Merge remote-tracking branch 'upstream/bugfix-2.1.x' into pr/26944

w/r/t https://github.com/MarlinFirmware/Marlin/issues/27918#issuecomment-3145339116

.devcontainer/devcontainer.json

@@ -38,14 +38,14 @@
     "platformio.platformio-ide",
     "marlinfirmware.auto-build",
     "editorconfig.editorconfig"
-  ],
+  ]
 
   // Use 'forwardPorts' to make a list of ports inside the container available locally.
-  // "forwardPorts": [],
+  // , "forwardPorts": []
 
   // Use 'postCreateCommand' to run commands after the container is created.
-  // "postCreateCommand": "pip3 install --user -r requirements.txt",
+  // , "postCreateCommand": "pip3 install --user -r requirements.txt"
 
   // Comment out connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root.
-  // "remoteUser": "vscode"
+  // , "remoteUser": "vscode"
 }

.github/workflows/ci-build-tests.yml

@@ -21,6 +21,7 @@ on:
     branches:
     - bugfix-2.1.x
     - 2.1.x
+    - release-*
     paths-ignore:
     - config/**
     - data/**
@@ -36,6 +37,9 @@ jobs:
 
     runs-on: ubuntu-22.04
 
+    env:
+      CONFIG_BRANCH: ${{ github.base_ref || github.ref_name }}
+
     strategy:
       fail-fast: true
       matrix:
@@ -54,7 +58,7 @@ jobs:
         - at90usb1286_dfu
 
         # AVR Extended
-        - FYSETC_F6
+        - mega2560ext
         - melzi_optiboot
         - rambo
         - sanguino1284p

.github/workflows/ci-validate-boards.yml

@@ -9,14 +9,14 @@ name: CI - Validate boards.h
 on:
   pull_request:
     branches:
-    - bugfix-2.1.x
+      - bugfix-2.1.x
     paths:
-    - 'Marlin/src/core/boards.h'
+      - "Marlin/src/core/boards.h"
   push:
     branches:
-    - bugfix-2.1.x
+      - bugfix-2.1.x
     paths:
-    - 'Marlin/src/core/boards.h'
+      - "Marlin/src/core/boards.h"
 
 jobs:
   validate_pins_files:
@@ -26,23 +26,23 @@ jobs:
     runs-on: ubuntu-22.04
 
     steps:
-    - name: Check out the PR
+      - name: Check out the PR
-      uses: actions/checkout@v4
+        uses: actions/checkout@v4
 
-    - name: Cache pip
+      - name: Cache pip
-      uses: actions/cache@v4
+        uses: actions/cache@v4
-      with:
+        with:
-        path: ~/.cache/pip
+          path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-boards-v1
+          key: ${{ runner.os }}-pip-validation-v1
-        restore-keys: |
+          restore-keys: |
-          ${{ runner.os }}-pip-boards-
+            ${{ runner.os }}-pip-validation-
 
-    - name: Select Python 3.9
+      - name: Select Python 3.9
-      uses: actions/setup-python@v5
+        uses: actions/setup-python@v5
-      with:
+        with:
-        python-version: '3.9'
+          python-version: "3.9"
-        architecture: 'x64'
+          architecture: "x64"
 
-    - name: Validate core/boards.h
+      - name: Validate core/boards.h
-      run: |
+        run: |
-        make validate-boards -j
+          make validate-boards -j

.github/workflows/ci-validate-lines.yml

@@ -0,0 +1,40 @@
+#
+# ci-validate-lines.yml
+# Validate that all text files are unchanged by linesformat.py
+#
+
+name: CI - Validate Source Files
+
+on:
+  pull_request:
+    branches:
+      - bugfix-2.1.x
+      - 2.1.x
+  push:
+    branches:
+      - bugfix-2.1.x
+      - 2.1.x
+
+jobs:
+  validate_source_files:
+    name: Validate Source Files
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Check out the PR
+        uses: actions/checkout@v4
+
+      - name: Cache node_modules
+        uses: actions/cache@v4
+        with:
+          path: node_modules
+          key: ${{ runner.os }}-npm-lines-v1
+          restore-keys: |
+            ${{ runner.os }}-npm-lines-
+
+      - name: Validate text file formatting
+        run: |
+          npm install --save-dev prettier
+          make validate-lines -j

.github/workflows/ci-validate-pins.yml

@@ -8,18 +8,18 @@ name: CI - Validate Pins Files
 on:
   pull_request:
     branches:
-    - bugfix-2.1.x
+      - bugfix-2.1.x
     # Cannot be enabled on 2.1.x until it contains the unit test framework
     #- 2.1.x
     paths:
-    - 'Marlin/src/pins/*/**'
+      - "Marlin/src/pins/*/**"
   push:
     branches:
-    - bugfix-2.1.x
+      - bugfix-2.1.x
     # Cannot be enabled on 2.1.x until it contains the unit test framework
     #- 2.1.x
     paths:
-    - 'Marlin/src/pins/*/**'
+      - "Marlin/src/pins/*/**"
 
 jobs:
   validate_pins_files:
@@ -29,23 +29,23 @@ jobs:
     runs-on: ubuntu-22.04
 
     steps:
-    - name: Check out the PR
+      - name: Check out the PR
-      uses: actions/checkout@v4
+        uses: actions/checkout@v4
 
-    - name: Cache pip
+      - name: Cache pip
-      uses: actions/cache@v4
+        uses: actions/cache@v4
-      with:
+        with:
-        path: ~/.cache/pip
+          path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-pins-v1
+          key: ${{ runner.os }}-pip-validation-v1
-        restore-keys: |
+          restore-keys: |
-          ${{ runner.os }}-pip-pins-
+            ${{ runner.os }}-pip-validation-
 
-    - name: Select Python 3.9
+      - name: Select Python 3.9
-      uses: actions/setup-python@v5
+        uses: actions/setup-python@v5
-      with:
+        with:
-        python-version: '3.9'
+          python-version: "3.9"
-        architecture: 'x64'
+          architecture: "x64"
 
-    - name: Validate all pins files
+      - name: Validate all pins files
-      run: |
+        run: |
-        make validate-pins -j
+          make validate-pins -j

.gitignore

@@ -31,6 +31,11 @@ out-language/
 *.gen
 *.sublime-workspace
 
+# npm
+node_modules/
+package.json
+package-lock.json
+
 # OS
 applet/
 .DS_Store

.prettierignore

@@ -0,0 +1,10 @@
+# Prettier Ignore file
+*.min.js
+web-ui/
+buildroot/share/PlatformIO/boards
+buildroot/share/PlatformIO/variants
+*.sublime-project
+*.sublime-syntax
+.github
+.vscode
+launch.json

Makefile

@@ -4,10 +4,36 @@ CONTAINER_RT_OPTS := --rm -v $(PWD):/code -v platformio-cache:/root/.platformio
 CONTAINER_IMAGE := marlin-dev
 UNIT_TEST_CONFIG ?= default
 
+# Find a Python 3 interpreter
+ifeq ($(OS),Windows_NT)
+	# Windows: use `where` – fall back through the three common names
+	PYTHON := $(shell which python 2>nul || which python3 2>nul || which py 2>nul)
+	# Windows: Use cmd tools to find pins files
+	PINS_RAW := $(shell cmd //c "dir /s /b Marlin\src\pins\*.h 2>nul | findstr /r ".*Marlin\\\\src\\\\pins\\\\.*\\\\pins_.*\.h"")
+	PINS := $(subst \,/,$(PINS_RAW))
+else
+	# POSIX: use `command -v` – prefer python3 over python
+	PYTHON := $(shell command -v python3 2>/dev/null || command -v python 2>/dev/null)
+	# Unix/Linux: Use find command
+	PINS := $(shell find Marlin/src/pins -mindepth 2 -name 'pins_*.h')
+endif
+
+# Check that the found interpreter is Python 3
+# Error if there's no Python 3 available
+ifneq ($(strip $(PYTHON)),)
+	PYTHON_VERSION := $(shell $(PYTHON) -c "import sys; print(sys.version_info[0])" 2>/dev/null)
+	ifneq ($(PYTHON_VERSION),3)
+		$(error $(PYTHON) is not Python 3 – install a Python‑3.x interpreter or adjust your PATH)
+	endif
+else
+	$(error No Python executable found – install Python 3.x and make sure it is in your PATH)
+endif
+
 help:
 	@echo "Tasks for local development:"
 	@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-lines -j         : Validate line endings, fails on trailing whitespace, etc."
 	@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"
@@ -19,7 +45,7 @@ help:
 	@echo "make unit-test-single-local-docker : Run unit tests for a single config locally, using docker"
 	@echo "make unit-test-all-local       : Run all code tests locally"
 	@echo "make unit-test-all-local-docker : Run all code tests locally, using docker"
-	@echo "make setup-local-docker        : Setup local docker using buildx"
+	@echo "make setup-local-docker        : Setup local docker"
 	@echo ""
 	@echo "Options for testing:"
 	@echo "  TEST_TARGET          Set when running tests-single-*, to select the"
@@ -40,6 +66,9 @@ marlin:
 	./buildroot/bin/mftest -a
 .PHONY: marlin
 
+clean:
+	rm -rf .pio/build*
+
 tests-single-ci:
 	export GIT_RESET_HARD=true
 	$(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) PLATFORMIO_BUILD_FLAGS=-DGITHUB_ACTION
@@ -56,10 +85,10 @@ tests-single-local-docker:
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) make tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"
 
 tests-all-local:
-	@python -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "python -m pip install pyyaml"' && exit 1)
+	@$(PYTHON) -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "$(PYTHON) -m pip install pyyaml"' && exit 1)
 	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
-	  && for TEST_TARGET in $$(python $(SCRIPTS_DIR)/get_test_targets.py) ; do \
+	  && for TEST_TARGET in $$($(PYTHON) $(SCRIPTS_DIR)/get_test_targets.py) ; do \
 	    if [ "$$TEST_TARGET" = "linux_native" ] && [ "$$(uname)" = "Darwin" ]; then \
 	      echo "Skipping tests for $$TEST_TARGET on macOS" ; \
 	      continue ; \
@@ -87,27 +116,56 @@ unit-test-all-local-docker:
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS)  $(CONTAINER_IMAGE) make unit-test-all-local
 
-setup-local-docker:
+USERNAME := $(shell whoami)
-	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
+USER_ID  := $(shell id -u)
+GROUP_ID := $(shell id -g)
 
-PINS := $(shell find Marlin/src/pins -mindepth 2 -name '*.h')
+.PHONY: setup-local-docker setup-local-docker-old
+
+setup-local-docker:
+	@echo "Building marlin-dev Docker image..."
+	$(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) \
+	  --build-arg USERNAME=$(USERNAME) \
+	  --build-arg USER_ID=$(USER_ID) \
+	  --build-arg GROUP_ID=$(GROUP_ID) \
+	  -f docker/Dockerfile .
+	@echo
+	@echo "To run all tests in Docker:"
+	@echo "  make tests-all-local-docker"
+	@echo "To run a single test in Docker:"
+	@echo "  make tests-single-local-docker TEST_TARGET=mega2560"
+
+setup-local-docker-old:
+	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
 
 .PHONY: $(PINS) format-pins validate-pins
 
 $(PINS): %:
-	@echo "Formatting $@"
+	@echo "Formatting pins $@"
-	@python $(SCRIPTS_DIR)/pinsformat.py $< $@
+	@$(PYTHON) $(SCRIPTS_DIR)/pinsformat.py $< $@
 
 format-pins: $(PINS)
+	@echo "Processed $(words $(PINS)) pins files"
 
 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)
 
+.PHONY: format-lines validate-lines
+
+format-lines:
+	@echo "Formatting all sources"
+	@$(PYTHON) $(SCRIPTS_DIR)/linesformat.py buildroot
+	@$(PYTHON) $(SCRIPTS_DIR)/linesformat.py Marlin
+
+validate-lines:
+	@echo "Validating text formatting"
+	@npx prettier --check . --editorconfig --object-wrap preserve
+
 BOARDS_FILE := Marlin/src/core/boards.h
 
 .PHONY: validate-boards
 
 validate-boards:
 	@echo "Validating boards.h file"
-	@python $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)
+	@$(PYTHON) $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)

Marlin/Configuration.h

@@ -148,9 +148,9 @@
  * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
- *          TMC2660, TMC2660_STANDALONE, TMC5130, TMC5130_STANDALONE,
+ *          TMC2240, TMC2660, TMC2660_STANDALONE,
- *          TMC5160, TMC5160_STANDALONE
+ *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2240', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988
@@ -260,6 +260,7 @@
   #define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 }   // A pair of angles for { E0, E1 }.
                                                     // For Dual Servo use two pairs: { { lower, raise }, { lower, raise } }
   #define SWITCHING_NOZZLE_SERVO_DWELL 2500         // Dwell time to wait for servo to make physical move
+  #define SWITCHING_NOZZLE_LIFT_TO_PROBE            // Lift toolheads out of the way while probing
 #endif
 
 // Switch nozzles by bumping the toolhead. Requires EVENT_GCODE_TOOLCHANGE_#.
@@ -304,6 +305,18 @@
 
 #endif
 
+/**
+ * Differential Extruder
+ *
+ * The X and E steppers work together to create a differential drive system.
+ * Simple  : E steps = X + E   ; X steps = X  (E drives a loop, X stays the same)
+ * Balanced: E steps = X + E/2 ; X steps = X - E/2  (Dual loop system)
+ */
+//#define DIFFERENTIAL_EXTRUDER
+#if ENABLED(DIFFERENTIAL_EXTRUDER)
+  //#define BALANCED_DIFFERENTIAL_EXTRUDER
+#endif
+
 /**
  * Switching Toolhead
  *
@@ -705,13 +718,13 @@
   #if ENABLED(PID_PARAMS_PER_HOTEND)
     // Specify up to one value per hotend here, according to your setup.
     // If there are fewer values, the last one applies to the remaining hotends.
-    #define DEFAULT_Kp_LIST {  22.20,  22.20 }
+    #define DEFAULT_KP_LIST {  22.20,  22.20 }
-    #define DEFAULT_Ki_LIST {   1.08,   1.08 }
+    #define DEFAULT_KI_LIST {   1.08,   1.08 }
-    #define DEFAULT_Kd_LIST { 114.00, 114.00 }
+    #define DEFAULT_KD_LIST { 114.00, 114.00 }
   #else
-    #define DEFAULT_Kp  22.20
+    #define DEFAULT_KP  22.20
-    #define DEFAULT_Ki   1.08
+    #define DEFAULT_KI   1.08
-    #define DEFAULT_Kd 114.00
+    #define DEFAULT_KD 114.00
   #endif
 #else
   #define BANG_MAX 255    // Limit hotend current while in bang-bang mode; 255=full current
@@ -734,7 +747,12 @@
   //#define MPC_AUTOTUNE_MENU                         // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash)
 
   #define MPC_MAX 255                                 // (0..255) Current to nozzle while MPC is active.
-  #define MPC_HEATER_POWER { 40.0f }                  // (W) Heat cartridge powers.
+  #define MPC_HEATER_POWER { 40.0f }                  // (W) Nominal heat cartridge powers.
+  //#define MPC_PTC                                   // Hotend power changes with temperature (e.g., PTC heat cartridges).
+  #if ENABLED(MPC_PTC)
+    #define MPC_HEATER_ALPHA { 0.0028f }              // Temperature coefficient of resistance of the heat cartridges.
+    #define MPC_HEATER_REFTEMP { 20 }                 // (°C) Reference temperature for MPC_HEATER_POWER and MPC_HEATER_ALPHA.
+  #endif
 
   #define MPC_INCLUDE_FAN                             // Model the fan speed?
 
@@ -766,6 +784,7 @@
 
   #define MPC_TUNING_POS { X_CENTER, Y_CENTER, 1.0f } // (mm) M306 Autotuning position, ideally bed center at first layer height.
   #define MPC_TUNING_END_Z 10.0f                      // (mm) M306 Autotuning final Z position.
+  //#define EVENT_GCODE_AFTER_MPC_TUNE "M84"          // G-code to execute after MPC tune finished and Z raised.
 #endif
 
 //===========================================================================
@@ -803,9 +822,9 @@
 
   // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
   // from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
-  #define DEFAULT_bedKp 10.00
+  #define DEFAULT_BED_KP  10.00
-  #define DEFAULT_bedKi .023
+  #define DEFAULT_BED_KI   0.023
-  #define DEFAULT_bedKd 305.4
+  #define DEFAULT_BED_KD 305.4
 
   // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
 #else
@@ -886,9 +905,9 @@
 
   // 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_CHAMBER_KP  37.04
-  #define DEFAULT_chamberKi   1.40
+  #define DEFAULT_CHAMBER_KI   1.40
-  #define DEFAULT_chamberKd 655.17
+  #define DEFAULT_CHAMBER_KD 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.
@@ -935,7 +954,7 @@
  * protect against a broken or disconnected thermistor wire.
  *
  * The issue: If a thermistor falls out, it will report the much lower
- * temperature of the air in the room, and the the firmware will keep
+ * temperature of the air in the room, and the firmware will keep
  * the heater on.
  *
  * If you get "Thermal Runaway" or "Heating failed" errors the
@@ -1046,7 +1065,8 @@
   // Delta radius and diagonal rod adjustments
   //#define DELTA_RADIUS_TRIM_TOWER       { 0.0, 0.0, 0.0 } // (mm)
   //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 } // (mm)
-#endif
+
+#endif // DELTA
 
 // @section scara
 
@@ -1102,17 +1122,37 @@
   #define TPARA_LINKAGE_1 120     // (mm)
   #define TPARA_LINKAGE_2 120     // (mm)
 
-  // TPARA tower offset (position of Tower relative to bed zero position)
+  // Height of the Shoulder axis (pivot) relative to the tower floor
+  #define TPARA_SHOULDER_AXIS_HEIGHT 135.0     // (mm)
+
+  // The position of the last linkage relative to the robot arm origin
+  // (intersection of the base axis and floor) when at the home position
+  #define TPARA_ARM_X_HOME_POS  28.75  // (mm) Measured from shoulder axis to tool holder axis in home position
+  #define TPARA_ARM_Y_HOME_POS   0     // (mm)
+  #define TPARA_ARM_Z_HOME_POS 250.00  // (mm) Measured from tool holder axis to the floor
+
+  // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
   // This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
-  #define TPARA_OFFSET_X    0     // (mm)
+  #define TPARA_OFFSET_X    127.0     // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
-  #define TPARA_OFFSET_Y    0     // (mm)
+  #define TPARA_OFFSET_Y      0.0     // (mm)
-  #define TPARA_OFFSET_Z    0     // (mm)
+  #define TPARA_OFFSET_Z      0.0     // (mm)
+
+  // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
+  // (TCP: tool center/connection point) of the robot,
+  // the plane of measured offset must be alligned with home position plane
+  #define TPARA_TCP_OFFSET_X    27.0     // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
+  #define TPARA_TCP_OFFSET_Y     0.0     // (mm)
+  #define TPARA_TCP_OFFSET_Z   -65.0     // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
 
   #define FEEDRATE_SCALING        // Convert XY feedrate from mm/s to degrees/s on the fly
 
   // Radius around the center where the arm cannot reach
-  #define MIDDLE_DEAD_ZONE_R   0  // (mm)
+  // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
-#endif
+  #define MIDDLE_DEAD_ZONE_R   100    // (mm)
+
+  // Max angle between L1 and L2
+  #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
+#endif // AXEL_TPARA
 
 // @section polar
 
@@ -1388,6 +1428,11 @@
  * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
  */
 //#define S_CURVE_ACCELERATION
+#if ENABLED(S_CURVE_ACCELERATION)
+  // Define to use 4th instead of 6th order motion curve
+  //#define S_CURVE_FACTOR 0.25    // Initial and final acceleration factor, ideally 0.1 to 0.4.
+                                   // Shouldn't generally require tuning.
+#endif
 
 //===========================================================================
 //============================= Z Probe Options =============================
@@ -1660,6 +1705,8 @@
   //#define PROBE_TOOLCHANGE_NO_MOVE  // Suppress motion on probe tool-change
 #endif
 
+//#define PROBE_WAKEUP_TIME_MS  30    // (ms) Time for the probe to wake up
+
 // Most probes should stay away from the edges of the bed, but
 // with NOZZLE_AS_PROBE this can be negative for a wider probing area.
 #define PROBING_MARGIN 10
@@ -2036,8 +2083,11 @@
     //#define FILAMENT_MOTION_SENSOR
 
     #if ENABLED(FILAMENT_MOTION_SENSOR)
-      //#define FILAMENT_SWITCH_AND_MOTION
+      //#define FILAMENT_SWITCH_AND_MOTION      // Define separate pins below to sense motion
       #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
+
+        #define FILAMENT_MOTION_DISTANCE_MM 3.0 // (mm) Missing distance required to trigger runout
+
         #define NUM_MOTION_SENSORS   1          // Number of sensors, up to one per extruder. Define a FIL_MOTION#_PIN for each.
         //#define FIL_MOTION1_PIN    -1
 
@@ -2073,7 +2123,7 @@
         //#define FIL_MOTION8_STATE LOW
         //#define FIL_MOTION8_PULLUP
         //#define FIL_MOTION8_PULLDOWN
-      #endif
+      #endif // FILAMENT_SWITCH_AND_MOTION
     #endif // FILAMENT_MOTION_SENSOR
   #endif // FILAMENT_RUNOUT_DISTANCE_MM
 #endif // FILAMENT_RUNOUT_SENSOR
@@ -3108,7 +3158,7 @@
 
 //
 // FYSETC variant of the MINI12864 graphic controller with SD support
-// https://wiki.fysetc.com/Mini12864_Panel/
+// https://wiki.fysetc.com/docs/Mini12864Panel
 //
 //#define FYSETC_MINI_12864_X_X    // Type C/D/E/F. No tunable RGB Backlight by default
 //#define FYSETC_MINI_12864_1_2    // Type C/D/E/F. Simple RGB Backlight (always on)
@@ -3458,6 +3508,7 @@
    * NOTOSANS  - Default font with anti-aliasing. Supports Latin Extended and non-Latin characters.
    * UNIFONT   - Lightweight font, no anti-aliasing. Supports Latin Extended and non-Latin characters.
    * HELVETICA - Lightweight font, no anti-aliasing. Supports Basic Latin (0x0020-0x007F) and Latin-1 Supplement (0x0080-0x00FF) characters only.
+   * :['NOTOSANS', 'UNIFONT', 'HELVETICA']
    */
   #define TFT_FONT  NOTOSANS
 
@@ -3467,6 +3518,7 @@
    * BLUE_MARLIN  - Default theme with 'midnight blue' background
    * BLACK_MARLIN - Theme with 'black' background
    * ANET_BLACK   - Theme used for Anet ET4/5
+   * :['BLUE_MARLIN', 'BLACK_MARLIN', 'ANET_BLACK']
    */
   #define TFT_THEME BLACK_MARLIN
 
@@ -3504,6 +3556,11 @@
 //#define DWIN_MARLINUI_PORTRAIT      // MarlinUI (portrait orientation)
 //#define DWIN_MARLINUI_LANDSCAPE     // MarlinUI (landscape orientation)
 
+#if ENABLED(DWIN_CREALITY_LCD)
+  //#define USE_STRING_HEADINGS       // Use string headings for Creality UI instead of images
+  //#define USE_STRING_TITLES         // Use string titles for Creality UI instead of images
+#endif
+
 //
 // Touch Screen Settings
 //

Marlin/Configuration_adv.h

@@ -297,7 +297,7 @@
  * protect against a broken or disconnected thermistor wire.
  *
  * The issue: If a thermistor falls out, it will report the much lower
- * temperature of the air in the room, and the the firmware will keep
+ * temperature of the air in the room, and the firmware will keep
  * the heater on.
  *
  * The solution: Once the temperature reaches the target, start observing.
@@ -415,14 +415,19 @@
   // A well-chosen Kc value should add just enough power to melt the increased material volume.
   //#define PID_EXTRUSION_SCALING
   #if ENABLED(PID_EXTRUSION_SCALING)
-    #define DEFAULT_Kc (100) // heating power = Kc * e_speed
     #define LPQ_MAX_LEN 50
+    #define DEFAULT_KC 100  // heating power = Kc * e_speed
+    #if ENABLED(PID_PARAMS_PER_HOTEND)
+      // Specify up to one value per hotend here, according to your setup.
+      // If there are fewer values, the last one applies to the remaining hotends.
+      #define DEFAULT_KC_LIST { DEFAULT_KC, DEFAULT_KC }  // heating power = Kc * e_speed
+    #endif
   #endif
 
   /**
    * Add an additional term to the heater power, proportional to the fan speed.
    * A well-chosen Kf value should add just enough power to compensate for power-loss from the cooling fan.
-   * You can either just add a constant compensation with the DEFAULT_Kf value
+   * You can either just add a constant compensation with the DEFAULT_KF value
    * or follow the instruction below to get speed-dependent compensation.
    *
    * Constant compensation (use only with fan speeds of 0% and 100%)
@@ -453,21 +458,26 @@
     #if ENABLED(PID_FAN_SCALING_ALTERNATIVE_DEFINITION)
       // The alternative definition is used for an easier configuration.
       // Just figure out Kf at full speed (255) and PID_FAN_SCALING_MIN_SPEED.
-      // DEFAULT_Kf and PID_FAN_SCALING_LIN_FACTOR are calculated accordingly.
+      // DEFAULT_KF and PID_FAN_SCALING_LIN_FACTOR are calculated accordingly.
 
-      #define PID_FAN_SCALING_AT_FULL_SPEED 13.0        //=PID_FAN_SCALING_LIN_FACTOR*255+DEFAULT_Kf
+      #define PID_FAN_SCALING_AT_FULL_SPEED 13.0        //=PID_FAN_SCALING_LIN_FACTOR*255+DEFAULT_KF
-      #define PID_FAN_SCALING_AT_MIN_SPEED   6.0        //=PID_FAN_SCALING_LIN_FACTOR*PID_FAN_SCALING_MIN_SPEED+DEFAULT_Kf
+      #define PID_FAN_SCALING_AT_MIN_SPEED   6.0        //=PID_FAN_SCALING_LIN_FACTOR*PID_FAN_SCALING_MIN_SPEED+DEFAULT_KF
       #define PID_FAN_SCALING_MIN_SPEED     10.0        // Minimum fan speed at which to enable PID_FAN_SCALING
 
-      #define DEFAULT_Kf (255.0*PID_FAN_SCALING_AT_MIN_SPEED-PID_FAN_SCALING_AT_FULL_SPEED*PID_FAN_SCALING_MIN_SPEED)/(255.0-PID_FAN_SCALING_MIN_SPEED)
+      #define DEFAULT_KF (255.0*PID_FAN_SCALING_AT_MIN_SPEED-PID_FAN_SCALING_AT_FULL_SPEED*PID_FAN_SCALING_MIN_SPEED)/(255.0-PID_FAN_SCALING_MIN_SPEED)
-      #define PID_FAN_SCALING_LIN_FACTOR (PID_FAN_SCALING_AT_FULL_SPEED-DEFAULT_Kf)/255.0
+      #define PID_FAN_SCALING_LIN_FACTOR (PID_FAN_SCALING_AT_FULL_SPEED-DEFAULT_KF)/255.0
 
     #else
       #define PID_FAN_SCALING_LIN_FACTOR (0)             // Power-loss due to cooling = Kf * (fan_speed)
-      #define DEFAULT_Kf 10                              // A constant value added to the PID-tuner
+      #define DEFAULT_KF 10                              // A constant value added to the PID-tuner
       #define PID_FAN_SCALING_MIN_SPEED 10               // Minimum fan speed at which to enable PID_FAN_SCALING
     #endif
   #endif
+  #if ENABLED(PID_PARAMS_PER_HOTEND)
+    // Specify up to one value per hotend here, according to your setup.
+    // If there are fewer values, the last one applies to the remaining hotends.
+    #define DEFAULT_KF_LIST { DEFAULT_KF, DEFAULT_KF }
+  #endif
 #endif
 
 /**
@@ -486,15 +496,15 @@
 #define AUTOTEMP
 #if ENABLED(AUTOTEMP)
   #define AUTOTEMP_OLDWEIGHT    0.98  // Factor used to weight previous readings (0.0 < value < 1.0)
-  #define AUTOTEMP_MIN          210
+  #define AUTOTEMP_MIN        210
-  #define AUTOTEMP_MAX          250
+  #define AUTOTEMP_MAX        250
   #define AUTOTEMP_FACTOR       0.1f
   // Turn on AUTOTEMP on M104/M109 by default using proportions set here
   //#define AUTOTEMP_PROPORTIONAL
   #if ENABLED(AUTOTEMP_PROPORTIONAL)
-    #define AUTOTEMP_MIN_P      0 // (°C) Added to the target temperature
+    #define AUTOTEMP_MIN_P      0     // (°C) Added to the target temperature
-    #define AUTOTEMP_MAX_P      5 // (°C) Added to the target temperature
+    #define AUTOTEMP_MAX_P      5     // (°C) Added to the target temperature
-    #define AUTOTEMP_FACTOR_P   1 // Apply this F parameter by default (overridden by M104/M109 F)
+    #define AUTOTEMP_FACTOR_P   1     // Apply this F parameter by default (overridden by M104/M109 F)
   #endif
 #endif
 
@@ -778,7 +788,7 @@
 
 // @section endstops
 
-// If you want endstops to stay on (by default) even when not homing
+// If you want endstops to stay on (by default) even when not homing,
 // enable this option. Override at any time with M120, M121.
 //#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
@@ -1081,11 +1091,26 @@
   #define G34_MAX_GRADE              5    // (%) Maximum incline that G34 will handle
   #define Z_STEPPER_ALIGN_ITERATIONS 5    // Number of iterations to apply during alignment
   #define Z_STEPPER_ALIGN_ACC        0.02 // Stop iterating early if the accuracy is better than this
+
   #define RESTORE_LEVELING_AFTER_G34      // Restore leveling after G34 is done?
+
   // After G34, re-home Z (G28 Z) or just calculate it from the last probe heights?
   // Re-homing might be more precise in reproducing the actual 'G28 Z' homing height, especially on an uneven bed.
   #define HOME_AFTER_G34
-#endif
+
+  /**
+   * Commands to execute at the start of G34 probing,
+   * after switching to the PROBING_TOOL.
+   */
+  //#define EVENT_GCODE_BEFORE_G34 "M300 P440 S200"
+
+  /**
+   * Commands to execute at the end of G34 probing.
+   * Useful to retract or move the Z probe out of the way.
+   */
+  //#define EVENT_GCODE_AFTER_G34 "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10"
+
+#endif // Z_STEPPER_AUTO_ALIGN
 
 /**
  * Assisted Tramming
@@ -1128,67 +1153,76 @@
 
 /**
  * Fixed-time-based Motion Control -- BETA FEATURE
- * Enable/disable and set parameters with G-code M493.
+ * Enable/disable and set parameters with G-code M493 and M494.
  * See ft_types.h for named values used by FTM options.
  */
 //#define FT_MOTION
 #if ENABLED(FT_MOTION)
-  //#define FTM_IS_DEFAULT_MOTION                 // Use FT Motion as the factory default?
+  //#define FTM_IS_DEFAULT_MOTION               // Use FT Motion as the factory default?
+  //#define FT_MOTION_MENU                      // Provide a MarlinUI menu to set M493 and M494 parameters
+  //#define FTM_HOME_AND_PROBE                  // Use FT Motion for homing / probing. Disable if FT Motion breaks these functions.
+
   #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_SHAPING_DEFAULT_FREQ_X   37.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_X            0.1f    // Zeta used by input shapers for X axis
+  #define FTM_SHAPING_V_TOL_X           0.05f   // Vibration tolerance used by EI input shapers for X axis
+
   #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_SHAPING_DEFAULT_FREQ_Y   37.0f      // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_Y            0.1f    // Zeta used by input shapers for Y axis
-  #define FTM_LINEAR_ADV_DEFAULT_ENA   false      // Default linear advance enable (true) or disable (false)
+  #define FTM_SHAPING_V_TOL_Y           0.05f   // Vibration tolerance used by EI input shapers for Y axis
-  #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
 
-  #define FTM_SHAPING_V_TOL_X           0.05f     // Vibration tolerance used by EI input shapers for X axis
+  //#define FTM_SHAPER_Z                        // Include Z shaping support
-  #define FTM_SHAPING_V_TOL_Y           0.05f     // Vibration tolerance used by EI input shapers for Y axis
+  #define FTM_DEFAULT_SHAPER_Z      ftMotionShaper_NONE // Default shaper mode on Z axis
+  #define FTM_SHAPING_DEFAULT_FREQ_Z   21.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_Z            0.03f   // Zeta used by input shapers for Z axis
+  #define FTM_SHAPING_V_TOL_Z           0.05f   // Vibration tolerance used by EI input shapers for Z axis
 
-  //#define FT_MOTION_MENU                        // Provide a MarlinUI menu to set M493 parameters
+  //#define FTM_SHAPER_E                        // Include E shaping support
+                                                // Required to synchronize extruder with XYZ (better quality)
+  #define FTM_DEFAULT_SHAPER_E      ftMotionShaper_NONE // Default shaper mode on Extruder axis
+  #define FTM_SHAPING_DEFAULT_FREQ_E   21.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_E            0.03f   // Zeta used by input shapers for E axis
+  #define FTM_SHAPING_V_TOL_E           0.05f   // Vibration tolerance used by EI input shapers for E axis
+
+  //#define FTM_RESONANCE_TEST                  // Sine sweep motion for resonance study
+
+  //#define FTM_SMOOTHING                       // Smoothing can reduce artifacts and make steppers quieter
+                                                // on sharp corners, but too much will round corners.
+  #if ENABLED(FTM_SMOOTHING)
+    #define FTM_MAX_SMOOTHING_TIME      0.10f   // (s) Maximum smoothing time. Higher values consume more RAM.
+                                                // Increase smoothing time to reduce jerky motion, ghosting and noises.
+    #define FTM_SMOOTHING_TIME_X        0.00f   // (s) Smoothing time for X axis. Zero means disabled.
+    #define FTM_SMOOTHING_TIME_Y        0.00f   // (s) Smoothing time for Y axis
+    #define FTM_SMOOTHING_TIME_Z        0.00f   // (s) Smoothing time for Z axis
+    #define FTM_SMOOTHING_TIME_E        0.02f   // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
+                                                //     smoothing acceleration peaks, which may also smooth curved surfaces.
+  #endif
+
+  #define FTM_POLYS                             // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
+  #if ENABLED(FTM_POLYS)
+    #define FTM_TRAJECTORY_TYPE TRAPEZOIDAL     // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                                // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                                // POLY5:       Like POLY6 with 1.5x but uses less CPU.
+                                                // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                                // POLY trajectories not only reduce resonances without rounding corners, but also
+                                                // reduce extruder strain due to linear advance.
+
+    #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+  #endif
 
   /**
    * Advanced configuration
    */
-  #define FTM_UNIFIED_BWS                         // DON'T DISABLE unless you use Ulendo FBS (not implemented)
+  #define FTM_BUFFER_SIZE             128   // Window size for trajectory generation, must be a power of 2 (e.g 64, 128, 256, ...)
-  #if ENABLED(FTM_UNIFIED_BWS)
+                                            // The total buffered time in seconds is (FTM_BUFFER_SIZE/FTM_FS)
-    #define FTM_BW_SIZE               100         // Unified Window and Batch size with a ratio of 2
+  #define FTM_FS                     1000   // (Hz) Frequency for trajectory generation.
-  #else
+  #define FTM_STEPPER_FS        2'000'000   // (Hz) Time resolution of stepper I/O update. Shouldn't affect CPU much (slower board testing needed)
-    #define FTM_WINDOW_SIZE           200         // Custom Window size for trajectory generation needed by Ulendo FBS
+  #define FTM_MIN_SHAPE_FREQ           20   // (Hz) Minimum shaping frequency, lower consumes more RAM
-    #define FTM_BATCH_SIZE            100         // Custom Batch size for trajectory generation needed by Ulendo FBS
-  #endif
 
-  #define FTM_FS                     1000         // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
+#endif // FT_MOTION
-  #define FTM_TS                        0.001f    // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
-
-  #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
-
-  #else
-    // CoreXY motion needs a larger buffer size. These values are based on our testing.
-    #define FTM_STEPPER_FS          30000
-    #define FTM_STEPPERCMD_BUFF_SIZE 6000
-  #endif
-
-  #define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS)       // Interpolated stepper commands per unit time
-  #define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2)       // Comparison value used in interpolation algorithm
-  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
-
-  #define FTM_MIN_SHAPE_FREQ           10         // Minimum shaping frequency
-  #define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
-  #define FTM_ZMAX (FTM_RATIO * 2)                // Maximum delays for shaping functions (even numbers only!)
-                                                  // Calculate as:
-                                                  //   ZV       : FTM_RATIO / 2
-                                                  //   ZVD, MZV : FTM_RATIO
-                                                  //   2HEI     : FTM_RATIO * 3 / 2
-                                                  //   3HEI     : FTM_RATIO * 2
-#endif
 
 /**
  * Input Shaping
@@ -1394,7 +1428,7 @@
  * Multi-stepping sends steps in bursts to reduce MCU usage for high step-rates.
  * This allows higher feedrates than the MCU could otherwise support.
  */
-#define MULTISTEPPING_LIMIT   16  //: [1, 2, 4, 8, 16, 32, 64, 128]
+#define MULTISTEPPING_LIMIT   16  // :[1, 2, 4, 8, 16, 32, 64, 128]
 
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
@@ -1607,7 +1641,7 @@
     #if HAS_MARLINUI_U8GLIB
       //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash.
     #endif
-    #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE, HAS_MARLINUI_HD44780)
+    #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE, HAS_MARLINUI_HD44780, HAS_GRAPHICAL_TFT)
       //#define SHOW_CUSTOM_BOOTSCREEN    // Show the bitmap in Marlin/_Bootscreen.h on startup.
     #endif
   #endif
@@ -1673,11 +1707,12 @@
 
 #endif // HAS_DISPLAY
 
-#if HAS_FEEDRATE_EDIT
+// Some displays offer Feedrate / Flow editing.
+#if ANY(HAS_MARLINUI_MENU, DWIN_CREALITY_LCD, DWIN_LCD_PROUI, MALYAN_LCD, TOUCH_SCREEN, ULTIPANEL_FEEDMULTIPLY)
   #define SPEED_EDIT_MIN    10  // (%) Feedrate percentage edit range minimum
   #define SPEED_EDIT_MAX   999  // (%) Feedrate percentage edit range maximum
 #endif
-#if HAS_FLOW_EDIT
+#if ANY(HAS_MARLINUI_MENU, DWIN_CREALITY_LCD, DWIN_LCD_PROUI, MALYAN_LCD, TOUCH_SCREEN)
   #define FLOW_EDIT_MIN     10  // (%) Flow percentage edit range minimum
   #define FLOW_EDIT_MAX    999  // (%) Flow percentage edit range maximum
 #endif
@@ -1773,6 +1808,8 @@
   //#define POWER_LOSS_RECOVERY
   #if ENABLED(POWER_LOSS_RECOVERY)
     #define PLR_ENABLED_DEFAULT       false // Power-Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
+    //#define PLR_HEAT_BED_ON_REBOOT        // Heat up bed immediately on reboot to mitigate object detaching/warping.
+    //#define PLR_HEAT_BED_EXTRA          0 // (°C) Relative increase of bed temperature for better adhesion (limited by max temp).
     //#define PLR_BED_THRESHOLD BED_MAXTEMP // (°C) Skip user confirmation at or above this bed temperature (0 to disable)
 
     //#define POWER_LOSS_PIN             44 // Pin to detect power-loss. Set to -1 to disable default pin on boards without module, or comment to use board default.
@@ -1836,6 +1873,7 @@
     #define SDSORT_DYNAMIC_RAM false  // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use!
     #define SDSORT_CACHE_VFATS 2      // Maximum number of 13-byte VFAT entries to use for sorting.
                                       // Note: Only affects SCROLL_LONG_FILENAMES with SDSORT_CACHE_NAMES but not SDSORT_DYNAMIC_RAM.
+    #define SDSORT_QUICK       true   // Use Quick Sort as a sorting algorithm. Otherwise use Bubble Sort.
   #endif
 
   // Allow international symbols in long filenames. To display correctly, the
@@ -1938,6 +1976,9 @@
     //#define CUSTOM_FIRMWARE_UPLOAD
   #endif
 
+  // "Over-the-air" Firmware Update with M936 - Required to set EEPROM flag
+  //#define OTA_FIRMWARE_UPDATE
+
   /**
    * Set this option to one of the following (or the board's defaults apply):
    *
@@ -2343,13 +2384,17 @@
  * See https://marlinfw.org/docs/features/lin_advance.html for full instructions.
  */
 //#define LIN_ADVANCE
-#if ENABLED(LIN_ADVANCE)
+
+#if ANY(LIN_ADVANCE, FT_MOTION)
   #if ENABLED(DISTINCT_E_FACTORS)
-    #define ADVANCE_K { 0.22 }    // (mm) Compression length per 1mm/s extruder speed, per extruder
+    #define ADVANCE_K { 0.22 }    // (mm) Compression length per 1mm/s extruder speed, per extruder. Override with 'M900 T<tool> K<mm>'.
   #else
-    #define ADVANCE_K 0.22        // (mm) Compression length applying to all extruders
+    #define ADVANCE_K 0.22        // (mm) Compression length for all extruders. Override with 'M900 K<mm>'.
   #endif
-  //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with M900 L.
+  //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with 'M900 L'.
+#endif
+
+#if ENABLED(LIN_ADVANCE)
   //#define LA_DEBUG              // Print debug information to serial during operation. Disable for production use.
   //#define EXPERIMENTAL_I2S_LA   // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz.
 
@@ -2363,11 +2408,11 @@
      * Higher k and higher XY acceleration may require larger ADVANCE_TAU to avoid skipping steps.
      */
     #if ENABLED(DISTINCT_E_FACTORS)
-      #define ADVANCE_TAU { 0.01 }   // (s) Smoothing time to reduce extruder acceleration, per extruder
+      #define ADVANCE_TAU { 0.02 }   // (s) Smoothing time to reduce extruder acceleration, per extruder
     #else
-      #define ADVANCE_TAU 0.01       // (s) Smoothing time to reduce extruder acceleration
+      #define ADVANCE_TAU 0.02       // (s) Smoothing time to reduce extruder acceleration
     #endif
-    #define SMOOTH_LIN_ADV_HZ 5000   // (Hz) How often to update extruder speed
+    #define SMOOTH_LIN_ADV_HZ 1000   // (Hz) How often to update extruder speed
     #define INPUT_SHAPING_E_SYNC     // Synchronize the extruder-shaped XY axes (to increase precision)
   #endif
 #endif
@@ -2380,6 +2425,9 @@
  * For better results also enable ADAPTIVE_STEP_SMOOTHING.
  */
 //#define NONLINEAR_EXTRUSION
+#if ENABLED(NONLINEAR_EXTRUSION)
+  //#define NONLINEAR_EXTRUSION_DEFAULT_ON    // Enable if NLE should be ON by default
+#endif
 
 // @section leveling
 
@@ -2993,7 +3041,7 @@
 /**
  * Trinamic Smart Drivers
  *
- * To use TMC2130, TMC2160, TMC2660, TMC5130, TMC5160 stepper drivers in SPI mode:
+ * To use TMC2130, TMC2160, TMC2240, TMC2660, TMC5130, TMC5160 stepper drivers in SPI mode:
  *  - Connect your SPI pins to the Hardware SPI interface on the board.
  *    Some boards have simple jumper connections! See your board's documentation.
  *  - Define the required Stepper CS pins in your `pins_MYBOARD.h` file.
@@ -3023,6 +3071,14 @@
    */
   #define INTERPOLATE      true
 
+  #if HAS_DRIVER(TMC2240)
+    #define TMC2240_RREF        12000   // (Ω) 12000 .. 60000. (FLY TMC2240 = 12300)
+    // Max Current. Lower for more internal resolution. Raise to run cooler.
+    #define TMC2240_CURRENT_RANGE   1   // :{ 0:'RMS=690mA PEAK=1A', 1:'RMS=1410mA PEAK=2A', 2:'RMS=2120mA PEAK=3A', 3:'RMS=2110mA PEAK=3A' }
+    // Slope Control: Lower is more silent. Higher runs cooler.
+    #define TMC2240_SLOPE_CONTROL   0   // :{ 0:'100V/µs', 1:'200V/µs', 2:'400V/µs', 3:'800V/µs' }
+  #endif
+
   #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 homing. (Typically lower than *_CURRENT.)
@@ -3245,7 +3301,7 @@
   // @section tmc/spi
 
   /**
-   * Override default SPI pins for TMC2130, TMC2160, TMC2660, TMC5130 and TMC5160 drivers here.
+   * Override default SPI pins for TMC2130, TMC2160, TMC2240, TMC2660, TMC5130 and TMC5160 drivers here.
    * The default pins can be found in your board's pins file.
    */
   //#define X_CS_PIN      -1
@@ -3272,7 +3328,7 @@
   //#define E7_CS_PIN     -1
 
   /**
-   * Software option for SPI driven drivers (TMC2130, TMC2160, TMC2660, TMC5130 and TMC5160).
+   * Software option for SPI driven drivers (TMC2130, TMC2160, TMC2240, TMC2660, TMC5130 and TMC5160).
    * The default SW SPI pins are defined the respective pins files,
    * but you can override or define them here.
    */
@@ -3331,7 +3387,7 @@
   // @section tmc/stealthchop
 
   /**
-   * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only
+   * TMC2130, TMC2160, TMC2208, TMC2209, TMC2240, TMC5130 and TMC5160 only
    * Use Trinamic's ultra quiet stepping mode.
    * When disabled, Marlin will use spreadCycle stepping mode.
    */
@@ -3410,7 +3466,7 @@
   // @section tmc/hybrid
 
   /**
-   * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only
+   * TMC2130, TMC2160, TMC2208, TMC2209, TMC2240, TMC5130 and TMC5160 only
    * The driver will switch to spreadCycle when stepper speed is over HYBRID_THRESHOLD.
    * This mode allows for faster movements at the expense of higher noise levels.
    * STEALTHCHOP_(XY|Z|E) must be enabled to use HYBRID_THRESHOLD.
@@ -3444,20 +3500,20 @@
   /**
    * Use StallGuard to home / probe X, Y, Z.
    *
-   * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
+   * TMC2130, TMC2160, TMC2209, TMC2240, TMC2660, TMC5130, and TMC5160 only
    * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
    * X, Y, and Z homing will always be done in spreadCycle mode.
    *
    * X/Y/Z_STALL_SENSITIVITY is the default stall threshold.
    * Use M914 X Y Z to set the stall threshold at runtime:
    *
-   *  Sensitivity   TMC2209   Others
+   *  Sensitivity  TMC2209        Others
-   *    HIGHEST       255      -64    (Too sensitive => False positive)
+   *    HIGHEST        255         -64    (Too sensitive => False positive)
-   *    LOWEST         0        63    (Too insensitive => No trigger)
+   *    LOWEST          0           63    (Too insensitive => No trigger)
    *
    * It is recommended to set HOMING_BUMP_MM to { 0, 0, 0 }.
    *
-   * SPI_ENDSTOPS  *** TMC2130/TMC5160 Only ***
+   * SPI_ENDSTOPS  *** TMC2130, TMC2240, and TMC5160 Only ***
    * Poll the driver through SPI to determine load when homing.
    * Removes the need for a wire from DIAG1 to an endstop pin.
    *
@@ -3485,8 +3541,9 @@
     //#define U_STALL_SENSITIVITY  8
     //#define V_STALL_SENSITIVITY  8
     //#define W_STALL_SENSITIVITY  8
-    //#define SPI_ENDSTOPS              // TMC2130/TMC5160 only
+    //#define SPI_ENDSTOPS              // TMC2130, TMC2240, and TMC5160
     //#define IMPROVE_HOMING_RELIABILITY
+    //#define SENSORLESS_STALLGUARD_DELAY   0 // (ms) Delay to allow drivers to settle
   #endif
 
   // @section tmc/config
@@ -3974,7 +4031,7 @@
 #endif
 
 /**
- * M115 - Report capabilites. Disable to save ~1150 bytes of flash.
+ * M115 - Report capabilities. Disable to save ~1150 bytes of flash.
  *        Some hosts (and serial TFT displays) rely on this feature.
  */
 #define CAPABILITIES_REPORT
@@ -4049,13 +4106,17 @@
 /**
  * G-code Macros
  *
- * Add G-codes M810-M819 to define and run G-code macros.
+ * Add G-codes M810-M819 to define and run G-code macros
- * Macros are not saved to EEPROM.
+ * and M820 to report the current set of macros.
+ * Macros are not saved to EEPROM unless enabled below.
  */
 //#define GCODE_MACROS
 #if ENABLED(GCODE_MACROS)
   #define GCODE_MACROS_SLOTS       5  // Up to 10 may be used
   #define GCODE_MACROS_SLOT_SIZE  50  // Maximum length of a single macro
+  #if ENABLED(EEPROM_SETTINGS)
+    //#define GCODE_MACROS_IN_EEPROM  // Include macros in EEPROM
+  #endif
 #endif
 
 /**
@@ -4077,22 +4138,27 @@
   #define MAIN_MENU_ITEM_1_DESC "Home & UBL Info"
   #define MAIN_MENU_ITEM_1_GCODE "G28\nG29 W"
   //#define MAIN_MENU_ITEM_1_CONFIRM          // Show a confirmation dialog before this action
+  //#define MAIN_MENU_ITEM_1_IMMEDIATE        // Skip the queue and execute immediately. Rarely needed.
 
   #define MAIN_MENU_ITEM_2_DESC "Preheat for " PREHEAT_1_LABEL
   #define MAIN_MENU_ITEM_2_GCODE "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND)
   //#define MAIN_MENU_ITEM_2_CONFIRM
+  //#define MAIN_MENU_ITEM_2_IMMEDIATE
 
   //#define MAIN_MENU_ITEM_3_DESC "Preheat for " PREHEAT_2_LABEL
   //#define MAIN_MENU_ITEM_3_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND)
   //#define MAIN_MENU_ITEM_3_CONFIRM
+  //#define MAIN_MENU_ITEM_3_IMMEDIATE
 
   //#define MAIN_MENU_ITEM_4_DESC "Heat Bed/Home/Level"
   //#define MAIN_MENU_ITEM_4_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29"
   //#define MAIN_MENU_ITEM_4_CONFIRM
+  //#define MAIN_MENU_ITEM_4_IMMEDIATE
 
   //#define MAIN_MENU_ITEM_5_DESC "Home & Info"
   //#define MAIN_MENU_ITEM_5_GCODE "G28\nM503"
   //#define MAIN_MENU_ITEM_5_CONFIRM
+  //#define MAIN_MENU_ITEM_5_IMMEDIATE
 #endif
 
 // @section custom config menu
@@ -4109,22 +4175,27 @@
   #define CONFIG_MENU_ITEM_1_DESC "Wifi ON"
   #define CONFIG_MENU_ITEM_1_GCODE "M118 [ESP110] WIFI-STA pwd=12345678"
   //#define CONFIG_MENU_ITEM_1_CONFIRM        // Show a confirmation dialog before this action
+  //#define CONFIG_MENU_ITEM_1_IMMEDIATE      // Skip the queue and execute immediately. Rarely needed.
 
   #define CONFIG_MENU_ITEM_2_DESC "Bluetooth ON"
   #define CONFIG_MENU_ITEM_2_GCODE "M118 [ESP110] BT pwd=12345678"
   //#define CONFIG_MENU_ITEM_2_CONFIRM
+  //#define CONFIG_MENU_ITEM_2_IMMEDIATE
 
   //#define CONFIG_MENU_ITEM_3_DESC "Radio OFF"
   //#define CONFIG_MENU_ITEM_3_GCODE "M118 [ESP110] OFF pwd=12345678"
   //#define CONFIG_MENU_ITEM_3_CONFIRM
+  //#define CONFIG_MENU_ITEM_3_IMMEDIATE
 
   //#define CONFIG_MENU_ITEM_4_DESC "Wifi ????"
   //#define CONFIG_MENU_ITEM_4_GCODE "M118 ????"
   //#define CONFIG_MENU_ITEM_4_CONFIRM
+  //#define CONFIG_MENU_ITEM_4_IMMEDIATE
 
   //#define CONFIG_MENU_ITEM_5_DESC "Wifi ????"
   //#define CONFIG_MENU_ITEM_5_GCODE "M118 ????"
   //#define CONFIG_MENU_ITEM_5_CONFIRM
+  //#define CONFIG_MENU_ITEM_5_IMMEDIATE
 #endif
 
 // @section custom buttons
@@ -4141,6 +4212,7 @@
     #define BUTTON1_WHEN_PRINTING false     // Button allowed to trigger during printing?
     #define BUTTON1_GCODE         "G28"
     #define BUTTON1_DESC          "Homing"  // Optional string to set the LCD status
+    //#define BUTTON1_IMMEDIATE             // Skip the queue and run the G-code immediately. Rarely needed.
   #endif
 
   //#define BUTTON2_PIN -1
@@ -4149,6 +4221,7 @@
     #define BUTTON2_WHEN_PRINTING false
     #define BUTTON2_GCODE         "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND)
     #define BUTTON2_DESC          "Preheat for " PREHEAT_1_LABEL
+    //#define BUTTON2_IMMEDIATE
   #endif
 
   //#define BUTTON3_PIN -1
@@ -4157,6 +4230,7 @@
     #define BUTTON3_WHEN_PRINTING false
     #define BUTTON3_GCODE         "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND)
     #define BUTTON3_DESC          "Preheat for " PREHEAT_2_LABEL
+    //#define BUTTON3_IMMEDIATE
   #endif
 #endif
 
@@ -4229,7 +4303,7 @@
   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
@@ -4661,6 +4735,11 @@
 //
 //#define PINS_DEBUGGING
 
+//
+// M265 - I2C Scanner
+//
+//#define I2C_SCANNER
+
 // Enable Tests that will run at startup and produce a report
 //#define MARLIN_TEST_BUILD
 

Marlin/Makefile

@@ -188,15 +188,15 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1033)
 else ifeq ($(HARDWARE_MOTHERBOARD),1034)
 
 # RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1035)
+else ifeq ($(HARDWARE_MOTHERBOARD),1040)
 # RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1036)
+else ifeq ($(HARDWARE_MOTHERBOARD),1041)
 # RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1)
-else ifeq ($(HARDWARE_MOTHERBOARD),1037)
+else ifeq ($(HARDWARE_MOTHERBOARD),1042)
 # RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan)
-else ifeq ($(HARDWARE_MOTHERBOARD),1038)
+else ifeq ($(HARDWARE_MOTHERBOARD),1043)
 # RAMPS 1.6+ (Power outputs: Spindle, Controller Fan)
-else ifeq ($(HARDWARE_MOTHERBOARD),1039)
+else ifeq ($(HARDWARE_MOTHERBOARD),1044)
 
 #
 # RAMPS Derivatives - ATmega1280, ATmega2560
@@ -286,59 +286,62 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1138)
 else ifeq ($(HARDWARE_MOTHERBOARD),1139)
 # Creality: CR10S, CR20, CR-X
 else ifeq ($(HARDWARE_MOTHERBOARD),1140)
-# Dagoma F5
+# Creality CR-10 V2, CR-10 V3
 else ifeq ($(HARDWARE_MOTHERBOARD),1141)
-# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
+# Dagoma F5
 else ifeq ($(HARDWARE_MOTHERBOARD),1142)
-# FYSETC F6 1.3
+# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
 else ifeq ($(HARDWARE_MOTHERBOARD),1143)
-# FYSETC F6 1.4
+# FYSETC F6 1.3
 else ifeq ($(HARDWARE_MOTHERBOARD),1144)
-# Wanhao Duplicator i3 Plus
+# FYSETC F6 1.4
 else ifeq ($(HARDWARE_MOTHERBOARD),1145)
-# VORON Design
+# Wanhao Duplicator i3 Plus
 else ifeq ($(HARDWARE_MOTHERBOARD),1146)
-# Tronxy TRONXY-V3-1.0
+# VORON Design
 else ifeq ($(HARDWARE_MOTHERBOARD),1147)
-# Z-Bolt X Series
+# Tronxy TRONXY-V3-1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1148)
-# TT OSCAR
+# Z-Bolt X Series
 else ifeq ($(HARDWARE_MOTHERBOARD),1149)
-# BIQU Tango V1
+# TT OSCAR
 else ifeq ($(HARDWARE_MOTHERBOARD),1150)
-# MKS GEN L V2
+# BIQU Tango V1
 else ifeq ($(HARDWARE_MOTHERBOARD),1151)
-# MKS GEN L V2.1
+# MKS GEN L V2
 else ifeq ($(HARDWARE_MOTHERBOARD),1152)
-# Copymaster 3D
+# MKS GEN L V2.1
 else ifeq ($(HARDWARE_MOTHERBOARD),1153)
-# Ortur 4
+# Copymaster 3D
 else ifeq ($(HARDWARE_MOTHERBOARD),1154)
-# Tenlog D3 Hero IDEX printer
+# Ortur 4
 else ifeq ($(HARDWARE_MOTHERBOARD),1155)
-# Tenlog D3, D5, D6 IDEX Printer
+# Tenlog D3 Hero IDEX printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1156)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
+# Tenlog D3, D5, D6 IDEX Printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1157)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1158)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1159)
-# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1160)
-# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
+# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1161)
-# Pxmalion Core I3
+# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1162)
-# Panowin Cutlass (as found in the Panowin F1)
+# Pxmalion Core I3
 else ifeq ($(HARDWARE_MOTHERBOARD),1163)
-# Kodama Bardo V1.x (as found in the Kodama Trinus)
+# Panowin Cutlass (as found in the Panowin F1)
 else ifeq ($(HARDWARE_MOTHERBOARD),1164)
-# XTLW MFF V1.0
+# Kodama Bardo V1.x (as found in the Kodama Trinus)
 else ifeq ($(HARDWARE_MOTHERBOARD),1165)
-# XTLW MFF V2.0
+# XTLW MFF V1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1166)
-
+# XTLW MFF V2.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1167)
+# E3D Rumba BigBox
+else ifeq ($(HARDWARE_MOTHERBOARD),1168)
 
 #
 # RAMBo and derivatives
@@ -407,32 +410,34 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1319)
 else ifeq ($(HARDWARE_MOTHERBOARD),1320)
 # 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)
-# 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),1322)
+# Einstart retrofit
+else ifeq ($(HARDWARE_MOTHERBOARD),1323)
+# Wanhao 0ne+ i3 Mini
+else ifeq ($(HARDWARE_MOTHERBOARD),1324)
+# Wanhao D9 MK2
+else ifeq ($(HARDWARE_MOTHERBOARD),1325)
+# Overlord/Overlord Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1326)
+# ADIMLab Gantry v1
+else ifeq ($(HARDWARE_MOTHERBOARD),1327)
+# ADIMLab Gantry v2
+else ifeq ($(HARDWARE_MOTHERBOARD),1328)
+# Leapfrog Xeed 2015
+else ifeq ($(HARDWARE_MOTHERBOARD),1329)
+# PICA Shield (original version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1330)
+# PICA Shield (rev C or later)
+else ifeq ($(HARDWARE_MOTHERBOARD),1331)
+# Intamsys 4.0 (Funmat HT)
+else ifeq ($(HARDWARE_MOTHERBOARD),1332)
+# Malyan M180 Mainboard Version 2
+else ifeq ($(HARDWARE_MOTHERBOARD),1333)
+# Mega controller & Protoneer CNC Shield V3.00
 else ifeq ($(HARDWARE_MOTHERBOARD),1334)
+# WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
+else ifeq ($(HARDWARE_MOTHERBOARD),1335)
 
 #
 # ATmega1281, ATmega2561
@@ -512,7 +517,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1511)
   MCU              ?= atmega1284p
   PROG_MCU         ?= m1284p
 # ZoneStar ZMIB V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1511)
+else ifeq ($(HARDWARE_MOTHERBOARD),1512)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
   PROG_MCU         ?= m1284p
@@ -626,6 +631,10 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1707)
   MCU              ?= at90usb1286
   PROG_MCU         ?= usb1286
 
+#
+# SAM3X8E ARM Cortex-M3
+#
+
 # UltiMachine Archim1 (with DRV8825 drivers)
 else ifeq ($(HARDWARE_MOTHERBOARD),3023)
   HARDWARE_VARIANT ?= archim
@@ -798,10 +807,10 @@ endif
 
 ifeq ($(TMC), 1)
   LIB_CXXSRC += TMCStepper.cpp COOLCONF.cpp DRV_STATUS.cpp IHOLD_IRUN.cpp \
-    CHOPCONF.cpp GCONF.cpp PWMCONF.cpp DRV_CONF.cpp DRVCONF.cpp DRVCTRL.cpp \
+    CHOPCONF.cpp GCONF.cpp PWMCONF.cpp DRV_CONF.cpp DRVCONF.cpp DRVCTRL.cpp DRVSTATUS.cpp \
-    DRVSTATUS.cpp ENCMODE.cpp RAMP_STAT.cpp SGCSCONF.cpp SHORT_CONF.cpp \
+    GLOBAL_SCALER.cpp SLAVECONF.cpp IOIN.cpp ENCMODE.cpp RAMP_STAT.cpp SGCSCONF.cpp \
-    SMARTEN.cpp SW_MODE.cpp SW_SPI.cpp TMC2130Stepper.cpp TMC2208Stepper.cpp \
+    SHORT_CONF.cpp SMARTEN.cpp SW_MODE.cpp SW_SPI.cpp TMC2130Stepper.cpp TMC2208Stepper.cpp \
-    TMC2209Stepper.cpp TMC2660Stepper.cpp TMC5130Stepper.cpp TMC5160Stepper.cpp
+    TMC2209Stepper.cpp TMC2240Stepper.cpp TMC2660Stepper.cpp TMC5130Stepper.cpp TMC5160Stepper.cpp
 endif
 
 ifeq ($(RELOC_WORKAROUND), 1)

Marlin/Version.h

@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2025-05-02"
+//#define STRING_DISTRIBUTION_DATE "2025-12-02"
 
 /**
  * The protocol for communication to the host. Protocol indicates communication

Marlin/config.ini

@@ -86,13 +86,14 @@ heater_0_maxtemp                         = 275
 pidtemp                                  = on
 pid_k1                                   = 0.95
 pid_max                                  = 255
-pid_functional_range                     = 10
+pid_functional_range                     = 20
 
 default_kp                               = 22.20
 default_ki                               = 1.08
 default_kd                               = 114.00
 
 temp_sensor_bed                          = 1
+bed_check_interval                       = 5000
 bed_mintemp                              = 5
 bed_maxtemp                              = 150
 
@@ -163,18 +164,28 @@ min_steps_per_segment                    = 6
 default_minsegmenttime                   = 20000
 
 [config:basic]
+hotend_overshoot                         = 15
 bed_overshoot                            = 10
+max_bed_power                            = 255
+
 busy_while_heating                       = on
+host_keepalive_feature                   = on
 default_keepalive_interval               = 2
+printjob_timer_autostart                 = on
+
+jd_handle_small_segments                 = on
+validate_homing_endstops                 = on
+editable_steps_per_unit                  = on
+
 eeprom_boot_silent                       = on
 eeprom_chitchat                          = on
+
 endstoppullups                           = on
-extrude_maxlength                        = 200
+
+prevent_cold_extrusion                   = on
 extrude_mintemp                          = 170
-host_keepalive_feature                   = on
+prevent_lengthy_extrude                  = on
-hotend_overshoot                         = 15
+extrude_maxlength                        = 200
-jd_handle_small_segments                 = on
-max_bed_power                            = 255
 
 min_software_endstops                    = on
 max_software_endstops                    = on
@@ -195,21 +206,19 @@ preheat_2_temp_hotend                    = 240
 preheat_2_temp_bed                       = 110
 preheat_2_fan_speed                      = 0
 
-prevent_cold_extrusion                   = on
-prevent_lengthy_extrude                  = on
-printjob_timer_autostart                 = on
-
 temp_bed_hysteresis                      = 3
 temp_bed_residency_time                  = 10
 temp_bed_window                          = 1
 temp_residency_time                      = 10
 temp_window                              = 1
-validate_homing_endstops                 = on
-
-editable_steps_per_unit                  = on
 
 [config:advanced]
 arc_support                              = on
+min_arc_segment_mm                       = 0.1
+max_arc_segment_mm                       = 1.0
+min_circle_segments                      = 72
+n_arc_correction                         = 25
+
 auto_report_temperatures                 = on
 
 autotemp                                 = on
@@ -223,22 +232,23 @@ disable_idle_x                           = on
 disable_idle_y                           = on
 disable_idle_z                           = on
 disable_idle_e                           = on
+
 e0_auto_fan_pin                          = -1
+
 faster_gcode_parser                      = on
 debug_flags_gcode                        = on
+
 homing_bump_mm                           = { 5, 5, 2 }
-max_arc_segment_mm                       = 1.0
+
-min_arc_segment_mm                       = 0.1
-min_circle_segments                      = 72
-n_arc_correction                         = 25
-serial_overrun_protection                = on
 slowdown                                 = on
 slowdown_divisor                         = 2
-tx_buffer_size                           = 0
+multistepping_limit                      = 16
 
-bed_check_interval                       = 5000
+serial_overrun_protection                = on
-watch_bed_temp_increase                  = 2
+tx_buffer_size                           = 0
-watch_bed_temp_period                    = 60
 
 watch_temp_increase                      = 2
 watch_temp_period                        = 40
+
+watch_bed_temp_increase                  = 2
+watch_bed_temp_period                    = 60

Marlin/src/HAL/AVR/HAL.cpp

@@ -119,7 +119,6 @@ void MarlinHAL::reboot() {
 #if ENABLED(USE_WATCHDOG)
 
   #include <avr/wdt.h>
-  #include "../../MarlinCore.h"
 
   // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
   void MarlinHAL::watchdog_init() {
@@ -154,7 +153,7 @@ void MarlinHAL::reboot() {
     ISR(WDT_vect) {
       sei();  // With the interrupt driven serial we need to allow interrupts.
       SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
-      minkill();  // interrupt-safe final kill and infinite loop
+      marlin.minkill();  // interrupt-safe final kill and infinite loop
     }
   #endif
 

Marlin/src/HAL/AVR/HAL.h

@@ -206,7 +206,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() {}
 
   // Reset

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -41,7 +41,6 @@
 #if !defined(USBCON) && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))
 
 #include "MarlinSerial.h"
-#include "../../MarlinCore.h"
 
 #if ENABLED(DIRECT_STEPPING)
   #include "../../feature/direct_stepping.h"

Marlin/src/HAL/AVR/fastio.cpp

@@ -241,7 +241,7 @@ uint8_t extDigitalRead(const int8_t pin) {
  *
  * DC values -1.0 to 1.0. Negative duty cycle inverts the pulse.
  */
-uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb, const float dcc) {
+uint16_t set_pwm_frequency_hz(const float hz, const float dca, const float dcb, const float dcc) {
   float count = 0;
   if (hz > 0 && (dca || dcb || dcc)) {
     count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
@@ -254,7 +254,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
     else                           { prescaler = 1;    SET_CS(5,    PRESCALER_1); }
 
     count /= float(prescaler);
-    const float pwm_top = round(count);   // Get the rounded count
+    const float pwm_top = roundf(count);   // Get the rounded count
 
     ICR5 = (uint16_t)pwm_top - 1;         // Subtract 1 for TOP
     OCR5A = pwm_top * ABS(dca);           // Update and scale DCs
@@ -280,7 +280,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
     SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250kHz
     OCR5A = OCR5B = OCR5C = 0;
   }
-  return round(count);
+  return roundf(count);
 }
 #endif
 

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

@@ -95,7 +95,7 @@
 /**
  * The Trinamic library includes SoftwareSerial.h, leading to a compile error.
  */
-#if ALL(HAS_TRINAMIC_CONFIG, ENDSTOP_INTERRUPTS_FEATURE)
+#if ALL(HAS_TMC_SW_SERIAL, ENDSTOP_INTERRUPTS_FEATURE)
   #error "TMCStepper includes SoftwareSerial.h which is incompatible with ENDSTOP_INTERRUPTS_FEATURE. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
 #endif
 

Marlin/src/HAL/AVR/registers.h

@@ -93,15 +93,15 @@ namespace AVRHelpers {
     typedef T type;
   };
   template <typename T>
-  struct voltype <T, 1u> {
+  struct voltype <T, 1U> {
     typedef uint8_t type;
   };
   template <typename T>
-  struct voltype <T, 2u> {
+  struct voltype <T, 2U> {
     typedef uint16_t type;
   };
   template <typename T>
-  struct voltype <T, 4u> {
+  struct voltype <T, 4U> {
     typedef uint32_t type;
   };
 
@@ -2007,7 +2007,7 @@ inline void _ATmega_resetperipherals() {
 
   #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__)
     _EEAR._EEAR = 0;
-    dwrite(_EEDR, (uint8_t)0u);
+    dwrite(_EEDR, (uint8_t)0U);
   #endif
 
   #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__)

Marlin/src/HAL/AVR/timers.h

@@ -28,7 +28,7 @@
 // ------------------------
 
 typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFU
 
 // ------------------------
 // Defines
@@ -46,15 +46,15 @@ typedef uint16_t hal_timer_t;
   #define MF_TIMER_TEMP         0
 #endif
 
-#define TEMP_TIMER_FREQUENCY    (((F_CPU) + 0x2000) / 0x4000)
+#define TEMP_TIMER_FREQUENCY        (((F_CPU) + 0x2000) / 0x4000)
 
-#define STEPPER_TIMER_RATE      HAL_TIMER_RATE
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE
-#define STEPPER_TIMER_PRESCALE  8
+#define STEPPER_TIMER_PRESCALE      8
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)
 
-#define PULSE_TIMER_RATE         STEPPER_TIMER_RATE
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
-#define PULSE_TIMER_PRESCALE     STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  SBI(TIMSK1, OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
@@ -111,8 +111,8 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
  * (otherwise, characters will be lost due to UART overflow).
  * Then: Stepper, Endstops, Temperature, and -finally- all others.
  */
-#define HAL_timer_isr_prologue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
 
 #ifndef HAL_STEP_TIMER_ISR
 

Marlin/src/HAL/DUE/HAL.cpp

@@ -27,7 +27,6 @@
 #ifdef ARDUINO_ARCH_SAM
 
 #include "../../inc/MarlinConfig.h"
-#include "../../MarlinCore.h"
 
 #include <Wire.h>
 #include "usb/usb_task.h"

Marlin/src/HAL/DUE/HAL.h

@@ -132,7 +132,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/DUE/MarlinSerial.cpp

@@ -31,7 +31,6 @@
 
 #include "MarlinSerial.h"
 #include "InterruptVectors.h"
-#include "../../MarlinCore.h"
 
 template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0, 0, { 0 } };
 template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 };

Marlin/src/HAL/DUE/timers.h

@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL
 
 #define HAL_TIMER_PRESCALER    2
 #define HAL_TIMER_RATE         ((F_CPU) / (HAL_TIMER_PRESCALER))  // frequency of timers peripherals
@@ -52,19 +52,19 @@ typedef uint32_t hal_timer_t;
   #define MF_TIMER_TONE         6  // index of timer to use for beeper tones
 #endif
 
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                        // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000)                      // stepper timer ticks per µs
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs
 #define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                                    // frequency of pulse timer
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
-#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#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 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)
@@ -127,4 +127,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }
 
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

Marlin/src/HAL/DUE/usb/udc.h

@@ -229,7 +229,7 @@ usb_iface_desc_t UDC_DESC_STORAGE *udc_get_interface_desc(void);
  * - USB Device Controller (UDC) provides USB chapter 9 compliance
  * - USB Device Interface (UDI) provides USB Class compliance
  * - USB Device Driver (UDD) provides USB Driver for each Atmel MCU
-
+ *
  * Many USB Device applications can be implemented on Atmel MCU.
  * Atmel provides many application notes for different applications:
  * - AVR4900, provides general information about Device Stack

Marlin/src/HAL/DUE/usb/uotghs_device_due.c

@@ -523,7 +523,7 @@ static bool udd_ep_interrupt(void);
  * \internal
  * \brief Function called by UOTGHS interrupt to manage USB Device interrupts
  *
- * USB Device interrupt events are splited in three parts:
+ * USB Device interrupt events are split in three parts:
  * - USB line events (SOF, reset, suspend, resume, wakeup)
  * - control endpoint events (setup reception, end of data transfer, underflow, overflow, stall)
  * - bulk/interrupt/isochronous endpoints events (end of data transfer)
@@ -1567,7 +1567,7 @@ static void udd_ctrl_out_received(void)
 							udd_ctrl_payload_buf_cnt))) {
 		// End of reception because it is a short packet
 		// Before send ZLP, call intermediate callback
-		// in case of data receiv generate a stall
+		// in case of data receive generate a stall
 		udd_g_ctrlreq.payload_size = udd_ctrl_payload_buf_cnt;
 		if (NULL != udd_g_ctrlreq.over_under_run) {
 			if (!udd_g_ctrlreq.over_under_run()) {
@@ -1808,7 +1808,7 @@ static void udd_ep_trans_done(udd_ep_id_t ep)
 	}
 
 	if (ptr_job->buf_cnt != ptr_job->buf_size) {
-		// Need to send or receiv other data
+		// Need to send or receive other data
 		next_trans = ptr_job->buf_size - ptr_job->buf_cnt;
 
 		if (UDD_ENDPOINT_MAX_TRANS < next_trans) {

Marlin/src/HAL/ESP32/HAL.cpp

@@ -242,12 +242,13 @@ void MarlinHAL::adc_init() {
   TERN_(HAS_TEMP_ADC_5,        adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
   TERN_(HAS_TEMP_ADC_6,        adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
   TERN_(HAS_TEMP_ADC_7,        adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_HEATED_BED,        adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_BED,      adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_CHAMBER,      adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_CHAMBER,  adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_PROBE,        adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_PROBE,    adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_COOLER,       adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_COOLER,   adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_BOARD,        adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_BOARD,    adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
-  TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_FILWIDTH_ADC,      adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_FILWIDTH2_ADC,     adc1_set_attenuation(get_channel(FILWIDTH2_PIN), ADC_ATTEN_11db));
 
   // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
   // That's why we're not setting it up here.

Marlin/src/HAL/ESP32/HAL.h

@@ -64,10 +64,10 @@
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&hal.spinlock)
 
 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
-#define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+#define PWM_FREQUENCY  1000U   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
-#define PWM_RESOLUTION   10u   // Default PWM bit resolution
+#define PWM_RESOLUTION   10U   // Default PWM bit resolution
-#define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
+#define CHANNEL_MAX_NUM  15U   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
-#define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
+#define MAX_PWM_IOPIN    33U   // hardware pwm pins < 34
 #ifndef MAX_EXPANDER_BITS
   #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
 #endif
@@ -194,7 +194,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/ESP32/Servo.cpp

@@ -35,7 +35,7 @@ Servo::Servo() {}
 
 int8_t Servo::attach(const int inPin) {
   if (inPin > 0) pin = inPin;
-  channel = get_pwm_channel(pin, 50u, 16u);
+  channel = get_pwm_channel(pin, 50U, 16U);
   return channel; // -1 if no PWM avail.
 }
 

Marlin/src/HAL/ESP32/timers.cpp

@@ -78,8 +78,8 @@ void IRAM_ATTR timer_isr(void *para) {
 
 /**
  * Enable and initialize the timer
- * @param timer_num timer number to initialize
+ * @param timer_num   timer number to initialize
- * @param frequency frequency of the timer
+ * @param frequency   frequency of the timer
  */
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
   const tTimerConfig timer = timer_config[timer_num];

Marlin/src/HAL/ESP32/timers.h

@@ -30,41 +30,46 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
+#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL
 
 #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
+  #define MF_TIMER_PULSE        MF_TIMER_STEP // Timer Index for Pulse interval
 #endif
 #ifndef MF_TIMER_TEMP
   #define MF_TIMER_TEMP         1  // Timer Index for Temperature
 #endif
 #ifndef MF_TIMER_PWM
-  #define MF_TIMER_PWM          2  // index of timer to use for PWM outputs
+  #define MF_TIMER_PWM          2  // Timer Index for PWM outputs
 #endif
 #ifndef MF_TIMER_TONE
-  #define MF_TIMER_TONE         3  // index of timer for beeper tones
+  #define MF_TIMER_TONE         3  // Timer Index for beeper tones
 #endif
 
-#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
+#define HAL_TIMER_RATE APB_CLK_FREQ // Frequency of timer peripherals
+
+#define TEMP_TIMER_PRESCALE    1000 // Prescaler for setting Temp Timer, 72Khz
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
 #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_RATE         250'000    // 250khz, 4µs pulses of i2s word clock
+  #define STEPPER_TIMER_TICKS_PER_US 0.25       // (MHz) Stepper Timer ticks per µs
 #else
   #define STEPPER_TIMER_PRESCALE     40
-  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)) // frequency of stepper timer, 2MHz
+  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE))  // (Hz) Frequency of Stepper Timer ISR, 2MHz
+  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1'000'000UL)           // (MHz) 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
 
-#define TONE_TIMER_PRESCALE    1000 // Arbitrary value, no idea what i'm doing here
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define TEMP_TIMER_PRESCALE    1000 // prescaler for setting Temp timer, 72Khz
+#define TONE_TIMER_PRESCALE    1000 // Arbitrary value, no idea what i'm doing here
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
 
 #define PWM_TIMER_PRESCALE       10
 #if ENABLED(FAST_PWM_FAN)
@@ -74,13 +79,9 @@ typedef uint64_t hal_timer_t;
 #endif
 #define MAX_PWM_PINS             32 // Number of PWM pin-slots
 
-#define PULSE_TIMER_RATE         STEPPER_TIMER_RATE   // frequency of pulse timer
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
-#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 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)
@@ -135,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

Marlin/src/HAL/GD32_MFL/HAL.cpp

@@ -53,12 +53,15 @@ uint16_t MarlinHAL::adc_result;
 
 // Initializes the Marlin HAL
 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 unsigned int cpuFreq = F_CPU;
   UNUSED(cpuFreq);
 
-#if PIN_EXISTS(LED)
+  #if PIN_EXISTS(LED)
-  OUT_WRITE(LED_PIN, LOW);
+    OUT_WRITE(LED_PIN, LOW);
-#endif
+  #endif
 
   SetTimerInterruptPriorities();
 

Marlin/src/HAL/GD32_MFL/HAL.h

@@ -105,7 +105,7 @@ extern "C" char* dtostrf(double val, signed char width, unsigned char prec, char
 class MarlinHAL {
 public:
   // Before setup()
-  MarlinHAL() {}
+  MarlinHAL() = default;
 
   // Watchdog
   static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});

Marlin/src/HAL/GD32_MFL/MarlinSerial.cpp

@@ -33,8 +33,8 @@
 
 using namespace arduino;
 
-MarlinSerial& MarlinSerial::get_instance(usart::USART_Base Base, pin_size_t rxPin, pin_size_t txPin) {
+auto MarlinSerial::get_instance(usart::USART_Base Base, pin_size_t rxPin, pin_size_t txPin) -> MarlinSerial& {
-  UsartSerial& serial = UsartSerial::get_instance(Base, rxPin, txPin);
+  auto& serial = UsartSerial::get_instance(Base, rxPin, txPin);
   return *reinterpret_cast<MarlinSerial*>(&serial);
 }
 
@@ -61,7 +61,7 @@ MarlinSerial& MarlinSerial::get_instance(usart::USART_Base Base, pin_size_t rxPi
 
   static void emergency_callback() {
     if (!current_serial_instance) return;
-    const uint8_t last_data = current_serial_instance->get_last_data();
+    const auto last_data = current_serial_instance->get_last_data();
     emergency_parser.update(current_serial_instance->emergency_state, last_data);
   }
 

Marlin/src/HAL/GD32_MFL/MarlinSerial.h

@@ -43,7 +43,7 @@
 using namespace arduino;
 
 struct MarlinSerial : public UsartSerial {
-  static MarlinSerial& get_instance(usart::USART_Base Base, pin_size_t rxPin = NO_PIN, pin_size_t txPin = NO_PIN);
+  static auto get_instance(usart::USART_Base Base, pin_size_t rxPin = NO_PIN, pin_size_t txPin = NO_PIN) -> MarlinSerial&;
 
   void begin(unsigned long baudrate, uint16_t config);
   inline void begin(unsigned long baudrate) { begin(baudrate, SERIAL_8N1); }
@@ -57,7 +57,7 @@ struct MarlinSerial : public UsartSerial {
     EmergencyParser::State emergency_state;
 
     // Accessor method to get the last received byte
-    uint8_t get_last_data() { return usart_.get_last_data(); }
+    auto get_last_data() -> uint8_t { return usart_.get_last_data(); }
 
     // Register the emergency callback
     void register_emergency_callback(void (*callback)());

Marlin/src/HAL/GD32_MFL/README.md

@@ -3,6 +3,7 @@
 This HAL is eventually intended to act as the generic HAL for all GD32 chips using the MFL library.
 
 Currently it supports:
- * GD32F303RET6
+
+- GD32F303RET6
 
 Targeting the official [MFL Arduino Core](https://github.com/bnmguy/ArduinoCore_MFL).

Marlin/src/HAL/GD32_MFL/eeprom/eeprom_bl24cxx.cpp

@@ -62,7 +62,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
     // so only write bytes that have changed!
     if (v != eeprom_read_byte(p)) {
       eeprom_write_byte(p, v);
-      if (++written & 0x7F) delay(4); else safe_delay(4);
+      if (++written & 0x7F) delay(2); else safe_delay(2);
       if (eeprom_read_byte(p) != v) {
         SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
         return true;

Marlin/src/HAL/GD32_MFL/eeprom/eeprom_if_iic.cpp

@@ -42,7 +42,7 @@ void eeprom_init() {
 
 void eeprom_write_byte(uint8_t *pos, uint8_t value) {
   const unsigned eeprom_address = (unsigned)pos;
-  return BL24CXX::writeOneByte(eeprom_address, value);
+  BL24CXX::writeOneByte(eeprom_address, value);
 }
 
 uint8_t eeprom_read_byte(uint8_t *pos) {

Marlin/src/HAL/GD32_MFL/fastio.h

@@ -21,26 +21,27 @@
  */
 #pragma once
 
-// Fast I/O interfaces for GD32F303RE
+// Fast I/O interfaces for GD32
 
 #include <GPIO.hpp>
+#include <variant.h>
 #include <PinOps.hpp>
 #include <PinOpsMap.hpp>
 
 template<typename T>
-static inline void fast_write_pin_wrapper(pin_size_t IO, T V) {
+FORCE_INLINE static void fast_write_pin_wrapper(pin_size_t IO, T V) {
-  auto port = getPortFromPin(IO);
+  const PortPinPair& pp = port_pin_map[IO];
-  auto pin = getPinInPort(IO);
+  gpio::fast_write_pin(pp.port, pp.pin, static_cast<bool>(V));
-  if (static_cast<bool>(V)) gpio::fast_set_pin(port, pin);
-  else                      gpio::fast_clear_pin(port, pin);
 }
 
-static inline bool fast_read_pin_wrapper(pin_size_t IO) {
+FORCE_INLINE static auto fast_read_pin_wrapper(pin_size_t IO) -> bool {
-  return gpio::fast_read_pin(getPortFromPin(IO), getPinInPort(IO));
+  const PortPinPair& pp = port_pin_map[IO];
+  return gpio::fast_read_pin(pp.port, pp.pin);
 }
 
-static inline void fast_toggle_pin_wrapper(pin_size_t IO) {
+FORCE_INLINE static void fast_toggle_pin_wrapper(pin_size_t IO) {
-  gpio::fast_toggle_pin(getPortFromPin(IO), getPinInPort(IO));
+  const PortPinPair& pp = port_pin_map[IO];
+  gpio::fast_toggle_pin(pp.port, pp.pin);
 }
 
 // ------------------------

Marlin/src/HAL/GD32_MFL/pinsDebug.h

@@ -70,8 +70,9 @@ bool isAnalogPin(const pin_t pin) {
   if (!isValidPin(pin)) return false;
 
   if (getAdcChannel(pin) != adc::ADC_Channel::INVALID) {
-    auto& instance = gpio::GPIO::get_instance(getPortFromPin(pin)).value();
+    const PortPinPair& pp = port_pin_map[pin];
-    return instance.get_pin_mode(getPinInPort(pin)) == gpio::Pin_Mode::ANALOG && !M43_NEVER_TOUCH(pin);
+    auto& instance = gpio::GPIO::get_instance(pp.port).value();
+    return instance.get_pin_mode(pp.pin) == gpio::Pin_Mode::ANALOG && !M43_NEVER_TOUCH(pin);
   }
 
   return false;
@@ -80,8 +81,9 @@ bool isAnalogPin(const pin_t pin) {
 bool getValidPinMode(const pin_t pin) {
   if (!isValidPin(pin)) return false;
 
-  auto& instance = gpio::GPIO::get_instance(getPortFromPin(pin)).value();
+  const PortPinPair& pp = port_pin_map[pin];
-  gpio::Pin_Mode mode = instance.get_pin_mode(getPinInPort(pin));
+  auto& instance = gpio::GPIO::get_instance(pp.port).value();
+  gpio::Pin_Mode mode = instance.get_pin_mode(pp.pin);
 
   return mode != gpio::Pin_Mode::ANALOG && mode != gpio::Pin_Mode::INPUT_FLOATING &&
          mode != gpio::Pin_Mode::INPUT_PULLUP && mode != gpio::Pin_Mode::INPUT_PULLDOWN;

Marlin/src/HAL/GD32_MFL/sd/SDCard.cpp

@@ -28,7 +28,7 @@
 
 namespace sdio {
 
-CardDMA& CardDMA::get_instance() {
+auto CardDMA::get_instance() -> CardDMA& {
   static CardDMA instance;
   return instance;
 }
@@ -38,9 +38,7 @@ CardDMA::CardDMA() :
     sdcard_cid_{0U, 0U, 0U, 0U},
     sdcard_scr_{0U, 0U},
     desired_clock_(Default_Desired_Clock),
-    stop_condition_(0U),
     total_bytes_(0U),
-    count_(0U),
     sdio_(SDIO::get_instance()),
     config_(sdio_.get_config()),
     dmaBase_(dma::DMA_Base::DMA1_BASE),
@@ -50,15 +48,15 @@ CardDMA::CardDMA() :
     transfer_error_(SDIO_Error_Type::OK),
     interface_version_(Interface_Version::UNKNOWN),
     card_type_(Card_Type::UNKNOWN),
+    current_state_(Operational_State::READY),
     transfer_end_(false),
-    is_rx_(false),
     multiblock_(false),
-    current_state_(Operational_State::READY)
+    is_rx_(false)
 {
 }
 
 // Initialize card and put in standby state
-SDIO_Error_Type CardDMA::init() {
+auto CardDMA::init() -> SDIO_Error_Type {
   // Reset SDIO peripheral
   sdio_.reset();
   sync_domains();
@@ -79,7 +77,7 @@ SDIO_Error_Type CardDMA::init() {
 }
 
 // Startup command procedure according to SDIO specification
-SDIO_Error_Type CardDMA::begin_startup_procedure() {
+auto CardDMA::begin_startup_procedure() -> SDIO_Error_Type {
   sdio_.set_power_mode(Power_Control::POWER_ON);
   sdio_.set_clock_enable(true);
   sync_domains();
@@ -124,12 +122,12 @@ SDIO_Error_Type CardDMA::begin_startup_procedure() {
 }
 
 // Voltage validation
-SDIO_Error_Type CardDMA::validate_voltage() {
+auto CardDMA::validate_voltage() -> SDIO_Error_Type {
   uint32_t response = 0U;
   uint32_t count = 0U;
   bool valid_voltage = false;
 
-  while ((count < Max_Voltage_Checks) && (valid_voltage == false)) {
+  while (count < Max_Voltage_Checks && valid_voltage == false) {
     if (send_command_and_check(Command_Index::CMD55, 0, Command_Response::RSP_SHORT,
            Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD55]() {
       return get_r1_result(cmd);
@@ -144,7 +142,7 @@ SDIO_Error_Type CardDMA::validate_voltage() {
       return SDIO_Error_Type::ACMD41_FAILED;
     }
     response = sdio_.get_response(Response_Type::RESPONSE0);
-    valid_voltage = (((response >> 31U) == 1U) ? true : false);
+    valid_voltage = ((response >> 31U) == 1U);
     count++;
   }
 
@@ -171,7 +169,7 @@ void CardDMA::begin_shutdown_procedure() {
 }
 
 // Initialize card
-SDIO_Error_Type CardDMA::card_init() {
+auto CardDMA::card_init() -> SDIO_Error_Type {
   if (sdio_.get_power_mode() == static_cast<uint32_t>(Power_Control::POWER_OFF)) {
     return SDIO_Error_Type::INVALID_OPERATION;
   }
@@ -221,7 +219,7 @@ SDIO_Error_Type CardDMA::card_init() {
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::store_cid() {
+auto CardDMA::store_cid() -> SDIO_Error_Type {
   // Store the CID register values
   sdcard_cid_[0] = sdio_.get_response(Response_Type::RESPONSE0);
   sdcard_cid_[1] = sdio_.get_response(Response_Type::RESPONSE1);
@@ -231,7 +229,7 @@ SDIO_Error_Type CardDMA::store_cid() {
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::store_csd() {
+auto CardDMA::store_csd() -> SDIO_Error_Type {
   // Store the CSD register values
   sdcard_csd_[0] = sdio_.get_response(Response_Type::RESPONSE0);
   sdcard_csd_[1] = sdio_.get_response(Response_Type::RESPONSE1);
@@ -241,7 +239,7 @@ SDIO_Error_Type CardDMA::store_csd() {
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::set_hardware_bus_width(Bus_Width width) {
+auto CardDMA::set_hardware_bus_width(Bus_Width width) -> SDIO_Error_Type {
   if (card_type_ == Card_Type::SD_MMC || width == Bus_Width::WIDTH_8BIT) {
     return SDIO_Error_Type::UNSUPPORTED_FUNCTION;
   }
@@ -283,7 +281,7 @@ SDIO_Error_Type CardDMA::set_hardware_bus_width(Bus_Width width) {
   return SDIO_Error_Type::UNSUPPORTED_FUNCTION;
 }
 
-SDIO_Error_Type CardDMA::read(uint8_t* buf, uint32_t address, uint32_t count) {
+auto CardDMA::read(uint8_t* buf, uint32_t address, uint32_t count) -> SDIO_Error_Type {
   if (current_state_ == Operational_State::READY) {
     transfer_error_ = SDIO_Error_Type::OK;
     current_state_ = Operational_State::BUSY;
@@ -340,7 +338,7 @@ SDIO_Error_Type CardDMA::read(uint8_t* buf, uint32_t address, uint32_t count) {
   }
 }
 
-SDIO_Error_Type CardDMA::write(uint8_t* buf, uint32_t address, uint32_t count) {
+auto CardDMA::write(uint8_t* buf, uint32_t address, uint32_t count) -> SDIO_Error_Type {
   // Enable the interrupts
   sdio_.set_interrupt_enable(Interrupt_Type::DTCRCERRIE, true);
   sdio_.set_interrupt_enable(Interrupt_Type::DTTMOUTIE, true);
@@ -363,7 +361,7 @@ SDIO_Error_Type CardDMA::write(uint8_t* buf, uint32_t address, uint32_t count) {
   // CMD25/CMD24 (WRITE_MULTIPLE_BLOCK/WRITE_BLOCK) send write command
   Command_Index write_cmd = (count > 1U) ? Command_Index::CMD25 : Command_Index::CMD24;
   if (send_command_and_check(write_cmd, address, Command_Response::RSP_SHORT,
-         Wait_Type::WT_NONE, [this, cmd = write_cmd]() {
+     Wait_Type::WT_NONE, [this, cmd = write_cmd]() {
     return get_r1_result(cmd);
   }) != SDIO_Error_Type::OK) {
     sdio_.clear_multiple_interrupt_flags(clear_common_flags);
@@ -379,16 +377,16 @@ SDIO_Error_Type CardDMA::write(uint8_t* buf, uint32_t address, uint32_t count) {
   Block_Size block_size = get_data_block_size_index(total_bytes_);
 
   sdio_.set_data_state_machine_and_send(Data_Timeout, total_bytes_, block_size,
-         Transfer_Mode::BLOCK, Transfer_Direction::SDIO_TO_CARD, true);
+     Transfer_Mode::BLOCK, Transfer_Direction::SDIO_TO_CARD, true);
 
-  while ((dma_.get_flag(dma::Status_Flags::FLAG_FTFIF)) || (dma_.get_flag(dma::Status_Flags::FLAG_ERRIF))) {
+  while (dma_.get_flag(dma::Status_Flags::FLAG_FTFIF) || dma_.get_flag(dma::Status_Flags::FLAG_ERRIF)) {
     // Wait for the IRQ handler to clear
   }
 
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::erase(uint32_t address_start, uint32_t address_end) {
+auto CardDMA::erase(uint32_t address_start, uint32_t address_end) -> SDIO_Error_Type {
   SDIO_Error_Type result = SDIO_Error_Type::OK;
 
   // Card command classes CSD
@@ -459,9 +457,11 @@ void CardDMA::handle_interrupts() {
     disable_all_interrupts();
     sdio_.set_data_state_machine_enable(false);
 
-    if ((multiblock_) && (!is_rx_)) {
+    if (multiblock_ && !is_rx_) {
       transfer_error_ = stop_transfer();
-      if (transfer_error_ != SDIO_Error_Type::OK) {}
+      if (transfer_error_ != SDIO_Error_Type::OK) {
+        return;
+      }
     }
 
     if (!is_rx_) {
@@ -497,7 +497,7 @@ void CardDMA::handle_interrupts() {
   }
 }
 
-SDIO_Error_Type CardDMA::select_deselect() {
+auto CardDMA::select_deselect() -> SDIO_Error_Type {
   // CMD7 (SELECT/DESELECT_CARD)
   if (send_command_and_check(Command_Index::CMD7, static_cast<uint32_t>(sdcard_rca_ << RCA_Shift),
          Command_Response::RSP_SHORT, Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD7]() {
@@ -508,7 +508,7 @@ SDIO_Error_Type CardDMA::select_deselect() {
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::get_card_interface_status(uint32_t* status) {
+auto CardDMA::get_card_interface_status(uint32_t* status) -> SDIO_Error_Type {
   if (status == nullptr) return SDIO_Error_Type::INVALID_PARAMETER;
 
   // CMD13 (SEND_STATUS)
@@ -524,7 +524,7 @@ SDIO_Error_Type CardDMA::get_card_interface_status(uint32_t* status) {
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::get_sdcard_status(uint32_t* status) {
+auto CardDMA::get_sdcard_status(uint32_t* status) -> SDIO_Error_Type {
   uint32_t count = 0U;
 
   // CMD16 (SET_BLOCKLEN)
@@ -599,7 +599,7 @@ void CardDMA::check_dma_complete() {
   }
 }
 
-SDIO_Error_Type CardDMA::stop_transfer() {
+auto CardDMA::stop_transfer() -> SDIO_Error_Type {
   // CMD12 (STOP_TRANSMISSION)
   if (send_command_and_check(Command_Index::CMD12, 0, Command_Response::RSP_SHORT, Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD12]() {
     return get_r1_result(cmd);
@@ -609,7 +609,7 @@ SDIO_Error_Type CardDMA::stop_transfer() {
   return SDIO_Error_Type::OK;
 }
 
-Transfer_State CardDMA::get_transfer_state() {
+auto CardDMA::get_transfer_state() -> Transfer_State {
   Transfer_State transfer_state = Transfer_State::IDLE;
   if (sdio_.get_flag(Status_Flags::FLAG_TXRUN) | sdio_.get_flag(Status_Flags::FLAG_RXRUN)) {
     transfer_state = Transfer_State::BUSY;
@@ -618,7 +618,7 @@ Transfer_State CardDMA::get_transfer_state() {
   return transfer_state;
 }
 
-uint32_t CardDMA::get_card_capacity() const {
+[[nodiscard]] auto CardDMA::get_card_capacity() const -> uint32_t {
   auto extract_bits = [](uint32_t value, uint8_t start_bit, uint8_t length) -> uint32_t {
     return (value >> start_bit) & ((1U << length) - 1U);
   };
@@ -665,7 +665,7 @@ uint32_t CardDMA::get_card_capacity() const {
   return capacity;
 }
 
-SDIO_Error_Type CardDMA::get_card_specific_data(Card_Info* info) {
+auto CardDMA::get_card_specific_data(Card_Info* info) -> SDIO_Error_Type {
   if (info == nullptr) return SDIO_Error_Type::INVALID_PARAMETER;
 
   // Store basic card information
@@ -735,28 +735,20 @@ SDIO_Error_Type CardDMA::get_card_specific_data(Card_Info* info) {
   return SDIO_Error_Type::OK;
 }
 
-constexpr Block_Size CardDMA::get_data_block_size_index(uint16_t size) {
+constexpr auto CardDMA::get_data_block_size_index(uint16_t size) -> Block_Size {
-  switch (size) {
+  if (size < 1 || size > 16384) return Block_Size::BYTES_1;
-    case 1: return Block_Size::BYTES_1;
+
-    case 2: return Block_Size::BYTES_2;
+  // Check if size is a power of two
-    case 4: return Block_Size::BYTES_4;
+  if ((size & (size - 1)) != 0) return Block_Size::BYTES_1;
-    case 8: return Block_Size::BYTES_8;
+
-    case 16: return Block_Size::BYTES_16;
+  // Count trailing zeros to find the index
-    case 32: return Block_Size::BYTES_32;
+  uint16_t index = 0;
-    case 64: return Block_Size::BYTES_64;
+  while ((size >>= 1) != 0) ++index;
-    case 128: return Block_Size::BYTES_128;
+
-    case 256: return Block_Size::BYTES_256;
+  return static_cast<Block_Size>(index);
-    case 512: return Block_Size::BYTES_512;
-    case 1024: return Block_Size::BYTES_1024;
-    case 2048: return Block_Size::BYTES_2048;
-    case 4096: return Block_Size::BYTES_4096;
-    case 8192: return Block_Size::BYTES_8192;
-    case 16384: return Block_Size::BYTES_16384;
-    default: return Block_Size::BYTES_1;
-  }
 }
 
-SDIO_Error_Type CardDMA::get_card_state(Card_State* card_state) {
+auto CardDMA::get_card_state(Card_State* card_state) -> SDIO_Error_Type {
   // CMD13 (SEND_STATUS)
   if (send_command_and_check(Command_Index::CMD13, static_cast<uint32_t>(sdcard_rca_ << RCA_Shift),
          Command_Response::RSP_SHORT, Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD13]() {
@@ -773,7 +765,7 @@ SDIO_Error_Type CardDMA::get_card_state(Card_State* card_state) {
 
   if (response & All_R1_Error_Bits) {
     for (const auto& entry : errorTableR1) {
-      if (response & entry.mask) {
+      if (TEST(response, entry.bit_position)) {
         return entry.errorType;
       }
     }
@@ -783,23 +775,28 @@ SDIO_Error_Type CardDMA::get_card_state(Card_State* card_state) {
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::get_command_sent_result() {
+auto CardDMA::get_command_sent_result() -> SDIO_Error_Type {
-  volatile uint32_t timeout = 0x00FFFFFFU;
+  constexpr uint32_t MAX_TIMEOUT = 0x00FFFFFFU;
+  uint32_t timeout = MAX_TIMEOUT;
 
-  while ((sdio_.get_flag(Status_Flags::FLAG_CMDSEND) == false) && (timeout != 0U)) {
+  // Wait for command sent flag or timeout
-    timeout = timeout - 1U;
+  while (!sdio_.get_flag(Status_Flags::FLAG_CMDSEND) && timeout) {
+    --timeout;
   }
-  if (timeout == 0U) return SDIO_Error_Type::RESPONSE_TIMEOUT;
-  sdio_.clear_multiple_interrupt_flags(clear_command_flags);
 
+  // Check if timeout occurred
+  if (timeout == 0U) {
+    return SDIO_Error_Type::RESPONSE_TIMEOUT;
+  }
+
+  // Clear command flags and return success
+  sdio_.clear_multiple_interrupt_flags(clear_command_flags);
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::check_sdio_status(Command_Index index, bool check_index, bool ignore_crc) {
+auto CardDMA::check_sdio_status(Command_Index index, bool check_index, bool ignore_crc) -> SDIO_Error_Type {
   // Wait until one of the relevant flags is set
-  bool flag_set = sdio_.wait_cmd_flags();
+  if (!sdio_.wait_cmd_flags()) {
-
-  if (!flag_set) {
     return SDIO_Error_Type::RESPONSE_TIMEOUT;
   }
 
@@ -810,56 +807,55 @@ SDIO_Error_Type CardDMA::check_sdio_status(Command_Index index, bool check_index
     // If cmd was received, check the index
     // Responses that dont do an index check will send an invalid cmd index
     if (check_index && (index != Command_Index::INVALID)) {
-      uint8_t idx = sdio_.get_command_index();
+      uint8_t received_idx = sdio_.get_command_index();
-      if (idx != static_cast<uint8_t>(index)) {
+      if (received_idx != static_cast<uint8_t>(index)) {
+        sdio_.clear_multiple_interrupt_flags(clear_command_flags);
         return SDIO_Error_Type::ILLEGAL_COMMAND;
       }
     }
-    // Clear all flags before returning
+
+    // Command received successfully
     sdio_.clear_multiple_interrupt_flags(clear_command_flags);
     return SDIO_Error_Type::OK;
   }
 
-  // Timeout check
+  // Check for timeout
   if (sdio_.get_flag(Status_Flags::FLAG_CMDTMOUT)) {
     sdio_.clear_flag(Clear_Flags::FLAG_CMDTMOUTC);
     return SDIO_Error_Type::RESPONSE_TIMEOUT;
   }
 
-  // CRC check
+  // Check for CRC error if not ignored
-  if (!ignore_crc) {
+  if (!ignore_crc && sdio_.get_flag(Status_Flags::FLAG_CCRCERR)) {
-    if (sdio_.get_flag(Status_Flags::FLAG_CCRCERR)) {
+    sdio_.clear_flag(Clear_Flags::FLAG_CCRCERRC);
-      sdio_.clear_flag(Clear_Flags::FLAG_CCRCERRC);
+    return SDIO_Error_Type::COMMAND_CRC_ERROR;
-      return SDIO_Error_Type::COMMAND_CRC_ERROR;
-    }
   }
 
-  // Responses that dont do an index check will send an invalid cmd index
+  // Final index check (redundant with the first check, but keeping for safety)
+  // This code path should rarely be taken due to the earlier checks
   if (check_index && (index != Command_Index::INVALID)) {
-    uint8_t idx = sdio_.get_command_index();
+    uint8_t received_idx = sdio_.get_command_index();
-    if (idx != static_cast<uint8_t>(index)) {
+    if (received_idx != static_cast<uint8_t>(index)) {
+      sdio_.clear_multiple_interrupt_flags(clear_command_flags);
       return SDIO_Error_Type::ILLEGAL_COMMAND;
     }
   }
 
-  // Clear all flags before returning
+  // Clear all flags and return success
   sdio_.clear_multiple_interrupt_flags(clear_command_flags);
-
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::get_r1_result(Command_Index index) {
+auto CardDMA::get_r1_result(Command_Index index) -> SDIO_Error_Type {
   SDIO_Error_Type result = check_sdio_status(index, true, false);
-  if (result != SDIO_Error_Type::OK) {
+  if (result != SDIO_Error_Type::OK) return result;
-    return result;
-  }
 
   // Get the R1 response and check for errors
   uint32_t response = sdio_.get_response(Response_Type::RESPONSE0);
 
   if (response & All_R1_Error_Bits) {
     for (const auto& entry : errorTableR1) {
-      if (response & entry.mask) {
+      if (TEST(response, entry.bit_position)) {
         return entry.errorType;
       }
     }
@@ -869,7 +865,7 @@ SDIO_Error_Type CardDMA::get_r1_result(Command_Index index) {
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::get_r6_result(Command_Index index, uint16_t* rca) {
+auto CardDMA::get_r6_result(Command_Index index, uint16_t* rca) -> SDIO_Error_Type {
   SDIO_Error_Type result = check_sdio_status(index, true, false);
   if (result != SDIO_Error_Type::OK) return result;
 
@@ -877,7 +873,7 @@ SDIO_Error_Type CardDMA::get_r6_result(Command_Index index, uint16_t* rca) {
 
   if (response & R6_Error_Bits) {
     for (const auto& entry : errorTableR6) {
-      if (response & entry.mask) {
+      if (TEST(response, entry.bit_position)) {
         return entry.errorType;
       }
     }
@@ -888,18 +884,13 @@ SDIO_Error_Type CardDMA::get_r6_result(Command_Index index, uint16_t* rca) {
   return SDIO_Error_Type::OK;
 }
 
-SDIO_Error_Type CardDMA::get_r7_result() {
+auto CardDMA::get_scr(uint16_t rca, uint32_t* scr) -> SDIO_Error_Type {
-  return check_sdio_status(Command_Index::INVALID, false, false);
-}
-
-SDIO_Error_Type CardDMA::get_scr(uint16_t rca, uint32_t* scr) {
   uint32_t temp_scr[2] = {0U, 0U};
   uint32_t index_scr = 0U;
-  uint32_t* src_data = scr;
 
   // CMD16 (SET_BLOCKLEN)
   if (send_command_and_check(Command_Index::CMD16, 8U, Command_Response::RSP_SHORT,
-         Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD16]() {
+       Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD16]() {
     return get_r1_result(cmd);
   }) != SDIO_Error_Type::OK) {
     return SDIO_Error_Type::CMD16_FAILED;
@@ -907,7 +898,7 @@ SDIO_Error_Type CardDMA::get_scr(uint16_t rca, uint32_t* scr) {
 
   // CMD55 (APP_CMD)
   if (send_command_and_check(Command_Index::CMD55, static_cast<uint32_t>(sdcard_rca_ << RCA_Shift),
-         Command_Response::RSP_SHORT, Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD55]() {
+       Command_Response::RSP_SHORT, Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD55]() {
     return get_r1_result(cmd);
   }) != SDIO_Error_Type::OK) {
     return SDIO_Error_Type::CMD55_FAILED;
@@ -919,7 +910,7 @@ SDIO_Error_Type CardDMA::get_scr(uint16_t rca, uint32_t* scr) {
 
   // ACMD51 (SEND_SCR)
   if (send_command_and_check(Command_Index::ACMD51, 0U, Command_Response::RSP_SHORT,
-        Wait_Type::WT_NONE, [this, cmd = Command_Index::ACMD51]() {
+       Wait_Type::WT_NONE, [this, cmd = Command_Index::ACMD51]() {
     return get_r1_result(cmd);
   }) != SDIO_Error_Type::OK) {
     return SDIO_Error_Type::ACMD51_FAILED;
@@ -928,36 +919,41 @@ SDIO_Error_Type CardDMA::get_scr(uint16_t rca, uint32_t* scr) {
   // Store SCR
   while (!sdio_.check_scr_flags()) {
     if (sdio_.get_flag(Status_Flags::FLAG_RXDTVAL)) {
-      *(temp_scr + index_scr) = sdio_.read_fifo_word();
+      temp_scr[index_scr++] = sdio_.read_fifo_word();
-      ++index_scr;
     }
   }
 
+  // Check for errors
   if (sdio_.get_flag(Status_Flags::FLAG_DTTMOUT)) {
     sdio_.clear_flag(Clear_Flags::FLAG_DTTMOUTC);
     return SDIO_Error_Type::DATA_TIMEOUT;
-  } else if (sdio_.get_flag(Status_Flags::FLAG_DTCRCERR)) {
+  }
+  else if (sdio_.get_flag(Status_Flags::FLAG_DTCRCERR)) {
     sdio_.clear_flag(Clear_Flags::FLAG_DTCRCERRC);
     return SDIO_Error_Type::DATA_CRC_ERROR;
-  } else if (sdio_.get_flag(Status_Flags::FLAG_RXORE)) {
+  }
+  else if (sdio_.get_flag(Status_Flags::FLAG_RXORE)) {
     sdio_.clear_flag(Clear_Flags::FLAG_RXOREC);
     return SDIO_Error_Type::RX_FIFO_OVERRUN;
   }
 
   sdio_.clear_multiple_interrupt_flags(clear_data_flags);
 
-  constexpr uint32_t Zero_Seven = (0xFFU << 0U);
+  constexpr uint32_t BYTE0_MASK = 0xFFU;
-  constexpr uint32_t Eight_Fifteen = (0xFFU << 8U);
+  constexpr uint32_t BYTE1_MASK = 0xFF00U;
-  constexpr uint32_t Sixteen_Twentythree = (0xFFU << 16U);
+  constexpr uint32_t BYTE2_MASK = 0xFF0000U;
-  constexpr uint32_t TwentyFour_Thirtyone = (0xFFU << 24U);
+  constexpr uint32_t BYTE3_MASK = 0xFF000000U;
 
-  // adjust SCR value
+  // Byte-swap the SCR values (convert from big-endian to little-endian)
-  *src_data = ((temp_scr[1] & Zero_Seven) << 24U) | ((temp_scr[1] & Eight_Fifteen) << 8U) |
+  scr[0] = ((temp_scr[1] & BYTE0_MASK) << 24) |
-       ((temp_scr[1] & Sixteen_Twentythree) >> 8U) | ((temp_scr[1] & TwentyFour_Thirtyone) >> 24U);
+           ((temp_scr[1] & BYTE1_MASK) << 8)  |
+           ((temp_scr[1] & BYTE2_MASK) >> 8)  |
+           ((temp_scr[1] & BYTE3_MASK) >> 24);
 
-  src_data = src_data + 1U;
+  scr[1] = ((temp_scr[0] & BYTE0_MASK) << 24) |
-  *src_data = ((temp_scr[0] & Zero_Seven) << 24U) | ((temp_scr[0] & Eight_Fifteen) << 8U) |
+           ((temp_scr[0] & BYTE1_MASK) << 8)  |
-       ((temp_scr[0] & Sixteen_Twentythree) >> 8U) | ((temp_scr[0] & TwentyFour_Thirtyone) >> 24U);
+           ((temp_scr[0] & BYTE2_MASK) >> 8)  |
+           ((temp_scr[0] & BYTE3_MASK) >> 24);
 
   return SDIO_Error_Type::OK;
 }
@@ -965,23 +961,22 @@ SDIO_Error_Type CardDMA::get_scr(uint16_t rca, uint32_t* scr) {
 // DMA for rx/tx is always DMA1 channel 3
 void CardDMA::set_dma_parameters(uint8_t* buf, uint32_t count, bool is_write) {
   constexpr uint32_t flag_bits = (1U << static_cast<uint32_t>(dma::INTF_Bits::GIF3));
-
   dma_.clear_flags(flag_bits);
 
   // Disable and reset DMA
   dma_.set_channel_enable(false);
   dma_.clear_channel();
 
-  dma_.init({
+  dma_.init(dma::DMA_Config{
-    count,
+    .count = count,
-    static_cast<uint32_t>(reinterpret_cast<uintptr_t>(buf)),
+    .memory_address = static_cast<uint32_t>(reinterpret_cast<uintptr_t>(buf)),
-    static_cast<uint32_t>(reinterpret_cast<uintptr_t>(sdio_.reg_address(SDIO_Regs::FIFO))),
+    .peripheral_address = static_cast<uint32_t>(reinterpret_cast<uintptr_t>(sdio_.reg_address(SDIO_Regs::FIFO))),
-    dma::Bit_Width::WIDTH_32BIT,
+    .peripheral_bit_width = dma::Bit_Width::WIDTH_32BIT,
-    dma::Bit_Width::WIDTH_32BIT,
+    .memory_bit_width = dma::Bit_Width::WIDTH_32BIT,
-    dma::Increase_Mode::INCREASE_DISABLE,
+    .peripheral_increase = dma::Increase_Mode::INCREASE_DISABLE,
-    dma::Increase_Mode::INCREASE_ENABLE,
+    .memory_increase = dma::Increase_Mode::INCREASE_ENABLE,
-    dma::Channel_Priority::MEDIUM_PRIORITY,
+    .channel_priority = dma::Channel_Priority::MEDIUM_PRIORITY,
-    is_write ? dma::Transfer_Direction::M2P : dma::Transfer_Direction::P2M
+    .direction = is_write ? dma::Transfer_Direction::M2P : dma::Transfer_Direction::P2M
   });
 
   dma_.set_memory_to_memory_enable(false);
@@ -995,24 +990,29 @@ void CardDMA::set_dma_parameters(uint8_t* buf, uint32_t count, bool is_write) {
   dma_.set_channel_enable(true);
 }
 
-SDIO_Error_Type CardDMA::wait_for_card_ready() {
+auto CardDMA::wait_for_card_ready() -> SDIO_Error_Type {
-  volatile uint32_t timeout = 0x00FFFFFFU;
+  constexpr uint32_t MAX_TIMEOUT = 0x00FFFFFFU;
+  uint32_t timeout = MAX_TIMEOUT;
   uint32_t response = sdio_.get_response(Response_Type::RESPONSE0);
 
-  while (((response & static_cast<uint32_t>(R1_Status::READY_FOR_DATA)) == 0U) && (timeout != 0U)) {
+  // Poll until card is ready for data or timeout occurs
-    // Continue to send CMD13 to poll the state of card until buffer empty or timeout
+  while (((response & static_cast<uint32_t>(R1_Status::READY_FOR_DATA)) == 0U) && timeout) {
-    timeout = timeout - 1U;
+    --timeout;
+
     // CMD13 (SEND_STATUS)
     if (send_command_and_check(Command_Index::CMD13, static_cast<uint32_t>(sdcard_rca_ << RCA_Shift),
-           Command_Response::RSP_SHORT, Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD13]() {
+         Command_Response::RSP_SHORT, Wait_Type::WT_NONE, [this, cmd = Command_Index::CMD13]() {
       return get_r1_result(cmd);
     }) != SDIO_Error_Type::OK) {
       return SDIO_Error_Type::CMD13_FAILED;
     }
+
+    // Get updated response
     response = sdio_.get_response(Response_Type::RESPONSE0);
   }
 
-  return (timeout == 0U) ? SDIO_Error_Type::ERROR : SDIO_Error_Type::OK;
+  // Return error if timeout occurred, otherwise success
+  return timeout ? SDIO_Error_Type::OK : SDIO_Error_Type::ERROR;
 }
 
 } // namespace sdio

Marlin/src/HAL/GD32_MFL/sd/SDCard.h

@@ -26,76 +26,82 @@ class DMA;
 
 class CardDMA {
 public:
-  static CardDMA& get_instance();
+  static auto get_instance() -> CardDMA&;
 
-  SDIO_Error_Type init();
+  // Initialization
-  SDIO_Error_Type card_init();
+  auto init() -> SDIO_Error_Type;
-  SDIO_Error_Type begin_startup_procedure();
+  auto card_init() -> SDIO_Error_Type;
+
+  // Startup and shutdown procedures
+  auto begin_startup_procedure() -> SDIO_Error_Type;
   void begin_shutdown_procedure();
+
   // Configuration
-  SDIO_Error_Type set_hardware_bus_width(Bus_Width width);
+  auto set_hardware_bus_width(Bus_Width width) -> SDIO_Error_Type;
-  // Main read/write functions for single and multiblock transfers
+  auto send_bus_width_command(uint32_t width_value) -> SDIO_Error_Type;
-  SDIO_Error_Type read(uint8_t* buf, uint32_t address, uint32_t count);
+
-  SDIO_Error_Type write(uint8_t* buf, uint32_t address, uint32_t count);
+  // Main read/write/erase functions
-  // DMA transfers
+  auto read(uint8_t* buf, uint32_t address, uint32_t count) -> SDIO_Error_Type;
-  // Other card functions
+  auto write(uint8_t* buf, uint32_t address, uint32_t count) -> SDIO_Error_Type;
-  SDIO_Error_Type erase(uint32_t address_start, uint32_t address_end);
+  auto erase(uint32_t address_start, uint32_t address_end) -> SDIO_Error_Type;
-  // Interrupt handler
+
-  void handle_interrupts();
   // Card select
-  SDIO_Error_Type select_deselect();
+  auto select_deselect() -> SDIO_Error_Type;
 
-  SDIO_Error_Type get_card_interface_status(uint32_t* status);
+  // Status and state
-  SDIO_Error_Type get_sdcard_status(uint32_t* status);
+  auto get_card_interface_status(uint32_t* status) -> SDIO_Error_Type;
+  auto get_sdcard_status(uint32_t* status) -> SDIO_Error_Type;
+  auto get_transfer_state() -> Transfer_State;
+  auto get_card_state(Card_State* card_state) -> SDIO_Error_Type;
+  auto check_sdio_status(Command_Index index = Command_Index::INVALID, bool check_index = false, bool ignore_crc = false) -> SDIO_Error_Type;
 
-  void check_dma_complete();
+  // DMA
-  SDIO_Error_Type stop_transfer();
-
-  Transfer_State get_transfer_state();
-  uint32_t get_card_capacity() const;
-
-  SDIO_Error_Type send_bus_width_command(uint32_t width_value);
-
-  SDIO_Error_Type get_card_specific_data(Card_Info* info);
-  constexpr Block_Size get_data_block_size_index(uint16_t size);
-
-  SDIO_Error_Type get_card_state(Card_State* card_state);
-  SDIO_Error_Type check_sdio_status(Command_Index index = Command_Index::INVALID, bool check_index = false, bool ignore_crc = false);
-
-  // DMA configuration
   void set_dma_parameters(uint8_t* buf, uint32_t count, bool is_write);
+  void check_dma_complete();
+
+  // Stop transfer
+  auto stop_transfer() -> SDIO_Error_Type;
+
+  // Card information
+  auto get_card_specific_data(Card_Info* info) -> SDIO_Error_Type;
+  constexpr auto get_data_block_size_index(uint16_t size) -> Block_Size;
+  [[nodiscard]] auto get_card_capacity() const -> uint32_t;
 
   // SDIO configuration
   void sdio_configure(const SDIO_Config config) { sdio_.init(config); }
 
-  // Varaible stored parameters
+  // Interrupt handler
-  SDIO_Error_Type get_scr(uint16_t rca, uint32_t* scr);
+  void handle_interrupts();
-  SDIO_Error_Type store_cid();
-  SDIO_Error_Type store_csd();
 
-  // Accessor methods
+  // Variable stored parameters
-  SDIO_Config& get_config() { return config_; }
+  auto get_scr(uint16_t rca, uint32_t* scr) -> SDIO_Error_Type;
-  dma::DMA& get_dma_instance() { return dma_; }
+  auto store_cid() -> SDIO_Error_Type;
+  auto store_csd() -> SDIO_Error_Type;
+
+  // Inlined accessor methods
+  auto get_config() -> SDIO_Config& { return config_; }
+  auto get_dma_instance() -> dma::DMA& { return dma_; }
   void set_data_end_interrupt() { sdio_.set_interrupt_enable(Interrupt_Type::DTENDIE, true); }
   void set_sdio_dma_enable(bool enable) { sdio_.set_dma_enable(enable); }
-  bool get_is_sdio_rx() { return is_rx_; }
+  auto get_is_sdio_rx() -> bool { return is_rx_; }
   void clear_sdio_data_flags() { sdio_.clear_multiple_interrupt_flags(clear_data_flags); }
   void clear_sdio_cmd_flags() { sdio_.clear_multiple_interrupt_flags(clear_command_flags); }
   void clear_sdio_common_flags() { sdio_.clear_multiple_interrupt_flags(clear_common_flags); }
-  Operational_State get_state() { return current_state_; }
+  auto get_state() -> Operational_State { return current_state_; }
   void set_state(Operational_State state) { current_state_ = state; }
-  void set_transfer_end(bool value) { transfer_end_ = value; }
   void set_transfer_error(SDIO_Error_Type error) { transfer_error_ = error; }
+  void set_transfer_end(bool end) { transfer_end_ = end; };
 
-  inline SDIO_Error_Type set_desired_clock(uint32_t desired_clock, bool wide_bus, bool low_power) {
+  auto set_desired_clock(uint32_t desired_clock, bool wide_bus, bool low_power) -> SDIO_Error_Type {
-    sdio_.init({
+    sdio_.init(SDIO_Config{
-      desired_clock,
+      .desired_clock = desired_clock,
-      Clock_Edge::RISING_EDGE,
+      .enable_bypass = false,
-      wide_bus ? Bus_Width::WIDTH_4BIT : Bus_Width::WIDTH_1BIT,
+      .enable_powersave = low_power,
-      false,
+      .enable_hwclock = false,
-      low_power,
+      .clock_edge = Clock_Edge::RISING_EDGE,
-      false
+      .width = wide_bus ? Bus_Width::WIDTH_4BIT : Bus_Width::WIDTH_1BIT
     });
+
     sync_domains();
     desired_clock_ = desired_clock;
 
@@ -107,19 +113,17 @@ private:
 
   // Prevent copying or assigning
   CardDMA(const CardDMA&) = delete;
-  CardDMA& operator=(const CardDMA&) = delete;
+  auto operator=(const CardDMA&) -> CardDMA& = delete;
 
   // Helper function
-  SDIO_Error_Type wait_for_card_ready();
+  auto wait_for_card_ready() -> SDIO_Error_Type;
 
   // Member variables
   alignas(4) uint32_t sdcard_csd_[4];
   alignas(4) uint32_t sdcard_cid_[4];
   alignas(4) uint32_t sdcard_scr_[2];
   uint32_t desired_clock_;
-  uint32_t stop_condition_;
   uint32_t total_bytes_;
-  uint32_t count_;
   SDIO& sdio_;
   SDIO_Config& config_;
   const dma::DMA_Base dmaBase_;
@@ -129,66 +133,70 @@ private:
   SDIO_Error_Type transfer_error_;
   Interface_Version interface_version_;
   Card_Type card_type_;
-  volatile bool transfer_end_;
+  Operational_State current_state_;
-  volatile bool is_rx_;
+  bool transfer_end_;
-  volatile bool multiblock_;
+  bool multiblock_;
-  volatile Operational_State current_state_;
+  bool is_rx_;
 
   // Private helper methods
-  SDIO_Error_Type validate_voltage();
+  auto validate_voltage() -> SDIO_Error_Type;
-  SDIO_Error_Type get_r1_result(Command_Index index);
+  auto get_command_sent_result() -> SDIO_Error_Type;
-  //SDIO_Error_Type get_r2_r3_result();
+  auto get_r1_result(Command_Index index) -> SDIO_Error_Type;
-  SDIO_Error_Type get_r6_result(Command_Index index, uint16_t* rca);
+  auto get_r6_result(Command_Index index, uint16_t* rca) -> SDIO_Error_Type;
-  SDIO_Error_Type get_r7_result();
+  auto get_r7_result() -> SDIO_Error_Type { return check_sdio_status(Command_Index::INVALID, false, false); };
-  //SDIO_Error_Type get_r1_error_type(uint32_t response);
+  void sync_domains() { delayMicroseconds(8); }
-  SDIO_Error_Type get_command_sent_result();
 
-  inline void sync_domains() {
+  auto validate_transfer_params(uint32_t* buf, uint16_t size) -> bool {
-    delayMicroseconds(8);
-  }
-
-  inline bool validate_transfer_params(uint32_t* buf, uint16_t size) {
     if (buf == nullptr) return false;
     // Size must be > 0, <= 2048 and power of 2
-    if ((size == 0U) || (size > 2048U) || (size & (size - 1U))) {
+    return size > 0U && size <= 2048U && !(size & (size - 1U));
-      return false;
-    }
-    return true;
   }
 
   void process_sdsc_specific_csd(Card_Info* info, const uint8_t* csd_bytes) {
-    info->csd.device_size = (static_cast<uint32_t>(csd_bytes[6] & 0x03U) << 10U) |
+    const uint32_t device_size = ((csd_bytes[6] & 0x3U) << 10) |
-                 (static_cast<uint32_t>(csd_bytes[7]) << 2U) |
+                                 (csd_bytes[7] << 2) |
-                 (static_cast<uint32_t>((csd_bytes[8] & 0xC0U) >> 6U));
+                                 ((csd_bytes[8] >> 6) & 0x3U);
-    info->csd.device_size_multiplier = static_cast<uint8_t>((csd_bytes[9] & 0x03U) << 1U |
-                                 (csd_bytes[10] & 0x80U) >> 7U);
 
-    info->block_size = static_cast<uint32_t>(1 << info->csd.read_block_length);
+    const uint8_t device_size_multiplier = ((csd_bytes[9] & 0x3U) << 1) |
-    info->capacity = static_cast<uint32_t>((info->csd.device_size + 1U) *
+                                           ((csd_bytes[10] >> 7) & 0x1U);
-            (1U << (info->csd.device_size_multiplier + 2U)) *
+
-            info->block_size);
+    // Store calculated values
+    info->csd.device_size = device_size;
+    info->csd.device_size_multiplier = device_size_multiplier;
+
+    // Calculate block size and capacity
+    info->block_size = 1U << info->csd.read_block_length;
+    info->capacity = (device_size + 1U) *
+                     (1U << (device_size_multiplier + 2U)) *
+                     info->block_size;
   }
 
   void process_sdhc_specific_csd(Card_Info* info, const uint8_t* csd_bytes) {
-    info->csd.device_size = static_cast<uint32_t>((csd_bytes[7] & 0x3FU) << 16U) |
+    info->csd.device_size = static_cast<uint32_t>((csd_bytes[7] & 0x3FU) << 16) |
-                 static_cast<uint32_t>((csd_bytes[8]) << 8U) |
+                            static_cast<uint32_t>((csd_bytes[8]) << 8) |
-                 static_cast<uint32_t>(csd_bytes[9]);
+                            static_cast<uint32_t>(csd_bytes[9]);
 
+    // Set block size and calculate capacity
     info->block_size = BLOCK_SIZE;
     info->capacity = static_cast<uint32_t>((info->csd.device_size + 1U) *
-            BLOCK_SIZE * KILOBYTE);
+                     BLOCK_SIZE * KILOBYTE);
   }
 
   void process_common_csd_tail(Card_Info* info, const uint8_t* csd_bytes) {
-    info->csd.sector_size = static_cast<uint8_t>(((csd_bytes[9] & 0x3FU) << 1U) |
+    // Calculate sector_size
-                          (csd_bytes[10] & 0x80U) >> 7U);
+    info->csd.sector_size = static_cast<uint8_t>(((csd_bytes[9] & 0x3FU) << 1) |
-    info->csd.speed_factor = static_cast<uint8_t>((csd_bytes[11] & 0x1CU) >> 2U);
+                                                  (csd_bytes[10] & 0x80U) >> 7);
-    info->csd.write_block_length = static_cast<uint8_t>(((csd_bytes[11] & 0x03U) << 2U) |
+
-                              ((csd_bytes[12] & 0xC0U) >> 6U));
+    // Calculate speed_factor and write_block_length
-    info->csd.checksum = static_cast<uint8_t>((csd_bytes[15] & 0xFEU) >> 1U);
+    info->csd.speed_factor = static_cast<uint8_t>((csd_bytes[11] & 0x1CU) >> 2);
+    info->csd.write_block_length = static_cast<uint8_t>(((csd_bytes[11] & 0x3U) << 2) |
+                                                        ((csd_bytes[12] & 0xC0U) >> 6));
+
+    // Calculate checksum
+    info->csd.checksum = static_cast<uint8_t>((csd_bytes[15] & 0xFEU) >> 1);
   }
 
-  inline void disable_all_interrupts() {
+  void disable_all_interrupts() {
     sdio_.set_interrupt_enable(Interrupt_Type::DTCRCERRIE, false);
     sdio_.set_interrupt_enable(Interrupt_Type::DTTMOUTIE, false);
     sdio_.set_interrupt_enable(Interrupt_Type::DTENDIE, false);
@@ -200,8 +208,8 @@ private:
   }
 
   template <typename CheckFunc>
-  inline SDIO_Error_Type send_command_and_check(Command_Index command, uint32_t argument,
+  auto send_command_and_check(Command_Index command, uint32_t argument,
-           Command_Response response, Wait_Type type, CheckFunc check_result) {
+     Command_Response response, Wait_Type type, CheckFunc check_result) -> SDIO_Error_Type {
     sdio_.set_command_state_machine(command, argument, response, type);
     sync_domains();
     sdio_.set_command_state_machine_enable(true);

Marlin/src/HAL/GD32_MFL/sd/sdio.cpp

@@ -47,7 +47,7 @@ inline constexpr uint8_t SDIO_READ_RETRIES = READ_RETRIES;
 
 Card_State cardState = Card_State::READY;
 
-bool SDIO_SetBusWidth(Bus_Width width) {
+auto SDIO_SetBusWidth(Bus_Width width) -> bool {
   return (CardDMA_I.set_hardware_bus_width(width) == SDIO_Error_Type::OK);
 }
 

Marlin/src/HAL/GD32_MFL/sd/sdio.h

@@ -32,5 +32,5 @@
 #define SDIO_CMD_PIN  PD2
 
 void sdio_mfl_init();
-bool SDIO_SetBusWidth(sdio::Bus_Width width);
+auto SDIO_SetBusWidth(sdio::Bus_Width width) -> bool;
 void DMA1_IRQHandler(dma::DMA_Channel channel);

Marlin/src/HAL/GD32_MFL/temp_soc.h

@@ -26,4 +26,4 @@
 #define TS_TYPICAL_SLOPE  4.5
 
 // TODO: Implement voltage scaling (calibrated Vrefint) and ADC resolution scaling (when applicable)
-#define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) / 1000)) / ((TS_TYPICAL_SLOPE) / 1000) + TS_TYPICAL_TEMP)
+#define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) * 0.001f)) / ((TS_TYPICAL_SLOPE) * 0.001f) + TS_TYPICAL_TEMP)

Marlin/src/HAL/GD32_MFL/timers.cpp

@@ -92,7 +92,9 @@ bool is_temp_timer_initialized = false;
 
 // Retrieves the clock frequency of the stepper timer
 uint32_t GetStepperTimerClkFreq() {
-  return Step_Timer.getTimerClockFrequency();
+  // Cache result
+  static uint32_t clkFreq = Step_Timer.getTimerClockFrequency();
+  return clkFreq;
 }
 
 /**
@@ -191,10 +193,12 @@ void SetTimerInterruptPriorities() {
 // Detect timer conflicts
 // ------------------------
 
+TERN_(HAS_TMC_SW_SERIAL, static constexpr timer::TIMER_Base timer_serial[] = {static_cast<timer::TIMER_Base>(TIMER_SERIAL)});
 TERN_(SPEAKER, static constexpr timer::TIMER_Base timer_tone[] = {static_cast<timer::TIMER_Base>(TIMER_TONE)});
 TERN_(HAS_SERVOS, static constexpr timer::TIMER_Base timer_servo[] = {static_cast<timer::TIMER_Base>(TIMER_SERVO)});
 
 enum TimerPurpose {
+  PURPOSE_SERIAL,
   PURPOSE_TONE,
   PURPOSE_SERVO,
   PURPOSE_STEP,
@@ -205,6 +209,9 @@ enum TimerPurpose {
 // Includes the timer purpose to ease debugging when evaluating at build-time
 // This cannot yet account for timers used for PWM output, such as for fans
 static constexpr struct { TimerPurpose p; int t; } timers_in_use[] = {
+  #if HAS_TMC_SW_SERIAL
+    { PURPOSE_SERIAL, timer_base_to_index(timer_serial[0]) }, // Set in variant.h
+  #endif
   #if ENABLED(SPEAKER)
     { PURPOSE_TONE, timer_base_to_index(timer_tone[0]) },     // Set in variant.h
   #endif

Marlin/src/HAL/GD32_MFL/timers.h

@@ -29,10 +29,6 @@
 // Defines
 // ------------------------
 
-// Timer configuration constants
-#define STEPPER_TIMER_RATE    2000000
-#define TEMP_TIMER_FREQUENCY  1000
-
 // Timer instance definitions
 #define MF_TIMER_STEP     3
 #define MF_TIMER_TEMP     1
@@ -43,12 +39,17 @@
 
 extern uint32_t GetStepperTimerClkFreq();
 
+// Timer configuration constants
+#define STEPPER_TIMER_RATE    2000000
+#define TEMP_TIMER_FREQUENCY  1000
+
 // Timer prescaler calculations
-#define STEPPER_TIMER_PRESCALE      (GetStepperTimerClkFreq() / STEPPER_TIMER_RATE)	// Prescaler = 30
+#define STEPPER_TIMER_PRESCALE      (GetStepperTimerClkFreq() / STEPPER_TIMER_RATE)       // Prescaler = 30
-#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs
-#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000)				        // Stepper timer ticks per µs
+
-#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
 #define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
 // Timer interrupt priorities
 #define STEP_TIMER_IRQ_PRIORITY 2
@@ -57,7 +58,7 @@ extern uint32_t GetStepperTimerClkFreq();
 #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 ENABLE_TEMPERATURE_INTERRUPT()      HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT()     HAL_timer_disable_interrupt(MF_TIMER_TEMP)
 
 extern void Step_Handler();
@@ -89,7 +90,7 @@ static inline constexpr struct {timer::TIMER_Base base; uint8_t timer_number;} b
 };
 
 // Converts a timer base to an integer timer index.
-constexpr int timer_base_to_index(timer::TIMER_Base base) {
+constexpr auto timer_base_to_index(timer::TIMER_Base base) -> int {
   for (const auto& timer : base_to_index) {
     if (timer.base == base) {
       return static_cast<int>(timer.timer_number);
@@ -131,7 +132,7 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_number)
 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_number, const hal_timer_t value) {
   if (!HAL_timer_initialized(timer_number)) return;
 
-  const uint32_t new_value = static_cast<uint32_t>(value + 1U);
+  const auto new_value = static_cast<uint32_t>(value + 1U);
   GeneralTimer& timer = (timer_number == MF_TIMER_STEP) ? Step_Timer : Temp_Timer;
 
   if (timer_number == MF_TIMER_STEP || timer_number == MF_TIMER_TEMP) {
@@ -141,5 +142,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_number, const
   }
 }
 
-#define HAL_timer_isr_prologue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

Marlin/src/HAL/HC32/MarlinHAL.h

@@ -67,7 +67,7 @@ public:
 
   static void delay_ms(const int ms);
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/HC32/Servo.h

@@ -37,9 +37,9 @@ public:
   MarlinServo();
 
   /**
-   * @brief attach the pin to the servo, set pin mode, return channel number
+   * @brief attach   the pin to the servo, set pin mode, return channel number
-   * @param pin pin to attach to
+   * @param pin      pin to attach to
-   * @return channel number, -1 if failed
+   * @return         channel number, -1 if failed
    */
   int8_t attach(const pin_t apin);
 

Marlin/src/HAL/HC32/eeprom/eeprom_if_iic.cpp

@@ -39,7 +39,7 @@ void eeprom_init() {
 
 void eeprom_write_byte(uint8_t *pos, unsigned char value) {
   const unsigned eeprom_address = (unsigned)pos;
-  return BL24CXX::writeOneByte(eeprom_address, value);
+  BL24CXX::writeOneByte(eeprom_address, value);
 }
 
 uint8_t eeprom_read_byte(uint8_t *pos) {

Marlin/src/HAL/HC32/eeprom/eeprom_sdcard.cpp

@@ -53,7 +53,7 @@ bool PersistentStore::access_start() {
   int bytes_read = file.read(HAL_eeprom_data, MARLIN_EEPROM_SIZE);
   if (bytes_read < 0) return false;
 
-  for (; bytes_read < MARLIN_EEPROM_SIZE; bytes_read++)
+  for (; bytes_read < long(MARLIN_EEPROM_SIZE); bytes_read++)
     HAL_eeprom_data[bytes_read] = 0xFF;
 
   file.close();

Marlin/src/HAL/HC32/inc/SanityCheck.h

@@ -83,7 +83,7 @@
   #error "POSTMORTEM_DEBUGGING requires CORE_DISABLE_FAULT_HANDLER to be set."
 #endif
 
-#if defined(PANIC_ENABLE)
+#ifdef PANIC_ENABLE
   #if defined(PANIC_USART1_TX_PIN) || defined(PANIC_USART2_TX_PIN) || defined(PANIC_USART3_TX_PIN) || defined(PANIC_USART3_TX_PIN)
     #error "HC32 HAL uses a custom panic handler. Do not define PANIC_USARTx_TX_PIN."
   #endif

Marlin/src/HAL/HC32/sysclock.cpp

@@ -171,7 +171,7 @@ void core_hook_sysclock_init() {
       panic("HRC is not 16 MHz");
     }
 
-    #if defined(BOARD_XTAL_FREQUENCY)
+    #ifdef BOARD_XTAL_FREQUENCY
       #warning "No valid XTAL frequency defined, falling back to HRC."
     #endif
 

Marlin/src/HAL/HC32/timers.cpp

@@ -35,19 +35,19 @@ Timer0 temp_timer(&TIMER02A_config, &Temp_Handler);
  */
 Timer0 step_timer(&TIMER02B_config, &Step_Handler);
 
-void HAL_timer_start(const timer_channel_t timer_num, const uint32_t frequency) {
+void HAL_timer_start(const timer_channel_t timer_ch, const uint32_t frequency) {
-  if (timer_num == TEMP_TIMER_NUM) {
+  if (timer_ch == MF_TIMER_TEMP) {
     CORE_DEBUG_PRINTF("HAL_timer_start: temp timer, f=%ld\n", long(frequency));
-    timer_num->start(frequency, TEMP_TIMER_PRESCALE);
+    timer_ch->start(frequency, TEMP_TIMER_PRESCALE);
-    timer_num->setCallbackPriority(TEMP_TIMER_PRIORITY);
+    timer_ch->setCallbackPriority(TEMP_TIMER_PRIORITY);
   }
-  else if (timer_num == STEP_TIMER_NUM) {
+  else if (timer_ch == MF_TIMER_STEP) {
     CORE_DEBUG_PRINTF("HAL_timer_start: step timer, f=%ld\n", long(frequency));
-    timer_num->start(frequency, STEPPER_TIMER_PRESCALE);
+    timer_ch->start(frequency, STEPPER_TIMER_PRESCALE);
-    timer_num->setCallbackPriority(STEP_TIMER_PRIORITY);
+    timer_ch->setCallbackPriority(STEP_TIMER_PRIORITY);
   }
   else {
-    CORE_ASSERT_FAIL("HAL_timer_start: invalid timer_num")
+    CORE_ASSERT_FAIL("HAL_timer_start: invalid timer_ch")
   }
 }
 

Marlin/src/HAL/HC32/timers.h

@@ -27,7 +27,7 @@
 //
 typedef Timer0 *timer_channel_t;
 typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFU
 
 //
 // Timer instances
@@ -49,80 +49,73 @@ extern Timer0 step_timer;
  * See https://github.com/MarlinFirmware/Marlin/pull/27099 for more information.
  *
  * NOTE: If the 'constexpr' requirement is ever lifted, TIMER0_BASE_FREQUENCY could
- * be used instead. Tho this would probably not make any noticable difference.
+ * be used instead. Tho this would probably not make any noticeable difference.
  */
 #define HAL_TIMER_RATE F_PCLK1
 
 // Temperature timer
-#define TEMP_TIMER_NUM        (&temp_timer)
+#define MF_TIMER_TEMP         (&temp_timer)
 #define TEMP_TIMER_PRIORITY   DDL_IRQ_PRIORITY_02
-#define TEMP_TIMER_PRESCALE     16UL          // 12.5MHz
+#define TEMP_TIMER_PRESCALE   16UL            // 12.5MHz
 #define TEMP_TIMER_RATE       1000            // 1kHz
 #define TEMP_TIMER_FREQUENCY  TEMP_TIMER_RATE // 1kHz also
 
 // Stepper timer
-#define STEP_TIMER_NUM         (&step_timer)
+#define MF_TIMER_STEP          (&step_timer)
 #define STEP_TIMER_PRIORITY    DDL_IRQ_PRIORITY_00  // Top priority, nothing else uses it
-#define STEPPER_TIMER_PRESCALE  16UL                // 12.5MHz
+#define STEPPER_TIMER_PRESCALE 16UL                 // 12.5MHz
 
-#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)  // 50MHz / 16 = 3.125MHz
+#define STEPPER_TIMER_RATE          (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // 50MHz / 16 = 3.125MHz
-#define STEPPER_TIMER_TICKS_PER_US (STEPPER_TIMER_RATE / 1000000UL)   // Integer 3
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)        // Integer 3
 
 // Pulse timer (== stepper timer)
-#define PULSE_TIMER_NUM           STEP_TIMER_NUM
+#define MF_TIMER_PULSE            MF_TIMER_STEP
 #define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US
 
-//
-// Channel aliases
-//
-#define MF_TIMER_TEMP   TEMP_TIMER_NUM
-#define MF_TIMER_STEP   STEP_TIMER_NUM
-#define MF_TIMER_PULSE  PULSE_TIMER_NUM
-
 //
 // HAL functions
 //
-void HAL_timer_start(const timer_channel_t timer_num, const uint32_t frequency);
+void HAL_timer_start(const timer_channel_t timer_ch, const uint32_t frequency);
 
 // Inlined since they are somewhat critical
 #define MARLIN_HAL_TIMER_INLINE_ATTR __attribute__((always_inline)) inline
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_enable_interrupt(const timer_channel_t timer_num) {
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_enable_interrupt(const timer_channel_t timer_ch) {
-  timer_num->resume();
+  timer_ch->resume();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_disable_interrupt(const timer_channel_t timer_num) {
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_disable_interrupt(const timer_channel_t timer_ch) {
-  timer_num->pause();
+  timer_ch->pause();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR bool HAL_timer_interrupt_enabled(const timer_channel_t timer_num) {
+MARLIN_HAL_TIMER_INLINE_ATTR bool HAL_timer_interrupt_enabled(const timer_channel_t timer_ch) {
-  return timer_num->isPaused();
+  return timer_ch->isPaused();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_set_compare(const timer_channel_t timer_num, const hal_timer_t compare) {
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_set_compare(const timer_channel_t timer_ch, const hal_timer_t compare) {
-  timer_num->setCompareValue(compare);
+  timer_ch->setCompareValue(compare);
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR hal_timer_t HAL_timer_get_count(const timer_channel_t timer_num) {
+MARLIN_HAL_TIMER_INLINE_ATTR hal_timer_t HAL_timer_get_count(const timer_channel_t timer_ch) {
-  return timer_num->getCount();
+  return timer_ch->getCount();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_prologue(const timer_channel_t timer_num) {
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_prologue(const timer_channel_t timer_ch) {
-  timer_num->clearInterruptFlag();
+  timer_ch->clearInterruptFlag();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_epilogue(const timer_channel_t timer_num) {}
+inline void HAL_timer_isr_epilogue(const timer_channel_t) {}
 
 //
 // HAL function aliases
 //
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
-#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
-#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM);
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP);
 
 //
 // HAL ISR callbacks
@@ -131,8 +124,8 @@ void Step_Handler();
 void Temp_Handler();
 
 #ifndef HAL_STEP_TIMER_ISR
-#define HAL_STEP_TIMER_ISR() void Step_Handler()
+  #define HAL_STEP_TIMER_ISR() void Step_Handler()
 #endif
 #ifndef HAL_TEMP_TIMER_ISR
-#define HAL_TEMP_TIMER_ISR() void Temp_Handler()
+  #define HAL_TEMP_TIMER_ISR() void Temp_Handler()
 #endif

Marlin/src/HAL/LINUX/HAL.h

@@ -126,7 +126,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() {}
 
   // Reset

Marlin/src/HAL/LINUX/eeprom.cpp

@@ -45,7 +45,7 @@ bool PersistentStore::access_start() {
   fseek(eeprom_file, 0L, SEEK_END);
   std::size_t file_size = ftell(eeprom_file);
 
-  if (file_size < MARLIN_EEPROM_SIZE) {
+  if (file_size < long(MARLIN_EEPROM_SIZE)) {
     memset(buffer + file_size, eeprom_erase_value, MARLIN_EEPROM_SIZE - file_size);
   }
   else {

Marlin/src/HAL/LINUX/timers.h

@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL
 
 #define HAL_TIMER_RATE         ((SystemCoreClock) / 4)  // frequency of timers peripherals
 
@@ -49,21 +49,21 @@ typedef uint32_t hal_timer_t;
 #endif
 
 #define TEMP_TIMER_RATE        1000000
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs
-#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+#define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#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 DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(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 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
@@ -93,5 +93,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

Marlin/src/HAL/LPC1768/HAL.h

@@ -160,7 +160,7 @@ public:
   static bool watchdog_timed_out() IF_DISABLED(USE_WATCHDOG, { return false; });
   static void watchdog_clear_timeout_flag() IF_DISABLED(USE_WATCHDOG, {});
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/LPC1768/Servo.h

@@ -49,6 +49,8 @@
 
 #include <Servo.h>
 
+#include "../../MarlinCore.h"
+
 class libServo: public Servo {
   public:
   void move(const int value) {

Marlin/src/HAL/LPC1768/eeprom/eeprom_flash.cpp

@@ -74,7 +74,7 @@ bool PersistentStore::access_start() {
 
   if (status == CMD_SUCCESS) {
     // sector is blank so nothing stored yet
-    for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = EEPROM_ERASE;
+    for (int i = 0; i < long(MARLIN_EEPROM_SIZE); i++) ram_eeprom[i] = EEPROM_ERASE;
     current_slot = EEPROM_SLOTS;
   }
   else {
@@ -82,7 +82,7 @@ bool PersistentStore::access_start() {
     current_slot = first_nblank_loc / (MARLIN_EEPROM_SIZE);
     uint8_t *eeprom_data = SLOT_ADDRESS(EEPROM_SECTOR, current_slot);
     // load current settings
-    for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = eeprom_data[i];
+    for (int i = 0; i < long(MARLIN_EEPROM_SIZE); i++) ram_eeprom[i] = eeprom_data[i];
   }
   eeprom_dirty = false;
 

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

@@ -29,6 +29,6 @@
 
 // LPC1768 boards seem to lose steps when saving to EEPROM during print (issue #20785)
 // TODO: Which other boards are incompatible?
-#if defined(MCU_LPC1768) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
+#if ALL(MCU_LPC1768, FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
   #define PRINTCOUNTER_SYNC
 #endif

Marlin/src/HAL/LPC1768/timers.h

@@ -57,9 +57,9 @@
 #define _HAL_TIMER_ISR(T)  __HAL_TIMER_ISR(T)
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL
 
-#define HAL_TIMER_RATE         ((F_CPU) / 4)  // frequency of timers peripherals
+#define HAL_TIMER_RATE         ((F_CPU) / 4)  // (Hz) Frequency of timers peripherals
 
 #ifndef MF_TIMER_STEP
   #define MF_TIMER_STEP         0  // Timer Index for Stepper
@@ -74,22 +74,22 @@ typedef uint32_t hal_timer_t;
   #define MF_TIMER_PWM          3  // Timer Index for PWM
 #endif
 
-#define TEMP_TIMER_RATE        1000000
+#define TEMP_TIMER_RATE        1000000 // 1MHz
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_RATE         HAL_TIMER_RATE                                   // (Hz) Frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000UL)               // (MHz) Stepper Timer ticks per µs
-#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+#define STEPPER_TIMER_PRESCALE     (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#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 DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(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 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
@@ -171,4 +171,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.c

@@ -27,7 +27,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 #ifdef TARGET_LPC1768

Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.h

@@ -28,7 +28,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 void u8g_SetPinOutput(uint8_t internal_pin_number);

Marlin/src/HAL/LPC1768/upload_extra_script.py

@@ -54,18 +54,25 @@ if pioutil.is_pio_build():
                     final_drive_name = drive + ':'
                     # print ('disc check: {}'.format(final_drive_name))
                     try:
-                        volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT))
+                        volume_info = str(subprocess.check_output('cmd /C vol ' + final_drive_name, stderr=subprocess.STDOUT))
                     except Exception as e:
                         print ('error:{}'.format(e))
                         continue
                     else:
-                        if target_drive in volume_info and not target_file_found:  # set upload if not found target file yet
+                        if target_drive in volume_info:  # set upload
-                            target_drive_found = True
                             upload_disk = PureWindowsPath(final_drive_name)
-                        if target_filename in volume_info:
+                            target_drive_found = True
-                            if not target_file_found:
+                            break
+                        try:
+                            dir_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT))
+                        except Exception as e:
+                            print ('error:{}'.format(e))
+                            continue
+                        else:
+                            if target_filename in dir_info:
                                 upload_disk = PureWindowsPath(final_drive_name)
-                            target_file_found = True
+                                target_file_found = True
+                                break
 
             elif current_OS == 'Linux':
                 #

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -197,7 +197,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/NATIVE_SIM/fastio.h

@@ -28,6 +28,8 @@
 #include "../shared/Marduino.h"
 #include <pinmapping.h>
 
+#define NO_COMPILE_TIME_PWM
+
 #define SET_DIR_INPUT(IO)     Gpio::setDir(IO, 1)
 #define SET_DIR_OUTPUT(IO)    Gpio::setDir(IO, 0)
 

Marlin/src/HAL/NATIVE_SIM/timers.h

@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL
 
 #define HAL_TIMER_RATE         ((SystemCoreClock) / 4)  // frequency of timers peripherals
 
@@ -52,22 +52,22 @@ typedef uint64_t hal_timer_t;
 #endif
 #define SYSTICK_TIMER_FREQUENCY 1000
 
-#define TEMP_TIMER_RATE        1000000
+#define TEMP_TIMER_RATE        1'000'000 // (Hz) Temperature Timer count rate
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY        1000 // (Hz) Temperature ISR call frequency
 
-#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_RATE     HAL_TIMER_RATE                                       // (Hz) Frequency of Stepper Timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1'000'000)               // (MHz) Stepper Timer ticks per µs
 #define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#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 DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(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 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
@@ -88,5 +88,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

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

@@ -27,7 +27,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 #ifdef __PLAT_NATIVE_SIM__

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

@@ -28,7 +28,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 #ifdef __cplusplus

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

@@ -71,13 +71,13 @@ static uint8_t SPI_speed = 0;
 
 static uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin) {
   for (uint8_t i = 0; i < 8; i++) {
-    WRITE_PIN(mosi_pin, !!(b & 0x80));
+    WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, LOW, HIGH));
     DELAY_CYCLES(SPI_SPEED);
-    WRITE_PIN(sck_pin, HIGH);
+    WRITE_PIN(mosi_pin, !!(b & 0x80));
     DELAY_CYCLES(SPI_SPEED);
     b <<= 1;
     if (miso_pin >= 0 && READ_PIN(miso_pin)) b |= 1;
-    WRITE_PIN(sck_pin, LOW);
+    WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, HIGH, LOW));
     DELAY_CYCLES(SPI_SPEED);
   }
   return b;
@@ -85,7 +85,7 @@ static uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck
 
 static uint8_t swSpiInit(const uint8_t spiRate, const pin_t sck_pin, const pin_t mosi_pin) {
   WRITE_PIN(mosi_pin, HIGH);
-  WRITE_PIN(sck_pin, LOW);
+  WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, HIGH, LOW));
   return spiRate;
 }
 
@@ -93,11 +93,11 @@ static void u8g_com_st7920_write_byte_sw_spi(uint8_t rs, uint8_t val) {
   static uint8_t rs_last_state = 255;
   if (rs != rs_last_state) {
     // Transfer Data (FA) or Command (F8)
-    swSpiTransfer(rs ? 0x0FA : 0x0F8, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
+    swSpiTransfer(rs ? 0xFA : 0xF8, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
     rs_last_state = rs;
     DELAY_US(40); // Give the controller time to process the data: 20 is bad, 30 is OK, 40 is safe
   }
-  swSpiTransfer(val & 0x0F0, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
+  swSpiTransfer(val & 0xF0, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
   swSpiTransfer(val << 4, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
 }
 
@@ -169,5 +169,32 @@ uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
   }
 #endif
 
+#if ENABLED(LIGHTWEIGHT_UI)
+
+  #define ST7920_CS()              { WRITE(LCD_PINS_RS, HIGH); }
+  #define ST7920_NCS()             { WRITE(LCD_PINS_RS, LOW); }
+  #define ST7920_SET_CMD()         { ST7920_SWSPI_SND_8BIT(0xF8); }
+  #define ST7920_SET_DAT()         { ST7920_SWSPI_SND_8BIT(0xFA); }
+  #define ST7920_WRITE_BYTE(a)     { ST7920_SWSPI_SND_8BIT((uint8_t)((a)&0xF0u)); ST7920_SWSPI_SND_8BIT((uint8_t)((a)<<4U)); }
+
+  #define ST7920_DAT(V) !!((V) & 0x80)
+
+  #define ST7920_SND_BIT(...) do{        \
+    WRITE(LCD_PINS_D4, LOW);             \
+    WRITE(LCD_PINS_EN, ST7920_DAT(val)); \
+    WRITE(LCD_PINS_D4, HIGH);            \
+    val <<= 1; }while(0);
+
+  void ST7920_SWSPI_SND_8BIT(uint8_t val) {
+    REPEAT(8, ST7920_SND_BIT);
+  }
+
+  void ST7920_cs()                          { ST7920_CS(); }
+  void ST7920_ncs()                         { ST7920_NCS(); }
+  void ST7920_set_cmd()                     { ST7920_SET_CMD(); }
+  void ST7920_set_dat()                     { ST7920_SET_DAT(); }
+  void ST7920_write_byte(const uint8_t val) { ST7920_WRITE_BYTE(val); }
+#endif // LIGHTWEIGHT_UI
+
 #endif // IS_U8GLIB_ST7920
 #endif // __PLAT_NATIVE_SIM__

Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp

@@ -127,7 +127,7 @@ uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck
 static uint8_t SPI_speed = 0;
 
 static uint8_t swSpiInit(const uint8_t spi_speed, const uint8_t clk_pin, const uint8_t mosi_pin) {
-    return spi_speed;
+  return spi_speed;
 }
 
 static void u8g_sw_spi_shift_out(uint8_t dataPin, uint8_t clockPin, uint8_t val) {

Marlin/src/HAL/RP2040/HAL.cpp

@@ -32,17 +32,123 @@
 extern "C" {
   #include "pico/bootrom.h"
   #include "hardware/watchdog.h"
+  #include "pico/multicore.h"
+  #include "hardware/adc.h"
+  #include "pico/time.h"
 }
 
 #if HAS_SD_HOST_DRIVE
   #include "msc_sd.h"
-  #include "usbd_cdc_if.h"
 #endif
 
+// Core 1 watchdog configuration
+#define CORE1_MAX_RESETS 5  // Maximum number of Core 1 resets before halting system
+
 // ------------------------
 // Public Variables
 // ------------------------
 
+volatile uint32_t adc_accumulators[5] = {0}; // Accumulators for oversampling (sum of readings)
+volatile uint8_t adc_counts[5] = {0};        // Count of readings accumulated per channel
+volatile uint16_t adc_values[5] = {512, 512, 512, 512, 512}; // Final oversampled ADC values (averages) - initialized to mid-range
+
+// Core 1 watchdog monitoring
+volatile uint32_t core1_last_heartbeat = 0; // Timestamp of Core 1's last activity
+volatile bool core1_watchdog_triggered = false; // Flag to indicate Core 1 reset
+volatile uint8_t core1_reset_count = 0; // Count of Core 1 resets - halt system if >= CORE1_MAX_RESETS
+volatile uint8_t current_pin;
+volatile bool MarlinHAL::adc_has_result;
+volatile uint8_t adc_channels_enabled[5] = {false}; // Track which ADC channels are enabled
+
+// Helper function for LED blinking patterns
+void blink_led_pattern(uint8_t blink_count, uint32_t blink_duration_us = 100000) {
+  #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+    for (uint8_t i = 0; i < blink_count; i++) {
+      WRITE(LED_PIN, HIGH);
+      busy_wait_us(blink_duration_us);
+      WRITE(LED_PIN, LOW);
+      if (i < blink_count - 1) { // Don't delay after the last blink
+        busy_wait_us(blink_duration_us);
+      }
+    }
+  #endif
+}
+
+// Core 1 ADC reading task - dynamically reads all enabled channels with oversampling
+void core1_adc_task() {
+  static uint32_t last_led_toggle = 0;
+  const uint8_t OVERSAMPLENR = 16; // Standard Marlin oversampling count
+
+  // Signal successful Core 1 startup/restart
+  SERIAL_ECHO_MSG("Core 1 ADC task started");
+
+  while (true) {
+    // Update heartbeat timestamp at start of each scan cycle
+    core1_last_heartbeat = time_us_32();
+
+    // Scan all enabled ADC channels
+    for (uint8_t channel = 0; channel < 5; channel++) {
+      if (!adc_channels_enabled[channel]) continue;
+
+      // Enable temperature sensor if reading channel 4
+      if (channel == 4) {
+        adc_set_temp_sensor_enabled(true);
+      }
+
+      // Select and read the channel
+      adc_select_input(channel);
+      busy_wait_us(100); // Settling delay
+      adc_fifo_drain();
+      adc_run(true);
+
+      // Wait for conversion with timeout
+      uint32_t timeout = 10000;
+      while (adc_fifo_is_empty() && timeout--) {
+        busy_wait_us(1);
+      }
+
+      adc_run(false);
+      uint16_t reading = adc_fifo_is_empty() ? 0 : adc_fifo_get();
+
+      // Accumulate readings for oversampling
+      adc_accumulators[channel] += reading;
+      adc_counts[channel]++;
+
+      // Update the averaged value with current accumulation (provides immediate valid data)
+      adc_values[channel] = adc_accumulators[channel] / adc_counts[channel];
+
+      // When we reach the full oversampling count, reset accumulator for next cycle
+      if (adc_counts[channel] >= OVERSAMPLENR) {
+        adc_accumulators[channel] = 0;
+        adc_counts[channel] = 0;
+      }
+
+      // Disable temp sensor after reading to save power
+      if (channel == 4) {
+        adc_set_temp_sensor_enabled(false);
+      }
+    }
+
+    // Core 1 LED indicator: Double blink every 2 seconds to show Core 1 is active
+    uint32_t now = time_us_32();
+    if (now - last_led_toggle >= 2000000) { // 2 seconds
+      last_led_toggle = now;
+      #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+        // Triple blink pattern if watchdog was triggered (shows Core 1 was reset)
+        if (core1_watchdog_triggered) {
+          core1_watchdog_triggered = false; // Clear flag
+          blink_led_pattern(3); // Triple blink for watchdog reset
+        } else {
+          blink_led_pattern(2); // Normal double blink
+        }
+      #endif
+    }
+
+    // Delay between full scan cycles
+    busy_wait_us(10000); // 10ms between scans
+  }
+}
+
 volatile uint16_t adc_result;
 
 // ------------------------
@@ -56,10 +162,10 @@ 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;
+  constexpr unsigned int cpuFreq = F_CPU;
   UNUSED(cpuFreq);
 
-  #if HAS_MEDIA && DISABLED(SDIO_SUPPORT) && PIN_EXISTS(SD_SS)
+  #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && PIN_EXISTS(SD_SS)
     OUT_WRITE(SD_SS_PIN, HIGH); // Try to set SD_SS_PIN inactive before any other SPI users start up
   #endif
 
@@ -112,15 +218,34 @@ void MarlinHAL::reboot() { watchdog_reboot(0, 0, 1); }
 
   void MarlinHAL::watchdog_init() {
     #if DISABLED(DISABLE_WATCHDOG_INIT)
-      static_assert(WDT_TIMEOUT_US > 1000, "WDT Timout is too small, aborting");
+      static_assert(WDT_TIMEOUT_US > 1000, "WDT Timeout is too small, aborting");
       watchdog_enable(WDT_TIMEOUT_US/1000, true);
     #endif
   }
 
   void MarlinHAL::watchdog_refresh() {
+    // If Core 1 has reset CORE1_MAX_RESETS+ times, stop updating watchdog to halt system
+    if (core1_reset_count >= CORE1_MAX_RESETS) {
+      SERIAL_ECHO_MSG("Core 1 reset limit exceeded (", core1_reset_count, " resets) - halting system for safety");
+      return; // Don't update watchdog - system will halt
+    }
+
     watchdog_update();
+
+    // Check Core 1 watchdog (15 second timeout)
+    uint32_t now = time_us_32();
+    if (now - core1_last_heartbeat > 15000000) { // 15 seconds
+      // Core 1 appears stuck - reset it
+      multicore_reset_core1();
+      multicore_launch_core1(core1_adc_task);
+      core1_watchdog_triggered = true; // Signal for LED indicator
+      core1_reset_count++; // Increment reset counter
+      SERIAL_ECHO_MSG("Core 1 ADC watchdog triggered - resetting Core 1 (attempt ", core1_reset_count, ")");
+    }
+
     #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
-      TOGGLE(LED_PIN);  // heartbeat indicator
+      // Core 0 LED indicator: Single toggle every watchdog refresh (shows Core 0 activity)
+      TOGGLE(LED_PIN);
     #endif
   }
 
@@ -130,43 +255,35 @@ void MarlinHAL::reboot() { watchdog_reboot(0, 0, 1); }
 // 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);
+  // Launch Core 1 for continuous ADC reading
-  irq_set_enabled(ADC_IRQ_FIFO, true);
+  multicore_launch_core1(core1_adc_task);
-  adc_irq_set_enabled(true);
+  adc_has_result = true; // Results are always available with continuous sampling
 }
 
 void MarlinHAL::adc_enable(const pin_t pin) {
-  if (pin >= A0 && pin <= A3)
+  if (pin >= A0 && pin <= A3) {
     adc_gpio_init(pin);
-  else if (pin == HAL_ADC_MCU_TEMP_DUMMY_PIN)
+    adc_channels_enabled[pin - A0] = true; // Mark this channel as enabled
-    adc_set_temp_sensor_enabled(true);
+  }
-}
+  else if (pin == HAL_ADC_MCU_TEMP_DUMMY_PIN) {
-
+    adc_channels_enabled[4] = true; // Mark MCU temp channel as enabled
-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; }
+void MarlinHAL::adc_start(const pin_t pin) {
+  // Just store which pin we need to read - values are continuously updated by Core 1
+  current_pin = pin;
+}
+
+uint16_t MarlinHAL::adc_value() {
+  // Return the latest ADC value from Core 1's continuous readings
+  const uint8_t channel = (current_pin == HAL_ADC_MCU_TEMP_DUMMY_PIN) ? 4 : (current_pin - A0);
+  return adc_values[channel];
+}
 
 // Reset the system to initiate a firmware flash
 void flashFirmware(const int16_t) { hal.reboot(); }

Marlin/src/HAL/RP2040/HAL.h

@@ -40,6 +40,11 @@
   #include "msc_sd.h"
 #endif
 
+// ADC index 4 is the MCU temperature
+#define HAL_ADC_MCU_TEMP_DUMMY_PIN 127
+#define TEMP_SOC_PIN HAL_ADC_MCU_TEMP_DUMMY_PIN   // ADC4 is internal temp sensor
+#include "temp_soc.h"
+
 //
 // Serial Ports
 //
@@ -85,8 +90,6 @@ typedef libServo hal_servo_t;
 #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
@@ -141,7 +144,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() { TERN_(HAS_SD_HOST_DRIVE, tuh_task()); }
 
   // Reset
@@ -164,9 +167,6 @@ public:
   // 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; }

Marlin/src/HAL/RP2040/eeprom/eeprom_flash.cpp

@@ -31,28 +31,48 @@
 
 // NOTE: The Bigtreetech SKR Pico has an onboard W25Q16 flash module
 
-// Use EEPROM.h for compatibility, for now.
+// RP2040 Flash-based EEPROM emulation using internal flash memory
-#include <EEPROM.h>
+#include <hardware/flash.h>
+#include <hardware/sync.h>
 
-static bool eeprom_data_written = false;
+// Flash sector size is already defined in hardware/flash.h as FLASH_SECTOR_SIZE
+// Place EEPROM emulation at the end of flash, before the filesystem
+// This assumes 2MB flash, adjust if using different flash size
+#define FLASH_TARGET_OFFSET (PICO_FLASH_SIZE_BYTES - FLASH_SECTOR_SIZE)
 
 #ifndef MARLIN_EEPROM_SIZE
   #define MARLIN_EEPROM_SIZE size_t(E2END + 1)
 #endif
+
+static uint8_t eeprom_buffer[MARLIN_EEPROM_SIZE];
+static bool eeprom_data_written = false;
+static bool eeprom_initialized = false;
 size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; }
 
 bool PersistentStore::access_start() {
-  EEPROM.begin(); // Avoid EEPROM.h warning (do nothing)
+  if (!eeprom_initialized) {
-  eeprom_buffer_fill();
+    // Read from flash into buffer
+    const uint8_t *flash_data = (const uint8_t *)(XIP_BASE + FLASH_TARGET_OFFSET);
+    memcpy(eeprom_buffer, flash_data, MARLIN_EEPROM_SIZE);
+    eeprom_initialized = true;
+  }
   return true;
 }
 
 bool PersistentStore::access_finish() {
   if (eeprom_data_written) {
     TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
-    hal.isr_off();
+
-    eeprom_buffer_flush();
+    // Disable interrupts during flash write
-    hal.isr_on();
+    const uint32_t intstate = save_and_disable_interrupts();
+
+    // Erase and program the sector
+    flash_range_erase(FLASH_TARGET_OFFSET, FLASH_SECTOR_SIZE);
+    flash_range_program(FLASH_TARGET_OFFSET, eeprom_buffer, MARLIN_EEPROM_SIZE);
+
+    // Restore interrupts
+    restore_interrupts(intstate);
+
     TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
     eeprom_data_written = false;
   }
@@ -62,8 +82,8 @@ bool PersistentStore::access_finish() {
 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)) {
+    if (pos < (int)MARLIN_EEPROM_SIZE && v != eeprom_buffer[pos]) {
-      eeprom_buffered_write_byte(pos, v);
+      eeprom_buffer[pos] = v;
       eeprom_data_written = true;
     }
     crc16(crc, &v, 1);
@@ -75,7 +95,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
 
 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);
+    const uint8_t c = (pos < (int)MARLIN_EEPROM_SIZE) ? eeprom_buffer[pos] : 0xFF;
     if (writing) *value = c;
     crc16(crc, &c, 1);
     pos++;

Marlin/src/HAL/RP2040/pinsDebug.h

@@ -25,7 +25,7 @@
 #include "HAL.h"
 
 #ifndef NUM_DIGITAL_PINS
-   #error "Expected NUM_DIGITAL_PINS not found"
+  #error "Expected NUM_DIGITAL_PINS not found."
 #endif
 
 /**
@@ -74,6 +74,27 @@
  *          signal.  The Arduino pin number is listed by the M43 I command.
  */
 
+/**
+ * Pins Debugging for RP2040
+ *
+ *   - 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 NUM_ANALOG_FIRST A0
 
 #define MODE_PIN_INPUT  0 // Input mode (reset state)
@@ -81,66 +102,66 @@
 #define MODE_PIN_ALT    2 // Alternate function mode
 #define MODE_PIN_ANALOG 3 // Analog mode
 
-#define PIN_NUM(P) (P & 0x000F)
+#define getPinByIndex(x) pin_array[x].pin
-#define PIN_NUM_ALPHA_LEFT(P) (((P & 0x000F) < 10) ? ('0' + (P & 0x000F)) : '1')
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PIN_NUM_ALPHA_RIGHT(P) (((P & 0x000F) > 9)  ? ('0' + (P & 0x000F) - 10) : 0 )
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
-#define PORT_NUM(P) ((P  >> 4) & 0x0007)
+#define digitalPinToAnalogIndex(P) digital_pin_to_analog_pin(P)
-#define PORT_ALPHA(P) ('A' + (P  >> 4))
 
-/**
+uint8_t get_pin_mode(const pin_t pin) {
- * Translation of routines & variables used by pinsDebug.h
+  // Check if pin is in alternate function mode (I2C, SPI, etc.)
- */
+  const uint32_t gpio_func = gpio_get_function(pin);
-#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
+  // GPIO_FUNC_I2C is typically function 3 on RP2040
-#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
+  if ( gpio_func == GPIO_FUNC_I2C
-#define GET_ARRAY_PIN(x) ((pin_t) pin_array[x].pin)
+    || gpio_func == GPIO_FUNC_SPI
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+    || gpio_func == GPIO_FUNC_UART
-#define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
+    || gpio_func == GPIO_FUNC_PWM
-
+  ) {
-uint8_t get_pin_mode(const pin_t Ard_num) {
+    return MODE_PIN_ALT;
-
+  }
-  uint dir = gpio_get_dir( Ard_num);
-
-  if (dir) return MODE_PIN_OUTPUT;
-  else return MODE_PIN_INPUT;
 
+  // For GPIO mode, check direction
+  return gpio_get_dir(pin) ? MODE_PIN_OUTPUT : MODE_PIN_INPUT;
 }
 
-bool getValidPinMode(const pin_t Ard_num) {
+bool getValidPinMode(const pin_t pin) {
-  const uint8_t pin_mode = get_pin_mode(Ard_num);
+  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(pin_t Ard_num) {
+#define isValidPin(P) WITHIN(P, 0, pin_t(NUMBER_PINS_TOTAL - 1))
-  Ard_num -= NUM_ANALOG_FIRST;
+
-  return (Ard_num >= 0 && Ard_num < NUM_ANALOG_INPUTS) ? Ard_num : -1;
+int8_t digital_pin_to_analog_pin(pin_t pin) {
+  pin -= NUM_ANALOG_FIRST;
+  return (WITHIN(pin, 0, NUM_ANALOG_INPUTS - 1)) ? pin : -1;
 }
 
-bool isAnalogPin(const pin_t Ard_num) {
+bool isAnalogPin(const pin_t pin) {
-  return digital_pin_to_analog_pin(Ard_num) != -1;
+  return digital_pin_to_analog_pin(pin) != -1;
 }
 
-bool is_digital(const pin_t x) {
+#define digitalRead_mod(A) extDigitalRead(A)  // must use Arduino pin numbers when doing reads
-  const uint8_t pin_mode = get_pin_mode(x);
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3d "), P); SERIAL_ECHO(buffer); }while(0)
-  return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
+
+//bool is_digital(const pin_t pin) {
+//  const uint8_t pin_mode = get_pin_mode(pin);
+//  return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
+//}
+
+bool pwm_status(const pin_t pin) {
+  // Check if this pin is configured for PWM
+  return PWM_PIN(pin) && get_pin_mode(pin) == MODE_PIN_ALT;
 }
 
-void printPinPort(const pin_t Ard_num) {
+void printPinPWM(const pin_t pin) {
-  SERIAL_ECHOPGM("Pin: ");
+  if (pwm_status(pin)) {
-  SERIAL_ECHO(Ard_num);
+    // RP2040 has hardware PWM on specific pins
-}
+    char buffer[22];
-
+    sprintf_P(buffer, PSTR("PWM:  pin %d  "), pin);
-bool pwm_status(const pin_t Ard_num) {
+    SERIAL_ECHO(buffer);
-  return get_pin_mode(Ard_num) == MODE_PIN_ALT;
-}
-
-void printPinPWM(const pin_t Ard_num) {
-  if (PWM_PIN(Ard_num)) {
   }
 }
+
+void printPinPort(const pin_t pin) {}

Marlin/src/HAL/RP2040/temp_soc.h

@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 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
+
+// RP2040 internal temperature sensor
+// Formula: T = 27 - (ADC_voltage - 0.706) / 0.001721
+// ADC_voltage = (RAW / OVERSAMPLENR) * 3.3 / 4096  (RAW is accumulated over OVERSAMPLENR samples)
+// T = 27 - ((RAW / OVERSAMPLENR) * 3.3 / 4096 - 0.706) / 0.001721
+// Simplified: T = 437.423 - (RAW / OVERSAMPLENR) * 0.46875
+
+#define TEMP_SOC_SENSOR(RAW) (437.423f - ((RAW) / OVERSAMPLENR) * 0.46875f)

Marlin/src/HAL/RP2040/timers.h

@@ -41,9 +41,9 @@
 #define _HAL_TIMER_ISR(T)  __HAL_TIMER_ISR(T)
 
 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFF'FFFF'FFFF'FFFFULL
 
-#define HAL_TIMER_RATE         (1000000ull)  // fixed value as we use a microsecond timesource
+#define HAL_TIMER_RATE         (1'000'000ULL)  // fixed value as we use a microsecond timesource
 #ifndef MF_TIMER_STEP
   #define MF_TIMER_STEP        0  // Timer Index for Stepper
 #endif
@@ -58,21 +58,21 @@ typedef uint64_t hal_timer_t;
 #endif
 
 #define TEMP_TIMER_RATE        HAL_TIMER_RATE
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR 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_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#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 DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(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 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
@@ -86,10 +86,10 @@ typedef uint64_t hal_timer_t;
 //#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_0;
-extern alarm_pool_t* HAL_timer_pool_1;
+extern alarm_pool_t *HAL_timer_pool_1;
-extern alarm_pool_t* HAL_timer_pool_2;
+extern alarm_pool_t *HAL_timer_pool_2;
-extern alarm_pool_t* HAL_timer_pool_3;
+extern alarm_pool_t *HAL_timer_pool_3;
 
 extern struct repeating_timer HAL_timer_0;
 
@@ -120,28 +120,23 @@ 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 (timer_num == MF_TIMER_STEP && compare == HAL_TIMER_TYPE_MAX) {
-    if (compare == HAL_TIMER_TYPE_MAX){
+    HAL_timer_stop(timer_num);
-       HAL_timer_stop(timer_num);
+    return;
-       return;
-    }
   }
 
- compare = compare *10; //Dirty fix, figure out a proper way
+ 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;
@@ -151,27 +146,20 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, hal_time
 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
+  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) {
+inline void HAL_timer_isr_prologue(const uint8_t) {}
-  return;
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
-}
-
-#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/RP2040/u8g/LCD_defines.h

@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 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
+
+/**
+ * RP2040 LCD-specific defines
+ */
+uint8_t u8g_com_rp2040_ssd_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); // u8g_com_rp2040_ssd_i2c.cpp
+#define U8G_COM_SSD_I2C_HAL   u8g_com_rp2040_ssd_i2c_fn

Marlin/src/HAL/RP2040/u8g/u8g_com_rp2040_ssd_i2c.cpp

@@ -0,0 +1,108 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 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/>.
+ *
+ */
+
+/**
+ * 2-Wire I2C COM Driver
+ *
+ * Handles Hardware I2C on valid pin combinations.
+ * Wire library is used for Hardware I2C.
+ *
+ * Hardware I2C uses pins defined in pins_arduino.h.
+ */
+
+#ifdef __PLAT_RP2040__
+
+#include "../../../inc/MarlinConfig.h"
+
+#if HAS_U8GLIB_I2C_OLED
+
+#include <U8glib-HAL.h>
+
+#include <Wire.h>
+#ifndef MASTER_ADDRESS
+  #define MASTER_ADDRESS 0x01
+#endif
+
+/**
+ * BUFFER_LENGTH is defined in libraries\Wire\utility\WireBase.h
+ * Default value is 32
+ * Increase this value to 144 to send U8G_COM_MSG_WRITE_SEQ in single block
+ */
+#ifndef BUFFER_LENGTH
+  #define BUFFER_LENGTH 32
+#endif
+#if BUFFER_LENGTH > 144
+  #error "BUFFER_LENGTH should not be greater than 144."
+#endif
+#define I2C_MAX_LENGTH (BUFFER_LENGTH - 1)
+
+uint8_t u8g_com_rp2040_ssd_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+
+  // Hardware I2C flag
+  //static bool i2c_initialized = false;  // Flag to only run init/linking code once
+  //if (!i2c_initialized) {               // Init runtime linkages
+  //  i2c_initialized = true;             // Only do this once
+  //}
+
+  static uint8_t control;
+  // Use the global Wire instance (already initialized with correct pins for RP2040)
+  switch (msg) {
+    case U8G_COM_MSG_INIT:
+      Wire.setClock(400000);
+      // Wire already initialized in MarlinUI::init(), no need to call begin() again
+      break;
+
+    case U8G_COM_MSG_ADDRESS:           // Define cmd (arg_val = 0) or data mode (arg_val = 1)
+      control = arg_val ? 0x40 : 0x00;
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      ::Wire.beginTransmission(0x3C);
+      ::Wire.write(control);
+      ::Wire.write(arg_val);
+      ::Wire.endTransmission();
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ: {
+      uint8_t* dataptr = (uint8_t*)arg_ptr;
+      while (arg_val > 0) {
+        ::Wire.beginTransmission(0x3C);
+        ::Wire.write(control);
+        if (arg_val <= I2C_MAX_LENGTH) {
+          ::Wire.write(dataptr, arg_val);
+          arg_val = 0;
+        }
+        else {
+          ::Wire.write(dataptr, I2C_MAX_LENGTH);
+          arg_val -= I2C_MAX_LENGTH;
+          dataptr += I2C_MAX_LENGTH;
+        }
+        ::Wire.endTransmission();
+      }
+      break;
+    }
+  }
+  return 1;
+}
+
+#endif // HAS_U8GLIB_I2C_OLED
+#endif // __PLAT_RP2040__

Marlin/src/HAL/SAMD21/HAL.h

@@ -144,7 +144,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() {}
 
   // Reset

Marlin/src/HAL/SAMD21/eeprom/eeprom_flash.cpp

@@ -83,7 +83,7 @@ bool PersistentStore::access_start() {
   NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
   while (NVMCTRL->INTFLAG.bit.READY == 0) { }
 
-  PAGE_SIZE =  pow(2,3 + NVMCTRL->PARAM.bit.PSZ);
+  PAGE_SIZE =  POW(2, 3 + NVMCTRL->PARAM.bit.PSZ);
   ROW_SIZE= PAGE_SIZE * 4;
   /*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED;  // Buffered mode and segment reallocation active
   if (NVMCTRL->SEESTAT.bit.RLOCK)

Marlin/src/HAL/SAMD21/timers.cpp

@@ -165,7 +165,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
     tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
 
     // TCn clock setup
-    GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0  | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ;
+    GCLK->CLKCTRL.reg = uint16_t(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0  | GCLK_CLKCTRL_ID(GCM_TC4_TC5));
     SYNC (GCLK->STATUS.bit.SYNCBUSY);
 
     tcReset(tc); // reset TC
@@ -176,7 +176,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
     tc->COUNT32.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ;
     //set prescaler
     //the clock normally counts at the GCLK_TC frequency, but we can set it to divide that frequency to slow it down
-    //you can use different prescaler divisons here like TC_CTRLA_PRESCALER_DIV1 to get a different range
+    //you can use different prescaler divisions here like TC_CTRLA_PRESCALER_DIV1 to get a different range
     tc->COUNT32.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; //it will divide GCLK_TC frequency by 1024
     //set the compare-capture register.
     //The counter will count up to this value (it's a 16bit counter so we use uint16_t)

Marlin/src/HAL/SAMD21/timers.h

@@ -33,7 +33,7 @@
 // --------------------------------------------------------------------------
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL
 
 #define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals
 
@@ -49,15 +49,15 @@ typedef uint32_t hal_timer_t;
   #define MF_TIMER_TEMP         MF_TIMER_RTC // Timer Index for Temperature
 #endif
 
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE          HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000)                  // (MHz) Stepper Timer ticks per µs
 #define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE          STEPPER_TIMER_RATE
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
-#define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
-#define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
@@ -157,4 +157,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(timer_num)
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

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

@@ -32,7 +32,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 #ifdef __SAMD21__

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

@@ -33,7 +33,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 void u8g_SetPinOutput(uint8_t internal_pin_number);

Marlin/src/HAL/SAMD51/HAL.cpp

@@ -61,7 +61,8 @@
 #define GET_COOLER_ADC()            TERN(HAS_TEMP_ADC_COOLER,   PIN_TO_ADC(TEMP_COOLER_PIN),            -1)
 #define GET_BOARD_ADC()             TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),             -1)
 #define GET_SOC_ADC()               TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),             -1)
-#define GET_FILAMENT_WIDTH_ADC()    TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN),               -1)
+#define GET_FILAMENT_WIDTH_ADC()    TERN(HAS_FILWIDTH_ADC,      PIN_TO_ADC(FILWIDTH_PIN),               -1)
+#define GET_FILAMENT2_WIDTH_ADC()   TERN(HAS_FILWIDTH2_ADC,     PIN_TO_ADC(FILWIDTH2_PIN),              -1)
 #define GET_BUTTONS_ADC()           TERN(HAS_ADC_BUTTONS,       PIN_TO_ADC(ADC_KEYPAD_PIN),             -1)
 #define GET_JOY_ADC_X()             TERN(HAS_JOY_ADC_X,         PIN_TO_ADC(JOY_X_PIN),                  -1)
 #define GET_JOY_ADC_Y()             TERN(HAS_JOY_ADC_Y,         PIN_TO_ADC(JOY_Y_PIN),                  -1)
@@ -77,7 +78,7 @@
   || GET_PROBE_ADC() == n \
   || GET_COOLER_ADC() == n \
   || GET_BOARD_ADC() == n || GET_SOC_ADC() == n \
-  || GET_FILAMENT_WIDTH_ADC() == n \
+  || GET_FILAMENT_WIDTH_ADC() == n || GET_FILAMENT2_WIDTH_ADC() == n \
   || GET_BUTTONS_ADC() == n \
   || GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \
   || GET_POWERMON_ADC_CURRENT() == n || GET_POWERMON_ADC_VOLTS() == n \
@@ -146,6 +147,9 @@ enum ADCIndex {
   #if GET_FILAMENT_WIDTH_ADC() == 0
     FILWIDTH,
   #endif
+  #if GET_FILAMENT2_WIDTH_ADC() == 0
+    FILWIDTH2,
+  #endif
   #if GET_BUTTONS_ADC() == 0
     ADC_KEY,
   #endif
@@ -212,6 +216,9 @@ enum ADCIndex {
   #if GET_FILAMENT_WIDTH_ADC() == 1
     FILWIDTH,
   #endif
+  #if GET_FILAMENT2_WIDTH_ADC() == 1
+    FILWIDTH2,
+  #endif
   #if GET_BUTTONS_ADC() == 1
     ADC_KEY,
   #endif
@@ -334,6 +341,9 @@ enum ADCIndex {
     #if GET_FILAMENT_WIDTH_ADC() == 0
       FILWIDTH_PIN,
     #endif
+    #if GET_FILAMENT2_WIDTH_ADC() == 0
+      FILWIDTH2_PIN,
+    #endif
     #if GET_BUTTONS_ADC() == 0
       ADC_KEYPAD_PIN,
     #endif
@@ -400,6 +410,9 @@ enum ADCIndex {
     #if GET_FILAMENT_WIDTH_ADC() == 1
       FILWIDTH_PIN,
     #endif
+    #if GET_FILAMENT2_WIDTH_ADC() == 1
+      FILWIDTH2_PIN,
+    #endif
     #if GET_BUTTONS_ADC() == 1
       ADC_KEYPAD_PIN,
     #endif
@@ -471,6 +484,9 @@ enum ADCIndex {
       #if GET_FILAMENT_WIDTH_ADC() == 0
         { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
       #endif
+      #if GET_FILAMENT2_WIDTH_ADC() == 0
+        { PIN_TO_INPUTCTRL(FILWIDTH2_PIN) },
+      #endif
       #if GET_BUTTONS_ADC() == 0
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
@@ -543,6 +559,9 @@ enum ADCIndex {
       #if GET_FILAMENT_WIDTH_ADC() == 1
         { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
       #endif
+      #if GET_FILAMENT2_WIDTH_ADC() == 1
+        { PIN_TO_INPUTCTRL(FILWIDTH2_PIN) },
+      #endif
       #if GET_BUTTONS_ADC() == 1
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif

Marlin/src/HAL/SAMD51/HAL.h

@@ -121,7 +121,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() {}
 
   // Reset

Marlin/src/HAL/SAMD51/timers.h

@@ -32,7 +32,7 @@
 // --------------------------------------------------------------------------
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFUL
 
 #define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals
 
@@ -48,15 +48,15 @@ typedef uint32_t hal_timer_t;
   #define MF_TIMER_TEMP         MF_TIMER_RTC // Timer Index for Temperature
 #endif
 
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE          HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000)                  // (MHz) Stepper Timer ticks per µs
 #define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE          STEPPER_TIMER_RATE
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
-#define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
-#define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
@@ -145,4 +145,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(timer_num)
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

Marlin/src/HAL/STM32/HAL.cpp

@@ -66,7 +66,7 @@ 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;
+  constexpr unsigned int cpuFreq = F_CPU;
   UNUSED(cpuFreq);
 
   #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && PIN_EXISTS(SD_SS)
@@ -114,7 +114,7 @@ void MarlinHAL::idletask() {
 void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
 uint8_t MarlinHAL::get_reset_source() {
-  return
+  return (
     #ifdef RCC_FLAG_IWDGRST // Some sources may not exist...
       RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)  ? RST_WATCHDOG :
     #endif
@@ -134,7 +134,7 @@ uint8_t MarlinHAL::get_reset_source() {
       RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_PORRST)   ? RST_POWER_ON :
     #endif
     0
-  ;
+  );
 }
 
 void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }

Marlin/src/HAL/STM32/HAL.h

@@ -157,7 +157,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/STM32/HardwareSerial.cpp

@@ -209,7 +209,7 @@ HAL_HardwareSerial::HAL_HardwareSerial(void *peripheral) {
     }
   #endif
 
-  else { // else get the pins of the first peripheral occurence in PinMap
+  else { // else get the pins of the first peripheral occurrence in PinMap
     _serial.pin_rx = pinmap_pin(peripheral, PinMap_UART_RX);
     _serial.pin_tx = pinmap_pin(peripheral, PinMap_UART_TX);
   }

Marlin/src/HAL/STM32/README.md

@@ -3,9 +3,10 @@
 This HAL is intended to act as the generic STM32 HAL for all STM32 chips (The whole F, H and L family).
 
 Currently it supports:
- * STM32F0xx
+
- * STM32F1xx
+- STM32F0xx
- * STM32F4xx
+- STM32F1xx
- * STM32F7xx
+- STM32F4xx
+- STM32F7xx
 
 Targeting the official [Arduino STM32 Core](https://github.com/stm32duino/Arduino_Core_STM32).

Marlin/src/HAL/STM32/Servo.cpp

@@ -39,8 +39,8 @@ static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM
 static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
 
 // This must be called after the STM32 Servo class has initialized the timer.
-// It may only be needed after the first call to attach(), but it is possible
+// It may only be needed after the first call to attach(), but it's possible
-// that is is necessary after every detach() call. To be safe this is currently
+// that this is needed after every detach() call. To be safe this is currently
 // called after every call to attach().
 static void fixServoTimerInterruptPriority() {
   NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority);

Marlin/src/HAL/STM32/eeprom/eeprom_flash.cpp

@@ -125,13 +125,13 @@ bool PersistentStore::access_start() {
       }
       if (current_slot == -1) {
         // We didn't find anything, so we'll just initialize to empty
-        for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = EMPTY_UINT8;
+        for (int i = 0; i < long(MARLIN_EEPROM_SIZE); i++) ram_eeprom[i] = EMPTY_UINT8;
         current_slot = EEPROM_SLOTS;
       }
       else {
         // load current settings
         uint8_t *eeprom_data = (uint8_t *)SLOT_ADDRESS(current_slot);
-        for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = eeprom_data[i];
+        for (int i = 0; i < long(MARLIN_EEPROM_SIZE); i++) ram_eeprom[i] = eeprom_data[i];
         DEBUG_ECHOLNPGM("EEPROM loaded from slot ", current_slot, ".");
       }
       eeprom_data_written = false;

Marlin/src/HAL/STM32/eeprom/eeprom_if_iic.cpp

@@ -44,7 +44,7 @@ void eeprom_init() { BL24CXX::init(); }
 
 void eeprom_write_byte(uint8_t *pos, uint8_t value) {
   const unsigned eeprom_address = (unsigned)pos;
-  return BL24CXX::writeOneByte(eeprom_address, value);
+  BL24CXX::writeOneByte(eeprom_address, value);
 }
 
 uint8_t eeprom_read_byte(uint8_t *pos) {

Marlin/src/HAL/STM32/eeprom/eeprom_sdcard.cpp

@@ -54,7 +54,7 @@ bool PersistentStore::access_start() {
 
   int bytes_read = file.read(HAL_eeprom_data, MARLIN_EEPROM_SIZE);
   if (bytes_read < 0) return false;
-  for (; bytes_read < MARLIN_EEPROM_SIZE; bytes_read++)
+  for (; bytes_read < long(MARLIN_EEPROM_SIZE); bytes_read++)
     HAL_eeprom_data[bytes_read] = 0xFF;
   file.close();
   return true;

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

@@ -29,6 +29,6 @@
 #endif
 
 // Some STM32F4 boards may lose steps when saving to EEPROM during print (PR #17946)
-#if defined(STM32F4xx) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
+#if ALL(STM32F4xx, FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
   #define PRINTCOUNTER_SYNC
 #endif

Marlin/src/HAL/STM32/pinsDebug.h

@@ -136,10 +136,8 @@ const XrefInfo pin_xref[] PROGMEM = {
 #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
-
+#define getPinIsDigitalByIndex(x) bool(pin_array[x].is_digital)
-// x is a variable used to search pin_array
+#define getPinByIndex(x) pin_t(pin_array[x].pin)
-#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
 
@@ -150,7 +148,7 @@ const XrefInfo pin_xref[] PROGMEM = {
 
 #ifndef M43_NEVER_TOUCH
   #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
+  #if PIN_EXISTS(KILL)
     #define M43_NEVER_TOUCH(x) m43_never_touch(x)
 
     bool m43_never_touch(const pin_t index) {
@@ -229,8 +227,7 @@ void printPinPort(const pin_t pin) {
     calc_p -= NUM_ANALOG_FIRST;
     if (calc_p > 7) calc_p += 8;
   }
-  SERIAL_ECHOPGM(" M42 P", calc_p);
+  SERIAL_ECHO(F(" M42 P"), calc_p, C(' '));
-  SERIAL_CHAR(' ');
   if (calc_p < 100) {
     SERIAL_CHAR(' ');
     if (calc_p <  10)