use has_* naming

use the conditional
Fix FTDUI Status Screen Timeout
2022-10-21 16:39:33 -05:00 · 2022-10-19 21:09:43 -05:00 · 2022-10-18 17:53:07 -04:00 · 2022-10-17 23:00:26 -05:00 · 2022-10-17 22:47:09 -05:00 · 2022-10-17 22:41:41 -05:00
687 changed files with 26760 additions and 18426 deletions
@@ -14,6 +14,10 @@ end_of_line = lf
 indent_style = space
 indent_size = 2

-[{*.py,*.conf,*.sublime-project}]
+[{*.py}]
+indent_style = space
+indent_size = 4
+
+[{*.conf,*.sublime-project}]
 indent_style = tab
 indent_size = 4
@@ -14,13 +14,13 @@ body:

        ## Before Reporting a Bug

-        - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.0.x/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect.
+        - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect.

-        - Test with the [`bugfix-2.0.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip) to see whether the issue still exists.
+        - Test with the [`bugfix-2.1.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip) to see whether the issue still exists.

        ## Instructions

-        Please follow the instructions below. Failure to do so may result in your issue being closed. See [Contributing to Marlin](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.0.x/.github/contributing.md) for additional guidelines.
+        Please follow the instructions below. Failure to do so may result in your issue being closed. See [Contributing to Marlin](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/.github/contributing.md) for additional guidelines.

        1. Provide a good title starting with [BUG].
        2. Fill out all sections of this bug report form.
@@ -28,10 +28,10 @@ body:

  - type: dropdown
    attributes:
-      label: Did you test the latest `bugfix-2.0.x` code?
+      label: Did you test the latest `bugfix-2.1.x` code?
      description: >-
        Always try the latest code to make sure the issue you are reporting is not already fixed. To download
-        the latest code just [click this link](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip).
+        the latest code just [click this link](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip).
      options:
        - Yes, and the problem still exists.
        - No, but I will test it now!
@@ -50,6 +50,8 @@ body:
        Describe the bug in this section. Tell us what you were trying to do and what
        happened that you did not expect. Provide a clear and concise description of the
        problem and include as many details as possible.
+
+        When pasting formatted text don't forget to put ` ``` ` (on its own line) before and after to make it readable.
      placeholder: |
        Marlin doesn't work.
    validations:
@@ -149,21 +151,28 @@ body:

  - type: markdown
    attributes:
-      value: >-
-        ## Other things to include
+      value: |
+        # Attachments

-        Please also be sure to include these items to help with troubleshooting:
+  - type: checkboxes
+    attributes:
+      label: Don't forget to include
+      options:
+        - label: A ZIP file containing your `Configuration.h` and `Configuration_adv.h`.
+          required: true

-          * **A ZIP file** containing your `Configuration.h` and `Configuration_adv.h`.
-            (Please don't paste lengthy configuration text here.)
-          * **Log output** from the host. (`M111 S247` for maximum logging.)
-          * **Images or videos** demonstrating the problem, if it helps to make it clear.
-          * **A G-Code file** that exposes the problem, if not affecting _all_ G-code.
-
-        If you've made any other modifications to the firmware, please describe them in detail in the space provided.
-
-        When pasting formatted text into the box below don't forget to put ` ``` ` (on its own line) before and after to make it readable.
+  - type: markdown
+    attributes:
+      value: |
+        ### Optional items to include:
+        - 'Log output from the host. (`M111 S247` for maximum logging.)'
+        - Images or videos demonstrating the problem, if it helps to make it clear.
+        - A G-Code file that exposes the problem, if not affecting _all_ G-code.

  - type: textarea
    attributes:
      label: Additional information & file uploads
+      description: >-
+        If you've made any other modifications to the firmware, please describe them in detail.
+
+        When pasting formatted text don't forget to put ` ``` ` (on its own line) before and after to make it readable.
@@ -17,7 +17,7 @@ body:

        - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect.

-        - Check the latest [`bugfix-2.0.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip) to see if the feature already exists.
+        - Check the latest [`bugfix-2.1.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip) to see if the feature already exists.

        - Before you proceed with your request, please consider if it is necessary to make it into a firmware feature, or if it may be better suited for a slicer or host feature.

@@ -34,8 +34,11 @@ This project and everyone participating in it is governed by the [Marlin Code of

 We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions.

-* [Marlin RepRap forum](https://reprap.org/forum/list.php?415)
-* [MarlinFirmware on Facebook](https://www.facebook.com/groups/1049718498464482/)
+- [Marlin Documentation](https://marlinfw.org) - Official Marlin documentation
+- Facebook Group ["Marlin Firmware"](https://www.facebook.com/groups/1049718498464482/)
+- RepRap.org [Marlin Forum](https://forums.reprap.org/list.php?415)
+- Facebook Group ["Marlin Firmware for 3D Printers"](https://www.facebook.com/groups/3Dtechtalk/)
+- [Marlin Configuration](https://www.youtube.com/results?search_query=marlin+configuration) on YouTube

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

@@ -116,7 +119,7 @@ Unsure where to begin contributing to Marlin? You can start by looking through t

 ### Pull Requests

-Pull Requests should always be targeted to working branches (e.g., `bugfix-2.0.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
+Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.

 * Fill in [the required template](pull_request_template.md).
 * Don't include issue numbers in the PR title.
@@ -18,12 +18,32 @@ jobs:

    steps:

-    - name: Check out bugfix-2.0.x
+    - name: Check out bugfix-2.1.x
      uses: actions/checkout@v2
      with:
-        ref: bugfix-2.0.x
+        ref: bugfix-2.1.x

-    - name: Bump Distribution Date
+    - name: Bump Date (bugfix-2.0.x)
+      run: |
+        # Inline Bump Script
+        if [[ ! "$( git log -1 --pretty=%B )" =~ ^\[cron\] ]]; then
+          DIST=$( date +"%Y-%m-%d" )
+          eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \
+          eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/Version.h" && \
+          git config user.name "${GITHUB_ACTOR}" && \
+          git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \
+          git add . && \
+          git commit -m "[cron] Bump distribution date ($DIST)" && \
+          git push
+        fi
+        exit 0
+
+    - name: Check out bugfix-2.1.x
+      uses: actions/checkout@v2
+      with:
+        ref: bugfix-2.1.x
+
+    - name: Bump Date (bugfix-2.1.x)
      run: |
        # Inline Bump Script
        if [[ ! "$( git log -1 --pretty=%B )" =~ ^\[cron\] ]]; then
@@ -12,6 +12,7 @@ on:
    - 1.0.x
    - 1.1.x
    - 2.0.x
+    - 2.1.x

 jobs:
  bad_target:
@@ -26,8 +27,8 @@ jobs:
        comment: >
          Thanks for your contribution! Unfortunately we can't accept PRs directed at release branches. We make patches to the bugfix branches and only later do we push them out as releases.

-          Please redo this PR starting with the `bugfix-2.0.x` branch and be careful to target `bugfix-2.0.x` when resubmitting the PR.
+          Please redo this PR starting with the `bugfix-2.1.x` branch and be careful to target `bugfix-2.1.x` when resubmitting the PR. Patches may also target `bugfix-2.0.x` if they are specifically for 2.0.9.x.

          It may help to set your fork's default branch to `bugfix-2.0.x`.

-          See [this page](http://marlinfw.org/docs/development/getting_started_pull_requests.html) for full instructions.
+          See [this page](https://marlinfw.org/docs/development/getting_started_pull_requests.html) for full instructions.
@@ -25,4 +25,4 @@ jobs:
        days-before-close: 10
        stale-issue-label: 'stale-closing-soon'
        exempt-all-assignees: true
-        exempt-issue-labels: 'Bug: Confirmed !,T: Feature Request,Needs: Discussion,Needs: Documentation,Needs: Patch,Needs: Work,Needs: Testing,help wanted,no-locking'
+        exempt-issue-labels: 'Bug: Confirmed !,T: Feature Request,Needs: More Data,Needs: Discussion,Needs: Documentation,Needs: Patch,Needs: Work,Needs: Testing,help wanted,no-locking'
@@ -8,7 +8,7 @@ name: CI
 on:
  pull_request:
    branches:
-    - bugfix-2.0.x
+    - bugfix-2.1.x
    paths-ignore:
    - config/**
    - data/**
@@ -16,7 +16,7 @@ on:
    - '**/*.md'
  push:
    branches:
-    - bugfix-2.0.x
+    - bugfix-2.1.x
    paths-ignore:
    - config/**
    - data/**
@@ -45,6 +45,7 @@ jobs:
        - teensy35
        - teensy41
        - SAMD51_grandcentral_m4
+        - PANDA_PI_V29

        # Extended AVR Environments

@@ -65,7 +66,7 @@ jobs:
        #- mks_robin_maple
        - mks_robin_lite_maple
        - mks_robin_pro_maple
-        #- mks_robin_nano35_maple
+        #- mks_robin_nano_v1v2_maple
        #- STM32F103RE_creality_maple
        - STM32F103VE_ZM3E4V2_USB_maple

@@ -79,7 +80,6 @@ jobs:
        - STM32F401RC_creality
        - STM32F103VE_longer
        - STM32F407VE_black
-        - STM32F401VE_STEVAL
        - BIGTREE_BTT002
        - BIGTREE_SKR_PRO
        - BIGTREE_GTR_V1_0
@@ -93,12 +93,17 @@ jobs:
        - rumba32
        - LERDGEX
        - LERDGEK
-        - mks_robin_nano35
+        - mks_robin_nano_v1v2
+        #- mks_robin_nano_v1v2_usbmod
+        #- mks_robin_nano_v1_3_f4_usbmod
        - NUCLEO_F767ZI
        - REMRAM_V1
        - BTT_SKR_SE_BX
        - chitu_f103
-        - Index_Mobo_Rev03
+        - Opulo_Lumen_REV3
+
+        # ESP32 environments
+        - mks_tinybee

        # Put lengthy tests last

@@ -147,6 +147,7 @@ vc-fileutils.settings
 imgui.ini
 eeprom.dat
 spi_flash.bin
+fs.img

 #cmake
 CMakeLists.txt
@@ -27,7 +27,7 @@ tests-single-ci:

 tests-single-local:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-all-local" ; return 1; fi
-	export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \
+	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
 	  && run_tests . $(TEST_TARGET) "$(ONLY_TEST)"
 .PHONY: tests-single-local
@@ -38,7 +38,7 @@ tests-single-local-docker:
 .PHONY: tests-single-local-docker

 tests-all-local:
-	export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \
+	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
 	  && for TEST_TARGET in $$(./get_test_targets.py) ; do echo "Running tests for $$TEST_TARGET" ; run_tests . $$TEST_TARGET ; done
 .PHONY: tests-all-local
@@ -35,7 +35,7 @@
 *
 * Advanced settings can be found in Configuration_adv.h
 */
-#define CONFIGURATION_H_VERSION 02010000
+#define CONFIGURATION_H_VERSION 02010200

 //===========================================================================
 //============================= Getting Started =============================
@@ -57,15 +57,6 @@
 *                      https://www.thingiverse.com/thing:1278865
 */

-//===========================================================================
-//========================== DELTA / SCARA / TPARA ==========================
-//===========================================================================
-//
-// Download configurations from the link above and customize for your machine.
-// Examples are located in config/examples/delta, .../SCARA, and .../TPARA.
-//
-//===========================================================================
-
 // @section info

 // Author info of this build printed to the host during boot and M115
@@ -121,6 +112,7 @@
 * :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000]
 */
 #define BAUDRATE 250000
+
 //#define BAUD_RATE_GCODE     // Enable G-code M575 to set the baud rate

 /**
@@ -129,7 +121,7 @@
 * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
 */
 //#define SERIAL_PORT_2 -1
-//#define BAUDRATE_2 250000   // Enable to override BAUDRATE
+//#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

 /**
 * Select a third serial port on the board to use for communication with the host.
@@ -137,7 +129,7 @@
 * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
 */
 //#define SERIAL_PORT_3 1
-//#define BAUDRATE_3 250000   // Enable to override BAUDRATE
+//#define BAUDRATE_3 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH
@@ -149,6 +141,8 @@
 // Choose your own or use a service like https://www.uuidgenerator.net/version4
 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"

+// @section stepper drivers
+
 /**
 * Stepper Drivers
 *
@@ -157,13 +151,12 @@
 *
 * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers.
 *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
- *          TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100,
 *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
 *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
 *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
 *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
 */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988
@@ -249,6 +242,8 @@
  //#define SINGLENOZZLE_STANDBY_FAN
 #endif

+// @section multi-material
+
 /**
 * Multi-Material Unit
 * Set to one of these predefined models:
@@ -261,6 +256,7 @@
 *
 * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
 * See additional options in Configuration_adv.h.
+ * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
 */
 //#define MMU_MODEL PRUSA_MMU2

@@ -280,6 +276,7 @@
  #define SWITCHING_NOZZLE_SERVO_NR 0
  //#define SWITCHING_NOZZLE_E1_SERVO_NR 1          // If two servos are used, the index of the second
  #define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 }   // Angles for E0, E1 (single servo) or lowered/raised (dual servo)
+  #define SWITCHING_NOZZLE_SERVO_DWELL 2500         // Dwell time to wait for servo to make physical move
 #endif

 /**
@@ -396,7 +393,7 @@
 //#define HOTEND_OFFSET_Y { 0.0, 5.00 }  // (mm) relative Y-offset for each nozzle
 //#define HOTEND_OFFSET_Z { 0.0, 0.00 }  // (mm) relative Z-offset for each nozzle

-// @section machine
+// @section psu control

 /**
 * Power Supply Control
@@ -499,7 +496,7 @@
 *    30 : 100kΩ  Kis3d Silicone heating mat 200W/300W with 6mm precision cast plate (EN AW 5083) NTC100K - beta 3950
 *    60 : 100kΩ  Maker's Tool Works Kapton Bed Thermistor - beta 3950
 *    61 : 100kΩ  Formbot/Vivedino 350°C Thermistor - beta 3950
- *    66 : 4.7MΩ  Dyze Design High Temperature Thermistor
+ *    66 : 4.7MΩ  Dyze Design / Trianglelab T-D500 500°C High Temperature Thermistor
 *    67 : 500kΩ  SliceEngineering 450°C Thermistor
 *    68 : PT100 amplifier board from Dyze Design
 *    70 : 100kΩ  bq Hephestos 2
@@ -521,6 +518,7 @@
 *   110 : Pt100  with 1kΩ pullup (atypical)
 *   147 : Pt100  with 4.7kΩ pullup
 *  1010 : Pt1000 with 1kΩ pullup (atypical)
+ *  1022 : Pt1000 with 2.2kΩ pullup
 *  1047 : Pt1000 with 4.7kΩ pullup (E3D)
 *    20 : Pt100  with circuit in the Ultimainboard V2.x with mainboard ADC reference voltage = INA826 amplifier-board supply voltage.
 *                NOTE: (1) Must use an ADC input with no pullup. (2) Some INA826 amplifiers are unreliable at 3.3V so consider using sensor 147, 110, or 21.
@@ -558,22 +556,32 @@
 #define DUMMY_THERMISTOR_999_VALUE 100

 // Resistor values when using MAX31865 sensors (-5) on TEMP_SENSOR_0 / 1
-//#define MAX31865_SENSOR_OHMS_0      100   // (Ω) Typically 100 or 1000 (PT100 or PT1000)
-//#define MAX31865_CALIBRATION_OHMS_0 430   // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000
-//#define MAX31865_SENSOR_OHMS_1      100
-//#define MAX31865_CALIBRATION_OHMS_1 430
+#if TEMP_SENSOR_IS_MAX_TC(0)
+  #define MAX31865_SENSOR_OHMS_0      100 // (Ω) Typically 100 or 1000 (PT100 or PT1000)
+  #define MAX31865_CALIBRATION_OHMS_0 430 // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000
+#endif
+#if TEMP_SENSOR_IS_MAX_TC(1)
+  #define MAX31865_SENSOR_OHMS_1      100
+  #define MAX31865_CALIBRATION_OHMS_1 430
+#endif

-#define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
-#define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_HYSTERESIS              3  // (°C) Temperature proximity considered "close enough" to the target
+#if HAS_E_TEMP_SENSOR
+  #define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
+  #define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_HYSTERESIS              3  // (°C) Temperature proximity considered "close enough" to the target
+#endif

-#define TEMP_BED_RESIDENCY_TIME     10  // (seconds) Time to wait for bed to "settle" in M190
-#define TEMP_BED_WINDOW              1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_BED_HYSTERESIS          3  // (°C) Temperature proximity considered "close enough" to the target
+#if TEMP_SENSOR_BED
+  #define TEMP_BED_RESIDENCY_TIME     10  // (seconds) Time to wait for bed to "settle" in M190
+  #define TEMP_BED_WINDOW              1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_BED_HYSTERESIS          3  // (°C) Temperature proximity considered "close enough" to the target
+#endif

-#define TEMP_CHAMBER_RESIDENCY_TIME 10  // (seconds) Time to wait for chamber to "settle" in M191
-#define TEMP_CHAMBER_WINDOW          1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_CHAMBER_HYSTERESIS      3  // (°C) Temperature proximity considered "close enough" to the target
+#if TEMP_SENSOR_CHAMBER
+  #define TEMP_CHAMBER_RESIDENCY_TIME 10  // (seconds) Time to wait for chamber to "settle" in M191
+  #define TEMP_CHAMBER_WINDOW          1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_CHAMBER_HYSTERESIS      3  // (°C) Temperature proximity considered "close enough" to the target
+#endif

 /**
 * Redundant Temperature Sensor (TEMP_SENSOR_REDUNDANT)
@@ -632,6 +640,8 @@
 //============================= PID Settings ================================
 //===========================================================================

+// @section hotend temp
+
 // Enable PIDTEMP for PID control or MPCTEMP for Predictive Model.
 // temperature control. Disable both for bang-bang heating.
 #define PIDTEMP          // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning
@@ -642,8 +652,9 @@
 #define PID_K1 0.95      // Smoothing factor within any PID loop

 #if ENABLED(PIDTEMP)
-  //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
-                                  // Set/get with gcode: M301 E[extruder number, 0-2]
+  //#define PID_DEBUG             // Print PID debug data to the serial port. Use 'M303 D' to toggle activation.
+  //#define PID_PARAMS_PER_HOTEND // Use separate PID parameters for each extruder (useful for mismatched extruders)
+                                  // Set/get with G-code: M301 E[extruder number, 0-2]

  #if ENABLED(PID_PARAMS_PER_HOTEND)
    // Specify up to one value per hotend here, according to your setup.
@@ -663,7 +674,8 @@
 *
 * Use a physical model of the hotend to control temperature. When configured correctly
 * this gives better responsiveness and stability than PID and it also removes the need
- * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 to autotune the model.
+ * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 T to autotune the model.
+ * @section mpctemp
 */
 #if ENABLED(MPCTEMP)
  //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1300 bytes of flash)
@@ -716,6 +728,7 @@
 * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W
 * heater. If your configuration is significantly different than this and you don't understand
 * the issues involved, don't use bed PID until someone else verifies that your hardware works.
+ * @section bed temp
 */
 //#define PIDTEMPBED

@@ -731,7 +744,7 @@

 #if ENABLED(PIDTEMPBED)
  //#define MIN_BED_POWER 0
-  //#define PID_BED_DEBUG // Sends debug data to the serial port.
+  //#define PID_BED_DEBUG // Print Bed PID debug data to the serial port.

  // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
  // from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -759,6 +772,7 @@
 * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 200W
 * heater. If your configuration is significantly different than this and you don't understand
 * the issues involved, don't use chamber PID until someone else verifies that your hardware works.
+ * @section chamber temp
 */
 //#define PIDTEMPCHAMBER
 //#define CHAMBER_LIMIT_SWITCHING
@@ -773,7 +787,7 @@

 #if ENABLED(PIDTEMPCHAMBER)
  #define MIN_CHAMBER_POWER 0
-  //#define PID_CHAMBER_DEBUG // Sends debug data to the serial port.
+  //#define PID_CHAMBER_DEBUG // Print Chamber PID debug data to the serial port.

  // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element
  // and placed inside the small Creality printer enclosure tent.
@@ -787,7 +801,6 @@
 #endif // PIDTEMPCHAMBER

 #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER)
-  //#define PID_DEBUG             // Sends debug data to the serial port. Use 'M303 D' to toggle activation.
  //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
@@ -797,7 +810,7 @@
  //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of flash)
 #endif

-// @section extruder
+// @section safety

 /**
 * Prevent extrusion if the temperature is below EXTRUDE_MINTEMP.
@@ -865,11 +878,154 @@
  #define POLAR_SEGMENTS_PER_SECOND 5
 #endif

+// @section delta
+
+// Enable for DELTA kinematics and configure below
+//#define DELTA
+#if ENABLED(DELTA)
+
+  // Make delta curves from many straight lines (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DELTA_SEGMENTS_PER_SECOND 200
+
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
+
+  // Delta calibration menu
+  // uncomment to add three points calibration menu option.
+  // See http://minow.blogspot.com/index.html#4918805519571907051
+  //#define DELTA_CALIBRATION_MENU
+
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
+  #endif
+
+  #if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
+    // Set the steprate for papertest probing
+    #define PROBE_MANUALLY_STEP 0.05      // (mm)
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 140.0    // (mm)
+
+  // Maximum reachable area
+  #define DELTA_MAX_RADIUS       140.0    // (mm)
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 250.0        // (mm)
+
+  // Distance between bed and nozzle Z home position
+  #define DELTA_HEIGHT 250.00             // (mm) Get this value from G33 auto calibrate
+
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 124.0              // (mm) Get this value from G33 auto calibrate
+
+  // Trim adjustments for individual towers
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Delta radius and diagonal rod adjustments (mm)
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
+#endif
+
+// @section scara
+
+/**
+ * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
+ * Implemented and slightly reworked by JCERNY in June, 2014.
+ *
+ * Mostly Printed SCARA is an open source design by Tyler Williams. See:
+ *   https://www.thingiverse.com/thing:2487048
+ *   https://www.thingiverse.com/thing:1241491
+ */
+//#define MORGAN_SCARA
+//#define MP_SCARA
+#if EITHER(MORGAN_SCARA, MP_SCARA)
+  // If movement is choppy try lowering this value
+  #define SCARA_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define SCARA_LINKAGE_1 150       // (mm)
+  #define SCARA_LINKAGE_2 150       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define SCARA_OFFSET_X  100       // (mm)
+  #define SCARA_OFFSET_Y  -56       // (mm)
+
+  #if ENABLED(MORGAN_SCARA)
+
+    //#define DEBUG_SCARA_KINEMATICS
+    #define SCARA_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)
+
+    #define THETA_HOMING_OFFSET  0  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+    #define PSI_HOMING_OFFSET    0  // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+
+  #elif ENABLED(MP_SCARA)
+
+    #define SCARA_OFFSET_THETA1  12 // degrees
+    #define SCARA_OFFSET_THETA2 131 // degrees
+
+  #endif
+
+#endif
+
+// @section tpara
+
+// Enable for TPARA kinematics and configure below
+//#define AXEL_TPARA
+#if ENABLED(AXEL_TPARA)
+  #define DEBUG_ROBOT_KINEMATICS
+  #define ROBOT_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define ROBOT_LINKAGE_1 120       // (mm)
+  #define ROBOT_LINKAGE_2 120       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define ROBOT_OFFSET_X    0       // (mm)
+  #define ROBOT_OFFSET_Y    0       // (mm)
+  #define ROBOT_OFFSET_Z    0       // (mm)
+
+  #define SCARA_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)
+
+  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+  #define THETA_HOMING_OFFSET  0
+  #define PSI_HOMING_OFFSET    0
+#endif
+
+// @section machine
+
+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================

-// @section homing
+// @section endstops

 // Specify here all the endstop connectors that are connected to any endstop or probe.
 // Almost all printers will be using one per axis. Probes will use one or more of the
@@ -1217,6 +1373,27 @@
  #define Z_PROBE_RETRACT_X X_MAX_POS
 #endif

+/**
+ * Magnetically Mounted Probe
+ * For probes such as Euclid, Klicky, Klackender, etc.
+ */
+//#define MAG_MOUNTED_PROBE
+#if ENABLED(MAG_MOUNTED_PROBE)
+  #define PROBE_DEPLOY_FEEDRATE (133*60)  // (mm/min) Probe deploy speed
+  #define PROBE_STOW_FEEDRATE   (133*60)  // (mm/min) Probe stow speed
+
+  #define MAG_MOUNTED_DEPLOY_1 { PROBE_DEPLOY_FEEDRATE, { 245, 114, 30 } }  // Move to side Dock & Attach probe
+  #define MAG_MOUNTED_DEPLOY_2 { PROBE_DEPLOY_FEEDRATE, { 210, 114, 30 } }  // Move probe off dock
+  #define MAG_MOUNTED_DEPLOY_3 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_DEPLOY_4 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_DEPLOY_5 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_STOW_1   { PROBE_STOW_FEEDRATE,   { 245, 114, 20 } }  // Move to dock
+  #define MAG_MOUNTED_STOW_2   { PROBE_STOW_FEEDRATE,   { 245, 114,  0 } }  // Place probe beside remover
+  #define MAG_MOUNTED_STOW_3   { PROBE_STOW_FEEDRATE,   { 230, 114,  0 } }  // Side move to remove probe
+  #define MAG_MOUNTED_STOW_4   { PROBE_STOW_FEEDRATE,   { 210, 114, 20 } }  // Side move to remove probe
+  #define MAG_MOUNTED_STOW_5   { PROBE_STOW_FEEDRATE,   {   0,   0,  0 } }  // Extra move if needed
+#endif
+
 // Duet Smart Effector (for delta printers) - https://bit.ly/2ul5U7J
 // When the pin is defined you can use M672 to set/reset the probe sensitivity.
 //#define DUET_SMART_EFFECTOR
@@ -1232,9 +1409,37 @@
 */
 //#define SENSORLESS_PROBING

-//
-// For Z_PROBE_ALLEN_KEY see the Delta example configurations.
-//
+/**
+ * Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
+ * Deploys by touching z-axis belt. Retracts by pushing the probe down.
+ */
+//#define Z_PROBE_ALLEN_KEY
+#if ENABLED(Z_PROBE_ALLEN_KEY)
+  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
+  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position
+  #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down
+  #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear
+  #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 }
+  #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE
+
+#endif // Z_PROBE_ALLEN_KEY

 /**
 * Nozzle-to-Probe offsets { X, Y, Z }
@@ -1430,7 +1635,7 @@
 #define DISABLE_E false             // Disable the extruder when not stepping
 #define DISABLE_INACTIVE_EXTRUDER   // Keep only the active extruder enabled

-// @section machine
+// @section motion

 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
 #define INVERT_X_DIR false
@@ -1484,7 +1689,7 @@
 //#define V_HOME_DIR -1
 //#define W_HOME_DIR -1

-// @section machine
+// @section geometry

 // The size of the printable area
 #define X_BED_SIZE 200
@@ -1687,6 +1892,15 @@
  #define LEVELING_BED_TEMP     50
 #endif

+/**
+ * Bed Distance Sensor
+ *
+ * Measures the distance from bed to nozzle with accuracy of 0.01mm.
+ * For information about this sensor https://github.com/markniu/Bed_Distance_sensor
+ * Uses I2C port, so it requires I2C library markyue/Panda_SoftMasterI2C.
+ */
+//#define BD_SENSOR
+
 /**
 * Enable detailed logging of G28, G29, M48, etc.
 * Turn on with the command 'M111 S32'.
@@ -1806,18 +2020,18 @@
 #endif

 // Add a menu item to move between bed corners for manual bed adjustment
-//#define LEVEL_BED_CORNERS
+//#define LCD_BED_TRAMMING

-#if ENABLED(LEVEL_BED_CORNERS)
-  #define LEVEL_CORNERS_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
-  #define LEVEL_CORNERS_HEIGHT      0.0   // (mm) Z height of nozzle at leveling points
-  #define LEVEL_CORNERS_Z_HOP       4.0   // (mm) Z height of nozzle between leveling points
-  //#define LEVEL_CENTER_TOO              // Move to the center after the last corner
-  //#define LEVEL_CORNERS_USE_PROBE
-  #if ENABLED(LEVEL_CORNERS_USE_PROBE)
-    #define LEVEL_CORNERS_PROBE_TOLERANCE 0.1
-    #define LEVEL_CORNERS_VERIFY_RAISED   // After adjustment triggers the probe, re-probe to verify
-    //#define LEVEL_CORNERS_AUDIO_FEEDBACK
+#if ENABLED(LCD_BED_TRAMMING)
+  #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
+  #define BED_TRAMMING_HEIGHT      0.0        // (mm) Z height of nozzle at leveling points
+  #define BED_TRAMMING_Z_HOP       4.0        // (mm) Z height of nozzle between leveling points
+  //#define BED_TRAMMING_INCLUDE_CENTER       // Move to the center after the last corner
+  //#define BED_TRAMMING_USE_PROBE
+  #if ENABLED(BED_TRAMMING_USE_PROBE)
+    #define BED_TRAMMING_PROBE_TOLERANCE 0.1  // (mm)
+    #define BED_TRAMMING_VERIFY_RAISED        // After adjustment triggers the probe, re-probe to verify
+    //#define BED_TRAMMING_AUDIO_FEEDBACK
  #endif

  /**
@@ -1837,7 +2051,7 @@
   *  |  1       2  |   | 1         4 |    | 1         2 |   | 2           |
   *  LF --------- RF   LF --------- RF    LF --------- RF   LF --------- RF
   */
-  #define LEVEL_CORNERS_LEVELING_ORDER { LF, RF, RB, LB }
+  #define BED_TRAMMING_LEVELING_ORDER { LF, RF, RB, LB }
 #endif

 /**
@@ -1921,9 +2135,8 @@
  #define XY_DIAG_BD 282.8427124746
  #define XY_SIDE_AD 200

-  // Or, set the default skew factors directly here
-  // to override the above measurements:
-  #define XY_SKEW_FACTOR 0.0
+  // Or, set the XY skew factor directly:
+  //#define XY_SKEW_FACTOR 0.0

  //#define SKEW_CORRECTION_FOR_Z
  #if ENABLED(SKEW_CORRECTION_FOR_Z)
@@ -1932,8 +2145,10 @@
    #define YZ_DIAG_AC 282.8427124746
    #define YZ_DIAG_BD 282.8427124746
    #define YZ_SIDE_AD 200
-    #define XZ_SKEW_FACTOR 0.0
-    #define YZ_SKEW_FACTOR 0.0
+
+    // Or, set the Z skew factors directly:
+    //#define XZ_SKEW_FACTOR 0.0
+    //#define YZ_SKEW_FACTOR 0.0
  #endif

  // Enable this option for M852 to set skew at runtime
@@ -1944,7 +2159,7 @@
 //============================= Additional Features ===========================
 //=============================================================================

-// @section extras
+// @section eeprom

 /**
 * EEPROM
@@ -1964,6 +2179,8 @@
  //#define EEPROM_INIT_NOW   // Init EEPROM on first boot after a new build.
 #endif

+// @section host
+
 //
 // Host Keepalive
 //
@@ -1974,6 +2191,8 @@
 #define DEFAULT_KEEPALIVE_INTERVAL 2  // Number of seconds between "busy" messages. Set with M113.
 #define BUSY_WHILE_HEATING            // Some hosts require "busy" messages even during heating

+// @section units
+
 //
 // G20/G21 Inch mode support
 //
@@ -1987,7 +2206,7 @@
 // @section temperature

 //
-// Preheat Constants - Up to 6 are supported without changes
+// Preheat Constants - Up to 10 are supported without changes
 //
 #define PREHEAT_1_LABEL       "PLA"
 #define PREHEAT_1_TEMP_HOTEND 180
@@ -2001,6 +2220,8 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255

+// @section motion
+
 /**
 * Nozzle Park
 *
@@ -2099,6 +2320,8 @@

 #endif

+// @section host
+
 /**
 * Print Job Timer
 *
@@ -2125,6 +2348,8 @@
 */
 #define PRINTJOB_TIMER_AUTOSTART

+// @section stats
+
 /**
 * Print Counter
 *
@@ -2139,9 +2364,11 @@
 */
 //#define PRINTCOUNTER
 #if ENABLED(PRINTCOUNTER)
-  #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print
+  #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print. A value of 0 will save stats at end of print.
 #endif

+// @section security
+
 /**
 * Password
 *
@@ -2177,7 +2404,7 @@
 //============================= LCD and SD support ============================
 //=============================================================================

-// @section lcd
+// @section interface

 /**
 * LCD LANGUAGE
@@ -2293,6 +2520,16 @@
 //
 //#define REVERSE_SELECT_DIRECTION

+//
+// Encoder EMI Noise Filter
+//
+// This option increases encoder samples to filter out phantom encoder clicks caused by EMI noise.
+//
+//#define ENCODER_NOISE_FILTER
+#if ENABLED(ENCODER_NOISE_FILTER)
+  #define ENCODER_SAMPLES 10
+#endif
+
 //
 // Individual Axis Homing
 //
@@ -2323,6 +2560,7 @@
 //======================== LCD / Controller Selection =========================
 //========================   (Character-based LCDs)   =========================
 //=============================================================================
+// @section lcd

 //
 // RepRapDiscount Smart Controller.
@@ -2624,6 +2862,12 @@
 //
 //#define SILVER_GATE_GLCD_CONTROLLER

+//
+// eMotion Tech LCD with SD
+// https://www.reprap-france.com/produit/1234568748-ecran-graphique-128-x-64-points-2-1
+//
+//#define EMOTION_TECH_LCD
+
 //=============================================================================
 //==============================  OLED Displays  ==============================
 //=============================================================================
@@ -2746,6 +2990,7 @@
 //#define ANYCUBIC_LCD_CHIRON
 #if EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON)
  //#define ANYCUBIC_LCD_DEBUG
+  //#define ANYCUBIC_LCD_GCODE_EXT  // Add ".gcode" to menu entries for DGUS clone compatibility
 #endif

 //
@@ -2814,7 +3059,7 @@
 //#define MKS_ROBIN_TFT_V1_1R

 //
-// 480x320, 3.5", FSMC Stock Display from TronxXY
+// 480x320, 3.5", FSMC Stock Display from Tronxy
 //
 //#define TFT_TRONXY_X5SA

@@ -2913,10 +3158,11 @@
 //
 //#define TOUCH_SCREEN
 #if ENABLED(TOUCH_SCREEN)
-  #define BUTTON_DELAY_EDIT  50 // (ms) Button repeat delay for edit screens
-  #define BUTTON_DELAY_MENU 250 // (ms) Button repeat delay for menus
+  #define BUTTON_DELAY_EDIT      50 // (ms) Button repeat delay for edit screens
+  #define BUTTON_DELAY_MENU     250 // (ms) Button repeat delay for menus

-  //#define TOUCH_IDLE_SLEEP 300 // (s) Turn off the TFT backlight if set (5mn)
+  //#define DISABLE_ENCODER         // Disable the click encoder, if any
+  //#define TOUCH_IDLE_SLEEP_MINS 5 // (minutes) Display Sleep after a period of inactivity. Set with M255 S.

  #define TOUCH_SCREEN_CALIBRATION

@@ -2951,7 +3197,7 @@
 //=============================== Extra Features ==============================
 //=============================================================================

-// @section extras
+// @section fans

 // Set number of user-controlled fans. Disable to use all board-defined fans.
 // :[1,2,3,4,5,6,7,8]
@@ -2975,14 +3221,18 @@
 // duty cycle is attained.
 //#define SOFT_PWM_DITHER

+// @section extras
+
+// Support for the BariCUDA Paste Extruder
+//#define BARICUDA
+
+// @section lights
+
 // Temperature status LEDs that display the hotend and bed temperature.
 // If all hotends, bed temperature, and target temperature are under 54C
 // then the BLUE led is on. Otherwise the RED led is on. (1C hysteresis)
 //#define TEMP_STAT_LEDS

-// Support for the BariCUDA Paste Extruder
-//#define BARICUDA
-
 // Support for BlinkM/CyzRgb
 //#define BLINKM

@@ -3003,16 +3253,19 @@
 * luminance values can be set from 0 to 255.
 * For NeoPixel LED an overall brightness parameter is also available.
 *
- * *** CAUTION ***
+ *  === CAUTION ===
 *  LED Strips require a MOSFET Chip between PWM lines and LEDs,
 *  as the Arduino cannot handle the current the LEDs will require.
 *  Failure to follow this precaution can destroy your Arduino!
+ *
 *  NOTE: A separate 5V power supply is required! The NeoPixel LED needs
 *  more current than the Arduino 5V linear regulator can produce.
- * *** CAUTION ***
 *
- * LED Type. Enable only one of the following two options.
+ *  Requires PWM frequency between 50 <> 100Hz (Check HAL or variant)
+ *  Use FAST_PWM_FAN, if possible, to reduce fan noise.
 */
+
+// LED Type. Enable only one of the following two options:
 //#define RGB_LED
 //#define RGBW_LED

@@ -3021,6 +3274,10 @@
  //#define RGB_LED_G_PIN 43
  //#define RGB_LED_B_PIN 35
  //#define RGB_LED_W_PIN -1
+  //#define RGB_STARTUP_TEST              // For PWM pins, fade between all colors
+  #if ENABLED(RGB_STARTUP_TEST)
+    #define RGB_STARTUP_TEST_INNER_MS 10  // (ms) Reduce or increase fading speed
+  #endif
 #endif

 // Support for Adafruit NeoPixel LED driver
@@ -3068,6 +3325,8 @@
  #define PRINTER_EVENT_LEDS
 #endif

+// @section servos
+
 /**
 * Number of servos
 *
@@ -109,7 +109,7 @@ LIQUID_TWI2        ?= 0
 # This defines if Wire is needed
 WIRE               ?= 0

-# This defines if Tone is needed (i.e SPEAKER is defined in Configuration.h)
+# This defines if Tone is needed (i.e., SPEAKER is defined in Configuration.h)
 # Disabling this (and SPEAKER) saves approximately 350 bytes of memory.
 TONE               ?= 1

@@ -317,123 +317,10 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1159)
 else ifeq ($(HARDWARE_MOTHERBOARD),1160)
 # Longer LKx PRO / Alfawise Uxx Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1161)
-
-
-# 3Drag Controller
-else ifeq ($(HARDWARE_MOTHERBOARD),1100)
-# Velleman K8200 Controller (derived from 3Drag Controller)
-else ifeq ($(HARDWARE_MOTHERBOARD),1101)
-# Velleman K8400 Controller (derived from 3Drag Controller)
-else ifeq ($(HARDWARE_MOTHERBOARD),1102)
-# Velleman K8600 Controller (Vertex Nano)
-else ifeq ($(HARDWARE_MOTHERBOARD),1103)
-# Velleman K8800 Controller (Vertex Delta)
-else ifeq ($(HARDWARE_MOTHERBOARD),1104)
-# 2PrintBeta BAM&DICE with STK drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1105)
-# 2PrintBeta BAM&DICE Due with STK drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1106)
-# MKS BASE v1.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1107)
-# MKS v1.4 with A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1108)
-# MKS v1.5 with Allegro A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1109)
-# MKS v1.6 with Allegro A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1110)
-# MKS BASE 1.0 with Heroic HR4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1111)
-# MKS GEN v1.3 or 1.4
-else ifeq ($(HARDWARE_MOTHERBOARD),1112)
-# MKS GEN L
-else ifeq ($(HARDWARE_MOTHERBOARD),1113)
-# zrib V2.0 control board (Chinese RAMPS replica)
-else ifeq ($(HARDWARE_MOTHERBOARD),1114)
-# BigTreeTech or BIQU KFB2.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1115)
-# Felix 2.0+ Electronics Board (RAMPS like)
-else ifeq ($(HARDWARE_MOTHERBOARD),1116)
-# Invent-A-Part RigidBoard
-else ifeq ($(HARDWARE_MOTHERBOARD),1117)
-# Invent-A-Part RigidBoard V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1118)
-# Sainsmart 2-in-1 board
-else ifeq ($(HARDWARE_MOTHERBOARD),1119)
-# Ultimaker
-else ifeq ($(HARDWARE_MOTHERBOARD),1120)
-# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
-else ifeq ($(HARDWARE_MOTHERBOARD),1121)
-  MCU              ?= atmega1280
-  PROG_MCU         ?= m1280
-
-# Azteeg X3
-else ifeq ($(HARDWARE_MOTHERBOARD),1122)
-# Azteeg X3 Pro
-else ifeq ($(HARDWARE_MOTHERBOARD),1123)
-# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
-else ifeq ($(HARDWARE_MOTHERBOARD),1124)
-# Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1125)
-# Raise3D Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1126)
-# Rapide Lite RL200 Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1127)
-# Formbot T-Rex 2 Plus
-else ifeq ($(HARDWARE_MOTHERBOARD),1128)
-# Formbot T-Rex 3
-else ifeq ($(HARDWARE_MOTHERBOARD),1129)
-# Formbot Raptor
-else ifeq ($(HARDWARE_MOTHERBOARD),1130)
-# Formbot Raptor 2
-else ifeq ($(HARDWARE_MOTHERBOARD),1131)
-# bq ZUM Mega 3D
-else ifeq ($(HARDWARE_MOTHERBOARD),1132)
-# MakeBoard Mini v2.1.2 is a control board sold by MicroMake
-else ifeq ($(HARDWARE_MOTHERBOARD),1133)
-# TriGorilla Anycubic version 1.3 based on RAMPS EFB
-else ifeq ($(HARDWARE_MOTHERBOARD),1134)
-# TriGorilla Anycubic version 1.4 based on RAMPS EFB
-else ifeq ($(HARDWARE_MOTHERBOARD),1135)
-# TriGorilla Anycubic version 1.4 Rev 1.1
-else ifeq ($(HARDWARE_MOTHERBOARD),1136)
-# Creality: Ender-4, CR-8
-else ifeq ($(HARDWARE_MOTHERBOARD),1137)
-# Creality: CR10S, CR20, CR-X
-else ifeq ($(HARDWARE_MOTHERBOARD),1138)
-# Dagoma F5
-else ifeq ($(HARDWARE_MOTHERBOARD),1139)
-# FYSETC F6 1.3
-else ifeq ($(HARDWARE_MOTHERBOARD),1140)
-# FYSETC F6 1.5
-else ifeq ($(HARDWARE_MOTHERBOARD),1141)
-# Duplicator i3 Plus
-else ifeq ($(HARDWARE_MOTHERBOARD),1142)
-# VORON
-else ifeq ($(HARDWARE_MOTHERBOARD),1143)
-# TRONXY V3 1.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1144)
-# Z-Bolt X Series
-else ifeq ($(HARDWARE_MOTHERBOARD),1145)
-# TT OSCAR
-else ifeq ($(HARDWARE_MOTHERBOARD),1146)
-# Overlord/Overlord Pro
-else ifeq ($(HARDWARE_MOTHERBOARD),1147)
-# ADIMLab Gantry v1
-else ifeq ($(HARDWARE_MOTHERBOARD),1148)
-# ADIMLab Gantry v2
-else ifeq ($(HARDWARE_MOTHERBOARD),1149)
-# BIQU Tango V1
-else ifeq ($(HARDWARE_MOTHERBOARD),1150)
-# MKS GEN L V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1151)
-# MKS GEN L V2.1
-else ifeq ($(HARDWARE_MOTHERBOARD),1152)
-# Copymaster 3D
-else ifeq ($(HARDWARE_MOTHERBOARD),1153)
-# Ortur 4
-else ifeq ($(HARDWARE_MOTHERBOARD),1154)
-# Tenlog D3 Hero
-else ifeq ($(HARDWARE_MOTHERBOARD),1155)
+# Zonestar zrib V5.3 (Chinese RAMPS replica)
+else ifeq ($(HARDWARE_MOTHERBOARD),1162)
+# Pxmalion Core I3
+else ifeq ($(HARDWARE_MOTHERBOARD),1163)

 #
 # RAMBo and derivatives
@@ -512,7 +399,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1324)
 else ifeq ($(HARDWARE_MOTHERBOARD),1325)
 # Intamsys 4.0 (Funmat HT)
 else ifeq ($(HARDWARE_MOTHERBOARD),1326)
-# Malyan M180 Mainboard Version 2 (no display function, direct gcode only)
+# Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
 else ifeq ($(HARDWARE_MOTHERBOARD),1327)
 # Geeetech GT2560 Rev B for A20(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1328)
@@ -28,7 +28,7 @@
 /**
 * Marlin release version identifier
 */
-//#define SHORT_BUILD_VERSION "bugfix-2.0.x"
+//#define SHORT_BUILD_VERSION "bugfix-2.1.x"

 /**
 * Verbose version identifier which should contain a reference to the location
@@ -41,7 +41,7 @@
 * here we define this default string as the date where the latest release
 * version was tagged.
 */
-//#define STRING_DISTRIBUTION_DATE "2022-05-29"
+//#define STRING_DISTRIBUTION_DATE "2022-10-18"

 /**
 * Defines a generic printer name to be output to the LCD after booting Marlin.
@@ -0,0 +1,211 @@
+#
+# Marlin Firmware
+# config.ini - Options to apply before the build
+#
+[config:base]
+ini_use_config                           = none
+
+# Load all config: sections in this file
+;ini_use_config                          = all
+# Load config file relative to Marlin/
+;ini_use_config                          = another.ini
+# Download configurations from GitHub
+;ini_use_config                          = example/Creality/Ender-5 Plus @ bugfix-2.1.x
+# Download configurations from your server
+;ini_use_config                          = https://me.myserver.com/path/to/configs
+# Evaluate config:base and do a config dump
+;ini_use_config                          = base
+;config_export                           = 2
+
+[config:minimal]
+motherboard                              = BOARD_RAMPS_14_EFB
+serial_port                              = 0
+baudrate                                 = 250000
+
+use_watchdog                             = on
+thermal_protection_hotends               = on
+thermal_protection_hysteresis            = 4
+thermal_protection_period                = 40
+
+bufsize                                  = 4
+block_buffer_size                        = 16
+max_cmd_size                             = 96
+
+extruders                                = 1
+temp_sensor_0                            = 1
+
+temp_hysteresis                          = 3
+heater_0_mintemp                         = 5
+heater_0_maxtemp                         = 275
+preheat_1_temp_hotend                    = 180
+
+bang_max                                 = 255
+pidtemp                                  = on
+pid_k1                                   = 0.95
+pid_max                                  = BANG_MAX
+pid_functional_range                     = 10
+
+default_kp                               = 22.20
+default_ki                               = 1.08
+default_kd                               = 114.00
+
+x_driver_type                            = A4988
+y_driver_type                            = A4988
+z_driver_type                            = A4988
+e0_driver_type                           = A4988
+
+x_bed_size                               = 200
+x_min_pos                                = 0
+x_max_pos                                = X_BED_SIZE
+
+y_bed_size                               = 200
+y_min_pos                                = 0
+y_max_pos                                = Y_BED_SIZE
+
+z_min_pos                                = 0
+z_max_pos                                = 200
+
+x_home_dir                               = -1
+y_home_dir                               = -1
+z_home_dir                               = -1
+
+use_xmin_plug                            = on
+use_ymin_plug                            = on
+use_zmin_plug                            = on
+
+x_min_endstop_inverting                  = false
+y_min_endstop_inverting                  = false
+z_min_endstop_inverting                  = false
+
+default_axis_steps_per_unit              = { 80, 80, 400, 500 }
+axis_relative_modes                      = { false, false, false, false }
+default_max_feedrate                     = { 300, 300, 5, 25 }
+default_max_acceleration                 = { 3000, 3000, 100, 10000 }
+
+homing_feedrate_mm_m                     = { (50*60), (50*60), (4*60) }
+homing_bump_divisor                      = { 2, 2, 4 }
+
+x_enable_on                              = 0
+y_enable_on                              = 0
+z_enable_on                              = 0
+e_enable_on                              = 0
+
+invert_x_dir                             = false
+invert_y_dir                             = true
+invert_z_dir                             = false
+invert_e0_dir                            = false
+
+invert_e_step_pin                        = false
+invert_x_step_pin                        = false
+invert_y_step_pin                        = false
+invert_z_step_pin                        = false
+
+disable_x                                = false
+disable_y                                = false
+disable_z                                = false
+disable_e                                = false
+
+proportional_font_ratio                  = 1.0
+default_nominal_filament_dia             = 1.75
+
+junction_deviation_mm                    = 0.013
+
+default_acceleration                     = 3000
+default_travel_acceleration              = 3000
+default_retract_acceleration             = 3000
+
+default_minimumfeedrate                  = 0.0
+default_mintravelfeedrate                = 0.0
+
+minimum_planner_speed                    = 0.05
+min_steps_per_segment                    = 6
+default_minsegmenttime                   = 20000
+
+[config:basic]
+bed_overshoot                            = 10
+busy_while_heating                       = on
+default_ejerk                            = 5.0
+default_keepalive_interval               = 2
+default_leveling_fade_height             = 0.0
+disable_inactive_extruder                = on
+display_charset_hd44780                  = JAPANESE
+eeprom_boot_silent                       = on
+eeprom_chitchat                          = on
+endstoppullups                           = on
+extrude_maxlength                        = 200
+extrude_mintemp                          = 170
+host_keepalive_feature                   = on
+hotend_overshoot                         = 15
+jd_handle_small_segments                 = on
+lcd_info_screen_style                    = 0
+lcd_language                             = en
+max_bed_power                            = 255
+mesh_inset                               = 0
+min_software_endstops                    = on
+max_software_endstops                    = on
+min_software_endstop_x                   = on
+min_software_endstop_y                   = on
+min_software_endstop_z                   = on
+max_software_endstop_x                   = on
+max_software_endstop_y                   = on
+max_software_endstop_z                   = on
+preheat_1_fan_speed                      = 0
+preheat_1_label                          = "PLA"
+preheat_1_temp_bed                       = 70
+prevent_cold_extrusion                   = on
+prevent_lengthy_extrude                  = on
+printjob_timer_autostart                 = on
+probing_margin                           = 10
+show_bootscreen                          = on
+soft_pwm_scale                           = 0
+string_config_h_author                   = "(none, default config)"
+temp_bed_hysteresis                      = 3
+temp_bed_residency_time                  = 10
+temp_bed_window                          = 1
+temp_residency_time                      = 10
+temp_window                              = 1
+validate_homing_endstops                 = on
+xy_probe_feedrate                        = (133*60)
+z_clearance_between_probes               = 5
+z_clearance_deploy_probe                 = 10
+z_clearance_multi_probe                  = 5
+
+[config:advanced]
+arc_support                              = on
+auto_report_temperatures                 = on
+autotemp                                 = on
+autotemp_oldweight                       = 0.98
+bed_check_interval                       = 5000
+default_stepper_deactive_time            = 120
+default_volumetric_extruder_limit        = 0.00
+disable_inactive_e                       = true
+disable_inactive_x                       = true
+disable_inactive_y                       = true
+disable_inactive_z                       = true
+e0_auto_fan_pin                          = -1
+encoder_100x_steps_per_sec               = 80
+encoder_10x_steps_per_sec                = 30
+encoder_rate_multiplier                  = on
+extended_capabilities_report             = on
+extruder_auto_fan_speed                  = 255
+extruder_auto_fan_temperature            = 50
+fanmux0_pin                              = -1
+fanmux1_pin                              = -1
+fanmux2_pin                              = -1
+faster_gcode_parser                      = 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
+temp_sensor_bed                          = 0
+thermal_protection_bed_hysteresis        = 2
+thermocouple_max_errors                  = 15
+tx_buffer_size                           = 0
+watch_bed_temp_increase                  = 2
+watch_bed_temp_period                    = 60
+watch_temp_increase                      = 2
+watch_temp_period                        = 20
@@ -66,27 +66,26 @@ static volatile int8_t Channel[_Nbr_16timers];              // counter for the s

 /************ static functions common to all instances ***********************/

-static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
-  if (Channel[timer] < 0)
-    *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
-  else {
-    if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
-      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
-  }
+static inline void handle_interrupts(const timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
+  int8_t cho = Channel[timer];                                        // Handle the prior Channel[timer] first
+  if (cho < 0)                                                        // Channel -1 indicates the refresh interval completed...
+    *TCNTn = 0;                                                       // ...so reset the timer
+  else if (SERVO_INDEX(timer, cho) < ServoCount)                      // prior channel handled?
+    extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW);                  // pulse the prior channel LOW

-  Channel[timer]++;    // increment to the next channel
-  if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
-    *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks;
-    if (SERVO(timer, Channel[timer]).Pin.isActive)    // check if activated
-      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
+  Channel[timer] = ++cho;                                             // Handle the next channel (or 0)
+  if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
+    *OCRnA = *TCNTn + SERVO(timer, cho).ticks;                        // set compare to current ticks plus duration
+    if (SERVO(timer, cho).Pin.isActive)                               // activated?
+      extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH);               // yes: pulse HIGH
  }
  else {
    // finished all channels so wait for the refresh period to expire before starting over
-    if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL))    // allow a few ticks to ensure the next OCR1A not missed
-      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
-    else
-      *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
-    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+    const unsigned int cval = ((unsigned)*TCNTn) + 32 / (SERVO_TIMER_PRESCALER), // allow 32 cycles to ensure the next OCR1A not missed
+                       ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
+    *OCRnA = max(cval, ival);
+
+    Channel[timer] = -1;                                              // reset the timer counter to 0 on the next call
  }
 }

@@ -123,91 +122,102 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t

 /****************** end of static functions ******************************/

-void initISR(timer16_Sequence_t timer) {
-  #ifdef _useTimer1
-    if (timer == _timer1) {
-      TCCR1A = 0;             // normal counting mode
-      TCCR1B = _BV(CS11);     // set prescaler of 8
-      TCNT1 = 0;              // clear the timer count
-      #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
-        SBI(TIFR, OCF1A);      // clear any pending interrupts;
-        SBI(TIMSK, OCIE1A);    // enable the output compare interrupt
-      #else
-        // here if not ATmega8 or ATmega128
-        SBI(TIFR1, OCF1A);     // clear any pending interrupts;
-        SBI(TIMSK1, OCIE1A);   // enable the output compare interrupt
-      #endif
-      #ifdef WIRING
-        timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
-      #endif
-    }
-  #endif
+void initISR(const timer16_Sequence_t timer_index) {
+  switch (timer_index) {
+    default: break;

-  #ifdef _useTimer3
-    if (timer == _timer3) {
-      TCCR3A = 0;             // normal counting mode
-      TCCR3B = _BV(CS31);     // set prescaler of 8
-      TCNT3 = 0;              // clear the timer count
-      #ifdef __AVR_ATmega128__
-        SBI(TIFR, OCF3A);     // clear any pending interrupts;
-        SBI(ETIMSK, OCIE3A);  // enable the output compare interrupt
-      #else
-        SBI(TIFR3, OCF3A);   // clear any pending interrupts;
-        SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
-      #endif
-      #ifdef WIRING
-        timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
-      #endif
-    }
-  #endif
+    #ifdef _useTimer1
+      case _timer1:
+        TCCR1A = 0;             // normal counting mode
+        TCCR1B = _BV(CS11);     // set prescaler of 8
+        TCNT1 = 0;              // clear the timer count
+        #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
+          SBI(TIFR, OCF1A);      // clear any pending interrupts;
+          SBI(TIMSK, OCIE1A);    // enable the output compare interrupt
+        #else
+          // here if not ATmega8 or ATmega128
+          SBI(TIFR1, OCF1A);     // clear any pending interrupts;
+          SBI(TIMSK1, OCIE1A);   // enable the output compare interrupt
+        #endif
+        #ifdef WIRING
+          timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
+        #endif
+        break;
+    #endif

-  #ifdef _useTimer4
-    if (timer == _timer4) {
-      TCCR4A = 0;             // normal counting mode
-      TCCR4B = _BV(CS41);     // set prescaler of 8
-      TCNT4 = 0;              // clear the timer count
-      TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
-      TIMSK4 = _BV(OCIE4A);   // enable the output compare interrupt
-    }
-  #endif
+    #ifdef _useTimer3
+      case _timer3:
+        TCCR3A = 0;             // normal counting mode
+        TCCR3B = _BV(CS31);     // set prescaler of 8
+        TCNT3 = 0;              // clear the timer count
+        #ifdef __AVR_ATmega128__
+          SBI(TIFR, OCF3A);     // clear any pending interrupts;
+          SBI(ETIMSK, OCIE3A);  // enable the output compare interrupt
+        #else
+          SBI(TIFR3, OCF3A);   // clear any pending interrupts;
+          SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
+        #endif
+        #ifdef WIRING
+          timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
+        #endif
+        break;
+    #endif

-  #ifdef _useTimer5
-    if (timer == _timer5) {
-      TCCR5A = 0;             // normal counting mode
-      TCCR5B = _BV(CS51);     // set prescaler of 8
-      TCNT5 = 0;              // clear the timer count
-      TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
-      TIMSK5 = _BV(OCIE5A);   // enable the output compare interrupt
-    }
-  #endif
+    #ifdef _useTimer4
+      case _timer4:
+        TCCR4A = 0;             // normal counting mode
+        TCCR4B = _BV(CS41);     // set prescaler of 8
+        TCNT4 = 0;              // clear the timer count
+        TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
+        TIMSK4 = _BV(OCIE4A);   // enable the output compare interrupt
+        break;
+    #endif
+
+    #ifdef _useTimer5
+      case _timer5:
+        TCCR5A = 0;             // normal counting mode
+        TCCR5B = _BV(CS51);     // set prescaler of 8
+        TCNT5 = 0;              // clear the timer count
+        TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
+        TIMSK5 = _BV(OCIE5A);   // enable the output compare interrupt
+        break;
+    #endif
+  }
 }

-void finISR(timer16_Sequence_t timer) {
+void finISR(const timer16_Sequence_t timer_index) {
  // Disable use of the given timer
  #ifdef WIRING
-    if (timer == _timer1) {
-      CBI(
-        #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
-          TIMSK1
-        #else
-          TIMSK
-        #endif
-          , OCIE1A);    // disable timer 1 output compare interrupt
-      timerDetach(TIMER1OUTCOMPAREA_INT);
-    }
-    else if (timer == _timer3) {
-      CBI(
-        #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
-          TIMSK3
-        #else
-          ETIMSK
-        #endif
-          , OCIE3A);    // disable the timer3 output compare A interrupt
-      timerDetach(TIMER3OUTCOMPAREA_INT);
+    switch (timer_index) {
+      default: break;
+
+      case _timer1:
+        CBI(
+          #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+            TIMSK1
+          #else
+            TIMSK
+          #endif
+          , OCIE1A    // disable timer 1 output compare interrupt
+        );
+        timerDetach(TIMER1OUTCOMPAREA_INT);
+        break;
+
+      case _timer3:
+        CBI(
+          #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+            TIMSK3
+          #else
+            ETIMSK
+          #endif
+          , OCIE3A    // disable the timer3 output compare A interrupt
+        );
+        timerDetach(TIMER3OUTCOMPAREA_INT);
+        break;
    }
  #else // !WIRING
    // For arduino - in future: call here to a currently undefined function to reset the timer
-    UNUSED(timer);
+    UNUSED(timer_index);
  #endif
 }

@@ -293,11 +293,11 @@ enum ClockSource2 : uint8_t {

 #if HAS_MOTOR_CURRENT_PWM
  #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
  #elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z)
  #else
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1)
  #endif
 #else
  #define PWM_CHK_MOTOR_CURRENT(P) false
@@ -35,16 +35,24 @@
  || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
  || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
  || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
+  || BTN_EN1    == N || BTN_EN2    == N \
 )
-#if CONF_SERIAL_IS(0) // D0-D1. No known conflicts.
+#if SERIAL_IN_USE(0)
+  // D0-D1. No known conflicts.
 #endif
-#if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
-  #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
+#if NOT_TARGET(__AVR_ATmega644P__, __AVR_ATmega1284P__)
+  #if SERIAL_IN_USE(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
+    #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
+  #endif
+#else
+  #if SERIAL_IN_USE(1) && (CHECK_SERIAL_PIN(10) || CHECK_SERIAL_PIN(11))
+    #error "Serial Port 1 pin D10 and/or D11 conflicts with another pin on the board."
+  #endif
 #endif
-#if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
+#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
  #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
 #endif
-#if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
+#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
  #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
 #endif
 #undef CHECK_SERIAL_PIN
@@ -74,7 +74,7 @@
 #define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin

 void PRINT_ARRAY_NAME(uint8_t x) {
-  const char * const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name);
+  PGM_P const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name);
  LOOP_L_N(y, MAX_NAME_LENGTH) {
    char temp_char = pgm_read_byte(name_mem_pointer + y);
    if (temp_char != 0)
@@ -210,7 +210,7 @@ public:
  static void adc_init() {}

  // Called by Temperature::init for each sensor at startup
-  static void adc_enable(const uint8_t ch) {}
+  static void adc_enable(const uint8_t /*ch*/) {}

  // Begin ADC sampling on the given channel. Called from Temperature::isr!
  static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); }
@@ -247,12 +247,12 @@
      b <<= 1; // little setup time

      WRITE(SD_SCK_PIN, HIGH);
-      DELAY_NS(spiDelayNS);
+      DELAY_NS_VAR(spiDelayNS);

      b |= (READ(SD_MISO_PIN) != 0);

      WRITE(SD_SCK_PIN, LOW);
-      DELAY_NS(spiDelayNS);
+      DELAY_NS_VAR(spiDelayNS);
    } while (--bits);
    return b;
  }
@@ -41,7 +41,7 @@
   practice, we need alignment to 256 bytes to make this work in all
   cases */
 __attribute__ ((aligned(256)))
-static DeviceVectors ram_tab = { nullptr };
+static DeviceVectors ram_tab[61] = { nullptr };

 /**
 * This function checks if the exception/interrupt table is already in SRAM or not.
@@ -47,12 +47,12 @@
 #include "../shared/servo.h"
 #include "../shared/servo_private.h"

-static volatile int8_t Channel[_Nbr_16timers];              // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset

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

 #ifdef _useTimer1
  void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); }
@@ -70,88 +70,92 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
  void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); }
 #endif

-void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
-  // clear interrupt
-  tc->TC_CHANNEL[channel].TC_SR;
-  if (Channel[timer] < 0)
-    tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
-  else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
-    extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
+void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) {
+  static int8_t Channel[_Nbr_16timers];                               // Servo counters to pulse (or -1 for refresh interval)
+  int8_t cho = Channel[timer];                                        // Handle the prior Channel[timer] first
+  if (cho < 0) {                                                      // Channel -1 indicates the refresh interval completed...
+    tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG;                   // ...so reset the timer
+    if (DisablePending[timer]) {
+      // Disabling only after the full servo period expires prevents
+      // pulses being too close together if immediately re-enabled.
+      DisablePending.clear(timer);
+      TC_Stop(tc, channel);
+      tc->TC_CHANNEL[channel].TC_SR;                                  // clear interrupt
+      return;
+    }
+  }
+  else if (SERVO_INDEX(timer, cho) < ServoCount)                      // prior channel handled?
+    extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW);                  // pulse the prior channel LOW

-  Channel[timer]++;    // increment to the next channel
-  if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
-    tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
-    if (SERVO(timer,Channel[timer]).Pin.isActive)    // check if activated
-      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high
+  Channel[timer] = ++cho;                                             // go to the next channel (or 0)
+  if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
+    tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer, cho).ticks;
+    if (SERVO(timer, cho).Pin.isActive)                               // activated?
+      extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH);               // yes: pulse HIGH
  }
  else {
    // finished all channels so wait for the refresh period to expire before starting over
-    tc->TC_CHANNEL[channel].TC_RA =
-      tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4
-        ? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed
-        : tc->TC_CHANNEL[channel].TC_CV + 4;        // at least REFRESH_INTERVAL has elapsed
-    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+    const unsigned int cval = tc->TC_CHANNEL[channel].TC_CV + 128 / (SERVO_TIMER_PRESCALER), // allow 128 cycles to ensure the next CV not missed
+                       ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
+    tc->TC_CHANNEL[channel].TC_RA = max(cval, ival);
+
+    Channel[timer] = -1;                                              // reset the timer CCR on the next call
  }
+
+  tc->TC_CHANNEL[channel].TC_SR;                                      // clear interrupt
 }

 static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
  pmc_enable_periph_clk(id);
  TC_Configure(tc, channel,
-    TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
-    TC_CMR_WAVE |                // Waveform mode
-    TC_CMR_WAVSEL_UP_RC );       // Counter running up and reset when equals to RC
+      TC_CMR_WAVE                   // Waveform mode
+    | TC_CMR_WAVSEL_UP_RC           // Counter running up and reset when equal to RC
+    | (SERVO_TIMER_PRESCALER ==   2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) // MCK/2
+    | (SERVO_TIMER_PRESCALER ==   8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) // MCK/8
+    | (SERVO_TIMER_PRESCALER ==  32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) // MCK/32
+    | (SERVO_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) // MCK/128
+  );

-  /* 84MHz, MCK/32, for 1.5ms: 3937 */
-  TC_SetRA(tc, channel, 2625); // 1ms
+  // Wait 1ms before the first ISR
+  TC_SetRA(tc, channel, (F_CPU) / (SERVO_TIMER_PRESCALER) / 1000UL); // 1ms

-  /* Configure and enable interrupt */
+  // Configure and enable interrupt
  NVIC_EnableIRQ(irqn);
-  // TC_IER_CPAS: RA Compare
-  tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
+  tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; // TC_IER_CPAS: RA Compare

  // Enables the timer clock and performs a software reset to start the counting
  TC_Start(tc, channel);
 }

-void initISR(timer16_Sequence_t timer) {
-  #ifdef _useTimer1
-    if (timer == _timer1)
-      _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
-  #endif
-  #ifdef _useTimer2
-    if (timer == _timer2)
-      _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
-  #endif
-  #ifdef _useTimer3
-    if (timer == _timer3)
-      _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
-  #endif
-  #ifdef _useTimer4
-    if (timer == _timer4)
-      _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
-  #endif
-  #ifdef _useTimer5
-    if (timer == _timer5)
-      _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
-  #endif
+void initISR(const timer16_Sequence_t timer_index) {
+  CRITICAL_SECTION_START();
+  const bool disable_soon = DisablePending[timer_index];
+  DisablePending.clear(timer_index);
+  CRITICAL_SECTION_END();
+
+  if (!disable_soon) switch (timer_index) {
+    default: break;
+    #ifdef _useTimer1
+      case _timer1: return _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
+    #endif
+    #ifdef _useTimer2
+      case _timer2: return _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
+    #endif
+    #ifdef _useTimer3
+      case _timer3: return _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
+    #endif
+    #ifdef _useTimer4
+      case _timer4: return _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
+    #endif
+    #ifdef _useTimer5
+      case _timer5: return _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
+    #endif
+  }
 }

-void finISR(timer16_Sequence_t) {
-  #ifdef _useTimer1
-    TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
-  #endif
-  #ifdef _useTimer2
-    TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
-  #endif
-  #ifdef _useTimer3
-    TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
-  #endif
-  #ifdef _useTimer4
-    TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
-  #endif
-  #ifdef _useTimer5
-    TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
-  #endif
+void finISR(const timer16_Sequence_t timer_index) {
+  // Timer is disabled from the ISR, to ensure proper final pulse length.
+  DisablePending.set(timer_index);
 }

 #endif // HAS_SERVOS
@@ -37,7 +37,7 @@
 #define _useTimer5

 #define TRIM_DURATION             2   // compensation ticks to trim adjust for digitalWrite delays
-#define SERVO_TIMER_PRESCALER     32  // timer prescaler
+#define SERVO_TIMER_PRESCALER     2   // timer prescaler

 /*
  TC0, chan 0 => TC0_Handler
@@ -36,15 +36,15 @@
  || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
  || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
 )
-#if CONF_SERIAL_IS(0) // D0-D1. No known conflicts.
+#if SERIAL_IN_USE(0) // D0-D1. No known conflicts.
 #endif
-#if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
+#if SERIAL_IN_USE(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
  #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
 #endif
-#if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
+#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
  #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
 #endif
-#if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
+#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
  #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
 #endif
 #undef CHECK_SERIAL_PIN
@@ -70,7 +70,7 @@
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define GET_ARRAY_PIN(p) pin_array[p].pin
 #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0)
+#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
 #define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0))
 #define IS_ANALOG(P) WITHIN(P, char(analogInputToDigitalPin(0)), char(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
 #define pwm_status(pin) (((g_pinStatus[pin] & 0xF) == PIN_STATUS_PWM) && \
@@ -89,10 +89,17 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  NVIC_SetPriority(irq, timer_config[timer_num].priority);

  // wave mode, reset counter on match with RC,
-  TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1);
+  TC_Configure(tc, channel,
+      TC_CMR_WAVE
+    | TC_CMR_WAVSEL_UP_RC
+    | (HAL_TIMER_PRESCALER ==   2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0)
+    | (HAL_TIMER_PRESCALER ==   8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0)
+    | (HAL_TIMER_PRESCALER ==  32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0)
+    | (HAL_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0)
+  );

  // Set compare value
-  TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency);
+  TC_SetRC(tc, channel, VARIANT_MCK / (HAL_TIMER_PRESCALER) / frequency);

  // And start timer
  TC_Start(tc, channel);
@@ -35,7 +35,8 @@
 typedef uint32_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF

-#define HAL_TIMER_RATE         ((F_CPU) / 2)    // frequency of timers peripherals
+#define HAL_TIMER_PRESCALER    2
+#define HAL_TIMER_RATE         ((F_CPU) / (HAL_TIMER_PRESCALER))  // frequency of timers peripherals

 #ifndef MF_TIMER_STEP
  #define MF_TIMER_STEP         2  // Timer Index for Stepper
@@ -6,14 +6,14 @@
 #
 import pioutil
 if pioutil.is_pio_build():
-	import platform
-	current_OS = platform.system()
+    import platform
+    current_OS = platform.system()

-	if current_OS == 'Windows':
+    if current_OS == 'Windows':

-		Import("env")
+        Import("env")

-		# Use bossac.exe on Windows
-		env.Replace(
-			UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE"
-		)
+        # Use bossac.exe on Windows
+        env.Replace(
+            UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE"
+        )
@@ -1059,7 +1059,7 @@ static inline void convert_64_bit_to_byte_array(uint64_t value, uint8_t *data)
    while (val_index < 8)
    {
        data[val_index++] = value & 0xFF;
-        value = value >> 8;
+        value >>= 8;
    }
 }

@@ -62,7 +62,7 @@ void usb_task_idle(void) {
    // Attend SD card access from the USB MSD -- Prioritize access to improve speed
    int delay = 2;
    while (main_b_msc_enable && --delay > 0) {
-      if (udi_msc_process_trans()) delay = 10000;
+      if (udi_msc_process_trans()) delay = 20;

      // Reset the watchdog, just to be sure
      REG_WDT_CR = WDT_CR_WDRSTT | WDT_CR_KEY(0xA5);
@@ -65,6 +65,7 @@ portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
 // ------------------------

 uint16_t MarlinHAL::adc_result;
+pwm_pin_t MarlinHAL::pwm_pin_data[MAX_EXPANDER_BITS];

 // ------------------------
 // Private Variables
@@ -330,21 +331,46 @@ int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res)
 }

 void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
-  const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
-  if (cid >= 0) {
-    uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
-    ledcWrite(cid, duty);
-  }
+  #if ENABLED(I2S_STEPPER_STREAM)
+    if (pin > 127) {
+      const uint8_t pinlo = pin & 0x7F;
+      pwm_pin_t &pindata = pwm_pin_data[pinlo];
+      const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, pindata.pwm_cycle_ticks);
+      if (duty == 0 || duty == pindata.pwm_cycle_ticks) { // max or min (i.e., on/off)
+        pindata.pwm_duty_ticks = 0;  // turn off PWM for this pin
+        duty ? SBI32(i2s_port_data, pinlo) : CBI32(i2s_port_data, pinlo); // set pin level
+      }
+      else
+        pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle
+    }
+    else
+  #endif
+    {
+      const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
+      if (cid >= 0) {
+        const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
+        ledcWrite(cid, duty);
+      }
+    }
 }

 int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
-  const int8_t cid = channel_for_pin(pin);
-  if (cid >= 0) {
-    if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
-    ledcDetachPin(chan_pin[cid]);
-    chan_pin[cid] = 0;              // remove old freq channel
-  }
-  return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+  #if ENABLED(I2S_STEPPER_STREAM)
+    if (pin > 127) {
+      pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle
+      return 0;
+    }
+    else
+  #endif
+    {
+      const int8_t cid = channel_for_pin(pin);
+      if (cid >= 0) {
+        if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
+        ledcDetachPin(chan_pin[cid]);
+        chan_pin[cid] = 0;              // remove old freq channel
+      }
+      return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+    }
 }

 // use hardware PWM if avail, if not then ISR
@@ -60,14 +60,17 @@
  #endif
 #endif

-#define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
-#define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&spinlock)
+#define CRITICAL_SECTION_START() portENTER_CRITICAL(&hal.spinlock)
+#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_RESOLUTION   10u   // Default PWM bit resolution
 #define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
 #define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
+#ifndef MAX_EXPANDER_BITS
+  #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
+#endif

 // ------------------------
 // Types
@@ -76,6 +79,12 @@
 typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
 typedef int16_t pin_t;

+typedef struct pwm_pin {
+  uint32_t pwm_cycle_ticks = 1000000UL / (PWM_FREQUENCY) / 4; // # ticks per pwm cycle
+  uint32_t pwm_tick_count = 0;  // current tick count
+  uint32_t pwm_duty_ticks = 0;  // # of ticks for current duty cycle
+} pwm_pin_t;
+
 class Servo;
 typedef Servo hal_servo_t;

@@ -197,6 +206,8 @@ public:
  // Free SRAM
  static int freeMemory();

+  static pwm_pin_t pwm_pin_data[MAX_EXPANDER_BITS];
+
  //
  // ADC Methods
  //
@@ -139,22 +139,40 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
 }

 void stepperTask(void *parameter) {
-  uint32_t remaining = 0;
+  uint32_t nextMainISR = 0;
+  #if ENABLED(LIN_ADVANCE)
+    uint32_t nextAdvanceISR = Stepper::LA_ADV_NEVER;
+  #endif

-  while (1) {
+  for (;;) {
    xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
    dma.rw_pos = 0;

    while (dma.rw_pos < DMA_SAMPLE_COUNT) {
      // Fill with the port data post pulse_phase until the next step
-      if (remaining) {
+      if (nextMainISR && TERN1(LIN_ADVANCE, nextAdvanceISR))
        i2s_push_sample();
-        remaining--;
-      }
-      else {
+
+      // i2s_push_sample() is also called from Stepper::pulse_phase_isr() and Stepper::advance_isr()
+      // in a rare case where both are called, we need to double decrement the counters
+      const uint8_t push_count = 1 + (!nextMainISR && TERN0(LIN_ADVANCE, !nextAdvanceISR));
+
+      #if ENABLED(LIN_ADVANCE)
+        if (!nextAdvanceISR) {
+          Stepper::advance_isr();
+          nextAdvanceISR = Stepper::la_interval;
+        }
+        else if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
+          nextAdvanceISR = Stepper::la_interval;
+      #endif
+
+      if (!nextMainISR) {
        Stepper::pulse_phase_isr();
-        remaining = Stepper::block_phase_isr();
+        nextMainISR = Stepper::block_phase_isr();
      }
+
+      nextMainISR -= push_count;
+      TERN_(LIN_ADVANCE, nextAdvanceISR -= push_count);
    }
  }
 }
@@ -337,6 +355,26 @@ uint8_t i2s_state(uint8_t pin) {
 }

 void i2s_push_sample() {
+  // Every 4µs (when space in DMA buffer) toggle each expander PWM output using
+  // the current duty cycle/frequency so they sync with any steps (once
+  // through the DMA/FIFO buffers).  PWM signal inversion handled by other functions
+  LOOP_L_N(p, MAX_EXPANDER_BITS) {
+    if (hal.pwm_pin_data[p].pwm_duty_ticks > 0) { // pin has active pwm?
+      if (hal.pwm_pin_data[p].pwm_tick_count == 0) {
+        if (TEST32(i2s_port_data, p)) {  // hi->lo
+          CBI32(i2s_port_data, p);
+          hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_cycle_ticks - hal.pwm_pin_data[p].pwm_duty_ticks;
+        }
+        else { // lo->hi
+          SBI32(i2s_port_data, p);
+          hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_duty_ticks;
+        }
+      }
+      else
+        hal.pwm_pin_data[p].pwm_tick_count--;
+    }
+  }
+
  dma.current[dma.rw_pos++] = i2s_port_data;
 }

@@ -20,3 +20,10 @@
 *
 */
 #pragma once
+
+//
+// Board-specific options need to be defined before HAL.h
+//
+#if MB(MKS_TINYBEE)
+  #define MAX_EXPANDER_BITS 24  // TinyBee has 3 x HC595
+#endif
@@ -45,6 +45,14 @@
  #error "FAST_PWM_FAN is not available on TinyBee."
 #endif

+#if BOTH(I2S_STEPPER_STREAM, BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
+  #error "BABYSTEPPING on I2S stream requires INTEGRATED_BABYSTEPPING."
+#endif
+
 #if USING_PULLDOWNS
  #error "PULLDOWN pin mode is not available on ESP32 boards."
 #endif
+
+#if BOTH(I2S_STEPPER_STREAM, LIN_ADVANCE) && DISABLED(EXPERIMENTAL_I2S_LA)
+  #error "I2S stream is currently incompatible with LIN_ADVANCE."
+#endif
@@ -32,6 +32,13 @@
 #include "HAL.h"
 #include "SPI.h"

+#if ENABLED(SDSUPPORT)
+  #include "../../sd/cardreader.h"
+  #if ENABLED(ESP3D_WIFISUPPORT)
+    #include "sd_ESP32.h"
+  #endif
+#endif
+
 static SPISettings spiConfig;


@@ -45,6 +52,11 @@ static SPISettings spiConfig;

 uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
  static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT
+
+  #if ENABLED(PAUSE_LCD_FOR_BUSY_SD)
+    if (card.flag.saving || card.flag.logging || TERN0(ESP3D_WIFISUPPORT, sd_busy_lock == true)) return 0;
+  #endif
+
  if (msgInitCount) {
    if (msg == U8G_COM_MSG_INIT) msgInitCount--;
    if (msgInitCount) return -1;
@@ -69,12 +69,12 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
  std::size_t bytes_written = 0;

  for (std::size_t i = 0; i < size; i++) {
-    buffer[pos+i] = value[i];
-    bytes_written ++;
+    buffer[pos + i] = value[i];
+    bytes_written++;
  }

  crc16(crc, value, size);
-  pos = pos + size;
+  pos += size;
  return (bytes_written != size);  // return true for any error
 }

@@ -82,21 +82,21 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uin
  std::size_t bytes_read = 0;
  if (writing) {
    for (std::size_t i = 0; i < size; i++) {
-      value[i] = buffer[pos+i];
-      bytes_read ++;
+      value[i] = buffer[pos + i];
+      bytes_read++;
    }
    crc16(crc, value, size);
  }
  else {
    uint8_t temp[size];
    for (std::size_t i = 0; i < size; i++) {
-      temp[i] = buffer[pos+i];
-      bytes_read ++;
+      temp[i] = buffer[pos + i];
+      bytes_read++;
    }
    crc16(crc, temp, size);
  }

-  pos = pos + size;
+  pos += size;
  return bytes_read != size;  // return true for any error
 }

@@ -26,8 +26,8 @@
 struct LowpassFilter {
  uint64_t data_delay = 0;
  uint16_t update(uint16_t value) {
-    data_delay = data_delay - (data_delay >> 6) + value;
-    return (uint16_t)(data_delay >> 6);
+    data_delay += value - (data_delay >> 6);
+    return uint16_t(data_delay >> 6);
  }
 };

@@ -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) && PRINTCOUNTER_SAVE_INTERVAL > 0
+#if defined(MCU_LPC1768) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
  #define PRINTCOUNTER_SYNC 1
 #endif
@@ -9,119 +9,127 @@ from __future__ import print_function
 import pioutil
 if pioutil.is_pio_build():

-	target_filename = "FIRMWARE.CUR"
-	target_drive = "REARM"
+    target_filename = "FIRMWARE.CUR"
+    target_drive = "REARM"

-	import os,getpass,platform
+    import platform

-	current_OS = platform.system()
-	Import("env")
+    current_OS = platform.system()
+    Import("env")

-	def print_error(e):
-		print('\nUnable to find destination disk (%s)\n' \
-			  'Please select it in platformio.ini using the upload_port keyword ' \
-			  '(https://docs.platformio.org/en/latest/projectconf/section_env_upload.html) ' \
-			  'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \
-			  %(e, env.get('PIOENV')))
+    def print_error(e):
+        print('\nUnable to find destination disk (%s)\n' \
+              'Please select it in platformio.ini using the upload_port keyword ' \
+              '(https://docs.platformio.org/en/latest/projectconf/section_env_upload.html) ' \
+              'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \
+              %(e, env.get('PIOENV')))

-	def before_upload(source, target, env):
-		try:
-			#
-			# Find a disk for upload
-			#
-			upload_disk = 'Disk not found'
-			target_file_found = False
-			target_drive_found = False
-			if current_OS == 'Windows':
-				#
-				# platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:'
-				#   Windows - doesn't care about the disk's name, only cares about the drive letter
-				import subprocess,string
-				from ctypes import windll
+    def before_upload(source, target, env):
+        try:
+            from pathlib import Path
+            #
+            # Find a disk for upload
+            #
+            upload_disk = 'Disk not found'
+            target_file_found = False
+            target_drive_found = False
+            if current_OS == 'Windows':
+                #
+                # platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:'
+                #   Windows - doesn't care about the disk's name, only cares about the drive letter
+                import subprocess,string
+                from ctypes import windll
+                from pathlib import PureWindowsPath

-				# getting list of drives
-				# https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python
-				drives = []
-				bitmask = windll.kernel32.GetLogicalDrives()
-				for letter in string.ascii_uppercase:
-					if bitmask & 1:
-						drives.append(letter)
-					bitmask >>= 1
+                # getting list of drives
+                # https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python
+                drives = []
+                bitmask = windll.kernel32.GetLogicalDrives()
+                for letter in string.ascii_uppercase:
+                    if bitmask & 1:
+                        drives.append(letter)
+                    bitmask >>= 1

-				for drive in drives:
-					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))
-					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
-							target_drive_found = True
-							upload_disk = final_drive_name
-						if target_filename in volume_info:
-							if not target_file_found:
-								upload_disk = final_drive_name
-							target_file_found = True
+                for drive in drives:
+                    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))
+                    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
+                            target_drive_found = True
+                            upload_disk = PureWindowsPath(final_drive_name)
+                        if target_filename in volume_info:
+                            if not target_file_found:
+                                upload_disk = PureWindowsPath(final_drive_name)
+                            target_file_found = True

-			elif current_OS == 'Linux':
-				#
-				# platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive'
-				#
-				drives = os.listdir(os.path.join(os.sep, 'media', getpass.getuser()))
-				if target_drive in drives:  # If target drive is found, use it.
-					target_drive_found = True
-					upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), target_drive) + os.sep
-				else:
-					for drive in drives:
-						try:
-							files = os.listdir(os.path.join(os.sep, 'media', getpass.getuser(), drive))
-						except:
-							continue
-						else:
-							if target_filename in files:
-								upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), drive) + os.sep
-								target_file_found = True
-								break
-				#
-				# set upload_port to drive if found
-				#
+            elif current_OS == 'Linux':
+                #
+                # platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive'
+                #
+                import getpass
+                user = getpass.getuser()
+                mpath = Path('/media', user)
+                drives = [ x for x in mpath.iterdir() if x.is_dir() ]
+                if target_drive in drives:  # If target drive is found, use it.
+                    target_drive_found = True
+                    upload_disk = mpath / target_drive
+                else:
+                    for drive in drives:
+                        try:
+                            fpath = mpath / drive
+                            filenames = [ x.name for x in fpath.iterdir() if x.is_file() ]
+                        except:
+                            continue
+                        else:
+                            if target_filename in filenames:
+                                upload_disk = mpath / drive
+                                target_file_found = True
+                                break
+                #
+                # set upload_port to drive if found
+                #

-				if target_file_found or target_drive_found:
-					env.Replace(
-						UPLOAD_FLAGS="-P$UPLOAD_PORT"
-					)
+                if target_file_found or target_drive_found:
+                    env.Replace(
+                        UPLOAD_FLAGS="-P$UPLOAD_PORT"
+                    )

-			elif current_OS == 'Darwin':  # MAC
-				#
-				# platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive'
-				#
-				drives = os.listdir('/Volumes')  # human readable names
-				if target_drive in drives and not target_file_found:  # set upload if not found target file yet
-					target_drive_found = True
-					upload_disk = '/Volumes/' + target_drive + '/'
-				for drive in drives:
-					try:
-						filenames = os.listdir('/Volumes/' + drive + '/')   # will get an error if the drive is protected
-					except:
-						continue
-					else:
-						if target_filename in filenames:
-							if not target_file_found:
-								upload_disk = '/Volumes/' + drive + '/'
-							target_file_found = True
+            elif current_OS == 'Darwin':  # MAC
+                #
+                # platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive'
+                #
+                dpath = Path('/Volumes')  # human readable names
+                drives = [ x for x in dpath.iterdir() if x.is_dir() ]
+                if target_drive in drives and not target_file_found:  # set upload if not found target file yet
+                    target_drive_found = True
+                    upload_disk = dpath / target_drive
+                for drive in drives:
+                    try:
+                        fpath = dpath / drive   # will get an error if the drive is protected
+                        filenames = [ x.name for x in fpath.iterdir() if x.is_file() ]
+                    except:
+                        continue
+                    else:
+                        if target_filename in filenames:
+                            upload_disk = dpath / drive
+                            target_file_found = True
+                            break

-			#
-			# Set upload_port to drive if found
-			#
-			if target_file_found or target_drive_found:
-				env.Replace(UPLOAD_PORT=upload_disk)
-				print('\nUpload disk: ', upload_disk, '\n')
-			else:
-				print_error('Autodetect Error')
+            #
+            # Set upload_port to drive if found
+            #
+            if target_file_found or target_drive_found:
+                env.Replace(UPLOAD_PORT=str(upload_disk))
+                print('\nUpload disk: ', upload_disk, '\n')
+            else:
+                print_error('Autodetect Error')

-		except Exception as e:
-			print_error(str(e))
+        except Exception as e:
+            print_error(str(e))

-	env.AddPreAction("upload", before_upload)
+    env.AddPreAction("upload", before_upload)
@@ -44,7 +44,7 @@
 *
 * Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW);
 *
- * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
+ * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/cpp/Stringification.html
 */

 /// Read a pin
@@ -51,7 +51,7 @@ enum XPTCoordinate : uint8_t {
  XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE,
 };

-#if !defined(XPT2046_Z1_THRESHOLD)
+#ifndef XPT2046_Z1_THRESHOLD
  #define XPT2046_Z1_THRESHOLD 10
 #endif

@@ -598,7 +598,7 @@ void MarlinHAL::dma_init() {
 void MarlinHAL::init() {
  TERN_(DMA_IS_REQUIRED, dma_init());
  #if ENABLED(SDSUPPORT)
-    #if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT)
+    #if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD)
      SET_INPUT_PULLUP(SD_DETECT_PIN);
    #endif
    OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
@@ -77,7 +77,8 @@ HAL_SERVO_TIMER_ISR() {
  ;
  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);

-  if (currentServoIndex[timer] < 0) {
+  int8_t cho = currentServoIndex[timer];                // Handle the prior servo first
+  if (cho < 0) {                                        // Servo -1 indicates the refresh interval completed...
    #if defined(_useTimer1) && defined(_useTimer2)
      if (currentServoIndex[timer ^ 1] >= 0) {
        // Wait for both channels
@@ -86,45 +87,37 @@ HAL_SERVO_TIMER_ISR() {
        return;
      }
    #endif
-    tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;
+    tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;       // ...so reset the timer
    SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT);
  }
-  else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive)
-    digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW);      // pulse this channel low if activated
+  else if (SERVO_INDEX(timer, cho) < ServoCount)        // prior channel handled?
+    digitalWrite(SERVO(timer, cho).Pin.nbr, LOW);       // pulse the prior channel LOW

-  // Select the next servo controlled by this timer
-  currentServoIndex[timer]++;
+  currentServoIndex[timer] = ++cho;                     // go to the next channel (or 0)
+  if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
+    if (SERVO(timer, cho).Pin.isActive)                 // activated?
+      digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH);    // yes: pulse HIGH

-  if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) {
-    if (SERVO(timer, currentServoIndex[timer]).Pin.isActive)                // check if activated
-      digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH);   // it's an active channel so pulse it high
-
-    tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks;
+    tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks;
  }
  else {
    // finished all channels so wait for the refresh period to expire before starting over
-    currentServoIndex[timer] = -1;   // this will get incremented at the end of the refresh period to start again at the first channel
-
-    const uint16_t tcCounterValue = getTimerCount();
-
-    if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL))  // allow a few ticks to ensure the next OCR1A not missed
-      tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL);
-    else
-      tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL);               // at least REFRESH_INTERVAL has elapsed
+    currentServoIndex[timer] = -1;                                          // reset the timer COUNT.reg on the next call
+    const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER),  // allow 256 cycles to ensure the next CV not missed
+                   ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
+    tc->COUNT16.CC[tcChannel].reg = min(cval, ival);
  }
  if (tcChannel == 0) {
    SYNC(tc->COUNT16.SYNCBUSY.bit.CC0);
-    // Clear the interrupt
-    tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
+    tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt
  }
  else {
    SYNC(tc->COUNT16.SYNCBUSY.bit.CC1);
-    // Clear the interrupt
-    tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1;
+    tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt
  }
 }

-void initISR(timer16_Sequence_t timer) {
+void initISR(const timer16_Sequence_t timer) {
  Tc * const tc = timer_config[SERVO_TC].pTc;
  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);

@@ -201,9 +194,9 @@ void initISR(timer16_Sequence_t timer) {
  }
 }

-void finISR(timer16_Sequence_t timer) {
+void finISR(const timer16_Sequence_t timer_index) {
  Tc * const tc = timer_config[SERVO_TC].pTc;
-  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
+  const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index);

  // Disable the match channel interrupt request
  tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1;
@@ -29,7 +29,7 @@
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define GET_ARRAY_PIN(p) pin_array[p].pin
 #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL)
+#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
 #define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p)
 #define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1)
 #define pwm_status(pin) digitalPinHasPWM(pin)
@@ -95,7 +95,7 @@
  static_assert(IS_FLASH_SECTOR(FLASH_SECTOR), "FLASH_SECTOR is invalid");
  static_assert(IS_POWER_OF_2(FLASH_UNIT_SIZE), "FLASH_UNIT_SIZE should be a power of 2, please check your chip's spec sheet");

-#endif
+#endif // FLASH_EEPROM_LEVELING

 static bool eeprom_data_written = false;

@@ -189,15 +189,15 @@ bool PersistentStore::access_finish() {

      UNLOCK_FLASH();

-      uint32_t offset = 0;
-      uint32_t address = SLOT_ADDRESS(current_slot);
-      uint32_t address_end = address + MARLIN_EEPROM_SIZE;
-      uint32_t data = 0;
+      uint32_t offset = 0,
+               address = SLOT_ADDRESS(current_slot),
+               address_end = address + MARLIN_EEPROM_SIZE,
+               data = 0;

      bool success = true;

      while (address < address_end) {
-        memcpy(&data, ram_eeprom + offset, sizeof(uint32_t));
+        memcpy(&data, ram_eeprom + offset, sizeof(data));
        status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, address, data);
        if (status == HAL_OK) {
          address += sizeof(uint32_t);
@@ -221,7 +221,8 @@ bool PersistentStore::access_finish() {

      return success;

-    #else
+    #else !FLASH_EEPROM_LEVELING
+
      // The following was written for the STM32F4 but may work with other MCUs as well.
      // Most STM32F4 flash does not allow reading from flash during erase operations.
      // This takes about a second on a STM32F407 with a 128kB sector used as EEPROM.
@@ -235,7 +236,8 @@ bool PersistentStore::access_finish() {
      TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());

      eeprom_data_written = false;
-    #endif
+
+    #endif // !FLASH_EEPROM_LEVELING
  }

  return true;
@@ -27,3 +27,8 @@
 #elif EITHER(I2C_EEPROM, SPI_EEPROM)
  #define USE_SHARED_EEPROM 1
 #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
+  #define PRINTCOUNTER_SYNC 1
+#endif
@@ -37,11 +37,6 @@
  #error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation."
 #endif

-#if defined(STM32F4xx) && BOTH(PRINTCOUNTER, FLASH_EEPROM_EMULATION)
-  #warning "FLASH_EEPROM_EMULATION may cause long delays when writing and should not be used while printing."
-  #error "Disable PRINTCOUNTER or choose another EEPROM emulation."
-#endif
-
 #if !defined(STM32F4xx) && ENABLED(FLASH_EEPROM_LEVELING)
  #error "FLASH_EEPROM_LEVELING is currently only supported on STM32F4 hardware."
 #endif
@@ -102,17 +102,18 @@ const XrefInfo pin_xref[] PROGMEM = {
 #define PIN_NUM_ALPHA_LEFT(P) (((P & 0x000F) < 10) ? ('0' + (P & 0x000F)) : '1')
 #define PIN_NUM_ALPHA_RIGHT(P) (((P & 0x000F) > 9)  ? ('0' + (P & 0x000F) - 10) : 0 )
 #define PORT_NUM(P) ((P  >> 4) & 0x0007)
-#define PORT_ALPHA(P) ('A' + (P  >> 4))
+#define PORT_ALPHA(P) ('A' + (P >> 4))

 /**
 * Translation of routines & variables used by pinsDebug.h
 */

-#if PA0 >= NUM_DIGITAL_PINS
+#if NUM_ANALOG_FIRST >= NUM_DIGITAL_PINS
  #define HAS_HIGH_ANALOG_PINS 1
 #endif
-#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS)
-#define VALID_PIN(ANUM) ((ANUM) >= 0 && (ANUM) < NUMBER_PINS_TOTAL)
+#define NUM_ANALOG_LAST ((NUM_ANALOG_FIRST) + (NUM_ANALOG_INPUTS) - 1)
+#define NUMBER_PINS_TOTAL ((NUM_DIGITAL_PINS) + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS))
+#define VALID_PIN(P) (WITHIN(P, 0, (NUM_DIGITAL_PINS) - 1) || TERN0(HAS_HIGH_ANALOG_PINS, WITHIN(P, NUM_ANALOG_FIRST, NUM_ANALOG_LAST)))
 #define digitalRead_mod(Ard_num) extDigitalRead(Ard_num)  // must use Arduino pin numbers when doing reads
 #define PRINT_PIN(Q)
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
@@ -168,7 +169,7 @@ bool GET_PINMODE(const pin_t Ard_num) {
 }

 int8_t digital_pin_to_analog_pin(const pin_t Ard_num) {
-  if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_FIRST + NUM_ANALOG_INPUTS - 1))
+  if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_LAST))
    return Ard_num - NUM_ANALOG_FIRST;

  const uint32_t ind = digitalPinToAnalogInput(Ard_num);
@@ -206,8 +207,11 @@ void port_print(const pin_t Ard_num) {
    SERIAL_ECHO_SP(7);

  // Print number to be used with M42
-  int calc_p = Ard_num % (NUM_DIGITAL_PINS + 1);
-  if (Ard_num > NUM_DIGITAL_PINS && calc_p > 7) calc_p += 8;
+  int calc_p = Ard_num;
+  if (Ard_num > NUM_DIGITAL_PINS) {
+    calc_p -= NUM_ANALOG_FIRST;
+    if (calc_p > 7) calc_p += 8;
+  }
  SERIAL_ECHOPGM(" M42 P", calc_p);
  SERIAL_CHAR(' ');
  if (calc_p < 100) {
@@ -33,7 +33,6 @@
 #include <stdint.h>
 #include <stdbool.h>

-// use local drivers
 #if defined(STM32F103xE) || defined(STM32F103xG)
  #include <stm32f1xx_hal_rcc_ex.h>
  #include <stm32f1xx_hal_sd.h>
@@ -47,254 +46,397 @@
  #include <stm32f7xx_hal_dma.h>
  #include <stm32f7xx_hal_gpio.h>
  #include <stm32f7xx_hal_sd.h>
+#elif defined(STM32H7xx)
+  #define SDIO_FOR_STM32H7
+  #include <stm32h7xx_hal_rcc.h>
+  #include <stm32h7xx_hal_dma.h>
+  #include <stm32h7xx_hal_gpio.h>
+  #include <stm32h7xx_hal_sd.h>
 #else
-  #error "SDIO only supported with STM32F103xE, STM32F103xG, STM32F4xx, or STM32F7xx."
+  #error "SDIO is only supported with STM32F103xE, STM32F103xG, STM32F4xx, STM32F7xx, and STM32H7xx."
 #endif

-SD_HandleTypeDef hsd;  // create SDIO structure
-// F4 supports one DMA for RX and another for TX, but Marlin will never
-// do read and write at same time, so we use the same DMA for both.
-DMA_HandleTypeDef hdma_sdio;
-
-/*
-  SDIO_INIT_CLK_DIV is 118
-  SDIO clock frequency is 48MHz / (TRANSFER_CLOCK_DIV + 2)
-  SDIO init clock frequency should not exceed 400kHz = 48MHz / (118 + 2)
-
-  Default TRANSFER_CLOCK_DIV is 2 (118 / 40)
-  Default SDIO clock frequency is 48MHz / (2 + 2) = 12 MHz
-  This might be too fast for stable SDIO operations
-
-  MKS Robin board seems to have stable SDIO with BusWide 1bit and ClockDiv 8 i.e. 4.8MHz SDIO clock frequency
-  Additional testing is required as there are clearly some 4bit initialization problems
-*/
-
-#ifndef USBD_OK
-  #define USBD_OK 0
-#endif
+// SDIO Max Clock (naming from STM Manual, don't change)
+#define SDIOCLK 48000000

 // Target Clock, configurable. Default is 18MHz, from STM32F1
 #ifndef SDIO_CLOCK
  #define SDIO_CLOCK 18000000 // 18 MHz
 #endif

-// SDIO retries, configurable. Default is 3, from STM32F1
-#ifndef SDIO_READ_RETRIES
-  #define SDIO_READ_RETRIES 3
-#endif
-
-// SDIO Max Clock (naming from STM Manual, don't change)
-#define SDIOCLK 48000000
+SD_HandleTypeDef hsd;  // SDIO structure

 static uint32_t clock_to_divider(uint32_t clk) {
-  // limit the SDIO master clock to 8/3 of PCLK2. See STM32 Manuals
-  // Also limited to no more than 48Mhz (SDIOCLK).
-  const uint32_t pclk2 = HAL_RCC_GetPCLK2Freq();
-  clk = min(clk, (uint32_t)(pclk2 * 8 / 3));
-  clk = min(clk, (uint32_t)SDIOCLK);
-  // Round up divider, so we don't run the card over the speed supported,
-  // and subtract by 2, because STM32 will add 2, as written in the manual:
-  // SDIO_CK frequency = SDIOCLK / [CLKDIV + 2]
-  return pclk2 / clk + (pclk2 % clk != 0) - 2;
-}
-
-void go_to_transfer_speed() {
-  /* Default SDIO peripheral configuration for SD card initialization */
-  hsd.Init.ClockEdge           = hsd.Init.ClockEdge;
-  hsd.Init.ClockBypass         = hsd.Init.ClockBypass;
-  hsd.Init.ClockPowerSave      = hsd.Init.ClockPowerSave;
-  hsd.Init.BusWide             = hsd.Init.BusWide;
-  hsd.Init.HardwareFlowControl = hsd.Init.HardwareFlowControl;
-  hsd.Init.ClockDiv            = clock_to_divider(SDIO_CLOCK);
-
-  /* Initialize SDIO peripheral interface with default configuration */
-  SDIO_Init(hsd.Instance, hsd.Init);
-}
-
-void SD_LowLevel_Init(void) {
-  uint32_t tempreg;
-
-  __HAL_RCC_GPIOC_CLK_ENABLE(); //enable GPIO clocks
-  __HAL_RCC_GPIOD_CLK_ENABLE(); //enable GPIO clocks
-
-  GPIO_InitTypeDef  GPIO_InitStruct;
-
-  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-  GPIO_InitStruct.Pull = 1;  //GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-
-  #if DISABLED(STM32F1xx)
-    GPIO_InitStruct.Alternate = GPIO_AF12_SDIO;
-  #endif
-
-  GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_12;  // D0 & SCK
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-  #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)  // define D1-D3 only if have a four bit wide SDIO bus
-    GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11;  // D1-D3
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-  #endif
-
-  // Configure PD.02 CMD line
-  GPIO_InitStruct.Pin = GPIO_PIN_2;
-  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
-
-  // Setup DMA
-  #if defined(STM32F1xx)
-    hdma_sdio.Init.Mode = DMA_NORMAL;
-    hdma_sdio.Instance = DMA2_Channel4;
-    HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn);
-  #elif defined(STM32F4xx)
-    hdma_sdio.Init.Mode = DMA_PFCTRL;
-    hdma_sdio.Instance = DMA2_Stream3;
-    hdma_sdio.Init.Channel = DMA_CHANNEL_4;
-    hdma_sdio.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
-    hdma_sdio.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
-    hdma_sdio.Init.MemBurst = DMA_MBURST_INC4;
-    hdma_sdio.Init.PeriphBurst = DMA_PBURST_INC4;
-    HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
-  #endif
-  HAL_NVIC_EnableIRQ(SDIO_IRQn);
-  hdma_sdio.Init.PeriphInc = DMA_PINC_DISABLE;
-  hdma_sdio.Init.MemInc = DMA_MINC_ENABLE;
-  hdma_sdio.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
-  hdma_sdio.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
-  hdma_sdio.Init.Priority = DMA_PRIORITY_LOW;
-  __HAL_LINKDMA(&hsd, hdmarx, hdma_sdio);
-  __HAL_LINKDMA(&hsd, hdmatx, hdma_sdio);
-
-  #if defined(STM32F1xx)
-    __HAL_RCC_SDIO_CLK_ENABLE();
-    __HAL_RCC_DMA2_CLK_ENABLE();
+  #ifdef SDIO_FOR_STM32H7
+    // SDMMC_CK frequency = sdmmc_ker_ck / [2 * CLKDIV].
+    uint32_t sdmmc_clk = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_SDMMC);
+    return sdmmc_clk / (2U * SDIO_CLOCK) + (sdmmc_clk % (2U * SDIO_CLOCK) != 0);
  #else
-    __HAL_RCC_SDIO_FORCE_RESET();
-    delay(2);
-    __HAL_RCC_SDIO_RELEASE_RESET();
-    delay(2);
-    __HAL_RCC_SDIO_CLK_ENABLE();
-
-    __HAL_RCC_DMA2_FORCE_RESET();
-    delay(2);
-    __HAL_RCC_DMA2_RELEASE_RESET();
-    delay(2);
-    __HAL_RCC_DMA2_CLK_ENABLE();
+    // limit the SDIO master clock to 8/3 of PCLK2. See STM32 Manuals
+    // Also limited to no more than 48Mhz (SDIOCLK).
+    const uint32_t pclk2 = HAL_RCC_GetPCLK2Freq();
+    clk = min(clk, (uint32_t)(pclk2 * 8 / 3));
+    clk = min(clk, (uint32_t)SDIOCLK);
+    // Round up divider, so we don't run the card over the speed supported,
+    // and subtract by 2, because STM32 will add 2, as written in the manual:
+    // SDIO_CK frequency = SDIOCLK / [CLKDIV + 2]
+    return pclk2 / clk + (pclk2 % clk != 0) - 2;
  #endif
-
-  //Initialize the SDIO (with initial <400Khz Clock)
-  tempreg = 0;  //Reset value
-  tempreg |= SDIO_CLKCR_CLKEN;  // Clock enabled
-  tempreg |= SDIO_INIT_CLK_DIV; // Clock Divider. Clock = 48000 / (118 + 2) = 400Khz
-  // Keep the rest at 0 => HW_Flow Disabled, Rising Clock Edge, Disable CLK ByPass, Bus Width = 0, Power save Disable
-  SDIO->CLKCR = tempreg;
-
-  // Power up the SDIO
-  SDIO_PowerState_ON(SDIO);
-  hsd.Instance = SDIO;
 }

-void HAL_SD_MspInit(SD_HandleTypeDef *hsd) { // application specific init
-  UNUSED(hsd);   // Prevent unused argument(s) compilation warning
-  __HAL_RCC_SDIO_CLK_ENABLE();  // turn on SDIO clock
+// Start the SDIO clock
+void HAL_SD_MspInit(SD_HandleTypeDef *hsd) {
+  UNUSED(hsd);
+  #ifdef SDIO_FOR_STM32H7
+    pinmap_pinout(PC_12, PinMap_SD);
+    pinmap_pinout(PD_2,  PinMap_SD);
+    pinmap_pinout(PC_8,  PinMap_SD);
+    #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)  // Define D1-D3 only for 4-bit wide SDIO bus
+      pinmap_pinout(PC_9,  PinMap_SD);
+      pinmap_pinout(PC_10, PinMap_SD);
+      pinmap_pinout(PC_11, PinMap_SD);
+    #endif
+    __HAL_RCC_SDMMC1_CLK_ENABLE();
+    HAL_NVIC_EnableIRQ(SDMMC1_IRQn);
+  #else
+    __HAL_RCC_SDIO_CLK_ENABLE();
+  #endif
 }

-bool SDIO_Init() {
-  uint8_t retryCnt = SDIO_READ_RETRIES;
+#ifdef SDIO_FOR_STM32H7

-  bool status;
-  hsd.Instance = SDIO;
-  hsd.State = HAL_SD_STATE_RESET;
+  #define SD_TIMEOUT              1000 // ms

-  SD_LowLevel_Init();
+  extern "C" void SDMMC1_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); }

-  uint8_t retry_Cnt = retryCnt;
-  for (;;) {
-    hal.watchdog_refresh();
-    status = (bool) HAL_SD_Init(&hsd);
-    if (!status) break;
-    if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
+  uint8_t waitingRxCplt = 0, waitingTxCplt = 0;
+  void HAL_SD_TxCpltCallback(SD_HandleTypeDef *hsdio) { waitingTxCplt = 0; }
+  void HAL_SD_RxCpltCallback(SD_HandleTypeDef *hsdio) { waitingRxCplt = 0; }
+
+  void HAL_SD_MspDeInit(SD_HandleTypeDef *hsd) {
+    __HAL_RCC_SDMMC1_FORCE_RESET();   delay(10);
+    __HAL_RCC_SDMMC1_RELEASE_RESET(); delay(10);
  }

-  go_to_transfer_speed();
+  bool SDIO_Init() {
+    HAL_StatusTypeDef sd_state = HAL_OK;
+    if (hsd.Instance == SDMMC1) HAL_SD_DeInit(&hsd);

-  #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined
-    retry_Cnt = retryCnt;
+    // HAL SD initialization
+    hsd.Instance = SDMMC1;
+    hsd.Init.ClockEdge = SDMMC_CLOCK_EDGE_RISING;
+    hsd.Init.ClockPowerSave = SDMMC_CLOCK_POWER_SAVE_DISABLE;
+    hsd.Init.BusWide = SDMMC_BUS_WIDE_1B;
+    hsd.Init.HardwareFlowControl = SDMMC_HARDWARE_FLOW_CONTROL_DISABLE;
+    hsd.Init.ClockDiv = clock_to_divider(SDIO_CLOCK);
+    sd_state = HAL_SD_Init(&hsd);
+
+    #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)
+      if (sd_state == HAL_OK)
+        sd_state = HAL_SD_ConfigWideBusOperation(&hsd, SDMMC_BUS_WIDE_4B);
+    #endif
+
+    return (sd_state == HAL_OK);
+  }
+
+#else // !SDIO_FOR_STM32H7
+
+  #define SD_TIMEOUT               500 // ms
+
+  // SDIO retries, configurable. Default is 3, from STM32F1
+  #ifndef SDIO_READ_RETRIES
+    #define SDIO_READ_RETRIES 3
+  #endif
+
+  // F4 supports one DMA for RX and another for TX, but Marlin will never
+  // do read and write at same time, so we use the same DMA for both.
+  DMA_HandleTypeDef hdma_sdio;
+
+  #ifdef STM32F1xx
+    #define DMA_IRQ_HANDLER DMA2_Channel4_5_IRQHandler
+  #elif defined(STM32F4xx)
+    #define DMA_IRQ_HANDLER DMA2_Stream3_IRQHandler
+  #else
+    #error "Unknown STM32 architecture."
+  #endif
+
+  extern "C" void SDIO_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); }
+  extern "C" void DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&hdma_sdio); }
+
+  /*
+    SDIO_INIT_CLK_DIV is 118
+    SDIO clock frequency is 48MHz / (TRANSFER_CLOCK_DIV + 2)
+    SDIO init clock frequency should not exceed 400kHz = 48MHz / (118 + 2)
+
+    Default TRANSFER_CLOCK_DIV is 2 (118 / 40)
+    Default SDIO clock frequency is 48MHz / (2 + 2) = 12 MHz
+    This might be too fast for stable SDIO operations
+
+    MKS Robin SDIO seems stable with BusWide 1bit and ClockDiv 8 (i.e., 4.8MHz SDIO clock frequency)
+    More testing is required as there are clearly some 4bit init problems.
+  */
+
+  void go_to_transfer_speed() {
+    /* Default SDIO peripheral configuration for SD card initialization */
+    hsd.Init.ClockEdge           = hsd.Init.ClockEdge;
+    hsd.Init.ClockBypass         = hsd.Init.ClockBypass;
+    hsd.Init.ClockPowerSave      = hsd.Init.ClockPowerSave;
+    hsd.Init.BusWide             = hsd.Init.BusWide;
+    hsd.Init.HardwareFlowControl = hsd.Init.HardwareFlowControl;
+    hsd.Init.ClockDiv            = clock_to_divider(SDIO_CLOCK);
+
+    /* Initialize SDIO peripheral interface with default configuration */
+    SDIO_Init(hsd.Instance, hsd.Init);
+  }
+
+  void SD_LowLevel_Init() {
+    uint32_t tempreg;
+
+    // Enable GPIO clocks
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+
+    GPIO_InitTypeDef  GPIO_InitStruct;
+
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = 1;  // GPIO_NOPULL
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+
+    #if DISABLED(STM32F1xx)
+      GPIO_InitStruct.Alternate = GPIO_AF12_SDIO;
+    #endif
+
+    GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_12;  // D0 & SCK
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)  // define D1-D3 only if have a four bit wide SDIO bus
+      GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11;  // D1-D3
+      HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+    #endif
+
+    // Configure PD.02 CMD line
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    // Setup DMA
+    #ifdef STM32F1xx
+      hdma_sdio.Init.Mode = DMA_NORMAL;
+      hdma_sdio.Instance = DMA2_Channel4;
+      HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn);
+    #elif defined(STM32F4xx)
+      hdma_sdio.Init.Mode = DMA_PFCTRL;
+      hdma_sdio.Instance = DMA2_Stream3;
+      hdma_sdio.Init.Channel = DMA_CHANNEL_4;
+      hdma_sdio.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
+      hdma_sdio.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
+      hdma_sdio.Init.MemBurst = DMA_MBURST_INC4;
+      hdma_sdio.Init.PeriphBurst = DMA_PBURST_INC4;
+      HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+    #endif
+    HAL_NVIC_EnableIRQ(SDIO_IRQn);
+    hdma_sdio.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_sdio.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_sdio.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+    hdma_sdio.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
+    hdma_sdio.Init.Priority = DMA_PRIORITY_LOW;
+    __HAL_LINKDMA(&hsd, hdmarx, hdma_sdio);
+    __HAL_LINKDMA(&hsd, hdmatx, hdma_sdio);
+
+    #ifdef STM32F1xx
+      __HAL_RCC_SDIO_CLK_ENABLE();
+      __HAL_RCC_DMA2_CLK_ENABLE();
+    #else
+      __HAL_RCC_SDIO_FORCE_RESET();   delay(2);
+      __HAL_RCC_SDIO_RELEASE_RESET(); delay(2);
+      __HAL_RCC_SDIO_CLK_ENABLE();
+
+      __HAL_RCC_DMA2_FORCE_RESET();   delay(2);
+      __HAL_RCC_DMA2_RELEASE_RESET(); delay(2);
+      __HAL_RCC_DMA2_CLK_ENABLE();
+    #endif
+
+    // Initialize the SDIO (with initial <400Khz Clock)
+    tempreg = 0                   // Reset value
+            | SDIO_CLKCR_CLKEN    // Clock enabled
+            | SDIO_INIT_CLK_DIV;  // Clock Divider. Clock = 48000 / (118 + 2) = 400Khz
+                                  // Keep the rest at 0 => HW_Flow Disabled, Rising Clock Edge, Disable CLK ByPass, Bus Width = 0, Power save Disable
+    SDIO->CLKCR = tempreg;
+
+    // Power up the SDIO
+    SDIO_PowerState_ON(SDIO);
+    hsd.Instance = SDIO;
+  }
+
+  bool SDIO_Init() {
+    uint8_t retryCnt = SDIO_READ_RETRIES;
+
+    bool status;
+    hsd.Instance = SDIO;
+    hsd.State = HAL_SD_STATE_RESET;
+
+    SD_LowLevel_Init();
+
+    uint8_t retry_Cnt = retryCnt;
    for (;;) {
      hal.watchdog_refresh();
-      if (!HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B)) break;  // some cards are only 1 bit wide so a pass here is not required
-      if (!--retry_Cnt) break;
+      status = (bool) HAL_SD_Init(&hsd);
+      if (!status) break;
+      if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
    }
-    if (!retry_Cnt) {  // wide bus failed, go back to one bit wide mode
-      hsd.State = (HAL_SD_StateTypeDef) 0;  // HAL_SD_STATE_RESET
-      SD_LowLevel_Init();
+
+    go_to_transfer_speed();
+
+    #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined
      retry_Cnt = retryCnt;
      for (;;) {
        hal.watchdog_refresh();
-        status = (bool) HAL_SD_Init(&hsd);
-        if (!status) break;
-        if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
+        if (!HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B)) break;  // some cards are only 1 bit wide so a pass here is not required
+        if (!--retry_Cnt) break;
      }
-      go_to_transfer_speed();
+      if (!retry_Cnt) {  // wide bus failed, go back to one bit wide mode
+        hsd.State = (HAL_SD_StateTypeDef) 0;  // HAL_SD_STATE_RESET
+        SD_LowLevel_Init();
+        retry_Cnt = retryCnt;
+        for (;;) {
+          hal.watchdog_refresh();
+          status = (bool) HAL_SD_Init(&hsd);
+          if (!status) break;
+          if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
+        }
+        go_to_transfer_speed();
+      }
+    #endif
+
+    return true;
+  }
+
+  /**
+   * @brief Read or Write a block
+   * @details Read or Write a block with SDIO
+   *
+   * @param block The block index
+   * @param src The data buffer source for a write
+   * @param dst The data buffer destination for a read
+   *
+   * @return true on success
+   */
+  static bool SDIO_ReadWriteBlock_DMA(uint32_t block, const uint8_t *src, uint8_t *dst) {
+    if (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) return false;
+
+    hal.watchdog_refresh();
+
+    HAL_StatusTypeDef ret;
+    if (src) {
+      hdma_sdio.Init.Direction = DMA_MEMORY_TO_PERIPH;
+      HAL_DMA_Init(&hdma_sdio);
+      ret = HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t*)src, block, 1);
+    }
+    else {
+      hdma_sdio.Init.Direction = DMA_PERIPH_TO_MEMORY;
+      HAL_DMA_Init(&hdma_sdio);
+      ret = HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1);
    }
-  #endif

-  return true;
-}
-
-static bool SDIO_ReadWriteBlock_DMA(uint32_t block, const uint8_t *src, uint8_t *dst) {
-  if (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) return false;
-
-  hal.watchdog_refresh();
-
-  HAL_StatusTypeDef ret;
-  if (src) {
-    hdma_sdio.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    HAL_DMA_Init(&hdma_sdio);
-    ret = HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t *)src, block, 1);
-  }
-  else {
-    hdma_sdio.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    HAL_DMA_Init(&hdma_sdio);
-    ret = HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t *)dst, block, 1);
-  }
-
-  if (ret != HAL_OK) {
-    HAL_DMA_Abort_IT(&hdma_sdio);
-    HAL_DMA_DeInit(&hdma_sdio);
-    return false;
-  }
-
-  millis_t timeout = millis() + 500;
-  // Wait the transfer
-  while (hsd.State != HAL_SD_STATE_READY) {
-    if (ELAPSED(millis(), timeout)) {
+    if (ret != HAL_OK) {
      HAL_DMA_Abort_IT(&hdma_sdio);
      HAL_DMA_DeInit(&hdma_sdio);
      return false;
    }
+
+    millis_t timeout = millis() + SD_TIMEOUT;
+    // Wait the transfer
+    while (hsd.State != HAL_SD_STATE_READY) {
+      if (ELAPSED(millis(), timeout)) {
+        HAL_DMA_Abort_IT(&hdma_sdio);
+        HAL_DMA_DeInit(&hdma_sdio);
+        return false;
+      }
+    }
+
+    while (__HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_sdio)) != 0
+        || __HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TE_FLAG_INDEX(&hdma_sdio)) != 0) { /* nada */ }
+
+    HAL_DMA_Abort_IT(&hdma_sdio);
+    HAL_DMA_DeInit(&hdma_sdio);
+
+    timeout = millis() + SD_TIMEOUT;
+    while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) if (ELAPSED(millis(), timeout)) return false;
+
+    return true;
  }

-  while (__HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_sdio)) != 0
-      || __HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TE_FLAG_INDEX(&hdma_sdio)) != 0) { /* nada */ }
-
-  HAL_DMA_Abort_IT(&hdma_sdio);
-  HAL_DMA_DeInit(&hdma_sdio);
-
-  timeout = millis() + 500;
-  while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) if (ELAPSED(millis(), timeout)) return false;
-
-  return true;
-}
+#endif // !SDIO_FOR_STM32H7

+/**
+ * @brief Read a block
+ * @details Read a block from media with SDIO
+ *
+ * @param block The block index
+ * @param src The block buffer
+ *
+ * @return true on success
+ */
 bool SDIO_ReadBlock(uint32_t block, uint8_t *dst) {
-  uint8_t retries = SDIO_READ_RETRIES;
-  while (retries--) if (SDIO_ReadWriteBlock_DMA(block, nullptr, dst)) return true;
-  return false;
+  #ifdef SDIO_FOR_STM32H7
+
+    uint32_t timeout = HAL_GetTick() + SD_TIMEOUT;
+
+    while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER)
+      if (HAL_GetTick() >= timeout) return false;
+
+    waitingRxCplt = 1;
+    if (HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1) != HAL_OK)
+      return false;
+
+    timeout = HAL_GetTick() + SD_TIMEOUT;
+    while (waitingRxCplt)
+      if (HAL_GetTick() >= timeout) return false;
+
+    return true;
+
+  #else
+
+    uint8_t retries = SDIO_READ_RETRIES;
+    while (retries--) if (SDIO_ReadWriteBlock_DMA(block, nullptr, dst)) return true;
+    return false;
+
+  #endif
 }

+/**
+ * @brief Write a block
+ * @details Write a block to media with SDIO
+ *
+ * @param block The block index
+ * @param src The block data
+ *
+ * @return true on success
+ */
 bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) {
-  uint8_t retries = SDIO_READ_RETRIES;
-  while (retries--) if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true;
-  return false;
+  #ifdef SDIO_FOR_STM32H7
+
+    uint32_t timeout = HAL_GetTick() + SD_TIMEOUT;
+
+    while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER)
+      if (HAL_GetTick() >= timeout) return false;
+
+    waitingTxCplt = 1;
+    if (HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t*)src, block, 1) != HAL_OK)
+      return false;
+
+    timeout = HAL_GetTick() + SD_TIMEOUT;
+    while (waitingTxCplt)
+      if (HAL_GetTick() >= timeout) return false;
+
+    return true;
+
+  #else
+
+    uint8_t retries = SDIO_READ_RETRIES;
+    while (retries--) if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true;
+    return false;
+
+  #endif
 }

 bool SDIO_IsReady() {
@@ -305,16 +447,5 @@ uint32_t SDIO_GetCardSize() {
  return (uint32_t)(hsd.SdCard.BlockNbr) * (hsd.SdCard.BlockSize);
 }

-#if defined(STM32F1xx)
-  #define DMA_IRQ_HANDLER DMA2_Channel4_5_IRQHandler
-#elif defined(STM32F4xx)
-  #define DMA_IRQ_HANDLER DMA2_Stream3_IRQHandler
-#else
-  #error "Unknown STM32 architecture."
-#endif
-
-extern "C" void SDIO_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); }
-extern "C" void DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&hdma_sdio); }
-
 #endif // SDIO_SUPPORT
 #endif // HAL_STM32
@@ -159,24 +159,28 @@ void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_l
 void GT911::Init() {
  OUT_WRITE(GT911_RST_PIN, LOW);
  OUT_WRITE(GT911_INT_PIN, LOW);
-  delay(20);
+  delay(11);
+  WRITE(GT911_INT_PIN, HIGH);
+  delayMicroseconds(110);
  WRITE(GT911_RST_PIN, HIGH);
+  delay(6);
+  WRITE(GT911_INT_PIN, LOW);
+  delay(55);
  SET_INPUT(GT911_INT_PIN);

  sw_iic.init();

-  uint8_t clear_reg = 0x0000;
-  write_reg(0x814E, 2, &clear_reg, 2); // Reset to 0 for start
+  uint8_t clear_reg = 0x00;
+  write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start
 }

 bool GT911::getFirstTouchPoint(int16_t *x, int16_t *y) {
  read_reg(0x814E, 2, &reg.REG.status, 1);

-  if (reg.REG.status & 0x80) {
+  if (reg.REG.status >= 0x80 && reg.REG.status <= 0x85) {
+    read_reg(0x8150, 2, reg.map + 2, 38);
    uint8_t clear_reg = 0x00;
    write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start
-    read_reg(0x8150, 2, reg.map + 2, 8 * (reg.REG.status & 0x0F));
-
    // First touch point
    *x = ((reg.REG.point[0].xh & 0x0F) << 8) | reg.REG.point[0].xl;
    *y = ((reg.REG.point[0].yh & 0x0F) << 8) | reg.REG.point[0].yl;
@@ -23,7 +23,7 @@

 #include "../../../inc/MarlinConfig.h"

-#define GT911_SLAVE_ADDRESS   0xBA
+#define GT911_SLAVE_ADDRESS   0x28

 #if !PIN_EXISTS(GT911_RST)
  #error "GT911_RST_PIN is not defined."
@@ -147,7 +147,7 @@ uint32_t TFT_FSMC::ReadID(tft_data_t Reg) {
 }

 bool TFT_FSMC::isBusy() {
-  #if defined(STM32F1xx)
+  #ifdef STM32F1xx
    volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET;
  #elif defined(STM32F4xx)
    volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN;
@@ -372,9 +372,9 @@ void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Cou
    if (MemoryIncrease == DMA_PINC_ENABLE) {
      DrawImage(x_min, y_cur, x_min + width, y_cur + height, Data);
      Data += width * height;
-    } else {
-      DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data);
    }
+    else
+      DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data);
    y_cur += height;
  }

@@ -179,7 +179,7 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
 }

 bool TFT_SPI::isBusy() {
-  #if defined(STM32F1xx)
+  #ifdef STM32F1xx
    volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET;
  #elif defined(STM32F4xx)
    volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN;
@@ -147,17 +147,17 @@ void libServo::move(const int32_t value) {
    uint16_t SR = timer_get_status(tdev);
    if (SR & TIMER_SR_CC1IF) { // channel 1 off
      #ifdef SERVO0_PWM_OD
-        OUT_WRITE_OD(SERVO0_PIN, 1); // off
+        OUT_WRITE_OD(SERVO0_PIN, HIGH); // off
      #else
-        OUT_WRITE(SERVO0_PIN, 0);
+        OUT_WRITE(SERVO0_PIN, LOW);
      #endif
      timer_reset_status_bit(tdev, TIMER_SR_CC1IF_BIT);
    }
    if (SR & TIMER_SR_CC2IF) { // channel 2 resume
      #ifdef SERVO0_PWM_OD
-        OUT_WRITE_OD(SERVO0_PIN, 0); // on
+        OUT_WRITE_OD(SERVO0_PIN, LOW); // on
      #else
-        OUT_WRITE(SERVO0_PIN, 1);
+        OUT_WRITE(SERVO0_PIN, HIGH);
      #endif
      timer_reset_status_bit(tdev, TIMER_SR_CC2IF_BIT);
    }
@@ -167,9 +167,9 @@ void libServo::move(const int32_t value) {
    timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
    if (!tdev) return false;
    #ifdef SERVO0_PWM_OD
-      OUT_WRITE_OD(inPin, 1);
+      OUT_WRITE_OD(inPin, HIGH);
    #else
-      OUT_WRITE(inPin, 0);
+      OUT_WRITE(inPin, LOW);
    #endif

    timer_pause(tdev);
@@ -200,9 +200,9 @@ void libServo::move(const int32_t value) {
      timer_disable_irq(tdev, 1);
      timer_disable_irq(tdev, 2);
      #ifdef SERVO0_PWM_OD
-        OUT_WRITE_OD(pin, 1); // off
+        OUT_WRITE_OD(pin, HIGH); // off
      #else
-        OUT_WRITE(pin, 0);
+        OUT_WRITE(pin, LOW);
      #endif
    }
  }
@@ -36,7 +36,7 @@
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define GET_ARRAY_PIN(p) pin_array[p].pin
 #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0)
+#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
 #define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0))
 #define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(13)) || ((P) >= analogInputToDigitalPin(14) && (P) <= analogInputToDigitalPin(17))
 #define pwm_status(pin) HAL_pwm_status(pin)
@@ -1,139 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * Software L6470 SPI functions originally from Arduino Sd2Card Library
- * Copyright (c) 2009 by William Greiman
- */
-
-#include "../../inc/MarlinConfig.h"
-
-#if HAS_L64XX
-
-#include "Delay.h"
-
-#include "../../core/serial.h"
-#include "../../libs/L64XX/L64XX_Marlin.h"
-
-// Make sure GCC optimizes this file.
-// Note that this line triggers a bug in GCC which is fixed by casting.
-// See the note below.
-#pragma GCC optimize (3)
-
-// run at ~4Mhz
-inline uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0
-  for (uint8_t bits = 8; bits--;) {
-    WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80);
-    b <<= 1;        // little setup time
-
-    WRITE(L6470_CHAIN_SCK_PIN, HIGH);
-    DELAY_NS(125);  // 10 cycles @ 84mhz
-
-    b |= (READ(L6470_CHAIN_MISO_PIN) != 0);
-
-    WRITE(L6470_CHAIN_SCK_PIN, LOW);
-    DELAY_NS(125);  // 10 cycles @ 84mhz
-  }
-  return b;
-}
-
-inline uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
-  for (uint8_t bits = 8; bits--;) {
-    WRITE(L6470_CHAIN_SCK_PIN, LOW);
-    WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80);
-
-    DELAY_NS(125);  // 10 cycles @ 84mhz
-    WRITE(L6470_CHAIN_SCK_PIN, HIGH);
-    DELAY_NS(125);  // Need more delay for fast CPUs
-
-    b <<= 1;        // little setup time
-    b |= (READ(L6470_CHAIN_MISO_PIN) != 0);
-  }
-  DELAY_NS(125);    // 10 cycles @ 84mhz
-  return b;
-}
-
-/**
- * L64XX methods for SPI init and transfer
- */
-void L64XX_Marlin::spi_init() {
-  OUT_WRITE(L6470_CHAIN_SS_PIN, HIGH);
-  OUT_WRITE(L6470_CHAIN_SCK_PIN, HIGH);
-  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
-  SET_INPUT(L6470_CHAIN_MISO_PIN);
-
-  #if PIN_EXISTS(L6470_BUSY)
-    SET_INPUT(L6470_BUSY_PIN);
-  #endif
-
-  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
-}
-
-uint8_t L64XX_Marlin::transfer_single(uint8_t data, int16_t ss_pin) {
-  // First device in chain has data sent last
-  extDigitalWrite(ss_pin, LOW);
-
-  hal.isr_off();  // Disable interrupts during SPI transfer (can't allow partial command to chips)
-  const uint8_t data_out = L6470_SpiTransfer_Mode_3(data);
-  hal.isr_on();   // Enable interrupts
-
-  extDigitalWrite(ss_pin, HIGH);
-  return data_out;
-}
-
-uint8_t L64XX_Marlin::transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position) {
-  uint8_t data_out = 0;
-
-  // first device in chain has data sent last
-  extDigitalWrite(ss_pin, LOW);
-
-  for (uint8_t i = L64XX::chain[0]; !L64xxManager.spi_abort && i >= 1; i--) {   // Send data unless aborted
-    hal.isr_off();    // Disable interrupts during SPI transfer (can't allow partial command to chips)
-    const uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP));
-    hal.isr_on();     // Enable interrupts
-    if (i == chain_position) data_out = temp;
-  }
-
-  extDigitalWrite(ss_pin, HIGH);
-  return data_out;
-}
-
-/**
- * Platform-supplied L6470 buffer transfer method
- */
-void L64XX_Marlin::transfer(uint8_t L6470_buf[], const uint8_t length) {
-  // First device in chain has its data sent last
-
-  if (spi_active) {                   // Interrupted SPI transfer so need to
-    WRITE(L6470_CHAIN_SS_PIN, HIGH);  //  guarantee min high of 650ns
-    DELAY_US(1);
-  }
-
-  WRITE(L6470_CHAIN_SS_PIN, LOW);
-  for (uint8_t i = length; i >= 1; i--)
-    L6470_SpiTransfer_Mode_3(uint8_t(L6470_buf[i]));
-  WRITE(L6470_CHAIN_SS_PIN, HIGH);
-}
-
-#pragma GCC reset_options
-
-#endif // HAS_L64XX
@@ -135,11 +135,11 @@ static UnwResult UnwTabExecuteInstructions(const UnwindCallbacks *cb, UnwTabStat
  while ((instruction = UnwTabGetNextInstruction(cb, ucb)) != -1) {

    if ((instruction & 0xC0) == 0x00) { // ARM_EXIDX_CMD_DATA_POP
-      /* vsp = vsp + (xxxxxx << 2) + 4 */
+      /* vsp += (xxxxxx << 2) + 4 */
      ucb->vrs[13] += ((instruction & 0x3F) << 2) + 4;
    }
    else if ((instruction & 0xC0) == 0x40) { // ARM_EXIDX_CMD_DATA_PUSH
-      /* vsp = vsp - (xxxxxx << 2) - 4 */
+      /* vsp -= (xxxxxx << 2) - 4 */
      ucb->vrs[13] -= ((instruction & 0x3F) << 2) - 4;
    }
    else if ((instruction & 0xF0) == 0x80) {
@@ -65,7 +65,7 @@ uint8_t ServoCount = 0;                         // the total number of attached

 /************ static functions common to all instances ***********************/

-static boolean isTimerActive(timer16_Sequence_t timer) {
+static bool anyTimerChannelActive(const timer16_Sequence_t timer) {
  // returns true if any servo is active on this timer
  LOOP_L_N(channel, SERVOS_PER_TIMER) {
    if (SERVO(timer, channel).Pin.isActive)
@@ -101,17 +101,18 @@ int8_t Servo::attach(const int inPin, const int inMin, const int inMax) {
  max = (MAX_PULSE_WIDTH - inMax) / 4;

  // initialize the timer if it has not already been initialized
-  timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
-  if (!isTimerActive(timer)) initISR(timer);
-  servo_info[servoIndex].Pin.isActive = true;  // this must be set after the check for isTimerActive
+  const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+  if (!anyTimerChannelActive(timer)) initISR(timer);
+  servo_info[servoIndex].Pin.isActive = true;  // this must be set after the check for anyTimerChannelActive

  return servoIndex;
 }

 void Servo::detach() {
  servo_info[servoIndex].Pin.isActive = false;
-  timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
-  if (!isTimerActive(timer)) finISR(timer);
+  const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+  if (!anyTimerChannelActive(timer)) finISR(timer);
+  //pinMode(servo_info[servoIndex].Pin.nbr, INPUT); // set servo pin to input
 }

 void Servo::write(int value) {
@@ -70,10 +70,10 @@
 #define ticksToUs(_ticks) (unsigned(_ticks) * (SERVO_TIMER_PRESCALER) / clockCyclesPerMicrosecond())

 // convenience macros
-#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo
-#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER))       // returns the index of the servo on this timer
-#define SERVO_INDEX(_timer,_channel)  ((_timer*(SERVOS_PER_TIMER)) + _channel)     // macro to access servo index by timer and channel
-#define SERVO(_timer,_channel)  (servo_info[SERVO_INDEX(_timer,_channel)])       // macro to access servo class by timer and channel
+#define SERVO_INDEX_TO_TIMER(_servo_nbr) timer16_Sequence_t(_servo_nbr / (SERVOS_PER_TIMER)) // the timer controlling this servo
+#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER))      // the index of the servo on this timer
+#define SERVO_INDEX(_timer,_channel)  ((_timer*(SERVOS_PER_TIMER)) + _channel)    // servo index by timer and channel
+#define SERVO(_timer,_channel)  servo_info[SERVO_INDEX(_timer,_channel)]          // servo class by timer and channel

 // Types

@@ -94,5 +94,5 @@ extern ServoInfo_t servo_info[MAX_SERVOS];

 // Public functions

-extern void initISR(timer16_Sequence_t timer);
-extern void finISR(timer16_Sequence_t timer);
+void initISR(const timer16_Sequence_t timer_index);
+void finISR(const timer16_Sequence_t timer_index);
@@ -39,17 +39,13 @@
 #endif
 #include <math.h>

-#include "core/utility.h"
-
+#include "module/endstops.h"
 #include "module/motion.h"
 #include "module/planner.h"
-#include "module/endstops.h"
-#include "module/temperature.h"
-#include "module/settings.h"
 #include "module/printcounter.h" // PrintCounter or Stopwatch
-
+#include "module/settings.h"
 #include "module/stepper.h"
-#include "module/stepper/indirection.h"
+#include "module/temperature.h"

 #include "gcode/gcode.h"
 #include "gcode/parser.h"
@@ -125,6 +121,10 @@
  #include "feature/bltouch.h"
 #endif

+#if ENABLED(BD_SENSOR)
+  #include "feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(POLL_JOG)
  #include "feature/joystick.h"
 #endif
@@ -228,10 +228,6 @@
  #include "feature/mmu/mmu2.h"
 #endif

-#if HAS_L64XX
-  #include "libs/L64XX/L64XX_Marlin.h"
-#endif
-
 #if ENABLED(PASSWORD_FEATURE)
  #include "feature/password/password.h"
 #endif
@@ -252,6 +248,10 @@
  #include "feature/easythreed_ui.h"
 #endif

+#if ENABLED(MARLIN_TEST_BUILD)
+  #include "tests/marlin_tests.h"
+#endif
+
 PGMSTR(M112_KILL_STR, "M112 Shutdown");

 MarlinState marlin_state = MF_INITIALIZING;
@@ -347,7 +347,7 @@ void startOrResumeJob() {
    TERN_(GCODE_REPEAT_MARKERS, repeat.reset());
    TERN_(CANCEL_OBJECTS, cancelable.reset());
    TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator = 0);
-    #if BOTH(LCD_SET_PROGRESS_MANUALLY, USE_M73_REMAINING_TIME)
+    #if ENABLED(SET_REMAINING_TIME)
      ui.reset_remaining_time();
    #endif
  }
@@ -423,37 +423,38 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
    kill();
  }

+  const bool has_blocks = planner.has_blocks_queued();  // Any moves in the planner?
+  if (has_blocks) gcode.reset_stepper_timeout(ms);      // Reset timeout for M18/M84, M85 max 'kill', and laser.
+
  // M18 / M84 : Handle steppers inactive time timeout
-  if (gcode.stepper_inactive_time) {
+  #if HAS_DISABLE_INACTIVE_AXIS
+    if (gcode.stepper_inactive_time) {

-    static bool already_shutdown_steppers; // = false
+      static bool already_shutdown_steppers; // = false

-    // Any moves in the planner? Resets both the M18/M84
-    // activity timeout and the M85 max 'kill' timeout
-    if (planner.has_blocks_queued())
-      gcode.reset_stepper_timeout(ms);
-    else if (!do_reset_timeout && gcode.stepper_inactive_timeout()) {
-      if (!already_shutdown_steppers) {
-        already_shutdown_steppers = true;  // L6470 SPI will consume 99% of free time without this
+      if (!has_blocks && !do_reset_timeout && gcode.stepper_inactive_timeout()) {
+        if (!already_shutdown_steppers) {
+          already_shutdown_steppers = true;

-        // Individual axes will be disabled if configured
-        TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS));
-        TERN_(DISABLE_INACTIVE_Y, stepper.disable_axis(Y_AXIS));
-        TERN_(DISABLE_INACTIVE_Z, stepper.disable_axis(Z_AXIS));
-        TERN_(DISABLE_INACTIVE_I, stepper.disable_axis(I_AXIS));
-        TERN_(DISABLE_INACTIVE_J, stepper.disable_axis(J_AXIS));
-        TERN_(DISABLE_INACTIVE_K, stepper.disable_axis(K_AXIS));
-        TERN_(DISABLE_INACTIVE_U, stepper.disable_axis(U_AXIS));
-        TERN_(DISABLE_INACTIVE_V, stepper.disable_axis(V_AXIS));
-        TERN_(DISABLE_INACTIVE_W, stepper.disable_axis(W_AXIS));
-        TERN_(DISABLE_INACTIVE_E, stepper.disable_e_steppers());
+          // Individual axes will be disabled if configured
+          TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS));
+          TERN_(DISABLE_INACTIVE_Y, stepper.disable_axis(Y_AXIS));
+          TERN_(DISABLE_INACTIVE_Z, stepper.disable_axis(Z_AXIS));
+          TERN_(DISABLE_INACTIVE_I, stepper.disable_axis(I_AXIS));
+          TERN_(DISABLE_INACTIVE_J, stepper.disable_axis(J_AXIS));
+          TERN_(DISABLE_INACTIVE_K, stepper.disable_axis(K_AXIS));
+          TERN_(DISABLE_INACTIVE_U, stepper.disable_axis(U_AXIS));
+          TERN_(DISABLE_INACTIVE_V, stepper.disable_axis(V_AXIS));
+          TERN_(DISABLE_INACTIVE_W, stepper.disable_axis(W_AXIS));
+          TERN_(DISABLE_INACTIVE_E, stepper.disable_e_steppers());

-        TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled());
+          TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled());
+        }
      }
+      else
+        already_shutdown_steppers = false;
    }
-    else
-      already_shutdown_steppers = false;
-  }
+  #endif

  #if ENABLED(PHOTO_GCODE) && PIN_EXISTS(CHDK)
    // Check if CHDK should be set to LOW (after M240 set it HIGH)
@@ -487,7 +488,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
    }
  #endif

-  #if HAS_FREEZE_PIN
+  #if ENABLED(FREEZE_FEATURE)
    stepper.frozen = READ(FREEZE_PIN) == FREEZE_STATE;
  #endif

@@ -732,8 +733,6 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {

  TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers());

-  TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver());
-
  // Limit check_axes_activity frequency to 10Hz
  static millis_t next_check_axes_ms = 0;
  if (ELAPSED(ms, next_check_axes_ms)) {
@@ -775,16 +774,23 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
 *  - Handle Joystick jogging
 */
 void idle(bool no_stepper_sleep/*=false*/) {
+  #ifdef MAX7219_DEBUG_PROFILE
+    CodeProfiler idle_profiler;
+  #endif
+
  #if ENABLED(MARLIN_DEV_MODE)
    static uint16_t idle_depth = 0;
    if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth);
  #endif

+  // Bed Distance Sensor task
+  TERN_(BD_SENSOR, bdl.process());
+
  // Core Marlin activities
  manage_inactivity(no_stepper_sleep);

  // Manage Heaters (and Watchdog)
-  thermalManager.manage_heater();
+  thermalManager.task();

  // Max7219 heartbeat, animation, etc
  TERN_(MAX7219_DEBUG, max7219.idle_tasks());
@@ -1059,7 +1065,6 @@ inline void tmc_standby_setup() {
 *    • TMC220x Stepper Drivers (Serial)
 *    • PSU control
 *    • Power-loss Recovery
- *    • L64XX Stepper Drivers (SPI)
 *    • Stepper Driver Reset: DISABLE
 *    • TMC Stepper Drivers (SPI)
 *    • Run hal.init_board() for additional pins setup
@@ -1222,10 +1227,10 @@ void setup() {
  SETUP_RUN(hal.init());

  // Init and disable SPI thermocouples; this is still needed
-  #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
+  #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0))
    OUT_WRITE(TEMP_0_CS_PIN, HIGH);  // Disable
  #endif
-  #if TEMP_SENSOR_1_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1))
+  #if TEMP_SENSOR_IS_MAX_TC(1) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E1))
    OUT_WRITE(TEMP_1_CS_PIN, HIGH);
  #endif

@@ -1241,6 +1246,13 @@ void setup() {
    SETUP_RUN(tmc_serial_begin());
  #endif

+  #if HAS_TMC_SPI
+    #if DISABLED(TMC_USE_SW_SPI)
+      SETUP_RUN(SPI.begin());
+    #endif
+    SETUP_RUN(tmc_init_cs_pins());
+  #endif
+
  #if ENABLED(PSU_CONTROL)
    SETUP_LOG("PSU_CONTROL");
    powerManager.init();
@@ -1250,21 +1262,10 @@ void setup() {
    SETUP_RUN(recovery.setup());
  #endif

-  #if HAS_L64XX
-    SETUP_RUN(L64xxManager.init());  // Set up SPI, init drivers
-  #endif
-
  #if HAS_STEPPER_RESET
    SETUP_RUN(disableStepperDrivers());
  #endif

-  #if HAS_TMC_SPI
-    #if DISABLED(TMC_USE_SW_SPI)
-      SETUP_RUN(SPI.begin());
-    #endif
-    SETUP_RUN(tmc_init_cs_pins());
-  #endif
-
  SETUP_RUN(hal.init_board());

  SETUP_RUN(esp_wifi_init());
@@ -1638,9 +1639,15 @@ void setup() {
    SETUP_RUN(test_tmc_connection());
  #endif

+  #if ENABLED(BD_SENSOR)
+    SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY));
+  #endif
+
  marlin_state = MF_RUNNING;

  SETUP_LOG("setup() completed.");
+
+  TERN_(MARLIN_TEST_BUILD, runStartupTests());
 }

 /**
@@ -1675,5 +1682,7 @@ void loop() {

    TERN_(HAS_TFT_LVGL_UI, printer_state_polling());

+    TERN_(MARLIN_TEST_BUILD, runPeriodicTests());
+
  } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
 }
@@ -161,7 +161,7 @@
 #define BOARD_PICA_REVB               1324  // PICA Shield (original version)
 #define BOARD_PICA                    1325  // PICA Shield (rev C or later)
 #define BOARD_INTAMSYS40              1326  // Intamsys 4.0 (Funmat HT)
-#define BOARD_MALYAN_M180             1327  // Malyan M180 Mainboard Version 2 (no display function, direct gcode only)
+#define BOARD_MALYAN_M180             1327  // Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
 #define BOARD_GT2560_V4_A20           1328  // Geeetech GT2560 Rev B for A20(M/T/D)
 #define BOARD_PROTONEER_CNC_SHIELD_V3 1329  // Mega controller & Protoneer CNC Shield V3.00
 #define BOARD_WEEDO_62A               1330  // WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
@@ -238,6 +238,7 @@
 #define BOARD_BTT_SKR_V1_1            2012  // BigTreeTech SKR v1.1
 #define BOARD_BTT_SKR_V1_3            2013  // BigTreeTech SKR v1.3
 #define BOARD_BTT_SKR_V1_4            2014  // BigTreeTech SKR v1.4
+#define BOARD_EMOTRONIC               2015  // eMotion-Tech eMotronic

 //
 // LPC1769 ARM Cortex M3
@@ -328,44 +329,47 @@
 #define BOARD_BTT_SKR_MINI_E3_V1_2    4025  // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC)
 #define BOARD_BTT_SKR_MINI_E3_V2_0    4026  // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC / STM32F103RE)
 #define BOARD_BTT_SKR_MINI_E3_V3_0    4027  // BigTreeTech SKR Mini E3 V3.0 (STM32G0B1RE)
-#define BOARD_BTT_SKR_MINI_MZ_V1_0    4028  // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC)
-#define BOARD_BTT_SKR_E3_DIP          4029  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
-#define BOARD_BTT_SKR_CR6             4030  // BigTreeTech SKR CR6 v1.0 (STM32F103RE)
-#define BOARD_JGAURORA_A5S_A1         4031  // JGAurora A5S A1 (STM32F103ZE)
-#define BOARD_FYSETC_AIO_II           4032  // FYSETC AIO_II
-#define BOARD_FYSETC_CHEETAH          4033  // FYSETC Cheetah
-#define BOARD_FYSETC_CHEETAH_V12      4034  // FYSETC Cheetah V1.2
-#define BOARD_LONGER3D_LK             4035  // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VE
-#define BOARD_CCROBOT_MEEB_3DP        4036  // ccrobot-online.com MEEB_3DP (STM32F103RC)
-#define BOARD_CHITU3D_V5              4037  // Chitu3D TronXY X5SA V5 Board
-#define BOARD_CHITU3D_V6              4038  // Chitu3D TronXY X5SA V6 Board
-#define BOARD_CHITU3D_V9              4039  // Chitu3D TronXY X5SA V9 Board
-#define BOARD_CREALITY_V4             4040  // Creality v4.x (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V422           4041  // Creality v4.2.2 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V423           4042  // Creality v4.2.3 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V427           4043  // Creality v4.2.7 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V4210          4044  // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30
-#define BOARD_CREALITY_V431           4045  // Creality v4.3.1 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_A         4046  // Creality v4.3.1a (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_B         4047  // Creality v4.3.1b (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_C         4048  // Creality v4.3.1c (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_D         4049  // Creality v4.3.1d (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V452           4050  // Creality v4.5.2 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V453           4051  // Creality v4.5.3 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V24S1          4052  // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7
-#define BOARD_CREALITY_V24S1_301      4053  // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1
-#define BOARD_CREALITY_V25S1          4054  // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro
-#define BOARD_TRIGORILLA_PRO          4055  // Trigorilla Pro (STM32F103ZE)
-#define BOARD_FLY_MINI                4056  // FLYmaker FLY MINI (STM32F103RC)
-#define BOARD_FLSUN_HISPEED           4057  // FLSUN HiSpeedV1 (STM32F103VE)
-#define BOARD_BEAST                   4058  // STM32F103RE Libmaple-based controller
-#define BOARD_MINGDA_MPX_ARM_MINI     4059  // STM32F103ZE Mingda MD-16
-#define BOARD_GTM32_PRO_VD            4060  // STM32F103VE controller
-#define BOARD_ZONESTAR_ZM3E2          4061  // Zonestar ZM3E2    (STM32F103RC)
-#define BOARD_ZONESTAR_ZM3E4          4062  // Zonestar ZM3E4 V1 (STM32F103VC)
-#define BOARD_ZONESTAR_ZM3E4V2        4063  // Zonestar ZM3E4 V2 (STM32F103VC)
-#define BOARD_ERYONE_ERY32_MINI       4064  // Eryone Ery32 mini (STM32F103VE)
-#define BOARD_PANDA_PI_V29            4065  // Panda Pi V2.9 - Standalone (STM32F103RC)
+#define BOARD_BTT_SKR_MINI_E3_V3_0_1  4028  // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC)
+#define BOARD_BTT_SKR_MINI_MZ_V1_0    4029  // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC)
+#define BOARD_BTT_SKR_E3_DIP          4030  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
+#define BOARD_BTT_SKR_CR6             4031  // BigTreeTech SKR CR6 v1.0 (STM32F103RE)
+#define BOARD_JGAURORA_A5S_A1         4032  // JGAurora A5S A1 (STM32F103ZE)
+#define BOARD_FYSETC_AIO_II           4033  // FYSETC AIO_II (STM32F103RC)
+#define BOARD_FYSETC_CHEETAH          4034  // FYSETC Cheetah (STM32F103RC)
+#define BOARD_FYSETC_CHEETAH_V12      4035  // FYSETC Cheetah V1.2 (STM32F103RC)
+#define BOARD_LONGER3D_LK             4036  // Longer3D LK1/2 - Alfawise U20/U20+/U30 (STM32F103VE)
+#define BOARD_CCROBOT_MEEB_3DP        4037  // ccrobot-online.com MEEB_3DP (STM32F103RC)
+#define BOARD_CHITU3D_V5              4038  // Chitu3D TronXY X5SA V5 Board (STM32F103ZE)
+#define BOARD_CHITU3D_V6              4039  // Chitu3D TronXY X5SA V6 Board (STM32F103ZE)
+#define BOARD_CHITU3D_V9              4040  // Chitu3D TronXY X5SA V9 Board (STM32F103ZE)
+#define BOARD_CREALITY_V4             4041  // Creality v4.x (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V422           4042  // Creality v4.2.2 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V423           4043  // Creality v4.2.3 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V425           4044  // Creality v4.2.5 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V427           4045  // Creality v4.2.7 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V4210          4046  // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30
+#define BOARD_CREALITY_V431           4047  // Creality v4.3.1 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_A         4048  // Creality v4.3.1a (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_B         4049  // Creality v4.3.1b (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_C         4050  // Creality v4.3.1c (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_D         4051  // Creality v4.3.1d (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V452           4052  // Creality v4.5.2 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V453           4053  // Creality v4.5.3 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V521           4054  // Creality v5.2.1 (STM32F103VE) as found in the SV04
+#define BOARD_CREALITY_V24S1          4055  // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7
+#define BOARD_CREALITY_V24S1_301      4056  // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1
+#define BOARD_CREALITY_V25S1          4057  // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro
+#define BOARD_TRIGORILLA_PRO          4058  // Trigorilla Pro (STM32F103ZE)
+#define BOARD_FLY_MINI                4059  // FLYmaker FLY MINI (STM32F103RC)
+#define BOARD_FLSUN_HISPEED           4060  // FLSUN HiSpeedV1 (STM32F103VE)
+#define BOARD_BEAST                   4061  // STM32F103RE Libmaple-based controller
+#define BOARD_MINGDA_MPX_ARM_MINI     4062  // STM32F103ZE Mingda MD-16
+#define BOARD_GTM32_PRO_VD            4063  // STM32F103VE controller
+#define BOARD_ZONESTAR_ZM3E2          4064  // Zonestar ZM3E2    (STM32F103RC)
+#define BOARD_ZONESTAR_ZM3E4          4065  // Zonestar ZM3E4 V1 (STM32F103VC)
+#define BOARD_ZONESTAR_ZM3E4V2        4066  // Zonestar ZM3E4 V2 (STM32F103VC)
+#define BOARD_ERYONE_ERY32_MINI       4067  // Eryone Ery32 mini (STM32F103VE)
+#define BOARD_PANDA_PI_V29            4068  // Panda Pi V2.9 - Standalone (STM32F103RC)

 //
 // ARM Cortex-M4F
@@ -385,40 +389,44 @@
 #define BOARD_RUMBA32_BTT             4204  // RUMBA32 STM32F446VE based controller from BIGTREETECH
 #define BOARD_BLACK_STM32F407VE       4205  // BLACK_STM32F407VE
 #define BOARD_BLACK_STM32F407ZE       4206  // BLACK_STM32F407ZE
-#define BOARD_STEVAL_3DP001V1         4207  // STEVAL-3DP001V1 3D PRINTER BOARD
-#define BOARD_BTT_SKR_PRO_V1_1        4208  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
-#define BOARD_BTT_SKR_PRO_V1_2        4209  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
-#define BOARD_BTT_BTT002_V1_0         4210  // BigTreeTech BTT002 v1.0 (STM32F407VG)
-#define BOARD_BTT_E3_RRF              4211  // BigTreeTech E3 RRF (STM32F407VG)
-#define BOARD_BTT_SKR_V2_0_REV_A      4212  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
-#define BOARD_BTT_SKR_V2_0_REV_B      4213  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
-#define BOARD_BTT_GTR_V1_0            4214  // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_BTT_OCTOPUS_V1_0        4215  // BigTreeTech Octopus v1.0 (STM32F446ZE)
-#define BOARD_BTT_OCTOPUS_V1_1        4216  // BigTreeTech Octopus v1.1 (STM32F446ZE)
-#define BOARD_BTT_OCTOPUS_PRO_V1_0    4217  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE/STM32F429ZG)
-#define BOARD_LERDGE_K                4218  // Lerdge K (STM32F407ZG)
-#define BOARD_LERDGE_S                4219  // Lerdge S (STM32F407VE)
-#define BOARD_LERDGE_X                4220  // Lerdge X (STM32F407VE)
-#define BOARD_VAKE403D                4221  // VAkE 403D (STM32F446VE)
-#define BOARD_FYSETC_S6               4222  // FYSETC S6 (STM32F446VE)
-#define BOARD_FYSETC_S6_V2_0          4223  // FYSETC S6 v2.0 (STM32F446VE)
-#define BOARD_FYSETC_SPIDER           4224  // FYSETC Spider (STM32F446VE)
-#define BOARD_FLYF407ZG               4225  // FLYmaker FLYF407ZG (STM32F407ZG)
-#define BOARD_MKS_ROBIN2              4226  // MKS_ROBIN2 (STM32F407ZE)
-#define BOARD_MKS_ROBIN_PRO_V2        4227  // MKS Robin Pro V2 (STM32F407VE)
-#define BOARD_MKS_ROBIN_NANO_V3       4228  // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_MKS_ROBIN_NANO_V3_1     4229  // MKS Robin Nano V3.1 (STM32F407VE)
-#define BOARD_MKS_MONSTER8            4230  // MKS Monster8 (STM32F407VG)
+#define BOARD_BTT_SKR_PRO_V1_1        4207  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
+#define BOARD_BTT_SKR_PRO_V1_2        4208  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
+#define BOARD_BTT_BTT002_V1_0         4209  // BigTreeTech BTT002 v1.0 (STM32F407VG)
+#define BOARD_BTT_E3_RRF              4210  // BigTreeTech E3 RRF (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_A      4211  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_B      4212  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
+#define BOARD_BTT_GTR_V1_0            4213  // BigTreeTech GTR v1.0 (STM32F407IGT)
+#define BOARD_BTT_OCTOPUS_V1_0        4214  // BigTreeTech Octopus v1.0 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_V1_1        4215  // BigTreeTech Octopus v1.1 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_PRO_V1_0    4216  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG)
+#define BOARD_LERDGE_K                4217  // Lerdge K (STM32F407ZG)
+#define BOARD_LERDGE_S                4218  // Lerdge S (STM32F407VE)
+#define BOARD_LERDGE_X                4219  // Lerdge X (STM32F407VE)
+#define BOARD_VAKE403D                4220  // VAkE 403D (STM32F446VE)
+#define BOARD_FYSETC_S6               4221  // FYSETC S6 (STM32F446VE)
+#define BOARD_FYSETC_S6_V2_0          4222  // FYSETC S6 v2.0 (STM32F446VE)
+#define BOARD_FYSETC_SPIDER           4223  // FYSETC Spider (STM32F446VE)
+#define BOARD_FLYF407ZG               4224  // FLYmaker FLYF407ZG (STM32F407ZG)
+#define BOARD_MKS_ROBIN2              4225  // MKS_ROBIN2 (STM32F407ZE)
+#define BOARD_MKS_ROBIN_PRO_V2        4226  // MKS Robin Pro V2 (STM32F407VE)
+#define BOARD_MKS_ROBIN_NANO_V3       4227  // MKS Robin Nano V3 (STM32F407VG)
+#define BOARD_MKS_ROBIN_NANO_V3_1     4228  // MKS Robin Nano V3.1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8_V1         4229  // MKS Monster8 V1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8_V2         4230  // MKS Monster8 V2 (STM32F407VE)
 #define BOARD_ANET_ET4                4231  // ANET ET4 V1.x (STM32F407VG)
 #define BOARD_ANET_ET4P               4232  // ANET ET4P V1.x (STM32F407VG)
-#define BOARD_FYSETC_CHEETAH_V20      4233  // FYSETC Cheetah V2.0
-#define BOARD_TH3D_EZBOARD_V2         4234  // TH3D EZBoard v2.0
-#define BOARD_INDEX_REV03             4235  // Index PnP Controller REV03 (STM32F407VE/VG)
+#define BOARD_FYSETC_CHEETAH_V20      4233  // FYSETC Cheetah V2.0 (STM32F401RC)
+#define BOARD_TH3D_EZBOARD_V2         4234  // TH3D EZBoard v2.0 (STM32F405RG)
+#define BOARD_OPULO_LUMEN_REV3        4235  // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG)
 #define BOARD_MKS_ROBIN_NANO_V1_3_F4  4236  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE)
 #define BOARD_MKS_EAGLE               4237  // MKS Eagle (STM32F407VE)
 #define BOARD_ARTILLERY_RUBY          4238  // Artillery Ruby (STM32F401RC)
 #define BOARD_FYSETC_SPIDER_V2_2      4239  // FYSETC Spider V2.2 (STM32F446VE)
 #define BOARD_CREALITY_V24S1_301F4    4240  // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4
+#define BOARD_OPULO_LUMEN_REV4        4241  // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG)
+#define BOARD_FYSETC_SPIDER_KING407   4242  // FYSETC Spider King407 (STM32F407ZG)
+#define BOARD_MKS_SKIPR_V1            4243  // MKS SKIPR v1.0 all-in-one board (STM32F407VE)
+#define BOARD_TRONXY_V10              4244  // TRONXY V10 (STM32F446ZE)

 //
 // ARM Cortex M7
@@ -428,7 +436,10 @@
 #define BOARD_TEENSY41                5001  // Teensy 4.1
 #define BOARD_T41U5XBB                5002  // T41U5XBB Teensy 4.1 breakout board
 #define BOARD_NUCLEO_F767ZI           5003  // ST NUCLEO-F767ZI Dev Board
-#define BOARD_BTT_SKR_SE_BX           5004  // BigTreeTech SKR SE BX (STM32H743II)
+#define BOARD_BTT_SKR_SE_BX_V2        5004  // BigTreeTech SKR SE BX V2.0 (STM32H743II)
+#define BOARD_BTT_SKR_SE_BX_V3        5005  // BigTreeTech SKR SE BX V3.0 (STM32H743II)
+#define BOARD_BTT_SKR_V3_0            5006  // BigTreeTech SKR V3.0 (STM32H743VG)
+#define BOARD_BTT_SKR_V3_0_EZ         5007  // BigTreeTech SKR V3.0 EZ (STM32H743VG)

 //
 // Espressif ESP32 WiFi
@@ -30,10 +30,6 @@
 #define _A5984              0x5984
 #define _DRV8825            0x8825
 #define _LV8729             0x8729
-#define _L6470              0x6470
-#define _L6474              0x6474
-#define _L6480              0x6480
-#define _POWERSTEP01        0xF00D
 #define _TB6560             0x6560
 #define _TB6600             0x6600
 #define _TMC2100            0x2100
@@ -193,16 +189,3 @@
 #if HAS_DRIVER(TMC26X)
  #define HAS_TMC26X 1
 #endif
-
-//
-// L64XX Stepper Drivers
-//
-
-#if HAS_DRIVER(L6470) || HAS_DRIVER(L6474) || HAS_DRIVER(L6480) || HAS_DRIVER(POWERSTEP01)
-  #define HAS_L64XX 1
-#endif
-#if HAS_L64XX && !HAS_DRIVER(L6474)
-  #define HAS_L64XX_NOT_L6474 1
-#endif
-
-#define AXIS_IS_L64XX(A) (AXIS_DRIVER_TYPE_##A(L6470) || AXIS_DRIVER_TYPE_##A(L6474) || AXIS_DRIVER_TYPE_##A(L6480) || AXIS_DRIVER_TYPE_##A(POWERSTEP01))
@@ -174,6 +174,7 @@
 #define STR_SD_VOL_INIT_FAIL                "volume.init failed"
 #define STR_SD_OPENROOT_FAIL                "openRoot failed"
 #define STR_SD_CARD_OK                      "SD card ok"
+#define STR_SD_CARD_RELEASED                "SD card released"
 #define STR_SD_WORKDIR_FAIL                 "workDir open failed"
 #define STR_SD_OPEN_FILE_FAIL               "open failed, File: "
 #define STR_SD_FILE_OPENED                  "File opened: "
@@ -227,10 +228,6 @@
 #define STR_PID_DEBUG                       " PID_DEBUG "
 #define STR_PID_DEBUG_INPUT                 ": Input "
 #define STR_PID_DEBUG_OUTPUT                " Output "
-#define STR_PID_DEBUG_PTERM                 " pTerm "
-#define STR_PID_DEBUG_ITERM                 " iTerm "
-#define STR_PID_DEBUG_DTERM                 " dTerm "
-#define STR_PID_DEBUG_CTERM                 " cTerm "
 #define STR_INVALID_EXTRUDER_NUM            " - Invalid extruder number !"
 #define STR_MPC_AUTOTUNE                    "MPC Autotune"
 #define STR_MPC_AUTOTUNE_START              " start for " STR_E
@@ -21,7 +21,7 @@
 */
 #pragma once

-#if !defined(__has_include)
+#ifndef __has_include
  #define __has_include(...) 1
 #endif

@@ -338,6 +338,12 @@
 #define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)

 // Macros for initializing arrays
+#define LIST_26(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z
+#define LIST_25(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y
+#define LIST_24(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X
+#define LIST_23(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W
+#define LIST_22(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V
+#define LIST_21(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U
 #define LIST_20(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T
 #define LIST_19(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S
 #define LIST_18(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R
@@ -644,8 +650,8 @@
 #define IS_PROBE(V...) SECOND(V, 0)     // Get the second item passed, or 0
 #define PROBE() ~, 1                    // Second item will be 1 if this is passed
 #define _NOT_0 PROBE()
-#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) // NOT('0') gets '1'. Anything else gets '0'.
-#define _BOOL(x) NOT(NOT(x))            // NOT('0') gets '0'. Anything else gets '1'.
+#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) //   NOT('0') gets '1'. Anything else gets '0'.
+#define _BOOL(x) NOT(NOT(x))            // _BOOL('0') gets '0'. Anything else gets '1'.

 #define IF_ELSE(TF) _IF_ELSE(_BOOL(TF))
 #define _IF_ELSE(TF) _CAT(_IF_, TF)
@@ -659,7 +665,6 @@
 #define HAS_ARGS(V...) _BOOL(FIRST(_END_OF_ARGUMENTS_ V)())
 #define _END_OF_ARGUMENTS_() 0

-
 // Simple Inline IF Macros, friendly to use in other macro definitions
 #define IF(O, A, B) ((O) ? (A) : (B))
 #define IF_0(O, A) IF(O, A, 0)
@@ -731,3 +736,9 @@
 #define __MAPLIST() _MAPLIST

 #define MAPLIST(OP,V...) EVAL(_MAPLIST(OP,V))
+
+// Temperature Sensor Config
+#define TEMP_SENSOR(N) TEMP_SENSOR_##N
+#define _HAS_E_TEMP(N) || TEMP_SENSOR(N)
+#define HAS_E_TEMP_SENSOR (0 REPEAT(EXTRUDERS, _HAS_E_TEMP))
+#define TEMP_SENSOR_IS_MAX_TC(T) (TEMP_SENSOR(T) == -5 || TEMP_SENSOR(T) == -3 || TEMP_SENSOR(T) == -2)
@@ -35,7 +35,7 @@ PGMSTR(SP_P_STR, " P"); PGMSTR(SP_T_STR, " T"); PGMSTR(NUL_STR,   "");

 #define _N_STR(N) PGMSTR(N##_STR, STR_##N);
 #define _N_LBL(N) PGMSTR(N##_LBL, STR_##N ":");
-#define _SP_N_STR(N) PGMSTR(SP_##N##_STR, STR_##N ":");
+#define _SP_N_STR(N) PGMSTR(SP_##N##_STR, " " STR_##N);
 #define _SP_N_LBL(N) PGMSTR(SP_##N##_LBL, " " STR_##N ":");
 MAP(_N_STR, LOGICAL_AXIS_NAMES); MAP(_SP_N_STR, LOGICAL_AXIS_NAMES);
 MAP(_N_LBL, LOGICAL_AXIS_NAMES); MAP(_SP_N_LBL, LOGICAL_AXIS_NAMES);
@@ -72,8 +72,8 @@ void serial_print_P(PGM_P str) {
  while (const char c = pgm_read_byte(str++)) SERIAL_CHAR(c);
 }

-void serial_echo_start()  { static PGMSTR(echomagic, "echo:"); serial_print_P(echomagic); }
-void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(errormagic); }
+void serial_echo_start()  { serial_print(F("echo:")); }
+void serial_error_start() { serial_print(F("Error:")); }

 void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); }

@@ -113,8 +113,8 @@ struct Flags<1> {
  void set(const int)                     { b = true; }
  void clear(const int)                   { b = false; }
  bool test(const int) const              { return b; }
-  bool operator[](const int)              { return b; }
-  bool operator[](const int) const        { return b; }
+  bool& operator[](const int)             { return b; }
+  bool  operator[](const int) const       { return b; }
  int size() const                        { return sizeof(b); }
 };

@@ -226,8 +226,8 @@ typedef const_float_t const_celsius_float_t;
 // Helpers
 #define _RECIP(N) ((N) ? 1.0f / static_cast<float>(N) : 0.0f)
 #define _ABS(N) ((N) < 0 ? -(N) : (N))
-#define _LS(N)  (N = (T)(uint32_t(N) << v))
-#define _RS(N)  (N = (T)(uint32_t(N) >> v))
+#define _LS(N)  (N = (T)(uint32_t(N) << p))
+#define _RS(N)  (N = (T)(uint32_t(N) >> p))
 #define FI FORCE_INLINE

 // Forward declarations
@@ -347,6 +347,10 @@ struct XYval {
  FI operator T* ()                                     { return pos; }
  // If any element is true then it's true
  FI operator bool()                                    { return x || y; }
+  // Smallest element
+  FI T small()                                    const { return _MIN(x, y); }
+  // Largest element
+  FI T large()                                    const { return _MAX(x, y); }

  // Explicit copy and copies with conversion
  FI XYval<T>           copy()                    const { return *this; }
@@ -405,18 +409,18 @@ struct XYval {
  FI XYval<T>  operator* (const XYZEval<T> &rs)         { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
  FI XYval<T>  operator/ (const XYZEval<T> &rs)   const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
  FI XYval<T>  operator/ (const XYZEval<T> &rs)         { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
-  FI XYval<T>  operator* (const float &v)         const { XYval<T> ls = *this; ls.x *= v;    ls.y *= v;    return ls; }
-  FI XYval<T>  operator* (const float &v)               { XYval<T> ls = *this; ls.x *= v;    ls.y *= v;    return ls; }
-  FI XYval<T>  operator* (const int &v)           const { XYval<T> ls = *this; ls.x *= v;    ls.y *= v;    return ls; }
-  FI XYval<T>  operator* (const int &v)                 { XYval<T> ls = *this; ls.x *= v;    ls.y *= v;    return ls; }
-  FI XYval<T>  operator/ (const float &v)         const { XYval<T> ls = *this; ls.x /= v;    ls.y /= v;    return ls; }
-  FI XYval<T>  operator/ (const float &v)               { XYval<T> ls = *this; ls.x /= v;    ls.y /= v;    return ls; }
-  FI XYval<T>  operator/ (const int &v)           const { XYval<T> ls = *this; ls.x /= v;    ls.y /= v;    return ls; }
-  FI XYval<T>  operator/ (const int &v)                 { XYval<T> ls = *this; ls.x /= v;    ls.y /= v;    return ls; }
-  FI XYval<T>  operator>>(const int &v)           const { XYval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    return ls; }
-  FI XYval<T>  operator>>(const int &v)                 { XYval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    return ls; }
-  FI XYval<T>  operator<<(const int &v)           const { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
-  FI XYval<T>  operator<<(const int &v)                 { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
+  FI XYval<T>  operator* (const float &p)         const { XYval<T> ls = *this; ls.x *= p;    ls.y *= p;    return ls; }
+  FI XYval<T>  operator* (const float &p)               { XYval<T> ls = *this; ls.x *= p;    ls.y *= p;    return ls; }
+  FI XYval<T>  operator* (const int &p)           const { XYval<T> ls = *this; ls.x *= p;    ls.y *= p;    return ls; }
+  FI XYval<T>  operator* (const int &p)                 { XYval<T> ls = *this; ls.x *= p;    ls.y *= p;    return ls; }
+  FI XYval<T>  operator/ (const float &p)         const { XYval<T> ls = *this; ls.x /= p;    ls.y /= p;    return ls; }
+  FI XYval<T>  operator/ (const float &p)               { XYval<T> ls = *this; ls.x /= p;    ls.y /= p;    return ls; }
+  FI XYval<T>  operator/ (const int &p)           const { XYval<T> ls = *this; ls.x /= p;    ls.y /= p;    return ls; }
+  FI XYval<T>  operator/ (const int &p)                 { XYval<T> ls = *this; ls.x /= p;    ls.y /= p;    return ls; }
+  FI XYval<T>  operator>>(const int &p)           const { XYval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    return ls; }
+  FI XYval<T>  operator>>(const int &p)                 { XYval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    return ls; }
+  FI XYval<T>  operator<<(const int &p)           const { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
+  FI XYval<T>  operator<<(const int &p)                 { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
  FI const XYval<T> operator-()                   const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
  FI XYval<T>       operator-()                         { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }

@@ -430,21 +434,15 @@ struct XYval {
  FI XYval<T>& operator+=(const XYZEval<T> &rs)         { x += rs.x; y += rs.y; return *this; }
  FI XYval<T>& operator-=(const XYZEval<T> &rs)         { x -= rs.x; y -= rs.y; return *this; }
  FI XYval<T>& operator*=(const XYZEval<T> &rs)         { x *= rs.x; y *= rs.y; return *this; }
-  FI XYval<T>& operator*=(const float &v)               { x *= v;    y *= v;    return *this; }
-  FI XYval<T>& operator*=(const int &v)                 { x *= v;    y *= v;    return *this; }
-  FI XYval<T>& operator>>=(const int &v)                { _RS(x);    _RS(y);    return *this; }
-  FI XYval<T>& operator<<=(const int &v)                { _LS(x);    _LS(y);    return *this; }
+  FI XYval<T>& operator*=(const float &p)               { x *= p;    y *= p;    return *this; }
+  FI XYval<T>& operator*=(const int &p)                 { x *= p;    y *= p;    return *this; }
+  FI XYval<T>& operator>>=(const int &p)                { _RS(x);    _RS(y);    return *this; }
+  FI XYval<T>& operator<<=(const int &p)                { _LS(x);    _LS(y);    return *this; }

  // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool      operator==(const XYval<T>   &rs)         { return x == rs.x && y == rs.y; }
-  FI bool      operator==(const XYZval<T>  &rs)         { return x == rs.x && y == rs.y; }
-  FI bool      operator==(const XYZEval<T> &rs)         { return x == rs.x && y == rs.y; }
  FI bool      operator==(const XYval<T>   &rs)   const { return x == rs.x && y == rs.y; }
  FI bool      operator==(const XYZval<T>  &rs)   const { return x == rs.x && y == rs.y; }
  FI bool      operator==(const XYZEval<T> &rs)   const { return x == rs.x && y == rs.y; }
-  FI bool      operator!=(const XYval<T>   &rs)         { return !operator==(rs); }
-  FI bool      operator!=(const XYZval<T>  &rs)         { return !operator==(rs); }
-  FI bool      operator!=(const XYZEval<T> &rs)         { return !operator==(rs); }
  FI bool      operator!=(const XYval<T>   &rs)   const { return !operator==(rs); }
  FI bool      operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
  FI bool      operator!=(const XYZEval<T> &rs)   const { return !operator==(rs); }
@@ -494,10 +492,10 @@ struct XYZval {
    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; }
  #endif
  #if HAS_V_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; }
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; }
  #endif
  #if HAS_W_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm, const T po) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; }
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; }
  #endif

  // Length reduced to one dimension
@@ -506,6 +504,10 @@ struct XYZval {
  FI operator T* ()                                    { return pos; }
  // If any element is true then it's true
  FI operator bool()                                   { return NUM_AXIS_GANG(x, || y, || z, || i, || j, || k, || u, || v, || w); }
+  // Smallest element
+  FI T small()                                   const { return _MIN(NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w)); }
+  // Largest element
+  FI T large()                                   const { return _MAX(NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w)); }

  // Explicit copy and copies with conversion
  FI XYZval<T>          copy()                   const { XYZval<T> o = *this; return o; }
@@ -565,18 +567,18 @@ struct XYZval {
  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
-  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
-  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
-  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
-  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
-  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
-  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
-  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
-  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
-  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator* (const float &p)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= p,    ls.y *= p,    ls.z *= p,    ls.i *= p,    ls.j *= p,    ls.k *= p,    ls.u *= p,    ls.v *= p,    ls.w *= p   ); return ls; }
+  FI XYZval<T>  operator* (const float &p)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= p,    ls.y *= p,    ls.z *= p,    ls.i *= p,    ls.j *= p,    ls.k *= p,    ls.u *= p,    ls.v *= p,    ls.w *= p   ); return ls; }
+  FI XYZval<T>  operator* (const int &p)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= p,    ls.y *= p,    ls.z *= p,    ls.i *= p,    ls.j *= p,    ls.k *= p,    ls.u *= p,    ls.v *= p,    ls.w *= p   ); return ls; }
+  FI XYZval<T>  operator* (const int &p)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= p,    ls.y *= p,    ls.z *= p,    ls.i *= p,    ls.j *= p,    ls.k *= p,    ls.u *= p,    ls.v *= p,    ls.w *= p   ); return ls; }
+  FI XYZval<T>  operator/ (const float &p)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= p,    ls.y /= p,    ls.z /= p,    ls.i /= p,    ls.j /= p,    ls.k /= p,    ls.u /= p,    ls.v /= p,    ls.w /= p   ); return ls; }
+  FI XYZval<T>  operator/ (const float &p)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= p,    ls.y /= p,    ls.z /= p,    ls.i /= p,    ls.j /= p,    ls.k /= p,    ls.u /= p,    ls.v /= p,    ls.w /= p   ); return ls; }
+  FI XYZval<T>  operator/ (const int &p)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= p,    ls.y /= p,    ls.z /= p,    ls.i /= p,    ls.j /= p,    ls.k /= p,    ls.u /= p,    ls.v /= p,    ls.w /= p   ); return ls; }
+  FI XYZval<T>  operator/ (const int &p)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= p,    ls.y /= p,    ls.z /= p,    ls.i /= p,    ls.j /= p,    ls.k /= p,    ls.u /= p,    ls.v /= p,    ls.w /= p   ); return ls; }
+  FI XYZval<T>  operator>>(const int &p)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator>>(const int &p)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator<<(const int &p)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator<<(const int &p)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; }
  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; }

@@ -593,15 +595,13 @@ struct XYZval {
  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
-  FI XYZval<T>& operator*=(const float &v)             { NUM_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
-  FI XYZval<T>& operator*=(const int &v)               { NUM_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
-  FI XYZval<T>& operator>>=(const int &v)              { NUM_AXIS_CODE(_RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k),    _RS(u),    _RS(v),    _RS(w));    return *this; }
-  FI XYZval<T>& operator<<=(const int &v)              { NUM_AXIS_CODE(_LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k),    _LS(u),    _LS(v),    _LS(w));    return *this; }
+  FI XYZval<T>& operator*=(const float &p)             { NUM_AXIS_CODE(x *= p,    y *= p,    z *= p,    i *= p,    j *= p,    k *= p,    u *= p,    v *= p,    w *= p);    return *this; }
+  FI XYZval<T>& operator*=(const int &p)               { NUM_AXIS_CODE(x *= p,    y *= p,    z *= p,    i *= p,    j *= p,    k *= p,    u *= p,    v *= p,    w *= p);    return *this; }
+  FI XYZval<T>& operator>>=(const int &p)              { NUM_AXIS_CODE(_RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k),    _RS(u),    _RS(v),    _RS(w));    return *this; }
+  FI XYZval<T>& operator<<=(const int &p)              { NUM_AXIS_CODE(_LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k),    _LS(u),    _LS(v),    _LS(w));    return *this; }

  // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool       operator==(const XYZEval<T> &rs)       { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
  FI bool       operator==(const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
-  FI bool       operator!=(const XYZEval<T> &rs)       { return !operator==(rs); }
  FI bool       operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
 };

@@ -634,10 +634,10 @@ struct XYZEval {
    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk)                         { x = px; y = py; z = pz; i = pi; j = pj; k = pk; }
  #endif
  #if HAS_V_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm)             { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; }
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu)             { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; }
  #endif
  #if HAS_W_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm, const T po) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pm; v = pv; }
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; }
  #endif

  // Setters taking struct types and arrays
@@ -654,11 +654,15 @@ struct XYZEval {
  #endif

  // Length reduced to one dimension
-  FI T magnitude()                                 const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); }
+  FI T magnitude()                                const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); }
  // Pointer to the data as a simple array
-  FI operator T* ()                                      { return pos; }
+  FI operator T* ()                                     { return pos; }
  // If any element is true then it's true
-  FI operator bool()                                     { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k, || u, || v, || w); }
+  FI operator bool()                                    { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k, || u, || v, || w); }
+  // Smallest element
+  FI T small()                                    const { return _MIN(LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)); }
+  // Largest element
+  FI T large()                                    const { return _MAX(LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)); }

  // Explicit copy and copies with conversion
  FI XYZEval<T>          copy()  const { XYZEval<T> v = *this; return v; }
@@ -684,76 +688,76 @@ struct XYZEval {
  FI operator const XYZval<T>&() const { return *(const XYZval<T>*)this; }

  // Accessor via an AxisEnum (or any integer) [index]
-  FI       T&    operator[](const int n)                  { return pos[n]; }
-  FI const T&    operator[](const int n)            const { return pos[n]; }
+  FI       T&    operator[](const int n)                { return pos[n]; }
+  FI const T&    operator[](const int n)          const { return pos[n]; }

  // Assignment operator overrides do the expected thing
-  FI XYZEval<T>& operator= (const T v)                    { set(LIST_N_1(NUM_AXES, v)); return *this; }
-  FI XYZEval<T>& operator= (const XYval<T>   &rs)         { set(rs.x, rs.y); return *this; }
-  FI XYZEval<T>& operator= (const XYZval<T>  &rs)         { set(NUM_AXIS_ELEM(rs)); return *this; }
+  FI XYZEval<T>& operator= (const T v)                  { set(LOGICAL_AXIS_LIST_1(v)); return *this; }
+  FI XYZEval<T>& operator= (const XYval<T>   &rs)       { set(rs.x, rs.y); return *this; }
+  FI XYZEval<T>& operator= (const XYZval<T>  &rs)       { set(NUM_AXIS_ELEM(rs)); return *this; }

  // Override other operators to get intuitive behaviors
-  FI XYZEval<T>  operator+ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
-  FI XYZEval<T>  operator+ (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
-  FI XYZEval<T>  operator- (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
-  FI XYZEval<T>  operator- (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
-  FI XYZEval<T>  operator* (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
-  FI XYZEval<T>  operator* (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
-  FI XYZEval<T>  operator/ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
-  FI XYZEval<T>  operator/ (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
-  FI XYZEval<T>  operator* (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
-  FI XYZEval<T>  operator>>(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
-  FI XYZEval<T>  operator>>(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
-  FI XYZEval<T>  operator<<(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
-  FI XYZEval<T>  operator<<(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
-  FI const XYZEval<T> operator-()                   const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }
-  FI       XYZEval<T> operator-()                         { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }
+  FI XYZEval<T>  operator+ (const XYval<T>  &rs)  const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYZEval<T>  operator+ (const XYval<T>  &rs)        { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYZEval<T>  operator- (const XYval<T>  &rs)  const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYZEval<T>  operator- (const XYval<T>  &rs)        { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYZEval<T>  operator* (const XYval<T>  &rs)  const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYZEval<T>  operator* (const XYval<T>  &rs)        { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYZEval<T>  operator/ (const XYval<T>  &rs)  const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYZEval<T>  operator/ (const XYval<T>  &rs)        { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T> &rs)  const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T> &rs)        { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T> &rs)  const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T> &rs)        { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T> &rs)  const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T> &rs)        { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T> &rs)  const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T> &rs)        { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T> &rs)       { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T> &rs)       { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T> &rs)       { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T> &rs)       { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const float &p)       const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= p,    ls.x *= p,    ls.y *= p,    ls.z *= p,    ls.i *= p,    ls.j *= p,    ls.k *= p,    ls.u *= p,    ls.v *= p,    ls.w *= p   ); return ls; }
+  FI XYZEval<T>  operator* (const float &p)             { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= p,    ls.x *= p,    ls.y *= p,    ls.z *= p,    ls.i *= p,    ls.j *= p,    ls.k *= p,    ls.u *= p,    ls.v *= p,    ls.w *= p   ); return ls; }
+  FI XYZEval<T>  operator* (const int &p)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= p,    ls.x *= p,    ls.y *= p,    ls.z *= p,    ls.i *= p,    ls.j *= p,    ls.k *= p,    ls.u *= p,    ls.v *= p,    ls.w *= p   ); return ls; }
+  FI XYZEval<T>  operator* (const int &p)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= p,    ls.x *= p,    ls.y *= p,    ls.z *= p,    ls.i *= p,    ls.j *= p,    ls.k *= p,    ls.u *= p,    ls.v *= p,    ls.w *= p   ); return ls; }
+  FI XYZEval<T>  operator/ (const float &p)       const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= p,    ls.x /= p,    ls.y /= p,    ls.z /= p,    ls.i /= p,    ls.j /= p,    ls.k /= p,    ls.u /= p,    ls.v /= p,    ls.w /= p   ); return ls; }
+  FI XYZEval<T>  operator/ (const float &p)             { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= p,    ls.x /= p,    ls.y /= p,    ls.z /= p,    ls.i /= p,    ls.j /= p,    ls.k /= p,    ls.u /= p,    ls.v /= p,    ls.w /= p   ); return ls; }
+  FI XYZEval<T>  operator/ (const int &p)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= p,    ls.x /= p,    ls.y /= p,    ls.z /= p,    ls.i /= p,    ls.j /= p,    ls.k /= p,    ls.u /= p,    ls.v /= p,    ls.w /= p   ); return ls; }
+  FI XYZEval<T>  operator/ (const int &p)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= p,    ls.x /= p,    ls.y /= p,    ls.z /= p,    ls.i /= p,    ls.j /= p,    ls.k /= p,    ls.u /= p,    ls.v /= p,    ls.w /= p   ); return ls; }
+  FI XYZEval<T>  operator>>(const int &p)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator>>(const int &p)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator<<(const int &p)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator<<(const int &p)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI const XYZEval<T> operator-()                 const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }
+  FI       XYZEval<T> operator-()                       { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }

  // Modifier operators
-  FI XYZEval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
-  FI XYZEval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
-  FI XYZEval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
-  FI XYZEval<T>& operator/=(const XYval<T>   &rs)         { x /= rs.x; y /= rs.y; return *this; }
-  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
-  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
-  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
-  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
-  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
-  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
-  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
-  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
-  FI XYZEval<T>& operator*=(const T &v)                   { LOGICAL_AXIS_CODE(e *= v,    x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
-  FI XYZEval<T>& operator>>=(const int &v)                { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k),    _RS(u),    _RS(v),    _RS(w));    return *this; }
-  FI XYZEval<T>& operator<<=(const int &v)                { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k),    _LS(u),    _LS(v),    _LS(w));    return *this; }
+  FI XYZEval<T>& operator+=(const XYval<T>   &rs)       { x += rs.x; y += rs.y; return *this; }
+  FI XYZEval<T>& operator-=(const XYval<T>   &rs)       { x -= rs.x; y -= rs.y; return *this; }
+  FI XYZEval<T>& operator*=(const XYval<T>   &rs)       { x *= rs.x; y *= rs.y; return *this; }
+  FI XYZEval<T>& operator/=(const XYval<T>   &rs)       { x /= rs.x; y /= rs.y; return *this; }
+  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)       { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)       { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)       { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)       { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const T &p)                 { LOGICAL_AXIS_CODE(e *= p,    x *= p,    y *= p,    z *= p,    i *= p,    j *= p,    k *= p,    u *= p,    v *= p,    w *= p);    return *this; }
+  FI XYZEval<T>& operator>>=(const int &p)              { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k),    _RS(u),    _RS(v),    _RS(w));    return *this; }
+  FI XYZEval<T>& operator<<=(const int &p)              { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k),    _LS(u),    _LS(v),    _LS(w));    return *this; }

  // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool        operator==(const XYZval<T>  &rs)         { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
-  FI bool        operator==(const XYZval<T>  &rs)   const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
-  FI bool        operator!=(const XYZval<T>  &rs)         { return !operator==(rs); }
-  FI bool        operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
+  FI bool        operator==(const XYZval<T>  &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool        operator==(const XYZEval<T> &rs) const { return true LOGICAL_AXIS_GANG(&& e == rs.e, && x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool        operator!=(const XYZval<T>  &rs) const { return !operator==(rs); }
+  FI bool        operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
 };

 #undef _RECIP
@@ -29,10 +29,10 @@ void safe_delay(millis_t ms) {
  while (ms > 50) {
    ms -= 50;
    delay(50);
-    thermalManager.manage_heater();
+    thermalManager.task();
  }
  delay(ms);
-  thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
+  thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made
 }

 // A delay to provide brittle hosts time to receive bytes
@@ -51,7 +51,7 @@ void safe_delay(millis_t ms) {

  #include "../module/probe.h"
  #include "../module/motion.h"
-  #include "../module/stepper.h"
+  #include "../module/planner.h"
  #include "../libs/numtostr.h"
  #include "../feature/bedlevel/bedlevel.h"

@@ -70,6 +70,7 @@ void safe_delay(millis_t ms) {
      TERN_(NOZZLE_AS_PROBE, "NOZZLE_AS_PROBE")
      TERN_(FIX_MOUNTED_PROBE, "FIX_MOUNTED_PROBE")
      TERN_(HAS_Z_SERVO_PROBE, TERN(BLTOUCH, "BLTOUCH", "SERVO PROBE"))
+      TERN_(BD_SENSOR, "BD_SENSOR")
      TERN_(TOUCH_MI_PROBE, "TOUCH_MI_PROBE")
      TERN_(Z_PROBE_SLED, "Z_PROBE_SLED")
      TERN_(Z_PROBE_ALLEN_KEY, "Z_PROBE_ALLEN_KEY")
@@ -132,11 +133,10 @@ void safe_delay(millis_t ms) {
        #else
          #if ENABLED(AUTO_BED_LEVELING_UBL)
            SERIAL_ECHOPGM("UBL Adjustment Z");
-            const float rz = bedlevel.get_z_correction(current_position);
          #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
            SERIAL_ECHOPGM("ABL Adjustment Z");
-            const float rz = bedlevel.get_z_correction(current_position);
          #endif
+          const float rz = bedlevel.get_z_correction(current_position);
          SERIAL_ECHO(ftostr43sign(rz, '+'));
          #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
            if (planner.z_fade_height) {
@@ -156,11 +156,13 @@ void safe_delay(millis_t ms) {
      SERIAL_ECHOPGM("Mesh Bed Leveling");
      if (planner.leveling_active) {
        SERIAL_ECHOLNPGM(" (enabled)");
-        SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(bedlevel.get_z(current_position), '+'));
+        const float z_offset = bedlevel.get_z_offset(),
+                    z_correction = bedlevel.get_z_correction(current_position);
+        SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(z_offset + z_correction, '+'));
        #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
          if (planner.z_fade_height) {
            SERIAL_ECHOPGM(" (", ftostr43sign(
-              bedlevel.get_z(current_position, planner.fade_scaling_factor_for_z(current_position.z)), '+'
+              z_offset + z_correction * planner.fade_scaling_factor_for_z(current_position.z), '+'
            ));
            SERIAL_CHAR(')');
          }
@@ -59,6 +59,11 @@ void safe_delay(millis_t ms);           // Delay ensuring that temperatures are
  #define log_machine_info() NOOP
 #endif

+/**
+ * A restorer instance remembers a variable's value before setting a
+ * new value, then restores the old value when it goes out of scope.
+ * Put operator= on your type to get extended behavior on value change.
+ */
 template<typename T>
 class restorer {
  T& ref_;
@@ -54,6 +54,18 @@ void Babystep::add_mm(const AxisEnum axis, const_float_t mm) {
  add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
 }

+#if ENABLED(BD_SENSOR)
+  void Babystep::set_mm(const AxisEnum axis, const_float_t mm) {
+    //if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;
+    const int16_t distance = mm * planner.settings.axis_steps_per_mm[axis];
+    accum = distance; // Count up babysteps for the UI
+    steps[BS_AXIS_IND(axis)] = distance;
+    TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] = distance);
+    TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
+    TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
+  }
+#endif
+
 void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
  if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;

@@ -63,6 +63,10 @@ public:
  static void add_steps(const AxisEnum axis, const int16_t distance);
  static void add_mm(const AxisEnum axis, const_float_t mm);

+  #if ENABLED(BD_SENSOR)
+    static void set_mm(const AxisEnum axis, const_float_t mm);
+  #endif
+
  static bool has_steps() {
    return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)];
  }
@@ -0,0 +1,196 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(BD_SENSOR)
+
+#include "../../../MarlinCore.h"
+#include "../../../gcode/gcode.h"
+#include "../../../module/settings.h"
+#include "../../../module/motion.h"
+#include "../../../module/planner.h"
+#include "../../../module/stepper.h"
+#include "../../../module/probe.h"
+#include "../../../module/temperature.h"
+#include "../../../module/endstops.h"
+#include "../../babystep.h"
+
+// I2C software Master library for segment bed heating and bed distance sensor
+#include <Panda_segmentBed_I2C.h>
+
+#include "bdl.h"
+BDS_Leveling bdl;
+
+//#define DEBUG_OUT_BD
+
+// M102 S-5   Read raw Calibrate data
+// M102 S-6   Start Calibrate
+// M102 S4    Set the adjustable Z height value (e.g., 'M102 S4' means it will do adjusting while the Z height <= 0.4mm , disable with 'M102 S0'.)
+// M102 S-1   Read sensor information
+
+#define MAX_BD_HEIGHT                 4.0f
+#define CMD_START_READ_CALIBRATE_DATA 1017
+#define CMD_END_READ_CALIBRATE_DATA   1018
+#define CMD_START_CALIBRATE           1019
+#define CMD_END_CALIBRATE             1021
+#define CMD_READ_VERSION  1016
+
+I2C_SegmentBED BD_I2C_SENSOR;
+
+#define BD_SENSOR_I2C_ADDR            0x3C
+
+int8_t BDS_Leveling::config_state;
+uint8_t BDS_Leveling::homing;
+
+void BDS_Leveling::echo_name() { SERIAL_ECHOPGM("Bed Distance Leveling"); }
+
+void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) {
+  int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s);
+  if (ret != 1) SERIAL_ECHOLNPGM("BD_I2C_SENSOR Init Fail return code:", ret);
+  config_state = 0;
+}
+
+float BDS_Leveling::read() {
+  const uint16_t tmp = BD_I2C_SENSOR.BD_i2c_read();
+  float BD_z = NAN;
+  if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020)
+    BD_z = (tmp & 0x3FF) / 100.0f;
+  return BD_z;
+}
+
+void BDS_Leveling::process() {
+ //if (config_state == 0) return;
+ static millis_t next_check_ms = 0; // starting at T=0
+ static float z_pose = 0.0f;
+ const millis_t ms = millis();
+ if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
+    next_check_ms = ms + (config_state < 0 ? 1000 : 100);   // check at 1Hz or 10Hz
+
+    unsigned short tmp = 0;
+    const float cur_z = planner.get_axis_position_mm(Z_AXIS); //current_position.z
+    static float old_cur_z = cur_z,
+                 old_buf_z = current_position.z;
+
+    tmp = BD_I2C_SENSOR.BD_i2c_read();
+    if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) {
+      const float z_sensor = (tmp & 0x3FF) / 100.0f;
+      if (cur_z < 0) config_state = 0;
+      //float abs_z = current_position.z > cur_z ? (current_position.z - cur_z) : (cur_z - current_position.z);
+      #if ENABLED(BABYSTEPPING)
+        if (cur_z < config_state * 0.1f
+          && config_state > 0
+          && old_cur_z == cur_z
+          && old_buf_z == current_position.z
+          && z_sensor < (MAX_BD_HEIGHT)
+        ) {
+          babystep.set_mm(Z_AXIS, cur_z - z_sensor);
+          #if ENABLED(DEBUG_OUT_BD)
+            SERIAL_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
+          #endif
+        }
+        else {
+          babystep.set_mm(Z_AXIS, 0);          //if (old_cur_z <= cur_z) Z_DIR_WRITE(!INVERT_Z_DIR);
+          stepper.set_directions();
+        }
+      #endif
+      old_cur_z = cur_z;
+      old_buf_z = current_position.z;
+      endstops.bdp_state_update(z_sensor <= 0.01f);
+      //endstops.update();
+    }
+    else
+      stepper.set_directions();
+
+    #if ENABLED(DEBUG_OUT_BD)
+      SERIAL_ECHOLNPGM("BD:", tmp & 0x3FF, ", Z:", cur_z, "|", current_position.z);
+      if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0) SERIAL_ECHOLNPGM("errorCRC");
+    #endif
+
+    if ((tmp & 0x3FF) > 1020) {
+      BD_I2C_SENSOR.BD_i2c_stop();
+      safe_delay(10);
+    }
+
+    // read raw calibrate data
+    if (config_state == -5) {
+      BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA);
+      safe_delay(1000);
+
+      for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) {
+        tmp = BD_I2C_SENSOR.BD_i2c_read();
+        SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF, ", check:", BD_I2C_SENSOR.BD_Check_OddEven(tmp));
+        safe_delay(500);
+      }
+      config_state = 0;
+      BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
+      safe_delay(500);
+    }
+    else if (config_state <= -6) {   // Start Calibrate
+      safe_delay(100);
+      if (config_state == -6) {
+        //BD_I2C_SENSOR.BD_i2c_write(1019); // begin calibrate
+        //delay(1000);
+        gcode.stepper_inactive_time = SEC_TO_MS(60 * 5);
+        gcode.process_subcommands_now(F("M17 Z"));
+        gcode.process_subcommands_now(F("G1 Z0.0"));
+        z_pose = 0;
+        safe_delay(1000);
+        BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate
+        SERIAL_ECHOLNPGM("Begin calibrate");
+        safe_delay(2000);
+        config_state = -7;
+      }
+      else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) {
+        if (z_pose >= MAX_BD_HEIGHT) {
+          BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate
+          SERIAL_ECHOLNPGM("End calibrate data");
+          z_pose = 7;
+          config_state = 0;
+          safe_delay(1000);
+        }
+        else {
+          float tmp_k = 0;
+          char tmp_1[30];
+          sprintf_P(tmp_1, PSTR("G1 Z%d.%d"), int(z_pose), int(int(z_pose * 10) % 10));
+          gcode.process_subcommands_now(tmp_1);
+
+          SERIAL_ECHO(tmp_1);
+          SERIAL_ECHOLNPGM(" ,Z:", current_position.z);
+
+          while (tmp_k < (z_pose - 0.1f)) {
+            tmp_k = planner.get_axis_position_mm(Z_AXIS);
+            safe_delay(1);
+          }
+          safe_delay(800);
+          tmp = (z_pose + 0.0001f) * 10;
+          BD_I2C_SENSOR.BD_i2c_write(tmp);
+          SERIAL_ECHOLNPGM("w:", tmp, ",Zpose:", z_pose);
+          z_pose += 0.1001f;
+          //queue.enqueue_now_P(PSTR("G90"));
+        }
+      }
+    }
+  }
+}
+
+#endif // BD_SENSOR
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+
+class BDS_Leveling {
+public:
+  static int8_t config_state;
+  static uint8_t homing;
+  static void echo_name();
+  static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s);
+  static void process();
+  static float read();
+};
+
+extern BDS_Leveling bdl;
@@ -75,9 +75,9 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
    planner.synchronize();

    // Get the corrected leveled / unleveled position
-    planner.apply_modifiers(current_position);    // Physical position with all modifiers
-    planner.leveling_active ^= true;              // Toggle leveling between apply and unapply
-    planner.unapply_modifiers(current_position);  // Logical position with modifiers removed
+    planner.apply_modifiers(current_position, true);    // Physical position with all modifiers
+    planner.leveling_active ^= true;                    // Toggle leveling between apply and unapply
+    planner.unapply_modifiers(current_position, true);  // Logical position with modifiers removed

    sync_plan_position();
    _report_leveling();
@@ -154,7 +154,7 @@ void reset_bed_level() {
      #endif
      LOOP_L_N(x, sx) {
        SERIAL_CHAR(' ');
-        const float offset = values[x * sx + y];
+        const float offset = values[x * sy + y];
        if (!isnan(offset)) {
          if (offset >= 0) SERIAL_CHAR('+');
          SERIAL_ECHO_F(offset, int(precision));
@@ -31,7 +31,6 @@
 #include "../../../libs/hex_print.h"
 #include "../../../module/settings.h"
 #include "../../../lcd/marlinui.h"
-#include "../../../module/stepper.h"
 #include "../../../module/planner.h"
 #include "../../../module/motion.h"
 #include "../../../module/probe.h"
@@ -408,7 +407,7 @@ void unified_bed_leveling::G29() {
          z_values[x][x2] += 9.999f; // We want the altered line several mesh points thick
          #if ENABLED(EXTENSIBLE_UI)
            ExtUI::onMeshUpdate(x, x, z_values[x][x]);
-            ExtUI::onMeshUpdate(x, (x2), z_values[x][x2]);
+            ExtUI::onMeshUpdate(x, x2, z_values[x][x2]);
          #endif
        }
        break;
@@ -26,7 +26,6 @@

 #include "../bedlevel.h"
 #include "../../../module/planner.h"
-#include "../../../module/stepper.h"
 #include "../../../module/motion.h"

 #if ENABLED(DELTA)
@@ -36,8 +35,18 @@
 #include "../../../MarlinCore.h"
 #include <math.h>

+//#define DEBUG_UBL_MOTION
+#define DEBUG_OUT ENABLED(DEBUG_UBL_MOTION)
+#include "../../../core/debug_out.h"
+
 #if !UBL_SEGMENTED

+  // TODO: The first and last parts of a move might result in very short segment(s)
+  //       after getting split on the cell boundary, so moves like that should not
+  //       get split. This will be most common for moves that start/end near the
+  //       corners of cells. To fix the issue, simply check if the start/end of the line
+  //       is very close to a cell boundary in advance and don't split the line there.
+
  void unified_bed_leveling::line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const uint8_t extruder) {
    /**
     * Much of the nozzle movement will be within the same cell. So we will do as little computation
@@ -176,7 +185,9 @@
          dest.z += z0;
          planner.buffer_segment(dest, scaled_fr_mm_s, extruder);

-        } //else printf("FIRST MOVE PRUNED  ");
+        }
+        else
+          DEBUG_ECHOLNPGM("[ubl] skip Y segment");
      }

      // At the final destination? Usually not, but when on a Y Mesh Line it's completed.
@@ -225,7 +236,9 @@
          dest.z += z0;
          if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;

-        } //else printf("FIRST MOVE PRUNED  ");
+        }
+        else
+          DEBUG_ECHOLNPGM("[ubl] skip Y segment");
      }

      if (xy_pos_t(current_position) != xy_pos_t(end))
@@ -360,11 +373,12 @@
    #endif

    NOLESS(segments, 1U);                                                            // Must have at least one segment
-    const float inv_segments = 1.0f / segments,                                      // Reciprocal to save calculation
-                segment_xyz_mm = SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments;    // Length of each segment
+    const float inv_segments = 1.0f / segments;                                      // Reciprocal to save calculation

+    // Add hints to help optimize the move
+    PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments);             // Length of each segment
    #if ENABLED(SCARA_FEEDRATE_SCALING)
-      const float inv_duration = scaled_fr_mm_s / segment_xyz_mm;
+      hints.inv_duration = scaled_fr_mm_s / hints.millimeters;
    #endif

    xyze_float_t diff = total * inv_segments;
@@ -378,13 +392,9 @@
    if (!planner.leveling_active || !planner.leveling_active_at_z(destination.z)) {
      while (--segments) {
        raw += diff;
-        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
-          OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
-        );
+        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);
      }
-      planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, segment_xyz_mm
-        OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
-      );
+      planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, hints);
      return false; // Did not set current from destination
    }

@@ -413,10 +423,12 @@
      LIMIT(icell.x, 0, GRID_MAX_CELLS_X);
      LIMIT(icell.y, 0, GRID_MAX_CELLS_Y);

-      float z_x0y0 = z_values[icell.x  ][icell.y  ],  // z at lower left corner
-            z_x1y0 = z_values[icell.x+1][icell.y  ],  // z at upper left corner
-            z_x0y1 = z_values[icell.x  ][icell.y+1],  // z at lower right corner
-            z_x1y1 = z_values[icell.x+1][icell.y+1];  // z at upper right corner
+      const int8_t ncellx = _MIN(icell.x+1, GRID_MAX_CELLS_X),
+                   ncelly = _MIN(icell.y+1, GRID_MAX_CELLS_Y);
+      float z_x0y0 = z_values[icell.x][icell.y],  // z at lower left corner
+            z_x1y0 = z_values[ncellx ][icell.y],  // z at upper left corner
+            z_x0y1 = z_values[icell.x][ncelly ],  // z at lower right corner
+            z_x1y1 = z_values[ncellx ][ncelly ];  // z at upper right corner

      if (isnan(z_x0y0)) z_x0y0 = 0;              // ideally activating planner.leveling_active (G29 A)
      if (isnan(z_x1y0)) z_x1y0 = 0;              //   should refuse if any invalid mesh points
@@ -453,7 +465,7 @@
          TERN_(ENABLE_LEVELING_FADE_HEIGHT, * fade_scaling_factor); // apply fade factor to interpolated height

        const float oldz = raw.z; raw.z += z_cxcy;
-        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) );
+        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);
        raw.z = oldz;

        if (segments == 0)                        // done with last segment
@@ -45,7 +45,7 @@ void stop();

 bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) {
  if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd);
-  MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
+  servo[Z_PROBE_SERVO_NR].move(cmd);
  safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
  return triggered();
 }
@@ -11,7 +11,6 @@
 #include "dac_dac084s085.h"

 #include "../../MarlinCore.h"
-#include "../../module/stepper.h"
 #include "../../HAL/shared/Delay.h"

 dac084s085::dac084s085() { }
@@ -29,7 +29,6 @@
 #if HAS_MOTOR_CURRENT_DAC

 #include "stepper_dac.h"
-#include "../../MarlinCore.h" // for SP_X_LBL...

 bool dac_present = false;
 constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER;
@@ -143,14 +143,16 @@ namespace DirectStepping {
          // special case for 8-bit, check if rolled back to 0
          if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes
            if (write_byte_idx) return true;
-          } else {
-            if (write_byte_idx < write_page_size) return true;
          }
-        } else if (Cfg::DIRECTIONAL) {
-          if (write_byte_idx != Cfg::PAGE_SIZE) return true;
-        } else {
-          if (write_byte_idx < write_page_size) return true;
+          else if (write_byte_idx < write_page_size)
+            return true;
        }
+        else if (Cfg::DIRECTIONAL) {
+          if (write_byte_idx != Cfg::PAGE_SIZE)
+            return true;
+        }
+        else if (write_byte_idx < write_page_size)
+          return true;

        state = State::CHECKSUM;
        return true;
@@ -161,11 +163,10 @@ namespace DirectStepping {
        return true;
      }
      case State::UNFAIL:
-        if (c == 0) {
+        if (c == 0)
          set_page_state(write_page_idx, PageState::FREE);
-        } else {
+        else
          fatal_error = true;
-        }
        state = State::MONITOR;
        return true;
    }
@@ -33,6 +33,9 @@
 // Static data members
 bool EmergencyParser::killed_by_M112, // = false
     EmergencyParser::quickstop_by_M410,
+     #if ENABLED(SDSUPPORT)
+       EmergencyParser::sd_abort_by_M524,
+     #endif
     EmergencyParser::enabled;

 #if ENABLED(HOST_PROMPT_SUPPORT)
@@ -49,7 +49,7 @@ class EmergencyParser {

 public:

-  // Currently looking for: M108, M112, M410, M876 S[0-9], S000, P000, R000
+  // Currently looking for: M108, M112, M410, M524, M876 S[0-9], S000, P000, R000
  enum State : uint8_t {
    EP_RESET,
    EP_N,
@@ -58,6 +58,9 @@ public:
    EP_M10, EP_M108,
    EP_M11, EP_M112,
    EP_M4, EP_M41, EP_M410,
+    #if ENABLED(SDSUPPORT)
+      EP_M5, EP_M52, EP_M524,
+    #endif
    #if ENABLED(HOST_PROMPT_SUPPORT)
      EP_M8, EP_M87, EP_M876, EP_M876S, EP_M876SN,
    #endif
@@ -76,6 +79,10 @@ public:
  static bool killed_by_M112;
  static bool quickstop_by_M410;

+  #if ENABLED(SDSUPPORT)
+    static bool sd_abort_by_M524;
+  #endif
+
  #if ENABLED(HOST_PROMPT_SUPPORT)
    static uint8_t M876_reason;
  #endif
@@ -145,6 +152,9 @@ public:
          case ' ': break;
          case '1': state = EP_M1;     break;
          case '4': state = EP_M4;     break;
+          #if ENABLED(SDSUPPORT)
+            case '5': state = EP_M5;   break;
+          #endif
          #if ENABLED(HOST_PROMPT_SUPPORT)
            case '8': state = EP_M8;     break;
          #endif
@@ -165,6 +175,11 @@ public:
      case EP_M4:  state = (c == '1') ? EP_M41  : EP_IGNORE; break;
      case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break;

+      #if ENABLED(SDSUPPORT)
+        case EP_M5:  state = (c == '2') ? EP_M52  : EP_IGNORE; break;
+        case EP_M52: state = (c == '4') ? EP_M524 : EP_IGNORE; break;
+      #endif
+
      #if ENABLED(HOST_PROMPT_SUPPORT)

        case EP_M8:  state = (c == '7') ? EP_M87  : EP_IGNORE; break;
@@ -200,6 +215,9 @@ public:
            case EP_M108: wait_for_user = wait_for_heatup = false; break;
            case EP_M112: killed_by_M112 = true; break;
            case EP_M410: quickstop_by_M410 = true; break;
+            #if ENABLED(SDSUPPORT)
+              case EP_M524: sd_abort_by_M524 = true; break;
+            #endif
            #if ENABLED(HOST_PROMPT_SUPPORT)
              case EP_M876SN: hostui.handle_response(M876_reason); break;
            #endif
@@ -34,7 +34,6 @@ FWRetract fwretract; // Single instance - this calls the constructor

 #include "../module/motion.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"

 #include "../gcode/gcode.h"

@@ -111,20 +111,29 @@ void HostUI::action(FSTR_P const fstr, const bool eol) {
    if (eol) SERIAL_EOL();
  }

-  void HostUI::prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char/*='\0'*/) {
+  void HostUI::prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char/*='\0'*/) {
    prompt(ptype, false);
    PORT_REDIRECT(SerialMask::All);
    SERIAL_CHAR(' ');
-    SERIAL_ECHOF(fstr);
+    if (pgm)
+      SERIAL_ECHOPGM_P(str);
+    else
+      SERIAL_ECHO(str);
    if (extra_char != '\0') SERIAL_CHAR(extra_char);
    SERIAL_EOL();
  }
+
  void HostUI::prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char/*='\0'*/) {
    prompt_end();
    host_prompt_reason = reason;
    prompt_plus(F("begin"), fstr, extra_char);
  }
-  void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); }
+  void HostUI::prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char/*='\0'*/) {
+    prompt_end();
+    host_prompt_reason = reason;
+    prompt_plus(F("begin"), cstr, extra_char);
+  }
+
  void HostUI::prompt_end() { prompt(F("end")); }
  void HostUI::prompt_show() { prompt(F("show")); }

@@ -133,14 +142,26 @@ void HostUI::action(FSTR_P const fstr, const bool eol) {
    if (btn2) prompt_button(btn2);
    prompt_show();
  }
+
+  void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); }
+  void HostUI::prompt_button(const char * const cstr) { prompt_plus(F("button"), cstr); }
+
  void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
    prompt_begin(reason, fstr);
    _prompt_show(btn1, btn2);
  }
+  void HostUI::prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
+    prompt_begin(reason, cstr);
+    _prompt_show(btn1, btn2);
+  }
  void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
    prompt_begin(reason, fstr, extra_char);
    _prompt_show(btn1, btn2);
  }
+  void HostUI::prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
+    prompt_begin(reason, cstr, extra_char);
+    _prompt_show(btn1, btn2);
+  }

  #if ENABLED(ADVANCED_PAUSE_FEATURE)
    void HostUI::filament_load_prompt() {
@@ -79,7 +79,14 @@ class HostUI {
  #if ENABLED(HOST_PROMPT_SUPPORT)
    private:
    static void prompt(FSTR_P const ptype, const bool eol=true);
-    static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0');
+    static void prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char='\0');
+    static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0') {
+      prompt_plus(true, ptype, FTOP(fstr), extra_char);
+    }
+    static void prompt_plus(FSTR_P const ptype, const char * const cstr, const char extra_char='\0') {
+      prompt_plus(false, ptype, cstr, extra_char);
+    }
+
    static void prompt_show();
    static void _prompt_show(FSTR_P const btn1, FSTR_P const btn2);

@@ -93,10 +100,17 @@ class HostUI {
    static void notify(const char * const message);

    static void prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char='\0');
-    static void prompt_button(FSTR_P const fstr);
+    static void prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char='\0');
    static void prompt_end();
+
+    static void prompt_button(FSTR_P const fstr);
+    static void prompt_button(const char * const cstr);
+
    static void prompt_do(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
+    static void prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
    static void prompt_do(const PromptReason reason, FSTR_P const pstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
+    static void prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
+
    static void prompt_open(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr) {
      if (host_prompt_reason == PROMPT_NOT_DEFINED) prompt_do(reason, pstr, btn1, btn2);
    }
@@ -172,8 +172,9 @@ Joystick joystick;
      current_position += move_dist;
      apply_motion_limits(current_position);
      const float length = sqrt(hypot2);
+      PlannerHints hints(length);
      injecting_now = true;
-      planner.buffer_line(current_position, length / seg_time, active_extruder, length);
+      planner.buffer_line(current_position, length / seg_time, active_extruder, hints);
      injecting_now = false;
    }
  }
@@ -69,6 +69,44 @@ void LEDLights::setup() {
    #if ENABLED(RGBW_LED)
      if (PWM_PIN(RGB_LED_W_PIN)) SET_PWM(RGB_LED_W_PIN); else SET_OUTPUT(RGB_LED_W_PIN);
    #endif
+
+    #if ENABLED(RGB_STARTUP_TEST)
+      int8_t led_pin_count = 0;
+      if (PWM_PIN(RGB_LED_R_PIN) && PWM_PIN(RGB_LED_G_PIN) && PWM_PIN(RGB_LED_B_PIN)) led_pin_count = 3;
+      #if ENABLED(RGBW_LED)
+        if (PWM_PIN(RGB_LED_W_PIN) && led_pin_count) led_pin_count++;
+      #endif
+      // Startup animation
+      if (led_pin_count) {
+        // blackout
+        if (PWM_PIN(RGB_LED_R_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_R_PIN), 0); else WRITE(RGB_LED_R_PIN, LOW);
+        if (PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), 0); else WRITE(RGB_LED_G_PIN, LOW);
+        if (PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), 0); else WRITE(RGB_LED_B_PIN, LOW);
+        #if ENABLED(RGBW_LED)
+          if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), 0);
+          else WRITE(RGB_LED_W_PIN, LOW);
+        #endif
+        delay(200);
+
+        LOOP_L_N(i, led_pin_count) {
+          LOOP_LE_N(b, 200) {
+            const uint16_t led_pwm = b <= 100 ? b : 200 - b;
+            if (i == 0 && PWM_PIN(RGB_LED_R_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_R_PIN), led_pwm); else WRITE(RGB_LED_R_PIN, b < 100 ? HIGH : LOW);
+            if (i == 1 && PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), led_pwm); else WRITE(RGB_LED_G_PIN, b < 100 ? HIGH : LOW);
+            if (i == 2 && PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), led_pwm); else WRITE(RGB_LED_B_PIN, b < 100 ? HIGH : LOW);
+            #if ENABLED(RGBW_LED)
+              if (i == 3){
+                if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), led_pwm);
+                else WRITE(RGB_LED_W_PIN, b < 100 ? HIGH : LOW);
+                delay(RGB_STARTUP_TEST_INNER_MS);//More slowing for ending
+              }
+            #endif
+            delay(RGB_STARTUP_TEST_INNER_MS);
+          }
+        }
+        delay(500);
+      }
+    #endif // RGB_STARTUP_TEST
  #endif
  TERN_(NEOPIXEL_LED, neo.init());
  TERN_(PCA9533, PCA9533_init());
@@ -131,6 +131,13 @@ public:
  // Accessors
  static uint16_t pixels() { return adaneo1.numPixels() * TERN1(NEOPIXEL2_INSERIES, 2); }

+  static uint32_t pixel_color(const uint16_t n) {
+    #if ENABLED(NEOPIXEL2_INSERIES)
+      if (n >= NEOPIXEL_PIXELS) return adaneo2.getPixelColor(n - (NEOPIXEL_PIXELS));
+    #endif
+    return adaneo1.getPixelColor(n);
+  }
+
  static uint8_t brightness() { return adaneo1.getBrightness(); }

  static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED, uint8_t w)) {
@@ -174,6 +181,7 @@ extern Marlin_NeoPixel neo;

    // Accessors
    static uint16_t pixels() { return adaneo.numPixels();}
+    static uint32_t pixel_color(const uint16_t n) { return adaneo.getPixelColor(n); }
    static uint8_t brightness() { return adaneo.getBrightness(); }
    static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED2, uint8_t w)) {
      return adaneo.Color(r, g, b OPTARG(HAS_WHITE_LED2, w));
@@ -44,7 +44,6 @@
 #include "max7219.h"

 #include "../module/planner.h"
-#include "../module/stepper.h"
 #include "../MarlinCore.h"
 #include "../HAL/shared/Delay.h"

@@ -52,6 +51,7 @@
  #define HAS_SIDE_BY_SIDE 1
 #endif

+#define _ROT ((MAX7219_ROTATE + 360) % 360)
 #if _ROT == 0 || _ROT == 180
  #define MAX7219_X_LEDS TERN(HAS_SIDE_BY_SIDE, 8, MAX7219_LINES)
  #define MAX7219_Y_LEDS TERN(HAS_SIDE_BY_SIDE, MAX7219_LINES, 8)
@@ -62,6 +62,15 @@
  #error "MAX7219_ROTATE must be a multiple of +/- 90°."
 #endif

+#ifdef MAX7219_DEBUG_PROFILE
+  CodeProfiler::Mode CodeProfiler::mode = ACCUMULATE_AVERAGE;
+  uint8_t CodeProfiler::instance_count = 0;
+  uint32_t CodeProfiler::last_calc_time = micros();
+  uint8_t CodeProfiler::time_fraction = 0;
+  uint32_t CodeProfiler::total_time = 0;
+  uint16_t CodeProfiler::call_count = 0;
+#endif
+
 Max7219 max7219;

 uint8_t Max7219::led_line[MAX7219_LINES]; // = { 0 };
@@ -69,7 +78,7 @@ uint8_t Max7219::suspended; // = 0;

 #define LINE_REG(Q)     (max7219_reg_digit0 + ((Q) & 0x7))

-#if _ROT == 0 || _ROT == 270
+#if (_ROT == 0 || _ROT == 270) == DISABLED(MAX7219_REVERSE_EACH)
  #define _LED_BIT(Q)   (7 - ((Q) & 0x7))
 #else
  #define _LED_BIT(Q)   ((Q) & 0x7)
@@ -266,26 +275,27 @@ void Max7219::set(const uint8_t line, const uint8_t bits) {
 #endif // MAX7219_NUMERIC

 // Modify a single LED bit and send the changed line
-void Max7219::led_set(const uint8_t x, const uint8_t y, const bool on) {
+void Max7219::led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm/*=nullptr*/) {
  if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_set"), x, y);
  if (BIT_7219(x, y) == on) return;
  XOR_7219(x, y);
  refresh_unit_line(LED_IND(x, y));
+  if (rcm != nullptr) *rcm |= _BV(LED_IND(x, y) & 0x07);
 }

-void Max7219::led_on(const uint8_t x, const uint8_t y) {
+void Max7219::led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
  if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_on"), x, y);
-  led_set(x, y, true);
+  led_set(x, y, true, rcm);
 }

-void Max7219::led_off(const uint8_t x, const uint8_t y) {
+void Max7219::led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
  if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_off"), x, y);
-  led_set(x, y, false);
+  led_set(x, y, false, rcm);
 }

-void Max7219::led_toggle(const uint8_t x, const uint8_t y) {
+void Max7219::led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
  if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_toggle"), x, y);
-  led_set(x, y, !BIT_7219(x, y));
+  led_set(x, y, !BIT_7219(x, y), rcm);
 }

 void Max7219::send_row(const uint8_t row) {
@@ -448,7 +458,7 @@ void Max7219::register_setup() {
  pulse_load();                               // Tell the chips to load the clocked out data
 }

-#ifdef MAX7219_INIT_TEST
+#if MAX7219_INIT_TEST

  uint8_t test_mode = 0;
  millis_t next_patt_ms;
@@ -536,13 +546,9 @@ void Max7219::init() {

  register_setup();

-  LOOP_LE_N(i, 7) {  // Empty registers to turn all LEDs off
-    led_line[i] = 0x00;
-    send(max7219_reg_digit0 + i, 0);
-    pulse_load();                     // Tell the chips to load the clocked out data
-  }
+  clear();

-  #ifdef MAX7219_INIT_TEST
+  #if MAX7219_INIT_TEST
    start_test_pattern();
  #endif
 }
@@ -554,41 +560,55 @@ void Max7219::init() {
 */

 // Apply changes to update a marker
-void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2) {
+void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2, uint8_t * const rcm/*=nullptr*/) {
  #if MAX7219_X_LEDS > 8    // At least 16 LEDs on the X-Axis. Use single line.
-    led_off(v1 & 0xF, pos);
-     led_on(v2 & 0xF, pos);
+    led_off(v1 & 0xF, pos, rcm);
+     led_on(v2 & 0xF, pos, rcm);
  #elif MAX7219_Y_LEDS > 8  // At least 16 LEDs on the Y-Axis. Use a single column.
-    led_off(pos, v1 & 0xF);
-     led_on(pos, v2 & 0xF);
+    led_off(pos, v1 & 0xF, rcm);
+     led_on(pos, v2 & 0xF, rcm);
  #else                     // Single 8x8 LED matrix. Use two lines to get 16 LEDs.
-    led_off(v1 & 0x7, pos + (v1 >= 8));
-     led_on(v2 & 0x7, pos + (v2 >= 8));
+    led_off(v1 & 0x7, pos + (v1 >= 8), rcm);
+     led_on(v2 & 0x7, pos + (v2 >= 8), rcm);
  #endif
 }

 // Apply changes to update a tail-to-head range
-void Max7219::range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh) {
+void Max7219::range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh,
+  const uint8_t nh, uint8_t * const rcm/*=nullptr*/) {
  #if MAX7219_X_LEDS > 8    // At least 16 LEDs on the X-Axis. Use single line.
    if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
-      led_off(n & 0xF, y);
+      led_off(n & 0xF, y, rcm);
    if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
-       led_on(n & 0xF, y);
+       led_on(n & 0xF, y, rcm);
  #elif MAX7219_Y_LEDS > 8  // At least 16 LEDs on the Y-Axis. Use a single column.
    if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
-      led_off(y, n & 0xF);
+      led_off(y, n & 0xF, rcm);
    if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
-       led_on(y, n & 0xF);
+       led_on(y, n & 0xF, rcm);
  #else                     // Single 8x8 LED matrix. Use two lines to get 16 LEDs.
    if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
-      led_off(n & 0x7, y + (n >= 8));
+      led_off(n & 0x7, y + (n >= 8), rcm);
    if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
-       led_on(n & 0x7, y + (n >= 8));
+       led_on(n & 0x7, y + (n >= 8), rcm);
  #endif
 }

 // Apply changes to update a quantity
-void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv) {
+void Max7219::quantity(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) {
+  for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++)
+    led_set(
+      #if MAX7219_X_LEDS >= MAX7219_Y_LEDS
+        i, pos  // Single matrix or multiple matrices in Landscape
+      #else
+        pos, i  // Multiple matrices in Portrait
+      #endif
+      , nv >= ov
+      , rcm
+    );
+}
+
+void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) {
  for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++)
    led_set(
      #if MAX7219_X_LEDS > 8    // At least 16 LEDs on the X-Axis. Use single line.
@@ -599,6 +619,7 @@ void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv)
        i >> 1, pos + (i & 1)
      #endif
      , nv >= ov
+      , rcm
    );
 }

@@ -636,16 +657,20 @@ void Max7219::idle_tasks() {
    register_setup();
  }

-  #ifdef MAX7219_INIT_TEST
+  #if MAX7219_INIT_TEST
    if (test_mode) {
      run_test_pattern();
      return;
    }
  #endif

+  // suspend updates and record which lines have changed for batching later
+  suspended++;
+  uint8_t row_change_mask = 0x00;
+
  #if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE)
    if (do_blink) {
-      led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1);
+      led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1, &row_change_mask);
      next_blink = ms + 1000;
    }
  #endif
@@ -655,7 +680,7 @@ void Max7219::idle_tasks() {
    static int16_t last_head_cnt = 0xF, last_tail_cnt = 0xF;

    if (last_head_cnt != head || last_tail_cnt != tail) {
-      range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head);
+      range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head, &row_change_mask);
      last_head_cnt = head;
      last_tail_cnt = tail;
    }
@@ -665,7 +690,7 @@ void Max7219::idle_tasks() {
    #ifdef MAX7219_DEBUG_PLANNER_HEAD
      static int16_t last_head_cnt = 0x1;
      if (last_head_cnt != head) {
-        mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head);
+        mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head, &row_change_mask);
        last_head_cnt = head;
      }
    #endif
@@ -673,7 +698,7 @@ void Max7219::idle_tasks() {
    #ifdef MAX7219_DEBUG_PLANNER_TAIL
      static int16_t last_tail_cnt = 0x1;
      if (last_tail_cnt != tail) {
-        mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail);
+        mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail, &row_change_mask);
        last_tail_cnt = tail;
      }
    #endif
@@ -684,11 +709,26 @@ void Max7219::idle_tasks() {
    static int16_t last_depth = 0;
    const int16_t current_depth = (head - tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1) & 0xF;
    if (current_depth != last_depth) {
-      quantity16(MAX7219_DEBUG_PLANNER_QUEUE, last_depth, current_depth);
+      quantity16(MAX7219_DEBUG_PLANNER_QUEUE, last_depth, current_depth, &row_change_mask);
      last_depth = current_depth;
    }
  #endif

+  #ifdef MAX7219_DEBUG_PROFILE
+    static uint8_t last_time_fraction = 0;
+    const uint8_t current_time_fraction = (uint16_t(CodeProfiler::get_time_fraction()) * MAX7219_NUMBER_UNITS + 8) / 16;
+    if (current_time_fraction != last_time_fraction) {
+      quantity(MAX7219_DEBUG_PROFILE, last_time_fraction, current_time_fraction, &row_change_mask);
+      last_time_fraction = current_time_fraction;
+    }
+  #endif
+
+  // batch line updates
+  suspended--;
+  if (!suspended)
+    LOOP_L_N(i, 8) if (row_change_mask & _BV(i))
+      refresh_line(i);
+
  // After resume() automatically do a refresh()
  if (suspended == 0x80) {
    suspended = 0;
@@ -47,7 +47,6 @@
 #ifndef MAX7219_ROTATE
  #define MAX7219_ROTATE 0
 #endif
-#define _ROT ((MAX7219_ROTATE + 360) % 360)

 #ifndef MAX7219_NUMBER_UNITS
  #define MAX7219_NUMBER_UNITS 1
@@ -73,6 +72,67 @@
 #define max7219_reg_shutdown    0x0C
 #define max7219_reg_displayTest 0x0F

+#ifdef MAX7219_DEBUG_PROFILE
+  // This class sums up the amount of time for which its instances exist.
+  // By default there is one instantiated for the duration of the idle()
+  // function. But an instance can be created in any code block to measure
+  // the time spent from the point of instantiation until the CPU leaves
+  // block. Be careful about having multiple instances of CodeProfiler as
+  // it does not guard against double counting. In general mixing ISR and
+  // non-ISR use will require critical sections but note that mode setting
+  // is atomic so the total or average times can safely be read if you set
+  // mode to FREEZE first.
+  class CodeProfiler {
+  public:
+    enum Mode : uint8_t { ACCUMULATE_AVERAGE, ACCUMULATE_TOTAL, FREEZE };
+
+  private:
+    static Mode mode;
+    static uint8_t instance_count;
+    static uint32_t last_calc_time;
+    static uint32_t total_time;
+    static uint8_t time_fraction;
+    static uint16_t call_count;
+
+    uint32_t start_time;
+
+  public:
+    CodeProfiler() : start_time(micros()) { instance_count++; }
+    ~CodeProfiler() {
+      instance_count--;
+      if (mode == FREEZE) return;
+
+      call_count++;
+
+      const uint32_t now = micros();
+      total_time += now - start_time;
+
+      if (mode == ACCUMULATE_TOTAL) return;
+
+      // update time_fraction every hundred milliseconds
+      if (instance_count == 0 && ELAPSED(now, last_calc_time + 100000)) {
+        time_fraction = total_time * 128 / (now - last_calc_time);
+        last_calc_time = now;
+        total_time = 0;
+      }
+    }
+
+    static void set_mode(Mode _mode) { mode = _mode; }
+    static void reset() {
+      time_fraction = 0;
+      last_calc_time = micros();
+      total_time = 0;
+      call_count = 0;
+    }
+    // returns fraction of total time which was measured, scaled from 0 to 128
+    static uint8_t get_time_fraction() { return time_fraction; }
+    // returns total time in microseconds
+    static uint32_t get_total_time() { return total_time; }
+
+    static uint16_t get_call_count() { return call_count; }
+  };
+#endif
+
 class Max7219 {
 public:
  static uint8_t led_line[MAX7219_LINES];
@@ -110,10 +170,10 @@ public:
  #endif

  // Set a single LED by XY coordinate
-  static void led_set(const uint8_t x, const uint8_t y, const bool on);
-  static void led_on(const uint8_t x, const uint8_t y);
-  static void led_off(const uint8_t x, const uint8_t y);
-  static void led_toggle(const uint8_t x, const uint8_t y);
+  static void led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm=nullptr);
+  static void led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);
+  static void led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);
+  static void led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);

  // Set all LEDs in a single column
  static void set_column(const uint8_t col, const uint32_t val);
@@ -147,11 +207,12 @@ private:
  static void set(const uint8_t line, const uint8_t bits);
  static void send_row(const uint8_t row);
  static void send_column(const uint8_t col);
-  static void mark16(const uint8_t y, const uint8_t v1, const uint8_t v2);
-  static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh);
-  static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv);
+  static void mark16(const uint8_t y, const uint8_t v1, const uint8_t v2, uint8_t * const rcm=nullptr);
+  static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh, uint8_t * const rcm=nullptr);
+  static void quantity(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr);
+  static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr);

-  #ifdef MAX7219_INIT_TEST
+  #if MAX7219_INIT_TEST
    static void test_pattern();
    static void run_test_pattern();
    static void start_test_pattern();
@@ -26,7 +26,7 @@
 * Algorithm & Implementation: Scott Mudge - mail@scottmudge.com
 * Date: Dec. 2020
 *
- * Character Frequencies from ~30 MB of comment-stripped gcode:
+ * Character Frequencies from ~30 MB of comment-stripped G-code:
 *  '1' -> 4451136    '4' -> 1353273   '\n' -> 1087683    '-' ->   90242
 *  '0' -> 4253577    '9' -> 1352147    'G' -> 1075806    'Z' ->   34109
 *  ' ' -> 3053297    '3' -> 1262929    'X' ->  975742    'M' ->   11879
@@ -29,7 +29,7 @@
 * Specifically optimized for 3D printing G-Code, this is a zero-cost data compression method
 * which packs ~180-190% more data into the same amount of bytes going to the CNC controller.
 * As a majority of G-Code can be represented by a restricted alphabet, I performed histogram
- * analysis on a wide variety of 3D printing gcode samples, and found ~93% of all gcode could
+ * analysis on a wide variety of 3D printing G-code samples, and found ~93% of all G-code could
 * be represented by the same 15-character alphabet.
 *
 * This allowed me to design a system of packing 2 8-bit characters into a single byte, assuming
@@ -38,7 +38,7 @@
 *
 * Combined with some logic to allow commingling of full-width characters outside of this 15-
 * character alphabet (at the cost of an extra 8-bits per full-width character), and by stripping
- * out unnecessary comments, the end result is gcode which is roughly half the original size.
+ * out unnecessary comments, the end result is G-code which is roughly half the original size.
 *
 * Why did I do this? I noticed micro-stuttering and other data-bottleneck issues while printing
 * objects with high curvature, especially at high speeds. There is also the issue of the limited
@@ -51,7 +51,7 @@ When done, the MMU sends

 - MMU => 'ok\n'

-We don't wait for a response here but immediately continue with the next gcode which should
+We don't wait for a response here but immediately continue with the next G-code which should
 be one or more extruder moves to feed the filament into the hotend.


@@ -54,7 +54,8 @@ MMU2 mmu2;
 #define MMU_CMD_TIMEOUT 45000UL // 45s timeout for mmu commands (except P0)
 #define MMU_P0_TIMEOUT 3000UL   // Timeout for P0 command: 3seconds

-#define MMU2_COMMAND(S) tx_str(F(S "\n"))
+#define MMU2_SEND(S) tx_str(F(S "\n"))
+#define MMU2_RECV(S) rx_str(F(S "\n"))

 #if ENABLED(MMU_EXTRUDER_SENSOR)
  uint8_t mmu_idl_sens = 0;
@@ -131,7 +132,7 @@ void MMU2::reset() {
    safe_delay(20);
    WRITE(MMU2_RST_PIN, HIGH);
  #else
-    MMU2_COMMAND("X0"); // Send soft reset
+    MMU2_SEND("X0");  // Send soft reset
  #endif
 }

@@ -157,11 +158,9 @@ void MMU2::mmu_loop() {
    case -1:
      if (rx_start()) {
        prev_P0_request = millis();   // Initialize finda sensor timeout
-
        DEBUG_ECHOLNPGM("MMU => 'start'");
        DEBUG_ECHOLNPGM("MMU <= 'S1'");
-
-        MMU2_COMMAND("S1");   // Read Version
+        MMU2_SEND("S1");    // Read Version
        state = -2;
      }
      else if (millis() > 30000) { // 30sec after reset disable MMU
@@ -173,10 +172,8 @@ void MMU2::mmu_loop() {
    case -2:
      if (rx_ok()) {
        sscanf(rx_buffer, "%huok\n", &version);
-
        DEBUG_ECHOLNPGM("MMU => ", version, "\nMMU <= 'S2'");
-
-        MMU2_COMMAND("S2");   // Read Build Number
+        MMU2_SEND("S2");    // Read Build Number
        state = -3;
      }
      break;
@@ -191,14 +188,12 @@ void MMU2::mmu_loop() {

        #if ENABLED(MMU2_MODE_12V)
          DEBUG_ECHOLNPGM("MMU <= 'M1'");
-
-          MMU2_COMMAND("M1");   // Stealth Mode
+          MMU2_SEND("M1");    // Stealth Mode
          state = -5;

        #else
          DEBUG_ECHOLNPGM("MMU <= 'P0'");
-
-          MMU2_COMMAND("P0");   // Read FINDA
+          MMU2_SEND("P0");    // Read FINDA
          state = -4;
        #endif
      }
@@ -209,10 +204,8 @@ void MMU2::mmu_loop() {
      // response to M1
      if (rx_ok()) {
        DEBUG_ECHOLNPGM("MMU => ok");
-
        DEBUG_ECHOLNPGM("MMU <= 'P0'");
-
-        MMU2_COMMAND("P0");   // Read FINDA
+        MMU2_SEND("P0");    // Read FINDA
        state = -4;
      }
      break;
@@ -250,14 +243,13 @@ void MMU2::mmu_loop() {
        else if (cmd == MMU_CMD_C0) {
          // continue loading
          DEBUG_ECHOLNPGM("MMU <= 'C0'");
-          MMU2_COMMAND("C0");
+          MMU2_SEND("C0");
          state = 3; // wait for response
        }
        else if (cmd == MMU_CMD_U0) {
          // unload current
          DEBUG_ECHOLNPGM("MMU <= 'U0'");
-
-          MMU2_COMMAND("U0");
+          MMU2_SEND("U0");
          state = 3; // wait for response
        }
        else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E0 + EXTRUDERS - 1)) {
@@ -270,7 +262,7 @@ void MMU2::mmu_loop() {
        else if (cmd == MMU_CMD_R0) {
          // recover after eject
          DEBUG_ECHOLNPGM("MMU <= 'R0'");
-          MMU2_COMMAND("R0");
+          MMU2_SEND("R0");
          state = 3; // wait for response
        }
        else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F0 + EXTRUDERS - 1)) {
@@ -285,7 +277,7 @@ void MMU2::mmu_loop() {
        cmd = MMU_CMD_NONE;
      }
      else if (ELAPSED(millis(), prev_P0_request + 300)) {
-        MMU2_COMMAND("P0"); // Read FINDA
+        MMU2_SEND("P0");  // Read FINDA
        state = 2; // wait for response
      }

@@ -314,7 +306,7 @@ void MMU2::mmu_loop() {
        if (mmu_idl_sens) {
          if (FILAMENT_PRESENT() && mmu_loading_flag) {
            DEBUG_ECHOLNPGM("MMU <= 'A'");
-            MMU2_COMMAND("A"); // send 'abort' request
+            MMU2_SEND("A");   // send 'abort' request
            mmu_idl_sens = 0;
            DEBUG_ECHOLNPGM("MMU IDLER_SENSOR = 0 - ABORT");
          }
@@ -327,9 +319,9 @@ void MMU2::mmu_loop() {
          const bool keep_trying = !mmu2s_triggered && last_cmd == MMU_CMD_C0;
          if (keep_trying) {
            // MMU ok received but filament sensor not triggered, retrying...
-            DEBUG_ECHOLNPGM("MMU => 'ok' (filament not present in gears)");
+            DEBUG_ECHOLNPGM("MMU => 'ok' (no filament in gears)");
            DEBUG_ECHOLNPGM("MMU <= 'C0' (keep trying)");
-            MMU2_COMMAND("C0");
+            MMU2_SEND("C0");
          }
        #else
          constexpr bool keep_trying = false;
@@ -361,7 +353,7 @@ void MMU2::mmu_loop() {
 */
 bool MMU2::rx_start() {
  // check for start message
-  return rx_str(F("start\n"));
+  return MMU2_RECV("start");
 }

 /**
@@ -440,7 +432,7 @@ void MMU2::clear_rx_buffer() {
 * Check if we received 'ok' from MMU
 */
 bool MMU2::rx_ok() {
-  if (rx_str(F("ok\n"))) {
+  if (MMU2_RECV("ok")) {
    prev_P0_request = millis();
    return true;
  }
@@ -585,7 +577,7 @@ static void mmu2_not_responding() {
      command(MMU_CMD_T0 + index);
      manage_response(true, true);
      mmu_continue_loading();
-      command(MMU_CMD_C0);
+      //command(MMU_CMD_C0);
      extruder = index;
      active_extruder = 0;

@@ -653,13 +645,34 @@ static void mmu2_not_responding() {
  }

  void MMU2::mmu_continue_loading() {
+    // Try to load the filament a limited number of times
+    bool fil_present = 0;
    for (uint8_t i = 0; i < MMU_LOADING_ATTEMPTS_NR; i++) {
-      DEBUG_ECHOLNPGM("Additional load attempt #", i);
-      if (FILAMENT_PRESENT()) break;
+      DEBUG_ECHOLNPGM("Load attempt #", i + 1);
+
+      // Done as soon as filament is present
+      fil_present = FILAMENT_PRESENT();
+      if (fil_present) break;
+
+      // Attempt to load the filament, 1mm at a time, for 3s
      command(MMU_CMD_C0);
+      stepper.enable_extruder();
+      const millis_t expire_ms = millis() + 3000;
+      do {
+        current_position.e += 1;
+        line_to_current_position(MMU_LOAD_FEEDRATE);
+        planner.synchronize();
+        // When (T0 rx->ok) load is ready, but in fact it did not load
+        // successfully or an overload created pressure in the extruder.
+        // Send (C0) to load more and move E_AXIS a little to release pressure.
+        if ((fil_present = FILAMENT_PRESENT())) MMU2_SEND("A");
+      } while (!fil_present && PENDING(millis(), expire_ms));
+      stepper.disable_extruder();
      manage_response(true, true);
    }
-    if (!FILAMENT_PRESENT()) {
+
+    // Was the filament still missing in the last check?
+    if (!fil_present) {
      DEBUG_ECHOLNPGM("Filament never reached sensor, runout");
      filament_runout();
    }
@@ -682,7 +695,7 @@ static void mmu2_not_responding() {
      command(MMU_CMD_T0 + index);
      manage_response(true, true);
      command(MMU_CMD_C0);
-      extruder = index; //filament change is finished
+      extruder = index; // Filament change is finished
      active_extruder = 0;
      stepper.enable_extruder();
      SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder);
@@ -861,7 +874,7 @@ void MMU2::filament_runout() {
    if (cmd == MMU_CMD_NONE && last_cmd == MMU_CMD_C0) {
      if (present && !mmu2s_triggered) {
        DEBUG_ECHOLNPGM("MMU <= 'A'");
-        tx_str(F("A\n"));
+        MMU2_SEND("A");
      }
      // Slowly spin the extruder during C0
      else {
@@ -939,7 +952,7 @@ bool MMU2::load_filament_to_nozzle(const uint8_t index) {
 * Load filament to nozzle of multimaterial printer
 *
 * This function is used only after T? (user select filament) and M600 (change filament).
- * It is not used after T0 .. T4 command (select filament), in such case, gcode is responsible for loading
+ * It is not used after T0 .. T4 command (select filament), in such case, G-code is responsible for loading
 * filament to nozzle.
 */
 void MMU2::load_to_nozzle() {
@@ -86,6 +86,7 @@ private:
  #endif

  #if ENABLED(MMU_EXTRUDER_SENSOR)
+    #define MMU_LOAD_FEEDRATE 19.02f // (mm/s)
    static void mmu_continue_loading();
  #endif

@@ -35,10 +35,13 @@
 #include "../gcode/gcode.h"
 #include "../module/motion.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"
 #include "../module/printcounter.h"
 #include "../module/temperature.h"

+#if HAS_EXTRUDERS
+  #include "../module/stepper.h"
+#endif
+
 #if ENABLED(AUTO_BED_LEVELING_UBL)
  #include "bedlevel/bedlevel.h"
 #endif
@@ -63,7 +66,7 @@

 #include "../lcd/marlinui.h"

-#if HAS_BUZZER
+#if HAS_SOUND
  #include "../libs/buzzer.h"
 #endif

@@ -98,7 +101,7 @@ fil_change_settings_t fc_settings[EXTRUDERS];
  #define _PMSG(L) L##_LCD
 #endif

-#if HAS_BUZZER
+#if HAS_SOUND
  static void impatient_beep(const int8_t max_beep_count, const bool restart=false) {

    if (TERN0(HAS_MARLINUI_MENU, pause_mode == PAUSE_MODE_PAUSE_PRINT)) return;
@@ -711,9 +714,13 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_

  TERN_(HAS_FILAMENT_SENSOR, runout.reset());

-  TERN(DWIN_LCD_PROUI, DWIN_Print_Resume(), ui.reset_status());
-  TERN_(HAS_MARLINUI_MENU, ui.return_to_status());
-  TERN_(DWIN_LCD_PROUI, HMI_ReturnScreen());
+  #if ENABLED(DWIN_LCD_PROUI)
+    DWIN_Print_Resume();
+    HMI_ReturnScreen();
+  #else
+    ui.reset_status();
+    ui.return_to_status();
+  #endif
 }

 #endif // ADVANCED_PAUSE_FEATURE
@@ -30,7 +30,7 @@

 #include "power.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"
+#include "../module/stepper/indirection.h" // for restore_stepper_drivers
 #include "../module/temperature.h"
 #include "../MarlinCore.h"

@@ -46,6 +46,7 @@ Power powerManager;
 bool Power::psu_on;

 #if ENABLED(AUTO_POWER_CONTROL)
+  #include "../module/stepper.h"
  #include "../module/temperature.h"

  #if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN)
@@ -53,7 +53,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor
    void PowerMonitor::draw_current() {
      const float amps = getAmps();
      lcd_put_u8str(amps < 100 ? ftostr31ns(amps) : ui16tostr4rj((uint16_t)amps));
-      lcd_put_wchar('A');
+      lcd_put_lchar('A');
    }
  #endif

@@ -61,7 +61,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor
    void PowerMonitor::draw_voltage() {
      const float volts = getVolts();
      lcd_put_u8str(volts < 100 ? ftostr31ns(volts) : ui16tostr4rj((uint16_t)volts));
-      lcd_put_wchar('V');
+      lcd_put_lchar('V');
    }
  #endif

@@ -69,7 +69,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor
    void PowerMonitor::draw_power() {
      const float power = getPower();
      lcd_put_u8str(power < 100 ? ftostr31ns(power) : ui16tostr4rj((uint16_t)power));
-      lcd_put_wchar('W');
+      lcd_put_lchar('W');
    }
  #endif

--- a/Show More
+++ b/Show More