_Z_RAISE;
-      }
-
-      const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * RECIPROCAL(MESH_Y_DIST),
-                  z1 = z_values[xi][y1_i];
-
-      return z1 + yratio * (z_values[xi][_MIN(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array
-                                                                                      // If it is, it is clamped to the last element of the
-                                                                                      // z_values[][] array and no correction is applied.
-    }
-
-    /**
-     * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
-     * does a linear interpolation along both of the bounding X-Mesh-Lines to find the
-     * Z-Height at both ends. Then it does a linear interpolation of these heights based
-     * on the Y position within the cell.
-     */
-    static float get_z_correction(const float &rx0, const float &ry0) {
-      const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped
-
-      /**
-       * Check if the requested location is off the mesh.  If so, and
-       * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.
-       */
-      #ifdef UBL_Z_RAISE_WHEN_OFF_MESH
-        if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))
-          return UBL_Z_RAISE_WHEN_OFF_MESH;
-      #endif
-
-      const float z1 = calc_z0(rx0,
-                               mesh_index_to_xpos(cx), z_values[cx][cy],
-                               mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]);
-
-      const float z2 = calc_z0(rx0,
-                               mesh_index_to_xpos(cx), z_values[cx][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1],
-                               mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]);
-
-      float z0 = calc_z0(ry0,
-                         mesh_index_to_ypos(cy), z1,
-                         mesh_index_to_ypos(cy + 1), z2);
+    if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
+      z0 = 0.0;      // in ubl.z_values[][] and propagate through the
+                     // calculations. If our correction is NAN, we throw it out
+                     // because part of the Mesh is undefined and we don't have the
+                     // information we need to complete the height correction.
 
       if (DEBUGGING(MESH_ADJUST)) {
-        DEBUG_ECHOPAIR(" raw get_z_correction(", rx0);
-        DEBUG_CHAR(','); DEBUG_ECHO(ry0);
-        DEBUG_ECHOPAIR_F(") = ", z0, 6);
-        DEBUG_ECHOLNPAIR_F(" >>>---> ", z0, 6);
+        DEBUG_ECHOPAIR("??? Yikes!  NAN in get_z_correction(", rx0);
+        DEBUG_CHAR(',');
+        DEBUG_ECHO(ry0);
+        DEBUG_CHAR(')');
+        DEBUG_EOL();
       }
-
-      if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
-        z0 = 0.0;      // in ubl.z_values[][] and propagate through the
-                       // calculations. If our correction is NAN, we throw it out
-                       // because part of the Mesh is undefined and we don't have the
-                       // information we need to complete the height correction.
-
-        if (DEBUGGING(MESH_ADJUST)) {
-          DEBUG_ECHOPAIR("??? Yikes!  NAN in get_z_correction(", rx0);
-          DEBUG_CHAR(',');
-          DEBUG_ECHO(ry0);
-          DEBUG_CHAR(')');
-          DEBUG_EOL();
-        }
-      }
-      return z0;
     }
-    static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); }
+    return z0;
+  }
+  static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); }
 
-    static inline float mesh_index_to_xpos(const uint8_t i) {
-      return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
-    }
-    static inline float mesh_index_to_ypos(const uint8_t i) {
-      return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
-    }
+  static inline float mesh_index_to_xpos(const uint8_t i) {
+    return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
+  }
+  static inline float mesh_index_to_ypos(const uint8_t i) {
+    return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
+  }
 
-    #if UBL_SEGMENTED
-      static bool line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s);
-    #else
-      static void line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t e);
-    #endif
+  #if UBL_SEGMENTED
+    static bool line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s);
+  #else
+    static void line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t e);
+  #endif
 
-    static inline bool mesh_is_valid() {
-      GRID_LOOP(x, y) if (isnan(z_values[x][y])) return false;
-      return true;
-    }
+  static inline bool mesh_is_valid() {
+    GRID_LOOP(x, y) if (isnan(z_values[x][y])) return false;
+    return true;
+  }
 
 }; // class unified_bed_leveling