Only subtract home offsets for machine-centric XY

Followup to 52eefa90e1

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,169 @@
+name: 🪲 Report a bug
+description: Create a bug report to help improve Marlin Firmware
+title: "[BUG] (bug summary)"
+body:
+  - type: markdown
+    attributes:
+      value: >
+        Do you want to ask a question? Are you looking for support? Please use one of the [support links](https://github.com/MarlinFirmware/Marlin/issues/new/choose).
+
+  - type: markdown
+    attributes:
+      value: |
+        **Thank you for reporting a bug in Marlin Firmware!**
+
+        ## Before Reporting a Bug
+
+        - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.0.x/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect.
+
+        - Test with the [`bugfix-2.0.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip) to see whether the issue still exists.
+
+        ## Instructions
+
+        Please follow the instructions below. Failure to do so may result in your issue being closed. See [Contributing to Marlin](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.0.x/.github/contributing.md) for additional guidelines.
+
+        1. Provide a good title starting with [BUG].
+        2. Fill out all sections of this bug report form.
+        3. Always attach configuration files so we can build and test your setup.
+
+  - type: dropdown
+    attributes:
+      label: Did you test the latest `bugfix-2.0.x` code?
+      description: >-
+        Always try the latest code to make sure the issue you are reporting is not already fixed. To download
+        the latest code just [click this link](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip).
+      options:
+        - Yes, and the problem still exists.
+        - No, but I will test it now!
+    validations:
+      required: true
+
+  - type: markdown
+    attributes:
+      value: |
+        # Bug Details
+
+  - type: textarea
+    attributes:
+      label: Bug Description
+      description: >-
+        Describe the bug in this section. Tell us what you were trying to do and what
+        happened that you did not expect. Provide a clear and concise description of the
+        problem and include as many details as possible.
+      placeholder: |
+        Marlin doesn't work.
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Bug Timeline
+      description: Is this a new bug or an old issue? When did it first start?
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: >-
+        What did you expect to happen?
+      placeholder: I expected it to move left.
+
+  - type: textarea
+    attributes:
+      label: Actual behavior
+      description: What actually happened instead?
+      placeholder: It moved right instead of left.
+
+  - type: textarea
+    attributes:
+      label: Steps to Reproduce
+      description: >-
+        Please describe the steps needed to reproduce the issue.
+      placeholder: |
+        1. [First Step] ...
+        2. [Second Step] ...
+        3. [and so on] ...
+
+  - type: markdown
+    attributes:
+      value: |
+        # Your Setup
+
+  - type: input
+    attributes:
+      label: Version of Marlin Firmware
+      description: "See the About Menu on the LCD or the output of `M115`. NOTE: For older releases we only patch critical bugs."
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Printer model
+      description: Creality Ender 3, Prusa mini, or Kossel Delta?
+
+  - type: input
+    attributes:
+      label: Electronics
+      description: Stock electronics, upgrade board, or something else?
+
+  - type: input
+    attributes:
+      label: Add-ons
+      description: Please list any hardware add-ons that could be involved.
+
+  - type: dropdown
+    attributes:
+      label: Bed Leveling
+      description: What kind of bed leveling compensation are you using?
+      options:
+        - UBL Bilinear mesh
+        - ABL Bilinear mesh
+        - ABL Linear grid
+        - ABL 3-point
+        - MBL Manual Bed Leveling
+        - No Bed Leveling
+
+  - type: dropdown
+    attributes:
+      label: Your Slicer
+      description: Do you use Slic3r, Prusa Slicer, Simplify3D, IdeaMaker...?
+      options:
+        - Slic3r
+        - Simplify3D
+        - Prusa Slicer
+        - IdeaMaker
+        - Cura
+        - Other (explain below)
+
+  - type: dropdown
+    attributes:
+      label: Host Software
+      description: Do you use OctoPrint, Repetier Host, Pronterface...?
+      options:
+        - SD Card (headless)
+        - Repetier Host
+        - OctoPrint
+        - Pronterface
+        - Cura
+        - Same as my slicer
+        - Other (explain below)
+
+  - type: markdown
+    attributes:
+      value: >-
+        ## Other things to include
+
+        Please also be sure to include these items to help with troubleshooting:
+
+          * **A ZIP file** containing your `Configuration.h` and `Configuration_adv.h`.
+            (Please don't paste lengthy configuration text here.)
+          * **Log output** from the host. (`M111 S247` for maximum logging.)
+          * **Images or videos** demonstrating the problem, if it helps to make it clear.
+          * **A G-Code file** that exposes the problem, if not affecting _all_ G-code.
+
+        If you've made any other modifications to the firmware, please describe them in detail in the space provided.
+
+        When pasting formatted text into the box below don't forget to put ` ``` ` (on its own line) before and after to make it readable.
+
+  - type: textarea
+    attributes:
+      label: Additional information & file uploads

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,20 @@
+blank_issues_enabled: false
+contact_links:
+  - name: 📖 Marlin Documentation
+    url: https://marlinfw.org/
+    about: Lots of documentation on installing and using Marlin.
+  - name: 👤 MarlinFirmware Facebook group
+    url: https://www.facebook.com/groups/1049718498464482
+    about: Please ask and answer questions here.
+  - name: 🕹 Marlin on Discord
+    url: https://discord.gg/n5NJ59y
+    about: Join the Discord server for support and discussion.
+  - name: 🔗 Marlin Discussion Forum
+    url: https://reprap.org/forum/list.php?415
+    about: A searchable web forum hosted by RepRap dot org.
+  - name: 📺 Marlin Videos on YouTube
+    url: https://www.youtube.com/results?search_query=marlin+firmware
+    about: Tutorials and more from Marlin users all around the world. Great for new users!
+  - name: 💸 Want to donate?
+    url: https://www.thinkyhead.com/donate-to-marlin
+    about: Please take a look at the various options to support Marlin Firmware's development financially!

.github/ISSUE_TEMPLATE/feature_request.yml

@@ -0,0 +1,44 @@
+name: ✨ Request a feature
+description: Request a new Marlin Firmware feature
+title: "[FR] (feature summary)"
+labels: 'T: Feature Request'
+body:
+  - type: markdown
+    attributes:
+      value: >
+        Do you want to ask a question? Are you looking for support? Please use one of the [support links](https://github.com/MarlinFirmware/Marlin/issues/new/choose).
+
+  - type: markdown
+    attributes:
+      value: >
+        **Thank you for requesting a new Marlin Firmware feature!**
+
+        ## Before Requesting a Feature
+
+        - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect.
+
+        - Check the latest [`bugfix-2.0.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip) to see if the feature already exists.
+
+        - Before you proceed with your request, please consider if it is necessary to make it into a firmware feature, or if it may be better suited for a slicer or host feature.
+
+  - type: textarea
+    attributes:
+      label: Is your feature request related to a problem? Please describe.
+      description: A clear description of the problem (e.g., "I need X but Marlin can't do it [...]").
+
+  - type: textarea
+    attributes:
+      label: Are you looking for hardware support?
+      description: Tell us the printer, board, or peripheral that needs support.
+
+  - type: textarea
+    attributes:
+      label: Describe the feature you want
+      description: A clear description of the feature and how you think it should work.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context or screenshots about the feature request here.

.github/contributing.md

@@ -50,13 +50,13 @@ If chat is more your speed, you can join the MarlinFirmware Discord server:
 
 This section guides you through submitting a Bug Report for Marlin. Following these guidelines helps maintainers and the community understand your report, reproduce the behavior, and find related reports.
 
-Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](issue_template.md), the information it asks for helps us resolve issues faster.
+Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](ISSUE_TEMPLATE/bug_report.yml), the information it asks for helps us resolve issues faster.
 
 > **Note:** Regressions can happen. If you find a **Closed** issue that seems like your issue, go ahead and open a new issue and include a link to the original issue in the body of your new one. All you need to create a link is the issue number, preceded by #. For example, #8888.
 
 #### How Do I Submit A (Good) Bug Report?
 
-Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](issue_template.md).
+Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](ISSUE_TEMPLATE/bug_report.yml).
 
 Explain the problem and include additional details to help maintainers reproduce the problem:
 
@@ -88,12 +88,12 @@ Include details about your configuration and environment:
 
 This section guides you through submitting a suggestion for Marlin, including completely new features and minor improvements to existing functionality. Following these guidelines helps maintainers and the community understand your suggestion and find related suggestions.
 
-Before creating a suggestion, please check [this list](#before-submitting-a-suggestion) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-enhancement-suggestion). Fill in [the template](issue_template.md), including the steps that you imagine you would take if the feature you're requesting existed.
+Before creating a suggestion, please check [this list](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-feature-request). Fill in [the template](ISSUE_TEMPLATE/feature_request.yml), including the steps that you imagine you would take if the feature you're requesting existed.
 
 #### Before Submitting a Feature Request
 
 * **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html).
-* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aissue)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
+* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
 
 #### How Do I Submit A (Good) Feature Request?
 
@@ -116,7 +116,7 @@ Unsure where to begin contributing to Marlin? You can start by looking through t
 
 ### Pull Requests
 
-Pull Requests should always be targeted to working branches (e.g., `bugfix-1.1.x` and/or `bugfix-2.0.x`) and never to release branches (e.g., `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
+Pull Requests should always be targeted to working branches (e.g., `bugfix-2.0.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
 
 * Fill in [the required template](pull_request_template.md).
 * Don't include issue numbers in the PR title.

.github/issue_template.md

@@ -1,35 +0,0 @@
-<!--
-
-Have you read Marlin's Code of Conduct? By filing an Issue, you are expected to comply with it, including treating everyone with respect: https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.0.x/.github/code_of_conduct.md
-
-Do you want to ask a question? Are you looking for support? Please don't post here. Instead use one of the following options:
-
-- The Marlin Firmware forum at https://reprap.org/forum/list.php?415
-- The MarlinFirmware Facebook Group at https://www.facebook.com/groups/1049718498464482/
-- The MarlinFirmware Discord Server at https://discord.gg/n5NJ59y.
-
-Before filing an issue be sure to test the latest "bugfix" branch to see whether the issue is already addressed.
-
--->
-
-### Description
-
-<!-- Description of the bug or requested feature -->
-
-### Steps to Reproduce
-
-<!-- If this is a Bug Report, please describe the steps needed to reproduce the issue -->
-
-1. [First Step]
-2. [Second Step]
-3. [and so on...]
-
-**Expected behavior:** [What you expect to happen]
-
-**Actual behavior:** [What actually happens]
-
-#### Additional Information
-
-* Include a ZIP file containing your `Configuration.h` and `Configuration_adv.h` files.
-* Provide pictures or links to videos that clearly demonstrate the issue.
-* See [How Can I Contribute](#how-can-i-contribute) for additional guidelines.

.github/pull_request_template.md

@@ -1,23 +1,33 @@
-### Requirements
+<!--
 
-* Filling out this template is required. Pull Requests without a clear description may be closed at the maintainers' discretion.
+Submitting a Pull Request
+
+- Please fill out all sections of this form. You can delete the helpful comments.
+- Pull Requests without clear information will take longer and may even be rejected.
+- We get a high volume of submissions so please be patient during review.
+
+-->
 
 ### Description
 
 <!--
 
-We must be able to understand your proposed change from this description. If we can't understand what the code will do from this description, the Pull Request may be closed at the maintainers' discretion. Keep in mind that the maintainer reviewing this PR may not be familiar with or have worked with the code recently, so please walk us through the concepts.
+Clearly describe the submitted changes with lots of details. Include images where helpful. Initial reviewers may not be familiar with the subject, so be as thorough as possible. You can use MarkDown syntax to improve readability with bullet lists, code blocks, and so on. PREVIEW and fix up formatting before submitting.
 
 -->
 
+### Requirements
+
+<!-- Does this PR require a specific board, LCD, etc.? -->
+
 ### Benefits
 
-<!-- What does this fix or improve? -->
+<!-- What does this PR fix or improve? -->
 
 ### Configurations
 
-<!-- Attach any Configuration.h, Configuration_adv.h, or platformio.ini files needed to compile/test your Pull Request. -->
+<!-- Attach Configurations ZIP and any other files needed to test this PR. -->
 
 ### Related Issues
 
-<!-- Whether this fixes a bug or fulfills a feature request, please list any related Issues here. -->
+<!-- Does this PR fix a bug or fulfill a Feature Request? Link related Issues here. -->

.github/workflows/bump-date.yml

@@ -0,0 +1,39 @@
+#
+# bump-date.yml
+# Bump the distribution date once per day
+#
+
+name: Bump Distribution Date
+
+on:
+  schedule:
+    - cron: '0 */6 * * *'
+
+jobs:
+  bump_date:
+    name: Bump Distribution Date
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+
+    - name: Check out bugfix-2.0.x
+      uses: actions/checkout@v2
+      with:
+        ref: bugfix-2.0.x
+
+    - name: Bump Distribution Date
+      run: |
+        # Inline Bump Script
+        if [[ ! "$( git log -1 --pretty=%B )" =~ ^\[cron\] ]]; then
+          DIST=$( date +"%Y-%m-%d" )
+          eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \
+          eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/Version.h" && \
+          git config user.name "${GITHUB_ACTOR}" && \
+          git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \
+          git add . && \
+          git commit -m "[cron] Bump distribution date ($DIST)" && \
+          git push
+        fi
+        exit 0

.github/workflows/check-pr.yml

@@ -0,0 +1,33 @@
+#
+# check-pr.yml
+# Close PRs directed at release branches
+#
+
+name: PR Bad Target
+
+on:
+  pull_request_target:
+    types: [opened]
+    branches:
+    - 1.0.x
+    - 1.1.x
+    - 2.0.x
+
+jobs:
+  bad_target:
+    name: PR Bad Target
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: superbrothers/close-pull-request@v3
+      with:
+        comment: >
+          Thanks for your contribution! Unfortunately we can't accept PRs directed at release branches. We make patches to the bugfix branches and only later do we push them out as releases.
+
+          Please redo this PR starting with the `bugfix-2.0.x` branch and be careful to target `bugfix-2.0.x` when resubmitting the PR.
+
+          It may help to set your fork's default branch to `bugfix-2.0.x`.
+
+          See [this page](http://marlinfw.org/docs/development/getting_started_pull_requests.html) for full instructions.

.github/workflows/clean-closed.yml

@@ -0,0 +1,39 @@
+#
+# clean-closed.yml
+# Remove obsolete labels when an Issue or PR is closed
+#
+
+name: Clean Closed
+
+on:
+  pull_request:
+    types: [closed]
+  issues:
+    types: [closed]
+
+jobs:
+  remove_label:
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        label:
+          - "S: Don't Merge"
+          - "S: Hold for 2.1"
+          - "S: Please Merge"
+          - "S: Please Test"
+          - "help wanted"
+          - "Needs: Discussion"
+          - "Needs: Documentation"
+          - "Needs: More Data"
+          - "Needs: Patch"
+          - "Needs: Testing"
+          - "Needs: Work"
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: Remove Labels
+        uses: actions-ecosystem/action-remove-labels@v1
+        with:
+          github_token: ${{ github.token }}
+          labels: ${{ matrix.label }}

.github/workflows/close-stale.yml

@@ -0,0 +1,28 @@
+#
+# close-stale.yml
+# Close open issues after a period of inactivity
+#
+
+name: Close Stale Issues
+
+on:
+  schedule:
+  - cron: "22 1 * * *"
+
+jobs:
+  stale:
+    name: Close Stale Issues
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/stale@v3
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        stale-issue-message: 'This issue has had no activity in the last 60 days. Please add a reply if you want to keep this issue active, otherwise it will be automatically closed within 10 days.'
+        days-before-stale: 60
+        days-before-close: 10
+        stale-issue-label: 'stale-closing-soon'
+        exempt-all-assignees: true
+        exempt-issue-labels: 'Bug: Confirmed !,T: Feature Request,Needs: Discussion,Needs: Documentation,Needs: Patch,Needs: Work,Needs: Testing,help wanted,no-locking'

.github/workflows/lock-closed.yml

@@ -0,0 +1,32 @@
+#
+# lock-closed.yml
+# Lock closed issues after a period of inactivity
+#
+
+name: Lock Closed Issues
+
+on:
+  schedule:
+    - cron: '0 1/13 * * *'
+
+jobs:
+  lock:
+    name: Lock Closed Issues
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: dessant/lock-threads@v2
+      with:
+        github-token: ${{ github.token }}
+        process-only: 'issues'
+        issue-lock-inactive-days: '60'
+        issue-exclude-created-before: ''
+        issue-exclude-labels: 'no-locking'
+        issue-lock-labels: ''
+        issue-lock-comment: >
+          This issue has been automatically locked since there
+          has not been any recent activity after it was closed.
+          Please open a new issue for related bugs.
+        issue-lock-reason: ''

.github/workflows/test-builds.yml

@@ -59,7 +59,7 @@ jobs:
         #- STM32F103RC_btt_maple
         - STM32F103RC_btt_USB_maple
         - STM32F103RC_fysetc_maple
-        - STM32F103RC_meeb
+        - STM32F103RC_meeb_maple
         - jgaurora_a5s_a1_maple
         - STM32F103VE_longer_maple
         #- mks_robin_maple
@@ -76,6 +76,7 @@ jobs:
         - STM32F103RE_btt
         - STM32F103RE_btt_USB
         - STM32F103RE_creality
+        - STM32F401RC_creality
         - STM32F103VE_longer
         - STM32F407VE_black
         - STM32F401VE_STEVAL
@@ -113,10 +114,10 @@ jobs:
     steps:
 
     - name: Check out the PR
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
 
     - name: Cache pip
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: ~/.cache/pip
         key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
@@ -124,21 +125,22 @@ jobs:
           ${{ runner.os }}-pip-
 
     - name: Cache PlatformIO
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: ~/.platformio
         key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
 
     - name: Select Python 3.7
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v3
       with:
         python-version: '3.7' # Version range or exact version of a Python version to use, using semvers version range syntax.
         architecture: 'x64' # optional x64 or x86. Defaults to x64 if not specified
 
     - name: Install PlatformIO
       run: |
-        pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
-        platformio update
+        pip install -U platformio
+        pio upgrade --dev
+        pio pkg update --global
 
     - name: Run ${{ matrix.test-platform }} Tests
       run: |

.github/workflows/unlock-reopened.yml

@@ -0,0 +1,22 @@
+#
+# unlock-reopened.yml
+# Unlock an issue whenever it is re-opened
+#
+
+name: "Unlock reopened issue"
+
+on:
+  issues:
+    types: [reopened]
+
+jobs:
+  unlock:
+    name: Unlock Reopened
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: OSDKDev/unlock-issues@v1.1
+      with:
+        repo-token: "${{ secrets.GITHUB_TOKEN }}"

.vscode/extensions.json

@@ -4,5 +4,8 @@
     "recommendations": [
         "marlinfirmware.auto-build",
         "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
     ]
 }

Marlin/Configuration.h

@@ -35,7 +35,7 @@
  *
  * Advanced settings can be found in Configuration_adv.h
  */
-#define CONFIGURATION_H_VERSION 02000903
+#define CONFIGURATION_H_VERSION 02010000
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -150,42 +150,84 @@
 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 
 /**
- * Define the number of coordinated linear axes.
- * See https://github.com/DerAndere1/Marlin/wiki
- * Each linear axis gets its own stepper control and endstop:
+ * Stepper Drivers
  *
- *   Steppers: *_STEP_PIN, *_ENABLE_PIN, *_DIR_PIN, *_ENABLE_ON
- *   Endstops: *_STOP_PIN, USE_*MIN_PLUG, USE_*MAX_PLUG
- *       Axes: *_MIN_POS, *_MAX_POS, INVERT_*_DIR
- *    Planner: DEFAULT_AXIS_STEPS_PER_UNIT, DEFAULT_MAX_FEEDRATE
- *             DEFAULT_MAX_ACCELERATION, AXIS_RELATIVE_MODES,
- *             MICROSTEP_MODES, MANUAL_FEEDRATE
+ * These settings allow Marlin to tune stepper driver timing and enable advanced options for
+ * stepper drivers that support them. You may also override timing options in Configuration_adv.h.
  *
- * :[3, 4, 5, 6]
+ * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers.
+ *
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
+ *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
+ *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
+ *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
+ *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
-//#define LINEAR_AXES 3
+#define X_DRIVER_TYPE  A4988
+#define Y_DRIVER_TYPE  A4988
+#define Z_DRIVER_TYPE  A4988
+//#define X2_DRIVER_TYPE A4988
+//#define Y2_DRIVER_TYPE A4988
+//#define Z2_DRIVER_TYPE A4988
+//#define Z3_DRIVER_TYPE A4988
+//#define Z4_DRIVER_TYPE A4988
+//#define I_DRIVER_TYPE  A4988
+//#define J_DRIVER_TYPE  A4988
+//#define K_DRIVER_TYPE  A4988
+//#define U_DRIVER_TYPE  A4988
+//#define V_DRIVER_TYPE  A4988
+//#define W_DRIVER_TYPE  A4988
+#define E0_DRIVER_TYPE A4988
+//#define E1_DRIVER_TYPE A4988
+//#define E2_DRIVER_TYPE A4988
+//#define E3_DRIVER_TYPE A4988
+//#define E4_DRIVER_TYPE A4988
+//#define E5_DRIVER_TYPE A4988
+//#define E6_DRIVER_TYPE A4988
+//#define E7_DRIVER_TYPE A4988
 
 /**
- * Axis codes for additional axes:
- * This defines the axis code that is used in G-code commands to
- * reference a specific axis.
- * 'A' for rotational axis parallel to X
- * 'B' for rotational axis parallel to Y
- * 'C' for rotational axis parallel to Z
- * 'U' for secondary linear axis parallel to X
- * 'V' for secondary linear axis parallel to Y
- * 'W' for secondary linear axis parallel to Z
- * Regardless of the settings, firmware-internal axis IDs are
- * I (AXIS4), J (AXIS5), K (AXIS6).
+ * Additional Axis Settings
+ *
+ * Define AXISn_ROTATES for all axes that rotate or pivot.
+ * Rotational axis coordinates are expressed in degrees.
+ *
+ * AXISn_NAME defines the letter used to refer to the axis in (most) G-code commands.
+ * By convention the names and roles are typically:
+ *   'A' : Rotational axis parallel to X
+ *   'B' : Rotational axis parallel to Y
+ *   'C' : Rotational axis parallel to Z
+ *   'U' : Secondary linear axis parallel to X
+ *   'V' : Secondary linear axis parallel to Y
+ *   'W' : Secondary linear axis parallel to Z
+ *
+ * Regardless of these settings the axes are internally named I, J, K, U, V, W.
  */
-#if LINEAR_AXES >= 4
+#ifdef I_DRIVER_TYPE
   #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define AXIS4_ROTATES
 #endif
-#if LINEAR_AXES >= 5
-  #define AXIS5_NAME 'B' // :['A', 'B', 'C', 'U', 'V', 'W']
+#ifdef J_DRIVER_TYPE
+  #define AXIS5_NAME 'B' // :['B', 'C', 'U', 'V', 'W']
+  #define AXIS5_ROTATES
 #endif
-#if LINEAR_AXES >= 6
-  #define AXIS6_NAME 'C' // :['A', 'B', 'C', 'U', 'V', 'W']
+#ifdef K_DRIVER_TYPE
+  #define AXIS6_NAME 'C' // :['C', 'U', 'V', 'W']
+  #define AXIS6_ROTATES
+#endif
+#ifdef U_DRIVER_TYPE
+  #define AXIS7_NAME 'U' // :['U', 'V', 'W']
+  //#define AXIS7_ROTATES
+#endif
+#ifdef V_DRIVER_TYPE
+  #define AXIS8_NAME 'V' // :['V', 'W']
+  //#define AXIS8_ROTATES
+#endif
+#ifdef W_DRIVER_TYPE
+  #define AXIS9_NAME 'W' // :['W']
+  //#define AXIS9_ROTATES
 #endif
 
 // @section extruder
@@ -459,6 +501,7 @@
  *    61 : 100kΩ  Formbot/Vivedino 350°C Thermistor - beta 3950
  *    66 : 4.7MΩ  Dyze Design High Temperature Thermistor
  *    67 : 500kΩ  SliceEngineering 450°C Thermistor
+ *    68 : PT100 amplifier board from Dyze Design
  *    70 : 100kΩ  bq Hephestos 2
  *    75 : 100kΩ  Generic Silicon Heat Pad with NTC100K MGB18-104F39050L32
  *  2000 : 100kΩ  Ultimachine Rambo TDK NTCG104LH104KT1 NTC100K motherboard Thermistor
@@ -588,17 +631,17 @@
 //===========================================================================
 //============================= PID Settings ================================
 //===========================================================================
-// PID Tuning Guide here: https://reprap.org/wiki/PID_Tuning
 
-// Comment the following line to disable PID and enable bang-bang.
-#define PIDTEMP
+// Enable PIDTEMP for PID control or MPCTEMP for Predictive Model.
+// temperature control. Disable both for bang-bang heating.
+#define PIDTEMP          // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning
+//#define MPCTEMP        // ** EXPERIMENTAL **
+
 #define BANG_MAX 255     // Limits current to nozzle while in bang-bang mode; 255=full current
 #define PID_MAX BANG_MAX // Limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #define PID_K1 0.95      // Smoothing factor within any PID loop
 
 #if ENABLED(PIDTEMP)
-  //#define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of PROGMEM)
-  //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM)
   //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
                                   // Set/get with gcode: M301 E[extruder number, 0-2]
 
@@ -613,7 +656,49 @@
     #define DEFAULT_Ki   1.08
     #define DEFAULT_Kd 114.00
   #endif
-#endif // PIDTEMP
+#endif
+
+/**
+ * Model Predictive Control for hotend
+ *
+ * Use a physical model of the hotend to control temperature. When configured correctly
+ * this gives better responsiveness and stability than PID and it also removes the need
+ * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 to autotune the model.
+ */
+#if ENABLED(MPCTEMP)
+  //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1300 bytes of flash)
+  //#define MPC_AUTOTUNE_MENU                         // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash)
+
+  #define MPC_MAX BANG_MAX                            // (0..255) Current to nozzle while MPC is active.
+  #define MPC_HEATER_POWER { 40.0f }                  // (W) Heat cartridge powers.
+
+  #define MPC_INCLUDE_FAN                             // Model the fan speed?
+
+  // Measured physical constants from M306
+  #define MPC_BLOCK_HEAT_CAPACITY { 16.7f }           // (J/K) Heat block heat capacities.
+  #define MPC_SENSOR_RESPONSIVENESS { 0.22f }         // (K/s per ∆K) Rate of change of sensor temperature from heat block.
+  #define MPC_AMBIENT_XFER_COEFF { 0.068f }           // (W/K) Heat transfer coefficients from heat block to room air with fan off.
+  #if ENABLED(MPC_INCLUDE_FAN)
+    #define MPC_AMBIENT_XFER_COEFF_FAN255 { 0.097f }  // (W/K) Heat transfer coefficients from heat block to room air with fan on full.
+  #endif
+
+  // For one fan and multiple hotends MPC needs to know how to apply the fan cooling effect.
+  #if ENABLED(MPC_INCLUDE_FAN)
+    //#define MPC_FAN_0_ALL_HOTENDS
+    //#define MPC_FAN_0_ACTIVE_HOTEND
+  #endif
+
+  #define FILAMENT_HEAT_CAPACITY_PERMM { 5.6e-3f }    // 0.0056 J/K/mm for 1.75mm PLA (0.0149 J/K/mm for 2.85mm PLA).
+  //#define FILAMENT_HEAT_CAPACITY_PERMM { 3.6e-3f }  // 0.0036 J/K/mm for 1.75mm PETG (0.0094 J/K/mm for 2.85mm PETG).
+
+  // Advanced options
+  #define MPC_SMOOTHING_FACTOR 0.5f                   // (0.0...1.0) Noisy temperature sensors may need a lower value for stabilization.
+  #define MPC_MIN_AMBIENT_CHANGE 1.0f                 // (K/s) Modeled ambient temperature rate of change, when correcting model inaccuracies.
+  #define MPC_STEADYSTATE 0.5f                        // (K/s) Temperature change rate for steady state logic to be enforced.
+
+  #define MPC_TUNING_POS { X_CENTER, Y_CENTER, 1.0f } // (mm) M306 Autotuning position, ideally bed center at first layer height.
+  #define MPC_TUNING_END_Z 10.0f                      // (mm) M306 Autotuning final Z position.
+#endif
 
 //===========================================================================
 //====================== PID > Bed Temperature Control ======================
@@ -707,6 +792,9 @@
   //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
   #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                   // is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
+
+  //#define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of flash)
+  //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of flash)
 #endif
 
 // @section extruder
@@ -792,12 +880,18 @@
 //#define USE_IMIN_PLUG
 //#define USE_JMIN_PLUG
 //#define USE_KMIN_PLUG
+//#define USE_UMIN_PLUG
+//#define USE_VMIN_PLUG
+//#define USE_WMIN_PLUG
 //#define USE_XMAX_PLUG
 //#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
 //#define USE_IMAX_PLUG
 //#define USE_JMAX_PLUG
 //#define USE_KMAX_PLUG
+//#define USE_UMAX_PLUG
+//#define USE_VMAX_PLUG
+//#define USE_WMAX_PLUG
 
 // Enable pullup for all endstops to prevent a floating state
 #define ENDSTOPPULLUPS
@@ -809,12 +903,18 @@
   //#define ENDSTOPPULLUP_IMIN
   //#define ENDSTOPPULLUP_JMIN
   //#define ENDSTOPPULLUP_KMIN
+  //#define ENDSTOPPULLUP_UMIN
+  //#define ENDSTOPPULLUP_VMIN
+  //#define ENDSTOPPULLUP_WMIN
   //#define ENDSTOPPULLUP_XMAX
   //#define ENDSTOPPULLUP_YMAX
   //#define ENDSTOPPULLUP_ZMAX
   //#define ENDSTOPPULLUP_IMAX
   //#define ENDSTOPPULLUP_JMAX
   //#define ENDSTOPPULLUP_KMAX
+  //#define ENDSTOPPULLUP_UMAX
+  //#define ENDSTOPPULLUP_VMAX
+  //#define ENDSTOPPULLUP_WMAX
   //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif
 
@@ -828,12 +928,18 @@
   //#define ENDSTOPPULLDOWN_IMIN
   //#define ENDSTOPPULLDOWN_JMIN
   //#define ENDSTOPPULLDOWN_KMIN
+  //#define ENDSTOPPULLDOWN_UMIN
+  //#define ENDSTOPPULLDOWN_VMIN
+  //#define ENDSTOPPULLDOWN_WMIN
   //#define ENDSTOPPULLDOWN_XMAX
   //#define ENDSTOPPULLDOWN_YMAX
   //#define ENDSTOPPULLDOWN_ZMAX
   //#define ENDSTOPPULLDOWN_IMAX
   //#define ENDSTOPPULLDOWN_JMAX
   //#define ENDSTOPPULLDOWN_KMAX
+  //#define ENDSTOPPULLDOWN_UMAX
+  //#define ENDSTOPPULLDOWN_VMAX
+  //#define ENDSTOPPULLDOWN_WMAX
   //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif
 
@@ -844,52 +950,20 @@
 #define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.
 
-/**
- * Stepper Drivers
- *
- * These settings allow Marlin to tune stepper driver timing and enable advanced options for
- * stepper drivers that support them. You may also override timing options in Configuration_adv.h.
- *
- * A4988 is assumed for unspecified drivers.
- *
- * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers.
- *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
- *          TB6560, TB6600, TMC2100,
- *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
- *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
- *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
- *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
- */
-#define X_DRIVER_TYPE  A4988
-#define Y_DRIVER_TYPE  A4988
-#define Z_DRIVER_TYPE  A4988
-//#define X2_DRIVER_TYPE A4988
-//#define Y2_DRIVER_TYPE A4988
-//#define Z2_DRIVER_TYPE A4988
-//#define Z3_DRIVER_TYPE A4988
-//#define Z4_DRIVER_TYPE A4988
-//#define I_DRIVER_TYPE  A4988
-//#define J_DRIVER_TYPE  A4988
-//#define K_DRIVER_TYPE  A4988
-#define E0_DRIVER_TYPE A4988
-//#define E1_DRIVER_TYPE A4988
-//#define E2_DRIVER_TYPE A4988
-//#define E3_DRIVER_TYPE A4988
-//#define E4_DRIVER_TYPE A4988
-//#define E5_DRIVER_TYPE A4988
-//#define E6_DRIVER_TYPE A4988
-//#define E7_DRIVER_TYPE A4988
-
 // Enable this feature if all enabled endstop pins are interrupt-capable.
 // This will remove the need to poll the interrupt pins, saving many CPU cycles.
 //#define ENDSTOP_INTERRUPTS_FEATURE
@@ -932,16 +1006,16 @@
 //#define DISTINCT_E_FACTORS
 
 /**
- * Default Axis Steps Per Unit (steps/mm)
+ * Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°)
  * Override with M92
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
 
 /**
- * Default Max Feed Rate (mm/s)
+ * Default Max Feed Rate (linear=mm/s, rotational=°/s)
  * Override with M203
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
 
@@ -951,10 +1025,10 @@
 #endif
 
 /**
- * Default Max Acceleration (change/s) change = mm/s
+ * Default Max Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
  * (Maximum start speed for accelerated moves)
  * Override with M201
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
 
@@ -964,7 +1038,7 @@
 #endif
 
 /**
- * Default Acceleration (change/s) change = mm/s
+ * Default Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
  * Override with M204
  *
  *   M204 P    Acceleration
@@ -977,7 +1051,7 @@
 
 /**
  * Default Jerk limits (mm/s)
- * Override with M205 X Y Z E
+ * Override with M205 X Y Z . . . E
  *
  * "Jerk" specifies the minimum speed change that requires acceleration.
  * When changing speed and direction, if the difference is less than the
@@ -991,6 +1065,9 @@
   //#define DEFAULT_IJERK  0.3
   //#define DEFAULT_JJERK  0.3
   //#define DEFAULT_KJERK  0.3
+  //#define DEFAULT_UJERK  0.3
+  //#define DEFAULT_VJERK  0.3
+  //#define DEFAULT_WJERK  0.3
 
   //#define TRAVEL_EXTRA_XYJERK 0.0     // Additional jerk allowance for all travel moves
 
@@ -1329,6 +1406,9 @@
 //#define I_ENABLE_ON 0
 //#define J_ENABLE_ON 0
 //#define K_ENABLE_ON 0
+//#define U_ENABLE_ON 0
+//#define V_ENABLE_ON 0
+//#define W_ENABLE_ON 0
 
 // Disable axis steppers immediately when they're not being stepped.
 // WARNING: When motors turn off there is a chance of losing position accuracy!
@@ -1338,6 +1418,9 @@
 //#define DISABLE_I false
 //#define DISABLE_J false
 //#define DISABLE_K false
+//#define DISABLE_U false
+//#define DISABLE_V false
+//#define DISABLE_W false
 
 // Turn off the display blinking that warns about possible accuracy reduction
 //#define DISABLE_REDUCED_ACCURACY_WARNING
@@ -1356,6 +1439,9 @@
 //#define INVERT_I_DIR false
 //#define INVERT_J_DIR false
 //#define INVERT_K_DIR false
+//#define INVERT_U_DIR false
+//#define INVERT_V_DIR false
+//#define INVERT_W_DIR false
 
 // @section extruder
 
@@ -1394,6 +1480,9 @@
 //#define I_HOME_DIR -1
 //#define J_HOME_DIR -1
 //#define K_HOME_DIR -1
+//#define U_HOME_DIR -1
+//#define V_HOME_DIR -1
+//#define W_HOME_DIR -1
 
 // @section machine
 
@@ -1401,7 +1490,7 @@
 #define X_BED_SIZE 200
 #define Y_BED_SIZE 200
 
-// Travel limits (mm) after homing, corresponding to endstop positions.
+// Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions.
 #define X_MIN_POS 0
 #define Y_MIN_POS 0
 #define Z_MIN_POS 0
@@ -1414,6 +1503,12 @@
 //#define J_MAX_POS 50
 //#define K_MIN_POS 0
 //#define K_MAX_POS 50
+//#define U_MIN_POS 0
+//#define U_MAX_POS 50
+//#define V_MIN_POS 0
+//#define V_MAX_POS 50
+//#define W_MIN_POS 0
+//#define W_MAX_POS 50
 
 /**
  * Software Endstops
@@ -1433,6 +1528,9 @@
   #define MIN_SOFTWARE_ENDSTOP_I
   #define MIN_SOFTWARE_ENDSTOP_J
   #define MIN_SOFTWARE_ENDSTOP_K
+  #define MIN_SOFTWARE_ENDSTOP_U
+  #define MIN_SOFTWARE_ENDSTOP_V
+  #define MIN_SOFTWARE_ENDSTOP_W
 #endif
 
 // Max software endstops constrain movement within maximum coordinate bounds
@@ -1444,6 +1542,9 @@
   #define MAX_SOFTWARE_ENDSTOP_I
   #define MAX_SOFTWARE_ENDSTOP_J
   #define MAX_SOFTWARE_ENDSTOP_K
+  #define MAX_SOFTWARE_ENDSTOP_U
+  #define MAX_SOFTWARE_ENDSTOP_V
+  #define MAX_SOFTWARE_ENDSTOP_W
 #endif
 
 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
@@ -1758,6 +1859,9 @@
 //#define MANUAL_I_HOME_POS 0
 //#define MANUAL_J_HOME_POS 0
 //#define MANUAL_K_HOME_POS 0
+//#define MANUAL_U_HOME_POS 0
+//#define MANUAL_V_HOME_POS 0
+//#define MANUAL_W_HOME_POS 0
 
 /**
  * Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
@@ -1773,7 +1877,7 @@
   #define Z_SAFE_HOMING_Y_POINT Y_CENTER  // Y point for Z homing
 #endif
 
-// Homing speeds (mm/min)
+// Homing speeds (linear=mm/min, rotational=°/min)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }
 
 // Validate that endstops are triggered on homing moves
@@ -1852,7 +1956,7 @@
  *   M502 - Revert settings to "factory" defaults. (Follow with M500 to init the EEPROM.)
  */
 //#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
-//#define DISABLE_M503        // Saves ~2700 bytes of PROGMEM. Disable for release!
+//#define DISABLE_M503        // Saves ~2700 bytes of flash. Disable for release!
 #define EEPROM_CHITCHAT       // Give feedback on EEPROM commands. Disable to save PROGMEM.
 #define EEPROM_BOOT_SILENT    // Keep M503 quiet and only give errors during first load
 #if ENABLED(EEPROM_SETTINGS)
@@ -1883,7 +1987,7 @@
 // @section temperature
 
 //
-// Preheat Constants - Up to 5 are supported without changes
+// Preheat Constants - Up to 6 are supported without changes
 //
 #define PREHEAT_1_LABEL       "PLA"
 #define PREHEAT_1_TEMP_HOTEND 180
@@ -1913,8 +2017,7 @@
 #if ENABLED(NOZZLE_PARK_FEATURE)
   // Specify a park position as { X, Y, Z_raise }
   #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 }
-  //#define NOZZLE_PARK_X_ONLY          // X move only is required to park
-  //#define NOZZLE_PARK_Y_ONLY          // Y move only is required to park
+  #define NOZZLE_PARK_MOVE          0   // Park motion: 0 = XY Move, 1 = X Only, 2 = Y Only, 3 = X before Y, 4 = Y before X
   #define NOZZLE_PARK_Z_RAISE_MIN   2   // (mm) Always raise Z by at least this distance
   #define NOZZLE_PARK_XY_FEEDRATE 100   // (mm/s) X and Y axes feedrate (also used for delta Z axis)
   #define NOZZLE_PARK_Z_FEEDRATE    5   // (mm/s) Z axis feedrate (not used for delta printers)
@@ -2584,38 +2687,38 @@
 //========================== Extensible UI Displays ===========================
 //=============================================================================
 
-//
-// DGUS Touch Display with DWIN OS. (Choose one.)
-// ORIGIN : https://www.aliexpress.com/item/32993409517.html
-// FYSETC : https://www.aliexpress.com/item/32961471929.html
-// MKS    : https://www.aliexpress.com/item/1005002008179262.html
-//
-// Flash display with DGUS Displays for Marlin:
-//  - Format the SD card to FAT32 with an allocation size of 4kb.
-//  - Download files as specified for your type of display.
-//  - Plug the microSD card into the back of the display.
-//  - Boot the display and wait for the update to complete.
-//
-// ORIGIN (Marlin DWIN_SET)
-//  - Download https://github.com/coldtobi/Marlin_DGUS_Resources
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// FYSETC (Supplier default)
-//  - Download https://github.com/FYSETC/FYSTLCD-2.0
-//  - Copy the downloaded SCREEN folder to the SD card.
-//
-// HIPRECY (Supplier default)
-//  - Download https://github.com/HiPrecy/Touch-Lcd-LEO
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// MKS (MKS-H43) (Supplier default)
-//  - Download https://github.com/makerbase-mks/MKS-H43
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// RELOADED (T5UID1)
-//  - Download https://github.com/Desuuuu/DGUS-reloaded/releases
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
+/**
+ * DGUS Touch Display with DWIN OS. (Choose one.)
+ * ORIGIN : https://www.aliexpress.com/item/32993409517.html
+ * FYSETC : https://www.aliexpress.com/item/32961471929.html
+ * MKS    : https://www.aliexpress.com/item/1005002008179262.html
+ *
+ * Flash display with DGUS Displays for Marlin:
+ *  - Format the SD card to FAT32 with an allocation size of 4kb.
+ *  - Download files as specified for your type of display.
+ *  - Plug the microSD card into the back of the display.
+ *  - Boot the display and wait for the update to complete.
+ *
+ * ORIGIN (Marlin DWIN_SET)
+ *  - Download https://github.com/coldtobi/Marlin_DGUS_Resources
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * FYSETC (Supplier default)
+ *  - Download https://github.com/FYSETC/FYSTLCD-2.0
+ *  - Copy the downloaded SCREEN folder to the SD card.
+ *
+ * HIPRECY (Supplier default)
+ *  - Download https://github.com/HiPrecy/Touch-Lcd-LEO
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * MKS (MKS-H43) (Supplier default)
+ *  - Download https://github.com/makerbase-mks/MKS-H43
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * RELOADED (T5UID1)
+ *  - Download https://github.com/Desuuuu/DGUS-reloaded/releases
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ */
 //#define DGUS_LCD_UI_ORIGIN
 //#define DGUS_LCD_UI_FYSETC
 //#define DGUS_LCD_UI_HIPRECY
@@ -2629,9 +2732,6 @@
 // Touch-screen LCD for Malyan M200/M300 printers
 //
 //#define MALYAN_LCD
-#if ENABLED(MALYAN_LCD)
-  #define LCD_SERIAL_PORT 1  // Default is 1 for Malyan M200
-#endif
 
 //
 // Touch UI for FTDI EVE (FT800/FT810) displays
@@ -2645,7 +2745,6 @@
 //#define ANYCUBIC_LCD_I3MEGA
 //#define ANYCUBIC_LCD_CHIRON
 #if EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON)
-  #define LCD_SERIAL_PORT 3  // Default is 3 for Anycubic
   //#define ANYCUBIC_LCD_DEBUG
 #endif
 
@@ -2653,9 +2752,6 @@
 // 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.
@@ -2807,7 +2903,7 @@
 // Ender-3 v2 OEM display. A DWIN display with Rotary Encoder.
 //
 //#define DWIN_CREALITY_LCD           // Creality UI
-//#define DWIN_CREALITY_LCD_ENHANCED  // Enhanced UI
+//#define DWIN_LCD_PROUI              // Pro UI by MRiscoC
 //#define DWIN_CREALITY_LCD_JYERSUI   // Jyers UI by Jacob Myers
 //#define DWIN_MARLINUI_PORTRAIT      // MarlinUI (portrait orientation)
 //#define DWIN_MARLINUI_LANDSCAPE     // MarlinUI (landscape orientation)
@@ -2820,7 +2916,7 @@
   #define BUTTON_DELAY_EDIT  50 // (ms) Button repeat delay for edit screens
   #define BUTTON_DELAY_MENU 250 // (ms) Button repeat delay for menus
 
-  //#define TOUCH_IDLE_SLEEP 300 // (secs) Turn off the TFT backlight if set (5mn)
+  //#define TOUCH_IDLE_SLEEP 300 // (s) Turn off the TFT backlight if set (5mn)
 
   #define TOUCH_SCREEN_CALIBRATION
 
@@ -2930,30 +3026,31 @@
 // Support for Adafruit NeoPixel LED driver
 //#define NEOPIXEL_LED
 #if ENABLED(NEOPIXEL_LED)
-  #define NEOPIXEL_TYPE   NEO_GRBW // NEO_GRBW / NEO_GRB - four/three channel driver type (defined in Adafruit_NeoPixel.h)
-  //#define NEOPIXEL_PIN     4     // LED driving pin
-  //#define NEOPIXEL2_TYPE NEOPIXEL_TYPE
-  //#define NEOPIXEL2_PIN    5
-  #define NEOPIXEL_PIXELS 30       // Number of LEDs in the strip. (Longest strip when NEOPIXEL2_SEPARATE is disabled.)
-  #define NEOPIXEL_IS_SEQUENTIAL   // Sequential display for temperature change - LED by LED. Disable to change all LEDs at once.
-  #define NEOPIXEL_BRIGHTNESS 127  // Initial brightness (0-255)
-  //#define NEOPIXEL_STARTUP_TEST  // Cycle through colors at startup
+  #define NEOPIXEL_TYPE          NEO_GRBW // NEO_GRBW, NEO_RGBW, NEO_GRB, NEO_RBG, etc.
+                                          // See https://github.com/adafruit/Adafruit_NeoPixel/blob/master/Adafruit_NeoPixel.h
+  //#define NEOPIXEL_PIN                4 // LED driving pin
+  //#define NEOPIXEL2_TYPE  NEOPIXEL_TYPE
+  //#define NEOPIXEL2_PIN               5
+  #define NEOPIXEL_PIXELS              30 // Number of LEDs in the strip. (Longest strip when NEOPIXEL2_SEPARATE is disabled.)
+  #define NEOPIXEL_IS_SEQUENTIAL          // Sequential display for temperature change - LED by LED. Disable to change all LEDs at once.
+  #define NEOPIXEL_BRIGHTNESS         127 // Initial brightness (0-255)
+  //#define NEOPIXEL_STARTUP_TEST         // Cycle through colors at startup
 
   // Support for second Adafruit NeoPixel LED driver controlled with M150 S1 ...
   //#define NEOPIXEL2_SEPARATE
   #if ENABLED(NEOPIXEL2_SEPARATE)
-    #define NEOPIXEL2_PIXELS      15  // Number of LEDs in the second strip
-    #define NEOPIXEL2_BRIGHTNESS 127  // Initial brightness (0-255)
-    #define NEOPIXEL2_STARTUP_TEST    // Cycle through colors at startup
+    #define NEOPIXEL2_PIXELS           15 // Number of LEDs in the second strip
+    #define NEOPIXEL2_BRIGHTNESS      127 // Initial brightness (0-255)
+    #define NEOPIXEL2_STARTUP_TEST        // Cycle through colors at startup
   #else
-    //#define NEOPIXEL2_INSERIES      // Default behavior is NeoPixel 2 in parallel
+    //#define NEOPIXEL2_INSERIES          // Default behavior is NeoPixel 2 in parallel
   #endif
 
   // Use some of the NeoPixel LEDs for static (background) lighting
-  //#define NEOPIXEL_BKGD_INDEX_FIRST  0              // Index of the first background LED
-  //#define NEOPIXEL_BKGD_INDEX_LAST   5              // Index of the last background LED
+  //#define NEOPIXEL_BKGD_INDEX_FIRST   0 // Index of the first background LED
+  //#define NEOPIXEL_BKGD_INDEX_LAST    5 // Index of the last background LED
   //#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
+  //#define NEOPIXEL_BKGD_ALWAYS_ON       // Keep the backlight on when other NeoPixels are off
 #endif
 
 /**

Marlin/Configuration_adv.h

@@ -30,7 +30,7 @@
  *
  * Basic settings can be found in Configuration.h
  */
-#define CONFIGURATION_ADV_H_VERSION 02000903
+#define CONFIGURATION_ADV_H_VERSION 02010000
 
 //===========================================================================
 //============================= Thermal Settings ============================
@@ -249,20 +249,6 @@
   #endif
 #endif
 
-//
-// Laser Coolant Flow Meter
-//
-//#define LASER_COOLANT_FLOW_METER
-#if ENABLED(LASER_COOLANT_FLOW_METER)
-  #define FLOWMETER_PIN         20  // Requires an external interrupt-enabled pin (e.g., RAMPS 2,3,18,19,20,21)
-  #define FLOWMETER_PPL       5880  // (pulses/liter) Flow meter pulses-per-liter on the input pin
-  #define FLOWMETER_INTERVAL  1000  // (ms) Flow rate calculation interval in milliseconds
-  #define FLOWMETER_SAFETY          // Prevent running the laser without the minimum flow rate set below
-  #if ENABLED(FLOWMETER_SAFETY)
-    #define FLOWMETER_MIN_LITERS_PER_MINUTE 1.5 // (liters/min) Minimum flow required when enabled
-  #endif
-#endif
-
 /**
  * Thermal Protection provides additional protection to your printer from damage
  * and fire. Marlin always includes safe min and max temperature ranges which
@@ -347,7 +333,11 @@
 #endif
 
 #if ANY(THERMAL_PROTECTION_HOTENDS, THERMAL_PROTECTION_BED, THERMAL_PROTECTION_CHAMBER, THERMAL_PROTECTION_COOLER)
-  #define THERMAL_PROTECTION_VARIANCE_MONITOR     // Detect a sensor malfunction preventing temperature updates
+  /**
+   * Thermal Protection Variance Monitor - EXPERIMENTAL.
+   * Kill the machine on a stuck temperature sensor. Disable if you get false positives.
+   */
+  //#define THERMAL_PROTECTION_VARIANCE_MONITOR   // Detect a sensor malfunction preventing temperature updates
 #endif
 
 #if ENABLED(PIDTEMP)
@@ -616,7 +606,6 @@
 #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
@@ -710,73 +699,6 @@
   //#define CLOSED_LOOP_MOVE_COMPLETE_PIN -1
 #endif
 
-/**
- * Dual Steppers / Dual Endstops
- *
- * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
- *
- * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
- * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
- * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
- * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
- *
- * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
- * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
- * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
- */
-
-//#define X_DUAL_STEPPER_DRIVERS
-#if ENABLED(X_DUAL_STEPPER_DRIVERS)
-  //#define INVERT_X2_VS_X_DIR    // Enable if X2 direction signal is opposite to X
-  //#define X_DUAL_ENDSTOPS
-  #if ENABLED(X_DUAL_ENDSTOPS)
-    #define X2_USE_ENDSTOP _XMAX_
-    #define X2_ENDSTOP_ADJUSTMENT  0
-  #endif
-#endif
-
-//#define Y_DUAL_STEPPER_DRIVERS
-#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-  //#define INVERT_Y2_VS_Y_DIR   // Enable if Y2 direction signal is opposite to Y
-  //#define Y_DUAL_ENDSTOPS
-  #if ENABLED(Y_DUAL_ENDSTOPS)
-    #define Y2_USE_ENDSTOP _YMAX_
-    #define Y2_ENDSTOP_ADJUSTMENT  0
-  #endif
-#endif
-
-//
-// For Z set the number of stepper drivers
-//
-#define NUM_Z_STEPPER_DRIVERS 1   // (1-4) Z options change based on how many
-
-#if NUM_Z_STEPPER_DRIVERS > 1
-  // Enable if Z motor direction signals are the opposite of Z1
-  //#define INVERT_Z2_VS_Z_DIR
-  //#define INVERT_Z3_VS_Z_DIR
-  //#define INVERT_Z4_VS_Z_DIR
-
-  //#define Z_MULTI_ENDSTOPS
-  #if ENABLED(Z_MULTI_ENDSTOPS)
-    #define Z2_USE_ENDSTOP          _XMAX_
-    #define Z2_ENDSTOP_ADJUSTMENT   0
-    #if NUM_Z_STEPPER_DRIVERS >= 3
-      #define Z3_USE_ENDSTOP        _YMAX_
-      #define Z3_ENDSTOP_ADJUSTMENT 0
-    #endif
-    #if NUM_Z_STEPPER_DRIVERS >= 4
-      #define Z4_USE_ENDSTOP        _ZMAX_
-      #define Z4_ENDSTOP_ADJUSTMENT 0
-    #endif
-  #endif
-#endif
-
-// Drive the E axis with two synchronized steppers
-//#define E_DUAL_STEPPER_DRIVERS
-#if ENABLED(E_DUAL_STEPPER_DRIVERS)
-  //#define INVERT_E1_VS_E0_DIR   // Enable if the E motors need opposite DIR states
-#endif
-
 /**
  * Dual X Carriage
  *
@@ -807,18 +729,17 @@
  */
 //#define DUAL_X_CARRIAGE
 #if ENABLED(DUAL_X_CARRIAGE)
-  #define X1_MIN_POS X_MIN_POS   // Set to X_MIN_POS
-  #define X1_MAX_POS X_BED_SIZE  // Set a maximum so the first X-carriage can't hit the parked second X-carriage
-  #define X2_MIN_POS    80       // Set a minimum to ensure the  second X-carriage can't hit the parked first X-carriage
-  #define X2_MAX_POS   353       // Set this to the distance between toolheads when both heads are homed
-  #define X2_HOME_DIR    1       // Set to 1. The second X-carriage always homes to the maximum endstop position
-  #define X2_HOME_POS X2_MAX_POS // Default X2 home position. Set to X2_MAX_POS.
-                      // However: In this mode the HOTEND_OFFSET_X value for the second extruder provides a software
-                      // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
-                      // without modifying the firmware (through the "M218 T1 X???" command).
-                      // Remember: you should set the second extruder x-offset to 0 in your slicer.
+  #define X1_MIN_POS X_MIN_POS    // Set to X_MIN_POS
+  #define X1_MAX_POS X_BED_SIZE   // A max coordinate so the X1 carriage can't hit the parked X2 carriage
+  #define X2_MIN_POS    80        // A min coordinate so the X2 carriage can't hit the parked X1 carriage
+  #define X2_MAX_POS   353        // The max position of the X2 carriage, typically also the home position
+  #define X2_HOME_DIR    1        // Set to 1. The X2 carriage always homes to the max endstop position
+  #define X2_HOME_POS X2_MAX_POS  // Default X2 home position. Set to X2_MAX_POS.
+                                  // NOTE: For Dual X Carriage use M218 T1 Xn to override the X2_HOME_POS.
+                                  // This allows recalibration of endstops distance without a rebuild.
+                                  // Remember to set the second extruder's X-offset to 0 in your slicer.
 
-  // This is the default power-up mode which can be later using M605.
+  // This is the default power-up mode which can be changed later using M605 S<mode>.
   #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_AUTO_PARK_MODE
 
   // Default x offset in duplication mode (typically set to half print bed width)
@@ -828,6 +749,77 @@
   //#define EVENT_GCODE_IDEX_AFTER_MODECHANGE "G28X"
 #endif
 
+/**
+ * Multi-Stepper / Multi-Endstop
+ *
+ * When X2_DRIVER_TYPE is defined, this indicates that the X and X2 motors work in tandem.
+ * The following explanations for X also apply to Y and Z multi-stepper setups.
+ * Endstop offsets may be changed by 'M666 X<offset> Y<offset> Z<offset>' and stored to EEPROM.
+ *
+ * - Enable INVERT_X2_VS_X_DIR if the X2 motor requires an opposite DIR signal from X.
+ *
+ * - Enable X_DUAL_ENDSTOPS if the second motor has its own endstop, with adjustable offset.
+ *
+ *   - Extra endstops are included in the output of 'M119'.
+ *
+ *   - Set X_DUAL_ENDSTOP_ADJUSTMENT to the known error in the X2 endstop.
+ *     Applied to the X2 motor on 'G28' / 'G28 X'.
+ *     Get the offset by homing X and measuring the error.
+ *     Also set with 'M666 X<offset>' and stored to EEPROM with 'M500'.
+ *
+ *   - Use X2_USE_ENDSTOP to set the endstop plug by name. (_XMIN_, _XMAX_, _YMIN_, _YMAX_, _ZMIN_, _ZMAX_)
+ */
+#if HAS_X2_STEPPER && DISABLED(DUAL_X_CARRIAGE)
+  //#define INVERT_X2_VS_X_DIR        // X2 direction signal is the opposite of X
+  //#define X_DUAL_ENDSTOPS           // X2 has its own endstop
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP    _XMAX_  // X2 endstop board plug. Don't forget to enable USE_*_PLUG.
+    #define X2_ENDSTOP_ADJUSTMENT  0  // X2 offset relative to X endstop
+  #endif
+#endif
+
+#if HAS_DUAL_Y_STEPPERS
+  //#define INVERT_Y2_VS_Y_DIR        // Y2 direction signal is the opposite of Y
+  //#define Y_DUAL_ENDSTOPS           // Y2 has its own endstop
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP    _YMAX_  // Y2 endstop board plug. Don't forget to enable USE_*_PLUG.
+    #define Y2_ENDSTOP_ADJUSTMENT  0  // Y2 offset relative to Y endstop
+  #endif
+#endif
+
+//
+// Multi-Z steppers
+//
+#ifdef Z2_DRIVER_TYPE
+  //#define INVERT_Z2_VS_Z_DIR        // Z2 direction signal is the opposite of Z
+
+  //#define Z_MULTI_ENDSTOPS          // Other Z axes have their own endstops
+  #if ENABLED(Z_MULTI_ENDSTOPS)
+    #define Z2_USE_ENDSTOP   _XMAX_   // Z2 endstop board plug. Don't forget to enable USE_*_PLUG.
+    #define Z2_ENDSTOP_ADJUSTMENT 0   // Z2 offset relative to Y endstop
+  #endif
+  #ifdef Z3_DRIVER_TYPE
+    //#define INVERT_Z3_VS_Z_DIR      // Z3 direction signal is the opposite of Z
+    #if ENABLED(Z_MULTI_ENDSTOPS)
+      #define Z3_USE_ENDSTOP   _YMAX_ // Z3 endstop board plug. Don't forget to enable USE_*_PLUG.
+      #define Z3_ENDSTOP_ADJUSTMENT 0 // Z3 offset relative to Y endstop
+    #endif
+  #endif
+  #ifdef Z4_DRIVER_TYPE
+    //#define INVERT_Z4_VS_Z_DIR      // Z4 direction signal is the opposite of Z
+    #if ENABLED(Z_MULTI_ENDSTOPS)
+      #define Z4_USE_ENDSTOP   _ZMAX_ // Z4 endstop board plug. Don't forget to enable USE_*_PLUG.
+      #define Z4_ENDSTOP_ADJUSTMENT 0 // Z4 offset relative to Y endstop
+    #endif
+  #endif
+#endif
+
+// Drive the E axis with two synchronized steppers
+//#define E_DUAL_STEPPER_DRIVERS
+#if ENABLED(E_DUAL_STEPPER_DRIVERS)
+  //#define INVERT_E1_VS_E0_DIR       // E direction signals are opposites
+#endif
+
 // Activate a solenoid on the active extruder with M380. Disable all with M381.
 // Define SOL0_PIN, SOL1_PIN, etc., for each extruder that has a solenoid.
 //#define EXT_SOLENOID
@@ -840,12 +832,12 @@
  * the position of the toolhead relative to the workspace.
  */
 
-//#define SENSORLESS_BACKOFF_MM  { 2, 2, 0 }  // (mm) Backoff from endstops before sensorless homing
+//#define SENSORLESS_BACKOFF_MM  { 2, 2, 0 }  // (linear=mm, rotational=°) Backoff from endstops before sensorless homing
 
-#define HOMING_BUMP_MM      { 5, 5, 2 }       // (mm) Backoff from endstops after first bump
+#define HOMING_BUMP_MM      { 5, 5, 2 }       // (linear=mm, rotational=°) Backoff from endstops after first bump
 #define HOMING_BUMP_DIVISOR { 2, 2, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
 
-//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm) Backoff from endstops after homing
+//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (linear=mm, rotational=°) Backoff from endstops after homing
 
 //#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
@@ -931,9 +923,12 @@
  */
 //#define Z_STEPPER_AUTO_ALIGN
 #if ENABLED(Z_STEPPER_AUTO_ALIGN)
-  // Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]]
-  // If not defined, probe limits will be used.
-  // Override with 'M422 S<index> X<pos> Y<pos>'
+  /**
+   * Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]]
+   * These positions are machine-relative and do not shift with the M206 home offset!
+   * If not defined, probe limits will be used.
+   * Override with 'M422 S<index> X<pos> Y<pos>'.
+   */
   //#define Z_STEPPER_ALIGN_XY { {  10, 190 }, { 100,  10 }, { 190, 190 } }
 
   /**
@@ -959,15 +954,17 @@
     //#define Z_STEPPERS_ORIENTATION 0
   #endif
 
-  // Provide Z stepper positions for more rapid convergence in bed alignment.
-  // Requires triple stepper drivers (i.e., set NUM_Z_STEPPER_DRIVERS to 3)
-  //#define Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS
-  #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
-    // Define Stepper XY positions for Z1, Z2, Z3 corresponding to
-    // the Z screw positions in the bed carriage.
-    // Define one position per Z stepper in stepper driver order.
-    #define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } }
-  #else
+  /**
+   * Z Stepper positions for more rapid convergence in bed alignment.
+   * Requires 3 or 4 Z steppers.
+   *
+   * Define Stepper XY positions for Z1, Z2, Z3... corresponding to the screw
+   * positions in the bed carriage, with one position per Z stepper in stepper
+   * driver order.
+   */
+  //#define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } }
+
+  #ifndef Z_STEPPER_ALIGN_STEPPER_XY
     // Amplification factor. Used to scale the correction step up or down in case
     // the stepper (spindle) position is farther out than the test point.
     #define Z_STEPPER_ALIGN_AMP 1.0       // Use a value > 1.0 NOTE: This may cause instability!
@@ -1029,6 +1026,9 @@
 #define INVERT_I_STEP_PIN false
 #define INVERT_J_STEP_PIN false
 #define INVERT_K_STEP_PIN false
+#define INVERT_U_STEP_PIN false
+#define INVERT_V_STEP_PIN false
+#define INVERT_W_STEP_PIN false
 #define INVERT_E_STEP_PIN false
 
 /**
@@ -1043,11 +1043,14 @@
 #define DISABLE_INACTIVE_I true
 #define DISABLE_INACTIVE_J true
 #define DISABLE_INACTIVE_K true
+#define DISABLE_INACTIVE_U true
+#define DISABLE_INACTIVE_V true
+#define DISABLE_INACTIVE_W true
 #define DISABLE_INACTIVE_E true
 
 // 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.
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s. °/s for rotational-only moves) Minimum feedrate. Set with M205 S.
+#define DEFAULT_MINTRAVELFEEDRATE     0.0     // (mm/s. °/s for rotational-only moves) Minimum travel feedrate. Set with M205 T.
 
 // Minimum time that a segment needs to take as the buffer gets emptied
 #define DEFAULT_MINSEGMENTTIME        20000   // (µs) Set with M205 B.
@@ -1083,7 +1086,7 @@
 #if ENABLED(BACKLASH_COMPENSATION)
   // Define values for backlash distance and correction.
   // If BACKLASH_GCODE is enabled these values are the defaults.
-  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) One value for each linear axis
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (linear=mm, rotational=°) One value for each linear axis
   #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
 
   // Add steps for motor direction changes on CORE kinematics
@@ -1160,6 +1163,12 @@
   //#define CALIBRATION_MEASURE_JMAX
   //#define CALIBRATION_MEASURE_KMIN
   //#define CALIBRATION_MEASURE_KMAX
+  //#define CALIBRATION_MEASURE_UMIN
+  //#define CALIBRATION_MEASURE_UMAX
+  //#define CALIBRATION_MEASURE_VMIN
+  //#define CALIBRATION_MEASURE_VMAX
+  //#define CALIBRATION_MEASURE_WMIN
+  //#define CALIBRATION_MEASURE_WMAX
 
   // Probing at the exact top center only works if the center is flat. If
   // probing on a screwhead or hollow washer, probe near the edges.
@@ -1277,6 +1286,11 @@
   #define FEEDRATE_CHANGE_BEEP_FREQUENCY 440
 #endif
 
+//
+// LCD Backlight Timeout
+//
+//#define LCD_BACKLIGHT_TIMEOUT 30 // (s) Timeout before turning off the backlight
+
 #if HAS_BED_PROBE && EITHER(HAS_MARLINUI_MENU, HAS_TFT_LVGL_UI)
   //#define PROBE_OFFSET_WIZARD       // Add a Probe Z Offset calibration option to the LCD menu
   #if ENABLED(PROBE_OFFSET_WIZARD)
@@ -1294,7 +1308,7 @@
 
 #if HAS_MARLINUI_MENU
 
-  #if BOTH(HAS_BED_PROBE, AUTO_BED_LEVELING_BILINEAR)
+  #if HAS_BED_PROBE
     // Add calibration in the Probe Offsets menu to compensate for X-axis twist.
     //#define X_AXIS_TWIST_COMPENSATION
     #if ENABLED(X_AXIS_TWIST_COMPENSATION)
@@ -1306,6 +1320,7 @@
       #define XATC_START_Z 0.0
       #define XATC_MAX_POINTS 3             // Number of points to probe in the wizard
       #define XATC_Y_POSITION Y_CENTER      // (mm) Y position to probe
+      #define XATC_Z_OFFSETS { 0, 0, 0 }    // Z offsets for X axis sample points
     #endif
   #endif
 
@@ -1323,24 +1338,28 @@
 
 #endif // HAS_MARLINUI_MENU
 
-#if ANY(HAS_DISPLAY, DWIN_CREALITY_LCD_ENHANCED, DWIN_CREALITY_LCD_JYERSUI)
+#if ANY(HAS_DISPLAY, DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI)
   //#define SOUND_MENU_ITEM   // Add a mute option to the LCD menu
+  #define SOUND_ON_DEFAULT    // Buzzer/speaker default enabled state
 #endif
 
-#if EITHER(HAS_DISPLAY, DWIN_CREALITY_LCD_ENHANCED)
-  // The timeout (in ms) to return to the status screen from sub-menus
-  //#define LCD_TIMEOUT_TO_STATUS 15000
+#if EITHER(HAS_DISPLAY, DWIN_LCD_PROUI)
+  // The timeout to return to the status screen from sub-menus
+  //#define LCD_TIMEOUT_TO_STATUS 15000   // (ms)
 
   #if ENABLED(SHOW_BOOTSCREEN)
-    #define BOOTSCREEN_TIMEOUT 4000      // (ms) Total Duration to display the boot screen(s)
+    #define BOOTSCREEN_TIMEOUT 4000       // (ms) Total Duration to display the boot screen(s)
     #if EITHER(HAS_MARLINUI_U8GLIB, TFT_COLOR_UI)
-      #define BOOT_MARLIN_LOGO_SMALL     // Show a smaller Marlin logo on the Boot Screen (saving lots of flash)
+      #define BOOT_MARLIN_LOGO_SMALL      // Show a smaller Marlin logo on the Boot Screen (saving lots of flash)
     #endif
   #endif
 
   // Scroll a longer status message into view
   //#define STATUS_MESSAGE_SCROLLING
 
+  // Apply a timeout to low-priority status messages
+  //#define STATUS_MESSAGE_TIMEOUT_SEC 30 // (seconds)
+
   // On the Info Screen, display XY with one decimal place when possible
   //#define LCD_DECIMAL_SMALL_XY
 
@@ -1626,7 +1645,10 @@
   // Enable if SD detect is rendered useless (e.g., by using an SD extender)
   //#define NO_SD_DETECT
 
-  // Multiple volume support - EXPERIMENTAL.
+  /**
+   * Multiple volume support - EXPERIMENTAL.
+   * Adds 'M21 Pm' / 'M21 S' / 'M21 U' to mount SD Card / USB Drive.
+   */
   //#define MULTI_VOLUME
   #if ENABLED(MULTI_VOLUME)
     #define VOLUME_SD_ONBOARD
@@ -1660,14 +1682,25 @@
   //#define XYZ_NO_FRAME
   #define XYZ_HOLLOW_FRAME
 
-  // A bigger font is available for edit items. Costs 3120 bytes of PROGMEM.
+  // A bigger font is available for edit items. Costs 3120 bytes of flash.
   // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese.
   //#define USE_BIG_EDIT_FONT
 
-  // A smaller font may be used on the Info Screen. Costs 2434 bytes of PROGMEM.
+  // A smaller font may be used on the Info Screen. Costs 2434 bytes of flash.
   // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese.
   //#define USE_SMALL_INFOFONT
 
+  /**
+   * Graphical Display Sleep
+   *
+   * The U8G library provides sleep / wake functions for SH1106, SSD1306,
+   * SSD1309, and some other DOGM displays.
+   * Enable this option to save energy and prevent OLED pixel burn-in.
+   * Adds the menu item Configuration > LCD Timeout (m) to set a wait period
+   * from 0 (disabled) to 99 minutes.
+   */
+  //#define DISPLAY_SLEEP_MINUTES 2  // (minutes) Timeout before turning off the screen
+
   /**
    * ST7920-based LCDs can emulate a 16 x 4 character display using
    * the ST7920 character-generator for very fast screen updates.
@@ -1709,7 +1742,7 @@
   //#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_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of PROGMEM.
+  //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash.
 
   // Frivolous Game Options
   //#define MARLIN_BRICKOUT
@@ -1734,7 +1767,6 @@
 // Additional options for DGUS / DWIN displays
 //
 #if HAS_DGUS_LCD
-  #define LCD_SERIAL_PORT 3
   #define LCD_BAUDRATE 115200
 
   #define DGUS_RX_BUFFER_SIZE 128
@@ -1995,6 +2027,21 @@
 
 // @section leveling
 
+/**
+ * Use Safe Bed Leveling coordinates to move axes to a useful position before bed probing.
+ * For example, after homing a rotational axis the Z probe might not be perpendicular to the bed.
+ * Choose values the orient the bed horizontally and the Z-probe vertically.
+ */
+//#define SAFE_BED_LEVELING_START_X 0.0
+//#define SAFE_BED_LEVELING_START_Y 0.0
+//#define SAFE_BED_LEVELING_START_Z 0.0
+//#define SAFE_BED_LEVELING_START_I 0.0
+//#define SAFE_BED_LEVELING_START_J 0.0
+//#define SAFE_BED_LEVELING_START_K 0.0
+//#define SAFE_BED_LEVELING_START_U 0.0
+//#define SAFE_BED_LEVELING_START_V 0.0
+//#define SAFE_BED_LEVELING_START_W 0.0
+
 /**
  * Points to probe for all 3-point Leveling procedures.
  * Override if the automatically selected points are inadequate.
@@ -2255,7 +2302,7 @@
 #define BUFSIZE 4
 
 // Transmission to Host Buffer Size
-// To save 386 bytes of PROGMEM (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0.
+// To save 386 bytes of flash (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0.
 // To buffer a simple "ok" you need 4 bytes.
 // For ADVANCED_OK (M105) you need 32 bytes.
 // For debug-echo: 128 bytes for the optimal speed.
@@ -2337,6 +2384,15 @@
 // For serial echo, the number of digits after the decimal point
 //#define SERIAL_FLOAT_PRECISION 4
 
+/**
+ * Set the number of proportional font spaces required to fill up a typical character space.
+ * This can help to better align the output of commands like `G29 O` Mesh Output.
+ *
+ * For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0.
+ * Otherwise, adjust according to your client and font.
+ */
+#define PROPORTIONAL_FONT_RATIO 1.0
+
 // @section extras
 
 /**
@@ -2397,7 +2453,7 @@
 
   /**
    * Extra G-code to run while executing tool-change commands. Can be used to use an additional
-   * stepper motor (I axis, see option LINEAR_AXES in Configuration.h) to drive the tool-changer.
+   * stepper motor (e.g., I axis in Configuration.h) to drive the tool-changer.
    */
   //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 A0" // Extra G-code to run while executing tool-change command T0
   //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10"       // Extra G-code to run while executing tool-change command T1
@@ -2417,7 +2473,7 @@
   #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
     // Load / Unload
     #define TOOLCHANGE_FS_LENGTH              12  // (mm) Load / Unload length
-    #define TOOLCHANGE_FS_EXTRA_RESUME_LENGTH  0  // (mm) Extra length for better restart, fine tune by LCD/Gcode)
+    #define TOOLCHANGE_FS_EXTRA_RESUME_LENGTH  0  // (mm) Extra length for better restart. Adjust with LCD or M217 B.
     #define TOOLCHANGE_FS_RETRACT_SPEED   (50*60) // (mm/min) (Unloading)
     #define TOOLCHANGE_FS_UNRETRACT_SPEED (25*60) // (mm/min) (On SINGLENOZZLE or Bowden loading must be slowed down)
 
@@ -2431,12 +2487,16 @@
     #define TOOLCHANGE_FS_FAN_SPEED          255  // 0-255
     #define TOOLCHANGE_FS_FAN_TIME            10  // (seconds)
 
-    // Swap uninitialized extruder with TOOLCHANGE_FS_PRIME_SPEED for all lengths (recover + prime)
-    // (May break filament if not retracted beforehand.)
-    //#define TOOLCHANGE_FS_INIT_BEFORE_SWAP
+    // Use TOOLCHANGE_FS_PRIME_SPEED feedrate the first time each extruder is primed
+    //#define TOOLCHANGE_FS_SLOW_FIRST_PRIME
 
-    // Prime on the first T0 (If other, TOOLCHANGE_FS_INIT_BEFORE_SWAP applied)
-    // Enable it (M217 V[0/1]) before printing, to avoid unwanted priming on host connect
+    /**
+     * Prime T0 the first time T0 is sent to the printer:
+     *  [ Power-On -> T0 { Activate & Prime T0 } -> T1 { Retract T0, Activate & Prime T1 } ]
+     * If disabled, no priming on T0 until switching back to T0 from another extruder:
+     *  [ Power-On -> T0 { T0 Activated } -> T1 { Activate & Prime T1 } -> T0 { Retract T1, Activate & Prime T0 } ]
+     * Enable with M217 V1 before printing to avoid unwanted priming on host connect.
+     */
     //#define TOOLCHANGE_FS_PRIME_FIRST_USED
 
     /**
@@ -2600,6 +2660,24 @@
     #define K_MICROSTEPS       16
   #endif
 
+  #if AXIS_DRIVER_TYPE_U(TMC26X)
+    #define U_MAX_CURRENT    1000
+    #define U_SENSE_RESISTOR   91
+    #define U_MICROSTEPS       16
+  #endif
+
+  #if AXIS_DRIVER_TYPE_V(TMC26X)
+    #define V_MAX_CURRENT    1000
+    #define V_SENSE_RESISTOR   91
+    #define V_MICROSTEPS       16
+  #endif
+
+  #if AXIS_DRIVER_TYPE_W(TMC26X)
+    #define W_MAX_CURRENT    1000
+    #define W_SENSE_RESISTOR   91
+    #define W_MICROSTEPS       16
+  #endif
+
   #if AXIS_DRIVER_TYPE_E0(TMC26X)
     #define E0_MAX_CURRENT    1000
     #define E0_SENSE_RESISTOR   91
@@ -2788,6 +2866,36 @@
     //#define K_HOLD_MULTIPLIER 0.5
   #endif
 
+  #if AXIS_IS_TMC(U)
+    #define U_CURRENT      800
+    #define U_CURRENT_HOME U_CURRENT
+    #define U_MICROSTEPS     8
+    #define U_RSENSE         0.11
+    #define U_CHAIN_POS     -1
+    //#define U_INTERPOLATE  true
+    //#define U_HOLD_MULTIPLIER 0.5
+  #endif
+
+  #if AXIS_IS_TMC(V)
+    #define V_CURRENT      800
+    #define V_CURRENT_HOME V_CURRENT
+    #define V_MICROSTEPS     8
+    #define V_RSENSE         0.11
+    #define V_CHAIN_POS     -1
+    //#define V_INTERPOLATE  true
+    //#define V_HOLD_MULTIPLIER 0.5
+  #endif
+
+  #if AXIS_IS_TMC(W)
+    #define W_CURRENT      800
+    #define W_CURRENT_HOME W_CURRENT
+    #define W_MICROSTEPS     8
+    #define W_RSENSE         0.11
+    #define W_CHAIN_POS     -1
+    //#define W_INTERPOLATE  true
+    //#define W_HOLD_MULTIPLIER 0.5
+  #endif
+
   #if AXIS_IS_TMC(E0)
     #define E0_CURRENT      800
     #define E0_MICROSTEPS    16
@@ -2875,6 +2983,9 @@
   //#define I_CS_PIN          -1
   //#define J_CS_PIN          -1
   //#define K_CS_PIN          -1
+  //#define U_CS_PIN          -1
+  //#define V_CS_PIN          -1
+  //#define W_CS_PIN          -1
   //#define E0_CS_PIN         -1
   //#define E1_CS_PIN         -1
   //#define E2_CS_PIN         -1
@@ -2917,6 +3028,9 @@
   //#define  I_SLAVE_ADDRESS 0
   //#define  J_SLAVE_ADDRESS 0
   //#define  K_SLAVE_ADDRESS 0
+  //#define  U_SLAVE_ADDRESS 0
+  //#define  V_SLAVE_ADDRESS 0
+  //#define  W_SLAVE_ADDRESS 0
   //#define E0_SLAVE_ADDRESS 0
   //#define E1_SLAVE_ADDRESS 0
   //#define E2_SLAVE_ADDRESS 0
@@ -2944,6 +3058,9 @@
   #define STEALTHCHOP_I
   #define STEALTHCHOP_J
   #define STEALTHCHOP_K
+  #define STEALTHCHOP_U
+  #define STEALTHCHOP_V
+  #define STEALTHCHOP_W
   #define STEALTHCHOP_E
 
   /**
@@ -2970,9 +3087,12 @@
   //#define CHOPPER_TIMING_Z2 CHOPPER_TIMING_Z
   //#define CHOPPER_TIMING_Z3 CHOPPER_TIMING_Z
   //#define CHOPPER_TIMING_Z4 CHOPPER_TIMING_Z
-  //#define CHOPPER_TIMING_I  CHOPPER_TIMING
-  //#define CHOPPER_TIMING_J  CHOPPER_TIMING
-  //#define CHOPPER_TIMING_K  CHOPPER_TIMING
+  //#define CHOPPER_TIMING_I  CHOPPER_TIMING        // For I Axis
+  //#define CHOPPER_TIMING_J  CHOPPER_TIMING        // For J Axis
+  //#define CHOPPER_TIMING_K  CHOPPER_TIMING        // For K Axis
+  //#define CHOPPER_TIMING_U  CHOPPER_TIMING        // For U Axis
+  //#define CHOPPER_TIMING_V  CHOPPER_TIMING        // For V Axis
+  //#define CHOPPER_TIMING_W  CHOPPER_TIMING        // For W Axis
   //#define CHOPPER_TIMING_E  CHOPPER_TIMING        // For Extruders (override below)
   //#define CHOPPER_TIMING_E1 CHOPPER_TIMING_E
   //#define CHOPPER_TIMING_E2 CHOPPER_TIMING_E
@@ -3018,9 +3138,12 @@
   #define Z2_HYBRID_THRESHOLD      3
   #define Z3_HYBRID_THRESHOLD      3
   #define Z4_HYBRID_THRESHOLD      3
-  #define I_HYBRID_THRESHOLD       3
-  #define J_HYBRID_THRESHOLD       3
-  #define K_HYBRID_THRESHOLD       3
+  #define I_HYBRID_THRESHOLD       3  // [linear=mm/s, rotational=°/s]
+  #define J_HYBRID_THRESHOLD       3  // [linear=mm/s, rotational=°/s]
+  #define K_HYBRID_THRESHOLD       3  // [linear=mm/s, rotational=°/s]
+  #define U_HYBRID_THRESHOLD       3  // [mm/s]
+  #define V_HYBRID_THRESHOLD       3
+  #define W_HYBRID_THRESHOLD       3
   #define E0_HYBRID_THRESHOLD     30
   #define E1_HYBRID_THRESHOLD     30
   #define E2_HYBRID_THRESHOLD     30
@@ -3070,6 +3193,9 @@
     //#define I_STALL_SENSITIVITY  8
     //#define J_STALL_SENSITIVITY  8
     //#define K_STALL_SENSITIVITY  8
+    //#define U_STALL_SENSITIVITY  8
+    //#define V_STALL_SENSITIVITY  8
+    //#define W_STALL_SENSITIVITY  8
     //#define SPI_ENDSTOPS              // TMC2130 only
     //#define IMPROVE_HOMING_RELIABILITY
   #endif
@@ -3237,6 +3363,33 @@
     #define K_SLEW_RATE         1
   #endif
 
+  #if AXIS_IS_L64XX(U)
+    #define U_MICROSTEPS      128
+    #define U_OVERCURRENT    2000
+    #define U_STALLCURRENT   1500
+    #define U_MAX_VOLTAGE     127
+    #define U_CHAIN_POS        -1
+    #define U_SLEW_RATE         1
+  #endif
+
+  #if AXIS_IS_L64XX(V)
+    #define V_MICROSTEPS      128
+    #define V_OVERCURRENT    2000
+    #define V_STALLCURRENT   1500
+    #define V_MAX_VOLTAGE     127
+    #define V_CHAIN_POS        -1
+    #define V_SLEW_RATE         1
+  #endif
+
+  #if AXIS_IS_L64XX(W)
+    #define W_MICROSTEPS      128
+    #define W_OVERCURRENT    2000
+    #define W_STALLCURRENT   1500
+    #define W_MAX_VOLTAGE     127
+    #define W_CHAIN_POS        -1
+    #define W_SLEW_RATE         1
+  #endif
+
   #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS              128
     #define E0_OVERCURRENT            2000
@@ -3431,7 +3584,7 @@
  * You'll need to select a pin for the ON/OFF function and optionally choose a 0-5V
  * hardware PWM pin for the speed control and a pin for the rotation direction.
  *
- * See https://marlinfw.org/docs/configuration/laser_spindle.html for more config details.
+ * See https://marlinfw.org/docs/configuration/2.0.9/laser_spindle.html for more config details.
  */
 //#define SPINDLE_FEATURE
 //#define LASER_FEATURE
@@ -3441,7 +3594,7 @@
   #define SPINDLE_LASER_USE_PWM                // Enable if your controller supports setting the speed/power
   #if ENABLED(SPINDLE_LASER_USE_PWM)
     #define SPINDLE_LASER_PWM_INVERT    false  // Set to "true" if the speed/power goes up when you want it to go slower
-    #define SPINDLE_LASER_FREQUENCY     2500   // (Hz) Spindle/laser frequency (only on supported HALs: AVR and LPC)
+    #define SPINDLE_LASER_FREQUENCY     2500   // (Hz) Spindle/laser frequency (only on supported HALs: AVR, ESP32, and LPC)
   #endif
 
   //#define AIR_EVACUATION                     // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11
@@ -3602,6 +3755,20 @@
       #define I2C_AMMETER_SHUNT_RESISTOR  0.1    // (Ohms) Calibration shunt resistor value
     #endif
 
+    //
+    // Laser Coolant Flow Meter
+    //
+    //#define LASER_COOLANT_FLOW_METER
+    #if ENABLED(LASER_COOLANT_FLOW_METER)
+      #define FLOWMETER_PIN         20  // Requires an external interrupt-enabled pin (e.g., RAMPS 2,3,18,19,20,21)
+      #define FLOWMETER_PPL       5880  // (pulses/liter) Flow meter pulses-per-liter on the input pin
+      #define FLOWMETER_INTERVAL  1000  // (ms) Flow rate calculation interval in milliseconds
+      #define FLOWMETER_SAFETY          // Prevent running the laser without the minimum flow rate set below
+      #if ENABLED(FLOWMETER_SAFETY)
+        #define FLOWMETER_MIN_LITERS_PER_MINUTE 1.5 // (liters/min) Minimum flow required when enabled
+      #endif
+    #endif
+
   #endif
 #endif // SPINDLE_FEATURE || LASER_FEATURE
 
@@ -3715,6 +3882,9 @@
  * Auto-report temperatures with M155 S<seconds>
  */
 #define AUTO_REPORT_TEMPERATURES
+#if ENABLED(AUTO_REPORT_TEMPERATURES) && TEMP_SENSOR_REDUNDANT
+  //#define AUTO_REPORT_REDUNDANT // Include the "R" sensor in the auto-report
+#endif
 
 /**
  * Auto-report position with M154 S<seconds>
@@ -3780,15 +3950,6 @@
 
 //#define REPORT_FAN_CHANGE   // Report the new fan speed when changed by M106 (and others)
 
-/**
- * Set the number of proportional font spaces required to fill up a typical character space.
- * This can help to better align the output of commands like `G29 O` Mesh Output.
- *
- * For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0.
- * Otherwise, adjust according to your client and font.
- */
-#define PROPORTIONAL_FONT_RATIO 1.0
-
 /**
  * Spend 28 bytes of SRAM to optimize the G-code parser
  */
@@ -3952,10 +4113,13 @@
  */
 //#define HOST_ACTION_COMMANDS
 #if ENABLED(HOST_ACTION_COMMANDS)
-  //#define HOST_PAUSE_M76
-  //#define HOST_PROMPT_SUPPORT
-  //#define HOST_START_MENU_ITEM      // Add a menu item that tells the host to start
-  //#define HOST_SHUTDOWN_MENU_ITEM   // Add a menu item that tells the host to shut down
+  //#define HOST_PAUSE_M76                // Tell the host to pause in response to M76
+  //#define HOST_PROMPT_SUPPORT           // Initiate host prompts to get user feedback
+  #if ENABLED(HOST_PROMPT_SUPPORT)
+    //#define HOST_STATUS_NOTIFICATIONS   // Send some status messages to the host as notifications
+  #endif
+  //#define HOST_START_MENU_ITEM          // Add a menu item that tells the host to start
+  //#define HOST_SHUTDOWN_MENU_ITEM       // Add a menu item that tells the host to shut down
 #endif
 
 /**
@@ -4090,12 +4254,12 @@
 
 /**
  * Instant freeze / unfreeze functionality
- * Specified pin has pullup and connecting to ground will instantly pause motion.
  * Potentially useful for emergency stop that allows being resumed.
  */
 //#define FREEZE_FEATURE
 #if ENABLED(FREEZE_FEATURE)
   //#define FREEZE_PIN 41   // Override the default (KILL) pin here
+  #define FREEZE_STATE LOW  // State of pin indicating freeze
 #endif
 
 /**

Marlin/Makefile

@@ -132,7 +132,7 @@ CC_MIN:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_MINOR__ | cut -f3 -d\ )
 CC_PATCHLEVEL:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_PATCHLEVEL__ | cut -f3 -d\ )
 CC_VER:=$(shell echo $$(( $(CC_MAJ) * 10000 + $(CC_MIN) * 100 + $(CC_PATCHLEVEL) )))
 ifeq ($(shell test $(CC_VER) -lt 40901 && echo 1),1)
-  @echo This version of GCC is likely broken. Enabling relocation workaround.
+  $(warning This GCC version $(CC_VER) is likely broken. Enabling relocation workaround.)
   RELOC_WORKAROUND = 1
 endif
 

Marlin/Version.h

@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2022-02-05"
+//#define STRING_DISTRIBUTION_DATE "2022-05-29"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/src/HAL/AVR/HAL.cpp

@@ -23,6 +23,7 @@
 
 #include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+#include <avr/wdt.h>
 
 #ifdef USBCON
   DefaultSerial1 MSerial0(false, Serial);
@@ -36,7 +37,7 @@
 // ------------------------
 
 // Don't initialize/override variable (which would happen in .init4)
-uint8_t reset_reason __attribute__((section(".noinit")));
+uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
 
 // ------------------------
 // Public functions
@@ -45,22 +46,22 @@ uint8_t reset_reason __attribute__((section(".noinit")));
 __attribute__((naked))             // Don't output function pro- and epilogue
 __attribute__((used))              // Output the function, even if "not used"
 __attribute__((section(".init3"))) // Put in an early user definable section
-void HAL_save_reset_reason() {
+void save_reset_reason() {
   #if ENABLED(OPTIBOOT_RESET_REASON)
     __asm__ __volatile__(
       A("STS %0, r2")
-      : "=m"(reset_reason)
+      : "=m"(hal.reset_reason)
     );
   #else
-    reset_reason = MCUSR;
+    hal.reset_reason = MCUSR;
   #endif
 
   // Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
-  MCUSR = 0;
+  hal.clear_reset_source();
   wdt_disable();
 }
 
-void HAL_init() {
+void MarlinHAL::init() {
   // Init Servo Pins
   #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
   #if HAS_SERVO_0
@@ -79,7 +80,7 @@ void HAL_init() {
   init_pwm_timers();   // Init user timers to default frequency - 1000HZ
 }
 
-void HAL_reboot() {
+void MarlinHAL::reboot() {
   #if ENABLED(USE_WATCHDOG)
     while (1) { /* run out the watchdog */ }
   #else
@@ -88,6 +89,62 @@ void HAL_reboot() {
   #endif
 }
 
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+  #include <avr/wdt.h>
+  #include "../../MarlinCore.h"
+
+  // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
+  void MarlinHAL::watchdog_init() {
+    #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
+      #define WDTO_NS WDTO_8S
+    #else
+      #define WDTO_NS WDTO_4S
+    #endif
+    #if ENABLED(WATCHDOG_RESET_MANUAL)
+      // Enable the watchdog timer, but only for the interrupt.
+      // Take care, as this requires the correct order of operation, with interrupts disabled.
+      // See the datasheet of any AVR chip for details.
+      wdt_reset();
+      cli();
+      _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
+      _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
+                                                                                // So worked for up to WDTO_2S
+      sei();
+      wdt_reset();
+    #else
+      wdt_enable(WDTO_NS); // The function handles the upper bit correct.
+    #endif
+    //delay(10000); // test it!
+  }
+
+  //===========================================================================
+  //=================================== ISR ===================================
+  //===========================================================================
+
+  // Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
+  #if ENABLED(WATCHDOG_RESET_MANUAL)
+    ISR(WDT_vect) {
+      sei();  // With the interrupt driven serial we need to allow interrupts.
+      SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
+      minkill();  // interrupt-safe final kill and infinite loop
+    }
+  #endif
+
+  // Reset watchdog. MUST be called at least every 4 seconds after the
+  // first watchdog_init or AVR will go into emergency procedures.
+  void MarlinHAL::watchdog_refresh() { wdt_reset(); }
+
+#endif // USE_WATCHDOG
+
+// ------------------------
+// Free Memory Accessor
+// ------------------------
+
 #if ENABLED(SDSUPPORT)
 
   #include "../../sd/SdFatUtil.h"
@@ -95,20 +152,20 @@ void HAL_reboot() {
 
 #else // !SDSUPPORT
 
-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
+  extern "C" {
+    extern char __bss_end;
+    extern char __heap_start;
+    extern void* __brkval;
 
-  int freeMemory() {
-    int free_memory;
-    if ((int)__brkval == 0)
-      free_memory = ((int)&free_memory) - ((int)&__bss_end);
-    else
-      free_memory = ((int)&free_memory) - ((int)__brkval);
-    return free_memory;
+    int freeMemory() {
+      int free_memory;
+      if ((int)__brkval == 0)
+        free_memory = ((int)&free_memory) - ((int)&__bss_end);
+      else
+        free_memory = ((int)&free_memory) - ((int)__brkval);
+      return free_memory;
+    }
   }
-}
 
 #endif // !SDSUPPORT
 

Marlin/src/HAL/AVR/HAL.h

@@ -19,16 +19,18 @@
  */
 #pragma once
 
+/**
+ * HAL for Arduino AVR
+ */
+
 #include "../shared/Marduino.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 #include "math.h"
 
 #ifdef USBCON
   #include <HardwareSerial.h>
 #else
-  #define HardwareSerial_h // Hack to prevent HardwareSerial.h header inclusion
   #include "MarlinSerial.h"
 #endif
 
@@ -74,9 +76,9 @@
   #define CRITICAL_SECTION_START()  unsigned char _sreg = SREG; cli()
   #define CRITICAL_SECTION_END()    SREG = _sreg
 #endif
-#define ISRS_ENABLED() TEST(SREG, SREG_I)
-#define ENABLE_ISRS()  sei()
-#define DISABLE_ISRS() cli()
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
 
 // ------------------------
 // Types
@@ -84,16 +86,15 @@
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
-// Public Variables
-// ------------------------
-
-extern uint8_t reset_reason;
-
 // Serial ports
+// ------------------------
+
 #ifdef USBCON
   #include "../../core/serial_hook.h"
   typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
@@ -142,57 +143,15 @@ extern uint8_t reset_reason;
   #endif
 #endif
 
-// ------------------------
-// Public functions
-// ------------------------
-
-void HAL_init();
-
-//void cli();
-
-//void _delay_ms(const int delay);
-
-inline void HAL_clear_reset_source() { }
-inline uint8_t HAL_get_reset_source() { return reset_reason; }
-
-void HAL_reboot();
-
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-extern "C" int freeMemory();
-
-#pragma GCC diagnostic pop
-
+//
 // ADC
-#ifdef DIDR2
-  #define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0)
-#else
-  #define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind);
-#endif
-
-inline void HAL_adc_init() {
-  ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
-  DIDR0 = 0;
-  #ifdef DIDR2
-    DIDR2 = 0;
-  #endif
-}
-
-#define SET_ADMUX_ADCSRA(ch) ADMUX = _BV(REFS0) | (ch & 0x07); SBI(ADCSRA, ADSC)
-#ifdef MUX5
-  #define HAL_START_ADC(ch) if (ch > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#else
-  #define HAL_START_ADC(ch) ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#endif
-
+//
 #define HAL_ADC_VREF        5.0
 #define HAL_ADC_RESOLUTION 10
-#define HAL_READ_ADC()  ADC
-#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)
 
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
@@ -206,30 +165,113 @@ inline void HAL_adc_init() {
 // AVR compatibility
 #define strtof strtod
 
-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
-#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+// ------------------------
+// Free Memory Accessor
+// ------------------------
 
-/**
- *  set_pwm_frequency
- *  Sets the frequency of the timer corresponding to the provided pin
- *  as close as possible to the provided desired frequency. Internally
- *  calculates the required waveform generation mode, prescaler and
- *  resolution values required and sets the timer registers accordingly.
- *  NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
- *  NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
- */
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+extern "C" int freeMemory();
 
-/*
- * init_pwm_timers
- * sets the default frequency for timers 2-5 to 1000HZ
- */
-void init_pwm_timers();
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return TEST(SREG, SREG_I); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t reset_reason;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() { MCUSR = 0; }
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
+    DIDR0 = 0;
+    #ifdef DIDR2
+      DIDR2 = 0;
+    #endif
+  }
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {
+    #ifdef DIDR2
+      if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
+    #endif
+    SBI(DIDR0, ch);
+  }
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) {
+    #ifdef MUX5
+      ADCSRB = ch > 7 ? _BV(MUX5) : 0;
+    #else
+      ADCSRB = 0;
+    #endif
+    ADMUX = _BV(REFS0) | (ch & 0x07);
+    SBI(ADCSRA, ADSC);
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return !TEST(ADCSRA, ADSC); }
+
+  // The current value of the ADC register
+  static __typeof__(ADC) adc_value() { return ADC; }
+
+  /**
+   * init_pwm_timers
+   * Set the default frequency for timers 2-5 to 1000HZ
+   */
+  static void init_pwm_timers();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin as close as
+   * possible to the provided desired frequency. Internally calculate
+   * the required waveform generation mode, prescaler, and resolution
+   * values and set timer registers accordingly.
+   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
+   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -486,7 +486,7 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -534,7 +534,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !B_TXC) {

Marlin/src/HAL/AVR/MarlinSerial.h

@@ -191,13 +191,13 @@
                    rx_framing_errors;
     static ring_buffer_pos_t rx_max_enqueued;
 
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head();
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_head();
 
     static volatile bool rx_tail_value_not_stable;
     static volatile uint16_t rx_tail_value_backup;
 
-    static FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value);
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail();
+    FORCE_INLINE static void atomic_set_rx_tail(ring_buffer_pos_t value);
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_tail();
 
   public:
     FORCE_INLINE static void store_rxd_char();

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -213,6 +213,51 @@ void setup_endstop_interrupts() {
       pciSetup(K_MIN_PIN);
     #endif
   #endif
+  #if HAS_U_MAX
+    #if (digitalPinToInterrupt(U_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable");
+      pciSetup(U_MAX_PIN);
+    #endif
+  #elif HAS_U_MIN
+    #if (digitalPinToInterrupt(U_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable");
+      pciSetup(U_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_V_MAX
+    #if (digitalPinToInterrupt(V_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable");
+      pciSetup(V_MAX_PIN);
+    #endif
+  #elif HAS_V_MIN
+    #if (digitalPinToInterrupt(V_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable");
+      pciSetup(V_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_W_MAX
+    #if (digitalPinToInterrupt(W_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable");
+      pciSetup(W_MAX_PIN);
+    #endif
+  #elif HAS_W_MIN
+    #if (digitalPinToInterrupt(W_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable");
+      pciSetup(W_MIN_PIN);
+    #endif
+  #endif
   #if HAS_X2_MAX
     #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(X2_MAX_PIN);

Marlin/src/HAL/AVR/fast_pwm.cpp

@@ -107,7 +107,7 @@ const Timer get_pwm_timer(const pin_t pin) {
   return Timer();
 }
 
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   const Timer timer = get_pwm_timer(pin);
   if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized
 
@@ -176,7 +176,7 @@ void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
     _SET_ICRn(timer, res);                              // Set ICRn value (TOP) = res
 }
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
   // Note that digitalWrite also disables PWM output for us (sets COM bit to 0)
   if (v == 0)
@@ -201,7 +201,7 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
   }
 }
 
-void init_pwm_timers() {
+void MarlinHAL::init_pwm_timers() {
   // Init some timer frequencies to a default 1KHz
   const pin_t pwm_pin[] = {
     #ifdef __AVR_ATmega2560__

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

@@ -25,6 +25,30 @@
  * Test AVR-specific configuration values for errors at compile-time.
  */
 
+/**
+ * Check for common serial pin conflicts
+ */
+#define CHECK_SERIAL_PIN(N) ( \
+     X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \
+  || X_MIN_PIN  == N || Y_MIN_PIN  == N || Z_MIN_PIN  == N \
+  || X_MAX_PIN  == N || Y_MAX_PIN  == N || Z_MAX_PIN  == N \
+  || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
+  || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
+  || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
+)
+#if CONF_SERIAL_IS(0) // D0-D1. No known conflicts.
+#endif
+#if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
+  #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
+#endif
+#if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
+  #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
+#endif
+#if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
+  #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
+#endif
+#undef CHECK_SERIAL_PIN
+
 /**
  * Checks for FAST PWM
  */
@@ -71,3 +95,7 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
   #error "POSTMORTEM_DEBUGGING is not supported on AVR boards."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on AVR boards."
+#endif

Marlin/src/HAL/AVR/math.h

@@ -35,7 +35,7 @@
 // C B A is longIn1
 // D C B A is longIn2
 //
-static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
+FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
   uint8_t tmp1;
   uint8_t tmp2;
   uint16_t intRes;
@@ -89,7 +89,7 @@ static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2
 // uses:
 // r26 to store 0
 // r27 to store the byte 1 of the 24 bit result
-static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
+FORCE_INLINE static uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
   uint8_t tmp;
   uint16_t intRes;
   __asm__ __volatile__ (

Marlin/src/HAL/AVR/pinsDebug.h

@@ -74,7 +74,7 @@
 #define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin
 
 void PRINT_ARRAY_NAME(uint8_t x) {
-  char *name_mem_pointer = (char*)pgm_read_ptr(&pin_array[x].name);
+  const char * const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name);
   LOOP_L_N(y, MAX_NAME_LENGTH) {
     char temp_char = pgm_read_byte(name_mem_pointer + y);
     if (temp_char != 0)

Marlin/src/HAL/AVR/timers.h

@@ -109,12 +109,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
  * (otherwise, characters will be lost due to UART overflow).
  * Then: Stepper, Endstops, Temperature, and -finally- all others.
  */
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
 
-/* 18 cycles maximum latency */
 #ifndef HAL_STEP_TIMER_ISR
 
+/* 18 cycles maximum latency */
 #define HAL_STEP_TIMER_ISR() \
 extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
 extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \

Marlin/src/HAL/AVR/watchdog.cpp

@@ -1,70 +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 __AVR__
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#include "watchdog.h"
-
-#include "../../MarlinCore.h"
-
-// Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
-void watchdog_init() {
-  #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
-    #define WDTO_NS WDTO_8S
-  #else
-    #define WDTO_NS WDTO_4S
-  #endif
-  #if ENABLED(WATCHDOG_RESET_MANUAL)
-    // Enable the watchdog timer, but only for the interrupt.
-    // Take care, as this requires the correct order of operation, with interrupts disabled.
-    // See the datasheet of any AVR chip for details.
-    wdt_reset();
-    cli();
-    _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
-    _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
-                                                                              // So worked for up to WDTO_2S
-    sei();
-    wdt_reset();
-  #else
-    wdt_enable(WDTO_NS); // The function handles the upper bit correct.
-  #endif
-  //delay(10000); // test it!
-}
-
-//===========================================================================
-//=================================== ISR ===================================
-//===========================================================================
-
-// Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
-#if ENABLED(WATCHDOG_RESET_MANUAL)
-  ISR(WDT_vect) {
-    sei();  // With the interrupt driven serial we need to allow interrupts.
-    SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
-    minkill();  // interrupt-safe final kill and infinite loop
-  }
-#endif
-
-#endif // USE_WATCHDOG
-#endif // __AVR__

Marlin/src/HAL/DUE/HAL.cpp

@@ -25,7 +25,7 @@
 #ifdef ARDUINO_ARCH_SAM
 
 #include "../../inc/MarlinConfig.h"
-#include "HAL.h"
+#include "../../MarlinCore.h"
 
 #include <Wire.h>
 #include "usb/usb_task.h"
@@ -34,39 +34,33 @@
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Public functions
 // ------------------------
 
-TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  extern void install_min_serial();
+#endif
 
-// HAL initialization task
-void HAL_init() {
-  // Initialize the USB stack
+void MarlinHAL::init() {
   #if ENABLED(SDSUPPORT)
     OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
   #endif
-  usb_task_init();
+  usb_task_init();          // Initialize the USB stack
   TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
 }
 
-// HAL idle task
-void HAL_idletask() {
-  // Perform USB stack housekeeping
-  usb_task_idle();
+void MarlinHAL::init_board() {
+  #ifdef BOARD_INIT
+    BOARD_INIT();
+  #endif
 }
 
-// Disable interrupts
-void cli() { noInterrupts(); }
+void MarlinHAL::idletask() { usb_task_idle(); } // Perform USB stack housekeeping
 
-// Enable interrupts
-void sei() { interrupts(); }
-
-void HAL_clear_reset_source() { }
-
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   switch ((RSTC->RSTC_SR >> 8) & 0x07) {
     case 0: return RST_POWER_ON;
     case 1: return RST_BACKUP;
@@ -77,13 +71,105 @@ uint8_t HAL_get_reset_source() {
   }
 }
 
-void HAL_reboot() { rstc_start_software_reset(RSTC); }
+void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); }
 
-void _delay_ms(const int delay_ms) {
-  // Todo: port for Due?
-  delay(delay_ms);
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+  // Initialize watchdog - On SAM3X, Watchdog was already configured
+  //  and enabled or disabled at startup, so no need to reconfigure it
+  //  here.
+  void MarlinHAL::watchdog_init() { WDT_Restart(WDT); } // Reset watchdog to start clean
+
+  // Reset watchdog. MUST be called at least every 4 seconds after the
+  // first watchdog_init or AVR will go into emergency procedures.
+  void MarlinHAL::watchdog_refresh() { watchdogReset(); }
+
+#endif
+
+// Override Arduino runtime to either config or disable the watchdog
+//
+// We need to configure the watchdog as soon as possible in the boot
+// process, because watchdog initialization at hardware reset on SAM3X8E
+// is unreliable, and there is risk of unintended resets if we delay
+// that initialization to a later time.
+void watchdogSetup() {
+
+  #if ENABLED(USE_WATCHDOG)
+
+    // 4 seconds timeout
+    uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
+
+    // Calculate timeout value in WDT counter ticks: This assumes
+    // the slow clock is running at 32.768 kHz watchdog
+    // frequency is therefore 32768 / 128 = 256 Hz
+    timeout = (timeout << 8) / 1000;
+    if (timeout == 0)
+      timeout = 1;
+    else if (timeout > 0xFFF)
+      timeout = 0xFFF;
+
+    // We want to enable the watchdog with the specified timeout
+    uint32_t value =
+      WDT_MR_WDV(timeout) |               // With the specified timeout
+      WDT_MR_WDD(timeout) |               // and no invalid write window
+    #if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
+      WDT_MR_WDRPROC   |                  // WDT fault resets processor only - We want
+                                          // to keep PIO controller state
+    #endif
+      WDT_MR_WDDBGHLT  |                  // WDT stops in debug state.
+      WDT_MR_WDIDLEHLT;                   // WDT stops in idle state.
+
+    #if ENABLED(WATCHDOG_RESET_MANUAL)
+      // We enable the watchdog timer, but only for the interrupt.
+
+      // Configure WDT to only trigger an interrupt
+      value |= WDT_MR_WDFIEN;             // Enable WDT fault interrupt.
+
+      // Disable WDT interrupt (just in case, to avoid triggering it!)
+      NVIC_DisableIRQ(WDT_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();
+
+      // Initialize WDT with the given parameters
+      WDT_Enable(WDT, value);
+
+      // Configure and enable WDT interrupt.
+      NVIC_ClearPendingIRQ(WDT_IRQn);
+      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
+      NVIC_EnableIRQ(WDT_IRQn);
+
+    #else
+
+      // a WDT fault triggers a reset
+      value |= WDT_MR_WDRSTEN;
+
+      // Initialize WDT with the given parameters
+      WDT_Enable(WDT, value);
+
+    #endif
+
+    // Reset the watchdog
+    WDT_Restart(WDT);
+
+  #else
+
+    // Make sure to completely disable the Watchdog
+    WDT_Disable(WDT);
+
+  #endif
 }
 
+// ------------------------
+// Free Memory Accessor
+// ------------------------
+
 extern "C" {
   extern unsigned int _ebss; // end of bss section
 }
@@ -95,18 +181,9 @@ int freeMemory() {
 }
 
 // ------------------------
-// ADC
+// Serial Ports
 // ------------------------
 
-void HAL_adc_start_conversion(const uint8_t ch) {
-  HAL_adc_result = analogRead(ch);
-}
-
-uint16_t HAL_adc_get_result() {
-  // nop
-  return HAL_adc_result;
-}
-
 // Forward the default serial ports
 #if USING_HW_SERIAL0
   DefaultSerial1 MSerial0(false, Serial);

Marlin/src/HAL/DUE/HAL.h

@@ -32,12 +32,15 @@
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 
 #include <stdint.h>
 
 #include "../../core/serial_hook.h"
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
 typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
 typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
@@ -97,60 +100,38 @@ extern DefaultSerial4 MSerial3;
 #include "MarlinSerial.h"
 #include "MarlinSerialUSB.h"
 
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
+// ------------------------
+// Types
+// ------------------------
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+#define sei() interrupts()
+#define cli() noInterrupts()
 
-void cli();                     // Disable interrupts
-void sei();                     // Enable interrupts
-
-void HAL_clear_reset_source();  // clear reset reason
-uint8_t HAL_get_reset_source(); // get reset reason
-
-void HAL_reboot();
+#define CRITICAL_SECTION_START()  const bool _irqon = hal.isr_state(); hal.isr_off()
+#define CRITICAL_SECTION_END()    if (_irqon) hal.isr_on()
 
 //
 // ADC
 //
-extern uint16_t HAL_adc_result;     // result of last ADC conversion
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
 
 #ifndef analogInputToDigitalPin
   #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
 #endif
 
-#define HAL_ANALOG_SELECT(ch)
-
-inline void HAL_adc_init() {}//todo
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(ch)   HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
 //
-// PWM
-//
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-//
-// Pin Map
+// Pin Mapping for M42, M43, M226
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -159,27 +140,18 @@ inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255,
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-void HAL_idletask();
-void HAL_init();
-
-//
-// Utility functions
-//
-void _delay_ms(const int delay);
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
 #endif
 
-int freeMemory();
-
 #pragma GCC diagnostic pop
 
 #ifdef __cplusplus
@@ -189,3 +161,73 @@ char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s
 #ifdef __cplusplus
   }
 #endif
+
+// Return free RAM between end of heap (or end bss) and whatever is current
+int freeMemory();
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();          // Called early in setup()
+  static void init_board();    // Called less early in setup()
+  static void reboot();        // Restart the firmware
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No inverting the duty cycle in this HAL.
+   * No changing the maximum size of the provided value to enable finer PWM duty control in this HAL.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/DUE/HAL_SPI.cpp

@@ -31,8 +31,6 @@
 
 /**
  * HAL for Arduino Due and compatible (SAM3X8E)
- *
- * For ARDUINO_ARCH_SAM
  */
 
 #ifdef ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/MarlinSerial.cpp

@@ -406,7 +406,7 @@ size_t MarlinSerial<Cfg>::write(const uint8_t c) {
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -454,7 +454,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !(HWUART->UART_SR & UART_SR_TXEMPTY)) {

Marlin/src/HAL/DUE/MinSerial.cpp

@@ -25,7 +25,7 @@
 
 #if ENABLED(POSTMORTEM_DEBUGGING)
 
-#include "../shared/HAL_MinSerial.h"
+#include "../shared/MinSerial.h"
 
 #include <stdarg.h>
 

Marlin/src/HAL/DUE/Tone.cpp

@@ -35,7 +35,7 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;
 
-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
   tone_pin = _pin;
   toggles = 2 * frequency * duration / 1000;
   HAL_timer_start(MF_TIMER_TONE, 2 * frequency);

Marlin/src/HAL/DUE/eeprom_flash.cpp

@@ -199,8 +199,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
   for (i = 0; i <PageSize >> 2; i++)
     pageContents[i] = (((uint32_t*)data)[i]) | (~(pageContents[i] ^ ((uint32_t*)data)[i]));
 
-  DEBUG_ECHO_START();
-  DEBUG_ECHOLNPGM("EEPROM PageWrite   ", page);
+  DEBUG_ECHO_MSG("EEPROM PageWrite   ", page);
   DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash);
   DEBUG_ECHOLNPGM(" base address     ", (uint32_t)getFlashStorage(0));
   DEBUG_FLUSH();
@@ -245,8 +244,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
     // Reenable interrupts
     __enable_irq();
 
-    DEBUG_ECHO_START();
-    DEBUG_ECHOLNPGM("EEPROM Unlock failure for page ", page);
+    DEBUG_ECHO_MSG("EEPROM Unlock failure for page ", page);
     return false;
   }
 
@@ -270,8 +268,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
     // Reenable interrupts
     __enable_irq();
 
-    DEBUG_ECHO_START();
-    DEBUG_ECHOLNPGM("EEPROM Write failure for page ", page);
+    DEBUG_ECHO_MSG("EEPROM Write failure for page ", page);
 
     return false;
   }
@@ -286,8 +283,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
   if (memcmp(getFlashStorage(page),data,PageSize)) {
 
     #ifdef EE_EMU_DEBUG
-      DEBUG_ECHO_START();
-      DEBUG_ECHOLNPGM("EEPROM Verify Write failure for page ", page);
+      DEBUG_ECHO_MSG("EEPROM Verify Write failure for page ", page);
 
       ee_Dump( page, (uint32_t *)addrflash);
       ee_Dump(-page, data);
@@ -325,8 +321,7 @@ static bool ee_PageErase(uint16_t page) {
   uint16_t i;
   uint32_t addrflash = uint32_t(getFlashStorage(page));
 
-  DEBUG_ECHO_START();
-  DEBUG_ECHOLNPGM("EEPROM PageErase  ", page);
+  DEBUG_ECHO_MSG("EEPROM PageErase  ", page);
   DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash);
   DEBUG_ECHOLNPGM(" base address     ", (uint32_t)getFlashStorage(0));
   DEBUG_FLUSH();
@@ -370,8 +365,7 @@ static bool ee_PageErase(uint16_t page) {
     // Reenable interrupts
     __enable_irq();
 
-    DEBUG_ECHO_START();
-    DEBUG_ECHOLNPGM("EEPROM Unlock failure for page ",page);
+    DEBUG_ECHO_MSG("EEPROM Unlock failure for page ",page);
 
     return false;
   }
@@ -394,8 +388,7 @@ static bool ee_PageErase(uint16_t page) {
     // Reenable interrupts
     __enable_irq();
 
-    DEBUG_ECHO_START();
-    DEBUG_ECHOLNPGM("EEPROM Erase failure for page ",page);
+    DEBUG_ECHO_MSG("EEPROM Erase failure for page ",page);
 
     return false;
   }
@@ -410,8 +403,7 @@ static bool ee_PageErase(uint16_t page) {
   uint32_t * aligned_src = (uint32_t *) addrflash;
   for (i = 0; i < PageSize >> 2; i++) {
     if (*aligned_src++ != 0xFFFFFFFF) {
-      DEBUG_ECHO_START();
-      DEBUG_ECHOLNPGM("EEPROM Verify Erase failure for page ",page);
+      DEBUG_ECHO_MSG("EEPROM Verify Erase failure for page ",page);
       ee_Dump(page, (uint32_t *)addrflash);
       return false;
     }
@@ -921,8 +913,7 @@ static void ee_Init() {
   // If all groups seem to be used, default to first group
   if (curGroup >= GroupCount) curGroup = 0;
 
-  DEBUG_ECHO_START();
-  DEBUG_ECHOLNPGM("EEPROM Current Group: ",curGroup);
+  DEBUG_ECHO_MSG("EEPROM Current Group: ",curGroup);
   DEBUG_FLUSH();
 
   // Now, validate that all the other group pages are empty
@@ -931,8 +922,7 @@ static void ee_Init() {
 
     for (int page = 0; page < PagesPerGroup; page++) {
       if (!ee_IsPageClean(grp * PagesPerGroup + page)) {
-        DEBUG_ECHO_START();
-        DEBUG_ECHOLNPGM("EEPROM Page ", page, " not clean on group ", grp);
+        DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on group ", grp);
         DEBUG_FLUSH();
         ee_PageErase(grp * PagesPerGroup + page);
       }
@@ -948,15 +938,13 @@ static void ee_Init() {
     }
   }
 
-  DEBUG_ECHO_START();
-  DEBUG_ECHOLNPGM("EEPROM Active page: ", curPage);
+  DEBUG_ECHO_MSG("EEPROM Active page: ", curPage);
   DEBUG_FLUSH();
 
   // Make sure the pages following the first clean one are also clean
   for (int page = curPage + 1; page < PagesPerGroup; page++) {
     if (!ee_IsPageClean(curGroup * PagesPerGroup + page)) {
-      DEBUG_ECHO_START();
-      DEBUG_ECHOLNPGM("EEPROM Page ", page, " not clean on active group ", curGroup);
+      DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on active group ", curGroup);
       DEBUG_FLUSH();
       ee_Dump(curGroup * PagesPerGroup + page, getFlashStorage(curGroup * PagesPerGroup + page));
       ee_PageErase(curGroup * PagesPerGroup + page);

Marlin/src/HAL/DUE/endstop_interrupts.h

@@ -70,4 +70,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
   TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
   TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }

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

@@ -25,6 +25,30 @@
  * Test Arduino Due specific configuration values for errors at compile-time.
  */
 
+/**
+ * Check for common serial pin conflicts
+ */
+#define CHECK_SERIAL_PIN(N) ( \
+     X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \
+  || X_MIN_PIN  == N || Y_MIN_PIN  == N || Z_MIN_PIN  == N \
+  || X_MAX_PIN  == N || Y_MAX_PIN  == N || Z_MAX_PIN  == N \
+  || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
+  || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
+  || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
+)
+#if CONF_SERIAL_IS(0) // D0-D1. No known conflicts.
+#endif
+#if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
+  #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
+#endif
+#if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
+  #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
+#endif
+#if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
+  #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
+#endif
+#undef CHECK_SERIAL_PIN
+
 /**
  * HARDWARE VS. SOFTWARE SPI COMPATIBILITY
  *
@@ -59,3 +83,7 @@
 #if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on the DUE platform."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on DUE boards."
+#endif

Marlin/src/HAL/DUE/pinsDebug.h

@@ -86,7 +86,6 @@ bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
           || pwm_status(pin));
 }
 
-
 void pwm_details(int32_t pin) {
   if (pwm_status(pin)) {
     uint32_t chan = g_APinDescription[pin].ulPWMChannel;

Marlin/src/HAL/DUE/timers.h

@@ -125,4 +125,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }
 
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/DUE/watchdog.cpp

@@ -1,114 +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 "../../inc/MarlinConfig.h"
-#include "../../MarlinCore.h"
-#include "watchdog.h"
-
-// Override Arduino runtime to either config or disable the watchdog
-//
-// We need to configure the watchdog as soon as possible in the boot
-// process, because watchdog initialization at hardware reset on SAM3X8E
-// is unreliable, and there is risk of unintended resets if we delay
-// that initialization to a later time.
-void watchdogSetup() {
-
-  #if ENABLED(USE_WATCHDOG)
-
-    // 4 seconds timeout
-    uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
-
-    // Calculate timeout value in WDT counter ticks: This assumes
-    // the slow clock is running at 32.768 kHz watchdog
-    // frequency is therefore 32768 / 128 = 256 Hz
-    timeout = (timeout << 8) / 1000;
-    if (timeout == 0)
-      timeout = 1;
-    else if (timeout > 0xFFF)
-      timeout = 0xFFF;
-
-    // We want to enable the watchdog with the specified timeout
-    uint32_t value =
-      WDT_MR_WDV(timeout) |               // With the specified timeout
-      WDT_MR_WDD(timeout) |               // and no invalid write window
-    #if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
-      WDT_MR_WDRPROC   |                  // WDT fault resets processor only - We want
-                                          // to keep PIO controller state
-    #endif
-      WDT_MR_WDDBGHLT  |                  // WDT stops in debug state.
-      WDT_MR_WDIDLEHLT;                   // WDT stops in idle state.
-
-    #if ENABLED(WATCHDOG_RESET_MANUAL)
-      // We enable the watchdog timer, but only for the interrupt.
-
-      // Configure WDT to only trigger an interrupt
-      value |= WDT_MR_WDFIEN;             // Enable WDT fault interrupt.
-
-      // Disable WDT interrupt (just in case, to avoid triggering it!)
-      NVIC_DisableIRQ(WDT_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();
-
-      // Initialize WDT with the given parameters
-      WDT_Enable(WDT, value);
-
-      // Configure and enable WDT interrupt.
-      NVIC_ClearPendingIRQ(WDT_IRQn);
-      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
-      NVIC_EnableIRQ(WDT_IRQn);
-
-    #else
-
-      // a WDT fault triggers a reset
-      value |= WDT_MR_WDRSTEN;
-
-      // Initialize WDT with the given parameters
-      WDT_Enable(WDT, value);
-
-    #endif
-
-    // Reset the watchdog
-    WDT_Restart(WDT);
-
-  #else
-
-    // Make sure to completely disable the Watchdog
-    WDT_Disable(WDT);
-
-  #endif
-}
-
-#if ENABLED(USE_WATCHDOG)
-  // Initialize watchdog - On SAM3X, Watchdog was already configured
-  //  and enabled or disabled at startup, so no need to reconfigure it
-  //  here.
-  void watchdog_init() {
-    // Reset watchdog to start clean
-    WDT_Restart(WDT);
-  }
-#endif // USE_WATCHDOG
-
-#endif

Marlin/src/HAL/DUE/watchdog.h

@@ -1,33 +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/>.
- *
- */
-#pragma once
-
-// Arduino Due core now has watchdog support
-
-#include "HAL.h"
-
-// Initialize watchdog with a 4 second interrupt time
-void watchdog_init();
-
-// Reset watchdog. MUST be called at least every 4 seconds after the
-// first watchdog_init or AVR will go into emergency procedures.
-inline void HAL_watchdog_refresh() { watchdogReset(); }

Marlin/src/HAL/ESP32/HAL.cpp

@@ -52,7 +52,7 @@
 // Externs
 // ------------------------
 
-portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
 
 // ------------------------
 // Local defines
@@ -64,7 +64,7 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Private Variables
@@ -73,9 +73,16 @@ uint16_t HAL_adc_result;
 esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX];
 adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {};
 uint32_t thresholds[ADC_ATTEN_MAX];
-volatile int numPWMUsed = 0,
-             pwmPins[MAX_PWM_PINS],
-             pwmValues[MAX_PWM_PINS];
+
+volatile int numPWMUsed = 0;
+volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS];
+
+pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32
+
+struct {
+  uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet!
+  uint16_t res;
+} pwmInfo[(CHANNEL_MAX_NUM + 1) / 2];
 
 // ------------------------
 // Public functions
@@ -95,20 +102,22 @@ volatile int numPWMUsed = 0,
 #endif
 
 #if ENABLED(USE_ESP32_EXIO)
+
   HardwareSerial YSerial2(2);
 
   void Write_EXIO(uint8_t IO, uint8_t v) {
-    if (ISRS_ENABLED()) {
-      DISABLE_ISRS();
+    if (hal.isr_state()) {
+      hal.isr_off();
       YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
-      ENABLE_ISRS();
+      hal.isr_on();
     }
     else
       YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
   }
+
 #endif
 
-void HAL_init_board() {
+void MarlinHAL::init_board() {
   #if ENABLED(USE_ESP32_TASK_WDT)
     esp_task_wdt_init(10, true);
   #endif
@@ -154,27 +163,51 @@ void HAL_init_board() {
   #endif
 }
 
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if BOTH(WIFISUPPORT, OTASUPPORT)
     OTA_handle();
   #endif
   TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask());
 }
 
-void HAL_clear_reset_source() { }
+uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }
 
-uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }
-
-void HAL_reboot() { ESP.restart(); }
+void MarlinHAL::reboot() { ESP.restart(); }
 
 void _delay_ms(int delay_ms) { delay(delay_ms); }
 
 // return free memory between end of heap (or end bss) and whatever is current
-int freeMemory() { return ESP.getFreeHeap(); }
+int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
+
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
+  extern "C" {
+    esp_err_t esp_task_wdt_reset();
+  }
+
+  void watchdogSetup() {
+    // do whatever. don't remove this function.
+  }
+
+  void MarlinHAL::watchdog_init() {
+    // TODO
+  }
+
+  // Reset watchdog.
+  void MarlinHAL::watchdog_refresh() { esp_task_wdt_reset(); }
+
+#endif
 
 // ------------------------
 // ADC
 // ------------------------
+
 #define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
 
 adc1_channel_t get_channel(int pin) {
@@ -196,24 +229,24 @@ void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) {
   }
 }
 
-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
   // Configure ADC
   adc1_config_width(ADC_WIDTH_12Bit);
 
   // Configure channels only if used as (re-)configuring a pin for ADC that is used elsewhere might have adverse effects
-  TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_PROBE, adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_BOARD, adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_0,        adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_1,        adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_2,        adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_3,        adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_4,        adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_5,        adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_6,        adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_7,        adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_HEATED_BED,        adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_CHAMBER,      adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_PROBE,        adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_COOLER,       adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_BOARD,        adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
   TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
 
   // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
@@ -228,11 +261,16 @@ void HAL_adc_init() {
   }
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
-  const adc1_channel_t chan = get_channel(adc_pin);
+#ifndef ADC_REFERENCE_VOLTAGE
+  #define ADC_REFERENCE_VOLTAGE 3.3
+#endif
+
+void MarlinHAL::adc_start(const pin_t pin) {
+  const adc1_channel_t chan = get_channel(pin);
   uint32_t mv;
   esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
-  HAL_adc_result = mv * 1023.0 / 3300.0;
+
+  adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);
 
   // Change the attenuation level based on the new reading
   adc_atten_t atten;
@@ -249,25 +287,81 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
   adc1_set_attenuation(chan, atten);
 }
 
-void analogWrite(pin_t pin, int value) {
-  // Use ledc hardware for internal pins
-  if (pin < 34) {
-    static int cnt_channel = 1, pin_to_channel[40] = { 0 };
-    if (pin_to_channel[pin] == 0) {
-      ledcAttachPin(pin, cnt_channel);
-      ledcSetup(cnt_channel, 490, 8);
-      ledcWrite(cnt_channel, value);
-      pin_to_channel[pin] = cnt_channel++;
+// ------------------------
+// PWM
+// ------------------------
+
+int8_t channel_for_pin(const uint8_t pin) {
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++)
+    if (chan_pin[i] == pin) return i;
+  return -1;
+}
+
+// get PWM channel for pin - if none then attach a new one
+// return -1 if fail or invalid pin#, channel # (0-15) if success
+int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) {
+  if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin!
+  int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) return cid;
+
+  // Find an empty adjacent channel (same timer & freq/res)
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++) {
+    if (chan_pin[i] == 0) {
+      if (chan_pin[i ^ 0x1] != 0) {
+        if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) {
+          chan_pin[i] = pin; // Allocate PWM to this channel
+          ledcAttachPin(pin, i);
+          return i;
+        }
+      }
+      else if (cid == -1)    // Pair of empty channels?
+        cid = i & 0xFE;      // Save lower channel number
     }
-    ledcWrite(pin_to_channel[pin], value);
+  }
+  // not attached, is an empty timer slot avail?
+  if (cid >= 0) {
+    chan_pin[cid] = pin;
+    pwmInfo[cid / 2].freq = freq;
+    pwmInfo[cid / 2].res = res;
+    ledcSetup(cid, freq, res);
+    ledcAttachPin(pin, cid);
+  }
+  return cid; // -1 if no channel avail
+}
+
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
+  const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
+  if (cid >= 0) {
+    uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
+    ledcWrite(cid, duty);
+  }
+}
+
+int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
+  const int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) {
+    if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
+    ledcDetachPin(chan_pin[cid]);
+    chan_pin[cid] = 0;              // remove old freq channel
+  }
+  return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+}
+
+// use hardware PWM if avail, if not then ISR
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution!
+  // Use ledc hardware for internal pins
+  const int8_t cid = get_pwm_channel(pin, freq, res);
+  if (cid >= 0) {
+    ledcWrite(cid, value); // set duty value
     return;
   }
 
+  // not a hardware PWM pin OR no PWM channels available
   int idx = -1;
 
   // Search Pin
   for (int i = 0; i < numPWMUsed; ++i)
-    if (pwmPins[i] == pin) { idx = i; break; }
+    if (pwmState[i].pin == pin) { idx = i; break; }
 
   // not found ?
   if (idx < 0) {
@@ -276,7 +370,7 @@ void analogWrite(pin_t pin, int value) {
 
     // Take new slot for pin
     idx = numPWMUsed;
-    pwmPins[idx] = pin;
+    pwmState[idx].pin = pin;
     // Start timer on first use
     if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY);
 
@@ -284,7 +378,7 @@ void analogWrite(pin_t pin, int value) {
   }
 
   // Use 7bit internal value - add 1 to have 100% high at 255
-  pwmValues[idx] = (value + 1) / 2;
+  pwmState[idx].value = (value + 1) / 2;
 }
 
 // Handle PWM timer interrupt
@@ -295,9 +389,9 @@ HAL_PWM_TIMER_ISR() {
 
   for (int i = 0; i < numPWMUsed; ++i) {
     if (count == 0)                   // Start of interval
-      WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW);
-    else if (pwmValues[i] == count)   // End of duration
-      WRITE(pwmPins[i], LOW);
+      digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW);
+    else if (pwmState[i].value == count)   // End of duration
+      digitalWrite(pwmState[i].pin, LOW);
   }
 
   // 128 for 7 Bit resolution

Marlin/src/HAL/ESP32/HAL.h

@@ -32,7 +32,6 @@
 #include "../shared/HAL_SPI.h"
 
 #include "fastio.h"
-#include "watchdog.h"
 #include "i2s.h"
 
 #if ENABLED(WIFISUPPORT)
@@ -49,8 +48,6 @@
 // Defines
 // ------------------------
 
-extern portMUX_TYPE spinlock;
-
 #define MYSERIAL1 flushableSerial
 
 #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
@@ -65,24 +62,22 @@ extern portMUX_TYPE spinlock;
 
 #define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&spinlock)
-#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
-#define ENABLE_ISRS()  if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
-#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock)
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+#define PWM_RESOLUTION   10u   // Default PWM bit resolution
+#define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
+#define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
 
 // ------------------------
 // Types
 // ------------------------
 
+typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
 typedef int16_t pin_t;
 
-#define HAL_SERVO_LIB Servo
-
-// ------------------------
-// Public Variables
-// ------------------------
-
-/** result of last ADC conversion */
-extern uint16_t HAL_adc_result;
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
 // Public functions
@@ -91,59 +86,18 @@ extern uint16_t HAL_adc_result;
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
+int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res);
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq=PWM_FREQUENCY, const uint16_t res=8);
 
-// clear reset reason
-void HAL_clear_reset_source();
-
-// reset reason
-uint8_t HAL_get_reset_source();
-
-void HAL_reboot();
-
-void _delay_ms(int delay);
-
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
-
-#pragma GCC diagnostic pop
-
-void analogWrite(pin_t pin, int value);
-
-// ADC
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-// Pin Map
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-#define BOARD_INIT() HAL_init_board()
-void HAL_idletask();
-inline void HAL_init() {}
-void HAL_init_board();
-
 #if ENABLED(USE_ESP32_EXIO)
   void Write_EXIO(uint8_t IO, uint8_t v);
 #endif
@@ -188,3 +142,94 @@ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
   }
 
 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+void _delay_ms(const int ms);
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init() {}        // Called early in setup()
+  static void init_board();    // Called less early in setup()
+  static void reboot();        // Restart the firmware
+
+  // Interrupts
+  static portMUX_TYPE spinlock;
+  static bool isr_state() { return spinlock.owner == portMUX_FREE_VAL; }
+  static void isr_on()  { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); }
+  static void isr_off() { portENTER_CRITICAL(&spinlock); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory();
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * If not already allocated, allocate a hardware PWM channel
+   * to the pin and set the duty cycle..
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Allocate and set the frequency of a hardware PWM pin
+   * Returns -1 if no pin available.
+   */
+  static int8_t set_pwm_frequency(const pin_t pin, const uint32_t f_desired);
+
+};

Marlin/src/HAL/ESP32/Servo.cpp

@@ -31,20 +31,18 @@
 // so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
 int Servo::channel_next_free = 12;
 
-Servo::Servo() {
-  channel = channel_next_free++;
-}
+Servo::Servo() {}
 
 int8_t Servo::attach(const int inPin) {
-  if (channel >= CHANNEL_MAX_NUM) return -1;
   if (inPin > 0) pin = inPin;
-
-  ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
-  ledcAttachPin(pin, channel);
-  return true;
+  channel = get_pwm_channel(pin, 50u, 16u);
+  return channel; // -1 if no PWM avail.
 }
 
-void Servo::detach() { ledcDetachPin(pin); }
+// leave channel connected to servo - set duty to zero
+void Servo::detach() {
+  if (channel >= 0) ledcWrite(channel, 0);
+}
 
 int Servo::read() { return degrees; }
 
@@ -52,7 +50,7 @@ void Servo::write(int inDegrees) {
   degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
   int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
   int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
-  ledcWrite(channel, duty);
+  if (channel >= 0) ledcWrite(channel, duty); // don't save duty for servos!
 }
 
 void Servo::move(const int value) {

Marlin/src/HAL/ESP32/Servo.h

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

Marlin/src/HAL/ESP32/Tone.cpp

@@ -35,7 +35,7 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;
 
-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
   tone_pin = _pin;
   toggles = 2 * frequency * duration / 1000;
   HAL_timer_start(MF_TIMER_TONE, 2 * frequency);

Marlin/src/HAL/ESP32/endstop_interrupts.h

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

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

@@ -25,8 +25,8 @@
   #error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue."
 #endif
 
-#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
-  #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on ESP32."
+#if (ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125) || (ENABLED(FAST_PWM_FAN_FREQUENCY) && FAST_PWM_FAN_FREQUENCY > 78125)
+  #error "SPINDLE_LASER_FREQUENCY and FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32."
 #endif
 
 #if HAS_TMC_SW_SERIAL
@@ -40,3 +40,11 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
   #error "POSTMORTEM_DEBUGGING is not yet supported on ESP32."
 #endif
+
+#if MB(MKS_TINYBEE) && ENABLED(FAST_PWM_FAN)
+  #error "FAST_PWM_FAN is not available on TinyBee."
+#endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on ESP32 boards."
+#endif

Marlin/src/HAL/ESP32/timers.cpp

@@ -81,7 +81,7 @@ void IRAM_ATTR timer_isr(void *para) {
  * @param timer_num timer number to initialize
  * @param frequency frequency of the timer
  */
-void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
   const tTimerConfig timer = timer_config[timer_num];
 
   timer_config_t config;

Marlin/src/HAL/ESP32/timers.h

@@ -127,7 +127,7 @@ extern const tTimerConfig timer_config[];
 // Public functions
 // ------------------------
 
-void HAL_timer_start (const uint8_t timer_num, uint32_t frequency);
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
 void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
 hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
@@ -136,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp

@@ -0,0 +1,94 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * Copypaste of SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfig.h"
+
+#if EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1)
+
+#include <U8glib-HAL.h>
+#include "../shared/HAL_SPI.h"
+#include "HAL.h"
+#include "SPI.h"
+
+static SPISettings spiConfig;
+
+
+#ifndef LCD_SPI_SPEED
+  #ifdef SD_SPI_SPEED
+    #define LCD_SPI_SPEED SD_SPI_SPEED    // Assume SPI speed shared with SD
+  #else
+    #define LCD_SPI_SPEED SPI_FULL_SPEED  // Use full speed if SD speed is not supplied
+  #endif
+#endif
+
+uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT
+  if (msgInitCount) {
+    if (msg == U8G_COM_MSG_INIT) msgInitCount--;
+    if (msgInitCount) return -1;
+  }
+
+  switch (msg) {
+    case U8G_COM_MSG_STOP: break;
+
+    case U8G_COM_MSG_INIT:
+      OUT_WRITE(DOGLCD_CS, HIGH);
+      OUT_WRITE(DOGLCD_A0, HIGH);
+      OUT_WRITE(LCD_RESET_PIN, HIGH);
+      u8g_Delay(5);
+      spiBegin();
+      spiInit(LCD_SPI_SPEED);
+      break;
+
+    case U8G_COM_MSG_ADDRESS:           /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      WRITE(DOGLCD_A0, arg_val ? HIGH : LOW);
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:       /* arg_val == 0 means HIGH level of U8G_PI_CS */
+      WRITE(DOGLCD_CS, arg_val ? LOW : HIGH);
+      break;
+
+    case U8G_COM_MSG_RESET:
+      WRITE(LCD_RESET_PIN, arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      spiSend((uint8_t)arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ:
+      uint8_t *ptr = (uint8_t*) arg_ptr;
+      while (arg_val > 0) {
+        spiSend(*ptr++);
+        arg_val--;
+      }
+      break;
+  }
+  return 1;
+}
+
+#endif // EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1)
+
+#endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/ESP32/watchdog.cpp

@@ -1,42 +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_ESP32
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
-
-#include "watchdog.h"
-
-void watchdogSetup() {
-  // do whatever. don't remove this function.
-}
-
-void watchdog_init() {
-  // TODO
-}
-
-#endif // USE_WATCHDOG
-
-#endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/HAL.h

@@ -28,6 +28,7 @@
 #endif
 
 #include HAL_PATH(.,HAL.h)
+extern MarlinHAL hal;
 
 #define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION)
 
@@ -44,7 +45,3 @@
 #ifndef PGMSTR
   #define PGMSTR(NAM,STR) const char NAM[] = STR
 #endif
-
-inline void watchdog_refresh() {
-  TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
-}

Marlin/src/HAL/LINUX/HAL.cpp

@@ -24,6 +24,10 @@
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 MSerialT usb_serial(TERN0(EMERGENCY_PARSER, true));
 
 // U8glib required functions
@@ -37,42 +41,21 @@ extern "C" {
 //************************//
 
 // return free heap space
-int freeMemory() {
-  return 0;
-}
+int freeMemory() { return 0; }
 
 // ------------------------
 // ADC
 // ------------------------
 
-void HAL_adc_init() {
+uint8_t MarlinHAL::active_ch = 0;
 
-}
-
-void HAL_adc_enable_channel(const uint8_t ch) {
-
-}
-
-uint8_t active_ch = 0;
-void HAL_adc_start_conversion(const uint8_t ch) {
-  active_ch = ch;
-}
-
-bool HAL_adc_finished() {
-  return true;
-}
-
-uint16_t HAL_adc_get_result() {
-  pin_t pin = analogInputToDigitalPin(active_ch);
+uint16_t MarlinHAL::adc_value() {
+  const pin_t pin = analogInputToDigitalPin(active_ch);
   if (!VALID_PIN(pin)) return 0;
-  uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
+  const uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
   return data;    // return 10bit value as Marlin expects
 }
 
-void HAL_pwm_init() {
-
-}
-
-void HAL_reboot() { /* Reset the application state and GPIO */ }
+void MarlinHAL::reboot() { /* Reset the application state and GPIO */ }
 
 #endif // __PLAT_LINUX__

Marlin/src/HAL/LINUX/HAL.h

@@ -21,25 +21,42 @@
  */
 #pragma once
 
-#define CPU_32_BIT
+#include "../../inc/MarlinConfigPre.h"
 
-#define F_CPU 100000000UL
-#define SystemCoreClock F_CPU
 #include <iostream>
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 
-void _printf (const  char *format, ...);
+#include "hardware/Clock.h"
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+#include "serial.h"
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000UL
+#define SystemCoreClock F_CPU
+
+#define DELAY_CYCLES(x) Clock::delayCycles(x)
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+void _printf(const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();
 
-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -49,36 +66,27 @@ uint8_t _getc();
 #define B01 1
 #define B10 2
 
-#include "hardware/Clock.h"
-
-#include "../shared/Marduino.h"
-#include "../shared/math_32bit.h"
-#include "../shared/HAL_SPI.h"
-#include "fastio.h"
-#include "watchdog.h"
-#include "serial.h"
-
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Serial ports
+// ------------------------
 
 extern MSerialT usb_serial;
 #define MYSERIAL1 usb_serial
 
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
 //
 // Interrupts
 //
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
 
-inline void HAL_init() {}
+// ADC
+#define HAL_ADC_VREF           5.0
+#define HAL_ADC_RESOLUTION    10
+
+// ------------------------
+// Class Utilities
+// ------------------------
 
-// Utility functions
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
@@ -88,29 +96,70 @@ int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
-#define HAL_ADC_VREF           5.0
-#define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
+class MarlinHAL {
+public:
 
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
+  // Watchdog
+  static void watchdog_init() {}
+  static void watchdog_refresh() {}
 
-void HAL_reboot(); // Reset the application state and GPIO
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Reset the application state and GPIO
 
-/* ---------------- Delay in cycles */
-FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
-  Clock::delayCycles(x);
-}
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t) {}
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const uint8_t ch) { active_ch = ch; }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to change the resolution or invert the duty cycle.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+  static void set_pwm_frequency(const pin_t, int) {}
+};

Marlin/src/HAL/LINUX/arduino.cpp

@@ -31,9 +31,7 @@ void cli() { } // Disable
 void sei() { } // Enable
 
 // Time functions
-void _delay_ms(const int delay_ms) {
-  delay(delay_ms);
-}
+void _delay_ms(const int ms) { delay(ms); }
 
 uint32_t millis() {
   return (uint32_t)Clock::millis();

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

@@ -59,10 +59,9 @@ typedef uint8_t byte;
 #endif
 
 #define sq(v) ((v) * (v))
-#define square(v) sq(v)
 #define constrain(value, arg_min, arg_max) ((value) < (arg_min) ? (arg_min) :((value) > (arg_max) ? (arg_max) : (value)))
 
-//Interrupts
+// Interrupts
 void cli(); // Disable
 void sei(); // Enable
 void attachInterrupt(uint32_t pin, void (*callback)(), uint32_t mode);
@@ -74,8 +73,8 @@ extern "C" {
 }
 
 // Time functions
-extern "C" void delay(const int milis);
-void _delay_ms(const int delay);
+extern "C" void delay(const int ms);
+void _delay_ms(const int ms);
 void delayMicroseconds(unsigned long);
 uint32_t millis();
 

Marlin/src/HAL/LINUX/timers.h

@@ -92,5 +92,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/LINUX/watchdog.cpp

@@ -1,37 +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 __PLAT_LINUX__
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#include "watchdog.h"
-
-#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
-
-void watchdog_init() {}
-void HAL_watchdog_refresh() {}
-
-#endif
-
-#endif // __PLAT_LINUX__

Marlin/src/HAL/LINUX/watchdog.h

@@ -1,25 +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/>.
- *
- */
-#pragma once
-
-void watchdog_init();
-void HAL_watchdog_refresh();

Marlin/src/HAL/LPC1768/HAL.cpp

@@ -25,13 +25,9 @@
 #include "../shared/Delay.h"
 #include "../../../gcode/parser.h"
 
-#if ENABLED(USE_WATCHDOG)
-  #include "watchdog.h"
-#endif
-
 DefaultSerial1 USBSerial(false, UsbSerial);
 
-uint32_t HAL_adc_reading = 0;
+uint32_t MarlinHAL::adc_result = 0;
 
 // U8glib required functions
 extern "C" {
@@ -41,8 +37,6 @@ extern "C" {
   void u8g_Delay(uint16_t val)       { delay(val); }
 }
 
-//************************//
-
 // return free heap space
 int freeMemory() {
   char stack_end;
@@ -54,7 +48,71 @@ int freeMemory() {
   return result;
 }
 
-// scan command line for code
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
+
+uint8_t MarlinHAL::get_reset_source() {
+  #if ENABLED(USE_WATCHDOG)
+    if (watchdog_timed_out()) return RST_WATCHDOG;
+  #endif
+  return RST_POWER_ON;
+}
+
+void MarlinHAL::clear_reset_source() { watchdog_clear_timeout_flag(); }
+
+void flashFirmware(const int16_t) {
+  delay(500);          // Give OS time to disconnect
+  USB_Connect(false);  // USB clear connection
+  delay(1000);         // Give OS time to notice
+  hal.reboot();
+}
+
+#if ENABLED(USE_WATCHDOG)
+
+  #include <lpc17xx_wdt.h>
+
+  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
+  void MarlinHAL::watchdog_init() {
+    #if ENABLED(WATCHDOG_RESET_MANUAL)
+      // We enable the watchdog timer, but only for the interrupt.
+
+      // Configure WDT to only trigger an interrupt
+      // Disable WDT interrupt (just in case, to avoid triggering it!)
+      NVIC_DisableIRQ(WDT_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();
+
+      // Configure WDT to only trigger an interrupt
+      // Initialize WDT with the given parameters
+      WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
+
+      // Configure and enable WDT interrupt.
+      NVIC_ClearPendingIRQ(WDT_IRQn);
+      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
+      NVIC_EnableIRQ(WDT_IRQn);
+    #else
+      WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET);
+    #endif
+    WDT_Start(WDT_TIMEOUT_US);
+  }
+
+  void MarlinHAL::watchdog_refresh() {
+    WDT_Feed();
+    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+      TOGGLE(LED_PIN);  // heartbeat indicator
+    #endif
+  }
+
+  // Timeout state
+  bool MarlinHAL::watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); }
+  void MarlinHAL::watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); }
+
+#endif // USE_WATCHDOG
+
+// For M42/M43, scan command line for pin code
 //   return index into pin map array if found and the pin is valid.
 //   return dval if not found or not a valid pin.
 int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
@@ -63,24 +121,4 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
   return ind > -1 ? ind : dval;
 }
 
-void flashFirmware(const int16_t) {
-  delay(500);          // Give OS time to disconnect
-  USB_Connect(false);  // USB clear connection
-  delay(1000);         // Give OS time to notice
-  HAL_reboot();
-}
-
-void HAL_clear_reset_source(void) {
-  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
-}
-
-uint8_t HAL_get_reset_source(void) {
-  #if ENABLED(USE_WATCHDOG)
-    if (watchdog_timed_out()) return RST_WATCHDOG;
-  #endif
-  return RST_POWER_ON;
-}
-
-void HAL_reboot() { NVIC_SystemReset(); }
-
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/HAL.h

@@ -28,8 +28,6 @@
 
 #define CPU_32_BIT
 
-void HAL_init();
-
 #include <stdint.h>
 #include <stdarg.h>
 #include <algorithm>
@@ -40,19 +38,15 @@ extern "C" volatile uint32_t _millis;
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 #include "MarlinSerial.h"
 
 #include <adc.h>
 #include <pinmapping.h>
 #include <CDCSerial.h>
 
-//
-// Default graphical display delays
-//
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
+// ------------------------
+// Serial ports
+// ------------------------
 
 typedef ForwardSerial1Class< decltype(UsbSerial) > DefaultSerial1;
 extern DefaultSerial1 USBSerial;
@@ -114,26 +108,12 @@ extern DefaultSerial1 USBSerial;
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 
 //
-// Utility functions
-//
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
-
-#pragma GCC diagnostic pop
-
-//
-// ADC API
+// ADC
 //
 
 #define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
@@ -152,20 +132,9 @@ int freeMemory();
 #define HAL_ADC_RESOLUTION     12   // 15 bit maximum, raw temperature is stored as int16_t
 #define HAL_ADC_FILTERED            // Disable oversampling done in Marlin as ADC values already filtered in HAL
 
-using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
-extern uint32_t HAL_adc_reading;
-[[gnu::always_inline]] inline void HAL_adc_start_conversion(const pin_t pin) {
-  HAL_adc_reading = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
-}
-[[gnu::always_inline]] inline uint16_t HAL_adc_get_result() {
-  return HAL_adc_reading;
-}
-
-#define HAL_adc_init()
-#define HAL_ANALOG_SELECT(pin) FilteredADC::enable_channel(pin)
-#define HAL_START_ADC(pin)     HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()         HAL_adc_get_result()
-#define HAL_ADC_READY()        (true)
+//
+// Pin Mapping for M42, M43, M226
+//
 
 // Test whether the pin is valid
 constexpr bool VALID_PIN(const pin_t pin) {
@@ -192,32 +161,107 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
 // P0.6 thru P0.9 are for the onboard SD card
 #define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09,
 
-#define HAL_IDLETASK 1
-void HAL_idletask();
+// ------------------------
+// Defines
+// ------------------------
 
 #define PLATFORM_M997_SUPPORT
 void flashFirmware(const int16_t);
 
 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
 
-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Hardware PWM pins run at the same frequency and all
- *  Software PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+// Default graphical display delays
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+// ------------------------
+// Free Memory Accessor
+// ------------------------
 
-// Reset source
-void HAL_clear_reset_source(void);
-uint8_t HAL_get_reset_source(void);
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
 
-void HAL_reboot();
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Watchdog
+  static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+  static bool watchdog_timed_out() IF_DISABLED(USE_WATCHDOG, { return false; });
+  static void watchdog_clear_timeout_flag() IF_DISABLED(USE_WATCHDOG, {});
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {
+    FilteredADC::enable_channel(pin);
+  }
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static uint32_t adc_result;
+  static void adc_start(const pin_t pin) {
+    adc_result = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return uint16_t(adc_result); }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer corresponding to the provided pin
+   * All Hardware PWM pins will run at the same frequency and
+   * All Software PWM pins will run at the same frequency
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};

Marlin/src/HAL/LPC1768/MinSerial.cpp

@@ -26,7 +26,7 @@
 
 #if ENABLED(POSTMORTEM_DEBUGGING)
 
-#include "../shared/HAL_MinSerial.h"
+#include "../shared/MinSerial.h"
 #include <debug_frmwrk.h>
 
 static void TX(char c) { _DBC(c); }

Marlin/src/HAL/LPC1768/Servo.h

@@ -65,4 +65,5 @@ class libServo: public Servo {
   }
 };
 
-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;

Marlin/src/HAL/LPC1768/eeprom_wired.cpp

@@ -34,7 +34,7 @@
 #include "../shared/eeprom_api.h"
 
 #ifndef MARLIN_EEPROM_SIZE
-  #define MARLIN_EEPROM_SIZE           0x8000 // 32KB‬
+  #define MARLIN_EEPROM_SIZE           0x8000 // 32K
 #endif
 size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
 

Marlin/src/HAL/LPC1768/endstop_interrupts.h

@@ -155,4 +155,37 @@ void setup_endstop_interrupts() {
     #endif
     _ATTACH(K_MIN_PIN);
   #endif
+  #if HAS_U_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(U_MAX_PIN)
+      #error "U_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(U_MAX_PIN);
+  #elif HAS_U_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(U_MIN_PIN)
+      #error "U_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(U_MIN_PIN);
+  #endif
+  #if HAS_V_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(V_MAX_PIN)
+      #error "V_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(V_MAX_PIN);
+  #elif HAS_V_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(V_MIN_PIN)
+      #error "V_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(V_MIN_PIN);
+  #endif
+  #if HAS_W_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(W_MAX_PIN)
+      #error "W_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(W_MAX_PIN);
+  #elif HAS_W_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(W_MIN_PIN)
+      #error "W_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(W_MIN_PIN);
+  #endif
 }

Marlin/src/HAL/LPC1768/fast_pwm.cpp

@@ -21,16 +21,16 @@
  */
 #ifdef TARGET_LPC1768
 
-#include "../../inc/MarlinConfigPre.h"
+#include "../../inc/MarlinConfig.h"
 #include <pwm.h>
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   if (!LPC176x::pin_is_valid(pin)) return;
   if (LPC176x::pwm_attach_pin(pin))
     LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size);  // map 1-254 onto PWM range
 }
 
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   LPC176x::pwm_set_frequency(pin, f_desired);
 }
 

Marlin/src/HAL/LPC1768/include/digipot_mcp4451_I2C_routines.c

@@ -29,7 +29,7 @@
 
 #include "../../../inc/MarlinConfigPre.h"
 
-#if MB(MKS_SBASE)
+#if ENABLED(DIGIPOT_MCP4451) && MB(MKS_SBASE)
 
 #ifdef __cplusplus
   extern "C" {
@@ -37,35 +37,6 @@
 
 #include "digipot_mcp4451_I2C_routines.h"
 
-// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
-// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
-
-static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
-  // Reset STA, STO, SI
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
-
-  // Enter to Master Transmitter mode
-  I2Cx->I2CONSET = I2C_I2CONSET_STA;
-
-  // Wait for complete
-  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
-  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
-}
-
-static void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) {
-  // Make sure start bit is not active
-  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
-    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-
-  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
-}
-
-I2C_M_SETUP_Type transferMCfg;
-
-#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
-
 uint8_t digipot_mcp4451_start(uint8_t sla) {  // send slave address and write bit
   // Sometimes TX data ACK or NAK status is returned.  That mean the start state didn't
   // happen which means only the value of the slave address was send.  Keep looping until
@@ -102,5 +73,5 @@ uint8_t digipot_mcp4451_send_byte(uint8_t data) {
   }
 #endif
 
-#endif // MB(MKS_SBASE)
+#endif // DIGIPOT_MCP4451 && MKS_SBASE
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/include/i2c_util.c

@@ -63,6 +63,32 @@ void configure_i2c(const uint8_t clock_option) {
   I2C_Cmd(I2CDEV_M, I2C_MASTER_MODE, ENABLE);
 }
 
+//////////////////////////////////////////////////////////////////////////////////////
+// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
+// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
+
+uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
+  // Reset STA, STO, SI
+  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
+
+  // Enter to Master Transmitter mode
+  I2Cx->I2CONSET = I2C_I2CONSET_STA;
+
+  // Wait for complete
+  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
+  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
+}
+
+void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) {
+  /* Make sure start bit is not active */
+  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
+    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+
+  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
+  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
+}
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/LPC1768/include/i2c_util.h

@@ -51,6 +51,11 @@
 
 void configure_i2c(const uint8_t clock_option);
 
+uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx);
+void _I2C_Stop(LPC_I2C_TypeDef *I2Cx);
+
+#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/LPC1768/main.cpp

@@ -48,7 +48,7 @@ void SysTick_Callback() { disk_timerproc(); }
 
 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
 
-void HAL_init() {
+void MarlinHAL::init() {
 
   // Init LEDs
   #if PIN_EXISTS(LED)
@@ -130,7 +130,7 @@ void HAL_init() {
   const millis_t usb_timeout = millis() + 2000;
   while (!USB_Configuration && PENDING(millis(), usb_timeout)) {
     delay(50);
-    HAL_idletask();
+    idletask();
     #if PIN_EXISTS(LED)
       TOGGLE(LED_PIN);     // Flash quickly during USB initialization
     #endif
@@ -142,7 +142,7 @@ void HAL_init() {
 }
 
 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if HAS_SHARED_MEDIA
     // If Marlin is using the SD card we need to lock it to prevent access from
     // a PC via USB.

Marlin/src/HAL/LPC1768/timers.h

@@ -170,4 +170,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/LPC1768/u8g/LCD_I2C_routines.cpp

@@ -36,40 +36,7 @@ extern int millis();
 
 //////////////////////////////////////////////////////////////////////////////////////
 
-// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
-// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
-
-static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
-  // Reset STA, STO, SI
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
-
-  // Enter to Master Transmitter mode
-  I2Cx->I2CONSET = I2C_I2CONSET_STA;
-
-  // Wait for complete
-  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
-  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
-}
-
-static void _I2C_Stop (LPC_I2C_TypeDef *I2Cx) {
-  /* Make sure start bit is not active */
-  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
-    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-
-  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-
-#define I2CDEV_S_ADDR   0x78  // from SSD1306  //actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write
-
-#define BUFFER_SIZE                     0x1  // only do single byte transfers with LCDs
-
-I2C_M_SETUP_Type transferMCfg;
-
-#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+#define I2CDEV_S_ADDR   0x78  // From SSD1306 (actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write)
 
 // Send slave address and write bit
 uint8_t u8g_i2c_start(const uint8_t sla) {
@@ -115,7 +82,6 @@ uint8_t u8g_i2c_send_byte(uint8_t data) {
 void u8g_i2c_stop() {
 }
 
-
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/LPC1768/watchdog.cpp

@@ -1,72 +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 "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#include <lpc17xx_wdt.h>
-#include "watchdog.h"
-
-#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
-
-void watchdog_init() {
-  #if ENABLED(WATCHDOG_RESET_MANUAL)
-    // We enable the watchdog timer, but only for the interrupt.
-
-    // Configure WDT to only trigger an interrupt
-    // Disable WDT interrupt (just in case, to avoid triggering it!)
-    NVIC_DisableIRQ(WDT_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();
-
-    // Configure WDT to only trigger an interrupt
-    // Initialize WDT with the given parameters
-    WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
-
-    // Configure and enable WDT interrupt.
-    NVIC_ClearPendingIRQ(WDT_IRQn);
-    NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
-    NVIC_EnableIRQ(WDT_IRQn);
-  #else
-    WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET);
-  #endif
-  WDT_Start(WDT_TIMEOUT_US);
-}
-
-void HAL_watchdog_refresh() {
-  WDT_Feed();
-  #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
-    TOGGLE(LED_PIN);  // heartbeat indicator
-  #endif
-}
-
-// Timeout state
-bool watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); }
-void watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); }
-
-#endif // USE_WATCHDOG
-#endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/watchdog.h

@@ -1,28 +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/>.
- *
- */
-#pragma once
-
-void watchdog_init();
-void HAL_watchdog_refresh();
-
-bool watchdog_timed_out();
-void watchdog_clear_timeout_flag();

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -21,18 +21,10 @@
  */
 #pragma once
 
-#define CPU_32_BIT
-#define HAL_IDLETASK
-void HAL_idletask();
-
-#define F_CPU 100000000
-#define SystemCoreClock F_CPU
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 #include "pinmapping.h"
 
@@ -40,8 +32,6 @@ void _printf (const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();
 
-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -55,10 +45,25 @@ uint8_t _getc();
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 #include "serial.h"
 
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000
+#define SystemCoreClock F_CPU
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+// ------------------------
+// Serial ports
+// ------------------------
 
 extern MSerialT serial_stream_0;
 extern MSerialT serial_stream_1;
@@ -98,49 +103,19 @@ extern MSerialT serial_stream_3;
   #endif
 #endif
 
-
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
-//
+// ------------------------
 // Interrupts
-//
+// ------------------------
+
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
-
-inline void HAL_init() {}
-
-// Utility functions
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-int freeMemory();
-#pragma GCC diagnostic pop
 
+// ------------------------
 // ADC
+// ------------------------
+
 #define HAL_ADC_VREF           5.0
 #define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
-
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
-
-void HAL_reboot();
 
 /* ---------------- Delay in cycles */
 
@@ -159,29 +134,22 @@ constexpr inline std::size_t strlen_constexpr(const char* str) {
   // https://github.com/gcc-mirror/gcc/blob/5c7634a0e5f202935aa6c11b6ea953b8bf80a00a/libstdc%2B%2B-v3/include/bits/char_traits.h#L329
   if (str != nullptr) {
     std::size_t i = 0;
-    while (str[i] != '\0') {
-      ++i;
-    }
-
+    while (str[i] != '\0') ++i;
     return i;
   }
-
   return 0;
 }
 
 constexpr inline int strncmp_constexpr(const char* lhs, const char* rhs, std::size_t count) {
   // https://github.com/gcc-mirror/gcc/blob/13b9cbfc32fe3ac4c81c4dd9c42d141c8fb95db4/libstdc%2B%2B-v3/include/bits/char_traits.h#L655
-  if (lhs == nullptr || rhs == nullptr) {
+  if (lhs == nullptr || rhs == nullptr)
     return rhs != nullptr ? -1 : 1;
-  }
 
-  for (std::size_t i = 0; i < count; ++i) {
-    if (lhs[i] != rhs[i]) {
+  for (std::size_t i = 0; i < count; ++i)
+    if (lhs[i] != rhs[i])
       return lhs[i] < rhs[i] ? -1 : 1;
-    } else if (lhs[i] == '\0') {
+    else if (lhs[i] == '\0')
       return 0;
-    }
-  }
 
   return 0;
 }
@@ -193,14 +161,11 @@ constexpr inline const char* strstr_constexpr(const char* str, const char* targe
     do {
       char sc = {};
       do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
       } while (sc != c);
     } while (strncmp_constexpr(str, target, len) != 0);
     --str;
   }
-
   return str;
 }
 
@@ -211,12 +176,91 @@ constexpr inline char* strstr_constexpr(char* str, const char* target) {
     do {
       char sc = {};
       do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
       } while (sc != c);
     } while (strncmp_constexpr(str, target, len) != 0);
     --str;
   }
   return str;
 }
+
+// ------------------------
+// Free Memory Accessor
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch);
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready();
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/NATIVE_SIM/timers.h

@@ -87,5 +87,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp

@@ -38,13 +38,13 @@
 #ifdef __cplusplus
   extern "C" {
 #endif
-void u8g_SetPinOutput(uint8_t internal_pin_number){SET_DIR_OUTPUT(internal_pin_number);}
-void u8g_SetPinInput(uint8_t internal_pin_number){SET_DIR_INPUT(internal_pin_number);}
-void u8g_SetPinLevel(uint8_t  pin, uint8_t  pin_status){WRITE_PIN(pin, pin_status);}
-uint8_t u8g_GetPinLevel(uint8_t pin){return READ_PIN(pin);}
-void usleep(uint64_t microsec){
-assert(false); // why we here?
-}
+
+void u8g_SetPinOutput(uint8_t internal_pin_number) { SET_DIR_OUTPUT(internal_pin_number); }
+void u8g_SetPinInput(uint8_t internal_pin_number) { SET_DIR_INPUT(internal_pin_number); }
+void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status) { WRITE_PIN(pin, pin_status); }
+uint8_t u8g_GetPinLevel(uint8_t pin) { return READ_PIN(pin); }
+void usleep(uint64_t microsec) { assert(false); /* why we here? */ }
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/NATIVE_SIM/watchdog.h

@@ -1,27 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-#define WDT_TIMEOUT   4000000 // 4 second timeout
-
-void watchdog_init();
-void HAL_watchdog_refresh();

Marlin/src/HAL/SAMD51/HAL.cpp

@@ -42,10 +42,6 @@
   #endif
 #endif
 
-// ------------------------
-// Local defines
-// ------------------------
-
 #define GET_TEMP_0_ADC()          TERN(HAS_TEMP_ADC_0,        PIN_TO_ADC(TEMP_0_PIN),       -1)
 #define GET_TEMP_1_ADC()          TERN(HAS_TEMP_ADC_1,        PIN_TO_ADC(TEMP_1_PIN),       -1)
 #define GET_TEMP_2_ADC()          TERN(HAS_TEMP_ADC_2,        PIN_TO_ADC(TEMP_2_PIN),       -1)
@@ -61,17 +57,21 @@
 #define GET_BOARD_ADC()           TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),   -1)
 #define GET_FILAMENT_WIDTH_ADC()  TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN),     -1)
 #define GET_BUTTONS_ADC()         TERN(HAS_ADC_BUTTONS,       PIN_TO_ADC(ADC_KEYPAD_PIN),   -1)
+#define GET_JOY_ADC_X()           TERN(HAS_JOY_ADC_X,         PIN_TO_ADC(JOY_X_PIN),        -1)
+#define GET_JOY_ADC_Y()           TERN(HAS_JOY_ADC_Y,         PIN_TO_ADC(JOY_Y_PIN),        -1)
+#define GET_JOY_ADC_Z()           TERN(HAS_JOY_ADC_Z,         PIN_TO_ADC(JOY_Z_PIN),        -1)
 
 #define IS_ADC_REQUIRED(n) ( \
      GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \
   || GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \
-  || GET_BED_ADC() == n            \
-  || GET_CHAMBER_ADC() == n        \
-  || GET_PROBE_ADC() == n          \
-  || GET_COOLER_ADC() == n         \
-  || GET_BOARD_ADC() == n          \
+  || GET_BED_ADC() == n \
+  || GET_CHAMBER_ADC() == n \
+  || GET_PROBE_ADC() == n \
+  || GET_COOLER_ADC() == n \
+  || GET_BOARD_ADC() == n \
   || GET_FILAMENT_WIDTH_ADC() == n \
-  || GET_BUTTONS_ADC() == n        \
+  || GET_BUTTONS_ADC() == n \
+  || GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \
 )
 
 #if IS_ADC_REQUIRED(0)
@@ -91,6 +91,152 @@
   #define DMA_IS_REQUIRED 1
 #endif
 
+enum ADCIndex {
+  #if GET_TEMP_0_ADC() == 0
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 0
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 0
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 0
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 0
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 0
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 0
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 0
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 0
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 0
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 0
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 0
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 0
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 0
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 0
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 0
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 0
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 0
+    JOY_Z,
+  #endif
+  #if GET_TEMP_0_ADC() == 1
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 1
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 1
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 1
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 1
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 1
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 1
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 1
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 1
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 1
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 1
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 1
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 1
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 1
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 1
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 1
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 1
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 1
+    JOY_Z,
+  #endif
+  ADC_COUNT
+};
+
+#if ENABLED(USE_WATCHDOG)
+
+  #define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout
+
+  void MarlinHAL::watchdog_init() {
+    // The low-power oscillator used by the WDT runs at 32,768 Hz with
+    // a 1:32 prescale, thus 1024 Hz, though probably not super precise.
+
+    // Setup WDT clocks
+    MCLK->APBAMASK.bit.OSC32KCTRL_ = true;
+    MCLK->APBAMASK.bit.WDT_ = true;
+    OSC32KCTRL->OSCULP32K.bit.EN1K = true;  // Enable out 1K (this is what WDT uses)
+
+    WDT->CTRLA.bit.ENABLE = false;          // Disable watchdog for config
+    SYNC(WDT->SYNCBUSY.bit.ENABLE);
+
+    WDT->INTENCLR.reg = WDT_INTENCLR_EW;    // Disable early warning interrupt
+    WDT->CONFIG.reg = WDT_TIMEOUT_REG;      // Set a 4s or 8s period for chip reset
+
+    hal.watchdog_refresh();
+
+    WDT->CTRLA.reg = WDT_CTRLA_ENABLE;      // Start watchdog now in normal mode
+    SYNC(WDT->SYNCBUSY.bit.ENABLE);
+  }
+
+  // Reset watchdog. MUST be called at least every 4 seconds after the
+  // first watchdog_init or SAMD will go into emergency procedures.
+  void MarlinHAL::watchdog_refresh() {
+    SYNC(WDT->SYNCBUSY.bit.CLEAR);        // Test first if previous is 'ongoing' to save time waiting for command execution
+    WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
+  }
+
+#endif
+
 // ------------------------
 // Types
 // ------------------------
@@ -108,12 +254,10 @@
 // Private Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
-
 #if ADC_IS_REQUIRED
 
   // Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1
-  const uint8_t adc_pins[] = {
+  static constexpr uint8_t adc_pins[ADC_COUNT] = {
     // ADC0 pins
     #if GET_TEMP_0_ADC() == 0
       TEMP_0_PIN,
@@ -160,6 +304,15 @@ uint16_t HAL_adc_result;
     #if GET_BUTTONS_ADC() == 0
       ADC_KEYPAD_PIN,
     #endif
+    #if GET_JOY_ADC_X() == 0
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 0
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 0
+      JOY_Z_PIN,
+    #endif
     // ADC1 pins
     #if GET_TEMP_0_ADC() == 1
       TEMP_0_PIN,
@@ -206,15 +359,23 @@ uint16_t HAL_adc_result;
     #if GET_BUTTONS_ADC() == 1
       ADC_KEYPAD_PIN,
     #endif
+    #if GET_JOY_ADC_X() == 1
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 1
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 1
+      JOY_Z_PIN,
+    #endif
   };
 
-  uint16_t HAL_adc_results[COUNT(adc_pins)];
+  static uint16_t adc_results[ADC_COUNT];
 
   #if ADC0_IS_REQUIRED
-    Adafruit_ZeroDMA adc0DMAProgram,
-                     adc0DMARead;
+    Adafruit_ZeroDMA adc0DMAProgram, adc0DMARead;
 
-    const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc0_dma_regs_list[ADC_COUNT] = {
       #if GET_TEMP_0_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
       #endif
@@ -260,16 +421,24 @@ uint16_t HAL_adc_result;
       #if GET_BUTTONS_ADC() == 0
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
+      #if GET_JOY_ADC_X() == 0
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 0
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 0
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
     };
 
     #define ADC0_AINCOUNT   COUNT(adc0_dma_regs_list)
   #endif // ADC0_IS_REQUIRED
 
   #if ADC1_IS_REQUIRED
-    Adafruit_ZeroDMA adc1DMAProgram,
-                     adc1DMARead;
+    Adafruit_ZeroDMA adc1DMAProgram, adc1DMARead;
 
-    const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc1_dma_regs_list[ADC_COUNT] = {
       #if GET_TEMP_0_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
       #endif
@@ -315,6 +484,15 @@ uint16_t HAL_adc_result;
       #if GET_BUTTONS_ADC() == 1
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
+      #if GET_JOY_ADC_X() == 1
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 1
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 1
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
     };
 
     #define ADC1_AINCOUNT   COUNT(adc1_dma_regs_list)
@@ -326,9 +504,10 @@ uint16_t HAL_adc_result;
 // Private functions
 // ------------------------
 
-#if DMA_IS_REQUIRED
+void MarlinHAL::dma_init() {
+
+  #if DMA_IS_REQUIRED
 
-  void dma_init() {
     DmacDescriptor *descriptor;
 
     #if ADC0_IS_REQUIRED
@@ -357,7 +536,7 @@ uint16_t HAL_adc_result;
       if (adc0DMARead.allocate() == DMA_STATUS_OK) {
         adc0DMARead.addDescriptor(
           (void *)&ADC0->RESULT.reg,          // SRC
-          &HAL_adc_results,                   // DEST
+          &adc_results,                       // DEST
           ADC0_AINCOUNT,                      // CNT
           DMA_BEAT_SIZE_HWORD,
           false,                              // SRCINC
@@ -394,7 +573,7 @@ uint16_t HAL_adc_result;
       if (adc1DMARead.allocate() == DMA_STATUS_OK) {
         adc1DMARead.addDescriptor(
           (void *)&ADC1->RESULT.reg,          // SRC
-          &HAL_adc_results[ADC0_AINCOUNT],    // DEST
+          &adc_results[ADC0_AINCOUNT],        // DEST
           ADC1_AINCOUNT,                      // CNT
           DMA_BEAT_SIZE_HWORD,
           false,                              // SRCINC
@@ -407,16 +586,16 @@ uint16_t HAL_adc_result;
     #endif
 
     DMAC->PRICTRL0.bit.RRLVLEN0 = true;                         // Activate round robin for DMA channels required by ADCs
-  }
 
-#endif // DMA_IS_REQUIRED
+  #endif // DMA_IS_REQUIRED
+}
 
 // ------------------------
 // Public functions
 // ------------------------
 
 // HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
   TERN_(DMA_IS_REQUIRED, dma_init());
   #if ENABLED(SDSUPPORT)
     #if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT)
@@ -426,17 +605,9 @@ void HAL_init() {
   #endif
 }
 
-// HAL idle task
-/*
-void HAL_idletask() {
-}
-*/
-
-void HAL_clear_reset_source() { }
-
 #pragma push_macro("WDT")
 #undef WDT    // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   RSTC_RCAUSE_Type resetCause;
 
   resetCause.reg = REG_RSTC_RCAUSE;
@@ -450,7 +621,7 @@ uint8_t HAL_get_reset_source() {
 }
 #pragma pop_macro("WDT")
 
-void HAL_reboot() { NVIC_SystemReset(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
 extern "C" {
   void * _sbrk(int incr);
@@ -468,9 +639,11 @@ int freeMemory() {
 // ADC
 // ------------------------
 
-void HAL_adc_init() {
+uint16_t MarlinHAL::adc_result;
+
+void MarlinHAL::adc_init() {
   #if ADC_IS_REQUIRED
-    memset(HAL_adc_results, 0xFF, sizeof(HAL_adc_results));                 // Fill result with invalid values
+    memset(adc_results, 0xFF, sizeof(adc_results));                         // Fill result with invalid values
 
     LOOP_L_N(pi, COUNT(adc_pins))
       pinPeripheral(adc_pins[pi], PIO_ANALOG);
@@ -505,17 +678,13 @@ void HAL_adc_init() {
   #endif // ADC_IS_REQUIRED
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+void MarlinHAL::adc_start(const pin_t pin) {
   #if ADC_IS_REQUIRED
-    LOOP_L_N(pi, COUNT(adc_pins)) {
-      if (adc_pin == adc_pins[pi]) {
-        HAL_adc_result = HAL_adc_results[pi];
-        return;
-      }
-    }
+    LOOP_L_N(pi, COUNT(adc_pins))
+      if (pin == adc_pins[pi]) { adc_result = adc_results[pi]; return; }
   #endif
 
-  HAL_adc_result = 0xFFFF;
+  adc_result = 0xFFFF;
 }
 
 #endif // __SAMD51__

Marlin/src/HAL/SAMD51/HAL.h

@@ -26,7 +26,6 @@
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 
 #ifdef ADAFRUIT_GRAND_CENTRAL_M4
   #include "MarlinSerial_AGCM4.h"
@@ -89,51 +88,30 @@
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 
-#define cli() __disable_irq()       // Disable interrupts
-#define sei() __enable_irq()        // Enable interrupts
-
-void HAL_clear_reset_source();  // clear reset reason
-uint8_t HAL_get_reset_source(); // get reset reason
-
-void HAL_reboot();
+#define cli() __disable_irq() // Disable interrupts
+#define sei() __enable_irq()  // Enable interrupts
 
 //
 // ADC
 //
-extern uint16_t HAL_adc_result;     // Most recent ADC conversion
-
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();
 
 //#define HAL_ADC_FILTERED          // Disable Marlin's oversampling. The HAL filters ADC values.
 #define HAL_ADC_VREF         3.3
 #define HAL_ADC_RESOLUTION  10      // ... 12
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
 
 //
-// PWM
-//
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-//
-// Pin Map
+// Pin Mapping for M42, M43, M226
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -142,35 +120,97 @@ inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255,
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
 
-// Enable hooks into idle and setup for HAL
-void HAL_init();
-/*
-#define HAL_IDLETASK 1
-void HAL_idletask();
-*/
-
-//
-// Utility functions
-//
-FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
 #endif
 
-int freeMemory();
-
-#pragma GCC diagnostic pop
-
 #ifdef __cplusplus
   extern "C" {
 #endif
+
 char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
+
+extern "C" int freeMemory();
+
 #ifdef __cplusplus
   }
 #endif
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+private:
+  static void dma_init();
+};

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -60,6 +60,12 @@
 #define MATCH_J_MIN_EILINE(P)   TERN0(HAS_J_MIN,  DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
 #define MATCH_K_MAX_EILINE(P)   TERN0(HAS_K_MAX,  DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
 #define MATCH_K_MIN_EILINE(P)   TERN0(HAS_K_MIN,  DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
+#define MATCH_U_MAX_EILINE(P)   TERN0(HAS_U_MAX,  DEFER4(MATCH_EILINE)(P, U_MAX_PIN))
+#define MATCH_U_MIN_EILINE(P)   TERN0(HAS_U_MIN,  DEFER4(MATCH_EILINE)(P, U_MIN_PIN))
+#define MATCH_V_MAX_EILINE(P)   TERN0(HAS_V_MAX,  DEFER4(MATCH_EILINE)(P, V_MAX_PIN))
+#define MATCH_V_MIN_EILINE(P)   TERN0(HAS_V_MIN,  DEFER4(MATCH_EILINE)(P, V_MIN_PIN))
+#define MATCH_W_MAX_EILINE(P)   TERN0(HAS_W_MAX,  DEFER4(MATCH_EILINE)(P, W_MAX_PIN))
+#define MATCH_W_MIN_EILINE(P)   TERN0(HAS_W_MIN,  DEFER4(MATCH_EILINE)(P, W_MIN_PIN))
 #define MATCH_Z2_MAX_EILINE(P)  TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN))
 #define MATCH_Z2_MIN_EILINE(P)  TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN))
 #define MATCH_Z3_MAX_EILINE(P)  TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN))
@@ -75,6 +81,9 @@
   && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P)   \
   && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P)   \
   && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P)   \
+  && !MATCH_U_MAX_EILINE(P) && !MATCH_U_MIN_EILINE(P)   \
+  && !MATCH_V_MAX_EILINE(P) && !MATCH_V_MIN_EILINE(P)   \
+  && !MATCH_W_MAX_EILINE(P) && !MATCH_W_MIN_EILINE(P)   \
   && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
   && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
   && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
@@ -199,4 +208,40 @@ void setup_endstop_interrupts() {
     #endif
     attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
   #endif
+  #if HAS_U_MAX
+    #if !AVAILABLE_EILINE(U_MAX_PIN)
+      #error "U_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(U_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_U_MIN
+    #if !AVAILABLE_EILINE(U_MIN_PIN)
+      #error "U_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(U_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_V_MAX
+    #if !AVAILABLE_EILINE(V_MAX_PIN)
+      #error "V_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(V_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_V_MIN
+    #if !AVAILABLE_EILINE(V_MIN_PIN)
+      #error "V_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(V_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_W_MAX
+    #if !AVAILABLE_EILINE(W_MAX_PIN)
+      #error "W_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(W_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_W_MIN
+    #if !AVAILABLE_EILINE(W_MIN_PIN)
+      #error "W_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(W_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
 }

Marlin/src/HAL/SAMD51/watchdog.cpp

@@ -1,54 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- *
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#ifdef __SAMD51__
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#include "watchdog.h"
-
-#define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout
-
-void watchdog_init() {
-  // The low-power oscillator used by the WDT runs at 32,768 Hz with
-  // a 1:32 prescale, thus 1024 Hz, though probably not super precise.
-
-  // Setup WDT clocks
-  MCLK->APBAMASK.bit.OSC32KCTRL_ = true;
-  MCLK->APBAMASK.bit.WDT_ = true;
-  OSC32KCTRL->OSCULP32K.bit.EN1K = true;      // Enable out 1K (this is what WDT uses)
-
-  WDT->CTRLA.bit.ENABLE = false;              // Disable watchdog for config
-  SYNC(WDT->SYNCBUSY.bit.ENABLE);
-
-  WDT->INTENCLR.reg = WDT_INTENCLR_EW;        // Disable early warning interrupt
-  WDT->CONFIG.reg = WDT_TIMEOUT_REG;          // Set a 4s or 8s period for chip reset
-
-  HAL_watchdog_refresh();
-
-  WDT->CTRLA.reg = WDT_CTRLA_ENABLE;          // Start watchdog now in normal mode
-  SYNC(WDT->SYNCBUSY.bit.ENABLE);
-}
-
-#endif // USE_WATCHDOG
-
-#endif // __SAMD51__

Marlin/src/HAL/SAMD51/watchdog.h

@@ -1,31 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- *
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#pragma once
-
-// Initialize watchdog with a 4 second interrupt time
-void watchdog_init();
-
-// Reset watchdog. MUST be called at least every 4 seconds after the
-// first watchdog_init or SAMD will go into emergency procedures.
-inline void HAL_watchdog_refresh() {
-  SYNC(WDT->SYNCBUSY.bit.CLEAR);        // Test first if previous is 'ongoing' to save time waiting for command execution
-  WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
-}

Marlin/src/HAL/STM32/HAL.cpp

@@ -24,14 +24,13 @@
 
 #ifdef HAL_STM32
 
-#include "HAL.h"
-#include "usb_serial.h"
-
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"
 
+#include "usb_serial.h"
+
 #ifdef USBCON
-  DefaultSerial1 MSerial0(false, SerialUSB);
+  DefaultSerial1 MSerialUSB(false, SerialUSB);
 #endif
 
 #if ENABLED(SRAM_EEPROM_EMULATION)
@@ -53,16 +52,18 @@
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Public functions
 // ------------------------
 
-TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  extern void install_min_serial();
+#endif
 
 // HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
   // Ensure F_CPU is a constant expression.
   // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
   // So better safe than sorry here.
@@ -87,7 +88,7 @@ void HAL_init() {
 
   SetTimerInterruptPriorities();
 
-  #if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC
+  #if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC)
     USB_Hook_init();
   #endif
 
@@ -103,7 +104,7 @@ void HAL_init() {
 }
 
 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if HAS_SHARED_MEDIA
     // Stm32duino currently doesn't have a "loop/idle" method
     CDC_resume_receive();
@@ -111,9 +112,9 @@ void HAL_idletask() {
   #endif
 }
 
-void HAL_clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   return
     #ifdef RCC_FLAG_IWDGRST // Some sources may not exist...
       RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)  ? RST_WATCHDOG :
@@ -137,24 +138,37 @@ uint8_t HAL_get_reset_source() {
   ;
 }
 
-void HAL_reboot() { NVIC_SystemReset(); }
+void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
 
-void _delay_ms(const int delay_ms) { delay(delay_ms); }
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
+  #include <IWatchdog.h>
+
+  void MarlinHAL::watchdog_init() {
+    IF_DISABLED(DISABLE_WATCHDOG_INIT, IWatchdog.begin(WDT_TIMEOUT_US));
+  }
+
+  void MarlinHAL::watchdog_refresh() {
+    IWatchdog.reload();
+    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+      TOGGLE(LED_PIN);  // heartbeat indicator
+    #endif
+  }
+
+#endif
 
 extern "C" {
   extern unsigned int _ebss; // end of bss section
 }
 
-// ------------------------
-// ADC
-// ------------------------
-
-// TODO: Make sure this doesn't cause any delay
-void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); }
-uint16_t HAL_adc_get_result() { return HAL_adc_result; }
-
 // Reset the system to initiate a firmware flash
-WEAK void flashFirmware(const int16_t) { HAL_reboot(); }
+WEAK void flashFirmware(const int16_t) { hal.reboot(); }
 
 // Maple Compatibility
 volatile uint32_t systick_uptime_millis = 0;

Marlin/src/HAL/STM32/HAL.h

@@ -30,7 +30,6 @@
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "Servo.h"
-#include "watchdog.h"
 #include "MarlinSerial.h"
 
 #include "../../inc/MarlinConfigPre.h"
@@ -44,64 +43,74 @@
 #define CPU_ST7920_DELAY_2  40
 #define CPU_ST7920_DELAY_3 340
 
-//
-// Serial Ports
-//
+// ------------------------
+// Serial ports
+// ------------------------
 #ifdef USBCON
   #include <USBSerial.h>
   #include "../../core/serial_hook.h"
   typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1;
-  extern DefaultSerial1 MSerial0;
+  extern DefaultSerial1 MSerialUSB;
 #endif
 
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)
 
-#if SERIAL_PORT == -1
-  #define MYSERIAL1 MSerial0
-#elif WITHIN(SERIAL_PORT, 1, 6)
+#if WITHIN(SERIAL_PORT, 1, 6)
   #define MYSERIAL1 MSERIAL(SERIAL_PORT)
+#elif !defined(USBCON)
+  #error "SERIAL_PORT must be from 1 to 6."
+#elif SERIAL_PORT == -1
+  #define MYSERIAL1 MSerialUSB
 #else
-  #error "SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB."
+  #error "SERIAL_PORT must be from 1 to 6, or -1 for Native USB."
 #endif
 
 #ifdef SERIAL_PORT_2
-  #if SERIAL_PORT_2 == -1
-    #define MYSERIAL2 MSerial0
-  #elif WITHIN(SERIAL_PORT_2, 1, 6)
+  #if WITHIN(SERIAL_PORT_2, 1, 6)
     #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
+  #elif !defined(USBCON)
+    #error "SERIAL_PORT must be from 1 to 6."
+  #elif SERIAL_PORT_2 == -1
+    #define MYSERIAL2 MSerialUSB
   #else
-    #error "SERIAL_PORT_2 must be from 1 to 6. You can also use -1 if the board supports Native USB."
+    #error "SERIAL_PORT_2 must be from 1 to 6, or -1 for Native USB."
   #endif
 #endif
 
 #ifdef SERIAL_PORT_3
-  #if SERIAL_PORT_3 == -1
-    #define MYSERIAL3 MSerial0
-  #elif WITHIN(SERIAL_PORT_3, 1, 6)
+  #if WITHIN(SERIAL_PORT_3, 1, 6)
     #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #elif !defined(USBCON)
+    #error "SERIAL_PORT must be from 1 to 6."
+  #elif SERIAL_PORT_3 == -1
+    #define MYSERIAL3 MSerialUSB
   #else
-    #error "SERIAL_PORT_3 must be from 1 to 6. You can also use -1 if the board supports Native USB."
+    #error "SERIAL_PORT_3 must be from 1 to 6, or -1 for Native USB."
   #endif
 #endif
 
 #ifdef MMU2_SERIAL_PORT
-  #if MMU2_SERIAL_PORT == -1
-    #define MMU2_SERIAL MSerial0
-  #elif WITHIN(MMU2_SERIAL_PORT, 1, 6)
+  #if WITHIN(MMU2_SERIAL_PORT, 1, 6)
     #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
+  #elif !defined(USBCON)
+    #error "SERIAL_PORT must be from 1 to 6."
+  #elif MMU2_SERIAL_PORT == -1
+    #define MMU2_SERIAL MSerialUSB
   #else
-    #error "MMU2_SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB."
+    #error "MMU2_SERIAL_PORT must be from 1 to 6, or -1 for Native USB."
   #endif
 #endif
 
 #ifdef LCD_SERIAL_PORT
-  #if LCD_SERIAL_PORT == -1
-    #define LCD_SERIAL MSerial0
-  #elif WITHIN(LCD_SERIAL_PORT, 1, 6)
+  #if WITHIN(LCD_SERIAL_PORT, 1, 6)
     #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
+  #elif !defined(USBCON)
+    #error "SERIAL_PORT must be from 1 to 6."
+  #elif LCD_SERIAL_PORT == -1
+    #define LCD_SERIAL MSerialUSB
   #else
-    #error "LCD_SERIAL_PORT must be from 1 to 6. You can also use -1 if the board supports Native USB."
+    #error "LCD_SERIAL_PORT must be from 1 to 6, or -1 for Native USB."
   #endif
   #if HAS_DGUS_LCD
     #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite()
@@ -115,77 +124,34 @@
   #define analogInputToDigitalPin(p) (p)
 #endif
 
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+//
+// Interrupts
+//
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 #define cli() __disable_irq()
 #define sei() __enable_irq()
 
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
-
 // ------------------------
 // Types
 // ------------------------
 
+typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
+
 #ifdef STM32G0B1xx
   typedef int32_t pin_t;
 #else
   typedef int16_t pin_t;
 #endif
 
-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;
 #define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos()
 #define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()
 
 // ------------------------
-// Public Variables
-// ------------------------
-
-// result of last ADC conversion
-extern uint16_t HAL_adc_result;
-
-// ------------------------
-// Public functions
-// ------------------------
-
-// Memory related
-#define __bss_end __bss_end__
-
-// Enable hooks into  setup for HAL
-void HAL_init();
-#define HAL_IDLETASK 1
-void HAL_idletask();
-
-// Clear reset reason
-void HAL_clear_reset_source();
-
-// Reset reason
-uint8_t HAL_get_reset_source();
-
-void HAL_reboot();
-
-void _delay_ms(const int delay);
-
-extern "C" char* _sbrk(int incr);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-
-static inline int freeMemory() {
-  volatile char top;
-  return &top - reinterpret_cast<char*>(_sbrk(0));
-}
-
-#pragma GCC diagnostic pop
-
-//
 // ADC
-//
-
-#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT)
+// ------------------------
 
 #ifdef ADC_RESOLUTION
   #define HAL_ADC_RESOLUTION ADC_RESOLUTION
@@ -194,16 +160,10 @@ static inline int freeMemory() {
 #endif
 
 #define HAL_ADC_VREF         3.3
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-inline void HAL_adc_init() { analogReadResolution(HAL_ADC_RESOLUTION); }
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-
-uint16_t HAL_adc_get_result();
 
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
@@ -226,17 +186,96 @@ extern volatile uint32_t systick_uptime_millis;
 
 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
 
-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Timer PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+// ------------------------
+// Class Utilities
+// ------------------------
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+// Memory related
+#define __bss_end __bss_end__
+
+extern "C" char* _sbrk(int incr);
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+static inline int freeMemory() {
+  volatile char top;
+  return &top - reinterpret_cast<char*>(_sbrk(0));
+}
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    analogReadResolution(HAL_ADC_RESOLUTION);
+  }
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) { pinMode(pin, INPUT); }
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin) { adc_result = analogRead(pin); }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin.
+   * All Timer PWM pins run at the same frequency.
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+
+};

Marlin/src/HAL/STM32/HAL_SPI.cpp

@@ -102,9 +102,9 @@ static SPISettings spiConfig;
 
   // Soft SPI receive byte
   uint8_t spiRec() {
-    DISABLE_ISRS();                                               // No interrupts during byte receive
+    hal.isr_off();                                                // No interrupts during byte receive
     const uint8_t data = HAL_SPI_STM32_SpiTransfer_Mode_3(0xFF);
-    ENABLE_ISRS();                                                // Enable interrupts
+    hal.isr_on();                                                 // Enable interrupts
     return data;
   }
 
@@ -116,9 +116,9 @@ static SPISettings spiConfig;
 
   // Soft SPI send byte
   void spiSend(uint8_t data) {
-    DISABLE_ISRS();                         // No interrupts during byte send
+    hal.isr_off();                          // No interrupts during byte send
     HAL_SPI_STM32_SpiTransfer_Mode_3(data); // Don't care what is received
-    ENABLE_ISRS();                          // Enable interrupts
+    hal.isr_on();                           // Enable interrupts
   }
 
   // Soft SPI send block

Marlin/src/HAL/STM32/MinSerial.cpp

@@ -28,8 +28,7 @@
 
 #if ENABLED(POSTMORTEM_DEBUGGING)
 
-#include "../shared/HAL_MinSerial.h"
-#include "watchdog.h"
+#include "../shared/MinSerial.h"
 
 /* Instruction Synchronization Barrier */
 #define isb() __asm__ __volatile__ ("isb" : : : "memory")
@@ -120,7 +119,7 @@ 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());
+      hal.watchdog_refresh();
       sw_barrier();
     }
     regs->DR = c;

Marlin/src/HAL/STM32/eeprom_flash.cpp

@@ -174,9 +174,9 @@ bool PersistentStore::access_finish() {
         UNLOCK_FLASH();
 
         TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
-        DISABLE_ISRS();
+        hal.isr_off();
         status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError);
-        ENABLE_ISRS();
+        hal.isr_on();
         TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
         if (status != HAL_OK) {
           DEBUG_ECHOLNPGM("HAL_FLASHEx_Erase=", status);
@@ -229,9 +229,9 @@ bool PersistentStore::access_finish() {
       // output. Servo output still glitches with interrupts disabled, but recovers after the
       // erase.
       TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
-      DISABLE_ISRS();
+      hal.isr_off();
       eeprom_buffer_flush();
-      ENABLE_ISRS();
+      hal.isr_on();
       TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
 
       eeprom_data_written = false;

Marlin/src/HAL/STM32/endstop_interrupts.h

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

Marlin/src/HAL/STM32/fast_pwm.cpp

@@ -29,7 +29,7 @@
 // Array to support sticky frequency sets per timer
 static uint16_t timer_freq[TIMER_NUM];
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   const uint16_t duty = invert ? v_size - v : v;
   if (PWM_PIN(pin)) {
     const PinName pin_name = digitalPinToPinName(pin);
@@ -61,7 +61,7 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
   }
 }
 
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer
   const PinName pin_name = digitalPinToPinName(pin);
   TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance

Marlin/src/HAL/STM32/msc_sd.cpp

@@ -57,7 +57,7 @@ public:
     auto sd2card = diskIODriver();
     // single block
     if (blkLen == 1) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
       sd2card->writeBlock(blkAddr, pBuf);
       return true;
     }
@@ -65,7 +65,7 @@ public:
     // multi block optimization
     sd2card->writeStart(blkAddr, blkLen);
     while (blkLen--) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
       sd2card->writeData(pBuf);
       pBuf += BLOCK_SIZE;
     }
@@ -77,7 +77,7 @@ public:
     auto sd2card = diskIODriver();
     // single block
     if (blkLen == 1) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
       sd2card->readBlock(blkAddr, pBuf);
       return true;
     }
@@ -85,7 +85,7 @@ public:
     // multi block optimization
     sd2card->readStart(blkAddr);
     while (blkLen--) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
       sd2card->readData(pBuf);
       pBuf += BLOCK_SIZE;
     }

Marlin/src/HAL/STM32/pinsDebug.h

@@ -79,7 +79,6 @@
 // make a list of the Arduino pin numbers in the Port/Pin order
 //
 
-#define _PIN_ADD_2(NAME_ALPHA, ARDUINO_NUM) { {NAME_ALPHA}, ARDUINO_NUM },
 #define _PIN_ADD(NAME_ALPHA, ARDUINO_NUM) { NAME_ALPHA, ARDUINO_NUM },
 #define PIN_ADD(NAME) _PIN_ADD(#NAME, NAME)
 
@@ -108,14 +107,17 @@ const XrefInfo pin_xref[] PROGMEM = {
 /**
  * Translation of routines & variables used by pinsDebug.h
  */
-#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+
+#if PA0 >= NUM_DIGITAL_PINS
+  #define HAS_HIGH_ANALOG_PINS 1
+#endif
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS)
 #define VALID_PIN(ANUM) ((ANUM) >= 0 && (ANUM) < NUMBER_PINS_TOTAL)
 #define digitalRead_mod(Ard_num) extDigitalRead(Ard_num)  // must use Arduino pin numbers when doing reads
 #define PRINT_PIN(Q)
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define PRINT_PORT(ANUM) port_print(ANUM)
 #define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1  // will report analog pin number in the print port routine
-#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
 
 // x is a variable used to search pin_array
 #define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
@@ -123,6 +125,11 @@ const XrefInfo pin_xref[] PROGMEM = {
 #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
 
+//
+// Pin Mapping for M43
+//
+#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
+
 #ifndef M43_NEVER_TOUCH
   #define _M43_NEVER_TOUCH(Index) (Index >= 9 && Index <= 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP)
   #ifdef KILL_PIN
@@ -160,17 +167,20 @@ bool GET_PINMODE(const pin_t Ard_num) {
   return pin_mode == MODE_PIN_OUTPUT || pin_mode == MODE_PIN_ALT;  // assume all alt definitions are PWM
 }
 
-int8_t digital_pin_to_analog_pin(pin_t Ard_num) {
-  Ard_num -= NUM_ANALOG_FIRST;
-  return (Ard_num >= 0 && Ard_num < NUM_ANALOG_INPUTS) ? Ard_num : -1;
+int8_t digital_pin_to_analog_pin(const pin_t Ard_num) {
+  if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_FIRST + NUM_ANALOG_INPUTS - 1))
+    return Ard_num - NUM_ANALOG_FIRST;
+
+  const uint32_t ind = digitalPinToAnalogInput(Ard_num);
+  return (ind < NUM_ANALOG_INPUTS) ? ind : -1;
 }
 
 bool IS_ANALOG(const pin_t Ard_num) {
   return get_pin_mode(Ard_num) == MODE_PIN_ANALOG;
 }
 
-bool is_digital(const pin_t x) {
-  const uint8_t pin_mode = get_pin_mode(pin_array[x].pin);
+bool is_digital(const pin_t Ard_num) {
+  const uint8_t pin_mode = get_pin_mode(pin_array[Ard_num].pin);
   return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
 }
 
@@ -196,10 +206,15 @@ void port_print(const pin_t Ard_num) {
     SERIAL_ECHO_SP(7);
 
   // Print number to be used with M42
-  sprintf_P(buffer, PSTR(" M42 P%d "), Ard_num);
-  SERIAL_ECHO(buffer);
-  if (Ard_num < 10) SERIAL_CHAR(' ');
-  if (Ard_num < 100) SERIAL_CHAR(' ');
+  int calc_p = Ard_num % (NUM_DIGITAL_PINS + 1);
+  if (Ard_num > NUM_DIGITAL_PINS && calc_p > 7) calc_p += 8;
+  SERIAL_ECHOPGM(" M42 P", calc_p);
+  SERIAL_CHAR(' ');
+  if (calc_p < 100) {
+    SERIAL_CHAR(' ');
+    if (calc_p <  10)
+      SERIAL_CHAR(' ');
+  }
 }
 
 bool pwm_status(const pin_t Ard_num) {
@@ -221,19 +236,19 @@ void pwm_details(const pin_t Ard_num) {
         case 'D' : alt_all = GPIOD->AFR[ind]; break;
         #ifdef PE_0
           case 'E' : alt_all = GPIOE->AFR[ind]; break;
-        #elif defined (PF_0)
+        #elif defined(PF_0)
           case 'F' : alt_all = GPIOF->AFR[ind]; break;
-        #elif defined (PG_0)
+        #elif defined(PG_0)
           case 'G' : alt_all = GPIOG->AFR[ind]; break;
-        #elif defined (PH_0)
+        #elif defined(PH_0)
           case 'H' : alt_all = GPIOH->AFR[ind]; break;
-        #elif defined (PI_0)
+        #elif defined(PI_0)
           case 'I' : alt_all = GPIOI->AFR[ind]; break;
-        #elif defined (PJ_0)
+        #elif defined(PJ_0)
           case 'J' : alt_all = GPIOJ->AFR[ind]; break;
-        #elif defined (PK_0)
+        #elif defined(PK_0)
           case 'K' : alt_all = GPIOK->AFR[ind]; break;
-        #elif defined (PL_0)
+        #elif defined(PL_0)
           case 'L' : alt_all = GPIOL->AFR[ind]; break;
         #endif
       }

Marlin/src/HAL/STM32/sdio.cpp

@@ -208,7 +208,7 @@ bool SDIO_Init() {
 
   uint8_t retry_Cnt = retryCnt;
   for (;;) {
-    TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+    hal.watchdog_refresh();
     status = (bool) HAL_SD_Init(&hsd);
     if (!status) break;
     if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
@@ -219,7 +219,7 @@ bool SDIO_Init() {
   #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined
     retry_Cnt = retryCnt;
     for (;;) {
-      TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+      hal.watchdog_refresh();
       if (!HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B)) break;  // some cards are only 1 bit wide so a pass here is not required
       if (!--retry_Cnt) break;
     }
@@ -228,7 +228,7 @@ bool SDIO_Init() {
       SD_LowLevel_Init();
       retry_Cnt = retryCnt;
       for (;;) {
-        TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+        hal.watchdog_refresh();
         status = (bool) HAL_SD_Init(&hsd);
         if (!status) break;
         if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
@@ -243,7 +243,7 @@ bool SDIO_Init() {
 static bool SDIO_ReadWriteBlock_DMA(uint32_t block, const uint8_t *src, uint8_t *dst) {
   if (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) return false;
 
-  TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+  hal.watchdog_refresh();
 
   HAL_StatusTypeDef ret;
   if (src) {

Marlin/src/HAL/STM32/timers.cpp

@@ -303,16 +303,16 @@ enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP };
 // This cannot yet account for timers used for PWM output, such as for fans.
 static constexpr struct { TimerPurpose p; int t; } timers_in_use[] = {
   #if HAS_TMC_SW_SERIAL
-    {TP_SERIAL, get_timer_num_from_base_address(timer_serial[0])},  // Set in variant.h, or as a define in platformio.h if not present in variant.h
+    { TP_SERIAL, get_timer_num_from_base_address(timer_serial[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h
   #endif
   #if ENABLED(SPEAKER)
-    {TP_TONE, get_timer_num_from_base_address(timer_tone[0])},    // Set in variant.h, or as a define in platformio.h if not present in variant.h
+    { TP_TONE, get_timer_num_from_base_address(timer_tone[0]) },     // Set in variant.h, or as a define in platformio.h if not present in variant.h
   #endif
   #if HAS_SERVOS
-    {TP_SERVO, get_timer_num_from_base_address(timer_servo[0])},   // Set in variant.h, or as a define in platformio.h if not present in variant.h
+    { TP_SERVO, get_timer_num_from_base_address(timer_servo[0]) },   // Set in variant.h, or as a define in platformio.h if not present in variant.h
   #endif
-  {TP_STEP, STEP_TIMER},
-  {TP_TEMP, TEMP_TIMER},
+  { TP_STEP, STEP_TIMER },
+  { TP_TEMP, TEMP_TIMER },
 };
 
 static constexpr bool verify_no_timer_conflicts() {

Marlin/src/HAL/STM32/timers.h

@@ -116,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
   }
 }
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/STM32/usb_serial.cpp

@@ -26,7 +26,7 @@
 
 #include "../../inc/MarlinConfigPre.h"
 
-#if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC
+#if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC)
 
 #include "usb_serial.h"
 #include "../../feature/e_parser.h"

Marlin/src/HAL/STM32/watchdog.cpp

@@ -1,52 +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/>.
- *
- */
-
-#include "../platforms.h"
-
-#ifdef HAL_STM32
-
-#include "../../inc/MarlinConfigPre.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
-
-#include "../../inc/MarlinConfig.h"
-
-#include "watchdog.h"
-#include <IWatchdog.h>
-
-void watchdog_init() {
-  #if DISABLED(DISABLE_WATCHDOG_INIT)
-    IWatchdog.begin(WDT_TIMEOUT_US);
-  #endif
-}
-
-void HAL_watchdog_refresh() {
-  IWatchdog.reload();
-  #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
-    TOGGLE(LED_PIN);  // heartbeat indicator
-  #endif
-}
-
-#endif // USE_WATCHDOG
-#endif // HAL_STM32

Marlin/src/HAL/STM32/watchdog.h

@@ -1,25 +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/>.
- *
- */
-#pragma once
-
-void watchdog_init();
-void HAL_watchdog_refresh();