verbose on debug

cleanup
Fix Z Pos corruption on use of default z_measured_min
2024-11-12 17:47:03 -06:00 · 2024-11-12 17:46:58 -06:00 · 2024-11-06 14:22:34 -05:00 · 2024-11-04 00:28:52 +00:00 · 2024-11-03 16:38:21 -06:00 · 2024-11-03 16:06:47 -06:00
768 changed files with 33987 additions and 14211 deletions
@@ -0,0 +1,21 @@
+# Build artifacts
+buildroot/
+*.o
+*.a
+*.so
+*.dylib
+*.dll
+*.exe
+
+# Web assets
+*.min.js
+*.min.css
+
+# Generated files
+__pycache__/
+*.pyc
+.DS_Store
+
+# IDE files
+.vscode/
+.idea/
@@ -7,7 +7,7 @@ contact_links:
    url: https://www.facebook.com/groups/1049718498464482
    about: Please ask and answer questions here.
  - name: 🕹 Marlin on Discord
-    url: https://discord.gg/n5NJ59y
+    url: https://discord.com/servers/marlin-firmware-461605380783472640
    about: Join the Discord server for support and discussion.
  - name: 🔗 Marlin Discussion Forum
    url: https://reprap.org/forum/list.php?415
@@ -43,7 +43,7 @@ We have a Message Board and a Facebook group where our knowledgable user communi

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

-* Use the link https://discord.gg/n5NJ59y to join up as a General User.
+* Use the link https://discord.com/servers/marlin-firmware-461605380783472640 to join up as a General User.
 * Even though our Discord is pretty active, it may take a while for community members to respond &mdash; please be patient!
 * Use the `#general` channel for general questions or discussion about Marlin.
 * Other channels exist for certain topics or are limited to Patrons. Check the channel list.
@@ -14,7 +14,7 @@ jobs:
  autolabel:
    name: Auto Label
    if: github.repository == 'MarlinFirmware/Marlin'
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
    steps:
    - name: Auto Label for [BUG]
      uses: actions/github-script@v7
@@ -14,7 +14,7 @@ jobs:
    name: Bump Distribution Date
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:

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

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

    steps:
    - uses: superbrothers/close-pull-request@v3
@@ -34,15 +34,19 @@ jobs:
    name: Build Test
    if: github.repository == 'MarlinFirmware/Marlin'

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

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

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

        # AVR
        - mega2560
@@ -105,9 +109,9 @@ jobs:

        # STM32F4
        - ARMED
-        - BIGTREE_BTT002
-        - BIGTREE_GTR_V1_0
-        - BIGTREE_SKR_PRO
+        - BTT_BTT002
+        - BTT_GTR_V1_0
+        - BTT_SKR_PRO
        - FLYF407ZG
        - FYSETC_S6
        - LERDGEK
@@ -182,6 +186,13 @@ jobs:
        pio upgrade --dev
        pio pkg update --global

+    - name: Install Simulator dependencies
+      run: |
+        sudo apt-get install build-essential
+        sudo apt-get install libsdl2-dev
+        sudo apt-get install libsdl2-net-dev
+        sudo apt-get install libglm-dev
+
    - name: Run ${{ matrix.test-platform }} Tests
      run: |
        make tests-single-ci TEST_TARGET=${{ matrix.test-platform }}
@@ -36,7 +36,7 @@ jobs:
    # pulls them into additional branches.
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:
    - name: Check out the PR
@@ -0,0 +1,48 @@
+#
+# ci-validate-boards.yml
+# Validate boards.h to make sure it's all set up correctly
+#
+
+name: CI - Validate boards.h
+
+# We can do the on: section as two items, one for pull requests and one for pushes...
+on:
+  pull_request:
+    branches:
+    - bugfix-2.1.x
+    paths:
+    - 'Marlin/src/core/boards.h'
+  push:
+    branches:
+    - bugfix-2.1.x
+    paths:
+    - 'Marlin/src/core/boards.h'
+
+jobs:
+  validate_pins_files:
+    name: Validate boards.h
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Check out the PR
+      uses: actions/checkout@v4
+
+    - name: Cache pip
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: Select Python 3.9
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.9'
+        architecture: 'x64'
+
+    - name: Validate core/boards.h
+      run: |
+        make validate-boards -j
@@ -26,7 +26,7 @@ jobs:
    name: Validate Pins Files
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:
    - name: Check out the PR
@@ -13,7 +13,7 @@ on:

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

    strategy:
      matrix:
@@ -14,7 +14,7 @@ jobs:
    name: Close Stale Issues
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:
    - uses: actions/stale@v9
@@ -14,7 +14,7 @@ jobs:
    name: Lock Closed Issues
    if: github.repository == 'MarlinFirmware/Marlin'

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

    steps:
    - uses: dessant/lock-threads@v5
@@ -14,7 +14,7 @@ jobs:
    name: Unlock Reopened
    if: github.repository == 'MarlinFirmware/Marlin'

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

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

 # Simulation files
 imgui.ini
@@ -168,3 +169,6 @@ __pycache__
 tags
 *.logs
 *.bak
+.aider*
+!.aiderignore
+.env
@@ -0,0 +1,16 @@
+/**
+ * Marlin-specific settings for Zed
+ *
+ * For a full list of overridable settings, and general information on folder-specific settings,
+ * see the documentation: https://zed.dev/docs/configuring-zed#settings-files
+ */
+{
+  "languages": {
+    "C": {
+      "enable_language_server": false
+    },
+    "C++": {
+      "enable_language_server": false
+    }
+  }
+}
@@ -6,9 +6,10 @@ UNIT_TEST_CONFIG ?= default

 help:
 	@echo "Tasks for local development:"
-	@echo "make marlin                    : Build marlin for the configured board"
+	@echo "make marlin                    : Build Marlin for the configured board"
 	@echo "make format-pins -j            : Reformat all pins files (-j for parallel execution)"
 	@echo "make validate-pins -j          : Validate all pins files, fails if any require reformatting"
+	@echo "make validate-boards -j        : Validate boards.h and pins.h for standards compliance"
 	@echo "make tests-single-ci           : Run a single test from inside the CI"
 	@echo "make tests-single-local        : Run a single test locally"
 	@echo "make tests-single-local-docker : Run a single test locally, using docker"
@@ -102,3 +103,11 @@ format-pins: $(PINS)
 validate-pins: format-pins
 	@echo "Validating pins files"
 	@git diff --exit-code || (git status && echo "\nError: Pins files are not formatted correctly. Run \"make format-pins\" to fix.\n" && exit 1)
+
+BOARDS_FILE := Marlin/src/core/boards.h
+
+.PHONY: validate-boards
+
+validate-boards:
+	@echo "Validating boards.h file"
+	@python $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)
@@ -50,7 +50,7 @@
 *
 * Calibration Guides:  https://reprap.org/wiki/Calibration
 *                      https://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
- *                      https://web.archive.org/web/20220907014303/https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
+ *                      https://web.archive.org/web/20220907014303/sites.google.com/site/repraplogphase/calibration-of-your-reprap
 *                      https://youtu.be/wAL9d7FgInk
 *                      https://teachingtechyt.github.io/calibration.html
 *
@@ -61,7 +61,7 @@
 // @section info

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

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

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

@@ -99,22 +101,22 @@
 /**
 * Select a secondary serial port on the board to use for communication with the host.
 * Currently Ethernet (-2) is only supported on Teensy 4.1 boards.
- * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 //#define SERIAL_PORT_2 -1
 //#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

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

 /**
 * Select a serial port to communicate with RS485 protocol
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 //#define RS485_SERIAL_PORT 1
 #ifdef RS485_SERIAL_PORT
@@ -385,14 +387,15 @@
 *   PRUSA_MMU1           : Průša MMU1 (The "multiplexer" version)
 *   PRUSA_MMU2           : Průša MMU2
 *   PRUSA_MMU2S          : Průša MMU2S (Requires MK3S extruder with motion sensor, EXTRUDERS = 5)
+ *   PRUSA_MMU3           : Průša MMU3  (Requires MK3S extruder with motion sensor and MMU firmware version 3.x.x, EXTRUDERS = 5)
 *   EXTENDABLE_EMU_MMU2  : MMU with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
 *   EXTENDABLE_EMU_MMU2S : MMUS with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
 *
 * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
 * See additional options in Configuration_adv.h.
- * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
+ * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "PRUSA_MMU3", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
 */
-//#define MMU_MODEL PRUSA_MMU2
+//#define MMU_MODEL PRUSA_MMU3

 // @section psu control

@@ -713,10 +716,13 @@
 * Use a physical model of the hotend to control temperature. When configured correctly this gives
 * better responsiveness and stability than PID and removes the need for PID_EXTRUSION_SCALING
 * and PID_FAN_SCALING. Enable MPC_AUTOTUNE and use M306 T to autotune the model.
- * @section mpctemp
+ * @section mpc temp
 */
 #if ENABLED(MPCTEMP)
  #define MPC_AUTOTUNE                                // Include a method to do MPC auto-tuning (~6.3K bytes of flash)
+  #if ENABLED(MPC_AUTOTUNE)
+    //#define MPC_AUTOTUNE_DEBUG                      // Enable MPC debug logging (~870 bytes of flash)
+  #endif
  //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1.3K bytes of flash)
  //#define MPC_AUTOTUNE_MENU                         // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash)

@@ -798,6 +804,40 @@
  //#define BED_LIMIT_SWITCHING   // Keep the bed temperature within BED_HYSTERESIS of the target
 #endif

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

@@ -838,14 +878,16 @@
  // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element
  // and placed inside the small Creality printer enclosure tent.
  //
-  #define DEFAULT_chamberKp 37.04
-  #define DEFAULT_chamberKi 1.40
+  #define DEFAULT_chamberKp  37.04
+  #define DEFAULT_chamberKi   1.40
  #define DEFAULT_chamberKd 655.17
  // M309 P37.04 I1.04 D655.17

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

+// @section pid temp
+
 #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER)
  //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
@@ -901,7 +943,7 @@
 //============================= Mechanical Settings =========================
 //===========================================================================

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

 // Enable one of the options below for CoreXY, CoreXZ, or CoreYZ kinematics,
 // either in the usual order or reversed
@@ -925,6 +967,15 @@
 // Enable for a belt style printer with endless "Z" motion
 //#define BELTPRINTER

+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
+// @section polargraph
+
 // Enable for Polargraph Kinematics
 //#define POLARGRAPH
 #if ENABLED(POLARGRAPH)
@@ -1111,15 +1162,6 @@
  #define FEEDRATE_SCALING                  // Convert XY feedrate from mm/s to degrees/s on the fly
 #endif

-// @section machine
-
-// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
-//#define ARTICULATED_ROBOT_ARM
-
-// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
-// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
-//#define FOAMCUTTER_XYUV
-
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================
@@ -1464,7 +1506,8 @@
 * A lightweight, solenoid-driven probe.
 * For information about this sensor https://github.com/bigtreetech/MicroProbe
 *
- * Also requires: PROBE_ENABLE_DISABLE
+ * Also requires PROBE_ENABLE_DISABLE
+ * With FT_MOTION requires ENDSTOP_INTERRUPTS_FEATURE
 */
 //#define BIQU_MICROPROBE_V1  // Triggers HIGH
 //#define BIQU_MICROPROBE_V2  // Triggers LOW
@@ -1603,7 +1646,8 @@
 // with NOZZLE_AS_PROBE this can be negative for a wider probing area.
 #define PROBING_MARGIN 10

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

 // Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2)
@@ -1634,6 +1678,7 @@
  #define PROBE_TARE_DELAY 200    // (ms) Delay after tare before
  #define PROBE_TARE_STATE HIGH   // State to write pin for tare
  //#define PROBE_TARE_PIN PA5    // Override default pin
+  //#define PROBE_TARE_MENU       // Display a menu item to tare the probe
  #if ENABLED(PROBE_ACTIVATION_SWITCH)
    //#define PROBE_TARE_ONLY_WHILE_INACTIVE  // Fail to tare/probe if PROBE_ACTIVATION_SWITCH is active
  #endif
@@ -1671,8 +1716,8 @@
 * probe Z Offset set with NOZZLE_TO_PROBE_OFFSET, M851, or the LCD.
 * Only integer values >= 1 are valid here.
 *
- * Example: `M851 Z-5` with a CLEARANCE of 4  =>  9mm from bed to nozzle.
- *     But: `M851 Z+1` with a CLEARANCE of 2  =>  2mm from bed to nozzle.
+ * Example: 'M851 Z-5' with a CLEARANCE of 4  =>  9mm from bed to nozzle.
+ *     But: 'M851 Z+1' with a CLEARANCE of 2  =>  2mm from bed to nozzle.
 */
 #define Z_CLEARANCE_DEPLOY_PROBE   10 // (mm) Z Clearance for Deploy/Stow
 #define Z_CLEARANCE_BETWEEN_PROBES  5 // (mm) Z Clearance between probe points
@@ -1723,6 +1768,8 @@
  #define PROBING_BED_TEMP     50
 #endif

+// @section stepper drivers
+
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 // :{ 0:'Low', 1:'High' }
 #define X_ENABLE_ON 0
@@ -1896,6 +1943,8 @@
 #endif

 /**
+ * @section filament runout sensors
+ *
 * Filament Runout Sensors
 * Mechanical or opto endstops are used to check for the presence of filament.
 *
@@ -2007,9 +2056,9 @@
        //#define FIL_MOTION8_PULLUP
        //#define FIL_MOTION8_PULLDOWN
      #endif
-    #endif
-  #endif
-#endif
+    #endif // FILAMENT_MOTION_SENSOR
+  #endif // FILAMENT_RUNOUT_DISTANCE_MM
+#endif // FILAMENT_RUNOUT_SENSOR

 //===========================================================================
 //=============================== Bed Leveling ==============================
@@ -2292,6 +2341,9 @@
 // Homing speeds (linear=mm/min, rotational=°/min)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }

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

@@ -2418,9 +2470,9 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255

-// @section motion
-
 /**
+ * @section nozzle park
+ *
 * Nozzle Park
 *
 * Park the nozzle at the given XYZ position on idle or G27.
@@ -2443,6 +2495,8 @@
 #endif

 /**
+ * @section nozzle clean
+ *
 * Clean Nozzle Feature
 *
 * Adds the G12 command to perform a nozzle cleaning process.
@@ -2603,9 +2657,24 @@
  //#include "Configuration_Secure.h"       // External file with PASSWORD_DEFAULT_VALUE
 #endif

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

 // @section interface

@@ -2652,21 +2721,6 @@
 */
 #define LCD_INFO_SCREEN_STYLE 0

-/**
- * SD CARD
- *
- * SD Card support is disabled by default. If your controller has an SD slot,
- * you must uncomment the following option or it won't work.
- */
-//#define SDSUPPORT
-
-/**
- * SD CARD: ENABLE CRC
- *
- * Use CRC checks and retries on the SD communication.
- */
-//#define SD_CHECK_AND_RETRY
-
 /**
 * LCD Menu Items
 *
@@ -2795,7 +2849,7 @@

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

@@ -2861,7 +2915,7 @@

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

@@ -2993,7 +3047,7 @@

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

@@ -3230,6 +3284,11 @@
 //
 //#define ANYCUBIC_LCD_VYPER

+//
+// Sovol SV-06 Resistive Touch Screen
+//
+//#define SOVOL_SV06_RTS
+
 //
 // 320x240 Nextion 2.8" serial TFT Resistive Touch Screen NX3224T028
 //
@@ -3401,6 +3460,8 @@
 *   TFT_ROTATE_180, TFT_ROTATE_180_MIRROR_X, TFT_ROTATE_180_MIRROR_Y,
 *   TFT_ROTATE_270, TFT_ROTATE_270_MIRROR_X, TFT_ROTATE_270_MIRROR_Y,
 *   TFT_MIRROR_X, TFT_MIRROR_Y, TFT_NO_ROTATION
+ *
+ * :{ 'TFT_NO_ROTATION':'None', 'TFT_ROTATE_90':'90°', 'TFT_ROTATE_90_MIRROR_X':'90° (Mirror X)', 'TFT_ROTATE_90_MIRROR_Y':'90° (Mirror Y)', 'TFT_ROTATE_180':'180°', 'TFT_ROTATE_180_MIRROR_X':'180° (Mirror X)', 'TFT_ROTATE_180_MIRROR_Y':'180° (Mirror Y)', 'TFT_ROTATE_270':'270°', 'TFT_ROTATE_270_MIRROR_X':'270° (Mirror X)', 'TFT_ROTATE_270_MIRROR_Y':'270° (Mirror Y)', 'TFT_MIRROR_X':'Mirror X', 'TFT_MIRROR_Y':'Mirror Y' }
 */
 //#define TFT_ROTATION TFT_NO_ROTATION

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

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

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

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

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

@@ -590,6 +591,8 @@
  // Use TEMP_SENSOR_SOC as a trigger for enabling the controller fan
  //#define CONTROLLER_FAN_MIN_SOC_TEMP 40  // (°C) Turn on the fan if the SoC reaches this temperature

+  #define CONTROLLER_FAN_BED_HEATING        // Turn on the fan when heating the bed
+
  //#define CONTROLLER_FAN_EDITABLE         // Enable M710 configurable settings
  #if ENABLED(CONTROLLER_FAN_EDITABLE)
    #define CONTROLLER_FAN_MENU             // Enable the Controller Fan submenu
@@ -1081,9 +1084,11 @@
  #define HOME_AFTER_G34
 #endif

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

@@ -1104,29 +1109,35 @@
  //#define ASSISTED_TRAMMING_WAIT_POSITION { X_CENTER, Y_CENTER, 30 } // Move the nozzle out of the way for adjustment

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

 #endif

 // @section motion control

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

@@ -1149,18 +1160,13 @@
  #define FTM_FS                     1000         // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
  #define FTM_TS                        0.001f    // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)

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

    // Use this to adjust the time required to consume the command buffer.
    // Try increasing this value if stepper motion is choppy.
    #define FTM_STEPPERCMD_BUFF_SIZE 3000         // Size of the stepper command buffers
-                                                  // (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
-                                                  // If you run out of memory, fall back to 3000 and increase progressively
+
  #else
    // CoreXY motion needs a larger buffer size. These values are based on our testing.
    #define FTM_STEPPER_FS          30000
@@ -1182,7 +1188,7 @@
 #endif

 /**
- * Input Shaping -- EXPERIMENTAL
+ * Input Shaping
 *
 * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
 *
@@ -1254,8 +1260,8 @@
 #define DISABLE_IDLE_E    // Shut down all idle extruders

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

 // Minimum time that a segment needs to take as the buffer gets emptied
 #define DEFAULT_MINSEGMENTTIME        20000   // (µs) Set with M205 B.
@@ -1491,8 +1497,17 @@
  #define FEEDRATE_CHANGE_BEEP_FREQUENCY 440
 #endif

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

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

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

  // Include a page of printer information in the LCD Main Menu
@@ -1555,6 +1572,9 @@
  // BACK menu items keep the highlight at the top
  //#define TURBO_BACK_MENU_ITEM

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

@@ -2558,7 +2578,7 @@

 /**
 * Minimum stepper driver pulse width (in ns)
- * If undefined, these defaults (from Conditionals_adv.h) apply:
+ * If undefined, these defaults (from Conditionals-4-adv.h) apply:
 *     100 : Minimum for TMC2xxx stepper drivers
 *     500 : Minimum for LV8729
 *    1000 : Minimum for A4988 and A5984 stepper drivers
@@ -2572,7 +2592,7 @@

 /**
 * Maximum stepping rate (in Hz) the stepper driver allows
- * If undefined, these defaults (from Conditionals_adv.h) apply:
+ * If undefined, these defaults (from Conditionals-4-adv.h) apply:
 *  5000000 : Maximum for TMC2xxx stepper drivers
 *  1000000 : Maximum for LV8729 stepper driver
 *   500000 : Maximum for A4988 stepper driver
@@ -2706,7 +2726,7 @@

 /**
 * Set the number of proportional font spaces required to fill up a typical character space.
- * This can help to better align the output of commands like `G29 O` Mesh Output.
+ * This can help to better align the output of commands like 'G29 O' Mesh Output.
 *
 * For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0.
 * Otherwise, adjust according to your client and font.
@@ -2971,7 +2991,7 @@

  #if AXIS_IS_TMC_CONFIG(X)
    #define X_CURRENT       800        // (mA) RMS current. Multiply by 1.414 for peak current.
-    #define X_CURRENT_HOME  X_CURRENT  // (mA) RMS current for sensorless homing
+    #define X_CURRENT_HOME  X_CURRENT  // (mA) RMS current for homing. (Typically lower than *_CURRENT.)
    #define X_MICROSTEPS     16        // 0..256
    #define X_RSENSE          0.11
    #define X_CHAIN_POS      -1        // -1..0: Not chained. 1: MCU MOSI connected. 2: Next in chain, ...
@@ -3181,6 +3201,13 @@
    //#define E7_HOLD_MULTIPLIER 0.5
  #endif

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

  /**
@@ -3445,7 +3472,7 @@
  /**
   * Step on both rising and falling edge signals (as with a square wave).
   */
-  //#define EDGE_STEPPING
+  #define EDGE_STEPPING

  /**
   * Enable M122 debugging command for TMC stepper drivers.
@@ -3527,7 +3554,7 @@
  //#define PHOTOGRAPH_PIN 23

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

  // Optional second move with delay to trigger the camera shutter
@@ -4380,58 +4407,81 @@
  //#define E_MUX0_PIN 40  // Always Required
  //#define E_MUX1_PIN 42  // Needed for 3 to 8 inputs
  //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
-#elif HAS_PRUSA_MMU2
-  // Serial port used for communication with MMU2.
-  #define MMU2_SERIAL_PORT 2

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

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

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

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

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

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

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

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

    #define MMU2_CAN_LOAD_RETRACT   6.0   // (mm) Keep under the distance between Load Sequence values
    #define MMU2_CAN_LOAD_DEVIATION 0.8   // (mm) Acceptable deviation
@@ -4442,10 +4492,90 @@

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

    /**
-     * MMU1 Extruder Sensor
+     * SpoolJoin Consumes All Filament -- EXPERIMENTAL
+     *
+     * SpoolJoin normally triggers when FINDA sensor untriggers while printing.
+     * This is the default behaviour and it doesn't consume all the filament
+     * before triggering a filament change. This leaves some filament in the
+     * current slot and before switching to the next slot it is unloaded.
+     *
+     * Enabling this option will trigger the filament change when both FINDA
+     * and Filament Runout Sensor triggers during the print and it allows the
+     * filament in the current slot to be completely consumed before doing the
+     * filament change. But this can cause problems as a little bit of filament
+     * will be left between the extruder gears (thinking that the filament
+     * sensor is triggered through the gears) and the end of the PTFE tube and
+     * can cause filament load issues.
+     */
+    //#define MMU3_SPOOL_JOIN_CONSUMES_ALL_FILAMENT
+
+    // MMU3 sequences use mm/sec. Not compatible with MMU2 which use mm/min.
+    #define MMU3_LOAD_TO_NOZZLE_SEQUENCE \
+      { _MMU_EXTRUDER_PTFE_LENGTH,      MMM_TO_MMS(810) }, /* (13.5 mm/s) Fast load ahead of heatbreak */ \
+      { _MMU_EXTRUDER_HEATBREAK_LENGTH, MMM_TO_MMS(198) }  /* ( 3.3 mm/s) Slow load after heatbreak */
+
+    #define MMU3_RAMMING_SEQUENCE \
+      { 0.2816,  MMM_TO_MMS(1339.0) }, \
+      { 0.3051,  MMM_TO_MMS(1451.0) }, \
+      { 0.3453,  MMM_TO_MMS(1642.0) }, \
+      { 0.3990,  MMM_TO_MMS(1897.0) }, \
+      { 0.4761,  MMM_TO_MMS(2264.0) }, \
+      { 0.5767,  MMM_TO_MMS(2742.0) }, \
+      { 0.5691,  MMM_TO_MMS(3220.0) }, \
+      { 0.1081,  MMM_TO_MMS(3220.0) }, \
+      { 0.7644,  MMM_TO_MMS(3635.0) }, \
+      { 0.8248,  MMM_TO_MMS(3921.0) }, \
+      { 0.8483,  MMM_TO_MMS(4033.0) }, \
+      { -15.0,   MMM_TO_MMS(6000.0) }, \
+      { -24.5,   MMM_TO_MMS(1200.0) }, \
+      {  -7.0,   MMM_TO_MMS( 600.0) }, \
+      {  -3.5,   MMM_TO_MMS( 360.0) }, \
+      {  20.0,   MMM_TO_MMS( 454.0) }, \
+      { -20.0,   MMM_TO_MMS( 303.0) }, \
+      { -35.0,   MMM_TO_MMS(2000.0) }
+
+  #else // MMU2 (not MMU2S)
+
+    /**
+     * MMU2 Extruder Sensor
     *
     * Support for a Průša (or other) IR Sensor to detect filament near the extruder
     * and make loading more reliable. Suitable for an extruder equipped with a filament
@@ -4455,16 +4585,14 @@
     * move up to the gears. If no filament is detected, the MMU2 can make some more attempts.
     * If all attempts fail, a filament runout will be triggered.
     */
-    //#define MMU_EXTRUDER_SENSOR
-    #if ENABLED(MMU_EXTRUDER_SENSOR)
-      #define MMU_LOADING_ATTEMPTS_NR 5 // max. number of attempts to load filament if first load fail
+    //#define MMU2_EXTRUDER_SENSOR
+    #if ENABLED(MMU2_EXTRUDER_SENSOR)
+      #define MMU2_LOADING_ATTEMPTS_NR 5  // Number of times to try loading filament before failure
    #endif

  #endif

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

 /**
 * Advanced Print Counter settings
@@ -187,6 +187,17 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1033)
 # RAMPS Plus 3DYMY (Power outputs: Spindle, Controller Fan)
 else ifeq ($(HARDWARE_MOTHERBOARD),1034)

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

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

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

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

 # Link: create ELF output file from library.
-
+LDFLAGS+= -Wl,-V
 $(BUILD_DIR)/$(TARGET).elf: $(OBJ) Configuration.h
 	$(Pecho) "  CXX   $@"
 	$P $(CXX) $(LD_PREFIX) $(ALL_CXXFLAGS) -o $@ -L. $(OBJ) $(LDFLAGS) $(LD_SUFFIX)
@@ -41,7 +41,14 @@
 * here we define this default string as the date where the latest release
 * version was tagged.
 */
-//#define STRING_DISTRIBUTION_DATE "2024-07-12"
+//#define STRING_DISTRIBUTION_DATE "2024-11-04"
+
+/**
+ * The protocol for communication to the host. Protocol indicates communication
+ * standards such as the use of ASCII, "echo:" and "error:" line prefixes, etc.
+ * (Other behaviors are given by the firmware version and capabilities report.)
+ */
+//#define PROTOCOL_VERSION "1.0"

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

 /**
- * Set the vendor info the serial USB interface, if changable
- * Currently only supported by DUE platform
+ * Set the vendor info the serial USB interface, if changeable.
+ * Currently only supported by DUE platform.
 */
 //#define USB_DEVICE_VENDOR_ID           0x0000
 //#define USB_DEVICE_PRODUCT_ID          0x0000
@@ -129,11 +129,11 @@ typedef Servo hal_servo_t;
  #endif
 #endif

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

 #ifdef LCD_SERIAL_PORT
@@ -601,20 +601,20 @@ MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser);

 #endif // SERIAL_PORT_3

-#ifdef MMU2_SERIAL_PORT
+#ifdef MMU_SERIAL_PORT

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

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

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

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

 #ifdef LCD_SERIAL_PORT

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

 #endif // !USBCON

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

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

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

 #include "../fastio.h"
@@ -22,7 +22,23 @@
 #pragma once

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

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

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

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

 #else

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

 #endif

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

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

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

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

  switch (digitalPinToTimer_DEBUG(pin)) {
@@ -276,7 +292,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N -
  if (TEST(*TMSK, TOIE)) err_prob_interrupt();
 }

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

    #if ABTEST(0)
@@ -347,7 +363,7 @@ void pwm_details(uint8_t pin) {
  #else
    UNUSED(print_is_also_tied);
  #endif
-} // pwm_details
+} // printPinPWM

 #ifndef digitalRead_mod                   // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs
  int digitalRead_mod(const pin_t pin) {  // same as digitalRead except the PWM stop section has been removed
@@ -356,7 +372,7 @@ void pwm_details(uint8_t pin) {
  }
 #endif

-void print_port(const pin_t pin) {   // print port number
+void printPinPort(const pin_t pin) {   // print port number
  #ifdef digitalPinToPort_DEBUG
    uint8_t x;
    SERIAL_ECHOPGM("  Port: ");
@@ -386,7 +402,7 @@ void print_port(const pin_t pin) {   // print port number
  #endif
 }

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

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

 // digitalPinToBitMask(pin) is OK

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

 // portModeRegister(pin) is OK
@@ -81,11 +81,11 @@ extern DefaultSerial4 MSerial3;
  #endif
 #endif

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

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

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

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

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

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

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

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

 #define NUMBER_PINS_TOTAL PINS_COUNT

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

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

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

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

 /**
 * DUE Board pin   |  PORT  | Label
@@ -19,7 +19,7 @@ void sd_mmc_spi_mem_init() {
 }

 inline bool media_ready() {
-  return IS_SD_INSERTED() && !IS_SD_PRINTING() && !IS_SD_FILE_OPEN() && card.isMounted();
+  return IS_SD_MOUNTED() && IS_SD_INSERTED() && !IS_SD_FILE_OPEN() && !IS_SD_PRINTING();
 }

 bool sd_mmc_spi_unload(bool) { return true; }
@@ -32,14 +32,14 @@ Ctrl_status sd_mmc_spi_test_unit_ready() {
  #ifdef DISABLE_DUE_SD_MMC
    return CTRL_NO_PRESENT;
  #endif
-  if (!media_ready()) return CTRL_NO_PRESENT;
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;
  return CTRL_GOOD;
 }

 // NOTE: This function is defined as returning the address of the last block
 // in the card, which is cardSize() - 1
 Ctrl_status sd_mmc_spi_read_capacity(uint32_t *nb_sector) {
-  if (!media_ready()) return CTRL_NO_PRESENT;
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;
  *nb_sector = card.diskIODriver()->cardSize() - 1;
  return CTRL_GOOD;
 }
@@ -61,7 +61,7 @@ Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector) {
  #ifdef DISABLE_DUE_SD_MMC
    return CTRL_NO_PRESENT;
  #endif
-  if (!media_ready()) return CTRL_NO_PRESENT;
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;

  #ifdef DEBUG_MMC
  {
@@ -100,7 +100,7 @@ Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector) {
  #ifdef DISABLE_DUE_SD_MMC
    return CTRL_NO_PRESENT;
  #endif
-  if (!media_ready()) return CTRL_NO_PRESENT;
+  if (sd_mmc_spi_removal()) return CTRL_NO_PRESENT;

  #ifdef DEBUG_MMC
  {
@@ -209,16 +209,17 @@ int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
 // ADC
 // ------------------------

-#define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
-
+// https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32/api-reference/peripherals/adc.html
 adc1_channel_t get_channel(int pin) {
  switch (pin) {
-    case 39: return ADC1_CHANNEL(39);
-    case 36: return ADC1_CHANNEL(36);
-    case 35: return ADC1_CHANNEL(35);
-    case 34: return ADC1_CHANNEL(34);
-    case 33: return ADC1_CHANNEL(33);
-    case 32: return ADC1_CHANNEL(32);
+    case 39: return ADC1_CHANNEL_3;
+    case 36: return ADC1_CHANNEL_0;
+    case 35: return ADC1_CHANNEL_7;
+    case 34: return ADC1_CHANNEL_6;
+    case 33: return ADC1_CHANNEL_5;
+    case 32: return ADC1_CHANNEL_4;
+    case 37: return ADC1_CHANNEL_1;
+    case 38: return ADC1_CHANNEL_2;
  }
  return ADC1_CHANNEL_MAX;
 }
@@ -37,6 +37,10 @@
 // Set pin as output
 #define _SET_OUTPUT(IO)         pinMode(IO, OUTPUT)

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

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

+#define IS_OUTPUT(IO)            _IS_OUTPUT(IO)
+#define IS_INPUT(IO)             _IS_INPUT(IO)
+
 // digitalRead/Write wrappers
 #define extDigitalRead(IO)      digitalRead(IO)
 #define extDigitalWrite(IO,V)   digitalWrite(IO,V)
@@ -152,7 +152,7 @@ void stepperTask(void *parameter) {
    xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
    dma.rw_pos = 0;

-    const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.mode);
+    const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.active);

    while (dma.rw_pos < DMA_SAMPLE_COUNT) {

@@ -22,11 +22,15 @@

 #ifdef ARDUINO_ARCH_ESP32

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

 #if ALL(WIFISUPPORT, OTASUPPORT)

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

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

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

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

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

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

 // bss_end alias
 #define __bss_end __bss_end__
@@ -94,8 +94,10 @@
    #error "SERIAL_DMA requires USART_RX_DMA_SUPPORT to be enabled in the arduino core."
  #endif

-  // USART_RX_DMA_SUPPORT does not implement core_hook_usart_rx_irq, which is required for the emergency parser
-  #if ENABLED(EMERGENCY_PARSER)
+  // Before arduino core version 1.2.0, USART_RX_DMA_SUPPORT did not implement 
+  // core_hook_usart_rx_irq, which is required for the emergency parser.
+  // With 1.2.0, this was fixed (see https://github.com/shadow578/framework-arduino-hc32f46x/pull/25).
+  #if ENABLED(EMERGENCY_PARSER) && ARDUINO_CORE_VERSION_INT < GET_VERSION_INT(1, 2, 0)
    #error "EMERGENCY_PARSER is not supported with SERIAL_DMA. Please disable either SERIAL_DMA or EMERGENCY_PARSER."
  #endif

@@ -18,41 +18,47 @@
 */
 #pragma once

+/**
+ * Pins Debugging for HC32
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
+ */
+
 #include "../../inc/MarlinConfig.h"
 #include "fastio.h"
 #include <drivers/timera/timera_pwm.h>

-//
-// Translation of routines & variables used by pinsDebug.h
-//
 #ifndef BOARD_NR_GPIO_PINS
  #error "Expected BOARD_NR_GPIO_PINS not found."
 #endif

 #define NUM_DIGITAL_PINS BOARD_NR_GPIO_PINS
 #define NUMBER_PINS_TOTAL BOARD_NR_GPIO_PINS
-#define VALID_PIN(pin) IS_GPIO_PIN(pin)
+#define isValidPin(P) IS_GPIO_PIN(P)

 // Note: pin_array is defined in `Marlin/src/pins/pinsDebug.h`, and since this file is included
 // after it, it is available in this file as well.
-#define GET_ARRAY_PIN(p) pin_t(pin_array[p].pin)
-#define digitalRead_mod(p) extDigitalRead(p)
-#define PRINT_PIN(p)                              \
-  do {                                            \
-    sprintf_P(buffer, PSTR("%3hd "), int16_t(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 PRINT_PORT(p) print_port(p)
-#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 getPinByIndex(x) pin_t(pin_array[x].pin)
+#define digitalRead_mod(P) extDigitalRead(P)
+
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3hd "), int16_t(P)); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)

 #define MULTI_NAME_PAD 21 // Space needed to be pretty if not first name assigned to a pin

@@ -71,14 +77,14 @@
  #define M43_NEVER_TOUCH(Q) (IS_HOST_USART_PIN(Q) || IS_OSC_PIN(Q))
 #endif

-static pin_t DIGITAL_PIN_TO_ANALOG_PIN(pin_t pin) {
-  if (!VALID_PIN(pin)) return -1;
+int8_t digitalPinToAnalogIndex(const pin_t pin) {
+  if (!isValidPin(pin)) return -1;
  const int8_t adc_channel = int8_t(PIN_MAP[pin].adc_info.channel);
  return pin_t(adc_channel);
 }

-static bool IS_ANALOG(pin_t pin) {
-  if (!VALID_PIN(pin)) return false;
+bool isAnalogPin(pin_t pin) {
+  if (!isValidPin(pin)) return false;

  if (PIN_MAP[pin].adc_info.channel != ADC_PIN_INVALID)
    return _GET_MODE(pin) == INPUT_ANALOG && !M43_NEVER_TOUCH(pin);
@@ -86,13 +92,13 @@ static bool IS_ANALOG(pin_t pin) {
  return false;
 }

-static bool GET_PINMODE(const pin_t pin) {
-  return VALID_PIN(pin) && !IS_INPUT(pin);
+bool getValidPinMode(const pin_t pin) {
+  return isValidPin(pin) && !IS_INPUT(pin);
 }

-static bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) {
-  const pin_t pin = GET_ARRAY_PIN(array_pin);
-  return (!IS_ANALOG(pin));
+bool getPinIsDigitalByIndex(const int16_t index) {
+  const pin_t pin = getPinByIndex(index);
+  return (!isAnalogPin(pin));
 }

 /**
@@ -117,7 +123,7 @@ bool pwm_status(const pin_t pin) {
  return timera_is_unit_initialized(unit) && timera_is_channel_active(unit, channel) && getPinMode(pin) == OUTPUT_PWM;
 }

-void pwm_details(const pin_t pin) {
+void printPinPWM(const pin_t pin) {
  // Get timer assignment for pin
  timera_config_t *unit;
  en_timera_channel_t channel;
@@ -161,7 +167,7 @@ void pwm_details(const pin_t pin) {
  }
 }

-void print_port(pin_t pin) {
+void printPinPort(pin_t pin) {
  const char port = 'A' + char(pin >> 4); // Pin div 16
  const int16_t gbit = PIN_MAP[pin].bit_pos;
  char buffer[8];
@@ -97,7 +97,7 @@ void core_hook_sysclock_init() {
  #endif

  // sysclk is now configured according to F_CPU (i.e., 200MHz PLL output)
-  constexpr uint32_t sysclock = F_CPU;
+  const uint32_t sysclock = F_CPU;

  // Setup clock divisors for sysclk = 200 MHz
  // Note: PCLK1 is used for step+temp timers, and need to be kept at 50 MHz (until there is a better solution)
@@ -52,7 +52,7 @@ uint8_t MarlinHAL::active_ch = 0;

 uint16_t MarlinHAL::adc_value() {
  const pin_t pin = analogInputToDigitalPin(active_ch);
-  if (!VALID_PIN(pin)) return 0;
+  if (!isValidPin(pin)) return 0;
  return uint16_t((Gpio::get(pin) >> 2) & 0x3FF); // return 10bit value as Marlin expects
 }

@@ -49,28 +49,28 @@ extern "C" void delay(const int msec) {
 // IO functions
 // As defined by Arduino INPUT(0x0), OUTPUT(0x1), INPUT_PULLUP(0x2)
 void pinMode(const pin_t pin, const uint8_t mode) {
-  if (!VALID_PIN(pin)) return;
+  if (!isValidPin(pin)) return;
  Gpio::setMode(pin, mode);
 }

 void digitalWrite(pin_t pin, uint8_t pin_status) {
-  if (!VALID_PIN(pin)) return;
+  if (!isValidPin(pin)) return;
  Gpio::set(pin, pin_status);
 }

 bool digitalRead(pin_t pin) {
-  if (!VALID_PIN(pin)) return false;
+  if (!isValidPin(pin)) return false;
  return Gpio::get(pin);
 }

 void analogWrite(pin_t pin, int pwm_value) {  // 1 - 254: pwm_value, 0: LOW, 255: HIGH
-  if (!VALID_PIN(pin)) return;
+  if (!isValidPin(pin)) return;
  Gpio::set(pin, pwm_value);
 }

 uint16_t analogRead(pin_t adc_pin) {
-  if (!VALID_PIN(DIGITAL_PIN_TO_ANALOG_PIN(adc_pin))) return 0;
-  return Gpio::get(DIGITAL_PIN_TO_ANALOG_PIN(adc_pin));
+  if (!isValidPin(digitalPinToAnalogIndex(adc_pin))) return 0;
+  return Gpio::get(digitalPinToAnalogIndex(adc_pin));
 }

 char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s) {
@@ -37,29 +37,29 @@ constexpr uint8_t NUM_ANALOG_INPUTS = 16;
 constexpr uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS;

 // Get the digital pin for an analog index
-constexpr pin_t analogInputToDigitalPin(const int8_t p) {
-  return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC);
+constexpr pin_t analogInputToDigitalPin(const int8_t a) {
+  return (WITHIN(a, 0, NUM_ANALOG_INPUTS - 1) ? analog_offset + a : P_NC);
 }

 // Get the analog index for a digital pin
-constexpr int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
-  return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC);
+constexpr int8_t digitalPinToAnalogIndex(const pin_t pin) {
+  return (WITHIN(pin, analog_offset, NUM_DIGITAL_PINS - 1) ? pin - analog_offset : P_NC);
 }

 // Return the index of a pin number
 constexpr int16_t GET_PIN_MAP_INDEX(const pin_t pin) { return pin; }

 // Test whether the pin is valid
-constexpr bool VALID_PIN(const pin_t p) { return WITHIN(p, 0, NUM_DIGITAL_PINS); }
+constexpr bool isValidPin(const pin_t pin) { return WITHIN(pin, 0, NUM_DIGITAL_PINS - 1); }

 // Test whether the pin is PWM
-constexpr bool PWM_PIN(const pin_t p) { return false; }
+constexpr bool PWM_PIN(const pin_t) { return false; }

 // Test whether the pin is interruptible
-constexpr bool INTERRUPT_PIN(const pin_t p) { return false; }
+constexpr bool INTERRUPT_PIN(const pin_t) { return false; }

 // Get the pin number at the given index
-constexpr pin_t GET_PIN_MAP_PIN(const int16_t ind) { return ind; }
+constexpr pin_t GET_PIN_MAP_PIN(const int16_t index) { return pin_t(index); }

 // Parse a G-code word into a pin index
 int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
@@ -19,30 +19,50 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
+#pragma once

 /**
- * Support routines for X86_64
- */
-
-/**
- * Translation of routines & variables used by pinsDebug.h
+ * Pins Debugging for Linux Native
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

 #define NUMBER_PINS_TOTAL   NUM_DIGITAL_PINS
-#define IS_ANALOG(P)        (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0)
-#define digitalRead_mod(p)  digitalRead(p)
-#define GET_ARRAY_PIN(p)    pin_array[p].pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p)        do{ sprintf_P(buffer, PSTR("%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 MULTI_NAME_PAD      16 // space needed to be pretty if not first name assigned to a pin

+#define getPinByIndex(x) pin_array[x].pin
+
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+
 // active ADC function/mode/code values for PINSEL registers
-constexpr int8_t ADC_pin_mode(pin_t pin) { return -1; }
+constexpr int8_t ADC_pin_mode(const pin_t) { return -1; }

-int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? 0 : -1; }
+// The pin and index are the same on this platform
+bool getPinIsDigitalByIndex(const pin_t pin) {
+  return (!isAnalogPin(pin) || get_pin_mode(pin) != ADC_pin_mode(pin));
+}

-bool GET_PINMODE(const pin_t pin) {
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P) >= 0)
+
+#define digitalRead_mod(P) digitalRead(P)
+
+int8_t get_pin_mode(const pin_t pin) { return isValidPin(pin) ? 0 : -1; }
+
+bool getValidPinMode(const pin_t pin) {
  const int8_t pin_mode = get_pin_mode(pin);
  if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // Invalid pin or active analog pin
    return false;
@@ -50,11 +70,11 @@ bool GET_PINMODE(const pin_t pin) {
  return (Gpio::getMode(pin) != 0); // Input/output state
 }

-bool GET_ARRAY_IS_DIGITAL(const pin_t pin) {
-  return (!IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin));
-}
-
-void pwm_details(const pin_t pin) {}
+void printPinPWM(const pin_t) {}
 bool pwm_status(const pin_t) { return false; }

-void print_port(const pin_t) {}
+void printPinPort(const pin_t) {}
+
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3d "), P); SERIAL_ECHO(buffer); }while(0)
+
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
@@ -82,13 +82,13 @@ extern DefaultSerial1 USBSerial;
  #endif
 #endif

-#ifdef MMU2_SERIAL_PORT
-  #if MMU2_SERIAL_PORT == -1
-    #define MMU2_SERIAL USBSerial
-  #elif WITHIN(MMU2_SERIAL_PORT, 0, 3)
-    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
+#ifdef MMU_SERIAL_PORT
+  #if MMU_SERIAL_PORT == -1
+    #define MMU_SERIAL USBSerial
+  #elif WITHIN(MMU_SERIAL_PORT, 0, 3)
+    #define MMU_SERIAL MSERIAL(MMU_SERIAL_PORT)
  #else
-    #error "MMU2_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
+    #error "MMU_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
  #endif
 #endif

@@ -137,12 +137,12 @@ extern DefaultSerial1 USBSerial;
 //

 // Test whether the pin is valid
-constexpr bool VALID_PIN(const pin_t pin) {
+constexpr bool isValidPin(const pin_t pin) {
  return LPC176x::pin_is_valid(pin);
 }

 // Get the analog index for a digital pin
-constexpr int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t pin) {
+constexpr int8_t digitalPinToAnalogIndex(const pin_t pin) {
  return (LPC176x::pin_is_valid(pin) && LPC176x::pin_has_adc(pin)) ? pin : -1;
 }

@@ -19,22 +19,35 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
+#pragma once

 /**
- * Support routines for LPC1768
- */
-
-/**
- * Translation of routines & variables used by pinsDebug.h
+ * Pins Debugging for LPC1768/9
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

 #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
-#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0)
-#define digitalRead_mod(p) extDigitalRead(p)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("P%d_%02d"), LPC176x::pin_port(p), LPC176x::pin_bit(p)); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR("_A%d     "), LPC176x::pin_get_adc_channel(pin)); SERIAL_ECHO(buffer); }while(0)
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P) >= 0)
+#define digitalRead_mod(P) extDigitalRead(P)
+#define getPinByIndex(x) pin_array[x].pin
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("P%d_%02d"), LPC176x::pin_port(P), LPC176x::pin_bit(P)); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR("_A%d     "), LPC176x::pin_get_adc_channel(P)); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 17 // 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
@@ -42,15 +55,15 @@
  #define M43_NEVER_TOUCH(Q) ((Q) == P0_29 || (Q) == P0_30 || (Q) == P2_09)  // USB pins
 #endif

-bool GET_PINMODE(const pin_t pin) {
+bool getValidPinMode(const pin_t pin) {
  if (!LPC176x::pin_is_valid(pin) || LPC176x::pin_adc_enabled(pin)) // Invalid pin or active analog pin
    return false;

  return LPC176x::gpio_direction(pin);
 }

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

-void print_port(const pin_t) {}
-void pwm_details(const pin_t) {}
+void printPinPort(const pin_t) {}
+void printPinPWM(const pin_t) {}
 bool pwm_status(const pin_t) { return false; }
@@ -87,11 +87,11 @@ extern MSerialT serial_stream_3;
  #endif
 #endif

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

@@ -25,11 +25,11 @@
 #include "../../inc/MarlinConfig.h"
 #include "pinsDebug.h"

-int8_t ADC_pin_mode(pin_t pin) { return -1; }
+int8_t ADC_pin_mode(const pin_t) { return -1; }

-int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? 0 : -1; }
+int8_t get_pin_mode(const pin_t pin) { return isValidPin(pin) ? 0 : -1; }

-bool GET_PINMODE(const pin_t pin) {
+bool getValidPinMode(const pin_t pin) {
  const int8_t pin_mode = get_pin_mode(pin);
  if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // Invalid pin or active analog pin
    return false;
@@ -37,12 +37,13 @@ bool GET_PINMODE(const pin_t pin) {
  return (Gpio::getMode(pin) != 0); // Input/output state
 }

-bool GET_ARRAY_IS_DIGITAL(const pin_t pin) {
-  return !IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin);
+// The pin and index are the same on this platform
+bool getPinIsDigitalByIndex(const pin_t pin) {
+  return !isAnalogPin(pin) || get_pin_mode(pin) != ADC_pin_mode(pin);
 }

-void print_port(const pin_t) {}
-void pwm_details(const pin_t) {}
+void printPinPort(const pin_t) {}
+void printPinPWM(const pin_t) {}
 bool pwm_status(const pin_t) { return false; }

 #endif
@@ -19,30 +19,43 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
-
-/**
- * Support routines for X86_64
- */
 #pragma once

 /**
- * Translation of routines & variables used by pinsDebug.h
+ * Pins Debugging for x86_64
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

 #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
-#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0)
-#define digitalRead_mod(p)  digitalRead(p)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%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 isValidPin(P) (P >= 0 && P < pin_t(NUMBER_PINS_TOTAL))
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P) >= 0)
+#define digitalRead_mod(P)  digitalRead(P)
+#define getPinByIndex(x) pin_array[x].pin
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3d "), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin

 // Active ADC function/mode/code values for PINSEL registers
-int8_t ADC_pin_mode(pin_t pin);
-int8_t get_pin_mode(const pin_t pin);
-bool GET_PINMODE(const pin_t pin);
-bool GET_ARRAY_IS_DIGITAL(const pin_t pin);
-void print_port(const pin_t);
-void pwm_details(const pin_t);
+int8_t ADC_pin_mode(const pin_t);
+int8_t get_pin_mode(const pin_t);
+bool getValidPinMode(const pin_t);
+bool getPinIsDigitalByIndex(const pin_t);
+void printPinPort(const pin_t);
+void printPinPWM(const pin_t);
 bool pwm_status(const pin_t);
@@ -0,0 +1,188 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "HAL.h"
+//#include "usb_serial.h"
+
+#include "../../inc/MarlinConfig.h"
+#include "../shared/Delay.h"
+
+extern "C" {
+  #include "pico/bootrom.h"
+  #include "hardware/watchdog.h"
+}
+
+#if HAS_SD_HOST_DRIVE
+  #include "msc_sd.h"
+  #include "usbd_cdc_if.h"
+#endif
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+volatile uint16_t adc_result;
+
+// ------------------------
+// Public functions
+// ------------------------
+
+TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+
+// HAL initialization task
+void MarlinHAL::init() {
+  // Ensure F_CPU is a constant expression.
+  // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
+  // So better safe than sorry here.
+  constexpr int cpuFreq = F_CPU;
+  UNUSED(cpuFreq);
+
+  #undef SDSS
+  #define SDSS 2
+  #define PIN_EXISTS_(P1,P2) (defined(P1##P2) && P1##P2 >= 0)
+  #if HAS_MEDIA && DISABLED(SDIO_SUPPORT) && PIN_EXISTS_(SDSS,)
+    OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up
+  #endif
+
+  #if PIN_EXISTS(LED)
+    OUT_WRITE(LED_PIN, LOW);
+  #endif
+
+  #if ENABLED(SRAM_EEPROM_EMULATION)
+    // __HAL_RCC_PWR_CLK_ENABLE();
+    // HAL_PWR_EnableBkUpAccess();           // Enable access to backup SRAM
+    // __HAL_RCC_BKPSRAM_CLK_ENABLE();
+    // LL_PWR_EnableBkUpRegulator();         // Enable backup regulator
+    // while (!LL_PWR_IsActiveFlag_BRR());   // Wait until backup regulator is initialized
+  #endif
+
+  HAL_timer_init();
+
+  #if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC
+    USB_Hook_init();
+  #endif
+
+  TERN_(POSTMORTEM_DEBUGGING, install_min_serial());    // Install the min serial handler
+
+  TERN_(HAS_SD_HOST_DRIVE, MSC_SD_init());              // Enable USB SD card access
+
+  #if PIN_EXISTS(USB_CONNECT)
+    OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING); // USB clear connection
+    delay_ms(1000);                                        // Give OS time to notice
+    WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
+  #endif
+}
+
+uint8_t MarlinHAL::get_reset_source() {
+  return watchdog_enable_caused_reboot() ? RST_WATCHDOG : 0;
+}
+
+void MarlinHAL::reboot() { watchdog_reboot(0, 0, 1); }
+
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
+  extern "C" {
+    #include "hardware/watchdog.h"
+  }
+
+  void MarlinHAL::watchdog_init() {
+    #if DISABLED(DISABLE_WATCHDOG_INIT)
+      static_assert(WDT_TIMEOUT_US > 1000, "WDT Timout is too small, aborting");
+      watchdog_enable(WDT_TIMEOUT_US/1000, true);
+    #endif
+  }
+
+  void MarlinHAL::watchdog_refresh() {
+    watchdog_update();
+    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+      TOGGLE(LED_PIN);  // heartbeat indicator
+    #endif
+  }
+
+#endif
+
+// ------------------------
+// ADC
+// ------------------------
+
+volatile bool MarlinHAL::adc_has_result = false;
+
+void MarlinHAL::adc_init() {
+  analogReadResolution(HAL_ADC_RESOLUTION);
+  ::adc_init();
+  adc_fifo_setup(true, false, 1, false, false);
+  irq_set_exclusive_handler(ADC_IRQ_FIFO, adc_exclusive_handler);
+  irq_set_enabled(ADC_IRQ_FIFO, true);
+  adc_irq_set_enabled(true);
+}
+
+void MarlinHAL::adc_enable(const pin_t pin) {
+  if (pin >= A0 && pin <= A3)
+    adc_gpio_init(pin);
+  else if (pin == HAL_ADC_MCU_TEMP_DUMMY_PIN)
+    adc_set_temp_sensor_enabled(true);
+}
+
+void MarlinHAL::adc_start(const pin_t pin) {
+  adc_has_result = false;
+  // Select an ADC input. 0...3 are GPIOs 26...29 respectively.
+  adc_select_input(pin == HAL_ADC_MCU_TEMP_DUMMY_PIN ? 4 : pin - A0);
+  adc_run(true);
+}
+
+void MarlinHAL::adc_exclusive_handler() {
+  adc_run(false); // Disable since we only want one result
+  irq_clear(ADC_IRQ_FIFO); // Clear the IRQ
+
+  if (adc_fifo_get_level() >= 1) {
+    adc_result = adc_fifo_get(); // Pop the result
+    adc_fifo_drain();
+    adc_has_result = true; // Signal the end of the conversion
+  }
+}
+
+uint16_t MarlinHAL::adc_value() { return adc_result; }
+
+// Reset the system to initiate a firmware flash
+void flashFirmware(const int16_t) { hal.reboot(); }
+
+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__);
+}
+
+#endif // __PLAT_RP2040__
@@ -0,0 +1,250 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#define CPU_32_BIT
+
+#ifndef F_CPU
+  #define F_CPU (XOSC_MHZ * 1000000UL)
+#endif
+
+#include "arduino_extras.h"
+#include "../../core/macros.h"
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+//#include "Servo.h"
+#include "watchdog.h"
+#include "MarlinSerial.h"
+
+#include "../../inc/MarlinConfigPre.h"
+
+#include <stdint.h>
+
+// ------------------------
+// Serial ports
+// ------------------------
+
+#include "../../core/serial_hook.h"
+typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
+extern DefaultSerial1 MSerial0;
+
+#define _MSERIAL(X) MSerial##X
+#define MSERIAL(X) _MSERIAL(X)
+
+#if SERIAL_PORT == -1
+  #define MYSERIAL1 MSerial0
+#elif WITHIN(SERIAL_PORT, 0, 6)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
+#else
+  #error "SERIAL_PORT must be from 0 to 6. You can also use -1 if the board supports Native USB."
+#endif
+
+#ifdef SERIAL_PORT_2
+  #if SERIAL_PORT_2 == -1
+    #define MYSERIAL2 MSerial0
+  #elif WITHIN(SERIAL_PORT_2, 0, 6)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
+  #else
+    #error "SERIAL_PORT_2 must be from 0 to 6. You can also use -1 if the board supports Native USB."
+  #endif
+#endif
+
+#ifdef SERIAL_PORT_3
+  #if SERIAL_PORT_3 == -1
+    #define MYSERIAL3 MSerial0
+  #elif WITHIN(SERIAL_PORT_3, 0, 6)
+    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #else
+    #error "SERIAL_PORT_3 must be from 0 to 6. You can also use -1 if the board supports Native USB."
+  #endif
+#endif
+
+#ifdef MMU2_SERIAL_PORT
+  #if MMU2_SERIAL_PORT == -1
+    #define MMU2_SERIAL MSerial0
+  #elif WITHIN(MMU2_SERIAL_PORT, 0, 6)
+    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
+  #else
+    #error "MMU2_SERIAL_PORT must be from 0 to 6. You can also use -1 if the board supports Native USB."
+  #endif
+#endif
+
+#ifdef LCD_SERIAL_PORT
+  #if LCD_SERIAL_PORT == -1
+    #define LCD_SERIAL MSerial0
+  #elif WITHIN(LCD_SERIAL_PORT, 0, 6)
+    #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
+  #else
+    #error "LCD_SERIAL_PORT must be from 0 to 6. You can also use -1 if the board supports Native USB."
+  #endif
+  #if HAS_DGUS_LCD
+    #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite()
+  #endif
+#endif
+
+// ------------------------
+// Defines
+// ------------------------
+
+/**
+ * TODO: review this to return 1 for pins that are not analog input
+ */
+#ifndef analogInputToDigitalPin
+  #define analogInputToDigitalPin(p) (p)
+#endif
+
+#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
+#define cli() __disable_irq()
+#define sei() __enable_irq()
+
+// ------------------------
+// Types
+// ------------------------
+
+template <bool, class L, class R> struct IFPIN { typedef R type; };
+template <class L, class R> struct IFPIN<true, L, R> { typedef L type; };
+typedef IFPIN<sizeof(pin_size_t) == 1, int8_t, int16_t>::type pin_t;
+
+class libServo;
+typedef libServo hal_servo_t;
+#define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos()
+#define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()
+
+// ------------------------
+// ADC
+// ------------------------
+
+#define HAL_ADC_VREF         3.3
+#ifdef ADC_RESOLUTION
+  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
+#else
+  #define HAL_ADC_RESOLUTION 12
+#endif
+// ADC index 4 is the MCU temperature
+#define HAL_ADC_MCU_TEMP_DUMMY_PIN 127
+
+//
+// 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)
+
+#ifndef PLATFORM_M997_SUPPORT
+  #define PLATFORM_M997_SUPPORT
+#endif
+void flashFirmware(const int16_t);
+
+// Maple Compatibility
+typedef void (*systickCallback_t)(void);
+void systick_attach_callback(systickCallback_t cb);
+void HAL_SYSTICK_Callback();
+
+extern volatile uint32_t systick_uptime_millis;
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+int freeMemory();
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { ::delay(ms); }
+
+  // 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
+  //
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin);
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // This ADC runs a periodic task
+  static void adc_exclusive_handler();
+
+  // Is the ADC ready for reading?
+  static volatile bool adc_has_result;
+  static bool adc_ready() { return adc_has_result; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin as close as
+   * possible to the provided desired frequency. Internally calculate
+   * the required waveform generation mode, prescaler, and resolution
+   * values and set timer registers accordingly.
+   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
+   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};
@@ -0,0 +1,69 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+
+#include "../shared/HAL_MinSerial.h"
+
+
+static void TXBegin() {
+  #if !WITHIN(SERIAL_PORT, -1, 2)
+    #warning "Using POSTMORTEM_DEBUGGING requires a physical U(S)ART hardware in case of severe error."
+    #warning "Disabling the severe error reporting feature currently because the used serial port is not a HW port."
+  #else
+    #if SERIAL_PORT == -1
+      USBSerial.begin(BAUDRATE);
+    #elif SERIAL_PORT == 0
+      USBSerial.begin(BAUDRATE);
+    #elif SERIAL_PORT == 1
+      Serial1.begin(BAUDRATE);
+    #endif
+  #endif
+}
+
+static void TX(char b){
+    #if SERIAL_PORT == -1
+      USBSerial
+    #elif SERIAL_PORT == 0
+      USBSerial
+    #elif SERIAL_PORT == 1
+      Serial1
+    #endif
+    .write(b);
+}
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() __asm__ volatile("": : :"memory");
+
+
+void install_min_serial() {
+  HAL_min_serial_init = &TXBegin;
+  HAL_min_serial_out = &TX;
+}
+
+#endif // POSTMORTEM_DEBUGGING
+#endif // __PLAT_RP2040__
@@ -0,0 +1,228 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfig.h"
+
+#include <SPI.h>
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+static SPISettings spiConfig;
+
+// ------------------------
+// Public functions
+// ------------------------
+
+#if ENABLED(SOFTWARE_SPI)
+
+  // ------------------------
+  // Software SPI
+  // ------------------------
+
+  #include "../shared/Delay.h"
+
+  void spiBegin(void) {
+    OUT_WRITE(SD_SS_PIN, HIGH);
+    OUT_WRITE(SD_SCK_PIN, HIGH);
+    SET_INPUT(SD_MISO_PIN);
+    OUT_WRITE(SD_MOSI_PIN, HIGH);
+  }
+
+  // Use function with compile-time value so we can actually reach the desired frequency
+  // Need to adjust this a little bit: on a 72MHz clock, we have 14ns/clock
+  // and we'll use ~3 cycles to jump to the method and going back, so it'll take ~40ns from the given clock here
+  #define CALLING_COST_NS  (3U * 1000000000U) / (F_CPU)
+  void (*delaySPIFunc)();
+  void delaySPI_125()  { DELAY_NS(125 - CALLING_COST_NS); }
+  void delaySPI_250()  { DELAY_NS(250 - CALLING_COST_NS); }
+  void delaySPI_500()  { DELAY_NS(500 - CALLING_COST_NS); }
+  void delaySPI_1000() { DELAY_NS(1000 - CALLING_COST_NS); }
+  void delaySPI_2000() { DELAY_NS(2000 - CALLING_COST_NS); }
+  void delaySPI_4000() { DELAY_NS(4000 - CALLING_COST_NS); }
+
+  void spiInit(uint8_t spiRate) {
+    // Use datarates Marlin uses
+    switch (spiRate) {
+      case SPI_FULL_SPEED:   delaySPIFunc =  &delaySPI_125; break;  // desired: 8,000,000  actual: ~1.1M
+      case SPI_HALF_SPEED:   delaySPIFunc =  &delaySPI_125; break;  // desired: 4,000,000  actual: ~1.1M
+      case SPI_QUARTER_SPEED:delaySPIFunc =  &delaySPI_250; break;  // desired: 2,000,000  actual: ~890K
+      case SPI_EIGHTH_SPEED: delaySPIFunc =  &delaySPI_500; break;  // desired: 1,000,000  actual: ~590K
+      case SPI_SPEED_5:      delaySPIFunc = &delaySPI_1000; break;  // desired:   500,000  actual: ~360K
+      case SPI_SPEED_6:      delaySPIFunc = &delaySPI_2000; break;  // desired:   250,000  actual: ~210K
+      default:               delaySPIFunc = &delaySPI_4000; break;  // desired:   125,000  actual: ~123K
+    }
+    SPI.begin();
+  }
+
+  // Begin SPI transaction, set clock, bit order, data mode
+  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { /* do nothing */ }
+
+  uint8_t HAL_SPI_RP2040_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
+    for (uint8_t bits = 8; bits--;) {
+      WRITE(SD_SCK_PIN, LOW);
+      WRITE(SD_MOSI_PIN, b & 0x80);
+
+      delaySPIFunc();
+      WRITE(SD_SCK_PIN, HIGH);
+      delaySPIFunc();
+
+      b <<= 1;        // little setup time
+      b |= (READ(SD_MISO_PIN) != 0);
+    }
+    DELAY_NS(125);
+    return b;
+  }
+
+  // Soft SPI receive byte
+  uint8_t spiRec() {
+    hal.isr_off();  // No interrupts during byte receive
+    const uint8_t data = HAL_SPI_RP2040_SpiTransfer_Mode_3(0xFF);
+    hal.isr_on();   // Enable interrupts
+    return data;
+  }
+
+  // Soft SPI read data
+  void spiRead(uint8_t *buf, uint16_t nbyte) {
+    for (uint16_t i = 0; i < nbyte; i++)
+      buf[i] = spiRec();
+  }
+
+  // Soft SPI send byte
+  void spiSend(uint8_t data) {
+    hal.isr_off();                            // No interrupts during byte send
+    HAL_SPI_RP2040_SpiTransfer_Mode_3(data);  // Don't care what is received
+    hal.isr_on();                             // Enable interrupts
+  }
+
+  // Soft SPI send block
+  void spiSendBlock(uint8_t token, const uint8_t *buf) {
+    spiSend(token);
+    for (uint16_t i = 0; i < 512; i++)
+      spiSend(buf[i]);
+  }
+
+#else
+
+  // ------------------------
+  // Hardware SPI
+  // ------------------------
+
+  /**
+   * VGPV SPI speed start and PCLK2/2, by default 108/2 = 54Mhz
+   */
+
+  /**
+   * @brief  Begin SPI port setup
+   *
+   * @return Nothing
+   *
+   * @details Only configures SS pin since stm32duino creates and initialize the SPI object
+   */
+  void spiBegin() {
+    #if PIN_EXISTS(SD_SS)
+      OUT_WRITE(SD_SS_PIN, HIGH);
+    #endif
+  }
+
+  // Configure SPI for specified SPI speed
+  void spiInit(uint8_t spiRate) {
+    // Use datarates Marlin uses
+    uint32_t clock;
+    switch (spiRate) {
+      case SPI_FULL_SPEED:    clock = 20000000; break; // 13.9mhz=20000000  6.75mhz=10000000  3.38mhz=5000000  .833mhz=1000000
+      case SPI_HALF_SPEED:    clock =  5000000; break;
+      case SPI_QUARTER_SPEED: clock =  2500000; break;
+      case SPI_EIGHTH_SPEED:  clock =  1250000; break;
+      case SPI_SPEED_5:       clock =   625000; break;
+      case SPI_SPEED_6:       clock =   300000; break;
+      default:
+        clock = 4000000; // Default from the SPI library
+    }
+    spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
+
+    //SPI.setMISO(SD_MISO_PIN); //todo: implement? bad interface
+    //SPI.setMOSI(SD_MOSI_PIN);
+    //SPI.setSCLK(SD_SCK_PIN);
+
+    SPI.begin();
+  }
+
+  /**
+   * @brief  Receives a single byte from the SPI port.
+   *
+   * @return Byte received
+   *
+   * @details
+   */
+  uint8_t spiRec() {
+    uint8_t returnByte = SPI.transfer(0xFF);
+    return returnByte;
+  }
+
+  /**
+   * @brief  Receive 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
+   *
+   * @details Uses DMA
+   */
+  void spiRead(uint8_t *buf, uint16_t nbyte) {
+    if (nbyte == 0) return;
+    memset(buf, 0xFF, nbyte);
+    SPI.transfer(buf, nbyte);
+  }
+
+  /**
+   * @brief  Send a single byte on SPI port
+   *
+   * @param  b Byte to send
+   *
+   * @details
+   */
+  void spiSend(uint8_t b) {
+    SPI.transfer(b);
+  }
+
+  /**
+   * @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 Use DMA
+   */
+  void spiSendBlock(uint8_t token, const uint8_t *buf) {
+    //uint8_t rxBuf[512];
+    //SPI.transfer(token);
+    SPI.transfer((uint8_t*)buf, 512); //implement? bad interface
+  }
+
+#endif // SOFTWARE_SPI
+
+#endif // __PLAT_RP2040__
@@ -0,0 +1,39 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfig.h"
+#include "MarlinSerial.h"
+
+#if ENABLED(EMERGENCY_PARSER)
+  #include "../../feature/e_parser.h"
+#endif
+
+#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
+#define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
+#if WITHIN(SERIAL_PORT, 0, 3)
+  IMPLEMENT_SERIAL(SERIAL_PORT);
+#endif
+
+#endif // __PLAT_RP2040__
@@ -0,0 +1,52 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(EMERGENCY_PARSER)
+  #include "../../feature/e_parser.h"
+#endif
+
+#include "../../core/serial_hook.h"
+
+#define Serial0 Serial
+#define _DECLARE_SERIAL(X) \
+  typedef ForwardSerial1Class<decltype(Serial##X)> DefaultSerial##X; \
+  extern DefaultSerial##X MSerial##X
+#define DECLARE_SERIAL(X) _DECLARE_SERIAL(X)
+
+typedef ForwardSerial1Class<decltype(SerialUSB)> USBSerialType;
+extern USBSerialType USBSerial;
+
+#define _MSERIAL(X) MSerial##X
+#define MSERIAL(X) _MSERIAL(X)
+
+#if SERIAL_PORT == -1
+ // #define MYSERIAL1 USBSerial this is already done in the HAL
+#elif WITHIN(SERIAL_PORT, 0, 3)
+ #define MYSERIAL1 MSERIAL(SERIAL_PORT)
+  DECLARE_SERIAL(SERIAL_PORT);
+#else
+  #error "SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
+#endif
+
@@ -0,0 +1 @@
+# RP2040 Hardware Interface
@@ -0,0 +1,93 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "Servo.h"
+
+static uint_fast8_t servoCount = 0;
+static libServo *servos[NUM_SERVOS] = {0};
+constexpr millis_t servoDelay[] = SERVO_DELAY;
+static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
+
+libServo::libServo()
+: delay(servoDelay[servoCount]),
+  was_attached_before_pause(false),
+  value_before_pause(0)
+{
+  servos[servoCount++] = this;
+}
+
+int8_t libServo::attach(const int pin) {
+  if (servoCount >= MAX_SERVOS) return -1;
+  if (pin > 0) servo_pin = pin;
+  auto result = pico_servo.attach(servo_pin);
+  return result;
+}
+
+int8_t libServo::attach(const int pin, const int min, const int max) {
+  if (servoCount >= MAX_SERVOS) return -1;
+  if (pin > 0) servo_pin = pin;
+  auto result = pico_servo.attach(servo_pin, min, max);
+  return result;
+}
+
+void libServo::move(const int value) {
+  if (attach(0) >= 0) {
+    pico_servo.write(value);
+    safe_delay(delay);
+    TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
+  }
+}
+
+void libServo::pause() {
+  was_attached_before_pause = pico_servo.attached();
+  if (was_attached_before_pause) {
+    value_before_pause = pico_servo.read();
+    pico_servo.detach();
+  }
+}
+
+void libServo::resume() {
+  if (was_attached_before_pause) {
+    attach();
+    move(value_before_pause);
+  }
+}
+
+void libServo::pause_all_servos() {
+  for (auto& servo : servos)
+    if (servo) servo->pause();
+}
+
+void libServo::resume_all_servos() {
+  for (auto& servo : servos)
+    if (servo) servo->resume();
+}
+
+#endif // HAS_SERVOS
+#endif // __PLAT_RP2040__
@@ -0,0 +1,77 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <Servo.h>
+
+#if 1
+
+#include "../../core/millis_t.h"
+
+// Inherit and expand on the official library
+class libServo {
+  public:
+    libServo();
+    int8_t attach(const int pin = 0); // pin == 0 uses value from previous call
+    int8_t attach(const int pin, const int min, const int max);
+    void detach() { pico_servo.detach(); }
+    int read() { return pico_servo.read(); }
+    void move(const int value);
+
+    void pause();
+    void resume();
+
+    static void pause_all_servos();
+    static void resume_all_servos();
+    static void setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority);
+
+  private:
+    Servo pico_servo;
+
+    int servo_pin = 0;
+    millis_t delay = 0;
+
+    bool was_attached_before_pause;
+    int value_before_pause;
+};
+
+#else
+
+class libServo: public Servo {
+  public:
+  void move(const int value) {
+    constexpr uint16_t servo_delay[] = SERVO_DELAY;
+    static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
+
+    if (attach(servo_info[servoIndex].Pin.nbr) >= 0) {    // try to reattach
+      write(value);
+      safe_delay(servo_delay[servoIndex]); // delay to allow servo to reach position
+      TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
+    }
+
+  }
+};
+
+class libServo;
+typedef libServo hal_servo_t;
+
+#endif
@@ -0,0 +1,33 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef __PLAT_RP2040__
+
+#include <iostream>
+
+char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s) {
+  char format_string[20];
+  snprintf(format_string, 20, "%%%d.%df", __width, __prec);
+  sprintf(__s, format_string, __val);
+  return __s;
+}
+
+#endif // __PLAT_RP2040__
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+// #include <stddef.h>
+// #include <stdint.h>
+// #include <math.h>
+// #include <cstring>
+
+char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
@@ -0,0 +1,88 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(FLASH_EEPROM_EMULATION)
+
+#include "../shared/eeprom_api.h"
+
+// NOTE: The Bigtreetech SKR Pico has an onboard W25Q16 flash module
+
+// Use EEPROM.h for compatibility, for now.
+#include <EEPROM.h>
+
+static bool eeprom_data_written = false;
+
+#ifndef MARLIN_EEPROM_SIZE
+  #define MARLIN_EEPROM_SIZE size_t(E2END + 1)
+#endif
+size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; }
+
+bool PersistentStore::access_start() {
+  EEPROM.begin(); // Avoid EEPROM.h warning (do nothing)
+  eeprom_buffer_fill();
+  return true;
+}
+
+bool PersistentStore::access_finish() {
+  if (eeprom_data_written) {
+    TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
+    hal.isr_off();
+    eeprom_buffer_flush();
+    hal.isr_on();
+    TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
+    eeprom_data_written = false;
+  }
+  return true;
+}
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  while (size--) {
+    uint8_t v = *value;
+    if (v != eeprom_buffered_read_byte(pos)) {
+      eeprom_buffered_write_byte(pos, v);
+      eeprom_data_written = 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*/) {
+  do {
+    const uint8_t c = eeprom_buffered_read_byte(pos);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  } while (--size);
+  return false;
+}
+
+#endif // FLASH_EEPROM_EMULATION
+#endif // __PLAT_RP2040__
@@ -0,0 +1,79 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfig.h"
+
+#if USE_WIRED_EEPROM
+
+/**
+ * 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
+  #define MARLIN_EEPROM_SIZE size_t(E2END + 1)
+#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--) {
+    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*/) {
+  do {
+    // Read from either external EEPROM, program flash or Backup SRAM
+    const uint8_t c = eeprom_read_byte((uint8_t*)pos);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  } while (--size);
+  return false;
+}
+
+#endif // USE_WIRED_EEPROM
+#endif // __PLAT_RP2040__
@@ -0,0 +1,60 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../module/endstops.h"
+
+// One ISR for all EXT-Interrupts
+void endstop_ISR() { endstops.update(); }
+
+void setup_endstop_interrupts() {
+  #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE)
+  TERN_(USE_X_MAX, _ATTACH(X_MAX_PIN));
+  TERN_(USE_X_MIN, _ATTACH(X_MIN_PIN));
+  TERN_(USE_Y_MAX, _ATTACH(Y_MAX_PIN));
+  TERN_(USE_Y_MIN, _ATTACH(Y_MIN_PIN));
+  TERN_(USE_Z_MAX, _ATTACH(Z_MAX_PIN));
+  TERN_(HAS_Z_MIN_PIN, _ATTACH(Z_MIN_PIN));
+  TERN_(USE_X2_MAX, _ATTACH(X2_MAX_PIN));
+  TERN_(USE_X2_MIN, _ATTACH(X2_MIN_PIN));
+  TERN_(USE_Y2_MAX, _ATTACH(Y2_MAX_PIN));
+  TERN_(USE_Y2_MIN, _ATTACH(Y2_MIN_PIN));
+  TERN_(USE_Z2_MAX, _ATTACH(Z2_MAX_PIN));
+  TERN_(USE_Z2_MIN, _ATTACH(Z2_MIN_PIN));
+  TERN_(USE_Z3_MAX, _ATTACH(Z3_MAX_PIN));
+  TERN_(USE_Z3_MIN, _ATTACH(Z3_MIN_PIN));
+  TERN_(USE_Z4_MAX, _ATTACH(Z4_MAX_PIN));
+  TERN_(USE_Z4_MIN, _ATTACH(Z4_MIN_PIN));
+  TERN_(USE_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(USE_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(USE_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(USE_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(USE_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(USE_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(USE_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(USE_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(USE_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(USE_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(USE_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(USE_W_MIN, _ATTACH(W_MIN_PIN));
+}
@@ -0,0 +1,43 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfigPre.h"
+
+#include "HAL.h"
+#include "pinDefinitions.h"
+
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+  analogWrite(pin, v);
+}
+
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+  mbed::PwmOut* pwm = digitalPinToPwm(pin);
+  if (pwm != NULL) delete pwm;
+  pwm = new mbed::PwmOut(digitalPinToPinName(pin));
+  digitalPinToPwm(pin) = pwm;
+  pwm->period_ms(1000 / f_desired);
+}
+
+#endif // __PLAT_RP2040__
@@ -0,0 +1,32 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfig.h"
+
+void FastIO_init() {
+
+}
+
+#endif // __PLAT_RP2040__
@@ -0,0 +1,87 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Fast I/O interfaces for RP2040
+ * These use GPIO register access for fast port manipulation.
+ */
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+
+// ------------------------
+// Public functions
+// ------------------------
+
+void FastIO_init(); // Must be called before using fast io macros
+#define FASTIO_INIT() FastIO_init()
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define _BV32(b) (1UL << (b))
+
+#ifndef PWM
+  #define PWM OUTPUT
+#endif
+
+#define _WRITE(IO, V) digitalWrite((IO), (V))
+
+#define _READ(IO)               digitalRead(IO)
+#define _TOGGLE(IO)             digitalWrite(IO, !digitalRead(IO))
+
+#define _GET_MODE(IO)
+#define _SET_MODE(IO,M)         pinMode(IO, M)
+#define _SET_OUTPUT(IO)         pinMode(IO, OUTPUT)                               //!< Output Push Pull Mode & GPIO_NOPULL
+#define _SET_OUTPUT_OD(IO)      pinMode(IO, OUTPUT_OPEN_DRAIN)
+
+#define WRITE(IO,V)             _WRITE(IO,V)
+#define READ(IO)                _READ(IO)
+#define TOGGLE(IO)              _TOGGLE(IO)
+
+#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)
+
+#define SET_INPUT(IO)           _SET_MODE(IO, INPUT)                              //!< Input Floating Mode
+#define SET_INPUT_PULLUP(IO)    _SET_MODE(IO, INPUT_PULLUP)                       //!< Input with Pull-up activation
+#define SET_INPUT_PULLDOWN(IO)  _SET_MODE(IO, INPUT_PULLDOWN)                     //!< Input with Pull-down activation
+#define SET_OUTPUT(IO)          OUT_WRITE(IO, LOW)
+#define SET_PWM(IO)             _SET_MODE(IO, PWM)
+
+#define IS_INPUT(IO)
+#define IS_OUTPUT(IO)
+
+#define PWM_PIN(P)              true //digitalPinHasPWM(P)
+#define NO_COMPILE_TIME_PWM
+
+// digitalRead/Write wrappers
+#define extDigitalRead(IO)    digitalRead(IO)
+#define extDigitalWrite(IO,V) digitalWrite(IO,V)
+
+#undef I2C_SDA
+#define I2C_SDA_PIN PIN_WIRE_SDA
+#undef I2C_SCL
+#define I2C_SCL_PIN PIN_WIRE_SCL
@@ -0,0 +1,22 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
@@ -0,0 +1,35 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#if ALL(SDSUPPORT, USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE)
+  #define HAS_SD_HOST_DRIVE 1
+#endif
+
+// Fix F_CPU not being a compile-time constant in RP2040 framework
+#ifdef BOARD_F_CPU
+  #undef F_CPU
+  #define F_CPU BOARD_F_CPU
+#endif
+
+// The Sensitive Pins array is not optimizable
+#define RUNTIME_ONLY_ANALOG_TO_DIGITAL
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+// If no real or emulated EEPROM selected, fall back to SD emulation
+#if USE_FALLBACK_EEPROM
+  #define SDCARD_EEPROM_EMULATION
+#elif ANY(I2C_EEPROM, SPI_EEPROM)
+  #define USE_SHARED_EEPROM 1
+#endif
@@ -20,13 +20,3 @@
 *
 */
 #pragma once
-
-/**
- * Conditionals_type.h
- * Internal defines that depend on Configurations and Pins but are not user-editable.
- * Define conditionals in this file if they depend on core/types.h.
- */
-
-#ifdef GITHUB_ACTIONS
-  // Extras for CI testing
-#endif
@@ -0,0 +1,60 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Test RP2040-specific configuration values for errors at compile-time.
+ */
+//#if ENABLED(SPINDLE_LASER_PWM) && !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11)
+//  #error "SPINDLE_LASER_PWM_PIN must use SERVO0, SERVO1 or SERVO3 connector"
+//#endif
+
+#if ENABLED(SDCARD_EEPROM_EMULATION) && DISABLED(SDSUPPORT)
+  #undef SDCARD_EEPROM_EMULATION // Avoid additional error noise
+  #if USE_FALLBACK_EEPROM
+    #warning "EEPROM type not specified. Fallback is SDCARD_EEPROM_EMULATION."
+  #endif
+  #error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation."
+#endif
+
+#if ENABLED(SRAM_EEPROM_EMULATION)
+  #error "SRAM_EEPROM_EMULATION is not supported for RP2040."
+#endif
+
+#if ALL(PRINTCOUNTER, FLASH_EEPROM_EMULATION)
+  #warning "FLASH_EEPROM_EMULATION may cause long delays when writing and should not be used while printing."
+  #error "Disable PRINTCOUNTER or choose another EEPROM emulation."
+#endif
+
+#if ENABLED(FLASH_EEPROM_LEVELING)
+  #error "FLASH_EEPROM_LEVELING is not supported for RP2040."
+#endif
+
+#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
+  #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on RP2040."
+#elif ENABLED(SERIAL_STATS_DROPPED_RX)
+  #error "SERIAL_STATS_DROPPED_RX is not supported on RP2040."
+#endif
+
+#if ANY(TFT_COLOR_UI, TFT_LVGL_UI, TFT_CLASSIC_UI)
+  #error "TFT_COLOR_UI, TFT_LVGL_UI and TFT_CLASSIC_UI are not supported for RP2040."
+#endif
@@ -0,0 +1,136 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_SD_HOST_DRIVE
+
+#include "../shared/Marduino.h"
+#include "msc_sd.h"
+#include "usbd_core.h"
+
+#include "../../sd/cardreader.h"
+
+#include <USB.h>
+#include <USBMscHandler.h>
+
+#define BLOCK_SIZE 512
+#define PRODUCT_ID 0x29
+
+class Sd2CardUSBMscHandler : public USBMscHandler {
+public:
+  DiskIODriver* diskIODriver() {
+    #if ENABLED(MULTI_VOLUME)
+      #if SHARED_VOLUME_IS(SD_ONBOARD)
+        return &card.media_driver_sdcard;
+      #elif SHARED_VOLUME_IS(USB_FLASH_DRIVE)
+        return &card.media_driver_usbFlash;
+      #endif
+    #else
+      return card.diskIODriver();
+    #endif
+  }
+
+  bool GetCapacity(uint32_t *pBlockNum, uint16_t *pBlockSize) {
+    *pBlockNum = diskIODriver()->cardSize();
+    *pBlockSize = BLOCK_SIZE;
+    return true;
+  }
+
+  bool Write(uint8_t *pBuf, uint32_t blkAddr, uint16_t blkLen) {
+    auto sd2card = diskIODriver();
+    // single block
+    if (blkLen == 1) {
+      watchdog_refresh();
+      sd2card->writeBlock(blkAddr, pBuf);
+      return true;
+    }
+
+    // multi block optimization
+    sd2card->writeStart(blkAddr, blkLen);
+    while (blkLen--) {
+      watchdog_refresh();
+      sd2card->writeData(pBuf);
+      pBuf += BLOCK_SIZE;
+    }
+    sd2card->writeStop();
+    return true;
+  }
+
+  bool Read(uint8_t *pBuf, uint32_t blkAddr, uint16_t blkLen) {
+    auto sd2card = diskIODriver();
+    // single block
+    if (blkLen == 1) {
+      watchdog_refresh();
+      sd2card->readBlock(blkAddr, pBuf);
+      return true;
+    }
+
+    // multi block optimization
+    sd2card->readStart(blkAddr);
+    while (blkLen--) {
+      watchdog_refresh();
+      sd2card->readData(pBuf);
+      pBuf += BLOCK_SIZE;
+    }
+    sd2card->readStop();
+    return true;
+  }
+
+  bool IsReady() {
+    return diskIODriver()->isReady();
+  }
+};
+
+Sd2CardUSBMscHandler usbMscHandler;
+
+/* USB Mass storage Standard Inquiry Data */
+uint8_t  Marlin_STORAGE_Inquirydata[] = { /* 36 */
+  /* LUN 0 */
+  0x00,
+  0x80,
+  0x02,
+  0x02,
+  (STANDARD_INQUIRY_DATA_LEN - 5),
+  0x00,
+  0x00,
+  0x00,
+  'M', 'A', 'R', 'L', 'I', 'N', ' ', ' ', /* Manufacturer : 8 bytes */
+  'P', 'r', 'o', 'd', 'u', 'c', 't', ' ', /* Product      : 16 Bytes */
+  ' ', ' ', ' ', ' ', ' ', ' ', ' ', ' ',
+  '0', '.', '0', '1',                     /* Version      : 4 Bytes */
+};
+
+USBMscHandler *pSingleMscHandler = &usbMscHandler;
+
+void MSC_SD_init() {
+  USBDevice.end();
+  delay(200);
+  USBDevice.registerMscHandlers(1, &pSingleMscHandler, Marlin_STORAGE_Inquirydata);
+  USBDevice.begin();
+}
+
+#endif // HAS_SD_HOST_DRIVE
+#endif // __PLAT_RP2040__
@@ -0,0 +1,24 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+void MSC_SD_init();
@@ -0,0 +1,146 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <Arduino.h>
+#include "HAL.h"
+
+#ifndef NUM_DIGITAL_PINS
+   #error "Expected NUM_DIGITAL_PINS not found"
+#endif
+
+/**
+ *  Life gets complicated if you want an easy to use 'M43 I' output (in port/pin order)
+ *  because the variants in this platform do not always define all the I/O port/pins
+ *  that a CPU has.
+ *
+ *  VARIABLES:
+ *     Ard_num - Arduino pin number - defined by the platform. It is used by digitalRead and
+ *               digitalWrite commands and by M42.
+ *             - does not contain port/pin info
+ *             - is not in port/pin order
+ *             - typically a variant will only assign Ard_num to port/pins that are actually used
+ *     Index - M43 counter - only used to get Ard_num
+ *     x - a parameter/argument used to search the pin_array to try to find a signal name
+ *         associated with a Ard_num
+ *     Port_pin - port number and pin number for use with CPU registers and printing reports
+ *
+ *  Since M43 uses digitalRead and digitalWrite commands, only the Port_pins with an Ard_num
+ *  are accessed and/or displayed.
+ *
+ *  Three arrays are used.
+ *
+ *  digitalPin[] is provided by the platform.  It consists of the Port_pin numbers in
+ *  Arduino pin number order.
+ *
+ *  pin_array is a structure generated by the pins/pinsDebug.h header file.  It is generated by
+ *  the preprocessor. Only the signals associated with enabled options are in this table.
+ *  It contains:
+ *    - name of the signal
+ *    - the Ard_num assigned by the pins_YOUR_BOARD.h file using the platform defines.
+ *        EXAMPLE:  "#define KILL_PIN  PB1" results in Ard_num of 57.  57 is then used as the
+ *                  argument to digitalPinToPinName(IO) to get the Port_pin number
+ *    - if it is a digital or analog signal.  PWMs are considered digital here.
+ *
+ *  pin_xref is a structure generated by this header file.  It is generated by the
+ *  preprocessor. It is in port/pin order.  It contains just the port/pin numbers defined by the
+ *  platform for this variant.
+ *    - Ard_num
+ *    - printable version of Port_pin
+ *
+ *  Routines with an "x" as a parameter/argument are used to search the pin_array to try to
+ *  find a signal name associated with a port/pin.
+ *
+ *  NOTE -  the Arduino pin number is what is used by the M42 command, NOT the port/pin for that
+ *          signal.  The Arduino pin number is listed by the M43 I command.
+ */
+
+#define NUM_ANALOG_FIRST A0
+
+#define MODE_PIN_INPUT  0 // Input mode (reset state)
+#define MODE_PIN_OUTPUT 1 // General purpose output mode
+#define MODE_PIN_ALT    2 // Alternate function mode
+#define MODE_PIN_ANALOG 3 // Analog mode
+
+#define PIN_NUM(P) (P & 0x000F)
+#define PIN_NUM_ALPHA_LEFT(P) (((P & 0x000F) < 10) ? ('0' + (P & 0x000F)) : '1')
+#define PIN_NUM_ALPHA_RIGHT(P) (((P & 0x000F) > 9)  ? ('0' + (P & 0x000F) - 10) : 0 )
+#define PORT_NUM(P) ((P  >> 4) & 0x0007)
+#define PORT_ALPHA(P) ('A' + (P  >> 4))
+
+/**
+ * Translation of routines & variables used by pinsDebug.h
+ */
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+#define VALID_PIN(ANUM) (pin_t(ANUM) >= 0 && pin_t(ANUM) < NUMBER_PINS_TOTAL)
+#define digitalRead_mod(Ard_num) extDigitalRead(Ard_num)  // must use Arduino pin numbers when doing reads
+#define PRINT_PIN(Q)
+#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
+#define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1  // will report analog pin number in the print port routine
+
+// x is a variable used to search pin_array
+#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
+#define GET_ARRAY_PIN(x) ((pin_t) pin_array[x].pin)
+#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
+
+uint8_t get_pin_mode(const pin_t Ard_num) {
+
+  uint dir = gpio_get_dir( Ard_num);
+
+  if(dir) return MODE_PIN_OUTPUT;
+  else return MODE_PIN_INPUT;
+
+}
+
+bool GET_PINMODE(const pin_t Ard_num) {
+  const uint8_t pin_mode = get_pin_mode(Ard_num);
+  return pin_mode == MODE_PIN_OUTPUT || pin_mode == MODE_PIN_ALT;  // assume all alt definitions are PWM
+}
+
+int8_t digital_pin_to_analog_pin(pin_t Ard_num) {
+  Ard_num -= NUM_ANALOG_FIRST;
+  return (Ard_num >= 0 && Ard_num < NUM_ANALOG_INPUTS) ? Ard_num : -1;
+}
+
+bool IS_ANALOG(const pin_t Ard_num) {
+  return digital_pin_to_analog_pin(Ard_num) != -1;
+}
+
+bool is_digital(const pin_t x) {
+  const uint8_t pin_mode = get_pin_mode(x);
+  return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
+}
+
+void print_port(const pin_t Ard_num) {
+  SERIAL_ECHOPGM("Pin: ");
+  SERIAL_ECHO(Ard_num);
+}
+
+bool pwm_status(const pin_t Ard_num) {
+  return get_pin_mode(Ard_num) == MODE_PIN_ALT;
+}
+
+void pwm_details(const pin_t Ard_num) {
+  if (PWM_PIN(Ard_num)) {
+  }
+}
@@ -0,0 +1,38 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Define SPI Pins: SCK, MISO, MOSI, SS
+ */
+#ifndef SD_SCK_PIN
+  #define SD_SCK_PIN  PIN_SPI_SCK
+#endif
+#ifndef SD_MISO_PIN
+  #define SD_MISO_PIN PIN_SPI_MISO
+#endif
+#ifndef SD_MOSI_PIN
+  #define SD_MOSI_PIN PIN_SPI_MOSI
+#endif
+#ifndef SD_SS_PIN
+  #define SD_SS_PIN   PIN_SPI_SS
+#endif
@@ -0,0 +1,126 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../platforms.h"
+
+#ifdef __PLAT_RP2040__
+
+#include "../../inc/MarlinConfig.h"
+
+alarm_pool_t* HAL_timer_pool_0;
+alarm_pool_t* HAL_timer_pool_1;
+alarm_pool_t* HAL_timer_pool_2;
+alarm_pool_t* HAL_timer_pool_3;
+
+struct repeating_timer HAL_timer_0;
+struct repeating_timer HAL_timer_1;
+struct repeating_timer HAL_timer_2;
+struct repeating_timer HAL_timer_3;
+
+volatile bool HAL_timer_irq_en[4] = { false, false, false, false };
+
+void HAL_timer_init() {
+  //reserve all the available alarm pools to use as "pseudo" hardware timers
+  //HAL_timer_pool_0 = alarm_pool_create(0,2);
+  HAL_timer_pool_1 = alarm_pool_create(1, 6);
+  HAL_timer_pool_0 = HAL_timer_pool_1;
+  HAL_timer_pool_2 = alarm_pool_create(2, 6);
+  HAL_timer_pool_3 = HAL_timer_pool_2;
+  //HAL_timer_pool_3 = alarm_pool_create(3, 6);
+
+  irq_set_priority(TIMER_IRQ_0, 0xC0);
+  irq_set_priority(TIMER_IRQ_1, 0x80);
+  irq_set_priority(TIMER_IRQ_2, 0x40);
+  irq_set_priority(TIMER_IRQ_3, 0x00);
+
+  //alarm_pool_init_default();
+}
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  const int64_t freq = (int64_t)frequency,
+                  us = (1000000ll / freq) * -1ll;
+  bool result;
+  switch (timer_num) {
+    case 0:
+      result = alarm_pool_add_repeating_timer_us(HAL_timer_pool_0, us, HAL_timer_repeating_0_callback, NULL, &HAL_timer_0);
+      break;
+    case 1:
+      result = alarm_pool_add_repeating_timer_us(HAL_timer_pool_1, us, HAL_timer_repeating_1_callback, NULL, &HAL_timer_1);
+      break;
+    case 2:
+      result = alarm_pool_add_repeating_timer_us(HAL_timer_pool_2, us, HAL_timer_repeating_2_callback, NULL, &HAL_timer_2);
+      break;
+    case 3:
+      result = alarm_pool_add_repeating_timer_us(HAL_timer_pool_3, us, HAL_timer_repeating_3_callback, NULL, &HAL_timer_3);
+      break;
+  }
+  UNUSED(result);
+}
+
+void HAL_timer_stop(const uint8_t timer_num) {
+   switch (timer_num) {
+    case 0: cancel_repeating_timer(&HAL_timer_0); break;
+    case 1: cancel_repeating_timer(&HAL_timer_1); break;
+    case 2: cancel_repeating_timer(&HAL_timer_2); break;
+    case 3: cancel_repeating_timer(&HAL_timer_3); break;
+  }
+}
+
+int64_t HAL_timer_alarm_pool_0_callback(long int, void*) {
+  if (HAL_timer_irq_en[0]) HAL_timer_0_callback();
+  return 0;
+}
+int64_t HAL_timer_alarm_pool_1_callback(long int, void*) {
+  if (HAL_timer_irq_en[1]) HAL_timer_1_callback();
+  return 0;
+}
+int64_t HAL_timer_alarm_pool_2_callback(long int, void*) {
+  if (HAL_timer_irq_en[2]) HAL_timer_2_callback();
+  return 0;
+}
+int64_t HAL_timer_alarm_pool_3_callback(long int, void*) {
+  if (HAL_timer_irq_en[3]) HAL_timer_3_callback();
+  return 0;
+}
+
+bool HAL_timer_repeating_0_callback(repeating_timer* timer) {
+  if (HAL_timer_irq_en[0]) HAL_timer_0_callback();
+  return true;
+}
+bool HAL_timer_repeating_1_callback(repeating_timer* timer) {
+  if (HAL_timer_irq_en[1]) HAL_timer_1_callback();
+  return true;
+}
+bool HAL_timer_repeating_2_callback(repeating_timer* timer) {
+  if (HAL_timer_irq_en[2]) HAL_timer_2_callback();
+  return true;
+}
+bool HAL_timer_repeating_3_callback(repeating_timer* timer) {
+  if (HAL_timer_irq_en[3]) HAL_timer_3_callback();
+  return true;
+}
+
+void __attribute__((weak)) HAL_timer_0_callback() {}
+void __attribute__((weak)) HAL_timer_1_callback() {}
+void __attribute__((weak)) HAL_timer_2_callback() {}
+void __attribute__((weak)) HAL_timer_3_callback() {}
+
+#endif // __PLAT_RP2040__
@@ -0,0 +1,177 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include <stdint.h>
+
+#include "../../core/macros.h"
+
+#ifdef PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
+  #undef PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
+  #define PICO_TIME_DEFAULT_ALARM_POOL_DISABLED 0
+#else
+  #define PICO_TIME_DEFAULT_ALARM_POOL_DISABLED 0
+#endif
+
+// ------------------------
+// Defines
+// ------------------------
+
+//#define _HAL_TIMER(T) _CAT(LPC_TIM, T)
+//#define _HAL_TIMER_IRQ(T) TIMER##T##_IRQn
+//#define __HAL_TIMER_ISR(T) extern "C" alarm_callback_t HAL_timer_alarm_pool_##T##_callback()
+#define __HAL_TIMER_ISR(T) extern void HAL_timer_##T##_callback()
+#define _HAL_TIMER_ISR(T)  __HAL_TIMER_ISR(T)
+
+typedef uint64_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF
+
+#define HAL_TIMER_RATE         (1000000ull)  // fixed value as we use a microsecond timesource
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP        0  // 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        1  // Timer Index for Temperature
+#endif
+#ifndef MF_TIMER_PWM
+  #define MF_TIMER_PWM         3  // Timer Index for PWM
+#endif
+
+#define TEMP_TIMER_RATE        HAL_TIMER_RATE
+#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+
+#define STEPPER_TIMER_RATE     HAL_TIMER_RATE / 10 // 100khz roughly
+#define STEPPER_TIMER_TICKS_PER_US (0.1) // fixed value as we use a microsecond timesource
+#define STEPPER_TIMER_PRESCALE (10)
+
+#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(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)
+
+#ifndef HAL_STEP_TIMER_ISR
+  #define HAL_STEP_TIMER_ISR() _HAL_TIMER_ISR(MF_TIMER_STEP)
+#endif
+#ifndef HAL_TEMP_TIMER_ISR
+  #define HAL_TEMP_TIMER_ISR() _HAL_TIMER_ISR(MF_TIMER_TEMP)
+#endif
+
+// Timer references by index
+//#define STEP_TIMER_PTR _HAL_TIMER(MF_TIMER_STEP)
+//#define TEMP_TIMER_PTR _HAL_TIMER(MF_TIMER_TEMP)
+
+extern alarm_pool_t* HAL_timer_pool_0;
+extern alarm_pool_t* HAL_timer_pool_1;
+extern alarm_pool_t* HAL_timer_pool_2;
+extern alarm_pool_t* HAL_timer_pool_3;
+
+extern struct repeating_timer HAL_timer_0;
+
+void HAL_timer_0_callback();
+void HAL_timer_1_callback();
+void HAL_timer_2_callback();
+void HAL_timer_3_callback();
+
+int64_t HAL_timer_alarm_pool_0_callback(long int, void*);
+int64_t HAL_timer_alarm_pool_1_callback(long int, void*);
+int64_t HAL_timer_alarm_pool_2_callback(long int, void*);
+int64_t HAL_timer_alarm_pool_3_callback(long int, void*);
+
+bool HAL_timer_repeating_0_callback(repeating_timer* timer);
+bool HAL_timer_repeating_1_callback(repeating_timer* timer);
+bool HAL_timer_repeating_2_callback(repeating_timer* timer);
+bool HAL_timer_repeating_3_callback(repeating_timer* timer);
+
+extern volatile bool HAL_timer_irq_en[4];
+
+// ------------------------
+// Public functions
+// ------------------------
+
+void HAL_timer_init();
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+void HAL_timer_stop(const uint8_t timer_num);
+
+FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t compare) {
+
+  if (timer_num == MF_TIMER_STEP){
+    if (compare == HAL_TIMER_TYPE_MAX){
+       HAL_timer_stop(timer_num);
+       return;
+    }
+  }
+
+ compare = compare *10; //Dirty fix, figure out a proper way
+
+  switch (timer_num) {
+    case 0:
+      alarm_pool_add_alarm_in_us(HAL_timer_pool_0 ,compare , HAL_timer_alarm_pool_0_callback ,0 ,false );
+      break;
+
+    case 1:
+      alarm_pool_add_alarm_in_us(HAL_timer_pool_1 ,compare , HAL_timer_alarm_pool_1_callback ,0 ,false );
+      break;
+
+    case 2:
+      alarm_pool_add_alarm_in_us(HAL_timer_pool_2 ,compare , HAL_timer_alarm_pool_2_callback ,0 ,false );
+      break;
+
+    case 3:
+      alarm_pool_add_alarm_in_us(HAL_timer_pool_3 ,compare , HAL_timer_alarm_pool_3_callback ,0 ,false );
+      break;
+  }
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+  return 0;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+  if (timer_num == MF_TIMER_STEP) return 0ull;
+  return time_us_64();
+}
+
+
+FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  HAL_timer_irq_en[timer_num] = 1;
+}
+
+FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  HAL_timer_irq_en[timer_num] = 0;
+}
+
+FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  return HAL_timer_irq_en[timer_num]; //lucky coincidence that timer_num and rp2040 irq num matches
+}
+
+FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
+  return;
+}
+
+#define HAL_timer_isr_epilogue(T) NOOP
@@ -69,13 +69,13 @@ extern DefaultSerial3 MSerial1;
  #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
+#ifdef MMU_SERIAL_PORT
+  #if WITHIN(MMU_SERIAL_PORT, 0, 1)
+    #define MMU_SERIAL MSERIAL(SERIAL_PORT)
+  #elif MMU_SERIAL_PORT == -1
+    #define MMU_SERIAL MSerialUSB
  #else
-    #error "MMU2_SERIAL_PORT must be -1 (Native USB only)."
+    #error "MMU_SERIAL_PORT must be -1 (Native USB only)."
  #endif
 #endif

@@ -108,7 +108,6 @@
    SPI.beginTransaction(spiConfig);
    SPI.transfer(buf, nbyte);
    SPI.endTransaction();
-
  }

  /**
@@ -152,7 +152,7 @@
                                 : ((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)
+#define digitalPinToAnalogIndex(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
@@ -22,42 +22,57 @@
 #pragma once

 /**
- * SAMD21 HAL developed by Bart Meijer (brupje)
- * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ * Pins Debugging for SAMD21
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

 #define NUMBER_PINS_TOTAL 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 digitalRead_mod(P) extDigitalRead(P)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3d "), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(x) pin_array[x].pin
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
+#define isValidPin(P) (P >= 0 && P < pin_t(NUMBER_PINS_TOTAL))
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P) != -1)
+#define pwm_status(P) digitalPinHasPWM(P)
 #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
+bool getValidPinMode(const 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) {
+void printPinPWM(const int32_t pin) {
  if (pwm_status(pin)) {
    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
    //SERIAL_ECHOPGM("PWM = ", duty);
  }
 }

+void printPinPort(const pin_t) {}
+
 /**
 * SAMD21 Board pin|  PORT  | Label
 * ----------------+--------+-------
@@ -69,13 +69,23 @@
    #endif
  #endif

-  #ifdef MMU2_SERIAL_PORT
-    #if MMU2_SERIAL_PORT == -1
-      #define MMU2_SERIAL MSerial0
-    #elif WITHIN(MMU2_SERIAL_PORT, 0, 3)
-      #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
+  #ifdef SERIAL_PORT_3
+    #if SERIAL_PORT_3 == -1
+      #define MYSERIAL3 MSerial0
+    #elif WITHIN(SERIAL_PORT_3, 0, 3)
+      #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
    #else
-      #error "MMU2_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
+      #error "SERIAL_PORT_3 must be from 0 to 3. You can also use -1 if the board supports Native USB."
+    #endif
+  #endif
+
+  #ifdef MMU_SERIAL_PORT
+    #if MMU_SERIAL_PORT == -1
+      #define MMU_SERIAL MSerial0
+    #elif WITHIN(MMU_SERIAL_PORT, 0, 3)
+      #define MMU_SERIAL MSERIAL(MMU_SERIAL_PORT)
+    #else
+      #error "MMU_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
    #endif
  #endif

@@ -174,7 +174,7 @@
                                   : (P == 17) ? PIN_TO_SAMD_PIN(13)  \
                                   : PIN_TO_SAMD_PIN(9))

-  #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)
+  #define digitalPinToAnalogIndex(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
@@ -22,41 +22,57 @@
 #pragma once

 /**
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ * Pins Debugging for SAMD51
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

 #define NUMBER_PINS_TOTAL 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 digitalRead_mod(P) extDigitalRead(P)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3d "), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(x) pin_array[x].pin
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
+#define isValidPin(P) (P >= 0 && P < pin_t(NUMBER_PINS_TOTAL))
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P) != -1)
+#define pwm_status(P) digitalPinHasPWM(P)
 #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
+bool getValidPinMode(const 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) {
+void printPinPWM(const int32_t pin) {
  if (pwm_status(pin)) {
    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
    //SERIAL_ECHOPGM("PWM = ", duty);
  }
 }

+void printPinPort(const pin_t) {}
+
 /**
 * AGCM4 Board pin |  PORT  | Label
 * ----------------+--------+-------
@@ -90,15 +90,15 @@
  #endif
 #endif

-#ifdef MMU2_SERIAL_PORT
-  #if WITHIN(MMU2_SERIAL_PORT, 1, 9)
-    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
+#ifdef MMU_SERIAL_PORT
+  #if WITHIN(MMU_SERIAL_PORT, 1, 9)
+    #define MMU_SERIAL MSERIAL(MMU_SERIAL_PORT)
  #elif !defined(USBCON)
-    #error "MMU2_SERIAL_PORT must be from 1 to 9."
-  #elif MMU2_SERIAL_PORT == -1
-    #define MMU2_SERIAL MSerialUSB
+    #error "MMU_SERIAL_PORT must be from 1 to 9."
+  #elif MMU_SERIAL_PORT == -1
+    #define MMU_SERIAL MSerialUSB
  #else
-    #error "MMU2_SERIAL_PORT must be from 1 to 9, or -1 for Native USB."
+    #error "MMU_SERIAL_PORT must be from 1 to 9, or -1 for Native USB."
  #endif
 #endif

@@ -129,7 +129,7 @@
 * TODO: review this to return 1 for pins that are not analog input
 */
 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) (p)
+  #define analogInputToDigitalPin(p) pin_t(p)
 #endif

 //
@@ -37,6 +37,9 @@
 #ifndef USART5
  #define USART5 UART5
 #endif
+#ifndef USART6
+  #define USART6 UART6
+#endif
 #ifndef USART7
  #define USART7 UART7
 #endif
@@ -21,6 +21,26 @@
 */
 #pragma once

+/**
+ * Pins Debugging for STM32
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
+ */
+
 #include <Arduino.h>

 #ifndef NUM_DIGITAL_PINS
@@ -34,11 +54,11 @@
 *  that a CPU has.
 *
 *  VARIABLES:
- *     Ard_num - Arduino pin number - defined by the platform. It is used by digitalRead and
- *               digitalWrite commands and by M42.
- *             - does not contain port/pin info
- *             - is not in port/pin order
- *             - typically a variant will only assign Ard_num to port/pins that are actually used
+ *     A - Arduino pin number - defined by the platform. It is used by digitalRead and
+ *         digitalWrite commands and by M42.
+ *       - does not contain port/pin info
+ *       - is not in port/pin order
+ *       - typically a variant will only assign Ard_num to port/pins that are actually used
 *     Index - M43 counter - only used to get Ard_num
 *     x - a parameter/argument used to search the pin_array to try to find a signal name
 *         associated with a Ard_num
@@ -98,15 +118,11 @@ const XrefInfo pin_xref[] PROGMEM = {
 #define MODE_PIN_ALT    2 // Alternate function mode
 #define MODE_PIN_ANALOG 3 // Analog mode

-#define PIN_NUM(P) (P & 0x000F)
-#define PIN_NUM_ALPHA_LEFT(P) (((P & 0x000F) < 10) ? ('0' + (P & 0x000F)) : '1')
-#define PIN_NUM_ALPHA_RIGHT(P) (((P & 0x000F) > 9)  ? ('0' + (P & 0x000F) - 10) : 0 )
-#define PORT_NUM(P) ((P  >> 4) & 0x0007)
-#define PORT_ALPHA(P) ('A' + (P >> 4))
-
-/**
- * Translation of routines & variables used by pinsDebug.h
- */
+#define PIN_NUM(P) ((P) & 0x000F)
+#define PIN_NUM_ALPHA_LEFT(P) ((((P) & 0x000F) < 10) ? ('0' + ((P) & 0x000F)) : '1')
+#define PIN_NUM_ALPHA_RIGHT(P) ((((P) & 0x000F) > 9)  ? ('0' + ((P) & 0x000F) - 10) : 0 )
+#define PORT_NUM(P) (((P)  >> 4) & 0x0007)
+#define PORT_ALPHA(P) ('A' + ((P) >> 4))

 #if NUM_ANALOG_FIRST >= NUM_DIGITAL_PINS
  #define HAS_HIGH_ANALOG_PINS 1
@@ -115,42 +131,42 @@ const XrefInfo pin_xref[] PROGMEM = {
  #define NUM_ANALOG_LAST ((NUM_ANALOG_FIRST) + (NUM_ANALOG_INPUTS) - 1)
 #endif
 #define NUMBER_PINS_TOTAL ((NUM_DIGITAL_PINS) + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS))
-#define VALID_PIN(P) (WITHIN(P, 0, (NUM_DIGITAL_PINS) - 1) || TERN0(HAS_HIGH_ANALOG_PINS, WITHIN(P, NUM_ANALOG_FIRST, NUM_ANALOG_LAST)))
-#define digitalRead_mod(Ard_num) extDigitalRead(Ard_num)  // must use Arduino pin numbers when doing reads
-#define PRINT_PIN(Q)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1  // will report analog pin number in the print port routine
+#define isValidPin(P) (WITHIN(P, 0, (NUM_DIGITAL_PINS) - 1) || TERN0(HAS_HIGH_ANALOG_PINS, WITHIN(P, NUM_ANALOG_FIRST, NUM_ANALOG_LAST)))
+#define digitalRead_mod(A) extDigitalRead(A)  // must use Arduino pin numbers when doing reads
+#define printPinNumber(Q)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define digitalPinToAnalogIndex(P) -1  // will report analog pin number in the print port routine

 // x is a variable used to search pin_array
-#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
-#define GET_ARRAY_PIN(x) ((pin_t) pin_array[x].pin)
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define getPinIsDigitalByIndex(x) ((bool) pin_array[x].is_digital)
+#define getPinByIndex(x) ((pin_t) pin_array[x].pin)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin

 //
 // Pin Mapping for M43
 //
-#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
+#define GET_PIN_MAP_PIN_M43(x) pin_xref[x].Ard_num

 #ifndef M43_NEVER_TOUCH
-  #define _M43_NEVER_TOUCH(Index) (Index >= 9 && Index <= 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP)
+  #define _M43_NEVER_TOUCH(x) WITHIN(x, 9, 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP)
  #ifdef KILL_PIN
-    #define M43_NEVER_TOUCH(Index) m43_never_touch(Index)
+    #define M43_NEVER_TOUCH(x) m43_never_touch(x)

-    bool m43_never_touch(const pin_t Index) {
+    bool m43_never_touch(const pin_t index) {
      static pin_t M43_kill_index = -1;
      if (M43_kill_index < 0)
        for (M43_kill_index = 0; M43_kill_index < NUMBER_PINS_TOTAL; M43_kill_index++)
          if (KILL_PIN == GET_PIN_MAP_PIN_M43(M43_kill_index)) break;
-      return _M43_NEVER_TOUCH(Index) || Index == M43_kill_index; // KILL_PIN and SERIAL/USB
+      return _M43_NEVER_TOUCH(index) || index == M43_kill_index; // KILL_PIN and SERIAL/USB
    }
  #else
-    #define M43_NEVER_TOUCH(Index) _M43_NEVER_TOUCH(Index)
+    #define M43_NEVER_TOUCH(index) _M43_NEVER_TOUCH(index)
  #endif
 #endif

-uint8_t get_pin_mode(const pin_t Ard_num) {
-  const PinName dp = digitalPinToPinName(Ard_num);
+uint8_t get_pin_mode(const pin_t pin) {
+  const PinName dp = digitalPinToPinName(pin);
  uint32_t ll_pin  = STM_LL_GPIO_PIN(dp);
  GPIO_TypeDef *port = get_GPIO_Port(STM_PORT(dp));
  uint32_t mode = LL_GPIO_GetPinMode(port, ll_pin);
@@ -164,41 +180,41 @@ uint8_t get_pin_mode(const pin_t Ard_num) {
  }
 }

-bool GET_PINMODE(const pin_t Ard_num) {
-  const uint8_t pin_mode = get_pin_mode(Ard_num);
+bool getValidPinMode(const pin_t pin) {
+  const uint8_t pin_mode = get_pin_mode(pin);
  return pin_mode == MODE_PIN_OUTPUT || pin_mode == MODE_PIN_ALT;  // assume all alt definitions are PWM
 }

-int8_t digital_pin_to_analog_pin(const pin_t Ard_num) {
-  if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_LAST))
-    return Ard_num - NUM_ANALOG_FIRST;
+int8_t digital_pin_to_analog_pin(const pin_t pin) {
+  if (WITHIN(pin, NUM_ANALOG_FIRST, NUM_ANALOG_LAST))
+    return pin - NUM_ANALOG_FIRST;

-  const uint32_t ind = digitalPinToAnalogInput(Ard_num);
+  const int8_t ind = digitalPinToAnalogIndex(pin);
  return (ind < NUM_ANALOG_INPUTS) ? ind : -1;
 }

-bool IS_ANALOG(const pin_t Ard_num) {
-  return get_pin_mode(Ard_num) == MODE_PIN_ANALOG;
+bool isAnalogPin(const pin_t pin) {
+  return get_pin_mode(pin) == MODE_PIN_ANALOG;
 }

-bool is_digital(const pin_t Ard_num) {
-  const uint8_t pin_mode = get_pin_mode(pin_array[Ard_num].pin);
+bool is_digital(const pin_t pin) {
+  const uint8_t pin_mode = get_pin_mode(pin_array[pin].pin);
  return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
 }

-void print_port(const pin_t Ard_num) {
+void printPinPort(const pin_t pin) {
  char buffer[16];
-  pin_t Index;
-  for (Index = 0; Index < NUMBER_PINS_TOTAL; Index++)
-    if (Ard_num == GET_PIN_MAP_PIN_M43(Index)) break;
+  pin_t index;
+  for (index = 0; index < NUMBER_PINS_TOTAL; index++)
+    if (pin == GET_PIN_MAP_PIN_M43(index)) break;

-  const char * ppa = pin_xref[Index].Port_pin_alpha;
+  const char * ppa = pin_xref[index].Port_pin_alpha;
  sprintf_P(buffer, PSTR("%s"), ppa);
  SERIAL_ECHO(buffer);
  if (ppa[3] == '\0') SERIAL_CHAR(' ');

  // print analog pin number
-  const int8_t Port_pin = digital_pin_to_analog_pin(Ard_num);
+  const int8_t Port_pin = digital_pin_to_analog_pin(pin);
  if (Port_pin >= 0) {
    sprintf_P(buffer, PSTR(" (A%d) "), Port_pin);
    SERIAL_ECHO(buffer);
@@ -208,8 +224,8 @@ void print_port(const pin_t Ard_num) {
    SERIAL_ECHO_SP(7);

  // Print number to be used with M42
-  int calc_p = Ard_num;
-  if (Ard_num > NUM_DIGITAL_PINS) {
+  int calc_p = pin;
+  if (pin > NUM_DIGITAL_PINS) {
    calc_p -= NUM_ANALOG_FIRST;
    if (calc_p > 7) calc_p += 8;
  }
@@ -222,15 +238,15 @@ void print_port(const pin_t Ard_num) {
  }
 }

-bool pwm_status(const pin_t Ard_num) {
-  return get_pin_mode(Ard_num) == MODE_PIN_ALT;
+bool pwm_status(const pin_t pin) {
+  return get_pin_mode(pin) == MODE_PIN_ALT;
 }

-void pwm_details(const pin_t Ard_num) {
+void printPinPWM(const pin_t pin) {
  #ifndef STM32F1xx
-    if (pwm_status(Ard_num)) {
+    if (pwm_status(pin)) {
      uint32_t alt_all = 0;
-      const PinName dp = digitalPinToPinName(Ard_num);
+      const PinName dp = digitalPinToPinName(pin);
      pin_t pin_number = uint8_t(PIN_NUM(dp));
      const bool over_7 = pin_number >= 8;
      const uint8_t ind = over_7 ? 1 : 0;
@@ -285,4 +301,4 @@ void pwm_details(const pin_t Ard_num) {
  #else
    // TODO: F1 doesn't support changing pins function, so we need to check the function of the PIN and if it's enabled
  #endif
-} // pwm_details
+} // printPinPWM
@@ -238,7 +238,7 @@ void HAL_SD_MspInit(SD_HandleTypeDef *hsd) {
    hdma_sdio.Init.MemInc = DMA_MINC_ENABLE;
    hdma_sdio.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
    hdma_sdio.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
-    hdma_sdio.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_sdio.Init.Priority = DMA_PRIORITY_MEDIUM;
    __HAL_LINKDMA(&hsd, hdmarx, hdma_sdio);
    __HAL_LINKDMA(&hsd, hdmatx, hdma_sdio);

@@ -182,6 +182,7 @@ void TFT_FSMC::transmitDMA(uint32_t memoryIncrease, uint16_t *data, uint16_t cou
  DMAtx.Init.PeriphInc = memoryIncrease;
  HAL_DMA_Init(&DMAtx);
  HAL_DMA_Start(&DMAtx, (uint32_t)data, (uint32_t)&(LCD->RAM), count);
+  TERN_(TFT_SHARED_IO, while (isBusy()));
 }

 void TFT_FSMC::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) {
@@ -337,7 +337,7 @@ 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
  #endif

-  TERN_(TFT_SHARED_IO, while (isBusy()) { /* nada */ });
+  TERN_(TFT_SHARED_IO, while (isBusy()));
 }

 void TFT_SPI::transmit(uint32_t memoryIncrease, uint16_t *data, uint16_t count) {
@@ -118,14 +118,14 @@
  #endif
 #endif

-#ifdef MMU2_SERIAL_PORT
-  #if MMU2_SERIAL_PORT == -1
-    #define MMU2_SERIAL UsbSerial
-  #elif WITHIN(MMU2_SERIAL_PORT, 1, NUM_UARTS)
-    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
+#ifdef MMU_SERIAL_PORT
+  #if MMU_SERIAL_PORT == -1
+    #define MMU_SERIAL UsbSerial
+  #elif WITHIN(MMU_SERIAL_PORT, 1, NUM_UARTS)
+    #define MMU_SERIAL MSERIAL(MMU_SERIAL_PORT)
  #else
-    #define MMU2_SERIAL MSERIAL(1) // dummy port
-    static_assert(false, "MMU2_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
+    #define MMU_SERIAL MSERIAL(1) // dummy port
+    static_assert(false, "MMU_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
  #endif
 #endif

@@ -158,7 +158,7 @@
 * TODO: review this to return 1 for pins that are not analog input
 */
 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) (p)
+  #define analogInputToDigitalPin(p) pin_t(p)
 #endif

 #ifndef digitalPinHasPWM
@@ -22,11 +22,23 @@
 #pragma once

 /**
- * Support routines for MAPLE_STM32F1
- */
-
-/**
- * Translation of routines & variables used by pinsDebug.h
+ * Pins Debugging for Maple STM32F1
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

 #ifndef BOARD_NR_GPIO_PINS // Only in MAPLE_STM32F1
@@ -39,12 +51,12 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS];

 #define NUM_DIGITAL_PINS BOARD_NR_GPIO_PINS
 #define NUMBER_PINS_TOTAL BOARD_NR_GPIO_PINS
-#define VALID_PIN(pin) (pin >= 0 && pin < BOARD_NR_GPIO_PINS)
-#define GET_ARRAY_PIN(p) pin_t(pin_array[p].pin)
-#define digitalRead_mod(p) extDigitalRead(p)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3hd "), int16_t(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 PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define isValidPin(P) (P >= 0 && P < BOARD_NR_GPIO_PINS)
+#define getPinByIndex(x) pin_t(pin_array[x].pin)
+#define digitalRead_mod(P) extDigitalRead(P)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3hd "), int16_t(P)); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 21 // 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
@@ -52,10 +64,10 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS];
  #define M43_NEVER_TOUCH(Q) (Q >= 9 && Q <= 12) // SERIAL/USB pins PA9(TX) PA10(RX)
 #endif

-int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? _GET_MODE(pin) : -1; }
+int8_t get_pin_mode(const pin_t pin) { return isValidPin(pin) ? _GET_MODE(pin) : -1; }

-pin_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t pin) {
-  if (!VALID_PIN(pin)) return -1;
+int8_t digitalPinToAnalogIndex(const pin_t pin) {
+  if (!isValidPin(pin)) return -1;
  pin_t adc_channel = pin_t(PIN_MAP[pin].adc_channel);
  #ifdef NUM_ANALOG_INPUTS
    if (adc_channel >= NUM_ANALOG_INPUTS) adc_channel = (pin_t)ADCx;
@@ -63,8 +75,8 @@ pin_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t pin) {
  return adc_channel;
 }

-bool IS_ANALOG(const pin_t pin) {
-  if (!VALID_PIN(pin)) return false;
+bool isAnalogPin(const pin_t pin) {
+  if (!isValidPin(pin)) return false;
  if (PIN_MAP[pin].adc_channel != ADCx) {
    #ifdef NUM_ANALOG_INPUTS
      if (PIN_MAP[pin].adc_channel >= NUM_ANALOG_INPUTS) return false;
@@ -74,13 +86,13 @@ bool IS_ANALOG(const pin_t pin) {
  return false;
 }

-bool GET_PINMODE(const pin_t pin) {
-  return VALID_PIN(pin) && !IS_INPUT(pin);
+bool getValidPinMode(const pin_t pin) {
+  return isValidPin(pin) && !IS_INPUT(pin);
 }

-bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) {
-  const pin_t pin = GET_ARRAY_PIN(array_pin);
-  return (!IS_ANALOG(pin)
+bool getPinIsDigitalByIndex(const int16_t index) {
+  const pin_t pin = getPinByIndex(index);
+  return (!isAnalogPin(pin)
    #ifdef NUM_ANALOG_INPUTS
      || PIN_MAP[pin].adc_channel >= NUM_ANALOG_INPUTS
    #endif
@@ -89,7 +101,7 @@ bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) {

 #include "../../inc/MarlinConfig.h" // Allow pins/pins.h to set density

-void pwm_details(const pin_t pin) {
+void printPinPWM(const pin_t pin) {
  if (PWM_PIN(pin)) {
    timer_dev * const tdev = PIN_MAP[pin].timer_device;
    const uint8_t channel = PIN_MAP[pin].timer_channel;
@@ -111,7 +123,7 @@ void pwm_details(const pin_t pin) {

 bool pwm_status(const pin_t pin) { return PWM_PIN(pin); }

-void print_port(const pin_t pin) {
+void printPinPort(const pin_t pin) {
  const char port = 'A' + char(pin >> 4); // pin div 16
  const int16_t gbit = PIN_MAP[pin].gpio_bit;
  char buffer[8];
@@ -98,7 +98,7 @@ uint32_t __get_PRIMASK(void); // CMSIS
 // ------------------------

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

 #define HAL_ADC_VREF_MV   3300
@@ -1 +1,71 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
 #error "PINS_DEBUGGING is not yet supported for Teensy 3.1 / 3.2!"
+
+/**
+ * Pins Debugging for ESP32
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
+ */
+
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin
+
+#define digitalRead_mod(P) extDigitalRead(P)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%02d"), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(x) pin_array[x].pin
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
+#define isValidPin(P) (P >= 0 && P < pin_t(NUMBER_PINS_TOTAL))
+#define digitalPinToAnalogIndex(P) int(P - analogInputToDigitalPin(0))
+#define isAnalogPin(P) WITHIN(P, pin_t(analogInputToDigitalPin(0)), pin_t(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
+bool pwm_status(const pin_t) { return false; }
+
+void printPinPort(const pin_t) {}
+
+static bool getValidPinMode(const pin_t pin) {
+  return isValidPin(pin) /* && !IS_INPUT(pin) */ ;
+}
+
+void printPinPWM(const int32_t pin) {
+  if (pwm_status(pin)) {
+    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
+    //SERIAL_ECHOPGM("PWM = ", duty);
+  }
+}
@@ -41,7 +41,7 @@ typedef uint32_t hal_timer_t;
 #define FTM0_TIMER_PRESCALE_BITS 0b011
 #define FTM1_TIMER_PRESCALE_BITS 0b010

-#define FTM0_TIMER_RATE (F_BUS / (FTM0_TIMER_PRESCALE)) // 60MHz / 8 = 7500kHz
+#define FTM0_TIMER_RATE (F_BUS / (FTM0_TIMER_PRESCALE)) // 60MHz / 8 = 7.5MHz
 #define FTM1_TIMER_RATE (F_BUS / (FTM1_TIMER_PRESCALE)) // 60MHz / 4 = 15MHz

 #define HAL_TIMER_RATE         (FTM0_TIMER_RATE)
@@ -103,7 +103,7 @@ typedef int8_t pin_t;
 // ------------------------

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

 #define HAL_ADC_VREF_MV   3300
@@ -48,3 +48,7 @@
 #if USING_PULLDOWNS
  #error "PULLDOWN pin mode is not available for Teensy 3.5/3.6."
 #endif
+
+#if ENABLED(PINS_DEBUGGING)
+  #error "PINS_DEBUGGING is not yet supported for Teensy 3.5/3.6. Needs is_output(pin), etc."
+#endif
@@ -22,7 +22,23 @@
 #pragma once

 /**
- * HAL Pins Debugging for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ * Pins Debugging for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
 */

 #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
@@ -53,9 +69,18 @@
  #define TPM1_CH1_PIN 17
 #endif

-#define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(9)) || ((P) >= analogInputToDigitalPin(12) && (P) <= analogInputToDigitalPin(20))
+#define getPinByIndex(x) pin_array[x].pin
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
+#define digitalPinToAnalogIndex(P) int(P - analogInputToDigitalPin(0))
+#define getValidPinMode(P) (isValidPin(P) && IS_OUTPUT(P))
+#define isValidPin(P) (P >= 0 && P < pin_t(NUMBER_PINS_TOTAL))
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%02d"), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)

-void print_analog_pin(char buffer[], int8_t pin) {
+#define isAnalogPin(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(9)) || ((P) >= analogInputToDigitalPin(12) && (P) <= analogInputToDigitalPin(20))
+
+void printAnalogPin(char buffer[], int8_t pin) {
  if (pin <= 23)      sprintf_P(buffer, PSTR("(A%2d)  "), int(pin - 14));
  else if (pin <= 39) sprintf_P(buffer, PSTR("(A%2d)  "), int(pin - 19));
 }
@@ -77,7 +102,7 @@ void analog_pin_state(char buffer[], int8_t pin) {
 * Print a pin's PWM status.
 * Return true if it's currently a PWM pin.
 */
-bool pwm_status(int8_t pin) {
+bool pwm_status(const int8_t pin) {
  char buffer[20];   // for the sprintf statements
  switch (pin) {
    FTM_CASE(0,0);
@@ -108,4 +133,6 @@ bool pwm_status(int8_t pin) {
  SERIAL_ECHOPGM("  ");
 }

-void pwm_details(uint8_t pin) { /* TODO */ }
+void printPinPWM(const pin_t) { /* TODO */ }
+
+void printPinPort(const pin_t) {}
--- a/Show More
+++ b/Show More