Minor tweaks

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

.devcontainer/Dockerfile

@@ -0,0 +1,29 @@
+# See here for image contents: https://github.com/microsoft/vscode-dev-containers/tree/v0.187.0/containers/python-3/.devcontainer/base.Dockerfile
+
+# [Choice] Python version: 3, 3.9, 3.8, 3.7, 3.6
+ARG VARIANT="3.9.0-buster"
+FROM python:${VARIANT}
+
+# [Option] Install Node.js
+ARG INSTALL_NODE="true"
+ARG NODE_VERSION="lts/*"
+RUN if [ "${INSTALL_NODE}" = "true" ]; then su vscode -c "umask 0002 && . /usr/local/share/nvm/nvm.sh && nvm install ${NODE_VERSION} 2>&1"; fi
+
+# [Optional] If your pip requirements rarely change, uncomment this section to add them to the image.
+# COPY requirements.txt /tmp/pip-tmp/
+# RUN pip3 --disable-pip-version-check --no-cache-dir install -r /tmp/pip-tmp/requirements.txt \
+#    && rm -rf /tmp/pip-tmp
+
+# [Optional] Uncomment this section to install additional OS packages.
+# RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
+#     && apt-get -y install --no-install-recommends <your-package-list-here>
+
+# [Optional] Uncomment this line to install global node packages.
+# RUN su vscode -c "source /usr/local/share/nvm/nvm.sh && npm install -g <your-package-here>" 2>&1
+
+
+RUN pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
+RUN platformio update
+# To get the test platforms
+RUN pip install PyYaml
+#ENV PATH /code/buildroot/bin/:/code/buildroot/tests/:${PATH}

.devcontainer/devcontainer.json

@@ -0,0 +1,51 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.187.0/containers/python-3
+{
+  "name": "Python 3",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": "..",
+    "args": {
+      // Update 'VARIANT' to pick a Python version: 3, 3.6, 3.7, 3.8, 3.9
+      "VARIANT": "3.9.0-buster",
+      // Options
+      "INSTALL_NODE": "false",
+      "NODE_VERSION": "lts/*"
+    }
+  },
+
+  // Set *default* container specific settings.json values on container create.
+  "settings": {
+    "python.pythonPath": "/usr/local/bin/python",
+    "python.languageServer": "Pylance",
+    "python.linting.enabled": true,
+    "python.linting.pylintEnabled": true,
+    "python.formatting.autopep8Path": "/usr/local/py-utils/bin/autopep8",
+    "python.formatting.blackPath": "/usr/local/py-utils/bin/black",
+    "python.formatting.yapfPath": "/usr/local/py-utils/bin/yapf",
+    "python.linting.banditPath": "/usr/local/py-utils/bin/bandit",
+    "python.linting.flake8Path": "/usr/local/py-utils/bin/flake8",
+    "python.linting.mypyPath": "/usr/local/py-utils/bin/mypy",
+    "python.linting.pycodestylePath": "/usr/local/py-utils/bin/pycodestyle",
+    "python.linting.pydocstylePath": "/usr/local/py-utils/bin/pydocstyle",
+    "python.linting.pylintPath": "/usr/local/py-utils/bin/pylint"
+  },
+
+  // Add the IDs of extensions you want installed when the container is created.
+  "extensions": [
+    "ms-python.python",
+    "ms-python.vscode-pylance",
+    "platformio.platformio-ide",
+    "marlinfirmware.auto-build",
+    "editorconfig.editorconfig"
+  ],
+
+  // Use 'forwardPorts' to make a list of ports inside the container available locally.
+  // "forwardPorts": [],
+
+  // Use 'postCreateCommand' to run commands after the container is created.
+  // "postCreateCommand": "pip3 install --user -r requirements.txt",
+
+  // Comment out connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root.
+  // "remoteUser": "vscode"
+}

.github/workflows/check-pr.yml

@@ -29,6 +29,6 @@ jobs:
 
           Please redo this PR starting with the `bugfix-2.1.x` branch and be careful to target `bugfix-2.1.x` when resubmitting the PR. Patches may also target `bugfix-2.0.x` if they are specifically for 2.0.9.x.
 
-          It may help to set your fork's default branch to `bugfix-2.0.x`.
+          It may help to set your fork's default branch to `bugfix-2.1.x`.
 
           See [this page](https://marlinfw.org/docs/development/getting_started_pull_requests.html) for full instructions.

.github/workflows/test-builds.yml

@@ -44,6 +44,7 @@ jobs:
         - teensy31
         - teensy35
         - teensy41
+        - SAMD21_minitronics20
         - SAMD51_grandcentral_m4
         - PANDA_PI_V29
 

.gitignore

@@ -21,7 +21,8 @@
 
 # Generated files
 _Version.h
-bdf2u8g
+bdf2u8g.exe
+genpages.exe
 marlin_config.json
 mczip.h
 *.gen

Marlin/Configuration_adv.h

@@ -30,7 +30,7 @@
  *
  * Basic settings can be found in Configuration.h
  */
-#define CONFIGURATION_ADV_H_VERSION 02010200
+#define CONFIGURATION_ADV_H_VERSION 02010300
 
 // @section develop
 
@@ -300,12 +300,12 @@
  * THERMAL_PROTECTION_HYSTERESIS and/or THERMAL_PROTECTION_PERIOD
  */
 #if ENABLED(THERMAL_PROTECTION_HOTENDS)
-  #define THERMAL_PROTECTION_PERIOD 40        // Seconds
-  #define THERMAL_PROTECTION_HYSTERESIS 4     // Degrees Celsius
+  #define THERMAL_PROTECTION_PERIOD 30        // Seconds
+  #define THERMAL_PROTECTION_HYSTERESIS 15     // Degrees Celsius
 
-  //#define ADAPTIVE_FAN_SLOWING              // Slow part cooling fan if temperature drops
-  #if BOTH(ADAPTIVE_FAN_SLOWING, PIDTEMP)
-    //#define NO_FAN_SLOWING_IN_PID_TUNING    // Don't slow fan speed during M303
+  #define ADAPTIVE_FAN_SLOWING              // Slow part cooling fan if temperature drops
+  #if ENABLED(ADAPTIVE_FAN_SLOWING) && EITHER(MPCTEMP, PIDTEMP)
+    #define TEMP_TUNING_MAINTAIN_FAN        // Don't slow fan speed during M303 or M306 T
   #endif
 
   /**
@@ -320,7 +320,7 @@
    * and/or decrease WATCH_TEMP_INCREASE. WATCH_TEMP_INCREASE should not be set
    * below 2.
    */
-  #define WATCH_TEMP_PERIOD  40               // Seconds
+  #define WATCH_TEMP_PERIOD 210               // Seconds
   #define WATCH_TEMP_INCREASE 2               // Degrees Celsius
 #endif
 
@@ -328,28 +328,28 @@
  * Thermal Protection parameters for the bed are just as above for hotends.
  */
 #if ENABLED(THERMAL_PROTECTION_BED)
-  #define THERMAL_PROTECTION_BED_PERIOD        20 // Seconds
-  #define THERMAL_PROTECTION_BED_HYSTERESIS     2 // Degrees Celsius
+  #define THERMAL_PROTECTION_BED_PERIOD 300    // Seconds
+  #define THERMAL_PROTECTION_BED_HYSTERESIS 2 // Degrees Celsius
 
   /**
    * As described above, except for the bed (M140/M190/M303).
    */
-  #define WATCH_BED_TEMP_PERIOD                60 // Seconds
-  #define WATCH_BED_TEMP_INCREASE               2 // Degrees Celsius
+  #define WATCH_BED_TEMP_PERIOD 60                // Seconds
+  #define WATCH_BED_TEMP_INCREASE 2               // Degrees Celsius
 #endif
 
 /**
  * Thermal Protection parameters for the heated chamber.
  */
 #if ENABLED(THERMAL_PROTECTION_CHAMBER)
-  #define THERMAL_PROTECTION_CHAMBER_PERIOD    20 // Seconds
+  #define THERMAL_PROTECTION_CHAMBER_PERIOD 20    // Seconds
   #define THERMAL_PROTECTION_CHAMBER_HYSTERESIS 2 // Degrees Celsius
 
   /**
    * Heated chamber watch settings (M141/M191).
    */
-  #define WATCH_CHAMBER_TEMP_PERIOD            60 // Seconds
-  #define WATCH_CHAMBER_TEMP_INCREASE           2 // Degrees Celsius
+  #define WATCH_CHAMBER_TEMP_PERIOD 60            // Seconds
+  #define WATCH_CHAMBER_TEMP_INCREASE 2           // Degrees Celsius
 #endif
 
 /**
@@ -375,7 +375,7 @@
 #endif
 
 #if ENABLED(PIDTEMP)
-  // Add an experimental additional term to the heater power, proportional to the extrusion speed.
+  // Add an additional term to the heater power, proportional to the extrusion speed.
   // A well-chosen Kc value should add just enough power to melt the increased material volume.
   //#define PID_EXTRUSION_SCALING
   #if ENABLED(PID_EXTRUSION_SCALING)
@@ -384,7 +384,7 @@
   #endif
 
   /**
-   * Add an experimental additional term to the heater power, proportional to the fan speed.
+   * Add an additional term to the heater power, proportional to the fan speed.
    * A well-chosen Kf value should add just enough power to compensate for power-loss from the cooling fan.
    * You can either just add a constant compensation with the DEFAULT_Kf value
    * or follow the instruction below to get speed-dependent compensation.
@@ -450,6 +450,9 @@
 #define AUTOTEMP
 #if ENABLED(AUTOTEMP)
   #define AUTOTEMP_OLDWEIGHT    0.98  // Factor used to weight previous readings (0.0 < value < 1.0)
+  #define AUTOTEMP_MIN          210
+  #define AUTOTEMP_MAX          250
+  #define AUTOTEMP_FACTOR       0.1f
   // Turn on AUTOTEMP on M104/M109 by default using proportions set here
   //#define AUTOTEMP_PROPORTIONAL
   #if ENABLED(AUTOTEMP_PROPORTIONAL)
@@ -469,10 +472,10 @@
  * Thermistors able to support high temperature tend to have a hard time getting
  * good readings at room and lower temperatures. This means TEMP_SENSOR_X_RAW_LO_TEMP
  * will probably be caught when the heating element first turns on during the
- * preheating process, which will trigger a min_temp_error as a safety measure
+ * preheating process, which will trigger a MINTEMP error as a safety measure
  * and force stop everything.
  * To circumvent this limitation, we allow for a preheat time (during which,
- * min_temp_error won't be triggered) and add a min_temp buffer to handle
+ * MINTEMP error won't be triggered) and add a min_temp buffer to handle
  * aberrant readings.
  *
  * If you want to enable this feature for your hotend thermistor(s)
@@ -480,7 +483,7 @@
  */
 
 // The number of consecutive low temperature errors that can occur
-// before a min_temp_error is triggered. (Shouldn't be more than 10.)
+// before a MINTEMP error is triggered. (Shouldn't be more than 10.)
 //#define MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED 0
 
 /**
@@ -490,7 +493,8 @@
  * the minimum temperature your thermistor can read. The lower the better/safer.
  * This shouldn't need to be more than 30 seconds (30000)
  */
-//#define MILLISECONDS_PREHEAT_TIME 0
+//#define PREHEAT_TIME_HOTEND_MS 0
+//#define PREHEAT_TIME_BED_MS 0
 
 // @section extruder
 
@@ -511,9 +515,9 @@
  * Hotend Idle Timeout
  * Prevent filament in the nozzle from charring and causing a critical jam.
  */
-//#define HOTEND_IDLE_TIMEOUT
+#define HOTEND_IDLE_TIMEOUT
 #if ENABLED(HOTEND_IDLE_TIMEOUT)
-  #define HOTEND_IDLE_TIMEOUT_SEC (5*60)    // (seconds) Time without extruder movement to trigger protection
+  #define HOTEND_IDLE_TIMEOUT_SEC (60*60)    // (seconds) Time without extruder movement to trigger protection
   #define HOTEND_IDLE_MIN_TRIGGER   180     // (°C) Minimum temperature to enable hotend protection
   #define HOTEND_IDLE_NOZZLE_TARGET   0     // (°C) Safe temperature for the nozzle after timeout
   #define HOTEND_IDLE_BED_TARGET      0     // (°C) Safe temperature for the bed after timeout
@@ -538,6 +542,7 @@
 //#define USE_CONTROLLER_FAN
 #if ENABLED(USE_CONTROLLER_FAN)
   //#define CONTROLLER_FAN_PIN -1           // Set a custom pin for the controller fan
+  //#define CONTROLLER_FAN2_PIN -1          // Set a custom pin for second controller fan
   //#define CONTROLLER_FAN_USE_Z_ONLY       // With this option only the Z axis is considered
   //#define CONTROLLER_FAN_IGNORE_Z         // Ignore Z stepper. Useful when stepper timeout is disabled.
   #define CONTROLLERFAN_SPEED_MIN         0 // (0-255) Minimum speed. (If set below this value the fan is turned off.)
@@ -560,7 +565,7 @@
  * gets it spinning reliably for a short time before setting the requested speed.
  * (Does not work on Sanguinololu with FAN_SOFT_PWM.)
  */
-//#define FAN_KICKSTART_TIME  100  // (ms)
+#define FAN_KICKSTART_TIME  100  // (ms)
 //#define FAN_KICKSTART_POWER 180  // 64-255
 
 // Some coolers may require a non-zero "off" state.
@@ -638,7 +643,13 @@
  * Multiple extruders can be assigned to the same pin in which case
  * the fan will turn on when any selected extruder is above the threshold.
  */
-#define E0_AUTO_FAN_PIN -1
+#if ENABLED(Trex3Board) && DISABLED(RaptorFanPins)
+  #define E0_AUTO_FAN_PIN 6
+#elif ENABLED(RAPTOR2) && DISABLED(SKRBoard)
+  #define E0_AUTO_FAN_PIN 9
+#else
+  #define E0_AUTO_FAN_PIN -1
+#endif
 #define E1_AUTO_FAN_PIN -1
 #define E2_AUTO_FAN_PIN -1
 #define E3_AUTO_FAN_PIN -1
@@ -704,15 +715,17 @@
 /**
  * M355 Case Light on-off / brightness
  */
-//#define CASE_LIGHT_ENABLE
+#if DISABLED(SKRBoard)
+  #define CASE_LIGHT_ENABLE
+#endif
 #if ENABLED(CASE_LIGHT_ENABLE)
-  //#define CASE_LIGHT_PIN 4                  // Override the default pin if needed
+  #define CASE_LIGHT_PIN 5                  // Override the default pin if needed
   #define INVERT_CASE_LIGHT false             // Set true if Case Light is ON when pin is LOW
   #define CASE_LIGHT_DEFAULT_ON true          // Set default power-up state on
-  #define CASE_LIGHT_DEFAULT_BRIGHTNESS 105   // Set default power-up brightness (0-255, requires PWM pin)
-  //#define CASE_LIGHT_NO_BRIGHTNESS          // Disable brightness control. Enable for non-PWM lighting.
+  #define CASE_LIGHT_DEFAULT_BRIGHTNESS 205   // Set default power-up brightness (0-255, requires PWM pin)
+  #define CASE_LIGHT_NO_BRIGHTNESS          // Disable brightness control. Enable for non-PWM lighting.
   //#define CASE_LIGHT_MAX_PWM 128            // Limit PWM duty cycle (0-255)
-  //#define CASE_LIGHT_MENU                   // Add Case Light options to the LCD menu
+  #define CASE_LIGHT_MENU                   // Add Case Light options to the LCD menu
   #if ENABLED(NEOPIXEL_LED)
     //#define CASE_LIGHT_USE_NEOPIXEL         // Use NeoPixel LED as case light
   #endif
@@ -838,20 +851,20 @@
   //#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
+    #define Z2_ENDSTOP_ADJUSTMENT 0   // Z2 offset relative to Z 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
+      #define Z3_ENDSTOP_ADJUSTMENT 0 // Z3 offset relative to Z 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
+      #define Z4_ENDSTOP_ADJUSTMENT 0 // Z4 offset relative to Z endstop
     #endif
   #endif
 #endif
@@ -882,7 +895,7 @@
 //#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (linear=mm, rotational=°) Backoff from endstops after homing
 //#define XY_COUNTERPART_BACKOFF_MM 0         // (mm) Backoff X after homing Y, and vice-versa
 
-//#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
+#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
 //#define HOME_Z_FIRST                        // Home Z first. Requires a Z-MIN endstop (not a probe).
 //#define CODEPENDENT_XY_HOMING               // If X/Y can't home without homing Y/X first
@@ -951,7 +964,7 @@
    *
    * Set the default state here, change with 'M401 S' or UI, use M500 to save, M502 to reset.
    */
-  //#define BLTOUCH_HS_MODE true
+  #define BLTOUCH_HS_MODE true
 
   // Safety: Enable voltage mode settings in the LCD menu.
   //#define BLTOUCH_LCD_VOLTAGE_MENU
@@ -964,7 +977,9 @@
  * Z Steppers Auto-Alignment
  * Add the G34 command to align multiple Z steppers using a bed probe.
  */
-//#define Z_STEPPER_AUTO_ALIGN
+#if ANY(SKRBoard, Trex3Board) && ENABLED(DualZ)
+  #define Z_STEPPER_AUTO_ALIGN
+#endif
 #if ENABLED(Z_STEPPER_AUTO_ALIGN)
   /**
    * Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]]
@@ -1029,7 +1044,7 @@
 //#define ASSISTED_TRAMMING
 #if ENABLED(ASSISTED_TRAMMING)
 
-  // Define positions for probe points.
+  // Define from 3 to 9 points to probe.
   #define TRAMMING_POINT_XY { {  20, 20 }, { 180,  20 }, { 180, 180 }, { 20, 180 } }
 
   // Define position names for probe points.
@@ -1062,14 +1077,13 @@
  *
  * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
  *
- * This option uses a lot of SRAM for the step buffer, which is related to the
- * largest step rate possible for the shaped axes. If the build fails due to
- * low SRAM the buffer size may be reduced by setting smaller values for
- * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Disabling
- * ADAPTIVE_STEP_SMOOTHING and reducing the step rate for non-shaped axes may
- * also reduce the buffer sizes. Runtime editing of max feedrate (M203) or
- * resonant frequency (M593) may result in input shaping losing effectiveness
- * during high speed movements to prevent buffer overruns.
+ * This option uses a lot of SRAM for the step buffer. The buffer size is
+ * calculated automatically from SHAPING_FREQ_[XY], DEFAULT_AXIS_STEPS_PER_UNIT,
+ * DEFAULT_MAX_FEEDRATE and ADAPTIVE_STEP_SMOOTHING. The default calculation can
+ * be overridden by setting SHAPING_MIN_FREQ and/or SHAPING_MAX_FEEDRATE.
+ * The higher the frequency and the lower the feedrate, the smaller the buffer.
+ * If the buffer is too small at runtime, input shaping will have reduced
+ * effectiveness during high speed movements.
  *
  * Tune with M593 D<factor> F<frequency>:
  *
@@ -1083,14 +1097,16 @@
 //#define INPUT_SHAPING_Y
 #if EITHER(INPUT_SHAPING_X, INPUT_SHAPING_Y)
   #if ENABLED(INPUT_SHAPING_X)
-    #define SHAPING_FREQ_X  40    // (Hz) The default dominant resonant frequency on the X axis.
-    #define SHAPING_ZETA_X  0.15f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+    #define SHAPING_FREQ_X  40          // (Hz) The default dominant resonant frequency on the X axis.
+    #define SHAPING_ZETA_X  0.15f       // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
   #endif
   #if ENABLED(INPUT_SHAPING_Y)
-    #define SHAPING_FREQ_Y  40    // (Hz) The default dominant resonant frequency on the Y axis.
-    #define SHAPING_ZETA_Y  0.15f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+    #define SHAPING_FREQ_Y  40          // (Hz) The default dominant resonant frequency on the Y axis.
+    #define SHAPING_ZETA_Y  0.15f       // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
   #endif
-  //#define SHAPING_MENU          // Add a menu to the LCD to set shaping parameters.
+  //#define SHAPING_MIN_FREQ  20        // By default the minimum of the shaping frequencies. Override to affect SRAM usage.
+  //#define SHAPING_MAX_STEPRATE 10000  // By default the maximum total step rate of the shaped axes. Override to affect SRAM usage.
+  //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
 #define AXIS_RELATIVE_MODES { false, false, false, false }
@@ -1098,34 +1114,33 @@
 // Add a Duplicate option for well-separated conjoined nozzles
 //#define MULTI_NOZZLE_DUPLICATION
 
-// By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
-#define INVERT_X_STEP_PIN false
-#define INVERT_Y_STEP_PIN false
-#define INVERT_Z_STEP_PIN false
-#define INVERT_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
+// By default stepper drivers require an active-HIGH signal but some high-power drivers require an active-LOW signal to step.
+#define STEP_STATE_X HIGH
+#define STEP_STATE_Y HIGH
+#define STEP_STATE_Z HIGH
+#define STEP_STATE_I HIGH
+#define STEP_STATE_J HIGH
+#define STEP_STATE_K HIGH
+#define STEP_STATE_U HIGH
+#define STEP_STATE_V HIGH
+#define STEP_STATE_W HIGH
+#define STEP_STATE_E HIGH
 
 /**
  * Idle Stepper Shutdown
- * Set DISABLE_INACTIVE_? 'true' to shut down axis steppers after an idle period.
+ * Enable DISABLE_INACTIVE_* to shut down axis steppers after an idle period.
  * The Deactive Time can be overridden with M18 and M84. Set to 0 for No Timeout.
  */
 #define DEFAULT_STEPPER_DEACTIVE_TIME 120
-#define DISABLE_INACTIVE_X true
-#define DISABLE_INACTIVE_Y true
-#define DISABLE_INACTIVE_Z true  // Set 'false' if the nozzle could fall onto your printed part!
-#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
+#define DISABLE_INACTIVE_X
+#define DISABLE_INACTIVE_Y
+#define DISABLE_INACTIVE_Z  // Disable if the nozzle could fall onto your printed part!
+//#define DISABLE_INACTIVE_I
+//#define DISABLE_INACTIVE_J
+//#define DISABLE_INACTIVE_K
+//#define DISABLE_INACTIVE_U
+//#define DISABLE_INACTIVE_V
+//#define DISABLE_INACTIVE_W
 
 // Default Minimum Feedrates for printing and travel moves
 #define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s. °/s for rotational-only moves) Minimum feedrate. Set with M205 S.
@@ -1161,7 +1176,8 @@
 // Backlash Compensation
 // Adds extra movement to axes on direction-changes to account for backlash.
 //
-//#define BACKLASH_COMPENSATION
+
+#define BACKLASH_COMPENSATION
 #if ENABLED(BACKLASH_COMPENSATION)
   // Define values for backlash distance and correction.
   // If BACKLASH_GCODE is enabled these values are the defaults.
@@ -1176,7 +1192,7 @@
   //#define BACKLASH_SMOOTHING_MM 3 // (mm)
 
   // Add runtime configuration and tuning of backlash values (M425)
-  //#define BACKLASH_GCODE
+  #define BACKLASH_GCODE
 
   #if ENABLED(BACKLASH_GCODE)
     // Measure the Z backlash when probing (G29) and set with "M425 Z"
@@ -1268,7 +1284,9 @@
  * vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
  * lowest stepping frequencies.
  */
-//#define ADAPTIVE_STEP_SMOOTHING
+#if ENABLED(SKRBoard)
+  #define ADAPTIVE_STEP_SMOOTHING
+#endif
 
 /**
  * Custom Microstepping
@@ -1412,6 +1430,9 @@
     //#define LCD_PRINTER_INFO_IS_BOOTSCREEN // Show bootscreen(s) instead of Printer Info pages
   #endif
 
+  // Add 50/100mm moves to MarlinUI even with a smaller bed
+  //#define LARGE_MOVE_ITEMS
+
   // BACK menu items keep the highlight at the top
   //#define TURBO_BACK_MENU_ITEM
 
@@ -1420,14 +1441,12 @@
 
 #endif // HAS_MARLINUI_MENU
 
-#if ANY(HAS_DISPLAY, DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI)
+#if HAS_DISPLAY
   //#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_LCD_PROUI)
   // The timeout to return to the status screen from sub-menus
-  //#define LCD_TIMEOUT_TO_STATUS 15000   // (ms)
+  #define LCD_TIMEOUT_TO_STATUS 15000   // (ms)
 
   #if ENABLED(SHOW_BOOTSCREEN)
     #define BOOTSCREEN_TIMEOUT 4000       // (ms) Total Duration to display the boot screen(s)
@@ -1437,7 +1456,7 @@
   #endif
 
   // Scroll a longer status message into view
-  //#define STATUS_MESSAGE_SCROLLING
+  #define STATUS_MESSAGE_SCROLLING
 
   // Apply a timeout to low-priority status messages
   //#define STATUS_MESSAGE_TIMEOUT_SEC 30 // (seconds)
@@ -1448,6 +1467,9 @@
   // Show the E position (filament used) during printing
   //#define LCD_SHOW_E_TOTAL
 
+  // Display a negative temperature instead of "err"
+  //#define SHOW_TEMPERATURE_BELOW_ZERO
+
   /**
    * LED Control Menu
    * Add LED Control to the LCD menu
@@ -1474,26 +1496,28 @@
     #endif
   #endif
 
-#endif // HAS_DISPLAY || DWIN_LCD_PROUI
+#endif // HAS_DISPLAY
 
-// Add the G-code 'M73' to set / report the current job progress
-//#define SET_PROGRESS_MANUALLY
+// Add 'M73' to set print job progress, overrides Marlin's built-in estimate
+#define SET_PROGRESS_MANUALLY
 #if ENABLED(SET_PROGRESS_MANUALLY)
-  //#define SET_PROGRESS_PERCENT          // Add 'P' parameter to set percentage done, otherwise use Marlin's estimate
-  //#define SET_REMAINING_TIME            // Add 'R' parameter to set remaining time, otherwise use Marlin's estimate
+  #define SET_PROGRESS_PERCENT            // Add 'P' parameter to set percentage done
+  #define SET_REMAINING_TIME              // Add 'R' parameter to set remaining time
   //#define SET_INTERACTION_TIME          // Add 'C' parameter to set time until next filament change or other user interaction
-  #if ENABLED(SET_INTERACTION_TIME)
-    #define SHOW_INTERACTION_TIME         // Display time until next user interaction ('C' = filament change)
+  //#define M73_REPORT                    // Report M73 values to host
+  #if BOTH(M73_REPORT, SDSUPPORT)
+    #define M73_REPORT_SD_ONLY            // Report only when printing from SD
   #endif
-  //#define M73_REPORT                    // Report progress to host with 'M73'
 #endif
 
-// LCD Print Progress options, multiple can be rotated depending on screen layout
+// LCD Print Progress options. Multiple times may be displayed in turn.
 #if HAS_DISPLAY && EITHER(SDSUPPORT, SET_PROGRESS_MANUALLY)
   #define SHOW_PROGRESS_PERCENT           // Show print progress percentage (doesn't affect progress bar)
   #define SHOW_ELAPSED_TIME               // Display elapsed printing time (prefix 'E')
   //#define SHOW_REMAINING_TIME           // Display estimated time to completion (prefix 'R')
-
+  #if ENABLED(SET_INTERACTION_TIME)
+    #define SHOW_INTERACTION_TIME         // Display time until next user interaction ('C' = filament change)
+  #endif
   //#define PRINT_PROGRESS_SHOW_DECIMALS  // Show/report progress with decimal digits, not all UIs support this
 
   #if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL)
@@ -1561,13 +1585,15 @@
    * an option on the LCD screen to continue the print from the last-known
    * point in the file.
    */
-  //#define POWER_LOSS_RECOVERY
+  #define POWER_LOSS_RECOVERY
   #if ENABLED(POWER_LOSS_RECOVERY)
     #define PLR_ENABLED_DEFAULT   false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
     //#define BACKUP_POWER_SUPPLY       // Backup power / UPS to move the steppers on power loss
     //#define POWER_LOSS_ZRAISE       2 // (mm) Z axis raise on resume (on power loss with UPS)
-    //#define POWER_LOSS_PIN         44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module.
-    //#define POWER_LOSS_STATE     HIGH // State of pin indicating power loss
+    #if ENABLED(SKRBoard)
+      #define POWER_LOSS_PIN         -1 // Pin to detect power loss. Set to -1 to disable default pin on boards without module.
+      #define POWER_LOSS_STATE     LOW // State of pin indicating power loss
+    #endif
     //#define POWER_LOSS_PULLUP         // Set pullup / pulldown as appropriate for your sensor
     //#define POWER_LOSS_PULLDOWN
     //#define POWER_LOSS_PURGE_LEN   20 // (mm) Length of filament to purge on resume
@@ -1626,11 +1652,11 @@
   // LCD's font must contain the characters. Check your selected LCD language.
   //#define UTF_FILENAME_SUPPORT
 
-  //#define LONG_FILENAME_HOST_SUPPORT    // Get the long filename of a file/folder with 'M33 <dosname>' and list long filenames with 'M20 L'
+  #define LONG_FILENAME_HOST_SUPPORT    // Get the long filename of a file/folder with 'M33 <dosname>' and list long filenames with 'M20 L'
   //#define LONG_FILENAME_WRITE_SUPPORT   // Create / delete files with long filenames via M28, M30, and Binary Transfer Protocol
   //#define M20_TIMESTAMP_SUPPORT         // Include timestamps by adding the 'T' flag to M20 commands
 
-  //#define SCROLL_LONG_FILENAMES         // Scroll long filenames in the SD card menu
+  #define SCROLL_LONG_FILENAMES         // Scroll long filenames in the SD card menu
 
   //#define SD_ABORT_NO_COOLDOWN          // Leave the heaters on after Stop Print (not recommended!)
 
@@ -1646,7 +1672,7 @@
 
   //#define SD_REPRINT_LAST_SELECTED_FILE // On print completion open the LCD Menu and select the same file
 
-  //#define AUTO_REPORT_SD_STATUS         // Auto-report media status with 'M27 S<seconds>'
+  #define AUTO_REPORT_SD_STATUS         // Auto-report media status with 'M27 S<seconds>'
 
   /**
    * Support for USB thumb drives using an Arduino USB Host Shield or
@@ -1775,7 +1801,7 @@
 
   // 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
+  #define USE_BIG_EDIT_FONT
 
   // 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.
@@ -1836,9 +1862,11 @@
   //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash.
 
   // Frivolous Game Options
-  //#define MARLIN_BRICKOUT
-  //#define MARLIN_INVADERS
-  //#define MARLIN_SNAKE
+  #if ENABLED(SKRBoard)
+    #define MARLIN_BRICKOUT
+    #define MARLIN_INVADERS
+    #define MARLIN_SNAKE
+  #endif
   //#define GAMES_EASTER_EGG          // Add extra blank lines above the "Games" sub-menu
 
 #endif // HAS_MARLINUI_U8GLIB
@@ -1860,11 +1888,11 @@
 
   #define DGUS_UPDATE_INTERVAL_MS  500    // (ms) Interval between automatic screen updates
 
-  #if ANY(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_MKS, DGUS_LCD_UI_HIPRECY)
+  #if DGUS_UI_IS(FYSETC, MKS, HIPRECY)
     #define DGUS_PRINT_FILENAME           // Display the filename during printing
     #define DGUS_PREHEAT_UI               // Display a preheat screen during heatup
 
-    #if EITHER(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_MKS)
+    #if DGUS_UI_IS(FYSETC, MKS)
       //#define DGUS_UI_MOVE_DIS_OPTION   // Disabled by default for FYSETC and MKS
     #else
       #define DGUS_UI_MOVE_DIS_OPTION     // Enabled by default for UI_HIPRECY
@@ -2054,18 +2082,18 @@
  *
  * Warning: Does not respect endstops!
  */
-//#define BABYSTEPPING
+#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
-  //#define INTEGRATED_BABYSTEPPING         // EXPERIMENTAL integration of babystepping into the Stepper ISR
+  #define INTEGRATED_BABYSTEPPING         // EXPERIMENTAL integration of babystepping into the Stepper ISR
   //#define BABYSTEP_WITHOUT_HOMING
-  //#define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement).
+  #define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement).
   //#define BABYSTEP_XY                     // Also enable X/Y Babystepping. Not supported on DELTA!
   #define BABYSTEP_INVERT_Z false           // Change if Z babysteps should go the other way
   //#define BABYSTEP_MILLIMETER_UNITS       // Specify BABYSTEP_MULTIPLICATOR_(XY|Z) in mm instead of micro-steps
-  #define BABYSTEP_MULTIPLICATOR_Z  1       // (steps or mm) Steps or millimeter distance for each Z babystep
+  #define BABYSTEP_MULTIPLICATOR_Z  (Z_STEPSMM / 40)       // (steps or mm) Steps or millimeter distance for each Z babystep
   #define BABYSTEP_MULTIPLICATOR_XY 1       // (steps or mm) Steps or millimeter distance for each XY babystep
 
-  //#define DOUBLECLICK_FOR_Z_BABYSTEPPING  // Double-click on the Status Screen for Z Babystepping.
+  #define DOUBLECLICK_FOR_Z_BABYSTEPPING  // Double-click on the Status Screen for Z Babystepping.
   #if ENABLED(DOUBLECLICK_FOR_Z_BABYSTEPPING)
     #define DOUBLECLICK_MAX_INTERVAL 1250   // Maximum interval between clicks, in milliseconds.
                                             // Note: Extra time may be added to mitigate controller latency.
@@ -2077,10 +2105,10 @@
 
   //#define BABYSTEP_DISPLAY_TOTAL          // Display total babysteps since last G28
 
-  //#define BABYSTEP_ZPROBE_OFFSET          // Combine M851 Z and Babystepping
+  #define BABYSTEP_ZPROBE_OFFSET          // Combine M851 Z and Babystepping
   #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
     //#define BABYSTEP_HOTEND_Z_OFFSET      // For multiple hotends, babystep relative Z offsets
-    //#define BABYSTEP_ZPROBE_GFX_OVERLAY   // Enable graphical overlay on Z-offset editor
+    #define BABYSTEP_GFX_OVERLAY          // Enable graphical overlay on Z-offset editor
   #endif
 #endif
 
@@ -2101,17 +2129,17 @@
  *
  * See https://marlinfw.org/docs/features/lin_advance.html for full instructions.
  */
-//#define LIN_ADVANCE
+
+#define LIN_ADVANCE
 #if ENABLED(LIN_ADVANCE)
   #if ENABLED(DISTINCT_E_FACTORS)
-    #define ADVANCE_K { 0.22 }    // (mm) Compression length per 1mm/s extruder speed, per extruder
+    #define ADVANCE_K { 0.0 }    // (mm) Compression length per 1mm/s extruder speed, per extruder
   #else
-    #define ADVANCE_K 0.22        // (mm) Compression length applying to all extruders
+    #define ADVANCE_K 0.0        // (mm) Compression length applying to all extruders
   #endif
   //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with M900 L.
   //#define LA_DEBUG              // Print debug information to serial during operation. Disable for production use.
-  //#define EXPERIMENTAL_SCURVE   // Allow S-Curve Acceleration to be used with LA.
-  //#define ALLOW_LOW_EJERK       // Allow a DEFAULT_EJERK value of <10. Recommended for direct drive hotends.
+  #define ALLOW_LOW_EJERK       // Allow a DEFAULT_EJERK value of <10. Recommended for direct drive hotends.
   //#define EXPERIMENTAL_I2S_LA   // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz.
 #endif
 
@@ -2334,8 +2362,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
-//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
+#define MINIMUM_STEPPER_POST_DIR_DELAY 250
+#define MINIMUM_STEPPER_PRE_DIR_DELAY 250
 
 /**
  * Minimum stepper driver pulse width (in µs)
@@ -2379,17 +2407,21 @@
 // The value of BLOCK_BUFFER_SIZE must be a power of 2 (e.g., 8, 16, 32)
 #if BOTH(SDSUPPORT, DIRECT_STEPPING)
   #define BLOCK_BUFFER_SIZE  8
-#elif ENABLED(SDSUPPORT)
-  #define BLOCK_BUFFER_SIZE 16
+#elif ENABLED(SKRBoard)
+  #define BLOCK_BUFFER_SIZE 32
 #else
-  #define BLOCK_BUFFER_SIZE 16
+  #define BLOCK_BUFFER_SIZE 8
 #endif
 
 // @section serial
 
 // The ASCII buffer for serial input
 #define MAX_CMD_SIZE 96
-#define BUFSIZE 4
+#if ENABLED(SKRBoard)
+  #define BUFSIZE 16
+#else
+  #define BUFSIZE 8
+#endif
 
 // Transmission to Host Buffer Size
 // To save 386 bytes of flash (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0.
@@ -2398,8 +2430,11 @@
 // For debug-echo: 128 bytes for the optimal speed.
 // Other output doesn't need to be that speedy.
 // :[0, 2, 4, 8, 16, 32, 64, 128, 256]
-#define TX_BUFFER_SIZE 0
-
+#if ENABLED(SKRBoard)
+  #define TX_BUFFER_SIZE 32
+#else
+  #define TX_BUFFER_SIZE 0
+#endif
 // Host Receive Buffer Size
 // Without XON/XOFF flow control (see SERIAL_XON_XOFF below) 32 bytes should be enough.
 // To use flow control, set this buffer size to at least 1024 bytes.
@@ -2436,7 +2471,7 @@
  * Currently handles M108, M112, M410, M876
  * NOTE: Not yet implemented for all platforms.
  */
-//#define EMERGENCY_PARSER
+#define EMERGENCY_PARSER
 
 /**
  * Realtime Reporting (requires EMERGENCY_PARSER)
@@ -2465,7 +2500,7 @@
 //#define NO_TIMEOUTS 1000 // Milliseconds
 
 // Some clients will have this feature soon. This could make the NO_TIMEOUTS unnecessary.
-//#define ADVANCED_OK
+#define ADVANCED_OK
 
 // Printrun may have trouble receiving long strings all at once.
 // This option inserts short delays between lines of serial output.
@@ -2508,7 +2543,9 @@
  *
  * Note that M207 / M208 / M209 settings are saved to EEPROM.
  */
-//#define FWRETRACT
+#if DISABLED(UBL) || ENABLED(SKRBoard)
+  #define FWRETRACT
+#endif
 #if ENABLED(FWRETRACT)
   #define FWRETRACT_AUTORETRACT             // Override slicer retractions
   #if ENABLED(FWRETRACT_AUTORETRACT)
@@ -2545,9 +2582,17 @@
    * Extra G-code to run while executing tool-change commands. Can be used to use an additional
    * 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
-  //#define EVENT_GCODE_TOOLCHANGE_ALWAYS_RUN        // Always execute above G-code sequences. Use with caution!
+  //#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
+  //#define EVENT_GCODE_TOOLCHANGE_ALWAYS_RUN         // Always execute above G-code sequences. Use with caution!
+
+  /**
+   * Consider coordinates for EVENT_GCODE_TOOLCHANGE_Tx as relative to T0
+   * so that moves in the specified axes are the same for all tools.
+   */
+  //#define TC_GCODE_USE_GLOBAL_X   // Use X position relative to Tool 0
+  //#define TC_GCODE_USE_GLOBAL_Y   // Use Y position relative to Tool 0
+  //#define TC_GCODE_USE_GLOBAL_Z   // Use Z position relative to Tool 0
 
   /**
    * Tool Sensors detect when tools have been picked up or dropped.
@@ -2629,7 +2674,7 @@
  *
  * Enable PARK_HEAD_ON_PAUSE to add the G-code M125 Pause and Park.
  */
-//#define ADVANCED_PAUSE_FEATURE
+#define ADVANCED_PAUSE_FEATURE
 #if ENABLED(ADVANCED_PAUSE_FEATURE)
   #define PAUSE_PARK_RETRACT_FEEDRATE         60  // (mm/s) Initial retract feedrate.
   #define PAUSE_PARK_RETRACT_LENGTH            2  // (mm) Initial retract.
@@ -2645,7 +2690,7 @@
                                                   // 0 to disable start loading and skip to fast load only
   #define FILAMENT_CHANGE_FAST_LOAD_FEEDRATE   6  // (mm/s) Load filament feedrate. This can be pretty fast.
   #define FILAMENT_CHANGE_FAST_LOAD_ACCEL     25  // (mm/s^2) Lower acceleration may allow a faster feedrate.
-  #define FILAMENT_CHANGE_FAST_LOAD_LENGTH     0  // (mm) Load length of filament, from extruder gear to nozzle.
+  #define FILAMENT_CHANGE_FAST_LOAD_LENGTH     2  // (mm) Load length of filament, from extruder gear to nozzle.
                                                   //   For Bowden, the full length of the tube and nozzle.
                                                   //   For direct drive, the full length of the nozzle.
   //#define ADVANCED_PAUSE_CONTINUOUS_PURGE       // Purge continuously up to the purge length until interrupted.
@@ -2654,8 +2699,8 @@
                                                   //   Set to 0 for manual extrusion.
                                                   //   Filament can be extruded repeatedly from the Filament Change menu
                                                   //   until extrusion is consistent, and to purge old filament.
-  #define ADVANCED_PAUSE_RESUME_PRIME          0  // (mm) Extra distance to prime nozzle after returning from park.
-  //#define ADVANCED_PAUSE_FANS_PAUSE             // Turn off print-cooling fans while the machine is paused.
+  #define ADVANCED_PAUSE_RESUME_PRIME          2  // (mm) Extra distance to prime nozzle after returning from park.
+  #define ADVANCED_PAUSE_FANS_PAUSE             // Turn off print-cooling fans while the machine is paused.
 
                                                   // Filament Unload does a Retract, Delay, and Purge first:
   #define FILAMENT_UNLOAD_PURGE_RETRACT       13  // (mm) Unload initial retract length.
@@ -2664,16 +2709,16 @@
   #define FILAMENT_UNLOAD_PURGE_FEEDRATE      25  // (mm/s) feedrate to purge before unload
 
   #define PAUSE_PARK_NOZZLE_TIMEOUT           45  // (seconds) Time limit before the nozzle is turned off for safety.
-  #define FILAMENT_CHANGE_ALERT_BEEPS         10  // Number of alert beeps to play when a response is needed.
+  #define FILAMENT_CHANGE_ALERT_BEEPS         2  // Number of alert beeps to play when a response is needed.
   #define PAUSE_PARK_NO_STEPPER_TIMEOUT           // Enable for XYZ steppers to stay powered on during filament change.
   //#define FILAMENT_CHANGE_RESUME_ON_INSERT      // Automatically continue / load filament when runout sensor is triggered again.
   //#define PAUSE_REHEAT_FAST_RESUME              // Reduce number of waits by not prompting again post-timeout before continuing.
 
-  //#define PARK_HEAD_ON_PAUSE                    // Park the nozzle during pause and filament change.
-  //#define HOME_BEFORE_FILAMENT_CHANGE           // If needed, home before parking for filament change
+  #define PARK_HEAD_ON_PAUSE                    // Park the nozzle during pause and filament change.
+  #define HOME_BEFORE_FILAMENT_CHANGE           // Ensure homing has been completed prior to parking for filament change
 
-  //#define FILAMENT_LOAD_UNLOAD_GCODES           // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu.
-  //#define FILAMENT_UNLOAD_ALL_EXTRUDERS         // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
+  #define FILAMENT_LOAD_UNLOAD_GCODES           // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu.
+  #define FILAMENT_UNLOAD_ALL_EXTRUDERS         // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
 #endif
 
 // @section tmc_smart
@@ -2977,9 +3022,28 @@
    * Set *_SERIAL_TX_PIN and *_SERIAL_RX_PIN to match for all drivers
    * on the same serial port, either here or in your board's pins file.
    */
-  //#define  X_SLAVE_ADDRESS 0
-  //#define  Y_SLAVE_ADDRESS 0
-  //#define  Z_SLAVE_ADDRESS 0
+   #if ENABLED(SKRBoard)
+    #define  X_SLAVE_ADDRESS 0
+    #define  Y_SLAVE_ADDRESS 0
+    #define  Z_SLAVE_ADDRESS 0
+    #define E0_SLAVE_ADDRESS 0
+  #else
+    #define  X_SLAVE_ADDRESS 0
+    #define  Y_SLAVE_ADDRESS 2
+    #define  Z_SLAVE_ADDRESS 1
+    #define E0_SLAVE_ADDRESS 3
+    #define X_SERIAL_TX_PIN    58
+    #define X_SERIAL_RX_PIN    12
+
+    #define Y_SERIAL_TX_PIN    58
+    #define Y_SERIAL_RX_PIN    12
+
+    #define Z_SERIAL_TX_PIN    58
+    #define Z_SERIAL_RX_PIN    12
+
+    #define E0_SERIAL_TX_PIN   58
+    #define E0_SERIAL_RX_PIN   12
+  #endif
   //#define X2_SLAVE_ADDRESS 0
   //#define Y2_SLAVE_ADDRESS 0
   //#define Z2_SLAVE_ADDRESS 0
@@ -3044,7 +3108,7 @@
    * Define your own with:
    * { <off_time[1..15]>, <hysteresis_end[-3..12]>, hysteresis_start[1..8] }
    */
-  #define CHOPPER_TIMING CHOPPER_DEFAULT_12V        // All axes (override below)
+  #define CHOPPER_TIMING CHOPPER_DEFAULT_24V        // All axes (override below)
   //#define CHOPPER_TIMING_X  CHOPPER_TIMING        // For X Axes (override below)
   //#define CHOPPER_TIMING_X2 CHOPPER_TIMING_X
   //#define CHOPPER_TIMING_Y  CHOPPER_TIMING        // For Y Axes (override below)
@@ -3081,7 +3145,9 @@
    * M912 - Clear stepper driver overtemperature pre-warn condition flag.
    * M122 - Report driver parameters (Requires TMC_DEBUG)
    */
-  //#define MONITOR_DRIVER_STATUS
+  #if ENABLED(SKRBoard)
+    #define MONITOR_DRIVER_STATUS
+  #endif
 
   #if ENABLED(MONITOR_DRIVER_STATUS)
     #define CURRENT_STEP_DOWN     50  // [mA]
@@ -3098,12 +3164,12 @@
    * STEALTHCHOP_(XY|Z|E) must be enabled to use HYBRID_THRESHOLD.
    * M913 X/Y/Z/E to live tune the setting
    */
-  //#define HYBRID_THRESHOLD
+  #define HYBRID_THRESHOLD
 
-  #define X_HYBRID_THRESHOLD     100  // [mm/s]
-  #define X2_HYBRID_THRESHOLD    100
-  #define Y_HYBRID_THRESHOLD     100
-  #define Y2_HYBRID_THRESHOLD    100
+  #define X_HYBRID_THRESHOLD     70  // [mm/s]
+  #define X2_HYBRID_THRESHOLD    70
+  #define Y_HYBRID_THRESHOLD     50
+  #define Y2_HYBRID_THRESHOLD    50
   #define Z_HYBRID_THRESHOLD       3
   #define Z2_HYBRID_THRESHOLD      3
   #define Z3_HYBRID_THRESHOLD      3
@@ -3189,7 +3255,7 @@
    * Beta feature!
    * Create a 50/50 square wave step pulse optimal for stepper drivers.
    */
-  //#define SQUARE_WAVE_STEPPING
+  #define SQUARE_WAVE_STEPPING
 
   /**
    * Enable M122 debugging command for TMC stepper drivers.
@@ -3314,11 +3380,13 @@
  * See https://marlinfw.org/docs/configuration/2.0.9/laser_spindle.html for more config details.
  */
 //#define SPINDLE_FEATURE
-//#define LASER_FEATURE
+#if ENABLED(RAPTOR2) && DISABLED(SKRBoard)
+  //#define LASER_FEATURE
+#endif
 #if EITHER(SPINDLE_FEATURE, LASER_FEATURE)
-  #define SPINDLE_LASER_ACTIVE_STATE    LOW    // Set to "HIGH" if SPINDLE_LASER_ENA_PIN is active HIGH
+  #define SPINDLE_LASER_ACTIVE_STATE    HIGH    // Set to "HIGH" if SPINDLE_LASER_ENA_PIN is active HIGH
 
-  #define SPINDLE_LASER_USE_PWM                // Enable if your controller supports setting the speed/power
+  //#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, ESP32, and LPC)
@@ -3369,8 +3437,8 @@
     #define SPINDLE_CHANGE_DIR_STOP            // Enable if the spindle should stop before changing spin direction
     #define SPINDLE_INVERT_DIR          false  // Set to "true" if the spin direction is reversed
 
-    #define SPINDLE_LASER_POWERUP_DELAY   5000 // (ms) Delay to allow the spindle/laser to come up to speed/power
-    #define SPINDLE_LASER_POWERDOWN_DELAY 5000 // (ms) Delay to allow the spindle to stop
+    #define SPINDLE_LASER_POWERUP_DELAY   1 // (ms) Delay to allow the spindle/laser to come up to speed/power
+    #define SPINDLE_LASER_POWERDOWN_DELAY 1 // (ms) Delay to allow the spindle to stop
 
     /**
      * M3/M4 Power Equation
@@ -3486,6 +3554,7 @@
  */
 //#define LASER_SYNCHRONOUS_M106_M107
 
+
 /**
  * Coolant Control
  *
@@ -3731,33 +3800,47 @@
 // @section custom main menu
 
 // Custom Menu: Main Menu
-//#define CUSTOM_MENU_MAIN
+#define CUSTOM_MENU_MAIN
 #if ENABLED(CUSTOM_MENU_MAIN)
-  //#define CUSTOM_MENU_MAIN_TITLE "Custom Commands"
-  #define CUSTOM_MENU_MAIN_SCRIPT_DONE "M117 User Script Done"
+  #define CUSTOM_MENU_MAIN_TITLE "Leveling Tools"
+  //#define CUSTOM_MENU_MAIN_SCRIPT_DONE "M117 User Script Done"
   #define CUSTOM_MENU_MAIN_SCRIPT_AUDIBLE_FEEDBACK
-  //#define CUSTOM_MENU_MAIN_SCRIPT_RETURN   // Return to status screen after a script
+  #define CUSTOM_MENU_MAIN_SCRIPT_RETURN   // Return to status screen after a script
   #define CUSTOM_MENU_MAIN_ONLY_IDLE         // Only show custom menu when the machine is idle
 
-  #define MAIN_MENU_ITEM_1_DESC "Home & UBL Info"
-  #define MAIN_MENU_ITEM_1_GCODE "G28\nG29 W"
-  //#define MAIN_MENU_ITEM_1_CONFIRM          // Show a confirmation dialog before this action
+  #if ENABLED(DualZ)
+    #define DZ_Script "G34I8\n"
+  #else
+    #define DZ_Script
+  #endif
+  #define MAIN_MENU_ITEM_1_DESC "Setup"
+  #if ENABLED(UBL)
+    #define MAIN_MENU_ITEM_1_GCODE "M190S75\nG28\n" DZ_Script "G29P1\nG29P3\nM109S215\nG29S1\nG29S0\nG29F0.0\nG29A\nG28\nG1X150Y150F5000\nG1Z0\nM500\nM400\nM117 Set Z Offset"
+  #else
+    #define MAIN_MENU_ITEM_1_GCODE "M190S75\nG28\n" DZ_Script "G29\nM400\nM109S215\nG28\nM420S1\nG1X100Y100F5000\nG1Z0\nM500\nM117 Set Z Offset"
+  #endif
+  #define MAIN_MENU_ITEM_1_CONFIRM          // Show a confirmation dialog before this action
 
-  #define MAIN_MENU_ITEM_2_DESC "Preheat for " PREHEAT_1_LABEL
-  #define MAIN_MENU_ITEM_2_GCODE "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND)
-  //#define MAIN_MENU_ITEM_2_CONFIRM
+  #define MAIN_MENU_ITEM_2_DESC "PID Hotend"
+  #define MAIN_MENU_ITEM_2_GCODE "G28\nG1X200Y200Z5\nM106S128\nM303C8S215E0U\nM500\nM117 PID Tune Done"
+  #define MAIN_MENU_ITEM_2_CONFIRM
 
-  //#define MAIN_MENU_ITEM_3_DESC "Preheat for " PREHEAT_2_LABEL
-  //#define MAIN_MENU_ITEM_3_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND)
-  //#define MAIN_MENU_ITEM_3_CONFIRM
+  #define MAIN_MENU_ITEM_3_DESC "PID Bed"
+  #define MAIN_MENU_ITEM_3_GCODE "M303C4S75E-1U\nM500\nM117 PID Tune Done"
+  #define MAIN_MENU_ITEM_3_CONFIRM
 
-  //#define MAIN_MENU_ITEM_4_DESC "Heat Bed/Home/Level"
-  //#define MAIN_MENU_ITEM_4_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29"
-  //#define MAIN_MENU_ITEM_4_CONFIRM
+  #define MAIN_MENU_ITEM_4_DESC "Prep for Z Adjust"
+  #define MAIN_MENU_ITEM_4_GCODE "M190S75\nM104S215\nG28\nG29L1\nG1 X100Y100F5000\nG1Z0"
+  #define MAIN_MENU_ITEM_4_CONFIRM
+
+  #define MAIN_MENU_ITEM_5_DESC "Store Settings"
+  #define MAIN_MENU_ITEM_5_GCODE "M500\nM117 Settings Stored"
+  #define MAIN_MENU_ITEM_5_CONFIRM
+
+  #define MAIN_MENU_ITEM_6_DESC "Run Mesh Validation"
+  #define MAIN_MENU_ITEM_6_GCODE "G26"
+  #define MAIN_MENU_ITEM_6_CONFIRM
 
-  //#define MAIN_MENU_ITEM_5_DESC "Home & Info"
-  //#define MAIN_MENU_ITEM_5_GCODE "G28\nM503"
-  //#define MAIN_MENU_ITEM_5_CONFIRM
 #endif
 
 // @section custom config menu
@@ -3841,14 +3924,14 @@
  * Host Prompt Support enables Marlin to use the host for user prompts so
  * filament runout and other processes can be managed from the host side.
  */
-//#define HOST_ACTION_COMMANDS
+#define HOST_ACTION_COMMANDS
 #if ENABLED(HOST_ACTION_COMMANDS)
   //#define HOST_PAUSE_M76                // Tell the host to pause in response to M76
-  //#define HOST_PROMPT_SUPPORT           // Initiate host prompts to get user feedback
+  #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
+    #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_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
 

Marlin/Version.h

@@ -1,6 +1,6 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
  * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
@@ -28,25 +28,25 @@
 /**
  * Marlin release version identifier
  */
-//#define SHORT_BUILD_VERSION "bugfix-2.1.x"
+#define SHORT_BUILD_VERSION "bugfix-2.1.x_R01"
 
 /**
  * Verbose version identifier which should contain a reference to the location
  * from where the binary was downloaded or the source code was compiled.
  */
-//#define DETAILED_BUILD_VERSION SHORT_BUILD_VERSION
+#define DETAILED_BUILD_VERSION SHORT_BUILD_VERSION " TM3D"
 
 /**
  * The STRING_DISTRIBUTION_DATE represents when the binary file was built,
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2022-12-05"
+#define STRING_DISTRIBUTION_DATE "2023-03-10"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.
  */
-//#define MACHINE_NAME "3D Printer"
+#define MACHINE_NAME "TM3D Raptor"
 
 /**
  * The SOURCE_CODE_URL is the location where users will find the Marlin Source
@@ -54,7 +54,7 @@
  * has a distinct Github fork— the Source Code URL should just be the main
  * Marlin repository.
  */
-//#define SOURCE_CODE_URL "github.com/MarlinFirmware/Marlin"
+#define SOURCE_CODE_URL "https://github.com/InsanityAutomation/Marlin/tree/Raptor_2.0.X"
 
 /**
  * Default generic printer UUID.
@@ -65,7 +65,7 @@
  * The WEBSITE_URL is the location where users can get more information such as
  * documentation about a specific Marlin release.
  */
-//#define WEBSITE_URL "marlinfw.org"
+#define WEBSITE_URL "tinymachines3d.com"
 
 /**
  * Set the vendor info the serial USB interface, if changable

Marlin/_Bootscreen.h

@@ -0,0 +1,105 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Custom Bitmap for splashscreen
+ *
+ * You may use one of the following tools to generate the C++ bitmap array from
+ * a black and white image:
+ *
+ *  - http://www.marlinfw.org/tools/u8glib/converter.html
+ *  - http://www.digole.com/tools/PicturetoC_Hex_converter.php
+ */
+
+#define CUSTOM_BOOTSCREEN_TIMEOUT   2500
+#define CUSTOM_BOOTSCREEN_BMPWIDTH  128
+#define CUSTOM_BOOTSCREEN_BMPHEIGHT 64
+
+const unsigned char custom_start_bmp[] PROGMEM = {
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFD, 0x55, 0x55, 0x55, 0x55, 0x55, 0x5F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFD, 0x00, 0x00, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFE, 0x07, 0xC0, 0x05, 0x55, 0x55, 0x55, 0x55, 0x55, 0x5F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFC, 0x0A, 0x20, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFE, 0x14, 0x10, 0x05, 0x00, 0x00, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFC, 0x28, 0x08, 0x06, 0x07, 0xC0, 0x05, 0x55, 0x55, 0x55, 0x55, 0x55, 0x5F, 0xFF, 0xFF, 0xFF,
+0xFE, 0x54, 0x04, 0x04, 0x0A, 0x20, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFF,
+0xFC, 0x60, 0x04, 0x06, 0x14, 0x10, 0x05, 0x00, 0x00, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFE, 0x50, 0x04, 0x04, 0x28, 0x08, 0x06, 0x07, 0xC0, 0x05, 0x55, 0x55, 0x55, 0x55, 0x55, 0x5F,
+0xFC, 0x60, 0x04, 0x06, 0x54, 0x04, 0x04, 0x0A, 0x20, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F,
+0xFE, 0x54, 0x04, 0x1C, 0x60, 0x04, 0x06, 0x14, 0x10, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F,
+0xFC, 0x28, 0x08, 0x2E, 0x50, 0x04, 0x04, 0x28, 0x08, 0x06, 0x07, 0xC0, 0x00, 0x01, 0xF0, 0x3F,
+0xFE, 0x14, 0x10, 0x54, 0x60, 0x04, 0x06, 0x54, 0x04, 0x04, 0x0A, 0x20, 0x00, 0x02, 0x08, 0x1F,
+0xFC, 0x0A, 0x20, 0x66, 0x54, 0x04, 0x1C, 0x60, 0x04, 0x06, 0x14, 0x10, 0x00, 0x05, 0x04, 0x3F,
+0xFE, 0x07, 0xC0, 0x54, 0x28, 0x08, 0x2E, 0x50, 0x04, 0x04, 0x28, 0x08, 0x00, 0x0A, 0x02, 0x1F,
+0xFC, 0x00, 0x00, 0x2E, 0x14, 0x10, 0x54, 0x60, 0x04, 0x06, 0x54, 0x04, 0x00, 0x15, 0x01, 0x3F,
+0xFE, 0x00, 0x00, 0x1C, 0x0A, 0x20, 0x66, 0x54, 0x04, 0x1C, 0x60, 0x04, 0x00, 0x18, 0x01, 0x1F,
+0xFC, 0x00, 0x00, 0x06, 0x07, 0xC0, 0x54, 0x28, 0x08, 0x2E, 0x50, 0x04, 0x00, 0x14, 0x01, 0x3F,
+0xFE, 0x00, 0x00, 0x04, 0x00, 0x00, 0x2E, 0x14, 0x10, 0x54, 0x60, 0x04, 0x00, 0x18, 0x01, 0x1F,
+0xFC, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x1C, 0x0A, 0x20, 0x66, 0x54, 0x04, 0x1C, 0x15, 0x01, 0x3F,
+0xFE, 0xD5, 0x55, 0x54, 0x00, 0x00, 0x06, 0x07, 0xC0, 0x54, 0x28, 0x08, 0x2A, 0x0A, 0x02, 0x1F,
+0xFC, 0x84, 0x10, 0x46, 0x00, 0x00, 0x04, 0x00, 0x00, 0x2E, 0x14, 0x10, 0x51, 0x05, 0x04, 0x3F,
+0xFE, 0xC4, 0x10, 0x44, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x1C, 0x0A, 0x20, 0x61, 0x02, 0x88, 0x1F,
+0xFC, 0x84, 0x10, 0x46, 0xD5, 0x55, 0x54, 0x00, 0x00, 0x06, 0x07, 0xC0, 0x51, 0x01, 0xF0, 0x3F,
+0xFE, 0x84, 0x10, 0x44, 0x84, 0x10, 0x46, 0x00, 0x00, 0x04, 0x00, 0x00, 0x2A, 0x00, 0x00, 0x1F,
+0xFC, 0xC4, 0x10, 0x46, 0xC4, 0x10, 0x44, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x1C, 0x00, 0x00, 0x3F,
+0xFE, 0x84, 0x10, 0x44, 0x84, 0x10, 0x46, 0xD5, 0x55, 0x54, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F,
+0xFC, 0xD5, 0x55, 0x56, 0x84, 0x10, 0x44, 0x84, 0x10, 0x46, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F,
+0xFC, 0xFF, 0xFF, 0xFC, 0xC4, 0x10, 0x46, 0xC4, 0x10, 0x44, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x9F,
+0xFE, 0x00, 0x00, 0x06, 0x84, 0x10, 0x44, 0x84, 0x10, 0x46, 0xD5, 0x55, 0x55, 0x55, 0x55, 0xBF,
+0xFD, 0x55, 0x55, 0x54, 0xD5, 0x55, 0x56, 0x84, 0x10, 0x44, 0x84, 0x10, 0x41, 0x04, 0x10, 0x9F,
+0xFF, 0xFF, 0xFF, 0xFC, 0xFF, 0xFF, 0xFC, 0xC4, 0x10, 0x46, 0xC4, 0x10, 0x41, 0x04, 0x11, 0xBF,
+0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x06, 0x84, 0x10, 0x44, 0x84, 0x10, 0x41, 0x04, 0x10, 0x9F,
+0xFF, 0xFF, 0xFF, 0xFD, 0x55, 0x55, 0x54, 0xD5, 0x55, 0x56, 0x84, 0x10, 0x41, 0x04, 0x10, 0x9F,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0xFF, 0xFF, 0xFC, 0xC4, 0x10, 0x41, 0x04, 0x11, 0xBF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x06, 0x84, 0x10, 0x41, 0x04, 0x10, 0x9F,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD, 0x55, 0x55, 0x54, 0xD5, 0x55, 0x55, 0x55, 0x55, 0xBF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x9F,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD, 0x55, 0x55, 0x55, 0x55, 0x55, 0x5F,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xE0, 0x2E, 0xFB, 0x7D, 0xFB, 0xFB, 0xCF, 0xC1, 0xDF, 0xBB, 0x3E, 0xC0, 0xE1, 0xFE, 0x3C, 0x1F,
+0xFD, 0xEE, 0x7B, 0x39, 0xF9, 0xF3, 0xCF, 0x9E, 0xDF, 0xBB, 0x3E, 0xDF, 0xDE, 0xFC, 0xDD, 0xE7,
+0xFD, 0xEE, 0x3B, 0xBB, 0xF9, 0xEB, 0xD7, 0xBF, 0x5F, 0xBB, 0x5E, 0xDF, 0xDE, 0xFD, 0xED, 0xF7,
+0xFD, 0xEE, 0xBB, 0xD3, 0xFA, 0xEB, 0xB7, 0x3F, 0xDF, 0xBB, 0x4E, 0xDF, 0xDF, 0xFF, 0xCD, 0xF3,
+0xFD, 0xEE, 0xDB, 0xC7, 0xFA, 0xEB, 0xBB, 0x7F, 0xC0, 0x3B, 0x6E, 0xC0, 0xE3, 0xFF, 0x1D, 0xF3,
+0xFD, 0xEE, 0xCB, 0xEF, 0xFA, 0xDB, 0xBB, 0x7F, 0xDF, 0xBB, 0x66, 0xDF, 0xF8, 0xFF, 0xCD, 0xF3,
+0xFD, 0xEE, 0xEB, 0xEF, 0xFB, 0x5B, 0x03, 0x3F, 0x5F, 0xBB, 0x76, 0xDF, 0xFE, 0x7F, 0xED, 0xF3,
+0xFD, 0xEE, 0xF3, 0xEF, 0xFB, 0x5B, 0x79, 0xBE, 0xDF, 0xBB, 0x7A, 0xDF, 0xDE, 0x7D, 0xED, 0xF7,
+0xFD, 0xEE, 0xF3, 0xEF, 0xFB, 0xBA, 0xFD, 0x9E, 0xDF, 0xBB, 0x7C, 0xDF, 0xDE, 0xFD, 0xCD, 0xE7,
+0xFD, 0xEE, 0xFB, 0xEF, 0xFB, 0xBA, 0xFD, 0xC1, 0xDF, 0xBB, 0x7E, 0xC0, 0xE0, 0xFE, 0x1C, 0x1F,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
+};
+
+
+

Marlin/_Statusscreen.h

@@ -0,0 +1,74 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Custom Status Screen bitmap
+ *
+ * Place this file in the root with your configuration files
+ * and enable CUSTOM_STATUS_SCREEN_IMAGE in Configuration.h.
+ *
+ * Use the Marlin Bitmap Converter to make your own:
+ * http://marlinfw.org/tools/u8glib/converter.html
+ */
+
+//
+// Status Screen Logo bitmap
+//
+#define STATUS_LOGO_Y            3
+#define STATUS_LOGO_WIDTH       24
+
+const unsigned char status_logo_bmp[] PROGMEM = {
+  B11111111,B11111111,B11111111,
+  B10000000,B00000000,B00000001,
+  B10001110,B00000000,B11100001,
+  B10011111,B00000001,B11110001,
+  B10010011,B10000001,B00111001,
+  B10011111,B10000001,B11111001,
+  B10011111,B10000001,B11111001,
+  B10011111,B10111001,B11111001,
+  B10001111,B00101000,B11110001,
+  B10000000,B00111000,B00000001,
+  B10000000,B00000000,B00000001,
+  B10011111,B11111111,B11111001,
+  B10010001,B01110100,B10011001,
+  B10011011,B00000110,B10101001,
+  B10011011,B01010100,B10101001,
+  B10011011,B01010110,B10101001,
+  B10011011,B01010100,B10011001,
+  B10011111,B11111111,B11111001,
+  B11111111,B11111111,B11111111
+};
+
+//
+// Use default bitmaps
+//
+#define STATUS_HOTEND_ANIM
+#define STATUS_BED_ANIM
+#if HOTENDS < 2
+  #define STATUS_LOGO_X          8
+  #define STATUS_HEATERS_X      40
+  #define STATUS_BED_X          72
+#else
+  #define STATUS_LOGO_X          0
+  #define STATUS_HEATERS_X      32
+  #define STATUS_BED_X          80
+#endif

Marlin/config.ini

@@ -95,10 +95,10 @@ invert_y_dir                             = true
 invert_z_dir                             = false
 invert_e0_dir                            = false
 
-invert_e_step_pin                        = false
-invert_x_step_pin                        = false
-invert_y_step_pin                        = false
-invert_z_step_pin                        = false
+step_state_e                             = HIGH
+step_state_x                             = HIGH
+step_state_y                             = HIGH
+step_state_z                             = HIGH
 
 disable_x                                = false
 disable_y                                = false
@@ -178,7 +178,7 @@ autotemp_oldweight                       = 0.98
 bed_check_interval                       = 5000
 default_stepper_deactive_time            = 120
 default_volumetric_extruder_limit        = 0.00
-disable_inactive_e                       = true
+disable_inactive_extruder                = true
 disable_inactive_x                       = true
 disable_inactive_y                       = true
 disable_inactive_z                       = true

Marlin/src/HAL/AVR/MarlinSerial.h

@@ -34,6 +34,7 @@
 #include <WString.h>
 
 #include "../../inc/MarlinConfigPre.h"
+#include "../../core/types.h"
 #include "../../core/serial_hook.h"
 
 #ifndef SERIAL_PORT
@@ -138,10 +139,6 @@
 
   #define BYTE 0
 
-  // Templated type selector
-  template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ;
-  template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; };
-
   template<typename Cfg>
   class MarlinSerial {
   protected:
@@ -164,7 +161,7 @@
     static constexpr B_U2Xx<Cfg::PORT>   B_U2X   = 0;
 
     // Base size of type on buffer size
-    typedef typename TypeSelector<(Cfg::RX_SIZE>256), uint16_t, uint8_t>::type ring_buffer_pos_t;
+    typedef uvalue_t(Cfg::RX_SIZE - 1) ring_buffer_pos_t;
 
     struct ring_buffer_r {
       volatile ring_buffer_pos_t head, tail;

Marlin/src/HAL/AVR/fast_pwm.cpp

@@ -23,6 +23,10 @@
 
 #include "../../inc/MarlinConfig.h"
 
+//#define DEBUG_AVR_FAST_PWM
+#define DEBUG_OUT ENABLED(DEBUG_AVR_FAST_PWM)
+#include "../../core/debug_out.h"
+
 struct Timer {
   volatile uint8_t* TCCRnQ[3];  // max 3 TCCR registers per timer
   volatile uint16_t* OCRnQ[3];  // max 3 OCR registers per timer
@@ -108,12 +112,15 @@ const Timer get_pwm_timer(const pin_t pin) {
 }
 
 void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+  DEBUG_ECHOLNPGM("set_pwm_frequency(pin=", pin, ", freq=", f_desired, ")");
   const Timer timer = get_pwm_timer(pin);
   if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized
 
   const bool is_timer2 = timer.n == 2;
   const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF;
 
+  DEBUG_ECHOLNPGM("maxtop=", maxtop);
+
   uint16_t res = 0xFF;        // resolution (TOP value)
   uint8_t j = CS_NONE;        // prescaler index
   uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode
@@ -121,23 +128,29 @@ void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   // Calculating the prescaler and resolution to use to achieve closest frequency
   if (f_desired != 0) {
     constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 };  // (*) are Timer 2 only
-    uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1;           // Start with the lowest non-zero frequency achievable (1 or 31)
+    uint16_t f = (F_CPU) / (uint32_t(maxtop) << 11) + 1;      // Start with the lowest non-zero frequency achievable (for 16MHz, 1 or 31)
 
+    DEBUG_ECHOLNPGM("f=", f);
+    DEBUG_ECHOLNPGM("(prescaler loop)");
     LOOP_L_N(i, COUNT(prescaler)) {                           // Loop through all prescaler values
-      const uint16_t p = prescaler[i];
+      const uint32_t p = prescaler[i];                        // Extend to 32 bits for calculations
+      DEBUG_ECHOLNPGM("prescaler[", i, "]=", p);
       uint16_t res_fast_temp, res_pc_temp;
       if (is_timer2) {
         #if ENABLED(USE_OCR2A_AS_TOP)                         // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
           const uint16_t rft = (F_CPU) / (p * f_desired);
           res_fast_temp = rft - 1;
           res_pc_temp = rft / 2;
+          DEBUG_ECHOLNPGM("(Timer2) res_fast_temp=", res_fast_temp, " res_pc_temp=", res_pc_temp);
         #else
           res_fast_temp = res_pc_temp = maxtop;
+          DEBUG_ECHOLNPGM("(Timer2) res_fast_temp=", maxtop, " res_pc_temp=", maxtop);
         #endif
       }
       else {
         if (p == 32 || p == 128) continue;                    // Skip TIMER2 specific prescalers when not TIMER2
         const uint16_t rft = (F_CPU) / (p * f_desired);
+        DEBUG_ECHOLNPGM("(Not Timer 2) F_CPU=" STRINGIFY(F_CPU), " prescaler=", p, " f_desired=", f_desired);
         res_fast_temp = rft - 1;
         res_pc_temp = rft / 2;
       }
@@ -147,23 +160,27 @@ void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
 
       // Calculate frequencies of test prescaler and resolution values
       const uint16_t f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
-                     f_pc_temp   = (F_CPU) / (2 * p * res_pc_temp);
-      const int      f_diff      = _MAX(f, f_desired) - _MIN(f, f_desired),
+                     f_pc_temp   = (F_CPU) / ((p * res_pc_temp) << 1),
+                     f_diff      = _MAX(f, f_desired) - _MIN(f, f_desired),
                      f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired),
                      f_pc_diff   = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired);
 
+      DEBUG_ECHOLNPGM("f_fast_temp=", f_fast_temp, " f_pc_temp=", f_pc_temp, " f_diff=", f_diff, " f_fast_diff=", f_fast_diff, " f_pc_diff=", f_pc_diff);
+
       if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f
         // Set the Wave Generation Mode to FAST PWM
         wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn);
         // Remember this combination
         f = f_fast_temp; res = res_fast_temp; j = i + 1;
+        DEBUG_ECHOLNPGM("(FAST) updated f=", f);
       }
       else if (f_pc_diff < f_diff) {                          // PHASE CORRECT values are closes to desired f
         // Set the Wave Generation Mode to PWM PHASE CORRECT
         wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn);
         f = f_pc_temp; res = res_pc_temp; j = i + 1;
+        DEBUG_ECHOLNPGM("(PHASE) updated f=", f);
       }
-    }
+    } // prescaler loop
   }
 
   _SET_WGMnQ(timer, wgm);

Marlin/src/HAL/AVR/fastio.h

@@ -293,11 +293,11 @@ enum ClockSource2 : uint8_t {
 
 #if HAS_MOTOR_CURRENT_PWM
   #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E_PIN || P == MOTOR_CURRENT_PWM_E0_PIN  || P == MOTOR_CURRENT_PWM_E1_PIN || P == MOTOR_CURRENT_PWM_Z_PIN || P == MOTOR_CURRENT_PWM_XY_PIN)
   #elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E_PIN || P == MOTOR_CURRENT_PWM_E0_PIN  || P == MOTOR_CURRENT_PWM_E1_PIN || P == MOTOR_CURRENT_PWM_Z_PIN)
   #else
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E_PIN || P == MOTOR_CURRENT_PWM_E0_PIN  || P == MOTOR_CURRENT_PWM_E1_PIN)
   #endif
 #else
   #define PWM_CHK_MOTOR_CURRENT(P) false

Marlin/src/HAL/AVR/math.h

@@ -27,13 +27,14 @@
 
 // intRes = longIn1 * longIn2 >> 24
 // uses:
-// A[tmp] to store 0
-// B[tmp] to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
-// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
-// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
-// B A are bits 24-39 and are the returned value
-// C B A is longIn1
-// D C B A is longIn2
+// r1, r0 for the result of mul.
+// [tmp1] to store 0.
+// [tmp2] to store bits 16-23 of the 56 bit result. The top bit of [tmp2] is used for rounding.
+// Note that the lower two bytes and the upper two bytes of the 56 bit result are not calculated.
+// This can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
+// [intRes] (A B) is bits 24-39 and is the returned value.
+// [longIn1] (C B A) is a 24 bit parameter.
+// [longIn2] (D C B A) is a 32 bit parameter.
 //
 FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
   uint8_t tmp1;
@@ -66,11 +67,9 @@ FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2
     A("add %[tmp2], r1")
     A("adc %A[intRes], %[tmp1]")
     A("adc %B[intRes], %[tmp1]")
-    A("lsr %[tmp2]")
-    A("adc %A[intRes], %[tmp1]")
-    A("adc %B[intRes], %[tmp1]")
     A("mul %D[longIn2], %A[longIn1]")
-    A("add %A[intRes], r0")
+    A("lsl %[tmp2]")
+    A("adc %A[intRes], r0")
     A("adc %B[intRes], r1")
     A("mul %D[longIn2], %B[longIn1]")
     A("add %B[intRes], r0")
@@ -85,11 +84,16 @@ FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2
   return intRes;
 }
 
-// intRes = intIn1 * intIn2 >> 16
+// intRes = intIn1 * intIn2 >> 8
 // uses:
-// r26 to store 0
-// r27 to store the byte 1 of the 24 bit result
-FORCE_INLINE static uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
+// r1, r0 for the result of mul. After the second mul, r0 holds bits 0-7 of the 24 bit result and
+// the top bit of r0 is used for rounding.
+// [tmp] to store 0.
+// [intRes] (A B) is bits 8-15 and is the returned value.
+// [charIn1] is an 8 bit parameter.
+// [intIn2] (B A) is a 16 bit parameter.
+//
+FORCE_INLINE static uint16_t MultiU8X16toH16(uint8_t charIn1, uint16_t intIn2) {
   uint8_t tmp;
   uint16_t intRes;
   __asm__ __volatile__ (
@@ -97,10 +101,8 @@ FORCE_INLINE static uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
     A("mul %[charIn1], %B[intIn2]")
     A("movw %A[intRes], r0")
     A("mul %[charIn1], %A[intIn2]")
-    A("add %A[intRes], r1")
-    A("adc %B[intRes], %[tmp]")
-    A("lsr r0")
-    A("adc %A[intRes], %[tmp]")
+    A("lsl r0")
+    A("adc %A[intRes], r1")
     A("adc %B[intRes], %[tmp]")
     A("clr r1")
       : [intRes] "=&r" (intRes),

Marlin/src/HAL/DUE/MarlinSerial.h

@@ -30,6 +30,7 @@
 #include <WString.h>
 
 #include "../../inc/MarlinConfigPre.h"
+#include "../../core/types.h"
 #include "../../core/serial_hook.h"
 
 // Define constants and variables for buffering incoming serial data.  We're
@@ -52,10 +53,6 @@
 //  #error "TX_BUFFER_SIZE must be 0, a power of 2 greater than 1, and no greater than 256."
 //#endif
 
-// Templated type selector
-template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ;
-template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; };
-
 // Templated structure wrapper
 template<typename S, unsigned int addr> struct StructWrapper {
   constexpr StructWrapper(int) {}
@@ -76,7 +73,7 @@ protected:
   static constexpr int HWUART_IRQ_ID = IRQ_IDS[Cfg::PORT];
 
   // Base size of type on buffer size
-  typedef typename TypeSelector<(Cfg::RX_SIZE>256), uint16_t, uint8_t>::type ring_buffer_pos_t;
+  typedef uvalue_t(Cfg::RX_SIZE - 1) ring_buffer_pos_t;
 
   struct ring_buffer_r {
     volatile ring_buffer_pos_t head, tail;

Marlin/src/HAL/ESP32/HAL.cpp

@@ -342,16 +342,16 @@ void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v
       }
       else
         pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle
+
+      return;
     }
-    else
   #endif
-    {
-      const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
-      if (cid >= 0) {
-        const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
-        ledcWrite(cid, duty);
-      }
-    }
+
+  const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
+  if (cid >= 0) {
+    const 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) {
@@ -360,17 +360,15 @@ int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
       pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle
       return 0;
     }
-    else
   #endif
-    {
-      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
-    }
+
+  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

Marlin/src/HAL/ESP32/i2s.cpp

@@ -149,30 +149,28 @@ void stepperTask(void *parameter) {
     dma.rw_pos = 0;
 
     while (dma.rw_pos < DMA_SAMPLE_COUNT) {
-      // Fill with the port data post pulse_phase until the next step
-      if (nextMainISR && TERN1(LIN_ADVANCE, nextAdvanceISR))
-        i2s_push_sample();
-
-      // i2s_push_sample() is also called from Stepper::pulse_phase_isr() and Stepper::advance_isr()
-      // in a rare case where both are called, we need to double decrement the counters
-      const uint8_t push_count = 1 + (!nextMainISR && TERN0(LIN_ADVANCE, !nextAdvanceISR));
-
-      #if ENABLED(LIN_ADVANCE)
-        if (!nextAdvanceISR) {
-          Stepper::advance_isr();
-          nextAdvanceISR = Stepper::la_interval;
-        }
-        else if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
-          nextAdvanceISR = Stepper::la_interval;
-      #endif
-
       if (!nextMainISR) {
         Stepper::pulse_phase_isr();
         nextMainISR = Stepper::block_phase_isr();
       }
+      #if ENABLED(LIN_ADVANCE)
+        else if (!nextAdvanceISR) {
+          Stepper::advance_isr();
+          nextAdvanceISR = Stepper::la_interval;
+        }
+      #endif
+      else
+        i2s_push_sample();
 
-      nextMainISR -= push_count;
-      TERN_(LIN_ADVANCE, nextAdvanceISR -= push_count);
+      nextMainISR--;
+
+      #if ENABLED(LIN_ADVANCE)
+        if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
+          nextAdvanceISR = Stepper::la_interval;
+
+        if (nextAdvanceISR && nextAdvanceISR != Stepper::LA_ADV_NEVER)
+          nextAdvanceISR--;
+      #endif
     }
   }
 }

Marlin/src/HAL/LPC1768/HAL_SPI.cpp

@@ -318,8 +318,16 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) {
   // Enable DMA
   GPDMA_ChannelCmd(0, ENABLE);
 
+  /*
+   * Observed behaviour on normal data transfer completion (SKR 1.3 board / LPC1768 MCU)
+   *   GPDMA_STAT_INTTC flag is SET
+   *   GPDMA_STAT_INTERR flag is NOT SET
+   *   GPDMA_STAT_RAWINTTC flag is NOT SET
+   *   GPDMA_STAT_RAWINTERR flag is SET
+   */
+
   // Wait for data transfer
-  while (!GPDMA_IntGetStatus(GPDMA_STAT_RAWINTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_RAWINTERR, 0)) { }
+  while (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) {}
 
   // Clear err and int
   GPDMA_ClearIntPending (GPDMA_STATCLR_INTTC, 0);
@@ -333,6 +341,43 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) {
   SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, DISABLE);
 }
 
+void SPIClass::dmaSendAsync(void *buf, uint16_t length, bool minc) {
+  //TODO: LPC dma can only write 0xFFF bytes at once.
+  GPDMA_Channel_CFG_Type GPDMACfg;
+
+  /* Configure GPDMA channel 0 -------------------------------------------------------------*/
+  /* DMA Channel 0 */
+  GPDMACfg.ChannelNum = 0;
+  // Source memory
+  GPDMACfg.SrcMemAddr = (uint32_t)buf;
+  // Destination memory - Not used
+  GPDMACfg.DstMemAddr = 0;
+  // Transfer size
+  GPDMACfg.TransferSize = length;
+  // Transfer width
+  GPDMACfg.TransferWidth = (_currentSetting->dataSize == DATA_SIZE_16BIT) ? GPDMA_WIDTH_HALFWORD : GPDMA_WIDTH_BYTE;
+  // Transfer type
+  GPDMACfg.TransferType = GPDMA_TRANSFERTYPE_M2P;
+  // Source connection - unused
+  GPDMACfg.SrcConn = 0;
+  // Destination connection
+  GPDMACfg.DstConn = (_currentSetting->spi_d == LPC_SSP0) ? GPDMA_CONN_SSP0_Tx : GPDMA_CONN_SSP1_Tx;
+
+  GPDMACfg.DMALLI = 0;
+
+  // Enable dma on SPI
+  SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, ENABLE);
+
+  // Only increase memory if minc is true
+  GPDMACfg.MemoryIncrease = (minc ? GPDMA_DMACCxControl_SI : 0);
+
+  // Setup channel with given parameter
+  GPDMA_Setup(&GPDMACfg);
+
+  // Enable DMA
+  GPDMA_ChannelCmd(0, ENABLE);
+}
+
 uint16_t SPIClass::read() {
   return SSP_ReceiveData(_currentSetting->spi_d);
 }

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

@@ -155,6 +155,7 @@ public:
   void read(uint8_t *buf, uint32_t len);
 
   void dmaSend(void *buf, uint16_t length, bool minc);
+  void dmaSendAsync(void *buf, uint16_t length, bool minc);
 
   /**
    * @brief Sets the number of the SPI peripheral to be used by

Marlin/src/HAL/LPC1768/tft/tft_spi.cpp

@@ -26,7 +26,7 @@
 
 #include "tft_spi.h"
 
-SPIClass TFT_SPI::SPIx(1);
+SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE);
 
 void TFT_SPI::Init() {
   #if PIN_EXISTS(TFT_RESET)
@@ -38,40 +38,10 @@ void TFT_SPI::Init() {
     OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH);
   #endif
 
-  SET_OUTPUT(TFT_DC_PIN);
-  SET_OUTPUT(TFT_CS_PIN);
-  WRITE(TFT_DC_PIN, HIGH);
-  WRITE(TFT_CS_PIN, HIGH);
+  OUT_WRITE(TFT_DC_PIN, HIGH);
+  OUT_WRITE(TFT_CS_PIN, HIGH);
 
-  /**
-   * STM32F1 APB2 = 72MHz, APB1 = 36MHz, max SPI speed of this MCU if 18Mhz
-   * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1
-   * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2
-   */
-  #if 0
-    #if SPI_DEVICE == 1
-     #define SPI_CLOCK_MAX SPI_CLOCK_DIV4
-    #else
-     #define SPI_CLOCK_MAX SPI_CLOCK_DIV2
-    #endif
-    uint8_t  clock;
-    uint8_t spiRate = SPI_FULL_SPEED;
-    switch (spiRate) {
-     case SPI_FULL_SPEED:    clock = SPI_CLOCK_MAX ;  break;
-     case SPI_HALF_SPEED:    clock = SPI_CLOCK_DIV4 ; break;
-     case SPI_QUARTER_SPEED: clock = SPI_CLOCK_DIV8 ; break;
-     case SPI_EIGHTH_SPEED:  clock = SPI_CLOCK_DIV16; break;
-     case SPI_SPEED_5:       clock = SPI_CLOCK_DIV32; break;
-     case SPI_SPEED_6:       clock = SPI_CLOCK_DIV64; break;
-     default:                clock = SPI_CLOCK_DIV2;  // Default from the SPI library
-    }
-  #endif
-
-  #if TFT_MISO_PIN == BOARD_SPI1_MISO_PIN
-    SPIx.setModule(1);
-  #elif TFT_MISO_PIN == BOARD_SPI2_MISO_PIN
-    SPIx.setModule(2);
-  #endif
+  SPIx.setModule(TFT_SPI_DEVICE);
   SPIx.setClock(SPI_CLOCK_MAX_TFT);
   SPIx.setBitOrder(MSBFIRST);
   SPIx.setDataMode(SPI_MODE0);
@@ -114,17 +84,62 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
   return data >> 7;
 }
 
-bool TFT_SPI::isBusy() { return false; }
+bool TFT_SPI::isBusy() {
+  #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->DMACCSrcAddr != 0)
 
-void TFT_SPI::Abort() { DataTransferEnd(); }
+  // DMA Channel 0 is hardcoded in dmaSendAsync() and dmaSend()
+  if (!__IS_DMA_CONFIGURED(LPC_GPDMACH0)) return false;
 
-void TFT_SPI::Transmit(uint16_t Data) { SPIx.transfer(Data); }
+  if (GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) {
+    // You should not be here - DMA transfer error flag is set
+    // Abort DMA transfer and release SPI
+  }
+  else {
+    // Check if DMA transfer completed flag is set
+    if (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0)) return true;
+    // Check if SPI TX butter is empty and SPI is idle
+    if ((SSP_GetStatus(LPC_SSPx, SSP_STAT_TXFIFO_EMPTY) == RESET) || (SSP_GetStatus(LPC_SSPx, SSP_STAT_BUSY) == SET)) return true;
+  }
+
+  Abort();
+  return false;
+}
+
+void TFT_SPI::Abort() {
+  // DMA Channel 0 is hardcoded in dmaSendAsync() and dmaSend()
+
+  // Disable DMA
+  GPDMA_ChannelCmd(0, DISABLE);
+
+  // Clear ERR and TC
+  GPDMA_ClearIntPending(GPDMA_STATCLR_INTTC, 0);
+  GPDMA_ClearIntPending(GPDMA_STATCLR_INTERR, 0);
+
+  // Disable DMA on SPI
+  SSP_DMACmd(LPC_SSPx, SSP_DMA_TX, DISABLE);
+
+  // Deconfigure DMA Channel 0
+  LPC_GPDMACH0->DMACCControl  = 0U;
+  LPC_GPDMACH0->DMACCConfig   = 0U;
+  LPC_GPDMACH0->DMACCSrcAddr  = 0U;
+  LPC_GPDMACH0->DMACCDestAddr = 0U;
 
-void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
-  DataTransferBegin(DATASIZE_16BIT);
-  WRITE(TFT_DC_PIN, HIGH);
-  SPIx.dmaSend(Data, Count, MemoryIncrease);
   DataTransferEnd();
 }
 
+void TFT_SPI::Transmit(uint16_t Data) { SPIx.transfer(Data); }
+
+void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  DataTransferBegin(DATASIZE_16BIT);
+  SPIx.dmaSend(Data, Count, MemoryIncrease);
+  Abort();
+}
+
+void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  DataTransferBegin(DATASIZE_16BIT);
+  SPIx.dmaSendAsync(Data, Count, MemoryIncrease);
+
+  TERN_(TFT_SHARED_SPI, while (isBusy()));
+}
+
 #endif // HAS_SPI_TFT

Marlin/src/HAL/LPC1768/tft/tft_spi.h

@@ -27,6 +27,18 @@
 #include <lpc17xx_ssp.h>
 // #include <lpc17xx_gpdma.h>
 
+#define IS_SPI(N) (BOARD_NR_SPI >= N && (TFT_SCK_PIN == BOARD_SPI##N##_SCK_PIN) && (TFT_MOSI_PIN == BOARD_SPI##N##_MOSI_PIN) && (TFT_MISO_PIN == BOARD_SPI##N##_MISO_PIN))
+#if IS_SPI(1)
+  #define TFT_SPI_DEVICE  1
+  #define LPC_SSPx  LPC_SSP0
+#elif IS_SPI(2)
+  #define TFT_SPI_DEVICE  2
+  #define LPC_SSPx  LPC_SSP1
+#else
+  #error "Invalid TFT SPI configuration."
+#endif
+#undef IS_SPI
+
 #ifndef LCD_READ_ID
   #define LCD_READ_ID  0x04   // Read display identification information (0xD3 on ILI9341)
 #endif
@@ -34,17 +46,19 @@
   #define LCD_READ_ID4 0xD3   // Read display identification information (0xD3 on ILI9341)
 #endif
 
-#define DATASIZE_8BIT    SSP_DATABIT_8
-#define DATASIZE_16BIT   SSP_DATABIT_16
-#define TFT_IO_DRIVER TFT_SPI
+#define DATASIZE_8BIT     SSP_DATABIT_8
+#define DATASIZE_16BIT    SSP_DATABIT_16
+#define TFT_IO_DRIVER     TFT_SPI
+#define DMA_MAX_SIZE      0xFFF
 
-#define DMA_MINC_ENABLE 1
-#define DMA_MINC_DISABLE 0
+#define DMA_MINC_ENABLE   1
+#define DMA_MINC_DISABLE  0
 
 class TFT_SPI {
 private:
   static uint32_t ReadID(uint16_t Reg);
   static void Transmit(uint16_t Data);
+  static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
 public:
@@ -56,22 +70,20 @@ public:
   static void Abort();
 
   static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT);
-  static void DataTransferEnd() { OUT_WRITE(TFT_CS_PIN, HIGH); SPIx.end(); };
+  static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); SSP_Cmd(LPC_SSPx, DISABLE); };
   static void DataTransferAbort();
 
   static void WriteData(uint16_t Data) { Transmit(Data); }
-  static void WriteReg(uint16_t Reg) { OUT_WRITE(TFT_A0_PIN, LOW); Transmit(Reg); OUT_WRITE(TFT_A0_PIN, HIGH); }
+  static void WriteReg(uint16_t Reg) { WRITE(TFT_DC_PIN, LOW); Transmit(Reg); WRITE(TFT_DC_PIN, HIGH); }
 
-  static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
-  // static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+  static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+  static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+
+  static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_MINC_ENABLE, Data, Count); }
   static void WriteMultiple(uint16_t Color, uint32_t Count) {
-    static uint16_t Data; Data = Color;
-    //LPC dma can only write 0xFFF bytes at once.
-    #define MAX_DMA_SIZE (0xFFF - 1)
     while (Count > 0) {
-      TransmitDMA(DMA_MINC_DISABLE, &Data, Count > MAX_DMA_SIZE ? MAX_DMA_SIZE : Count);
-      Count = Count > MAX_DMA_SIZE ? Count - MAX_DMA_SIZE : 0;
+      Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+      Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
     }
-    #undef MAX_DMA_SIZE
   }
 };

Marlin/src/HAL/LPC1768/tft/xpt2046.cpp

@@ -44,9 +44,11 @@ uint16_t delta(uint16_t a, uint16_t b) { return a > b ? a - b : b - a; }
 #endif
 
 void XPT2046::Init() {
-  SET_INPUT(TOUCH_MISO_PIN);
-  SET_OUTPUT(TOUCH_MOSI_PIN);
-  SET_OUTPUT(TOUCH_SCK_PIN);
+  #if DISABLED(TOUCH_BUTTONS_HW_SPI)
+    SET_INPUT(TOUCH_MISO_PIN);
+    SET_OUTPUT(TOUCH_MOSI_PIN);
+    SET_OUTPUT(TOUCH_SCK_PIN);
+  #endif
   OUT_WRITE(TOUCH_CS_PIN, HIGH);
 
   #if PIN_EXISTS(TOUCH_INT)

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -208,8 +208,8 @@ public:
   MarlinHAL() {}
 
   // Watchdog
-  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
-  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_init();
+  static void watchdog_refresh();
 
   static void init() {}        // Called early in setup()
   static void init_board() {}  // Called less early in setup()

Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h

@@ -31,10 +31,11 @@
 #endif
 
 #define DATASIZE_8BIT    8
-#define DATASIZE_16BIT   16
-#define TFT_IO_DRIVER TFT_SPI
+#define DATASIZE_16BIT  16
+#define TFT_IO_DRIVER   TFT_SPI
+#define DMA_MAX_SIZE    0xFFFF
 
-#define DMA_MINC_ENABLE 1
+#define DMA_MINC_ENABLE  1
 #define DMA_MINC_DISABLE 0
 
 class TFT_SPI {
@@ -58,7 +59,9 @@ public:
   static void WriteData(uint16_t Data);
   static void WriteReg(uint16_t Reg);
 
+  static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { WriteSequence(Data, Count); }
+  static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { WriteMultiple(Color, Count); }
+
   static void WriteSequence(uint16_t *Data, uint16_t Count);
-  // static void WriteMultiple(uint16_t Color, uint16_t Count);
   static void WriteMultiple(uint16_t Color, uint32_t Count);
 };

Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp

@@ -168,4 +168,4 @@ uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
 #endif
 
 #endif // IS_U8GLIB_ST7920
-#endif // TARGET_LPC1768
+#endif // __PLAT_NATIVE_SIM__

Marlin/src/HAL/SAMD21/HAL.cpp

@@ -0,0 +1,212 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#include <wiring_private.h>
+
+#if USING_HW_SERIALUSB
+  DefaultSerial1 MSerialUSB(false, SerialUSB);
+#endif
+#if USING_HW_SERIAL0
+  DefaultSerial2 MSerial1(false, Serial1);
+#endif
+#if USING_HW_SERIAL1
+  DefaultSerial3 MSerial2(false, Serial2);
+#endif
+
+
+
+#define WDT_CONFIG_PER_7_Val 0x9u
+#define WDT_CONFIG_PER_Pos 0
+#define WDT_CONFIG_PER_7 (WDT_CONFIG_PER_7_Val << WDT_CONFIG_PER_Pos)
+
+#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() {
+       // Set up the generic clock (GCLK2) used to clock the watchdog timer at 1.024kHz
+    GCLK->GENDIV.reg = GCLK_GENDIV_DIV(4) |            // Divide the 32.768kHz clock source by divisor 32, where 2^(4 + 1): 32.768kHz/32=1.024kHz
+                      GCLK_GENDIV_ID(2);              // Select Generic Clock (GCLK) 2
+    while (GCLK->STATUS.bit.SYNCBUSY);                // Wait for synchronization
+
+    REG_GCLK_GENCTRL =  GCLK_GENCTRL_DIVSEL |         // Set to divide by 2^(GCLK_GENDIV_DIV(4) + 1)
+                        GCLK_GENCTRL_IDC |            // Set the duty cycle to 50/50 HIGH/LOW
+                        GCLK_GENCTRL_GENEN |          // Enable GCLK2
+                        GCLK_GENCTRL_SRC_OSCULP32K |  // Set the clock source to the ultra low power oscillator (OSCULP32K)
+                        GCLK_GENCTRL_ID(2);           // Select GCLK2
+    while (GCLK->STATUS.bit.SYNCBUSY);                // Wait for synchronization
+
+    // Feed GCLK2 to WDT (Watchdog Timer)
+    REG_GCLK_CLKCTRL =  GCLK_CLKCTRL_CLKEN |          // Enable GCLK2 to the WDT
+                        GCLK_CLKCTRL_GEN_GCLK2 |      // Select GCLK2
+                        GCLK_CLKCTRL_ID_WDT;          // Feed the GCLK2 to the WDT
+    while (GCLK->STATUS.bit.SYNCBUSY);                // Wait for synchronization
+
+    WDT->CONFIG.bit.PER = WDT_CONFIG_PER_7;                // Set the WDT reset timeout to 4 seconds
+    while (WDT->STATUS.bit.SYNCBUSY);                 // Wait for synchronization
+    REG_WDT_CTRL = WDT_CTRL_ENABLE;                   // Enable the WDT in normal mode
+    while (WDT->STATUS.bit.SYNCBUSY);                 // Wait for synchronization
+  }
+
+  // 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() {
+    WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
+    while (WDT->STATUS.bit.SYNCBUSY);
+  }
+
+#endif
+
+// ------------------------
+// Types
+// ------------------------
+
+// ------------------------
+// Private Variables
+// ------------------------
+
+// ------------------------
+// Private functions
+// ------------------------
+
+void MarlinHAL::dma_init() {}
+
+// ------------------------
+// Public functions
+// ------------------------
+
+// HAL initialization task
+void MarlinHAL::init() {
+  TERN_(DMA_IS_REQUIRED, dma_init());
+  #if ENABLED(SDSUPPORT)
+    #if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD)
+      SET_INPUT_PULLUP(SD_DETECT_PIN);
+    #endif
+    OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
+  #endif
+}
+
+#pragma push_macro("WDT")
+#undef WDT    // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
+uint8_t MarlinHAL::get_reset_source() {
+
+  return 0;
+}
+#pragma pop_macro("WDT")
+
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
+
+extern "C" {
+  void * _sbrk(int incr);
+  extern unsigned int __bss_end__; // end of bss section
+}
+
+// Return free memory between end of heap (or end bss) and whatever is current
+int freeMemory() {
+  int free_memory, heap_end = (int)_sbrk(0);
+  return (int)&free_memory - (heap_end ?: (int)&__bss_end__);
+}
+
+// ------------------------
+// ADC
+// ------------------------
+
+uint16_t MarlinHAL::adc_result;
+
+void MarlinHAL::adc_init() {
+  /* thanks to https://www.eevblog.com/forum/microcontrollers/samd21g18-adc-with-resrdy-interrupts-only-reads-once-or-twice/ */
+
+  ADC->CTRLA.bit.ENABLE = false;
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  // load chip corrections
+  uint32_t bias = (*((uint32_t *) ADC_FUSES_BIASCAL_ADDR) & ADC_FUSES_BIASCAL_Msk) >> ADC_FUSES_BIASCAL_Pos;
+  uint32_t linearity = (*((uint32_t *) ADC_FUSES_LINEARITY_0_ADDR) & ADC_FUSES_LINEARITY_0_Msk) >> ADC_FUSES_LINEARITY_0_Pos;
+  linearity |= ((*((uint32_t *) ADC_FUSES_LINEARITY_1_ADDR) & ADC_FUSES_LINEARITY_1_Msk) >> ADC_FUSES_LINEARITY_1_Pos) << 5;
+
+  /* Wait for bus synchronization. */
+  while (ADC->STATUS.bit.SYNCBUSY) {};
+
+  ADC->CALIB.reg = ADC_CALIB_BIAS_CAL(bias) | ADC_CALIB_LINEARITY_CAL(linearity);
+
+  /* Wait for bus synchronization. */
+  while (ADC->STATUS.bit.SYNCBUSY) {};
+
+  ADC->CTRLA.bit.SWRST = true;
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  ADC->REFCTRL.reg = ADC_REFCTRL_REFSEL_INTVCC1;
+  ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_32| ADC_AVGCTRL_ADJRES(4);;
+
+
+  ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV128 |
+                 ADC_CTRLB_RESSEL_16BIT |
+                 ADC_CTRLB_FREERUN;
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  ADC->SAMPCTRL.bit.SAMPLEN = 0x00;
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  ADC->INPUTCTRL.reg =  ADC_INPUTCTRL_INPUTSCAN(HAL_ADC_AIN_LEN) // scan  (INPUTSCAN + NUM_EXTUDERS - 1) pins
+  | ADC_INPUTCTRL_GAIN_DIV2  |ADC_INPUTCTRL_MUXNEG_GND| HAL_ADC_AIN_START ;  /* set to first AIN */
+
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  ADC->INTENSET.reg |= ADC_INTENSET_RESRDY; // enable Result Ready ADC interrupts
+  while (ADC->STATUS.bit.SYNCBUSY);
+
+  NVIC_EnableIRQ(ADC_IRQn); // enable ADC interrupts
+
+  NVIC_SetPriority(ADC_IRQn, 3);
+
+  ADC->CTRLA.bit.ENABLE = true;
+}
+
+volatile uint32_t adc_results[HAL_ADC_AIN_NUM_SENSORS];
+
+void ADC_Handler() {
+  while(ADC->STATUS.bit.SYNCBUSY == 1);
+  int pos = ADC->INPUTCTRL.bit.INPUTOFFSET;
+
+  adc_results[pos] = ADC->RESULT.reg; /* Read the value. */
+  ADC->INTFLAG.reg = ADC_INTENSET_RESRDY; /* Clear the data ready flag. */
+}
+
+void MarlinHAL::adc_start(const pin_t pin) {
+  /* due to the way INPUTOFFSET works, the last sensor is the first position in the array
+    and we want the ADC_handler interrupt to be as simple possible, so we do the calculation here.
+  */
+  unsigned int pos = PIN_TO_INPUTCTRL(pin) - HAL_ADC_AIN_START + 1;
+  if (pos == HAL_ADC_AIN_NUM_SENSORS) pos = 0;
+  adc_result = adc_results[pos]; // 16-bit resolution
+  //adc_result = 0xFFFF;
+}
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/HAL.h

@@ -0,0 +1,223 @@
+/**
+ * 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
+ *
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#define CPU_32_BIT
+
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+
+// ------------------------
+// Serial ports
+// ------------------------
+#include "../../core/serial_hook.h"
+typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1;
+extern DefaultSerial1 MSerialUSB;
+
+// Serial ports
+typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
+typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
+
+extern DefaultSerial2 MSerial0;
+extern DefaultSerial3 MSerial1;
+
+
+#define __MSERIAL(X) MSerial##X
+#define _MSERIAL(X) __MSERIAL(X)
+#define MSERIAL(X) _MSERIAL(INCREMENT(X))
+
+#if WITHIN(SERIAL_PORT, 0, 1)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
+#elif SERIAL_PORT == -1
+  #define MYSERIAL1 MSerialUSB
+#else
+  #error "SERIAL_PORT must be -1 (Native USB only)."
+#endif
+
+#ifdef SERIAL_PORT_2
+  #if WITHIN(SERIAL_PORT_2, 0, 1)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT)
+  #elif SERIAL_PORT_2 == -1
+    #define MYSERIAL2 MSerialUSB
+  #else
+    #error "SERIAL_PORT_2 must be -1 (Native USB only)."
+  #endif
+#endif
+
+#ifdef MMU2_SERIAL_PORT
+  #if WITHIN(MMU2_SERIAL_PORT, 0, 1)
+    #define MMU2_SERIAL MSERIAL(SERIAL_PORT)
+  #elif MMU2_SERIAL_PORT == -1
+    #define MMU2_SERIAL MSerialUSB
+  #else
+    #error "MMU2_SERIAL_PORT must be -1 (Native USB only)."
+  #endif
+#endif
+
+#ifdef LCD_SERIAL_PORT
+  #if WITHIN(LCD_SERIAL_PORT, 0, 1)
+    #define LCD_SERIAL MSERIAL(SERIAL_PORT)
+  #elif LCD_SERIAL_PORT == -1
+    #define LCD_SERIAL MSerialUSB
+  #else
+    #error "LCD_SERIAL_PORT must be -1 (Native USB only)."
+  #endif
+#endif
+
+typedef int8_t pin_t;
+
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
+
+//
+// Interrupts
+//
+#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
+
+//
+// ADC
+//
+
+#define HAL_ADC_FILTERED     1     // Disable Marlin's oversampling. The HAL filters ADC values.
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION   12
+#define HAL_ADC_AIN_START ADC_INPUTCTRL_MUXPOS_PIN3
+#define HAL_ADC_AIN_NUM_SENSORS 3
+#define HAL_ADC_AIN_LEN HAL_ADC_AIN_NUM_SENSORS-1
+
+//
+// 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)
+
+//
+// Tone
+//
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
+void noTone(const pin_t _pin);
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+#ifdef __cplusplus
+  extern "C" {
+#endif
+
+char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
+
+extern "C" int freeMemory();
+
+#ifdef __cplusplus
+  }
+#endif
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // 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/SAMD21/HAL_SPI.cpp

@@ -0,0 +1,148 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Hardware and software SPI implementations are included in this file.
+ *
+ * Control of the slave select pin(s) is handled by the calling routines and
+ * SAMD21 let hardware SPI handling to remove SS from its logic.
+ */
+
+#ifdef __SAMD21__
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include "../../inc/MarlinConfig.h"
+#include <SPI.h>
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+#if EITHER(SOFTWARE_SPI, FORCE_SOFT_SPI)
+
+  // ------------------------
+  // Software SPI
+  // ------------------------
+  #error "Software SPI not supported for SAMD21. Use Hardware SPI."
+
+#else // !SOFTWARE_SPI
+
+  static SPISettings spiConfig;
+
+  // ------------------------
+  // Hardware SPI
+  // ------------------------
+  void spiBegin() {
+    spiInit(SPI_HALF_SPEED);
+  }
+
+  void spiInit(uint8_t spiRate) {
+    // Use datarates Marlin uses
+    uint32_t clock;
+    switch (spiRate) {
+      case SPI_FULL_SPEED:      clock = 8000000; break;
+      case SPI_HALF_SPEED:      clock = 4000000; break;
+      case SPI_QUARTER_SPEED:   clock = 2000000; break;
+      case SPI_EIGHTH_SPEED:    clock = 1000000; break;
+      case SPI_SIXTEENTH_SPEED: clock =  500000; break;
+      case SPI_SPEED_5:         clock =  250000; break;
+      case SPI_SPEED_6:         clock =  125000; break;
+      default:                  clock = 4000000; break; // Default from the SPI library
+    }
+    spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
+    SPI.begin();
+  }
+
+  /**
+   * @brief  Receives a single byte from the SPI port.
+   *
+   * @return Byte received
+   *
+   * @details
+   */
+  uint8_t spiRec() {
+    SPI.beginTransaction(spiConfig);
+    uint8_t returnByte = SPI.transfer(0xFF);
+    SPI.endTransaction();
+    return returnByte;
+  }
+
+  /**
+   * @brief  Receives a number of bytes from the SPI port to a buffer
+   *
+   * @param  buf   Pointer to starting address of buffer to write to.
+   * @param  nbyte Number of bytes to receive.
+   * @return Nothing
+   */
+  void spiRead(uint8_t *buf, uint16_t nbyte) {
+    if (nbyte == 0) return;
+    memset(buf, 0xFF, nbyte);
+
+    SPI.beginTransaction(spiConfig);
+    SPI.transfer(buf, nbyte);
+    SPI.endTransaction();
+
+  }
+
+  /**
+   * @brief  Sends a single byte on SPI port
+   *
+   * @param  b Byte to send
+   *
+   * @details
+   */
+  void spiSend(uint8_t b) {
+    SPI.beginTransaction(spiConfig);
+    SPI.transfer(b);
+    SPI.endTransaction();
+  }
+
+  /**
+   * @brief  Write token and then write from 512 byte buffer to SPI (for SD card)
+   *
+   * @param  buf   Pointer with buffer start address
+   * @return Nothing
+   *
+   * @details Uses DMA
+   */
+  void spiSendBlock(uint8_t token, const uint8_t *buf) {
+    SPI.beginTransaction(spiConfig);
+    SPI.transfer(token);
+    SPI.transfer((uint8_t*)buf, 512);
+    SPI.endTransaction();
+  }
+
+  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
+    spiConfig = SPISettings(spiClock, (BitOrder)bitOrder, dataMode);
+    SPI.beginTransaction(spiConfig);
+  }
+#endif // !SOFTWARE_SPI
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/MarlinSPI.h

@@ -0,0 +1,31 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+#include <SPI.h>
+
+using MarlinSPI = SPIClass;

Marlin/src/HAL/SAMD21/QSPIFlash.cpp

@@ -0,0 +1,82 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(QSPI_EEPROM)
+
+#include "QSPIFlash.h"
+
+#define INVALID_ADDR    0xFFFFFFFF
+#define SECTOR_OF(a)    (a & ~(SFLASH_SECTOR_SIZE - 1))
+#define OFFSET_OF(a)    (a & (SFLASH_SECTOR_SIZE - 1))
+
+Adafruit_SPIFlashBase * QSPIFlash::_flashBase = nullptr;
+uint8_t QSPIFlash::_buf[SFLASH_SECTOR_SIZE];
+uint32_t QSPIFlash::_addr = INVALID_ADDR;
+
+void QSPIFlash::begin() {
+  if (_flashBase) return;
+
+  _flashBase = new Adafruit_SPIFlashBase(new Adafruit_FlashTransport_QSPI());
+  _flashBase->begin(nullptr);
+}
+
+size_t QSPIFlash::size() {
+  return _flashBase->size();
+}
+
+uint8_t QSPIFlash::readByte(const uint32_t address) {
+  if (SECTOR_OF(address) == _addr) return _buf[OFFSET_OF(address)];
+
+  return _flashBase->read8(address);
+}
+
+void QSPIFlash::writeByte(const uint32_t address, const uint8_t value) {
+  uint32_t const sector_addr = SECTOR_OF(address);
+
+  // Page changes, flush old and update new cache
+  if (sector_addr != _addr) {
+    flush();
+    _addr = sector_addr;
+
+    // read a whole page from flash
+    _flashBase->readBuffer(sector_addr, _buf, SFLASH_SECTOR_SIZE);
+  }
+
+  _buf[OFFSET_OF(address)] = value;
+}
+
+void QSPIFlash::flush() {
+  if (_addr == INVALID_ADDR) return;
+
+  _flashBase->eraseSector(_addr / SFLASH_SECTOR_SIZE);
+  _flashBase->writeBuffer(_addr, _buf, SFLASH_SECTOR_SIZE);
+
+  _addr = INVALID_ADDR;
+}
+
+#endif // QSPI_EEPROM

Marlin/src/HAL/SAMD21/QSPIFlash.h

@@ -0,0 +1,49 @@
+/**
+ * @file QSPIFlash.h
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Ha Thach and Dean Miller for Adafruit Industries LLC
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * Derived from Adafruit_SPIFlash class with no SdFat references
+ */
+#pragma once
+
+#include <Adafruit_SPIFlashBase.h>
+
+// This class extends Adafruit_SPIFlashBase by adding caching support.
+//
+// This class will use 4096 Bytes of RAM as a block cache.
+class QSPIFlash {
+  public:
+    static void begin();
+    static size_t size();
+    static uint8_t readByte(const uint32_t address);
+    static void writeByte(const uint32_t address, const uint8_t v);
+    static void flush();
+
+  private:
+    static Adafruit_SPIFlashBase * _flashBase;
+    static uint8_t _buf[SFLASH_SECTOR_SIZE];
+    static uint32_t _addr;
+};
+
+extern QSPIFlash qspi;

Marlin/src/HAL/SAMD21/SAMD21.h

@@ -0,0 +1,66 @@
+/**
+ * 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
+ *
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#define SYNC(sc)    while (sc) {  \
+                      asm("");    \
+                    }
+
+// Get SAMD port/pin from specified arduino pin
+#define GET_SAMD_PORT(P)    _GET_SAMD_PORT(PIN_TO_SAMD_PIN(P))
+#define GET_SAMD_PIN(P)     _GET_SAMD_PIN(PIN_TO_SAMD_PIN(P))
+
+// Get external interrupt line associated to specified arduino pin
+#define PIN_TO_EILINE(P)    _SAMDPORTPIN_TO_EILINE(GET_SAMD_PORT(P), GET_SAMD_PIN(P))
+
+// Get adc/ain associated to specified arduino pin
+#define PIN_TO_ADC(P)       (ANAPIN_TO_ADCAIN(P) >> 8)
+
+// Private defines
+#define PIN_TO_SAMD_PIN(P)    DIO##P##_PIN
+
+#define _GET_SAMD_PORT(P)     ((P) >> 5)
+#define _GET_SAMD_PIN(P)      ((P) & 0x1F)
+
+// Get external interrupt line
+#define _SAMDPORTPIN_TO_EILINE(P,B)   ((P == 0 && WITHIN(B, 0, 31) && B != 26 && B != 28 && B != 29) ? (B) & 0xF    \
+                                       : (P == 1 && (WITHIN(B, 0, 25) || WITHIN(B, 30, 31))) ? (B) & 0xF                      \
+                                       : (P == 1 && WITHIN(B, 26, 29)) ? 12 + (B) - 26                                        \
+                                       : (P == 2 && (WITHIN(B, 0, 6) || WITHIN(B, 10, 31)) && B != 29) ? (B) & 0xF            \
+                                       : (P == 2 && B == 7) ? 9                                                               \
+                                       : (P == 3 && WITHIN(B, 0, 1)) ? (B)                                                    \
+                                       : (P == 3 && WITHIN(B, 8, 12)) ? 3 + (B) - 8                                           \
+                                       : (P == 3 && WITHIN(B, 20, 21)) ? 10 + (B) - 20                                        \
+                                       : -1)
+
+
+
+#define A2_AIN 3
+#define A3_AIN 4
+#define A4_AIN 5
+#define PIN_TO_AIN(P)    A##P##_AIN
+#define AIN_TO_RESULT(P) ( (P - HAL_ADC_AIN_START == HAL_ADC_AIN_NUM_SENSORS-1) ? 0 :  (P - HAL_ADC_AIN_START + 1) )

Marlin/src/HAL/SAMD21/Servo.cpp

@@ -0,0 +1,220 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * This comes from Arduino library which at the moment is buggy and uncompilable
+ */
+
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "../shared/servo.h"
+#include "../shared/servo_private.h"
+#include "SAMD21.h"
+
+#define __TC_GCLK_ID(t)         TC##t##_GCLK_ID
+#define _TC_GCLK_ID(t)          __TC_GCLK_ID(t)
+#define TC_GCLK_ID              _TC_GCLK_ID(SERVO_TC)
+
+#define _TC_PRESCALER(d)        TC_CTRLA_PRESCALER_DIV##d##_Val
+#define TC_PRESCALER(d)         _TC_PRESCALER(d)
+
+#define __SERVO_IRQn(t)         TC##t##_IRQn
+#define _SERVO_IRQn(t)          __SERVO_IRQn(t)
+#define SERVO_IRQn              _SERVO_IRQn(SERVO_TC)
+
+#define HAL_SERVO_TIMER_ISR()   TC_HANDLER(SERVO_TC)
+
+#define TIMER_TCCHANNEL(t)      ((t) & 1)
+#define TC_COUNTER_START_VAL    0xFFFF
+
+
+static volatile int8_t currentServoIndex[_Nbr_16timers];    // index for the servo being pulsed for each timer (or -1 if refresh interval)
+
+FORCE_INLINE static uint16_t getTimerCount() {
+  Tcc * const tc = timer_config[SERVO_TC].pTcc;
+
+  tc->CTRLBSET.reg = TCC_CTRLBCLR_CMD_READSYNC;
+  SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+
+  return tc->COUNT.bit.COUNT;
+}
+
+// ----------------------------
+// Interrupt handler for the TC
+// ----------------------------
+HAL_SERVO_TIMER_ISR() {
+  Tcc * const tc = timer_config[SERVO_TC].pTcc;
+  const timer16_Sequence_t timer =
+    #ifndef _useTimer1
+      _timer2
+    #elif !defined(_useTimer2)
+      _timer1
+    #else
+      (tc->INTFLAG.reg & tc->INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2
+    #endif
+  ;
+  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
+
+  int8_t cho = currentServoIndex[timer];                // Handle the prior servo first
+  if (cho < 0) {                                        // Servo -1 indicates the refresh interval completed...
+    #if defined(_useTimer1) && defined(_useTimer2)
+      if (currentServoIndex[timer ^ 1] >= 0) {
+        // Wait for both channels
+        // Clear the interrupt
+        tc->INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1;
+        return;
+      }
+    #endif
+    tc->COUNT.reg = TC_COUNTER_START_VAL;       // ...so reset the timer
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+  }
+  else if (SERVO_INDEX(timer, cho) < ServoCount)        // prior channel handled?
+    digitalWrite(SERVO(timer, cho).Pin.nbr, LOW);       // pulse the prior channel LOW
+
+  currentServoIndex[timer] = ++cho;                     // go to the next channel (or 0)
+  if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
+    if (SERVO(timer, cho).Pin.isActive)                 // activated?
+      digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH);    // yes: pulse HIGH
+
+    tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks;
+  }
+  else {
+    // finished all channels so wait for the refresh period to expire before starting over
+    currentServoIndex[timer] = -1;                                          // reset the timer COUNT.reg on the next call
+    const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER),  // allow 256 cycles to ensure the next CV not missed
+                   ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
+    tc->CC[tcChannel].reg = min(cval, ival);
+  }
+  if (tcChannel == 0) {
+    SYNC(tc->SYNCBUSY.bit.CC0);
+    tc->INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt
+  }
+  else {
+    SYNC(tc->SYNCBUSY.bit.CC1);
+    tc->INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt
+  }
+}
+
+void initISR(const timer16_Sequence_t timer) {
+  Tcc * const tc = timer_config[SERVO_TC].pTcc;
+  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
+
+  static bool initialized = false;  // Servo TC has been initialized
+  if (!initialized) {
+    NVIC_DisableIRQ(SERVO_IRQn);
+
+    // Disable the timer
+    tc->CTRLA.bit.ENABLE = false;
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+
+    // Select GCLK0 as timer/counter input clock source
+    GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID));
+    SYNC (GCLK->STATUS.bit.SYNCBUSY);
+
+    // Reset the timer
+    tc->CTRLA.bit.SWRST = true;
+    SYNC(tc->CTRLA.bit.SWRST);
+
+    // Set timer counter mode to 16 bits
+    tc->CTRLA.reg = TC_CTRLA_MODE_COUNT16;
+
+    // Set timer counter mode as normal PWM
+    tc->WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val;
+
+    // Set the prescaler factor
+    tc->CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER);
+
+    // Count down
+    tc->CTRLBSET.reg = TCC_CTRLBCLR_DIR;
+    SYNC(tc->SYNCBUSY.bit.CTRLB);
+
+    // Reset all servo indexes
+    memset((void *)currentServoIndex, 0xFF, sizeof(currentServoIndex));
+
+    // Configure interrupt request
+    NVIC_ClearPendingIRQ(SERVO_IRQn);
+    NVIC_SetPriority(SERVO_IRQn, 5);
+    NVIC_EnableIRQ(SERVO_IRQn);
+
+    initialized = true;
+  }
+
+  if (!tc->CTRLA.bit.ENABLE) {
+    // Reset the timer counter
+    tc->COUNT.reg = TC_COUNTER_START_VAL;
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+
+    // Enable the timer and start it
+    tc->CTRLA.bit.ENABLE = true;
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+  }
+  // First interrupt request after 1 ms
+  tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL);
+
+  if (tcChannel == 0 ) {
+    SYNC(tc->SYNCBUSY.bit.CC0);
+
+    // Clear pending match interrupt
+    tc->INTFLAG.reg = TC_INTENSET_MC0;
+    // Enable the match channel interrupt request
+    tc->INTENSET.reg = TC_INTENSET_MC0;
+  }
+  else {
+    SYNC(tc->SYNCBUSY.bit.CC1);
+
+    // Clear pending match interrupt
+    tc->INTFLAG.reg = TC_INTENSET_MC1;
+    // Enable the match channel interrupt request
+    tc->INTENSET.reg = TC_INTENSET_MC1;
+  }
+}
+
+void finISR(const timer16_Sequence_t timer_index) {
+  Tcc * const tc = timer_config[SERVO_TC].pTcc;
+  const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index);
+
+  // Disable the match channel interrupt request
+  tc->INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1;
+
+  if (true
+    #if defined(_useTimer1) && defined(_useTimer2)
+      && (tc->INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0
+    #endif
+  ) {
+    // Disable the timer if not used
+    tc->CTRLA.bit.ENABLE = false;
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+  }
+}
+
+#endif // HAS_SERVOS
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/ServoTimers.h

@@ -0,0 +1,45 @@
+/**
+ * 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
+ *
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#define _useTimer1
+#define _useTimer2
+
+#define TRIM_DURATION           5   // compensation ticks to trim adjust for digitalWrite delays
+#define SERVO_TIMER_PRESCALER   64  // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond
+
+#define SERVO_TC                3
+
+typedef enum {
+  #ifdef _useTimer1
+    _timer1,
+  #endif
+  #ifdef _useTimer2
+    _timer2,
+  #endif
+  _Nbr_16timers
+} timer16_Sequence_t;

Marlin/src/HAL/SAMD21/eeprom_flash.cpp

@@ -0,0 +1,141 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(FLASH_EEPROM_EMULATION)
+
+#define TOTAL_FLASH_SIZE (MARLIN_EEPROM_SIZE+255)/256*256
+
+/* reserve flash memory */
+static const uint8_t flashdata[TOTAL_FLASH_SIZE]  __attribute__((__aligned__(256))) { }; \
+
+#include "../shared/eeprom_api.h"
+
+size_t PersistentStore::capacity() {
+  return MARLIN_EEPROM_SIZE;
+ /* const uint8_t psz = NVMCTRL->SEESTAT.bit.PSZ,
+                sblk = NVMCTRL->SEESTAT.bit.SBLK;
+
+  return   (!psz && !sblk)         ? 0
+         : (psz <= 2)              ? (0x200 << psz)
+         : (sblk == 1 || psz == 3) ?  4096
+         : (sblk == 2 || psz == 4) ?  8192
+         : (sblk <= 4 || psz == 5) ? 16384
+         : (sblk >= 9 && psz == 7) ? 65536
+                                   : 32768;*/
+}
+
+uint32_t PAGE_SIZE;
+uint32_t ROW_SIZE;
+bool hasWritten = false;
+uint8_t * buffer;
+
+void _erase(const volatile void *flash_ptr) {
+  NVMCTRL->ADDR.reg = ((uint32_t)flash_ptr) / 2;
+  NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_ER;
+  while (!NVMCTRL->INTFLAG.bit.READY) { }
+
+}
+
+void erase(const volatile void *flash_ptr, uint32_t size) {
+  const uint8_t *ptr = (const uint8_t *)flash_ptr;
+  while (size > ROW_SIZE) {
+    _erase(ptr);
+    ptr += ROW_SIZE;
+    size -= ROW_SIZE;
+  }
+  _erase(ptr);
+}
+
+bool PersistentStore::access_start() {
+  /* clear page buffer*/
+  NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
+  while (NVMCTRL->INTFLAG.bit.READY == 0) { }
+
+  PAGE_SIZE =  pow(2,3 + NVMCTRL->PARAM.bit.PSZ);
+  ROW_SIZE= PAGE_SIZE * 4;
+  /*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED;  // Buffered mode and segment reallocation active
+  if (NVMCTRL->SEESTAT.bit.RLOCK)
+    NVMCTRL_CMD(NVMCTRL_CTRLB_CMD_USEE);  */  // Unlock E2P data write access
+  //   erase(&flashdata[0], TOTAL_FLASH_SIZE);
+  return true;
+}
+
+bool PersistentStore::access_finish() {
+  if (hasWritten) {
+    erase(&flashdata[0], TOTAL_FLASH_SIZE);
+
+    NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
+    while (NVMCTRL->INTFLAG.bit.READY == 0) { }
+
+     NVMCTRL->CTRLB.bit.MANW = 0;
+
+    volatile uint32_t *dst_addr =  (volatile uint32_t *) &flashdata;
+
+    uint32_t *pointer = (uint32_t *) buffer;
+    for (uint32_t i = 0; i < TOTAL_FLASH_SIZE; i+=4) {
+
+      *dst_addr = (uint32_t) *pointer;
+      pointer++;
+      dst_addr ++;
+    }
+
+    // Execute "WP" Write Page
+    NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_WP;
+    while (NVMCTRL->INTFLAG.bit.READY == 0) { }
+
+    free(buffer);
+    hasWritten = false;
+  }
+  return true;
+}
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  if (!hasWritten) {
+    // init temp buffer
+    buffer = (uint8_t *) malloc(MARLIN_EEPROM_SIZE);
+    hasWritten=true;
+  }
+
+  memcpy(buffer+pos,value,size);
+  pos += size;
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  volatile uint8_t *dst_addr =  (volatile uint8_t *) &flashdata;
+  dst_addr += pos;
+
+  memcpy(value,(const void *) dst_addr,size);
+  pos += size;
+  return false;
+}
+
+#endif // FLASH_EEPROM_EMULATION
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/eeprom_qspi.cpp

@@ -0,0 +1,79 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(QSPI_EEPROM)
+
+#error "QSPI_EEPROM emulation Not implemented on SAMD21"
+
+#include "../shared/eeprom_api.h"
+
+#include "QSPIFlash.h"
+
+static bool initialized;
+
+size_t PersistentStore::capacity() { return qspi.size(); }
+
+bool PersistentStore::access_start() {
+  if (!initialized) {
+    qspi.begin();
+    initialized = true;
+  }
+  return true;
+}
+
+bool PersistentStore::access_finish() {
+  qspi.flush();
+  return true;
+}
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  while (size--) {
+    const uint8_t v = *value;
+    qspi.writeByte(pos, v);
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  while (size--) {
+    uint8_t c = qspi.readByte(pos);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+#endif // QSPI_EEPROM
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/eeprom_wired.cpp

@@ -0,0 +1,82 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#if USE_WIRED_EEPROM
+
+#error "USE_WIRED_EEPROM emulation Not implemented on SAMD21"
+/**
+ * PersistentStore for Arduino-style EEPROM interface
+ * with simple implementations supplied by Marlin.
+ */
+
+#include "../shared/eeprom_if.h"
+#include "../shared/eeprom_api.h"
+
+#ifndef MARLIN_EEPROM_SIZE
+  #error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM."
+#endif
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+
+bool PersistentStore::access_start()  { eeprom_init(); return true; }
+bool PersistentStore::access_finish() { return true; }
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  uint16_t written = 0;
+  while (size--) {
+    const uint8_t v = *value;
+    uint8_t * const p = (uint8_t * const)pos;
+    if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
+      eeprom_write_byte(p, v);
+      if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes
+      if (eeprom_read_byte(p) != v) {
+        SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
+        return true;
+      }
+    }
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  while (size--) {
+    uint8_t c = eeprom_read_byte((uint8_t*)pos);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+#endif // USE_WIRED_EEPROM
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/endstop_interrupts.h

@@ -0,0 +1,253 @@
+/**
+ * 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
+ *
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Endstop interrupts for ATMEL SAMD21 based targets.
+ *
+ * On SAMD21, all pins support external interrupt capability.
+ * Any pin can be used for external interrupts, but there are some restrictions.
+ * At most 16 different external interrupts can be used at one time.
+ * Further, you can’t just pick any 16 pins to use. This is because every pin on the SAMD21
+ * connects to what is called an EXTINT line, and only one pin per EXTINT line can be used for external
+ * interrupts at a time
+ */
+
+/**
+ * Endstop Interrupts
+ *
+ * Without endstop interrupts the endstop pins must be polled continually in
+ * the temperature-ISR via endstops.update(), most of the time finding no change.
+ * With this feature endstops.update() is called only when we know that at
+ * least one endstop has changed state, saving valuable CPU cycles.
+ *
+ * This feature only works when all used endstop pins can generate an 'external interrupt'.
+ *
+ * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
+ * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
+ */
+
+#include "../../module/endstops.h"
+
+#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2))
+#define MATCH_X_MAX_EILINE(P)   TERN0(HAS_X_MAX,  DEFER4(MATCH_EILINE)(P, X_MAX_PIN))
+#define MATCH_X_MIN_EILINE(P)   TERN0(HAS_X_MIN,  DEFER4(MATCH_EILINE)(P, X_MIN_PIN))
+#define MATCH_Y_MAX_EILINE(P)   TERN0(HAS_Y_MAX,  DEFER4(MATCH_EILINE)(P, Y_MAX_PIN))
+#define MATCH_Y_MIN_EILINE(P)   TERN0(HAS_Y_MIN,  DEFER4(MATCH_EILINE)(P, Y_MIN_PIN))
+#define MATCH_Z_MAX_EILINE(P)   TERN0(HAS_Z_MAX,  DEFER4(MATCH_EILINE)(P, Z_MAX_PIN))
+#define MATCH_Z_MIN_EILINE(P)   TERN0(HAS_Z_MIN,  DEFER4(MATCH_EILINE)(P, Z_MIN_PIN))
+#define MATCH_I_MAX_EILINE(P)   TERN0(HAS_I_MAX,  DEFER4(MATCH_EILINE)(P, I_MAX_PIN))
+#define MATCH_I_MIN_EILINE(P)   TERN0(HAS_I_MIN,  DEFER4(MATCH_EILINE)(P, I_MIN_PIN))
+#define MATCH_J_MAX_EILINE(P)   TERN0(HAS_J_MAX,  DEFER4(MATCH_EILINE)(P, J_MAX_PIN))
+#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))
+#define MATCH_Z3_MIN_EILINE(P)  TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN))
+#define MATCH_Z4_MAX_EILINE(P)  TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN))
+#define MATCH_Z4_MIN_EILINE(P)  TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN))
+#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN))
+
+#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1    \
+  && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P)   \
+  && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P)   \
+  && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P)   \
+  && !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) \
+  && !MATCH_Z_MIN_PROBE_EILINE(P) )
+
+// One ISR for all EXT-Interrupts
+void endstop_ISR() { endstops.update(); }
+
+void setup_endstop_interrupts() {
+  #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE)
+  #if HAS_X_MAX
+    #if !AVAILABLE_EILINE(X_MAX_PIN)
+      #error "X_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(X_MAX_PIN);
+  #endif
+  #if HAS_X_MIN
+    #if !AVAILABLE_EILINE(X_MIN_PIN)
+      #error "X_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(X_MIN_PIN);
+  #endif
+  #if HAS_Y_MAX
+    #if !AVAILABLE_EILINE(Y_MAX_PIN)
+      #error "Y_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Y_MAX_PIN);
+  #endif
+  #if HAS_Y_MIN
+    #if !AVAILABLE_EILINE(Y_MIN_PIN)
+      #error "Y_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Y_MIN_PIN);
+  #endif
+  #if HAS_Z_MAX
+    #if !AVAILABLE_EILINE(Z_MAX_PIN)
+      #error "Z_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z_MAX_PIN);
+  #endif
+  #if HAS_Z_MIN
+    #if !AVAILABLE_EILINE(Z_MIN_PIN)
+      #error "Z_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z_MIN_PIN);
+  #endif
+  #if HAS_Z2_MAX
+    #if !AVAILABLE_EILINE(Z2_MAX_PIN)
+      #error "Z2_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z2_MAX_PIN);
+  #endif
+  #if HAS_Z2_MIN
+    #if !AVAILABLE_EILINE(Z2_MIN_PIN)
+      #error "Z2_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z2_MIN_PIN);
+  #endif
+  #if HAS_Z3_MAX
+    #if !AVAILABLE_EILINE(Z3_MAX_PIN)
+      #error "Z3_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z3_MAX_PIN);
+  #endif
+  #if HAS_Z3_MIN
+    #if !AVAILABLE_EILINE(Z3_MIN_PIN)
+      #error "Z3_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z3_MIN_PIN);
+  #endif
+  #if HAS_Z4_MAX
+    #if !AVAILABLE_EILINE(Z4_MAX_PIN)
+      #error "Z4_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z4_MAX_PIN);
+  #endif
+  #if HAS_Z4_MIN
+    #if !AVAILABLE_EILINE(Z4_MIN_PIN)
+      #error "Z4_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z4_MIN_PIN);
+  #endif
+  #if HAS_Z_MIN_PROBE_PIN
+    #if !AVAILABLE_EILINE(Z_MIN_PROBE_PIN)
+      #error "Z_MIN_PROBE_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z_MIN_PROBE_PIN);
+  #endif
+  #if HAS_I_MAX
+    #if !AVAILABLE_EILINE(I_MAX_PIN)
+      #error "I_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_I_MIN
+    #if !AVAILABLE_EILINE(I_MIN_PIN)
+      #error "I_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_J_MAX
+    #if !AVAILABLE_EILINE(J_MAX_PIN)
+      #error "J_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_J_MIN
+    #if !AVAILABLE_EILINE(J_MIN_PIN)
+      #error "J_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_K_MAX
+    #if !AVAILABLE_EILINE(K_MAX_PIN)
+      #error "K_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_K_MIN
+    #if !AVAILABLE_EILINE(K_MIN_PIN)
+      #error "K_MIN_PIN has no EXTINT line available."
+    #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/SAMD21/fastio.h

@@ -0,0 +1,216 @@
+/**
+ * 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
+ *
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Fast IO functions for SAMD21
+ */
+
+#include "SAMD21.h"
+
+/**
+ * Utility functions
+ */
+
+#ifndef MASK
+  #define MASK(PIN) _BV(PIN)
+#endif
+
+/**
+ * Magic I/O routines
+ *
+ * Now you can simply SET_OUTPUT(IO); WRITE(IO, HIGH); WRITE(IO, LOW);
+ */
+
+// Read a pin
+#define READ(IO)        ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].IN.reg & MASK(GET_SAMD_PIN(IO))) != 0)
+
+// Write to a pin
+#define WRITE(IO,V)     do{                                                     \
+                          const EPortType port = (EPortType)GET_SAMD_PORT(IO);  \
+                          const uint32_t mask = MASK(GET_SAMD_PIN(IO));         \
+                                                                                \
+                          if (V) PORT->Group[port].OUTSET.reg = mask;           \
+                          else PORT->Group[port].OUTCLR.reg = mask;             \
+                        }while(0)
+
+// Toggle a pin
+#define TOGGLE(IO)      PORT->Group[(EPortType)GET_SAMD_PORT(IO)].OUTTGL.reg = MASK(GET_SAMD_PIN(IO));
+
+// Set pin as input
+#define SET_INPUT(IO)           do{                                                                 \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);              \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                            \
+                                                                                                    \
+                                  PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN);  \
+                                  PORT->Group[port].DIRCLR.reg = MASK(pin);                         \
+                                }while(0)
+// Set pin as input with pullup
+#define SET_INPUT_PULLUP(IO)    do{                                                                                       \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);                                    \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                                                  \
+                                  const uint32_t mask = MASK(pin);                                                        \
+                                                                                                                          \
+                                  PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN);   \
+                                  PORT->Group[port].DIRCLR.reg = mask;                                                    \
+                                  PORT->Group[port].OUTSET.reg = mask;                                                    \
+                                }while(0)
+// Set pin as input with pulldown
+#define SET_INPUT_PULLDOWN(IO)  do{                                                                                       \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);                                    \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                                                  \
+                                  const uint32_t mask = MASK(pin);                                                        \
+                                                                                                                          \
+                                  PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN);   \
+                                  PORT->Group[port].DIRCLR.reg = mask;                                                    \
+                                  PORT->Group[port].OUTCLR.reg = mask;                                                    \
+                                }while(0)
+// Set pin as output (push pull)
+#define SET_OUTPUT(IO)          do{                                                                 \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);              \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                            \
+                                                                                                    \
+                                  PORT->Group[port].DIRSET.reg = MASK(pin);                         \
+                                  PORT->Group[port].PINCFG[pin].reg = 0;                            \
+                                }while(0)
+// Set pin as output (open drain)
+#define SET_OUTPUT_OD(IO)       do{                                                                   \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);                \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                              \
+                                                                                                      \
+                                  PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_PULLEN);  \
+                                  PORT->Group[port].DIRCLR.reg = MASK(pin);                           \
+                                }while(0)
+// Set pin as PWM (push pull)
+#define SET_PWM                 SET_OUTPUT
+// Set pin as PWM (open drain)
+#define SET_PWM_OD              SET_OUTPUT_OD
+
+// check if pin is an output
+#define IS_OUTPUT(IO)            ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].DIR.reg & MASK(GET_SAMD_PIN(IO))) \
+                                 || (PORT->Group[(EPortType)GET_SAMD_PORT(IO)].PINCFG[GET_SAMD_PIN(IO)].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN)
+// check if pin is an input
+#define IS_INPUT(IO)            !IS_OUTPUT(IO)
+
+// Shorthand
+#define OUT_WRITE(IO,V)         do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+#define OUT_WRITE_OD(IO,V)      do{ SET_OUTPUT_OD(IO); WRITE(IO,V); }while(0)
+
+// digitalRead/Write wrappers
+#define extDigitalRead(IO)      digitalRead(IO)
+#define extDigitalWrite(IO,V)   digitalWrite(IO,V)
+
+/**
+ * Ports and functions
+ * Added as necessary or if I feel like it- not a comprehensive list!
+ */
+
+/*
+ * Some of these share the same source and so can't be used in the same time
+ */
+#define PWM_PIN(P)        (WITHIN(P, 2, 13) || WITHIN(P, 22, 23) || WITHIN(P, 44, 45) || P == 48)
+
+// Return fulfilled ADCx->INPUTCTRL.reg
+#define PIN_TO_INPUTCTRL(P)     (  (P == 0) ? ADC_INPUTCTRL_MUXPOS_PIN0   \
+                                 : ((P) == 1) ? ADC_INPUTCTRL_MUXPOS_PIN1   \
+                                 : ((P) == 2) ? ADC_INPUTCTRL_MUXPOS_PIN3   \
+                                 : ((P) == 3) ? ADC_INPUTCTRL_MUXPOS_PIN4   \
+                                 : ((P) == 4) ? ADC_INPUTCTRL_MUXPOS_PIN5   \
+                                 : ((P) == 5) ? ADC_INPUTCTRL_MUXPOS_PIN5   \
+                                 : ((P) == 6) ? ADC_INPUTCTRL_MUXPOS_PIN6   \
+                                 : ((P) == 7) ? ADC_INPUTCTRL_MUXPOS_PIN7   \
+                                 : ((P) == 8) ? ADC_INPUTCTRL_MUXPOS_PIN8   \
+                                 : ((P) == 9) ? ADC_INPUTCTRL_MUXPOS_PIN9   \
+                                 : ((P) == 10) ? ADC_INPUTCTRL_MUXPOS_PIN10 \
+                                 : ((P) == 11) ? ADC_INPUTCTRL_MUXPOS_PIN11 \
+                                 : ((P) == 12) ? ADC_INPUTCTRL_MUXPOS_PIN12 \
+                                 : ((P) == 13) ? ADC_INPUTCTRL_MUXPOS_PIN13 \
+                                 : ((P) == 14) ? ADC_INPUTCTRL_MUXPOS_PIN14 \
+                                 : ADC_INPUTCTRL_MUXPOS_PIN15)
+
+#define digitalPinToAnalogInput(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1)
+
+/**
+ * pins
+ */
+
+// PORTA
+#define DIO28_PIN   PIN_PA02    // A0
+#define DIO56_PIN   PIN_PA03    // A13
+#define DIO31_PIN   PIN_PA04    // A13
+#define DIO32_PIN   PIN_PA05    // A1
+#define DIO8_PIN    PIN_PA06    // A14
+#define DIO9_PIN    PIN_PA07    // A15
+#define DIO4_PIN    PIN_PA08    // A15
+#define DIO3_PIN    PIN_PA09    // A15
+#define DIO1_PIN    PIN_PA10
+#define DIO0_PIN    PIN_PA11
+#define DIO18_PIN   PIN_PA12
+#define DIO52_PIN   PIN_PA13
+#define DIO2_PIN    PIN_PA14
+#define DIO5_PIN    PIN_PA15
+#define DIO11_PIN   PIN_PA16
+#define DIO13_PIN   PIN_PA17
+#define DIO10_PIN   PIN_PA18
+#define DIO12_PIN   PIN_PA19
+#define DIO6_PIN    PIN_PA20
+#define DIO07_PIN   PIN_PA21
+#define DIO34_PIN   PIN_PA22
+#define DIO35_PIN   PIN_PA23
+#define DIO42_PIN   PIN_PA24
+#define DIO43_PIN   PIN_PA25
+
+#define DIO40_PIN   PIN_PA27
+
+#define DIO26_PIN   PIN_PB00
+#define DIO27_PIN   PIN_PB01    // A0
+#define DIO33_PIN   PIN_PB02
+#define DIO39_PIN   PIN_PB03
+#define DIO14_PIN   PIN_PB04
+#define DIO15_PIN   PIN_PB05
+#define DIO16_PIN   PIN_PB06
+#define DIO17_PIN   PIN_PB07
+#define DIO29_PIN   PIN_PB08
+#define DIO30_PIN   PIN_PB09
+#define DIO37_PIN   PIN_PB10
+#define DIO38_PIN   PIN_PB11
+#define DIO36_PIN   PIN_PB12
+#define DIO19_PIN   PIN_PB13
+#define DIO20_PIN   PIN_PB14
+#define DIO21_PIN   PIN_PB15
+#define DIO22_PIN   PIN_PB16
+#define DIO23_PIN   PIN_PB17
+
+#define DIO44_PIN   PIN_PB22
+#define DIO45_PIN   PIN_PB23
+#define DIO24_PIN   PIN_PB30
+#define DIO25_PIN   PIN_PB31
+
+#define DIO53_PIN   PIN_PA21
+#define DIO54_PIN   PIN_PA06
+#define DIO55_PIN   PIN_PA07
+

Marlin/src/HAL/SAMD21/inc/Conditionals_LCD.h

@@ -0,0 +1,31 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+#if HAS_SPI_TFT || HAS_FSMC_TFT
+  #error "Sorry! TFT displays are not available for HAL/SAMD21."
+#endif

Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h

@@ -0,0 +1,27 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once

Marlin/src/HAL/SAMD21/inc/Conditionals_post.h

@@ -0,0 +1,33 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+#if USE_FALLBACK_EEPROM
+  #define FLASH_EEPROM_EMULATION
+#elif EITHER(I2C_EEPROM, SPI_EEPROM)
+  #define USE_SHARED_EEPROM 1
+#endif

Marlin/src/HAL/SAMD21/inc/SanityCheck.h

@@ -0,0 +1,50 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Test SAMD21 specific configuration values for errors at compile-time.
+ */
+
+#if SERVO_TC == MF_TIMER_RTC
+  #error "Servos can't use RTC timer"
+#endif
+
+#if ENABLED(EMERGENCY_PARSER)
+  #error "EMERGENCY_PARSER is not yet implemented for SAMD21. Disable EMERGENCY_PARSER to continue."
+#endif
+
+#if ENABLED(SDIO_SUPPORT)
+  #error "SDIO_SUPPORT is not supported on SAMD21."
+#endif
+
+#if ENABLED(FAST_PWM_FAN)
+  #error "Features requiring Hardware PWM (FAST_PWM_FAN) are not yet supported on SAMD21."
+#endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on SAMD21."
+#endif

Marlin/src/HAL/SAMD21/pinsDebug.h

@@ -0,0 +1,160 @@
+/**
+ * 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
+ *
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#define NUMBER_PINS_TOTAL PINS_COUNT
+
+#define digitalRead_mod(p) extDigitalRead(p)
+#define PRINT_PORT(p) do{ SERIAL_ECHOPGM("  Port: "); sprintf_P(buffer, PSTR("%c%02ld"), 'A' + g_APinDescription[p].ulPort, g_APinDescription[p].ulPin); SERIAL_ECHO(buffer); }while (0)
+#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
+#define GET_ARRAY_PIN(p) pin_array[p].pin
+#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
+#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL)
+#define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p)
+#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1)
+#define pwm_status(pin) digitalPinHasPWM(pin)
+#define MULTI_NAME_PAD 27 // space needed to be pretty if not first name assigned to a pin
+
+// pins that will cause hang/reset/disconnect in M43 Toggle and Watch utilities
+// uses pin index
+#define M43_NEVER_TOUCH(Q) ((Q) >= 75)
+
+bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
+  const EPortType samdport = g_APinDescription[pin].ulPort;
+  const uint32_t samdpin = g_APinDescription[pin].ulPin;
+  return PORT->Group[samdport].DIR.reg & MASK(samdpin) || (PORT->Group[samdport].PINCFG[samdpin].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN;
+}
+
+void pwm_details(int32_t pin) {
+  if (pwm_status(pin)) {
+    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
+    //SERIAL_ECHOPGM("PWM = ", duty);
+  }
+}
+
+/**
+ * SAMD21 Board pin|  PORT  | Label
+ * ----------------+--------+-------
+ *   0             |  PB25  | "RX0"
+ *   1             |  PB24  | "TX0"
+ *   2             |  PC18  |
+ *   3             |  PC19  |
+ *   4             |  PC20  |
+ *   5             |  PC21  |
+ *   6             |  PD20  |
+ *   7             |  PD21  |
+ *   8             |  PB18  |
+ *   9             |  PB2   |
+ *  10             |  PB22  |
+ *  11             |  PB23  |
+ *  12             |  PB0   | "A16"
+ *  13             |  PB1   | LED AMBER "L" / "A17"
+ *  14             |  PB16  | "TX3"
+ *  15             |  PB17  | "RX3"
+ *  16             |  PC22  | "TX2"
+ *  17             |  PC23  | "RX2"
+ *  18             |  PB12  | "TX1" / "A18"
+ *  19             |  PB13  | "RX1"
+ *  20             |  PB20  | "SDA"
+ *  21             |  PB21  | "SCL"
+ *  22             |  PD12  |
+ *  23             |  PA15  |
+ *  24             |  PC17  |
+ *  25             |  PC16  |
+ *  26             |  PA12  |
+ *  27             |  PA13  |
+ *  28             |  PA14  |
+ *  29             |  PB19  |
+ *  30             |  PA23  |
+ *  31             |  PA22  |
+ *  32             |  PA21  |
+ *  33             |  PA20  |
+ *  34             |  PA19  |
+ *  35             |  PA18  |
+ *  36             |  PA17  |
+ *  37             |  PA16  |
+ *  38             |  PB15  |
+ *  39             |  PB14  |
+ *  40             |  PC13  |
+ *  41             |  PC12  |
+ *  42             |  PC15  |
+ *  43             |  PC14  |
+ *  44             |  PC11  |
+ *  45             |  PC10  |
+ *  46             |  PC6   |
+ *  47             |  PC7   |
+ *  48             |  PC4   |
+ *  49             |  PC5   |
+ *  50             |  PD11  |
+ *  51             |  PD8   |
+ *  52             |  PD9   |
+ *  53             |  PD10  |
+ *  54             |  PB5   | "A8"
+ *  55             |  PB6   | "A9"
+ *  56             |  PB7   | "A10"
+ *  57             |  PB8   | "A11"
+ *  58             |  PB9   | "A12"
+ *  69             |  PA4   | "A13"
+ *  60             |  PA6   | "A14"
+ *  61             |  PA7   | "A15"
+ *  62             |  PB17  |
+ *  63             |  PB20  |
+ *  64             |  PD11  |
+ *  65             |  PD8   |
+ *  66             |  PD9   |
+ *  67             |  PA2   | "A0" / "DAC0"
+ *  68             |  PA5   | "A1" / "DAC1"
+ *  69             |  PB3   | "A2"
+ *  70             |  PC0   | "A3"
+ *  71             |  PC1   | "A4"
+ *  72             |  PC2   | "A5"
+ *  73             |  PC3   | "A6"
+ *  74             |  PB4   | "A7"
+ *  75             |  PC31  | LED GREEN "RX"
+ *  76             |  PC30  | LED GREEN "TX"
+ *  77             |  PA27  | USB: Host enable
+ *  78             |  PA24  | USB: D-
+ *  79             |  PA25  | USB: D+
+ *  80             |  PB29  | SD: MISO
+ *  81             |  PB27  | SD: SCK
+ *  82             |  PB26  | SD: MOSI
+ *  83             |  PB28  | SD: CS
+ *  84             |  PA3   | AREF
+ *  85             |  PA2   | DAC0 (Duplicate)
+ *  86             |  PA5   | DAC1 (Duplicate)
+ *  87             |  PB1   | LED AMBER "L" (Duplicate)
+ *  88             |  PC24  | NeoPixel
+ *  89             |  PB10  | QSPI: SCK
+ *  90             |  PB11  | QSPI: CS
+ *  91             |  PA8   | QSPI: IO0
+ *  92             |  PA9   | QSPI: IO1
+ *  93             |  PA10  | QSPI: IO2
+ *  94             |  PA11  | QSPI: IO3
+ *  95             |  PB31  | SD: DETECT
+ */

Marlin/src/HAL/SAMD21/spi_pins.h

@@ -0,0 +1,54 @@
+/**
+ * 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
+ *
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * SAMD21 Default SPI Pins
+ *
+ *         SS    SCK   MISO   MOSI
+ *       +-------------------------+
+ *  SPI  | 53    52     50     51  |
+ *  SPI1 | 83    81     80     82  |
+ *       +-------------------------+
+ * Any pin can be used for Chip Select (SD_SS_PIN)
+ */
+#ifndef SD_SCK_PIN
+  #define SD_SCK_PIN    38
+#endif
+#ifndef SD_MISO_PIN
+  #define SD_MISO_PIN   36
+#endif
+#ifndef SD_MOSI_PIN
+  #define SD_MOSI_PIN   37
+#endif
+#ifndef SDSS
+  #define SDSS          18
+#endif
+
+#ifndef SD_SS_PIN
+  #define SD_SS_PIN     SDSS
+#endif

Marlin/src/HAL/SAMD21/timers.cpp

@@ -0,0 +1,217 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include "../../inc/MarlinConfig.h"
+#include "ServoTimers.h" // for SERVO_TC
+
+// --------------------------------------------------------------------------
+// Local defines
+// --------------------------------------------------------------------------
+
+#define NUM_HARDWARE_TIMERS 9
+
+// --------------------------------------------------------------------------
+// Private Variables
+// --------------------------------------------------------------------------
+
+const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
+  { {.pTcc=TCC0}, TimerType::tcc,  TCC0_IRQn, TC_PRIORITY(0) },  // 0 - stepper (assigned priority 2)
+  { {.pTcc=TCC1}, TimerType::tcc,  TCC1_IRQn, TC_PRIORITY(1) },  // 1 - stepper (needed by 32 bit timers)
+  { {.pTcc=TCC2}, TimerType::tcc,  TCC2_IRQn, 5              },  // 2 - tone (reserved by framework and fixed assigned priority 5)
+  { {.pTc=TC3},   TimerType::tc,   TC3_IRQn,  TC_PRIORITY(3) },  // 3 - servo (assigned priority 1)
+  { {.pTc=TC4},   TimerType::tc,   TC4_IRQn,  TC_PRIORITY(4) },  // 4 - software serial (no interrupts used)
+  { {.pTc=TC5},   TimerType::tc,   TC5_IRQn,  TC_PRIORITY(5) },
+  { {.pTc=TC6},   TimerType::tc,   TC6_IRQn,  TC_PRIORITY(6) },
+  { {.pTc=TC7},   TimerType::tc,   TC7_IRQn,  TC_PRIORITY(7) },
+  { {.pRtc=RTC},  TimerType::rtc,   RTC_IRQn, TC_PRIORITY(8) }   // 8 - temperature (assigned priority 6)
+};
+
+// --------------------------------------------------------------------------
+// Private functions
+// --------------------------------------------------------------------------
+
+FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
+  NVIC_DisableIRQ(irq);
+
+  // 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();
+}
+
+static bool tcIsSyncing(Tc * tc) {
+  return tc->COUNT32.STATUS.reg & TC_STATUS_SYNCBUSY;
+}
+
+static void tcReset( Tc * tc) {
+  tc->COUNT32.CTRLA.reg = TC_CTRLA_SWRST;
+  while (tcIsSyncing(tc)) {}
+  while (tc->COUNT32.CTRLA.bit.SWRST) {}
+}
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+
+  // Disable interrupt, just in case it was already enabled
+  NVIC_DisableIRQ(irq);
+  NVIC_ClearPendingIRQ(irq);
+
+  if (timer_num == MF_TIMER_RTC) {
+
+    // https://github.com/arduino-libraries/RTCZero
+    Rtc * const rtc = timer_config[timer_num].pRtc;
+    PM->APBAMASK.reg |= PM_APBAMASK_RTC;
+
+    GCLK->CLKCTRL.reg = (uint32_t)((GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK4 | (RTC_GCLK_ID << GCLK_CLKCTRL_ID_Pos)));
+    while (GCLK->STATUS.bit.SYNCBUSY) {}
+
+    GCLK->GENCTRL.reg = (GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_OSCULP32K | GCLK_GENCTRL_ID(4) | GCLK_GENCTRL_DIVSEL );
+    while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {}
+
+    GCLK->GENDIV.reg = GCLK_GENDIV_ID(4);
+    GCLK->GENDIV.bit.DIV=4;
+    while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {}
+
+    // Disable timer interrupt
+    rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
+    SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
+
+    while(rtc->MODE0.STATUS.bit.SYNCBUSY) {}
+
+    // Stop timer, just in case, to be able to reconfigure it
+    rtc->MODE0.CTRL.reg =
+      RTC_MODE0_CTRL_MODE_COUNT32 |           // Mode 0 = 32-bits counter
+      RTC_MODE0_CTRL_PRESCALER_DIV1024;       // Divisor = 1024
+
+    while(rtc->MODE0.STATUS.bit.SYNCBUSY) {}
+
+    // Mode, reset counter on match
+    rtc->MODE0.CTRL.reg = RTC_MODE0_CTRL_MODE_COUNT32 | RTC_MODE0_CTRL_MATCHCLR;
+
+    // Set compare value
+    rtc->MODE0.COMP[0].reg = (32768 + frequency / 2) / frequency;
+    SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
+
+    // Enable interrupt on compare
+    rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0;    // reset pending interrupt
+    rtc->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0;  // enable compare 0 interrupt
+
+    // And start timer
+    rtc->MODE0.CTRL.bit.ENABLE = true;
+    SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
+
+  }
+  else if (timer_config[timer_num].type==TimerType::tcc) {
+
+    Tcc * const tc = timer_config[timer_num].pTcc;
+
+    PM->APBCMASK.reg |= PM_APBCMASK_TCC0;
+     GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID));
+    SYNC (GCLK->STATUS.bit.SYNCBUSY);
+
+    tc->CTRLA.reg = TCC_CTRLA_SWRST;
+    SYNC (tc->SYNCBUSY.reg & TCC_SYNCBUSY_SWRST) {}
+
+    SYNC (tc->CTRLA.bit.SWRST);
+
+    tc->CTRLA.reg &= ~(TCC_CTRLA_ENABLE);       // disable TC module
+
+    tc->CTRLA.reg |= TCC_WAVE_WAVEGEN_MFRQ;
+    tc->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV2;
+    tc->CC[0].reg = (HAL_TIMER_RATE) / frequency;
+    tc->INTENSET.reg = TCC_INTFLAG_MC0;
+    tc->CTRLA.reg |= TCC_CTRLA_ENABLE;
+    tc->INTFLAG.reg = 0xFF;
+    SYNC ( tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+
+  }
+  else {
+    Tc * const tc = timer_config[timer_num].pTc;
+
+    // Disable timer interrupt
+    tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
+
+    // TCn clock setup
+    GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0  | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ;
+    SYNC (GCLK->STATUS.bit.SYNCBUSY);
+
+    tcReset(tc); // reset TC
+
+    // Set Timer counter 5 Mode to 16 bits, it will become a 16bit counter ('mode1' in the datasheet)
+    tc->COUNT32.CTRLA.reg |= TC_CTRLA_MODE_COUNT32;
+    // Set TC waveform generation mode to 'match frequency'
+    tc->COUNT32.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ;
+    //set prescaler
+    //the clock normally counts at the GCLK_TC frequency, but we can set it to divide that frequency to slow it down
+    //you can use different prescaler divisons here like TC_CTRLA_PRESCALER_DIV1 to get a different range
+    tc->COUNT32.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; //it will divide GCLK_TC frequency by 1024
+    //set the compare-capture register.
+    //The counter will count up to this value (it's a 16bit counter so we use uint16_t)
+    //this is how we fine-tune the frequency, make it count to a lower or higher value
+    //system clock should be 1MHz (8MHz/8) at Reset by default
+    tc->COUNT32.CC[0].reg = (uint16_t) (HAL_TIMER_RATE / frequency);
+    while (tcIsSyncing(tc)) {}
+
+    // Enable the TC interrupt request
+    tc->COUNT32.INTENSET.bit.MC0 = 1;
+    while (tcIsSyncing(tc)) {}
+  }
+
+  NVIC_SetPriority(irq, timer_config[timer_num].priority);
+  NVIC_EnableIRQ(irq);
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+  NVIC_EnableIRQ(irq);
+}
+
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+  Disable_Irq(irq);
+}
+
+// missing from CMSIS: Check if interrupt is enabled or not
+static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
+  return TEST(NVIC->ISER[uint32_t(IRQn) >> 5], uint32_t(IRQn) & 0x1F);
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+  return NVIC_GetEnabledIRQ(irq);
+}
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/timers.h

@@ -0,0 +1,160 @@
+/**
+ * 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
+ *
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#include <stdint.h>
+
+// --------------------------------------------------------------------------
+// Defines
+// --------------------------------------------------------------------------
+
+typedef uint32_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+
+#define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals
+
+#define MF_TIMER_RTC            8   // This is not a TC but a RTC
+
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         4   // Timer Index for Stepper
+#endif
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
+#endif
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         MF_TIMER_RTC // Timer Index for Temperature
+#endif
+
+#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+
+#define PULSE_TIMER_RATE          STEPPER_TIMER_RATE
+#define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
+
+#define TC_PRIORITY(t) (  t == SERVO_TC ? 1                              \
+                       : (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \
+                       : (t == MF_TIMER_TEMP) ? 6 : 7 )
+
+#define _TC_HANDLER(t)          void TC##t##_Handler()
+#define TC_HANDLER(t)           _TC_HANDLER(t)
+#ifndef HAL_STEP_TIMER_ISR
+  #define HAL_STEP_TIMER_ISR()  TC_HANDLER(MF_TIMER_STEP)
+#endif
+#if MF_TIMER_STEP != MF_TIMER_PULSE
+  #define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE)
+#endif
+#if MF_TIMER_TEMP == MF_TIMER_RTC
+  #define HAL_TEMP_TIMER_ISR()  void RTC_Handler()
+#else
+  #define HAL_TEMP_TIMER_ISR()  TC_HANDLER(MF_TIMER_TEMP)
+#endif
+
+// --------------------------------------------------------------------------
+// Types
+// --------------------------------------------------------------------------
+typedef enum  { tcc, tc, rtc } TimerType;
+
+typedef struct {
+  union {
+    Tc  *pTc;
+    Tcc *pTcc;
+    Rtc *pRtc;
+  };
+  TimerType type;
+  IRQn_Type   IRQ_Id;
+  uint8_t     priority;
+} tTimerConfig;
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+extern const tTimerConfig timer_config[];
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+
+FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
+  tc->COUNT32.CC[0].reg = compare;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
+  return (hal_timer_t)tc->COUNT32.CC[0].reg;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
+  tc->COUNT32.READREQ.reg = TC_READREQ_RREQ;
+  // Request a read synchronization
+  SYNC (tc->COUNT32.STATUS.bit.SYNCBUSY);
+  //SYNC(tc->COUNT32.STATUS.bit.SYNCBUSY );
+  return tc->COUNT32.COUNT.reg;
+}
+
+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);
+
+FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
+  if (timer_num == MF_TIMER_RTC) {
+    Rtc * const rtc = timer_config[timer_num].pRtc;
+    // Clear interrupt flag
+    rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0| RTC_MODE0_INTFLAG_OVF;
+
+  }
+  else if (timer_config[timer_num].type == TimerType::tcc){
+    Tcc * const tc = timer_config[timer_num].pTcc;
+    // Clear interrupt flag
+    tc->INTFLAG.reg = TCC_INTFLAG_OVF;
+  }
+  else {
+    Tc * const tc = timer_config[timer_num].pTc;
+    // Clear interrupt flag
+    tc->COUNT32.INTFLAG.bit.MC0 = 1;
+  }
+}
+
+#define HAL_timer_isr_epilogue(timer_num)

Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp

@@ -0,0 +1,32 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+// adapted from  I2C/master/master.c example
+//   https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
+
+#ifdef __SAMD21__
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.h

@@ -0,0 +1,27 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once

Marlin/src/HAL/SAMD21/u8g/LCD_defines.h

@@ -0,0 +1,41 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+/**
+ * SAMD21 LCD-specific defines
+ */
+
+// The following are optional depending on the platform.
+
+// definitions of HAL specific com and device drivers.
+uint8_t u8g_com_samd21_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);
+uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);
+
+// connect U8g com generic com names to the desired driver
+#define U8G_COM_HW_SPI u8g_com_samd21_st7920_hw_spi_fn  // use SAMD21 specific hardware SPI routine
+#define U8G_COM_ST7920_HW_SPI u8g_com_samd21_st7920_hw_spi_fn

Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c

@@ -0,0 +1,42 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Low level pin manipulation routines - used by all the drivers.
+ *
+ * These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines.
+ *
+ * Couldn't just call exact copies because the overhead killed the LCD update speed
+ * With an intermediate level the softspi was running in the 10-20kHz range which
+ * resulted in using about about 25% of the CPU's time.
+ */
+
+#ifdef __SAMD21__
+
+#include <Arduino.h>
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h

@@ -0,0 +1,42 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+/**
+ * Low level pin manipulation routines - used by all the drivers.
+ *
+ * These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines.
+ *
+ * Couldn't just call exact copies because the overhead killed the LCD update speed
+ * With an intermediate level the softspi was running in the 10-20kHz range which
+ * resulted in using about about 25% of the CPU's time.
+ */
+
+void u8g_SetPinOutput(uint8_t internal_pin_number);
+void u8g_SetPinInput(uint8_t internal_pin_number);
+void u8g_SetPinLevel(uint8_t  pin, uint8_t  pin_status);
+uint8_t u8g_GetPinLevel(uint8_t pin);

Marlin/src/HAL/SAMD21/u8g/u8g_com_HAL_samd21_shared_hw_spi.cpp

@@ -0,0 +1,154 @@
+/**
+ * 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
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Based on u8g_com_msp430_hw_spi.c
+ *
+ * Universal 8bit Graphics Library
+ *
+ * Copyright (c) 2012, olikraus@gmail.com
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or other
+ * materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifdef __SAMD21__
+
+#include <U8glib-HAL.h>
+#include "SPI.h"
+
+#include "../../shared/HAL_SPI.h"
+
+#ifndef LCD_SPI_SPEED
+  #define LCD_SPI_SPEED SPI_QUARTER_SPEED
+#endif
+
+void u8g_SetPIOutput(u8g_t *u8g, uint8_t pin_index) {
+  if (u8g->pin_list[pin_index]!= U8G_PIN_NONE)
+  pinMode(u8g->pin_list[pin_index],OUTPUT);
+}
+
+void u8g_SetPILevel(u8g_t *u8g, uint8_t pin_index, uint8_t level) {
+  if (u8g->pin_list[pin_index]!= U8G_PIN_NONE)
+  digitalWrite(u8g->pin_list[pin_index],level);
+}
+
+uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+
+  static SPISettings lcdSPIConfig;
+
+  switch (msg) {
+    case U8G_COM_MSG_STOP:
+      break;
+
+    case U8G_COM_MSG_INIT:
+      u8g_SetPIOutput(u8g, U8G_PI_CS);
+      u8g_SetPIOutput(u8g, U8G_PI_A0);
+      u8g_SetPIOutput(u8g, U8G_PI_RESET);
+
+      u8g_SetPILevel(u8g, U8G_PI_CS, LOW);
+
+      spiBegin();
+      lcdSPIConfig = SPISettings(900000, MSBFIRST, SPI_MODE0);
+      u8g->pin_list[U8G_PI_A0_STATE] = 0;
+      break;
+
+    case U8G_COM_MSG_ADDRESS:             // define cmd (arg_val = 0) or data mode (arg_val = 1)
+      u8g_SetPILevel(u8g, U8G_PI_A0, arg_val);
+      u8g->pin_list[U8G_PI_A0_STATE] = arg_val;
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:         // arg_val == 1 means chip selected, but ST7920 is active high, so needs inverting
+      u8g_SetPILevel(u8g, U8G_PI_CS, arg_val ? HIGH : LOW);
+      break;
+
+    case U8G_COM_MSG_RESET:
+      u8g_SetPILevel(u8g, U8G_PI_RESET, arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      SPI.beginTransaction(lcdSPIConfig);
+
+      if (u8g->pin_list[U8G_PI_A0_STATE] == 0) { // command
+        SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2;
+      }
+      else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data
+        SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2;
+      }
+
+      SPI.transfer(arg_val & 0x0f0);
+      SPI.transfer(arg_val << 4);
+      SPI.endTransaction();
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ:
+      SPI.beginTransaction(lcdSPIConfig);
+
+      if (u8g->pin_list[U8G_PI_A0_STATE] == 0 ) { // command
+        SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2;
+      }
+      else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data
+        SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2;
+      }
+
+      uint8_t *ptr = (uint8_t*)arg_ptr;
+      while (arg_val > 0) {
+        SPI.transfer((*ptr) & 0x0f0);
+        SPI.transfer((*ptr) << 4);
+        ptr++;
+        arg_val--;
+      }
+
+      SPI.endTransaction();
+      break;
+  }
+  return 1;
+}
+
+#endif // __SAMD21__

Marlin/src/HAL/STM32/eeprom_sdcard.cpp

@@ -48,7 +48,7 @@ static char _ALIGN(4) HAL_eeprom_data[MARLIN_EEPROM_SIZE];
 bool PersistentStore::access_start() {
   if (!card.isMounted()) return false;
 
-  SdFile file, root = card.getroot();
+  MediaFile file, root = card.getroot();
   if (!file.open(&root, EEPROM_FILENAME, O_RDONLY))
     return true;
 
@@ -63,7 +63,7 @@ bool PersistentStore::access_start() {
 bool PersistentStore::access_finish() {
   if (!card.isMounted()) return false;
 
-  SdFile file, root = card.getroot();
+  MediaFile file, root = card.getroot();
   int bytes_written = 0;
   if (file.open(&root, EEPROM_FILENAME, O_CREAT | O_WRITE | O_TRUNC)) {
     bytes_written = file.write(HAL_eeprom_data, MARLIN_EEPROM_SIZE);

Marlin/src/HAL/STM32/sdio.cpp

@@ -286,6 +286,9 @@ void HAL_SD_MspInit(SD_HandleTypeDef *hsd) {
 
     go_to_transfer_speed();
 
+    hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_ENABLE;
+    hsd.Init.ClockDiv = 8;
+
     #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined
       retry_Cnt = retryCnt;
       for (;;) {
@@ -433,7 +436,10 @@ bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) {
   #else
 
     uint8_t retries = SDIO_READ_RETRIES;
-    while (retries--) if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true;
+    while (retries--) {
+      if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true;
+      delay(10);
+    }
     return false;
 
   #endif

Marlin/src/HAL/STM32/tft/gt911.cpp

@@ -150,9 +150,9 @@ void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_l
   sw_iic.start();
   sw_iic.send_byte(gt911_slave_address + 1);  // Set read mode
 
-  LOOP_L_N(i, r_len) {
+  LOOP_L_N(i, r_len)
     r_data[i] = sw_iic.read_byte(1);  // Read data from reg
-  }
+
   sw_iic.stop();
 }
 

Marlin/src/HAL/STM32/tft/gt911.h

@@ -39,42 +39,18 @@ class SW_IIC {
   private:
     uint16_t scl_pin;
     uint16_t sda_pin;
-    void write_scl(bool level)
-    {
-      WRITE(scl_pin, level);
-    }
-    void write_sda(bool level)
-    {
-      WRITE(sda_pin, level);
-    }
-    bool read_sda()
-    {
-      return READ(sda_pin);
-    }
-    void set_sda_out()
-    {
-      SET_OUTPUT(sda_pin);
-    }
-    void set_sda_in()
-    {
-      SET_INPUT_PULLUP(sda_pin);
-    }
-    static void iic_delay(uint8_t t)
-    {
-      delayMicroseconds(t);
-    }
+    void write_scl(bool level) { WRITE(scl_pin, level); }
+    void write_sda(bool level) { WRITE(sda_pin, level); }
+    bool read_sda() { return READ(sda_pin); }
+    void set_sda_out() { SET_OUTPUT(sda_pin); }
+    void set_sda_in() { SET_INPUT_PULLUP(sda_pin); }
+    static void iic_delay(uint8_t t) { delayMicroseconds(t); }
 
   public:
     SW_IIC(uint16_t sda, uint16_t scl);
     // setSCL/SDA have to be called before begin()
-    void setSCL(uint16_t scl)
-    {
-      scl_pin = scl;
-    };
-    void setSDA(uint16_t sda)
-    {
-      sda_pin = sda;
-    };
+    void setSCL(uint16_t scl) { scl_pin = scl; }
+    void setSDA(uint16_t sda) { sda_pin = sda; }
     void init();                // Initialize the IO port of IIC
     void start();               // Send IIC start signal
     void stop();                // Send IIC stop signal

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

@@ -148,20 +148,35 @@ uint32_t TFT_FSMC::ReadID(tft_data_t Reg) {
 
 bool TFT_FSMC::isBusy() {
   #ifdef STM32F1xx
-    volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET;
+    #define __IS_DMA_ENABLED(__HANDLE__)      ((__HANDLE__)->Instance->CCR & DMA_CCR_EN)
+    #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->Instance->CPAR != 0)
   #elif defined(STM32F4xx)
-    volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN;
+    #define __IS_DMA_ENABLED(__HANDLE__)      ((__HANDLE__)->Instance->CR & DMA_SxCR_EN)
+    #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->Instance->PAR != 0)
   #endif
-  if (dmaEnabled) {
-    if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) != 0 || __HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) != 0)
-      Abort();
-  }
-  else
-    Abort();
-  return dmaEnabled;
+
+  if (!__IS_DMA_CONFIGURED(&DMAtx)) return false;
+
+  // Check if DMA transfer error or transfer complete flags are set
+  if ((__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) == 0) && (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) == 0)) return true;
+
+  __DSB();
+  Abort();
+  return false;
+}
+
+void TFT_FSMC::Abort() {
+  HAL_DMA_Abort(&DMAtx);  // Abort DMA transfer if any
+  HAL_DMA_DeInit(&DMAtx); // Deconfigure DMA
 }
 
 void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  DMAtx.Init.PeriphInc = MemoryIncrease;
+  HAL_DMA_Init(&DMAtx);
+  HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(LCD->RAM), Count);
+}
+
+void TFT_FSMC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   DMAtx.Init.PeriphInc = MemoryIncrease;
   HAL_DMA_Init(&DMAtx);
   DataTransferBegin();

Marlin/src/HAL/STM32/tft/tft_fsmc.h

@@ -41,6 +41,7 @@
 #define DATASIZE_8BIT  SPI_DATASIZE_8BIT
 #define DATASIZE_16BIT SPI_DATASIZE_16BIT
 #define TFT_IO_DRIVER  TFT_FSMC
+#define DMA_MAX_SIZE   0xFFFF
 
 #define TFT_DATASIZE TERN(TFT_INTERFACE_FSMC_8BIT, DATASIZE_8BIT, DATASIZE_16BIT)
 typedef TERN(TFT_INTERFACE_FSMC_8BIT, uint8_t, uint16_t) tft_data_t;
@@ -59,13 +60,14 @@ class TFT_FSMC {
 
     static uint32_t ReadID(tft_data_t Reg);
     static void Transmit(tft_data_t Data) { LCD->RAM = Data; __DSB(); }
+    static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
     static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
   public:
     static void Init();
     static uint32_t GetID();
     static bool isBusy();
-    static void Abort() { __HAL_DMA_DISABLE(&DMAtx); }
+    static void Abort();
 
     static void DataTransferBegin(uint16_t DataWidth = TFT_DATASIZE) {}
     static void DataTransferEnd() {};
@@ -73,13 +75,14 @@ class TFT_FSMC {
     static void WriteData(uint16_t Data) { Transmit(tft_data_t(Data)); }
     static void WriteReg(uint16_t Reg) { LCD->REG = tft_data_t(Reg); __DSB(); }
 
-    static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); }
-    static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); }
+    static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); }
+    static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); }
+
+    static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); }
     static void WriteMultiple(uint16_t Color, uint32_t Count) {
-      static uint16_t Data; Data = Color;
       while (Count > 0) {
-        TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-        Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+        Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+        Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
       }
     }
 };

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

@@ -356,7 +356,7 @@ void TFT_LTDC::WriteReg(uint16_t Reg) {
   reg = Reg;
 }
 
-void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+void TFT_LTDC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
 
   while (x_cur != x_min && Count) {
     Transmit(*Data);

Marlin/src/HAL/STM32/tft/tft_ltdc.h

@@ -32,6 +32,7 @@
 #define DATASIZE_8BIT  SPI_DATASIZE_8BIT
 #define DATASIZE_16BIT SPI_DATASIZE_16BIT
 #define TFT_IO_DRIVER  TFT_LTDC
+#define DMA_MAX_SIZE   0xFFFF
 
 #define TFT_DATASIZE DATASIZE_16BIT
 typedef uint16_t tft_data_t;
@@ -49,7 +50,7 @@ class TFT_LTDC {
     static void DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t color);
     static void DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors);
     static void Transmit(tft_data_t Data);
-    static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
+    static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
   public:
     static void Init();
@@ -63,13 +64,15 @@ class TFT_LTDC {
     static void WriteData(uint16_t Data);
     static void WriteReg(uint16_t Reg);
 
-    static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); }
-    static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); }
+    // Non-blocking DMA data transfer is not implemented for LTDC interface
+    inline static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { WriteSequence(Data, Count); }
+    inline static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { WriteMultiple(Color, Count); }
+
+    static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); }
     static void WriteMultiple(uint16_t Color, uint32_t Count) {
-      static uint16_t Data; Data = Color;
       while (Count > 0) {
-        TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-        Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+        Transmit(DMA_PINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+        Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
       }
     }
 };

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

@@ -160,16 +160,13 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
 
     for (i = 0; i < 4; i++) {
       #if TFT_MISO_PIN != TFT_MOSI_PIN
-        //if (hspi->Init.Direction == SPI_DIRECTION_2LINES) {
-          while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
-          SPIx.Instance->DR = 0;
-        //}
+        while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
+        SPIx.Instance->DR = 0;
       #endif
       while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_RXNE)) {}
       Data = (Data << 8) | SPIx.Instance->DR;
     }
 
-    __HAL_SPI_DISABLE(&SPIx);
     DataTransferEnd();
 
     SPIx.Init.BaudRatePrescaler   = BaudRatePrescaler;
@@ -180,35 +177,43 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
 
 bool TFT_SPI::isBusy() {
   #ifdef STM32F1xx
-    volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET;
+    #define __IS_DMA_ENABLED(__HANDLE__)      ((__HANDLE__)->Instance->CCR & DMA_CCR_EN)
+    #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->Instance->CPAR != 0)
   #elif defined(STM32F4xx)
-    volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN;
+    #define __IS_DMA_ENABLED(__HANDLE__)      ((__HANDLE__)->Instance->CR & DMA_SxCR_EN)
+    #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->Instance->PAR != 0)
   #endif
-  if (dmaEnabled) {
-    if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) != 0 || __HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) != 0)
-      Abort();
+
+  if (!__IS_DMA_CONFIGURED(&DMAtx)) return false;
+
+  if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx))) {
+    // You should not be here - DMA transfer error flag is set
+    // Abort DMA transfer and release SPI
   }
-  else
-    Abort();
-  return dmaEnabled;
+  else {
+    // Check if DMA transfer completed flag is set
+    if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) == 0) return true;
+    // Check if SPI transmit butter is empty and SPI is idle
+    if ((!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) || (__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY))) return true;
+  }
+
+  Abort();
+  return false;
 }
 
 void TFT_SPI::Abort() {
-  // Wait for any running spi
-  while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
-  while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {}
-  // First, abort any running dma
-  HAL_DMA_Abort(&DMAtx);
-  // DeInit objects
+  HAL_DMA_Abort(&DMAtx);  // Abort DMA transfer if any
   HAL_DMA_DeInit(&DMAtx);
-  HAL_SPI_DeInit(&SPIx);
-  // Deselect CS
-  DataTransferEnd();
+
+  CLEAR_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);
+
+  DataTransferEnd();      // Stop SPI and deselect CS
 }
 
 void TFT_SPI::Transmit(uint16_t Data) {
-  if (TFT_MISO_PIN == TFT_MOSI_PIN)
+  #if TFT_MISO_PIN == TFT_MOSI_PIN
     SPI_1LINE_TX(&SPIx);
+  #endif
 
   __HAL_SPI_ENABLE(&SPIx);
 
@@ -217,14 +222,31 @@ void TFT_SPI::Transmit(uint16_t Data) {
   while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
   while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {}
 
-  if (TFT_MISO_PIN != TFT_MOSI_PIN)
-    __HAL_SPI_CLEAR_OVRFLAG(&SPIx);   // Clear overrun flag in 2 Lines communication mode because received is not read
+  #if TFT_MISO_PIN != TFT_MOSI_PIN
+    __HAL_SPI_CLEAR_OVRFLAG(&SPIx);   // Clear overrun flag in 2 Lines communication mode because received data is not read
+  #endif
 }
 
 void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
-  // Wait last dma finish, to start another
-  while (isBusy()) { /* nada */ }
+  DMAtx.Init.MemInc = MemoryIncrease;
+  HAL_DMA_Init(&DMAtx);
 
+  #if TFT_MISO_PIN == TFT_MOSI_PIN
+    SPI_1LINE_TX(&SPIx);
+  #endif
+
+  DataTransferBegin();
+
+  HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count);
+  __HAL_SPI_ENABLE(&SPIx);
+
+  SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);   // Enable Tx DMA Request
+
+  TERN_(TFT_SHARED_SPI, while (isBusy()));
+}
+
+
+void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   DMAtx.Init.MemInc = MemoryIncrease;
   HAL_DMA_Init(&DMAtx);
 
@@ -243,7 +265,6 @@ void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Coun
 }
 
 #if ENABLED(USE_SPI_DMA_TC)
-
   void TFT_SPI::TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
 
     DMAtx.Init.MemInc = MemoryIncrease;
@@ -262,8 +283,7 @@ void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Coun
     SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);   // Enable Tx DMA Request
   }
 
-  extern "C" void DMA2_Stream3_IRQHandler(void) { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); }
-
+  extern "C" void DMA2_Stream3_IRQHandler(void) { TFT_SPI::DMA_IRQHandler(); }
 #endif
 
 #endif // HAS_SPI_TFT

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

@@ -39,46 +39,47 @@
 #define DATASIZE_8BIT  SPI_DATASIZE_8BIT
 #define DATASIZE_16BIT SPI_DATASIZE_16BIT
 #define TFT_IO_DRIVER  TFT_SPI
+#define DMA_MAX_SIZE   0xFFFF
 
 class TFT_SPI {
 private:
   static SPI_HandleTypeDef SPIx;
-
+  static DMA_HandleTypeDef DMAtx;
 
   static uint32_t ReadID(uint16_t Reg);
   static void Transmit(uint16_t Data);
+  static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   #if ENABLED(USE_SPI_DMA_TC)
     static void TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   #endif
 
 public:
-  static DMA_HandleTypeDef DMAtx;
-
   static void Init();
   static uint32_t GetID();
   static bool isBusy();
   static void Abort();
 
   static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT);
-  static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); };
+  static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); __HAL_SPI_DISABLE(&SPIx); };
   static void DataTransferAbort();
 
   static void WriteData(uint16_t Data) { Transmit(Data); }
   static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); }
 
-  static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+  static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+  static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
 
   #if ENABLED(USE_SPI_DMA_TC)
     static void WriteSequenceIT(uint16_t *Data, uint16_t Count) { TransmitDMA_IT(DMA_MINC_ENABLE, Data, Count); }
+    inline static void DMA_IRQHandler() { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); }
   #endif
 
-  static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+  static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_MINC_ENABLE, Data, Count); }
   static void WriteMultiple(uint16_t Color, uint32_t Count) {
-    static uint16_t Data; Data = Color;
     while (Count > 0) {
-      TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-      Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+      Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+      Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
     }
   }
 };

Marlin/src/HAL/STM32F1/SPI.cpp

@@ -526,23 +526,22 @@ void SPIClass::onReceive(void(*callback)()) {
   _currentSetting->receiveCallback = callback;
   if (callback) {
     switch (_currentSetting->spi_d->clk_id) {
-    #if BOARD_NR_SPI >= 1
-    case RCC_SPI1:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi1EventCallback);
-      break;
-    #endif
-    #if BOARD_NR_SPI >= 2
-    case RCC_SPI2:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi2EventCallback);
-      break;
-    #endif
-    #if BOARD_NR_SPI >= 3
-    case RCC_SPI3:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi3EventCallback);
-      break;
-    #endif
-    default:
-      ASSERT(0);
+      #if BOARD_NR_SPI >= 1
+        case RCC_SPI1:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi1EventCallback);
+          break;
+      #endif
+      #if BOARD_NR_SPI >= 2
+        case RCC_SPI2:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi2EventCallback);
+          break;
+      #endif
+      #if BOARD_NR_SPI >= 3
+        case RCC_SPI3:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi3EventCallback);
+          break;
+      #endif
+      default: ASSERT(0);
     }
   }
   else {
@@ -554,23 +553,22 @@ void SPIClass::onTransmit(void(*callback)()) {
   _currentSetting->transmitCallback = callback;
   if (callback) {
     switch (_currentSetting->spi_d->clk_id) {
-    #if BOARD_NR_SPI >= 1
-    case RCC_SPI1:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi1EventCallback);
-      break;
-    #endif
-    #if BOARD_NR_SPI >= 2
-     case RCC_SPI2:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi2EventCallback);
-      break;
-    #endif
-    #if BOARD_NR_SPI >= 3
-    case RCC_SPI3:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi3EventCallback);
-      break;
-    #endif
-    default:
-      ASSERT(0);
+      #if BOARD_NR_SPI >= 1
+        case RCC_SPI1:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi1EventCallback);
+          break;
+      #endif
+      #if BOARD_NR_SPI >= 2
+         case RCC_SPI2:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi2EventCallback);
+          break;
+      #endif
+      #if BOARD_NR_SPI >= 3
+        case RCC_SPI3:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi3EventCallback);
+          break;
+      #endif
+      default: ASSERT(0);
     }
   }
   else {

Marlin/src/HAL/STM32F1/SPI.h

@@ -33,6 +33,15 @@
 #include <stdint.h>
 #include <wirish.h>
 
+// Number of SPI ports
+#ifdef BOARD_SPI3_SCK_PIN
+  #define BOARD_NR_SPI 3
+#elif defined(BOARD_SPI2_SCK_PIN)
+  #define BOARD_NR_SPI 2
+#elif defined(BOARD_SPI1_SCK_PIN)
+  #define BOARD_NR_SPI 1
+#endif
+
 // SPI_HAS_TRANSACTION means SPI has
 //   - beginTransaction()
 //   - endTransaction()

Marlin/src/HAL/STM32F1/eeprom_sdcard.cpp

@@ -47,7 +47,7 @@ static char _ALIGN(4) HAL_eeprom_data[MARLIN_EEPROM_SIZE];
 bool PersistentStore::access_start() {
   if (!card.isMounted()) return false;
 
-  SdFile file, root = card.getroot();
+  MediaFile file, root = card.getroot();
   if (!file.open(&root, EEPROM_FILENAME, O_RDONLY))
     return true; // false aborts the save
 
@@ -62,7 +62,7 @@ bool PersistentStore::access_start() {
 bool PersistentStore::access_finish() {
   if (!card.isMounted()) return false;
 
-  SdFile file, root = card.getroot();
+  MediaFile file, root = card.getroot();
   int bytes_written = 0;
   if (file.open(&root, EEPROM_FILENAME, O_CREAT | O_WRITE | O_TRUNC)) {
     bytes_written = file.write(HAL_eeprom_data, MARLIN_EEPROM_SIZE);

Marlin/src/HAL/STM32F1/fast_pwm.cpp

@@ -39,7 +39,7 @@ inline uint8_t timer_and_index_for_pin(const pin_t pin, timer_dev **timer_ptr) {
 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)) {
-    timer_dev *timer; UNUSED(timer);
+    timer_dev *timer;
     if (timer_freq[timer_and_index_for_pin(pin, &timer)] == 0)
       set_pwm_frequency(pin, PWM_FREQUENCY);
     const uint8_t channel = PIN_MAP[pin].timer_channel;
@@ -55,7 +55,7 @@ void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v
 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
 
-  timer_dev *timer; UNUSED(timer);
+  timer_dev *timer;
   timer_freq[timer_and_index_for_pin(pin, &timer)] = f_desired;
 
   // Protect used timers

Marlin/src/HAL/STM32F1/onboard_sd.h

@@ -1,11 +1,31 @@
-/*-----------------------------------------------------------------------
-/ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
-/ * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech]
-/ * Low level disk interface module include file   (C)ChaN, 2015
-/-----------------------------------------------------------------------*/
-
+/**
+ * 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
 
+/*-----------------------------------------------------------------------
+/ * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech]
+/ * Low level disk interface module include file (c) ChaN, 2015
+/-----------------------------------------------------------------------*/
+
 #define _DISKIO_WRITE   1   /* 1: Enable disk_write function */
 #define _DISKIO_IOCTL   1   /* 1: Enable disk_ioctl function */
 #define _DISKIO_ISDIO   0   /* 1: Enable iSDIO control function */

Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp

@@ -215,22 +215,47 @@ uint32_t TFT_FSMC::GetID() {
  }
 
 bool TFT_FSMC::isBusy() {
+  #define __IS_DMA_CONFIGURED(__DMAx__, __CHx__)   (dma_channel_regs(__DMAx__, __CHx__)->CPAR != 0)
+
+  if (!__IS_DMA_CONFIGURED(FSMC_DMA_DEV, FSMC_DMA_CHANNEL)) return false;
+
+  // Check if DMA transfer error or transfer complete flags are set
+  if ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & (DMA_ISR_TCIF | DMA_ISR_TEIF)) == 0) return true;
+
+  __DSB();
+  Abort();
   return false;
 }
 
 void TFT_FSMC::Abort() {
+  dma_channel_reg_map *channel_regs = dma_channel_regs(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
 
+  dma_disable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); // Abort DMA transfer if any
+
+  // Deconfigure DMA
+  channel_regs->CCR   = 0U;
+  channel_regs->CNDTR = 0U;
+  channel_regs->CMAR  = 0U;
+  channel_regs->CPAR  = 0U;
 }
 
 void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  // TODO: HAL STM32 uses DMA2_Channel1 for FSMC on STM32F1
+  dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | MemoryIncrease);
+  dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Count);
+  dma_clear_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
+  dma_enable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
+}
+
+void TFT_FSMC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   #if defined(FSMC_DMA_DEV) && defined(FSMC_DMA_CHANNEL)
     dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | MemoryIncrease);
     dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Count);
     dma_clear_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
     dma_enable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
 
-    while ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & 0x0A) == 0) {};
-    dma_disable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
+    while ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & (DMA_CCR_TEIE | DMA_CCR_TCIE)) == 0) {}
+    Abort();
   #endif
 }
 

Marlin/src/HAL/STM32F1/tft/tft_fsmc.h

@@ -33,6 +33,10 @@
 #define DATASIZE_8BIT  DMA_SIZE_8BITS
 #define DATASIZE_16BIT DMA_SIZE_16BITS
 #define TFT_IO_DRIVER  TFT_FSMC
+#define DMA_MAX_SIZE   0xFFFF
+
+#define DMA_PINC_ENABLE   DMA_PINC_MODE
+#define DMA_PINC_DISABLE  0
 
 typedef struct {
   __IO uint16_t REG;
@@ -45,6 +49,7 @@ class TFT_FSMC {
 
     static uint32_t ReadID(uint16_t Reg);
     static void Transmit(uint16_t Data);
+    static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
     static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
   public:
@@ -59,13 +64,14 @@ class TFT_FSMC {
     static void WriteData(uint16_t Data) { Transmit(Data); }
     static void WriteReg(uint16_t Reg);
 
-    static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_MODE, Data, Count); }
-    static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_CIRC_MODE, &Data, Count); }
+    static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); }
+    static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); }
+
+    static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); }
     static void WriteMultiple(uint16_t Color, uint32_t Count) {
-      static uint16_t Data; Data = Color;
       while (Count > 0) {
-        TransmitDMA(DMA_CIRC_MODE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-        Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+        Transmit(DMA_PINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+        Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
       }
     }
 };

Marlin/src/HAL/STM32F1/tft/tft_spi.cpp

@@ -26,7 +26,7 @@
 
 #include "tft_spi.h"
 
-SPIClass TFT_SPI::SPIx(1);
+SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE);
 
 void TFT_SPI::Init() {
   #if PIN_EXISTS(TFT_RESET)
@@ -46,7 +46,7 @@ void TFT_SPI::Init() {
    * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1
    * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2
    */
-  #if SPI_DEVICE == 1
+  #if TFT_SPI_DEVICE == 1
     #define SPI_CLOCK_MAX SPI_CLOCK_DIV4
   #else
     #define SPI_CLOCK_MAX SPI_CLOCK_DIV2
@@ -62,7 +62,7 @@ void TFT_SPI::Init() {
     case SPI_SPEED_6:       clock = SPI_CLOCK_DIV64; break;
     default:                clock = SPI_CLOCK_DIV2;  // Default from the SPI library
   }
-  SPIx.setModule(1);
+  SPIx.setModule(TFT_SPI_DEVICE);
   SPIx.setClockDivider(clock);
   SPIx.setBitOrder(MSBFIRST);
   SPIx.setDataMode(SPI_MODE0);
@@ -71,7 +71,7 @@ void TFT_SPI::Init() {
 void TFT_SPI::DataTransferBegin(uint16_t DataSize) {
   SPIx.setDataSize(DataSize);
   SPIx.begin();
-  OUT_WRITE(TFT_CS_PIN, LOW);
+  WRITE(TFT_CS_PIN, LOW);
 }
 
 #ifdef TFT_DEFAULT_DRIVER
@@ -113,15 +113,53 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
   #endif
 }
 
-bool TFT_SPI::isBusy() { return false; }
+bool TFT_SPI::isBusy() {
+  #define __IS_DMA_CONFIGURED(__DMAx__, __CHx__)   (dma_channel_regs(__DMAx__, __CHx__)->CPAR != 0)
 
-void TFT_SPI::Abort() { DataTransferEnd(); }
+  if (!__IS_DMA_CONFIGURED(DMAx, DMA_CHx)) return false;
+
+  if (dma_get_isr_bits(DMAx, DMA_CHx) & DMA_ISR_TEIF) {
+    // You should not be here - DMA transfer error flag is set
+    // Abort DMA transfer and release SPI
+  }
+  else {
+    // Check if DMA transfer completed flag is set
+    if (!(dma_get_isr_bits(DMAx, DMA_CHx) & DMA_ISR_TCIF)) return true;
+    // Check if SPI TX butter is empty and SPI is idle
+    if (!(SPIdev->regs->SR & SPI_SR_TXE) || (SPIdev->regs->SR & SPI_SR_BSY)) return true;
+  }
+
+  Abort();
+  return false;
+}
+
+void TFT_SPI::Abort() {
+  dma_channel_reg_map *channel_regs = dma_channel_regs(DMAx, DMA_CHx);
+
+  dma_disable(DMAx, DMA_CHx); // Abort DMA transfer if any
+  spi_tx_dma_disable(SPIdev);
+
+  // Deconfigure DMA
+  channel_regs->CCR   = 0U;
+  channel_regs->CNDTR = 0U;
+  channel_regs->CMAR  = 0U;
+  channel_regs->CPAR  = 0U;
+
+  DataTransferEnd();
+}
 
 void TFT_SPI::Transmit(uint16_t Data) { SPIx.send(Data); }
 
 void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   DataTransferBegin();
-  OUT_WRITE(TFT_DC_PIN, HIGH);
+  SPIx.dmaSendAsync(Data, Count, MemoryIncrease == DMA_MINC_ENABLE);
+
+  TERN_(TFT_SHARED_SPI, while (isBusy()));
+}
+
+void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  WRITE(TFT_DC_PIN, HIGH);
+  DataTransferBegin();
   SPIx.dmaSend(Data, Count, MemoryIncrease == DMA_MINC_ENABLE);
   DataTransferEnd();
 }

Marlin/src/HAL/STM32F1/tft/tft_spi.h

@@ -25,6 +25,27 @@
 
 #include <SPI.h>
 
+#define IS_SPI(N) (BOARD_NR_SPI >= N && (TFT_SCK_PIN == BOARD_SPI##N##_SCK_PIN) && (TFT_MOSI_PIN == BOARD_SPI##N##_MOSI_PIN) && (TFT_MISO_PIN == BOARD_SPI##N##_MISO_PIN))
+#if IS_SPI(1)
+  #define TFT_SPI_DEVICE  1
+  #define SPIdev          SPI1
+  #define DMAx            DMA1
+  #define DMA_CHx         DMA_CH3
+#elif IS_SPI(2)
+  #define TFT_SPI_DEVICE  2
+  #define SPIdev          SPI2
+  #define DMAx            DMA1
+  #define DMA_CHx         DMA_CH5
+#elif IS_SPI(3)
+  #define TFT_SPI_DEVICE  3
+  #define SPIdev          SPI3
+  #define DMAx            DMA2
+  #define DMA_CHx         DMA_CH2
+#else
+  #error "Invalid TFT SPI configuration."
+#endif
+#undef IS_SPI
+
 #ifndef LCD_READ_ID
   #define LCD_READ_ID 0x04   // Read display identification information (0xD3 on ILI9341)
 #endif
@@ -32,17 +53,19 @@
   #define LCD_READ_ID4 0xD3   // Read display identification information (0xD3 on ILI9341)
 #endif
 
-#define DATASIZE_8BIT    DATA_SIZE_8BIT
-#define DATASIZE_16BIT   DATA_SIZE_16BIT
-#define TFT_IO_DRIVER TFT_SPI
+#define DATASIZE_8BIT  DATA_SIZE_8BIT
+#define DATASIZE_16BIT DATA_SIZE_16BIT
+#define TFT_IO_DRIVER  TFT_SPI
+#define DMA_MAX_SIZE   0xFFFF
 
-#define DMA_MINC_ENABLE 1
-#define DMA_MINC_DISABLE 0
+#define DMA_MINC_ENABLE   DMA_MINC_MODE
+#define DMA_MINC_DISABLE  0
 
 class TFT_SPI {
 private:
   static uint32_t ReadID(uint16_t Reg);
   static void Transmit(uint16_t Data);
+  static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
 public:
@@ -58,15 +81,16 @@ public:
   static void DataTransferAbort();
 
   static void WriteData(uint16_t Data) { Transmit(Data); }
-  static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); }
+  static void WriteReg(uint16_t Reg) { WRITE(TFT_DC_PIN, LOW); Transmit(Reg); WRITE(TFT_DC_PIN, HIGH); }
 
-  static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
-  static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+  static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+  static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+
+  static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_MINC_ENABLE, Data, Count); }
   static void WriteMultiple(uint16_t Color, uint32_t Count) {
-    static uint16_t Data; Data = Color;
     while (Count > 0) {
-      TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-      Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+      Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+      Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
     }
   }
 };

Marlin/src/HAL/platforms.h

@@ -50,6 +50,8 @@
   #define HAL_PATH(PATH, NAME) XSTR(PATH/NATIVE_SIM/NAME)
 #elif defined(__SAMD51__)
   #define HAL_PATH(PATH, NAME) XSTR(PATH/SAMD51/NAME)
+#elif defined(__SAMD21__)
+  #define HAL_PATH(PATH, NAME) XSTR(PATH/SAMD21/NAME)
 #else
   #error "Unsupported Platform!"
 #endif

Marlin/src/HAL/shared/servo.h

@@ -83,10 +83,10 @@
 #else
   #include <stdint.h>
 
-  #if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined(__SAMD51__)
+  #if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined(__SAMD51__) || defined(__SAMD21__)
     // we're good to go
   #else
-    #error "This library only supports boards with an AVR, SAM3X or SAMD51 processor."
+    #error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor."
   #endif
 
   #define Servo_VERSION           2     // software version of this library

Marlin/src/HAL/shared/servo_private.h

@@ -49,8 +49,10 @@
   #include "../DUE/ServoTimers.h"
 #elif defined(__SAMD51__)
   #include "../SAMD51/ServoTimers.h"
+#elif defined(__SAMD21__)
+  #include "../SAMD21/ServoTimers.h"
 #else
-  #error "This library only supports boards with an AVR, SAM3X or SAMD51 processor."
+  #error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor."
 #endif
 
 // Macros

Marlin/src/MarlinCore.cpp

@@ -168,6 +168,8 @@
   #include "module/polargraph.h"
 #elif IS_SCARA
   #include "module/scara.h"
+#elif ENABLED(POLAR)
+  #include "module/polar.h"
 #endif
 
 #if HAS_LEVELING
@@ -232,7 +234,7 @@
   #include "feature/password/password.h"
 #endif
 
-#if ENABLED(DGUS_LCD_UI_MKS)
+#if DGUS_LCD_UI_MKS
   #include "lcd/extui/dgus/DGUSScreenHandler.h"
 #endif
 
@@ -446,7 +448,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
           TERN_(DISABLE_INACTIVE_U, stepper.disable_axis(U_AXIS));
           TERN_(DISABLE_INACTIVE_V, stepper.disable_axis(V_AXIS));
           TERN_(DISABLE_INACTIVE_W, stepper.disable_axis(W_AXIS));
-          TERN_(DISABLE_INACTIVE_E, stepper.disable_e_steppers());
+          TERN_(DISABLE_INACTIVE_EXTRUDER, stepper.disable_e_steppers());
 
           TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled());
         }
@@ -667,7 +669,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
       && ELAPSED(ms, gcode.previous_move_ms + SEC_TO_MS(EXTRUDER_RUNOUT_SECONDS))
       && !planner.has_blocks_queued()
     ) {
-      #if ENABLED(SWITCHING_EXTRUDER)
+      #if HAS_SWITCHING_EXTRUDER
         bool oldstatus;
         switch (active_extruder) {
           default: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 0); stepper.ENABLE_EXTRUDER(0); break;
@@ -681,7 +683,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
             #endif // E_STEPPERS > 2
           #endif // E_STEPPERS > 1
         }
-      #else // !SWITCHING_EXTRUDER
+      #else // !HAS_SWITCHING_EXTRUDER
         bool oldstatus;
         switch (active_extruder) {
           default:
@@ -697,7 +699,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
       planner.set_e_position_mm(olde);
       planner.synchronize();
 
-      #if ENABLED(SWITCHING_EXTRUDER)
+      #if HAS_SWITCHING_EXTRUDER
         switch (active_extruder) {
           default: if (oldstatus) stepper.ENABLE_EXTRUDER(0); else stepper.DISABLE_EXTRUDER(0); break;
           #if E_STEPPERS > 1
@@ -707,12 +709,12 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
             #endif // E_STEPPERS > 2
           #endif // E_STEPPERS > 1
         }
-      #else // !SWITCHING_EXTRUDER
+      #else // !HAS_SWITCHING_EXTRUDER
         switch (active_extruder) {
           #define _CASE_RESTORE(N) case N: if (oldstatus) stepper.ENABLE_EXTRUDER(N); else stepper.DISABLE_EXTRUDER(N); break;
           REPEAT(E_STEPPERS, _CASE_RESTORE);
         }
-      #endif // !SWITCHING_EXTRUDER
+      #endif // !HAS_SWITCHING_EXTRUDER
 
       gcode.reset_stepper_timeout(ms);
     }

Marlin/src/core/boards.h

@@ -221,7 +221,7 @@
 #define BOARD_5DPRINT                 1707  // 5DPrint D8 Driver Board
 
 //
-// LPC1768 ARM Cortex M3
+// LPC1768 ARM Cortex-M3
 //
 
 #define BOARD_RAMPS_14_RE_ARM_EFB     2000  // Re-ARM with RAMPS 1.4 (Power outputs: Hotend, Fan, Bed)
@@ -242,7 +242,7 @@
 #define BOARD_EMOTRONIC               2015  // eMotion-Tech eMotronic
 
 //
-// LPC1769 ARM Cortex M3
+// LPC1769 ARM Cortex-M3
 //
 
 #define BOARD_MKS_SGEN                2500  // MKS-SGen
@@ -259,7 +259,7 @@
 #define BOARD_FLY_CDY                 2511  // FLYmaker FLY CDY
 
 //
-// SAM3X8E ARM Cortex M3
+// SAM3X8E ARM Cortex-M3
 //
 
 #define BOARD_DUE3DOM                 3000  // DUE3DOM for Arduino DUE
@@ -292,178 +292,195 @@
 #define BOARD_KRATOS32                3027  // K.3D Kratos32 (Arduino Due Shield)
 
 //
-// SAM3X8C ARM Cortex M3
+// SAM3X8C ARM Cortex-M3
 //
 
 #define BOARD_PRINTRBOARD_G2          3100  // Printrboard G2
 #define BOARD_ADSK                    3101  // Arduino DUE Shield Kit (ADSK)
 
+//
+// STM32 ARM Cortex-M0+
+//
+
+#define BOARD_BTT_EBB42_V1_1          4000  // BigTreeTech EBB42 V1.1 (STM32G0B1CB)
+#define BOARD_BTT_SKR_MINI_E3_V3_0    4001  // BigTreeTech SKR Mini E3 V3.0 (STM32G0B1RE)
+#define BOARD_BTT_MANTA_E3_EZ_V1_0    4002  // BigTreeTech Manta E3 EZ V1.0 (STM32G0B1RE)
+#define BOARD_BTT_MANTA_M4P_V1_0      4003  // BigTreeTech Manta M4P V1.0 (STM32G0B1RE)
+#define BOARD_BTT_MANTA_M5P_V1_0      4004  // BigTreeTech Manta M5P V1.0 (STM32G0B1RE)
+#define BOARD_BTT_MANTA_M8P_V1_0      4005  // BigTreeTech Manta M8P V1.0 (STM32G0B1VE)
+#define BOARD_BTT_MANTA_M8P_V1_1      4006  // BigTreeTech Manta M8P V1.1 (STM32G0B1VE)
+
 //
 // STM32 ARM Cortex-M3
 //
 
-#define BOARD_MALYAN_M200_V2          4000  // STM32F070CB controller
-#define BOARD_MALYAN_M300             4001  // STM32F070-based delta
-#define BOARD_STM32F103RE             4002  // STM32F103RE Libmaple-based STM32F1 controller
-#define BOARD_MALYAN_M200             4003  // STM32C8 Libmaple-based STM32F1 controller
-#define BOARD_STM3R_MINI              4004  // STM32F103RE Libmaple-based STM32F1 controller
-#define BOARD_GTM32_PRO_VB            4005  // STM32F103VE controller
-#define BOARD_GTM32_MINI              4006  // STM32F103VE controller
-#define BOARD_GTM32_MINI_A30          4007  // STM32F103VE controller
-#define BOARD_GTM32_REV_B             4008  // STM32F103VE controller
-#define BOARD_MORPHEUS                4009  // STM32F103C8 / STM32F103CB  Libmaple-based STM32F1 controller
-#define BOARD_CHITU3D                 4010  // Chitu3D (STM32F103RE)
-#define BOARD_MKS_ROBIN               4011  // MKS Robin (STM32F103ZE)
-#define BOARD_MKS_ROBIN_MINI          4012  // MKS Robin Mini (STM32F103VE)
-#define BOARD_MKS_ROBIN_NANO          4013  // MKS Robin Nano (STM32F103VE)
-#define BOARD_MKS_ROBIN_NANO_V2       4014  // MKS Robin Nano V2 (STM32F103VE)
-#define BOARD_MKS_ROBIN_LITE          4015  // MKS Robin Lite/Lite2 (STM32F103RC)
-#define BOARD_MKS_ROBIN_LITE3         4016  // MKS Robin Lite3 (STM32F103RC)
-#define BOARD_MKS_ROBIN_PRO           4017  // MKS Robin Pro (STM32F103ZE)
-#define BOARD_MKS_ROBIN_E3            4018  // MKS Robin E3 (STM32F103RC)
-#define BOARD_MKS_ROBIN_E3_V1_1       4019  // MKS Robin E3 V1.1 (STM32F103RC)
-#define BOARD_MKS_ROBIN_E3D           4020  // MKS Robin E3D (STM32F103RC)
-#define BOARD_MKS_ROBIN_E3D_V1_1      4021  // MKS Robin E3D V1.1 (STM32F103RC)
-#define BOARD_MKS_ROBIN_E3P           4022  // MKS Robin E3p (STM32F103VE)
-#define BOARD_BTT_SKR_MINI_V1_1       4023  // BigTreeTech SKR Mini v1.1 (STM32F103RC)
-#define BOARD_BTT_SKR_MINI_E3_V1_0    4024  // BigTreeTech SKR Mini E3 (STM32F103RC)
-#define BOARD_BTT_SKR_MINI_E3_V1_2    4025  // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC)
-#define BOARD_BTT_SKR_MINI_E3_V2_0    4026  // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC / STM32F103RE)
-#define BOARD_BTT_SKR_MINI_E3_V3_0    4027  // BigTreeTech SKR Mini E3 V3.0 (STM32G0B1RE)
-#define BOARD_BTT_SKR_MINI_E3_V3_0_1  4028  // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC)
-#define BOARD_BTT_SKR_MINI_MZ_V1_0    4029  // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC)
-#define BOARD_BTT_SKR_E3_DIP          4030  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
-#define BOARD_BTT_SKR_CR6             4031  // BigTreeTech SKR CR6 v1.0 (STM32F103RE)
-#define BOARD_JGAURORA_A5S_A1         4032  // JGAurora A5S A1 (STM32F103ZE)
-#define BOARD_FYSETC_AIO_II           4033  // FYSETC AIO_II (STM32F103RC)
-#define BOARD_FYSETC_CHEETAH          4034  // FYSETC Cheetah (STM32F103RC)
-#define BOARD_FYSETC_CHEETAH_V12      4035  // FYSETC Cheetah V1.2 (STM32F103RC)
-#define BOARD_LONGER3D_LK             4036  // Longer3D LK1/2 - Alfawise U20/U20+/U30 (STM32F103VE)
-#define BOARD_CCROBOT_MEEB_3DP        4037  // ccrobot-online.com MEEB_3DP (STM32F103RC)
-#define BOARD_CHITU3D_V5              4038  // Chitu3D TronXY X5SA V5 Board (STM32F103ZE)
-#define BOARD_CHITU3D_V6              4039  // Chitu3D TronXY X5SA V6 Board (STM32F103ZE)
-#define BOARD_CHITU3D_V9              4040  // Chitu3D TronXY X5SA V9 Board (STM32F103ZE)
-#define BOARD_CREALITY_V4             4041  // Creality v4.x (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V422           4042  // Creality v4.2.2 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V423           4043  // Creality v4.2.3 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V425           4044  // Creality v4.2.5 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V427           4045  // Creality v4.2.7 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V4210          4046  // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30
-#define BOARD_CREALITY_V431           4047  // Creality v4.3.1 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_A         4048  // Creality v4.3.1a (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_B         4049  // Creality v4.3.1b (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_C         4050  // Creality v4.3.1c (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_D         4051  // Creality v4.3.1d (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V452           4052  // Creality v4.5.2 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V453           4053  // Creality v4.5.3 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V521           4054  // Creality v5.2.1 (STM32F103VE) as found in the SV04
-#define BOARD_CREALITY_V24S1          4055  // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7
-#define BOARD_CREALITY_V24S1_301      4056  // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1
-#define BOARD_CREALITY_V25S1          4057  // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro
-#define BOARD_TRIGORILLA_PRO          4058  // Trigorilla Pro (STM32F103ZE)
-#define BOARD_FLY_MINI                4059  // FLYmaker FLY MINI (STM32F103RC)
-#define BOARD_FLSUN_HISPEED           4060  // FLSUN HiSpeedV1 (STM32F103VE)
-#define BOARD_BEAST                   4061  // STM32F103RE Libmaple-based controller
-#define BOARD_MINGDA_MPX_ARM_MINI     4062  // STM32F103ZE Mingda MD-16
-#define BOARD_GTM32_PRO_VD            4063  // STM32F103VE controller
-#define BOARD_ZONESTAR_ZM3E2          4064  // Zonestar ZM3E2    (STM32F103RC)
-#define BOARD_ZONESTAR_ZM3E4          4065  // Zonestar ZM3E4 V1 (STM32F103VC)
-#define BOARD_ZONESTAR_ZM3E4V2        4066  // Zonestar ZM3E4 V2 (STM32F103VC)
-#define BOARD_ERYONE_ERY32_MINI       4067  // Eryone Ery32 mini (STM32F103VE)
-#define BOARD_PANDA_PI_V29            4068  // Panda Pi V2.9 - Standalone (STM32F103RC)
+#define BOARD_MALYAN_M200_V2          5000  // STM32F070CB controller
+#define BOARD_MALYAN_M300             5001  // STM32F070-based delta
+#define BOARD_STM32F103RE             5002  // STM32F103RE Libmaple-based STM32F1 controller
+#define BOARD_MALYAN_M200             5003  // STM32C8 Libmaple-based STM32F1 controller
+#define BOARD_STM3R_MINI              5004  // STM32F103RE Libmaple-based STM32F1 controller
+#define BOARD_GTM32_PRO_VB            5005  // STM32F103VE controller
+#define BOARD_GTM32_MINI              5006  // STM32F103VE controller
+#define BOARD_GTM32_MINI_A30          5007  // STM32F103VE controller
+#define BOARD_GTM32_REV_B             5008  // STM32F103VE controller
+#define BOARD_MORPHEUS                5009  // STM32F103C8 / STM32F103CB  Libmaple-based STM32F1 controller
+#define BOARD_CHITU3D                 5010  // Chitu3D (STM32F103RE)
+#define BOARD_MKS_ROBIN               5011  // MKS Robin (STM32F103ZE)
+#define BOARD_MKS_ROBIN_MINI          5012  // MKS Robin Mini (STM32F103VE)
+#define BOARD_MKS_ROBIN_NANO          5013  // MKS Robin Nano (STM32F103VE)
+#define BOARD_MKS_ROBIN_NANO_V2       5014  // MKS Robin Nano V2 (STM32F103VE)
+#define BOARD_MKS_ROBIN_LITE          5015  // MKS Robin Lite/Lite2 (STM32F103RC)
+#define BOARD_MKS_ROBIN_LITE3         5016  // MKS Robin Lite3 (STM32F103RC)
+#define BOARD_MKS_ROBIN_PRO           5017  // MKS Robin Pro (STM32F103ZE)
+#define BOARD_MKS_ROBIN_E3            5018  // MKS Robin E3 (STM32F103RC)
+#define BOARD_MKS_ROBIN_E3_V1_1       5019  // MKS Robin E3 V1.1 (STM32F103RC)
+#define BOARD_MKS_ROBIN_E3D           5020  // MKS Robin E3D (STM32F103RC)
+#define BOARD_MKS_ROBIN_E3D_V1_1      5021  // MKS Robin E3D V1.1 (STM32F103RC)
+#define BOARD_MKS_ROBIN_E3P           5022  // MKS Robin E3P (STM32F103VE)
+#define BOARD_BTT_SKR_MINI_V1_1       5023  // BigTreeTech SKR Mini v1.1 (STM32F103RC)
+#define BOARD_BTT_SKR_MINI_E3_V1_0    5024  // BigTreeTech SKR Mini E3 (STM32F103RC)
+#define BOARD_BTT_SKR_MINI_E3_V1_2    5025  // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC)
+#define BOARD_BTT_SKR_MINI_E3_V2_0    5026  // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC / STM32F103RE)
+#define BOARD_BTT_SKR_MINI_MZ_V1_0    5027  // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC)
+#define BOARD_BTT_SKR_E3_DIP          5028  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
+#define BOARD_BTT_SKR_CR6             5029  // BigTreeTech SKR CR6 v1.0 (STM32F103RE)
+#define BOARD_JGAURORA_A5S_A1         5030  // JGAurora A5S A1 (STM32F103ZE)
+#define BOARD_FYSETC_AIO_II           5031  // FYSETC AIO_II (STM32F103RC)
+#define BOARD_FYSETC_CHEETAH          5032  // FYSETC Cheetah (STM32F103RC)
+#define BOARD_FYSETC_CHEETAH_V12      5033  // FYSETC Cheetah V1.2 (STM32F103RC)
+#define BOARD_LONGER3D_LK             5034  // Longer3D LK1/2 - Alfawise U20/U20+/U30 (STM32F103VE)
+#define BOARD_CCROBOT_MEEB_3DP        5035  // ccrobot-online.com MEEB_3DP (STM32F103RC)
+#define BOARD_CHITU3D_V5              5036  // Chitu3D TronXY X5SA V5 Board (STM32F103ZE)
+#define BOARD_CHITU3D_V6              5037  // Chitu3D TronXY X5SA V6 Board (STM32F103ZE)
+#define BOARD_CHITU3D_V9              5038  // Chitu3D TronXY X5SA V9 Board (STM32F103ZE)
+#define BOARD_CREALITY_V4             5039  // Creality v4.x (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V422           5040  // Creality v4.2.2 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V423           5041  // Creality v4.2.3 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V425           5042  // Creality v4.2.5 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V427           5043  // Creality v4.2.7 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V4210          5044  // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30
+#define BOARD_CREALITY_V431           5045  // Creality v4.3.1 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_A         5046  // Creality v4.3.1a (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_B         5047  // Creality v4.3.1b (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_C         5048  // Creality v4.3.1c (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_D         5049  // Creality v4.3.1d (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V452           5050  // Creality v4.5.2 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V453           5051  // Creality v4.5.3 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V521           5052  // Creality v5.2.1 (STM32F103VE) as found in the SV04
+#define BOARD_CREALITY_V24S1          5053  // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7
+#define BOARD_CREALITY_V24S1_301      5054  // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1
+#define BOARD_CREALITY_V25S1          5055  // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro
+#define BOARD_TRIGORILLA_PRO          5056  // Trigorilla Pro (STM32F103ZE)
+#define BOARD_FLY_MINI                5057  // FLYmaker FLY MINI (STM32F103RC)
+#define BOARD_FLSUN_HISPEED           5058  // FLSUN HiSpeedV1 (STM32F103VE)
+#define BOARD_BEAST                   5059  // STM32F103RE Libmaple-based controller
+#define BOARD_MINGDA_MPX_ARM_MINI     5060  // STM32F103ZE Mingda MD-16
+#define BOARD_GTM32_PRO_VD            5061  // STM32F103VE controller
+#define BOARD_ZONESTAR_ZM3E2          5062  // Zonestar ZM3E2    (STM32F103RC)
+#define BOARD_ZONESTAR_ZM3E4          5063  // Zonestar ZM3E4 V1 (STM32F103VC)
+#define BOARD_ZONESTAR_ZM3E4V2        5064  // Zonestar ZM3E4 V2 (STM32F103VC)
+#define BOARD_ERYONE_ERY32_MINI       5065  // Eryone Ery32 mini (STM32F103VE)
+#define BOARD_PANDA_PI_V29            5066  // Panda Pi V2.9 - Standalone (STM32F103RC)
 
 //
 // ARM Cortex-M4F
 //
 
-#define BOARD_TEENSY31_32             4100  // Teensy3.1 and Teensy3.2
-#define BOARD_TEENSY35_36             4101  // Teensy3.5 and Teensy3.6
+#define BOARD_TEENSY31_32             5100  // Teensy3.1 and Teensy3.2
+#define BOARD_TEENSY35_36             5101  // Teensy3.5 and Teensy3.6
 
 //
 // STM32 ARM Cortex-M4F
 //
 
-#define BOARD_ARMED                   4200  // Arm'ed STM32F4-based controller
-#define BOARD_RUMBA32_V1_0            4201  // RUMBA32 STM32F446VE based controller from Aus3D
-#define BOARD_RUMBA32_V1_1            4202  // RUMBA32 STM32F446VE based controller from Aus3D
-#define BOARD_RUMBA32_MKS             4203  // RUMBA32 STM32F446VE based controller from Makerbase
-#define BOARD_RUMBA32_BTT             4204  // RUMBA32 STM32F446VE based controller from BIGTREETECH
-#define BOARD_BLACK_STM32F407VE       4205  // BLACK_STM32F407VE
-#define BOARD_BLACK_STM32F407ZE       4206  // BLACK_STM32F407ZE
-#define BOARD_BTT_SKR_PRO_V1_1        4207  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
-#define BOARD_BTT_SKR_PRO_V1_2        4208  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
-#define BOARD_BTT_BTT002_V1_0         4209  // BigTreeTech BTT002 v1.0 (STM32F407VG)
-#define BOARD_BTT_E3_RRF              4210  // BigTreeTech E3 RRF (STM32F407VG)
-#define BOARD_BTT_SKR_V2_0_REV_A      4211  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
-#define BOARD_BTT_SKR_V2_0_REV_B      4212  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
-#define BOARD_BTT_GTR_V1_0            4213  // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_BTT_OCTOPUS_V1_0        4214  // BigTreeTech Octopus v1.0 (STM32F446ZE)
-#define BOARD_BTT_OCTOPUS_V1_1        4215  // BigTreeTech Octopus v1.1 (STM32F446ZE)
-#define BOARD_BTT_OCTOPUS_PRO_V1_0    4216  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG)
-#define BOARD_LERDGE_K                4217  // Lerdge K (STM32F407ZG)
-#define BOARD_LERDGE_S                4218  // Lerdge S (STM32F407VE)
-#define BOARD_LERDGE_X                4219  // Lerdge X (STM32F407VE)
-#define BOARD_VAKE403D                4220  // VAkE 403D (STM32F446VE)
-#define BOARD_FYSETC_S6               4221  // FYSETC S6 (STM32F446VE)
-#define BOARD_FYSETC_S6_V2_0          4222  // FYSETC S6 v2.0 (STM32F446VE)
-#define BOARD_FYSETC_SPIDER           4223  // FYSETC Spider (STM32F446VE)
-#define BOARD_FLYF407ZG               4224  // FLYmaker FLYF407ZG (STM32F407ZG)
-#define BOARD_MKS_ROBIN2              4225  // MKS_ROBIN2 (STM32F407ZE)
-#define BOARD_MKS_ROBIN_PRO_V2        4226  // MKS Robin Pro V2 (STM32F407VE)
-#define BOARD_MKS_ROBIN_NANO_V3       4227  // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_MKS_ROBIN_NANO_V3_1     4228  // MKS Robin Nano V3.1 (STM32F407VE)
-#define BOARD_MKS_MONSTER8_V1         4229  // MKS Monster8 V1 (STM32F407VE)
-#define BOARD_MKS_MONSTER8_V2         4230  // MKS Monster8 V2 (STM32F407VE)
-#define BOARD_ANET_ET4                4231  // ANET ET4 V1.x (STM32F407VG)
-#define BOARD_ANET_ET4P               4232  // ANET ET4P V1.x (STM32F407VG)
-#define BOARD_FYSETC_CHEETAH_V20      4233  // FYSETC Cheetah V2.0 (STM32F401RC)
-#define BOARD_TH3D_EZBOARD_V2         4234  // TH3D EZBoard v2.0 (STM32F405RG)
-#define BOARD_OPULO_LUMEN_REV3        4235  // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG)
-#define BOARD_MKS_ROBIN_NANO_V1_3_F4  4236  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE)
-#define BOARD_MKS_EAGLE               4237  // MKS Eagle (STM32F407VE)
-#define BOARD_ARTILLERY_RUBY          4238  // Artillery Ruby (STM32F401RC)
-#define BOARD_FYSETC_SPIDER_V2_2      4239  // FYSETC Spider V2.2 (STM32F446VE)
-#define BOARD_CREALITY_V24S1_301F4    4240  // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4
-#define BOARD_OPULO_LUMEN_REV4        4241  // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG)
-#define BOARD_FYSETC_SPIDER_KING407   4242  // FYSETC Spider King407 (STM32F407ZG)
-#define BOARD_MKS_SKIPR_V1            4243  // MKS SKIPR v1.0 all-in-one board (STM32F407VE)
-#define BOARD_TRONXY_V10              4244  // TRONXY V10 (STM32F446ZE)
+#define BOARD_ARMED                   5200  // Arm'ed STM32F4-based controller
+#define BOARD_RUMBA32_V1_0            5201  // RUMBA32 STM32F446VE based controller from Aus3D
+#define BOARD_RUMBA32_V1_1            5202  // RUMBA32 STM32F446VE based controller from Aus3D
+#define BOARD_RUMBA32_MKS             5203  // RUMBA32 STM32F446VE based controller from Makerbase
+#define BOARD_RUMBA32_BTT             5204  // RUMBA32 STM32F446VE based controller from BIGTREETECH
+#define BOARD_BLACK_STM32F407VE       5205  // BLACK_STM32F407VE
+#define BOARD_BLACK_STM32F407ZE       5206  // BLACK_STM32F407ZE
+#define BOARD_BTT_SKR_MINI_E3_V3_0_1  5207  // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC)
+#define BOARD_BTT_SKR_PRO_V1_1        5208  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
+#define BOARD_BTT_SKR_PRO_V1_2        5209  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
+#define BOARD_BTT_BTT002_V1_0         5210  // BigTreeTech BTT002 v1.0 (STM32F407VG)
+#define BOARD_BTT_E3_RRF              5211  // BigTreeTech E3 RRF (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_A      5212  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_B      5213  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
+#define BOARD_BTT_GTR_V1_0            5214  // BigTreeTech GTR v1.0 (STM32F407IGT)
+#define BOARD_BTT_OCTOPUS_V1_0        5215  // BigTreeTech Octopus v1.0 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_V1_1        5216  // BigTreeTech Octopus v1.1 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_PRO_V1_0    5217  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG)
+#define BOARD_LERDGE_K                5218  // Lerdge K (STM32F407ZG)
+#define BOARD_LERDGE_S                5219  // Lerdge S (STM32F407VE)
+#define BOARD_LERDGE_X                5220  // Lerdge X (STM32F407VE)
+#define BOARD_VAKE403D                5221  // VAkE 403D (STM32F446VE)
+#define BOARD_FYSETC_S6               5222  // FYSETC S6 (STM32F446VE)
+#define BOARD_FYSETC_S6_V2_0          5223  // FYSETC S6 v2.0 (STM32F446VE)
+#define BOARD_FYSETC_SPIDER           5224  // FYSETC Spider (STM32F446VE)
+#define BOARD_FLYF407ZG               5225  // FLYmaker FLYF407ZG (STM32F407ZG)
+#define BOARD_MKS_ROBIN2              5226  // MKS_ROBIN2 (STM32F407ZE)
+#define BOARD_MKS_ROBIN_PRO_V2        5227  // MKS Robin Pro V2 (STM32F407VE)
+#define BOARD_MKS_ROBIN_NANO_V3       5228  // MKS Robin Nano V3 (STM32F407VG)
+#define BOARD_MKS_ROBIN_NANO_V3_1     5229  // MKS Robin Nano V3.1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8_V1         5230  // MKS Monster8 V1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8_V2         5231  // MKS Monster8 V2 (STM32F407VE)
+#define BOARD_ANET_ET4                5232  // ANET ET4 V1.x (STM32F407VG)
+#define BOARD_ANET_ET4P               5233  // ANET ET4P V1.x (STM32F407VG)
+#define BOARD_FYSETC_CHEETAH_V20      5234  // FYSETC Cheetah V2.0 (STM32F401RC)
+#define BOARD_TH3D_EZBOARD_V2         5235  // TH3D EZBoard v2.0 (STM32F405RG)
+#define BOARD_OPULO_LUMEN_REV3        5236  // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG)
+#define BOARD_MKS_ROBIN_NANO_V1_3_F4  5237  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE)
+#define BOARD_MKS_EAGLE               5238  // MKS Eagle (STM32F407VE)
+#define BOARD_ARTILLERY_RUBY          5239  // Artillery Ruby (STM32F401RC)
+#define BOARD_FYSETC_SPIDER_V2_2      5240  // FYSETC Spider V2.2 (STM32F446VE)
+#define BOARD_CREALITY_V24S1_301F4    5241  // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4
+#define BOARD_OPULO_LUMEN_REV4        5242  // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG)
+#define BOARD_FYSETC_SPIDER_KING407   5243  // FYSETC Spider King407 (STM32F407ZG)
+#define BOARD_MKS_SKIPR_V1            5244  // MKS SKIPR v1.0 all-in-one board (STM32F407VE)
+#define BOARD_TRONXY_V10              5245  // TRONXY V10 (STM32F446ZE)
 
 //
-// ARM Cortex M7
+// ARM Cortex-M7
 //
 
-#define BOARD_REMRAM_V1               5000  // RemRam v1
-#define BOARD_TEENSY41                5001  // Teensy 4.1
-#define BOARD_T41U5XBB                5002  // T41U5XBB Teensy 4.1 breakout board
-#define BOARD_NUCLEO_F767ZI           5003  // ST NUCLEO-F767ZI Dev Board
-#define BOARD_BTT_SKR_SE_BX_V2        5004  // BigTreeTech SKR SE BX V2.0 (STM32H743II)
-#define BOARD_BTT_SKR_SE_BX_V3        5005  // BigTreeTech SKR SE BX V3.0 (STM32H743II)
-#define BOARD_BTT_SKR_V3_0            5006  // BigTreeTech SKR V3.0 (STM32H743VG)
-#define BOARD_BTT_SKR_V3_0_EZ         5007  // BigTreeTech SKR V3.0 EZ (STM32H743VG)
+#define BOARD_REMRAM_V1               6000  // RemRam v1
+#define BOARD_TEENSY41                6001  // Teensy 4.1
+#define BOARD_T41U5XBB                6002  // T41U5XBB Teensy 4.1 breakout board
+#define BOARD_NUCLEO_F767ZI           6003  // ST NUCLEO-F767ZI Dev Board
+#define BOARD_BTT_SKR_SE_BX_V2        6004  // BigTreeTech SKR SE BX V2.0 (STM32H743II)
+#define BOARD_BTT_SKR_SE_BX_V3        6005  // BigTreeTech SKR SE BX V3.0 (STM32H743II)
+#define BOARD_BTT_SKR_V3_0            6006  // BigTreeTech SKR V3.0 (STM32H743VG)
+#define BOARD_BTT_SKR_V3_0_EZ         6007  // BigTreeTech SKR V3.0 EZ (STM32H743VG)
 
 //
 // Espressif ESP32 WiFi
 //
 
-#define BOARD_ESPRESSIF_ESP32         6000  // Generic ESP32
-#define BOARD_MRR_ESPA                6001  // MRR ESPA based on ESP32 (native pins only)
-#define BOARD_MRR_ESPE                6002  // MRR ESPE based on ESP32 (with I2S stepper stream)
-#define BOARD_E4D_BOX                 6003  // E4d@BOX
-#define BOARD_RESP32_CUSTOM           6004  // Rutilea ESP32 custom board
-#define BOARD_FYSETC_E4               6005  // FYSETC E4
-#define BOARD_PANDA_ZHU               6006  // Panda_ZHU
-#define BOARD_PANDA_M4                6007  // Panda_M4
-#define BOARD_MKS_TINYBEE             6008  // MKS TinyBee based on ESP32 (with I2S stepper stream)
-#define BOARD_ENWI_ESPNP              6009  // enwi ESPNP based on ESP32 (with I2S stepper stream)
+#define BOARD_ESPRESSIF_ESP32         7000  // Generic ESP32
+#define BOARD_MRR_ESPA                7001  // MRR ESPA based on ESP32 (native pins only)
+#define BOARD_MRR_ESPE                7002  // MRR ESPE based on ESP32 (with I2S stepper stream)
+#define BOARD_E4D_BOX                 7003  // E4d@BOX
+#define BOARD_RESP32_CUSTOM           7004  // Rutilea ESP32 custom board
+#define BOARD_FYSETC_E4               7005  // FYSETC E4
+#define BOARD_PANDA_ZHU               7006  // Panda_ZHU
+#define BOARD_PANDA_M4                7007  // Panda_M4
+#define BOARD_MKS_TINYBEE             7008  // MKS TinyBee based on ESP32 (with I2S stepper stream)
+#define BOARD_ENWI_ESPNP              7009  // enwi ESPNP based on ESP32 (with I2S stepper stream)
 
 //
-// SAMD51 ARM Cortex M4
+// SAMD51 ARM Cortex-M4
 //
 
-#define BOARD_AGCM4_RAMPS_144         6100  // RAMPS 1.4.4
-#define BOARD_BRICOLEMON_V1_0         6101  // Bricolemon
-#define BOARD_BRICOLEMON_LITE_V1_0    6102  // Bricolemon Lite
+#define BOARD_AGCM4_RAMPS_144         7100  // RAMPS 1.4.4
+#define BOARD_BRICOLEMON_V1_0         7101  // Bricolemon
+#define BOARD_BRICOLEMON_LITE_V1_0    7102  // Bricolemon Lite
+
+//
+// SAMD21 ARM Cortex-M4
+//
+
+#define BOARD_MINITRONICS20           7103  // Minitronics v2.0
 
 //
 // Custom board

Marlin/src/core/language.h

@@ -55,6 +55,7 @@
 // eu         Basque-Euskera
 // fi         Finnish
 // fr         French
+// fr_na      French without accents (DWIN T5UID1 touchscreen)
 // gl         Galician
 // hr         Croatian
 // hu         Hungarian
@@ -279,6 +280,7 @@
 #define STR_S_SEG_PER_SEC                   "S<seg-per-sec>"
 #define STR_DELTA_SETTINGS                  "Delta (L<diagonal-rod> R<radius> H<height> S<seg-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
 #define STR_SCARA_SETTINGS                  "SCARA"
+#define STR_POLAR_SETTINGS                  "Polar"
 #define STR_POLARGRAPH_SETTINGS             "Polargraph"
 #define STR_SCARA_P_T_Z                     "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
 #define STR_ENDSTOP_ADJUSTMENT              "Endstop adjustment"

Marlin/src/core/macros.h

@@ -634,7 +634,9 @@
 #define DEFER4(M) M EMPTY EMPTY EMPTY EMPTY()()()()
 
 // Force define expansion
-#define EVAL(V...)     EVAL16(V)
+#define EVAL           EVAL16
+#define EVAL4096(V...) EVAL2048(EVAL2048(V))
+#define EVAL2048(V...) EVAL1024(EVAL1024(V))
 #define EVAL1024(V...) EVAL512(EVAL512(V))
 #define EVAL512(V...)  EVAL256(EVAL256(V))
 #define EVAL256(V...)  EVAL128(EVAL128(V))
@@ -712,10 +714,24 @@
     ( DEFER2(__RREPEAT2)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP,V) ) \
     ( /* Do nothing */ )
 #define __RREPEAT2() _RREPEAT2
-#define RREPEAT_S(S,N,OP)        EVAL1024(_RREPEAT(S,SUB##S(N),OP))
-#define RREPEAT(N,OP)            RREPEAT_S(0,N,OP)
-#define RREPEAT2_S(S,N,OP,V...)  EVAL1024(_RREPEAT2(S,SUB##S(N),OP,V))
-#define RREPEAT2(N,OP,V...)      RREPEAT2_S(0,N,OP,V)
+#define RREPEAT_S(S,N,OP)       EVAL1024(_RREPEAT(S,SUB##S(N),OP))
+#define RREPEAT(N,OP)           RREPEAT_S(0,N,OP)
+#define RREPEAT_1(N,OP)         RREPEAT_S(1,INCREMENT(N),OP)
+#define RREPEAT2_S(S,N,OP,V...) EVAL1024(_RREPEAT2(S,SUB##S(N),OP,V))
+#define RREPEAT2(N,OP,V...)     RREPEAT2_S(0,N,OP,V)
+
+// Emit a list of N OP(I) items with ascending counter.
+#define _REPLIST(_RPT_I,_RPT_N,_RPT_OP)                          \
+  _RPT_OP(_RPT_I)                                                \
+  IF_ELSE(SUB1(_RPT_N))                                          \
+    ( , DEFER2(__REPLIST)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP) ) \
+    ( /* Do nothing */ )
+#define __REPLIST() _REPLIST
+
+// Repeat a macro, comma-separated, passing S...N-1.
+#define REPLIST_S(S,N,OP)       EVAL(_REPLIST(S,SUB##S(N),OP))
+#define REPLIST(N,OP)           REPLIST_S(0,N,OP)
+#define REPLIST_1(N,OP)         REPLIST_S(1,INCREMENT(N),OP)
 
 // Call OP(A) with each item as an argument
 #define _MAP(_MAP_OP,A,V...)       \
@@ -742,3 +758,13 @@
 #define _HAS_E_TEMP(N) || TEMP_SENSOR(N)
 #define HAS_E_TEMP_SENSOR (0 REPEAT(EXTRUDERS, _HAS_E_TEMP))
 #define TEMP_SENSOR_IS_MAX_TC(T) (TEMP_SENSOR(T) == -5 || TEMP_SENSOR(T) == -3 || TEMP_SENSOR(T) == -2)
+
+#define _UI_NONE          0
+#define _UI_ORIGIN      101
+#define _UI_FYSETC      102
+#define _UI_HIPRECY     103
+#define _UI_MKS         104
+#define _UI_RELOADED    105
+#define _UI_IA_CREALITY 106
+#define _DGUS_UI_IS(N) || (CAT(_UI_, DGUS_LCD_UI) == CAT(_UI_, N))
+#define DGUS_UI_IS(V...) (0 MAP(_DGUS_UI_IS, V))

Marlin/src/core/serial.h

@@ -337,8 +337,8 @@ void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space
 void print_bin(const uint16_t val);
 void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
 
-inline void print_pos(const xyz_pos_t &xyz, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) {
-  print_pos(NUM_AXIS_ELEM(xyz), prefix, suffix);
+inline void print_pos(const xyze_pos_t &xyze, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) {
+  print_pos(NUM_AXIS_ELEM(xyze), prefix, suffix);
 }
 
 #define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, F("  " STRINGIFY(VAR) "="), F(" : " SUFFIX "\n")); }while(0)

Marlin/src/core/types.h

@@ -31,10 +31,8 @@
 //
 // typename IF<(MYOPT==12), int, float>::type myvar;
 //
-template <bool, class L, class R>
-struct IF { typedef R type; };
-template <class L, class R>
-struct IF<true, L, R> { typedef L type; };
+template <bool, class L, class R> struct IF { typedef R type; };
+template <class L, class R> struct IF<true, L, R> { typedef L type; };
 
 #define ALL_AXIS_NAMES X, X2, Y, Y2, Z, Z2, Z3, Z4, I, J, K, U, V, W, E0, E1, E2, E3, E4, E5, E6, E7
 
@@ -44,7 +42,7 @@ struct IF<true, L, R> { typedef L type; };
 #define NUM_AXIS_LIST_1(V)  LIST_N_1(NUM_AXES, V)
 #define NUM_AXIS_ARRAY(V...) { NUM_AXIS_LIST(V) }
 #define NUM_AXIS_ARRAY_1(V)  { NUM_AXIS_LIST_1(V) }
-#define NUM_AXIS_ARGS(T...) NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w)
+#define NUM_AXIS_ARGS(T)    NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w)
 #define NUM_AXIS_ELEM(O)    NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
 #define NUM_AXIS_DEFS(T,V)  NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
 #define MAIN_AXIS_NAMES     NUM_AXIS_LIST(X, Y, Z, I, J, K, U, V, W)
@@ -57,7 +55,7 @@ struct IF<true, L, R> { typedef L type; };
 #define LOGICAL_AXIS_LIST_1(V)    NUM_AXIS_LIST_1(V) LIST_ITEM_E(V)
 #define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) }
 #define LOGICAL_AXIS_ARRAY_1(V)    { LOGICAL_AXIS_LIST_1(V) }
-#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w)
+#define LOGICAL_AXIS_ARGS(T)    LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w)
 #define LOGICAL_AXIS_ELEM(O)    LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
 #define LOGICAL_AXIS_DECL(T,V)  LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
 #define LOGICAL_AXIS_NAMES      LOGICAL_AXIS_LIST(E, X, Y, Z, I, J, K, U, V, W)
@@ -86,24 +84,31 @@ struct IF<true, L, R> { typedef L type; };
 
 #define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L || AXIS7_NAME == L || AXIS8_NAME == L || AXIS9_NAME == L)
 
+// Define types based on largest bit width stored value required
+#define bits_t(W)   typename IF<((W)>   16), uint32_t, typename IF<((W)>  8), uint16_t, uint8_t>::type>::type
+#define uvalue_t(V) typename IF<((V)>65535), uint32_t, typename IF<((V)>255), uint16_t, uint8_t>::type>::type
+#define value_t(V)  typename IF<((V)>32767),  int32_t, typename IF<((V)>127),  int16_t,  int8_t>::type>::type
+
 // General Flags for some number of states
 template<size_t N>
 struct Flags {
-  typedef typename IF<(N>8), uint16_t, uint8_t>::type bits_t;
+  typedef value_t(N) flagbits_t;
   typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1; } N8;
   typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1, b8:1, b9:1, b10:1, b11:1, b12:1, b13:1, b14:1, b15:1; } N16;
+  typedef struct { bool b0:1,  b1:1,  b2:1,  b3:1,  b4:1,  b5:1,  b6:1,  b7:1,  b8:1,  b9:1, b10:1, b11:1, b12:1, b13:1, b14:1, b15:1,
+                       b16:1, b17:1, b18:1, b19:1, b20:1, b21:1, b22:1, b23:1, b24:1, b25:1, b26:1, b27:1, b28:1, b29:1, b30:1, b31:1; } N32;
   union {
-    bits_t b;
-    typename IF<(N>8), N16, N8>::type flag;
+    flagbits_t b;
+    typename IF<(N>16), N32, typename IF<(N>8), N16, N8>::type>::type flag;
   };
-  void reset()                             { b = 0; }
-  void set(const int n, const bool onoff)  { onoff ? set(n) : clear(n); }
-  void set(const int n)                    { b |=  (bits_t)_BV(n); }
-  void clear(const int n)                  { b &= ~(bits_t)_BV(n); }
-  bool test(const int n) const             { return TEST(b, n); }
-  bool operator[](const int n)             { return test(n); }
-  bool operator[](const int n) const       { return test(n); }
-  int size() const                         { return sizeof(b); }
+  void reset()                            { b = 0; }
+  void set(const int n, const bool onoff) { onoff ? set(n) : clear(n); }
+  void set(const int n)                   { b |=  (flagbits_t)_BV(n); }
+  void clear(const int n)                 { b &= ~(flagbits_t)_BV(n); }
+  bool test(const int n) const            { return TEST(b, n); }
+  bool operator[](const int n)            { return test(n); }
+  bool operator[](const int n) const      { return test(n); }
+  int size() const                        { return sizeof(b); }
 };
 
 // Specialization for a single bool flag
@@ -129,14 +134,14 @@ typedef struct AxisFlags {
     struct Flags<LOGICAL_AXES> flags;
     struct { bool LOGICAL_AXIS_LIST(e:1, x:1, y:1, z:1, i:1, j:1, k:1, u:1, v:1, w:1); };
   };
-  void reset()                             { flags.reset(); }
-  void set(const int n)                    { flags.set(n); }
-  void set(const int n, const bool onoff)  { flags.set(n, onoff); }
-  void clear(const int n)                  { flags.clear(n); }
-  bool test(const int n) const             { return flags.test(n); }
-  bool operator[](const int n)             { return flags[n]; }
-  bool operator[](const int n) const       { return flags[n]; }
-  int size() const                         { return sizeof(flags); }
+  void reset()                            { flags.reset(); }
+  void set(const int n)                   { flags.set(n); }
+  void set(const int n, const bool onoff) { flags.set(n, onoff); }
+  void clear(const int n)                 { flags.clear(n); }
+  bool test(const int n) const            { return flags.test(n); }
+  bool operator[](const int n)            { return flags[n]; }
+  bool operator[](const int n) const      { return flags[n]; }
+  int size() const                        { return sizeof(flags); }
 } axis_flags_t;
 
 //
@@ -182,15 +187,15 @@ enum AxisEnum : uint8_t {
   , ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF
 };
 
-typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t;
+typedef bits_t(NUM_AXIS_ENUMS) axis_bits_t;
 
 //
 // Loop over axes
 //
 #define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
-#define LOOP_NUM_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, NUM_AXES)
-#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES)
-#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES)
+#define LOOP_NUM_AXES(VAR) LOOP_S_L_N(VAR, 0, NUM_AXES)
+#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, 0, LOGICAL_AXES)
+#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, 0, DISTINCT_AXES)
 #define LOOP_DISTINCT_E(VAR) LOOP_L_N(VAR, DISTINCT_E)
 
 //
@@ -430,21 +435,24 @@ struct XYval {
   FI XYval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
   FI XYval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
   FI XYval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
-  FI XYval<T>& operator+=(const XYZval<T>  &rs)         { x += rs.x; y += rs.y; return *this; }
-  FI XYval<T>& operator-=(const XYZval<T>  &rs)         { x -= rs.x; y -= rs.y; return *this; }
-  FI XYval<T>& operator*=(const XYZval<T>  &rs)         { x *= rs.x; y *= rs.y; return *this; }
-  FI XYval<T>& operator+=(const XYZEval<T> &rs)         { x += rs.x; y += rs.y; return *this; }
-  FI XYval<T>& operator-=(const XYZEval<T> &rs)         { x -= rs.x; y -= rs.y; return *this; }
-  FI XYval<T>& operator*=(const XYZEval<T> &rs)         { x *= rs.x; y *= rs.y; return *this; }
+  FI XYval<T>& operator/=(const XYval<T>   &rs)         { x /= rs.x; y /= rs.y; return *this; }
+  FI XYval<T>& operator+=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x += rs.x, y += rs.y,,,,,,, ); return *this; }
+  FI XYval<T>& operator-=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x -= rs.x, y -= rs.y,,,,,,, ); return *this; }
+  FI XYval<T>& operator*=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x *= rs.x, y *= rs.y,,,,,,, ); return *this; }
+  FI XYval<T>& operator/=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x /= rs.x, y /= rs.y,,,,,,, ); return *this; }
+  FI XYval<T>& operator+=(const XYZEval<T> &rs)         { NUM_AXIS_CODE(x += rs.x, y += rs.y,,,,,,, ); return *this; }
+  FI XYval<T>& operator-=(const XYZEval<T> &rs)         { NUM_AXIS_CODE(x -= rs.x, y -= rs.y,,,,,,, ); return *this; }
+  FI XYval<T>& operator*=(const XYZEval<T> &rs)         { NUM_AXIS_CODE(x *= rs.x, y *= rs.y,,,,,,, ); return *this; }
+  FI XYval<T>& operator/=(const XYZEval<T> &rs)         { NUM_AXIS_CODE(x /= rs.x, y /= rs.y,,,,,,, ); return *this; }
   FI XYval<T>& operator*=(const float &p)               { x *= p;    y *= p;    return *this; }
   FI XYval<T>& operator*=(const int &p)                 { x *= p;    y *= p;    return *this; }
   FI XYval<T>& operator>>=(const int &p)                { _RS(x);    _RS(y);    return *this; }
   FI XYval<T>& operator<<=(const int &p)                { _LS(x);    _LS(y);    return *this; }
 
   // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool      operator==(const XYval<T>   &rs)   const { return x == rs.x && y == rs.y; }
-  FI bool      operator==(const XYZval<T>  &rs)   const { return x == rs.x && y == rs.y; }
-  FI bool      operator==(const XYZEval<T> &rs)   const { return x == rs.x && y == rs.y; }
+  FI bool      operator==(const XYval<T>   &rs)   const { return NUM_AXIS_GANG(x == rs.x, && y == rs.y,,,,,,, ); }
+  FI bool      operator==(const XYZval<T>  &rs)   const { return NUM_AXIS_GANG(x == rs.x, && y == rs.y,,,,,,, ); }
+  FI bool      operator==(const XYZEval<T> &rs)   const { return NUM_AXIS_GANG(x == rs.x, && y == rs.y,,,,,,, ); }
   FI bool      operator!=(const XYval<T>   &rs)   const { return !operator==(rs); }
   FI bool      operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
   FI bool      operator!=(const XYZEval<T> &rs)   const { return !operator==(rs); }
@@ -465,15 +473,9 @@ struct XYZval {
   FI void reset()                                      { NUM_AXIS_GANG(x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; }
 
   // Setters taking struct types and arrays
-  FI void set(const T px)                              { x = px; }
-  FI void set(const T px, const T py)                  { x = px; y = py; }
-  FI void set(const XYval<T> pxy)                      { x = pxy.x; y = pxy.y; }
-  FI void set(const XYval<T> pxy, const T pz)          { NUM_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP); }
-  FI void set(const T (&arr)[XY])                      { x = arr[0]; y = arr[1]; }
-  #if HAS_Z_AXIS
-    FI void set(const T (&arr)[NUM_AXES])              { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
-    FI void set(NUM_AXIS_ARGS(const T))                { NUM_AXIS_CODE(a = x,      b = y,      c = z,     _i = i,     _j = j,     _k = k,     _u = u,     _v = v,     _w = w   ); }
-  #endif
+  FI void set(const XYval<T> pxy)                      { NUM_AXIS_CODE(x = pxy.x, y = pxy.y,,,,,,,); }
+  FI void set(const XYval<T> pxy, const T pz)          { NUM_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz,,,,,,); }
+  FI void set(const T (&arr)[NUM_AXES])                { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
   #if LOGICAL_AXES > NUM_AXES
     FI void set(const T (&arr)[LOGICAL_AXES])          { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
     FI void set(LOGICAL_AXIS_ARGS(const T))            { NUM_AXIS_CODE(a = x,      b = y,      c = z,     _i = i,     _j = j,     _k = k,     _u = u,     _v = v,     _w = w   ); }
@@ -481,6 +483,17 @@ struct XYZval {
       FI void set(const T (&arr)[DISTINCT_AXES])       { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
     #endif
   #endif
+
+  // Setter for all individual args
+  FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
+
+  // Setters with fewer elements leave the rest untouched
+  #if HAS_Y_AXIS
+    FI void set(const T px) { x = px; }
+  #endif
+  #if HAS_Z_AXIS
+    FI void set(const T px, const T py) { x = px; y = py; }
+  #endif
   #if HAS_I_AXIS
     FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; }
   #endif
@@ -545,14 +558,14 @@ struct XYZval {
   FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(NUM_AXIS_ELEM(rs)); return *this; }
 
   // Override other operators to get intuitive behaviors
-  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y,,,,,,, ); return ls; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y,,,,,,, ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y,,,,,,, ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y,,,,,,, ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y,,,,,,, ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y,,,,,,, ); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y,,,,,,, ); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y,,,,,,, ); return ls; }
   FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
   FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
   FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
@@ -585,10 +598,10 @@ struct XYZval {
   FI XYZval<T>       operator-()                       { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; }
 
   // Modifier operators
-  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y,,,,,,, ); return *this; }
+  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y,,,,,,, ); return *this; }
+  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y,,,,,,, ); return *this; }
+  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y,,,,,,, ); return *this; }
   FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
   FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
   FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
@@ -620,9 +633,31 @@ struct XYZEval {
   // Reset all to 0
   FI void reset()                     { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; }
 
-  // Setters for some number of linear axes, not all
-  FI void set(const T px)                                                                                       { x = px; }
-  FI void set(const T px, const T py)                                                                           { x = px; y = py; }
+  // Setters taking struct types and arrays
+  FI void set(const XYval<T> pxy)                           { x = pxy.x; OPTCODE(HAS_Y_AXIS, y = pxy.y) }
+  FI void set(const XYZval<T> pxyz)                         { set(NUM_AXIS_ELEM(pxyz)); }
+  FI void set(const XYval<T> pxy, const T pz)               { set(pxy); TERN_(HAS_Z_AXIS, z = pz); }
+  FI void set(const T (&arr)[NUM_AXES])                     { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
+  #if LOGICAL_AXES > NUM_AXES
+    FI void set(const T (&arr)[LOGICAL_AXES])               { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
+    FI void set(const XYval<T> pxy, const T pz, const T pe) { set(pxy, pz); e = pe; }
+    FI void set(const XYZval<T> pxyz, const T pe)           { set(pxyz); e = pe; }
+    FI void set(LOGICAL_AXIS_ARGS(const T))                 { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
+    #if DISTINCT_AXES > LOGICAL_AXES
+      FI void set(const T (&arr)[DISTINCT_AXES])            { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
+    #endif
+  #endif
+
+  // Setter for all individual args
+  FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
+
+  // Setters with fewer elements leave the rest untouched
+  #if HAS_Y_AXIS
+    FI void set(const T px)                                                                                     { x = px; }
+  #endif
+  #if HAS_Z_AXIS
+    FI void set(const T px, const T py)                                                                         { x = px; y = py; }
+  #endif
   #if HAS_I_AXIS
     FI void set(const T px, const T py, const T pz)                                                             { x = px; y = py; z = pz; }
   #endif
@@ -642,19 +677,6 @@ struct XYZEval {
     FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; }
   #endif
 
-  // Setters taking struct types and arrays
-  FI void set(const XYval<T> pxy)                           { x = pxy.x; y = pxy.y; }
-  FI void set(const XYZval<T> pxyz)                         { set(NUM_AXIS_ELEM(pxyz)); }
-  #if HAS_Z_AXIS
-    FI void set(NUM_AXIS_ARGS(const T))                     { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
-  #endif
-  FI void set(const XYval<T> pxy, const T pz)               { set(pxy); TERN_(HAS_Z_AXIS, z = pz); }
-  #if LOGICAL_AXES > NUM_AXES
-    FI void set(const XYval<T> pxy, const T pz, const T pe) { set(pxy, pz); e = pe; }
-    FI void set(const XYZval<T> pxyz, const T pe)           { set(pxyz); e = pe; }
-    FI void set(LOGICAL_AXIS_ARGS(const T))                 { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
-  #endif
-
   // Length reduced to one dimension
   FI T magnitude()                                const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); }
   // Pointer to the data as a simple array
@@ -739,10 +761,10 @@ struct XYZEval {
   FI       XYZEval<T> operator-()                       { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }
 
   // Modifier operators
-  FI XYZEval<T>& operator+=(const XYval<T>   &rs)       { x += rs.x; y += rs.y; return *this; }
-  FI XYZEval<T>& operator-=(const XYval<T>   &rs)       { x -= rs.x; y -= rs.y; return *this; }
-  FI XYZEval<T>& operator*=(const XYval<T>   &rs)       { x *= rs.x; y *= rs.y; return *this; }
-  FI XYZEval<T>& operator/=(const XYval<T>   &rs)       { x /= rs.x; y /= rs.y; return *this; }
+  FI XYZEval<T>& operator+=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y,,,,,,, ); return *this; }
+  FI XYZEval<T>& operator-=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y,,,,,,, ); return *this; }
+  FI XYZEval<T>& operator*=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y,,,,,,, ); return *this; }
+  FI XYZEval<T>& operator/=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y,,,,,,, ); return *this; }
   FI XYZEval<T>& operator+=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
   FI XYZEval<T>& operator-=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
   FI XYZEval<T>& operator*=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }

Marlin/src/core/utility.cpp

@@ -95,9 +95,9 @@ void safe_delay(millis_t ms) {
           SERIAL_ECHOPGM(" (Aligned With");
 
         if (probe.offset_xy.y > 0)
-          SERIAL_ECHOF(F(TERN(IS_SCARA, "-Distal", "-Back")));
+          SERIAL_ECHOPGM(TERN(IS_SCARA, "-Distal", "-Back"));
         else if (probe.offset_xy.y < 0)
-          SERIAL_ECHOF(F(TERN(IS_SCARA, "-Proximal", "-Front")));
+          SERIAL_ECHOPGM(TERN(IS_SCARA, "-Proximal", "-Front"));
         else if (probe.offset_xy.x != 0)
           SERIAL_ECHOPGM("-Center");
 

Marlin/src/core/utility.h

@@ -38,12 +38,12 @@ void safe_delay(millis_t ms);           // Delay ensuring that temperatures are
   // 16x16 bit arrays
   template <int W, int H>
   struct FlagBits {
-    typename IF<(W>8), uint16_t, uint8_t>::type bits[H];
-    void fill()                                   { memset(bits, 0xFF, sizeof(bits)); }
-    void reset()                                  { memset(bits, 0x00, sizeof(bits)); }
-    void unmark(const uint8_t x, const uint8_t y) { CBI(bits[y], x); }
-    void mark(const uint8_t x, const uint8_t y)   { SBI(bits[y], x); }
-    bool marked(const uint8_t x, const uint8_t y) { return TEST(bits[y], x); }
+    bits_t(W) flags[H];
+    void fill()                                   { memset(flags, 0xFF, sizeof(flags)); }
+    void reset()                                  { memset(flags, 0x00, sizeof(flags)); }
+    void unmark(const uint8_t x, const uint8_t y) { CBI(flags[y], x); }
+    void mark(const uint8_t x, const uint8_t y)   { SBI(flags[y], x); }
+    bool marked(const uint8_t x, const uint8_t y) { return TEST(flags[y], x); }
     inline void unmark(const xy_int8_t &xy)       { unmark(xy.x, xy.y); }
     inline void mark(const xy_int8_t &xy)         { mark(xy.x, xy.y); }
     inline bool marked(const xy_int8_t &xy)       { return marked(xy.x, xy.y); }

Marlin/src/feature/bedlevel/abl/bbl.cpp

@@ -153,7 +153,7 @@ void LevelingBilinear::extrapolate_unprobed_bed_level() {
     }
 }
 
-void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values /*= NULL*/) {
+void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values/*=nullptr*/) {
   // print internal grid(s) or just the one passed as a parameter
   SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
   print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3, _z_values ? *_z_values[0] : z_values[0]);

Marlin/src/feature/bedlevel/abl/bbl.h

@@ -53,7 +53,7 @@ public:
   static void reset();
   static void set_grid(const xy_pos_t& _grid_spacing, const xy_pos_t& _grid_start);
   static void extrapolate_unprobed_bed_level();
-  static void print_leveling_grid(const bed_mesh_t* _z_values = NULL);
+  static void print_leveling_grid(const bed_mesh_t *_z_values=nullptr);
   static void refresh_bed_level();
   static bool has_mesh() { return !!grid_spacing.x; }
   static bool mesh_is_valid() { return has_mesh(); }

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h

@@ -32,8 +32,8 @@ enum MeshLevelingState : char {
   MeshReset       // G29 S5
 };
 
-#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_CELLS_X))
-#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y))
+#define MESH_X_DIST (float((MESH_MAX_X) - (MESH_MIN_X)) / (GRID_MAX_CELLS_X))
+#define MESH_Y_DIST (float((MESH_MAX_Y) - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y))
 
 class mesh_bed_leveling {
 public:
@@ -109,7 +109,7 @@ public:
   static float get_z_correction(const xy_pos_t &pos) {
     const xy_int8_t ind = cell_indexes(pos);
     const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1],
-                y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1],
+                y1 = index_to_ypos[ind.y], y2 = index_to_ypos[ind.y+1],
                 z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y  ], x2, z_values[ind.x+1][ind.y  ]),
                 z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]),
                 zf = calc_z0(pos.y, y1, z1, y2, z2);

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

@@ -38,8 +38,8 @@ enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP, CLOSEST };
 
 struct mesh_index_pair;
 
-#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_CELLS_X))
-#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y))
+#define MESH_X_DIST (float((MESH_MAX_X) - (MESH_MIN_X)) / (GRID_MAX_CELLS_X))
+#define MESH_Y_DIST (float((MESH_MAX_Y) - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y))
 
 #if ENABLED(OPTIMIZED_MESH_STORAGE)
   typedef int16_t mesh_store_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
@@ -264,9 +264,9 @@ public:
         return UBL_Z_RAISE_WHEN_OFF_MESH;
     #endif
 
-    const uint8_t mx = _MIN(cx, (GRID_MAX_POINTS_X) - 2) + 1, my = _MIN(cy, (GRID_MAX_POINTS_Y) - 2) + 1,
-                  x0 = get_mesh_x(cx), x1 = get_mesh_x(cx + 1);
-    const float z1 = calc_z0(rx0, x0, z_values[cx][cy], x1, z_values[mx][cy]),
+    const uint8_t mx = _MIN(cx, (GRID_MAX_POINTS_X) - 2) + 1, my = _MIN(cy, (GRID_MAX_POINTS_Y) - 2) + 1;
+    const float x0 = get_mesh_x(cx), x1 = get_mesh_x(cx + 1),
+                z1 = calc_z0(rx0, x0, z_values[cx][cy], x1, z_values[mx][cy]),
                 z2 = calc_z0(rx0, x0, z_values[cx][my], x1, z_values[mx][my]);
     float z0 = calc_z0(ry0, get_mesh_y(cy), z1, get_mesh_y(cy + 1), z2);
 

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

@@ -318,9 +318,7 @@ void unified_bed_leveling::G29() {
     TERN_(HAS_MULTI_HOTEND, if (active_extruder != 0) tool_change(0, true));
 
     // Position bed horizontally and Z probe vertically.
-    #if    defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \
-        || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \
-        || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W)
+    #if HAS_SAFE_BED_LEVELING
       xyze_pos_t safe_position = current_position;
       #ifdef SAFE_BED_LEVELING_START_X
         safe_position.x = SAFE_BED_LEVELING_START_X;
@@ -351,7 +349,7 @@ void unified_bed_leveling::G29() {
       #endif
 
       do_blocking_move_to(safe_position);
-    #endif
+    #endif // HAS_SAFE_BED_LEVELING
   }
 
   // Invalidate one or more nearby mesh points, possibly all.
@@ -887,8 +885,32 @@ void set_message_with_feedback(FSTR_P const fstr) {
     ui.capture();
     save_ubl_active_state_and_disable();   // Disable bed level correction for probing
 
-    do_blocking_move_to(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y)), MANUAL_PROBE_START_Z);
-      //, _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) * 0.5f);
+    do_blocking_move_to(
+      NUM_AXIS_LIST(
+        0.5f * ((MESH_MAX_X) - (MESH_MIN_X)),
+        0.5f * ((MESH_MAX_Y) - (MESH_MIN_Y)),
+        MANUAL_PROBE_START_Z
+        #ifdef SAFE_BED_LEVELING_START_I
+          , SAFE_BED_LEVELING_START_I
+        #endif
+        #ifdef SAFE_BED_LEVELING_START_J
+          , SAFE_BED_LEVELING_START_J
+        #endif
+        #ifdef SAFE_BED_LEVELING_START_K
+          , SAFE_BED_LEVELING_START_K
+        #endif
+        #ifdef SAFE_BED_LEVELING_START_U
+          , SAFE_BED_LEVELING_START_U
+        #endif
+        #ifdef SAFE_BED_LEVELING_START_V
+          , SAFE_BED_LEVELING_START_V
+        #endif
+        #ifdef SAFE_BED_LEVELING_START_W
+          , SAFE_BED_LEVELING_START_W
+        #endif
+      )
+      //, _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) * 0.5f
+    );
     planner.synchronize();
 
     SERIAL_ECHOPGM("Place shim under nozzle");
@@ -1456,9 +1478,17 @@ void unified_bed_leveling::smart_fill_mesh() {
   #include "../../../libs/vector_3.h"
 
   void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
-    const float x_min = probe.min_x(), x_max = probe.max_x(),
-                y_min = probe.min_y(), y_max = probe.max_y(),
-                dx = (x_max - x_min) / (param.J_grid_size - 1),
+
+    #ifdef G29J_MESH_TILT_MARGIN
+      const float x_min = _MAX(probe.min_x() + (G29J_MESH_TILT_MARGIN), X_MIN_POS),
+                  x_max = _MIN(probe.max_x() - (G29J_MESH_TILT_MARGIN), X_MAX_POS),
+                  y_min = _MAX(probe.min_y() + (G29J_MESH_TILT_MARGIN), Y_MIN_POS),
+                  y_max = _MIN(probe.max_y() - (G29J_MESH_TILT_MARGIN), Y_MAX_POS);
+    #else
+      const float x_min = probe.min_x(), x_max = probe.max_x(),
+                  y_min = probe.min_y(), y_max = probe.max_y();
+    #endif
+    const float dx = (x_max - x_min) / (param.J_grid_size - 1),
                 dy = (y_max - y_min) / (param.J_grid_size - 1);
 
     xy_float_t points[3];
@@ -1467,7 +1497,7 @@ void unified_bed_leveling::smart_fill_mesh() {
     float measured_z;
     bool abort_flag = false;
 
-    #ifdef VALIDATE_MESH_TILT
+    #if ENABLED(VALIDATE_MESH_TILT)
       float z1, z2, z3;  // Needed for algorithm validation below
     #endif
 
@@ -1483,9 +1513,7 @@ void unified_bed_leveling::smart_fill_mesh() {
         abort_flag = true;
       else {
         measured_z -= get_z_correction(points[0]);
-        #ifdef VALIDATE_MESH_TILT
-          z1 = measured_z;
-        #endif
+        TERN_(VALIDATE_MESH_TILT, z1 = measured_z);
         if (param.V_verbosity > 3) {
           serial_spaces(16);
           SERIAL_ECHOLNPGM("Corrected_Z=", measured_z);
@@ -1498,9 +1526,7 @@ void unified_bed_leveling::smart_fill_mesh() {
         TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH)));
 
         measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, param.V_verbosity);
-        #ifdef VALIDATE_MESH_TILT
-          z2 = measured_z;
-        #endif
+        TERN_(VALIDATE_MESH_TILT, z2 = measured_z);
         if (isnan(measured_z))
           abort_flag = true;
         else {
@@ -1518,9 +1544,7 @@ void unified_bed_leveling::smart_fill_mesh() {
         TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH)));
 
         measured_z = probe.probe_at_point(points[2], PROBE_PT_LAST_STOW, param.V_verbosity);
-        #ifdef VALIDATE_MESH_TILT
-          z3 = measured_z;
-        #endif
+        TERN_(VALIDATE_MESH_TILT, z3 = measured_z);
         if (isnan(measured_z))
           abort_flag = true;
         else {
@@ -1667,7 +1691,7 @@ void unified_bed_leveling::smart_fill_mesh() {
        * The Z error between the probed point locations and the get_z_correction()
        * numbers for those locations should be 0.
        */
-      #ifdef VALIDATE_MESH_TILT
+      #if ENABLED(VALIDATE_MESH_TILT)
         auto d_from = []{ DEBUG_ECHOPGM("D from "); };
         auto normed = [&](const xy_pos_t &pos, const_float_t zadd) {
           return normal.x * pos.x + normal.y * pos.y + zadd;

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

@@ -334,16 +334,14 @@
 #else // UBL_SEGMENTED
 
   #if IS_SCARA
-    #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
-  #elif ENABLED(DELTA)
-    #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
-  #elif ENABLED(POLARGRAPH)
-    #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
+    #define SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
+  #elif IS_KINEMATIC
+    #define SEGMENT_MIN_LENGTH 0.10 // (mm) Still subject to DEFAULT_SEGMENTS_PER_SECOND
   #else // CARTESIAN
     #ifdef LEVELED_SEGMENT_LENGTH
-      #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
+      #define SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
     #else
-      #define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
+      #define SEGMENT_MIN_LENGTH 1.00 // (mm) Similar to G2/G3 arc segmentation
     #endif
   #endif
 
@@ -361,23 +359,23 @@
     const xyze_pos_t total = destination - current_position;
 
     const float cart_xy_mm_2 = HYPOT2(total.x, total.y),
-                cart_xy_mm = SQRT(cart_xy_mm_2);                                     // Total XY distance
+                cart_xy_mm = SQRT(cart_xy_mm_2);                               // Total XY distance
 
     #if IS_KINEMATIC
-      const float seconds = cart_xy_mm / scaled_fr_mm_s;                             // Duration of XY move at requested rate
-      uint16_t segments = LROUND(segments_per_second * seconds),                     // Preferred number of segments for distance @ feedrate
-               seglimit = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
-      NOMORE(segments, seglimit);                                                    // Limit to minimum segment length (fewer segments)
+      const float seconds = cart_xy_mm / scaled_fr_mm_s;                       // Duration of XY move at requested rate
+      uint16_t segments = LROUND(segments_per_second * seconds),               // Preferred number of segments for distance @ feedrate
+               seglimit = LROUND(cart_xy_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
+      NOMORE(segments, seglimit);                                              // Limit to minimum segment length (fewer segments)
     #else
-      uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
+      uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
     #endif
 
-    NOLESS(segments, 1U);                                                            // Must have at least one segment
-    const float inv_segments = 1.0f / segments;                                      // Reciprocal to save calculation
+    NOLESS(segments, 1U);                                                      // Must have at least one segment
+    const float inv_segments = 1.0f / segments;                                // Reciprocal to save calculation
 
     // Add hints to help optimize the move
-    PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments);             // Length of each segment
-    #if ENABLED(SCARA_FEEDRATE_SCALING)
+    PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments);       // Length of each segment
+    #if ENABLED(FEEDRATE_SCALING)
       hints.inv_duration = scaled_fr_mm_s / hints.millimeters;
     #endif
 

Marlin/src/feature/controllerfan.cpp

@@ -40,6 +40,9 @@ uint8_t ControllerFan::speed;
 
 void ControllerFan::setup() {
   SET_OUTPUT(CONTROLLER_FAN_PIN);
+  #ifdef CONTROLLER_FAN2_PIN
+    SET_OUTPUT(CONTROLLER_FAN2_PIN);
+  #endif
   init();
 }
 
@@ -95,6 +98,13 @@ void ControllerFan::update() {
         hal.set_pwm_duty(pin_t(CONTROLLER_FAN_PIN), speed);
       else
         WRITE(CONTROLLER_FAN_PIN, speed > 0);
+
+      #ifdef CONTROLLER_FAN2_PIN
+        if (PWM_PIN(CONTROLLER_FAN2_PIN))
+          hal.set_pwm_duty(pin_t(CONTROLLER_FAN2_PIN), speed);
+        else
+          WRITE(CONTROLLER_FAN2_PIN, speed > 0);
+      #endif
     #endif
   }
 }

Marlin/src/feature/direct_stepping.h

@@ -80,9 +80,6 @@ namespace DirectStepping {
     static void set_page_state(const page_idx_t page_idx, const PageState page_state);
   };
 
-  template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ;
-  template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; };
-
   template <int num_pages, int num_axes, int bits_segment, bool dir, int segments>
   struct config_t {
     static constexpr char CONTROL_CHAR  = '!';
@@ -98,8 +95,8 @@ namespace DirectStepping {
     static constexpr int TOTAL_STEPS    = SEGMENT_STEPS * SEGMENTS;
     static constexpr int PAGE_SIZE      = (AXIS_COUNT * BITS_SEGMENT * SEGMENTS) / 8;
 
-    typedef typename TypeSelector<(PAGE_SIZE>256), uint16_t, uint8_t>::type write_byte_idx_t;
-    typedef typename TypeSelector<(PAGE_COUNT>256), uint16_t, uint8_t>::type page_idx_t;
+    typedef uvalue_t(PAGE_SIZE - 1) write_byte_idx_t;
+    typedef uvalue_t(PAGE_COUNT - 1) page_idx_t;
   };
 
   template <uint8_t num_pages>

Marlin/src/feature/host_actions.cpp

@@ -198,7 +198,7 @@ void HostUI::action(FSTR_P const fstr, const bool eol) {
             #endif
             #if HAS_FILAMENT_SENSOR
               if (runout.filament_ran_out) {                      // Disable a triggered sensor
-                runout.enabled = false;
+                runout.enabled[active_extruder] = false;
                 runout.reset();
               }
             #endif

Marlin/src/feature/leds/leds.cpp

@@ -95,7 +95,62 @@ void LEDLights::setup() {
         delay(500);
       }
     #endif // RGB_STARTUP_TEST
-  #endif
+
+  #elif BOTH(PCA9632, RGB_STARTUP_TEST)   // PCA9632 RGB_STARTUP_TEST
+
+    constexpr int8_t led_pin_count = TERN(HAS_WHITE_LED, 4, 3);
+
+    // Startup animation
+    LEDColor curColor = LEDColorOff();
+    PCA9632_set_led_color(curColor);      // blackout
+    delay(200);
+
+    /*
+     * LED Pin Counter steps -> events
+     * | 0-100 | 100-200 | 200-300 | 300-400 |
+     *  fade in   steady |           fade out
+     *  start next pin fade in
+     */
+
+    uint16_t led_pin_counters[led_pin_count] = { 1, 0, 0 };
+
+    bool canEnd = false;
+    while (led_pin_counters[0] != 99 || !canEnd) {
+      if (led_pin_counters[0] == 99)        // End loop next time pin0 counter is 99
+        canEnd = true;
+      LOOP_L_N(i, led_pin_count) {
+        if (led_pin_counters[i] > 0) {
+          if (++led_pin_counters[i] == 400) // turn off current pin counter in led_pin_counters
+            led_pin_counters[i] = 0;
+          else if (led_pin_counters[i] == 201) { // start next pin pwm
+            led_pin_counters[i + 1 == led_pin_count ? 0 : i + 1] = 1;
+            i++; // skip next pin in this loop so it doesn't increment twice
+          }
+        }
+      }
+      uint16_t r, g, b;
+      r = led_pin_counters[0]; curColor.r = r <= 100 ? r : r <= 300 ? 100 : 400 - r;
+      g = led_pin_counters[1]; curColor.g = g <= 100 ? g : g <= 300 ? 100 : 400 - g;
+      b = led_pin_counters[2]; curColor.b = b <= 100 ? b : b <= 300 ? 100 : 400 - b;
+      #if HAS_WHITE_LED
+        const uint16_t w = led_pin_counters[3]; curColor.w = w <= 100 ? w : w <= 300 ? 100 : 400 - w;
+      #endif
+      PCA9632_set_led_color(curColor);
+      delay(RGB_STARTUP_TEST_INNER_MS);
+    }
+
+    // Fade to white
+    LOOP_LE_N(led_pwm, 100) {
+      NOLESS(curColor.r, led_pwm);
+      NOLESS(curColor.g, led_pwm);
+      NOLESS(curColor.b, led_pwm);
+      TERN_(HAS_WHITE_LED, NOLESS(curColor.w, led_pwm));
+      PCA9632_set_led_color(curColor);
+      delay(RGB_STARTUP_TEST_INNER_MS);
+    }
+
+  #endif // PCA9632 && RGB_STARTUP_TEST
+
   TERN_(NEOPIXEL_LED, neo.init());
   TERN_(PCA9533, PCA9533_init());
   TERN_(LED_USER_PRESET_STARTUP, set_default());

Marlin/src/feature/leds/neopixel.cpp

@@ -54,7 +54,15 @@ Adafruit_NeoPixel Marlin_NeoPixel::adaneo1(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEOPIX
     set_background_color(background_color);
   }
 
-#endif
+  void Marlin_NeoPixel::set_background_off() {
+    #ifndef NEOPIXEL_BKGD_TIMEOUT_COLOR
+      #define NEOPIXEL_BKGD_TIMEOUT_COLOR { 0, 0, 0, 0 }
+    #endif
+    constexpr uint8_t background_color_off[4] = NEOPIXEL_BKGD_TIMEOUT_COLOR;
+    set_background_color(background_color_off);
+  }
+
+#endif // NEOPIXEL_BKGD_INDEX_FIRST
 
 void Marlin_NeoPixel::set_color(const uint32_t color) {
   if (neoindex >= 0) {
@@ -108,7 +116,7 @@ void Marlin_NeoPixel::init() {
   set_color(adaneo1.Color
     TERN(LED_USER_PRESET_STARTUP,
       (LED_USER_PRESET_RED, LED_USER_PRESET_GREEN, LED_USER_PRESET_BLUE, LED_USER_PRESET_WHITE),
-      (255, 255, 255, 255))
+      (0, 0, 0, 0))
   );
 }
 

Marlin/src/feature/leds/neopixel.h

@@ -66,7 +66,7 @@
 // Types
 // ------------------------
 
-typedef IF<(TERN0(NEOPIXEL_LED, NEOPIXEL_PIXELS > 127)), int16_t, int8_t>::type pixel_index_t;
+typedef value_t(TERN0(NEOPIXEL_LED, NEOPIXEL_PIXELS)) pixel_index_t;
 
 // ------------------------
 // Classes
@@ -91,6 +91,7 @@ public:
     static void set_background_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w);
     static void set_background_color(const uint8_t (&rgbw)[4]) { set_background_color(rgbw[0], rgbw[1], rgbw[2], rgbw[3]); }
     static void reset_background_color();
+    static void set_background_off();
   #endif
 
   static void begin() {

Marlin/src/feature/max7219.cpp

@@ -471,7 +471,7 @@ void Max7219::register_setup() {
     constexpr millis_t pattern_delay = 4;
 
     int8_t spiralx, spiraly, spiral_dir;
-    IF<(MAX7219_LEDS > 255), uint16_t, uint8_t>::type spiral_count;
+    uvalue_t(MAX7219_LEDS) spiral_count;
 
     void Max7219::test_pattern() {
       constexpr int8_t way[][2] = { { 1, 0 }, { 0, 1 }, { -1, 0 }, { 0, -1 } };

Marlin/src/feature/mmu/mmu2.cpp

@@ -141,7 +141,7 @@ uint8_t MMU2::get_current_tool() {
 }
 
 #if EITHER(HAS_PRUSA_MMU2S, MMU_EXTRUDER_SENSOR)
-  #define FILAMENT_PRESENT() (READ(FIL_RUNOUT1_PIN) != FIL_RUNOUT1_STATE)
+  #define FILAMENT_PRESENT() (READ(FIL_RUNOUT1_PIN) != runout.out_state())
 #endif
 
 void mmu2_attn_buzz(const bool two=false) {

Marlin/src/feature/pause.cpp

@@ -211,13 +211,22 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load
     while (wait_for_user) {
       impatient_beep(max_beep_count);
       #if BOTH(FILAMENT_CHANGE_RESUME_ON_INSERT, FILAMENT_RUNOUT_SENSOR)
-        #if ENABLED(MULTI_FILAMENT_SENSOR)
-          #define _CASE_INSERTED(N) case N-1: if (READ(FIL_RUNOUT##N##_PIN) != FIL_RUNOUT##N##_STATE) wait_for_user = false; break;
-          switch (active_extruder) {
-            REPEAT_1(NUM_RUNOUT_SENSORS, _CASE_INSERTED)
+        #if MULTI_FILAMENT_SENSOR
+          LOOP_S_LE_N(i, 1, NUM_RUNOUT_SENSORS) {
+            pin_t pin;
+            switch (i) {
+              default: continue;
+              #define _CASE_RUNOUT(N) case N: pin = FIL_RUNOUT##N##_PIN; break;
+              REPEAT_1(NUM_RUNOUT_SENSORS, _CASE_RUNOUT)
+              #undef _CASE_RUNOUT
+            }
+            const RunoutMode rm = runout.mode[i - 1];
+            if (rm != RM_NONE && rm != RM_MOTION_SENSOR && extDigitalRead(pin) != runout.out_state(i - 1))
+              wait_for_user = false;
           }
         #else
-          if (READ(FIL_RUNOUT_PIN) != FIL_RUNOUT_STATE) wait_for_user = false;
+          if (READ(FIL_RUNOUT_PIN) != runout.out_state(active_extruder))
+            wait_for_user = false;
         #endif
       #endif
       idle_no_sleep();
@@ -410,7 +419,6 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool
   #endif
 
   TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_open(PROMPT_INFO, F("Pause"), FPSTR(DISMISS_STR)));
-  TERN_(DWIN_LCD_PROUI, DWIN_Print_Pause());
 
   // Indicate that the printer is paused
   ++did_pause_print;
@@ -461,6 +469,7 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool
 
   // If axes don't need to home then the nozzle can park
   if (do_park) nozzle.park(0, park_point); // Park the nozzle by doing a Minimum Z Raise followed by an XY Move
+  TERN_(DWIN_LCD_PROUI, if (!do_park) ui.set_status(GET_TEXT_F(MSG_PARK_FAILED)));
 
   #if ENABLED(DUAL_X_CARRIAGE)
     const int8_t saved_ext        = active_extruder;
@@ -710,13 +719,8 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_
 
   TERN_(HAS_FILAMENT_SENSOR, runout.reset());
 
-  #if ENABLED(DWIN_LCD_PROUI)
-    DWIN_Print_Resume();
-    HMI_ReturnScreen();
-  #else
-    ui.reset_status();
-    ui.return_to_status();
-  #endif
+  ui.reset_status();
+  ui.return_to_status();
 }
 
 #endif // ADVANCED_PAUSE_FEATURE

Marlin/src/feature/powerloss.cpp

@@ -31,9 +31,13 @@
 #include "powerloss.h"
 #include "../core/macros.h"
 
+#if ENABLED(EXTENSIBLE_UI)
+  #include "../lcd/extui/ui_api.h"
+#endif
+
 bool PrintJobRecovery::enabled; // Initialized by settings.load()
 
-SdFile PrintJobRecovery::file;
+MediaFile PrintJobRecovery::file;
 job_recovery_info_t PrintJobRecovery::info;
 const char PrintJobRecovery::filename[5] = "/PLR";
 uint8_t PrintJobRecovery::queue_index_r;
@@ -78,6 +82,14 @@ PrintJobRecovery recovery;
   #define POWER_LOSS_RETRACT_LEN 0
 #endif
 
+// Allow power-loss recovery to be aborted
+#define PLR_CAN_ABORT
+#if ENABLED(PLR_CAN_ABORT)
+  #define PROCESS_SUBCOMMANDS_NOW(cmd) do { if (card.flag.abort_sd_printing) return; gcode.process_subcommands_now(cmd); }while(0)
+#else
+  #define PROCESS_SUBCOMMANDS_NOW(cmd) gcode.process_subcommands_now(cmd)
+#endif
+
 /**
  * Clear the recovery info
  */
@@ -305,6 +317,9 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=POW
     // and a flag whether the raise was already done here.
     if (IS_SD_PRINTING()) save(true, zraise, ENABLED(BACKUP_POWER_SUPPLY));
 
+    // Tell the LCD about the outage, even though it is about to die
+    TERN_(EXTENSIBLE_UI, ExtUI::onPowerLoss());
+
     // Disable all heaters to reduce power loss
     thermalManager.disable_all_heaters();
 
@@ -352,12 +367,23 @@ void PrintJobRecovery::resume() {
   // Apply the dry-run flag if enabled
   if (info.flag.dryrun) marlin_debug_flags |= MARLIN_DEBUG_DRYRUN;
 
+  #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
+    struct OnExit {
+      uint8_t old_flags;
+      OnExit() {
+        old_flags = marlin_debug_flags;
+        marlin_debug_flags |= MARLIN_DEBUG_ECHO;
+      }
+      ~OnExit() { marlin_debug_flags = old_flags; }
+    } on_exit;
+  #endif
+
   // Restore cold extrusion permission
   TERN_(PREVENT_COLD_EXTRUSION, thermalManager.allow_cold_extrude = info.flag.allow_cold_extrusion);
 
   #if HAS_LEVELING
     // Make sure leveling is off before any G92 and G28
-    gcode.process_subcommands_now(F("M420 S0 Z0"));
+    PROCESS_SUBCOMMANDS_NOW(F("M420S0"));
   #endif
 
   #if HAS_HEATED_BED
@@ -365,7 +391,7 @@ void PrintJobRecovery::resume() {
     if (bt) {
       // Restore the bed temperature
       sprintf_P(cmd, PSTR("M190S%i"), bt);
-      gcode.process_subcommands_now(cmd);
+      PROCESS_SUBCOMMANDS_NOW(cmd);
     }
   #endif
 
@@ -376,10 +402,10 @@ void PrintJobRecovery::resume() {
       if (et) {
         #if HAS_MULTI_HOTEND
           sprintf_P(cmd, PSTR("T%iS"), e);
-          gcode.process_subcommands_now(cmd);
+          PROCESS_SUBCOMMANDS_NOW(cmd);
         #endif
         sprintf_P(cmd, PSTR("M109S%i"), et);
-        gcode.process_subcommands_now(cmd);
+        PROCESS_SUBCOMMANDS_NOW(cmd);
       }
     }
   #endif
@@ -393,7 +419,7 @@ void PrintJobRecovery::resume() {
   // establish the current position as best we can.
   //
 
-  gcode.process_subcommands_now(F("G92.9E0")); // Reset E to 0
+  PROCESS_SUBCOMMANDS_NOW(F("G92.9E0")); // Reset E to 0
 
   #if Z_HOME_TO_MAX
 
@@ -404,7 +430,7 @@ void PrintJobRecovery::resume() {
             "G28R0\n"     // Home all axes (no raise)
             "G1Z%sF1200"  // Move Z down to (raised) height
           ), dtostrf(z_now, 1, 3, str_1));
-    gcode.process_subcommands_now(cmd);
+    PROCESS_SUBCOMMANDS_NOW(cmd);
 
   #elif DISABLED(BELTPRINTER)
 
@@ -417,18 +443,18 @@ void PrintJobRecovery::resume() {
     #if !HOMING_Z_DOWN
       // Set Z to the real position
       sprintf_P(cmd, PSTR("G92.9Z%s"), dtostrf(z_now, 1, 3, str_1));
-      gcode.process_subcommands_now(cmd);
+      PROCESS_SUBCOMMANDS_NOW(cmd);
     #endif
 
     // Does Z need to be raised now? It should be raised before homing XY.
     if (z_raised > z_now) {
       z_now = z_raised;
       sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_now, 1, 3, str_1));
-      gcode.process_subcommands_now(cmd);
+      PROCESS_SUBCOMMANDS_NOW(cmd);
     }
 
     // Home XY with no Z raise
-    gcode.process_subcommands_now(F("G28R0XY")); // No raise during G28
+    PROCESS_SUBCOMMANDS_NOW(F("G28R0XY")); // No raise during G28
 
   #endif
 
@@ -436,7 +462,7 @@ void PrintJobRecovery::resume() {
     // Move to a safe XY position and home Z while avoiding the print.
     const xy_pos_t p = xy_pos_t(POWER_LOSS_ZHOME_POS) TERN_(HOMING_Z_WITH_PROBE, - probe.offset_xy);
     sprintf_P(cmd, PSTR("G1X%sY%sF1000\nG28HZ"), dtostrf(p.x, 1, 3, str_1), dtostrf(p.y, 1, 3, str_2));
-    gcode.process_subcommands_now(cmd);
+    PROCESS_SUBCOMMANDS_NOW(cmd);
   #endif
 
   // Mark all axes as having been homed (no effect on current_position)
@@ -447,12 +473,12 @@ void PrintJobRecovery::resume() {
     // Leveling may already be enabled due to the ENABLE_LEVELING_AFTER_G28 option.
     // TODO: Add a G28 parameter to leave leveling disabled.
     sprintf_P(cmd, PSTR("M420S%cZ%s"), '0' + (char)info.flag.leveling, dtostrf(info.fade, 1, 1, str_1));
-    gcode.process_subcommands_now(cmd);
+    PROCESS_SUBCOMMANDS_NOW(cmd);
 
     #if !HOMING_Z_DOWN
       // The physical Z was adjusted at power-off so undo the M420S1 correction to Z with G92.9.
       sprintf_P(cmd, PSTR("G92.9Z%s"), dtostrf(z_now, 1, 1, str_1));
-      gcode.process_subcommands_now(cmd);
+      PROCESS_SUBCOMMANDS_NOW(cmd);
     #endif
   #endif
 
@@ -460,7 +486,7 @@ void PrintJobRecovery::resume() {
     // Z was homed down to the bed, so move up to the raised height.
     z_now = z_raised;
     sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_now, 1, 3, str_1));
-    gcode.process_subcommands_now(cmd);
+    PROCESS_SUBCOMMANDS_NOW(cmd);
   #endif
 
   // Recover volumetric extrusion state
@@ -468,16 +494,16 @@ void PrintJobRecovery::resume() {
     #if HAS_MULTI_EXTRUDER
       EXTRUDER_LOOP() {
         sprintf_P(cmd, PSTR("M200T%iD%s"), e, dtostrf(info.filament_size[e], 1, 3, str_1));
-        gcode.process_subcommands_now(cmd);
+        PROCESS_SUBCOMMANDS_NOW(cmd);
       }
       if (!info.flag.volumetric_enabled) {
         sprintf_P(cmd, PSTR("M200T%iD0"), info.active_extruder);
-        gcode.process_subcommands_now(cmd);
+        PROCESS_SUBCOMMANDS_NOW(cmd);
       }
     #else
       if (info.flag.volumetric_enabled) {
         sprintf_P(cmd, PSTR("M200D%s"), dtostrf(info.filament_size[0], 1, 3, str_1));
-        gcode.process_subcommands_now(cmd);
+        PROCESS_SUBCOMMANDS_NOW(cmd);
       }
     #endif
   #endif
@@ -489,10 +515,10 @@ void PrintJobRecovery::resume() {
       if (et) {
         #if HAS_MULTI_HOTEND
           sprintf_P(cmd, PSTR("T%iS"), e);
-          gcode.process_subcommands_now(cmd);
+          PROCESS_SUBCOMMANDS_NOW(cmd);
         #endif
         sprintf_P(cmd, PSTR("M109S%i"), et);
-        gcode.process_subcommands_now(cmd);
+        PROCESS_SUBCOMMANDS_NOW(cmd);
       }
     }
   #endif
@@ -500,7 +526,7 @@ void PrintJobRecovery::resume() {
   // Restore the previously active tool (with no_move)
   #if HAS_MULTI_EXTRUDER || HAS_MULTI_HOTEND
     sprintf_P(cmd, PSTR("T%i S"), info.active_extruder);
-    gcode.process_subcommands_now(cmd);
+    PROCESS_SUBCOMMANDS_NOW(cmd);
   #endif
 
   // Restore print cooling fan speeds
@@ -509,7 +535,7 @@ void PrintJobRecovery::resume() {
       const int f = info.fan_speed[i];
       if (f) {
         sprintf_P(cmd, PSTR("M106P%iS%i"), i, f);
-        gcode.process_subcommands_now(cmd);
+        PROCESS_SUBCOMMANDS_NOW(cmd);
       }
     }
   #endif
@@ -531,17 +557,17 @@ void PrintJobRecovery::resume() {
 
   // Un-retract if there was a retract at outage
   #if ENABLED(BACKUP_POWER_SUPPLY) && POWER_LOSS_RETRACT_LEN > 0
-    gcode.process_subcommands_now(F("G1F3000E" STRINGIFY(POWER_LOSS_RETRACT_LEN)));
+    PROCESS_SUBCOMMANDS_NOW(F("G1F3000E" STRINGIFY(POWER_LOSS_RETRACT_LEN)));
   #endif
 
   // Additional purge on resume if configured
   #if POWER_LOSS_PURGE_LEN
     sprintf_P(cmd, PSTR("G1F3000E%d"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN));
-    gcode.process_subcommands_now(cmd);
+    PROCESS_SUBCOMMANDS_NOW(cmd);
   #endif
 
   #if ENABLED(NOZZLE_CLEAN_FEATURE)
-    gcode.process_subcommands_now(F("G12"));
+    PROCESS_SUBCOMMANDS_NOW(F("G12"));
   #endif
 
   // Move back over to the saved XY
@@ -549,19 +575,19 @@ void PrintJobRecovery::resume() {
     dtostrf(info.current_position.x, 1, 3, str_1),
     dtostrf(info.current_position.y, 1, 3, str_2)
   );
-  gcode.process_subcommands_now(cmd);
+  PROCESS_SUBCOMMANDS_NOW(cmd);
 
   // Move back down to the saved Z for printing
   sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_print, 1, 3, str_1));
-  gcode.process_subcommands_now(cmd);
+  PROCESS_SUBCOMMANDS_NOW(cmd);
 
   // Restore the feedrate
   sprintf_P(cmd, PSTR("G1F%d"), info.feedrate);
-  gcode.process_subcommands_now(cmd);
+  PROCESS_SUBCOMMANDS_NOW(cmd);
 
   // Restore E position with G92.9
   sprintf_P(cmd, PSTR("G92.9E%s"), dtostrf(info.current_position.e, 1, 3, str_1));
-  gcode.process_subcommands_now(cmd);
+  PROCESS_SUBCOMMANDS_NOW(cmd);
 
   TERN_(GCODE_REPEAT_MARKERS, repeat = info.stored_repeat);
   TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset);
@@ -573,22 +599,14 @@ void PrintJobRecovery::resume() {
   // Relative axis modes
   gcode.axis_relative = info.axis_relative;
 
-  #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
-    const uint8_t old_flags = marlin_debug_flags;
-    marlin_debug_flags |= MARLIN_DEBUG_ECHO;
-  #endif
-
   // Continue to apply PLR when a file is resumed!
   enable(true);
 
   // Resume the SD file from the last position
-  char *fn = info.sd_filename;
-  sprintf_P(cmd, M23_STR, fn);
-  gcode.process_subcommands_now(cmd);
+  sprintf_P(cmd, M23_STR, &info.sd_filename[0]);
+  PROCESS_SUBCOMMANDS_NOW(cmd);
   sprintf_P(cmd, PSTR("M24S%ldT%ld"), resume_sdpos, info.print_job_elapsed);
-  gcode.process_subcommands_now(cmd);
-
-  TERN_(DEBUG_POWER_LOSS_RECOVERY, marlin_debug_flags = old_flags);
+  PROCESS_SUBCOMMANDS_NOW(cmd);
 }
 
 #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)